version: 66.08
glider: 167
mission: 5
dive: 50
start: 9 27 110 20 14 6
data:
$ID,167
$MISSION,5
$DIVE,50
$N_DIVES,50
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,235
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51890
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33805.285
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2822
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,790
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,138
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,3029
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-15.831312
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337667
$SEABIRD_T_H,0.00063136261
$SEABIRD_T_I,2.3680945e-05
$SEABIRD_T_J,2.4321864e-06
$SEABIRD_C_G,-9.8870621
$SEABIRD_C_H,1.1051886
$SEABIRD_C_I,-0.001683808
$SEABIRD_C_J,0.00020742195
$GPS1,270910,200807,2407.273,12605.324,38,0.9,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.2
$GPS2,270910,201343,2407.302,12605.286,12,1.6,17,-3.6
$SPEED_LIMITS,0.241,0.355
$TGT_NAME,NWALL_N
$TGT_LATLONG,2412.000,12606.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,18.2,8785,-19.1,-13.889
$D_GRID,1706
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.81,-228.7,0.0,0.0,0,91,0.00,0.00,-72.43,0.000,2,0.000,0.000,123,783,3355,0,0,0,0,0,0
$GC,94,-0.81,-228.7,6.0,-11.0,10,119,9.25,2.00,-9.55,0.000,4,0.227,0.036,2542,2159,3965,0,0,0,0,0,0
$GC,142,-0.81,-228.7,32.3,-49.3,17,150,0.00,2.10,0.00,0.000,6,0.000,0.037,2542,788,3966,0,0,0,0,0,0
$GC,467,-0.81,-228.7,135.8,-28.2,78,475,0.00,1.92,0.00,0.000,4,0.000,0.019,2533,2146,3968,0,0,0,0,0,0
$GC,591,-0.81,-228.7,164.6,-18.8,100,600,0.00,2.05,0.00,0.000,6,0.000,0.037,2533,792,3969,0,0,0,0,0,0
$GC,937,-0.81,-228.7,247.0,-23.8,161,943,0.00,0.88,0.00,0.000,4,0.000,0.047,2533,187,3969,0,0,0,0,0,0
$GC,1193,-0.81,-228.7,308.6,-24.2,204,1197,0.08,0.70,0.00,0.000,6,0.169,0.025,2553,757,3970,0,0,0,0,0,0
$GC,1524,-0.81,-228.7,370.4,-16.9,235,1528,0.00,0.82,0.00,0.000,4,0.000,0.045,2552,190,3970,0,0,0,0,0,0
$GC,1705,-0.81,-228.7,401.7,-16.5,251,1713,0.00,0.75,0.00,0.000,6,0.000,0.024,2550,807,3970,0,0,0,0,0,0
$GC,2033,-0.81,-228.7,452.3,-16.4,282,2037,0.00,0.90,0.00,0.000,4,0.000,0.045,2550,191,3968,0,0,0,0,0,0
$GC,2145,-0.81,-228.7,471.4,-16.5,292,2148,0.00,0.73,0.00,0.000,6,0.000,0.024,2548,795,3968,0,0,0,0,0,0
$STATE,2347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2347,begin apogee
$GC,2355,-0.14,0.0,501.3,13.4,311,2535,0.65,0.00,170.25,0.955,4,0.124,0.000,2770,983,3028,0,0,0,0,0,0
$STATE,2536,end apogee,CONTROL_FINISHED_OK
$STATE,2536,begin climb
$GC,2538,0.81,228.7,509.6,0.0,326,2719,0.82,0.00,172.73,0.928,6,0.056,0.000,3089,983,2095,0,0,0,0,0,0
$GC,3038,0.81,228.7,434.0,18.2,371,3042,0.00,1.98,0.00,0.000,4,0.000,0.021,3089,2368,2088,0,0,0,0,0,0
$GC,3164,0.81,228.7,409.5,18.5,382,3172,0.00,2.08,0.00,0.000,6,0.000,0.034,3099,1018,2087,0,0,0,0,0,0
$GC,3491,0.81,228.7,349.8,16.9,413,3495,0.00,1.23,0.00,0.000,4,0.000,0.044,3105,190,2085,0,0,0,0,0,0
$GC,3568,0.81,228.7,334.7,18.9,420,3571,0.00,1.08,0.00,0.000,6,0.000,0.021,3105,1032,2084,0,0,0,0,0,0
$GC,3896,0.81,228.7,279.5,14.7,462,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1032,2082,0,0,0,0,0,0
$GC,4228,0.81,228.7,225.1,17.0,523,4235,0.00,1.25,0.00,0.000,4,0.000,0.043,3112,191,2081,0,0,0,0,0,0
$GC,4255,0.81,228.7,220.4,17.4,527,4262,0.00,1.02,0.00,0.000,6,0.000,0.022,3112,981,2081,0,0,0,0,0,0
$GC,4586,0.81,228.7,165.5,14.8,588,4594,0.00,1.95,0.00,0.000,4,0.000,0.021,3112,2357,2081,0,0,0,0,0,0
$GC,4654,0.81,228.7,154.6,16.2,600,4663,0.10,2.03,0.00,0.000,6,0.160,0.034,3089,1009,2080,0,0,0,0,0,0
$GC,4982,0.91,310.2,115.6,10.6,661,5049,0.00,2.03,59.62,0.702,4,0.000,0.021,3089,2362,1763,0,0,0,0,0,0
$GC,5097,1.00,384.6,104.4,10.9,678,5163,0.10,2.08,57.90,0.672,6,0.057,0.034,3151,1014,1460,0,0,0,0,0,0
$GC,5482,1.00,384.6,42.4,15.1,747,5490,0.00,1.95,0.00,0.000,4,0.000,0.020,3152,2363,1452,0,0,0,0,0,0
$GC,5730,1.00,384.6,6.9,14.1,793,5739,0.00,2.00,0.00,0.000,6,0.000,0.034,3161,1043,1451,0,0,0,0,0,0
$STATE,5756,end climb,SURFACE_DEPTH_REACHED
$STATE,5756,begin surface coast
$FINISH,0.7,1.008590
$STATE,5779,end surface coast,CONTROL_FINISHED_OK
$STATE,5779,begin surface
$SM_CCo,5797,22.17,0.315,1,0,1398,400.08
$SM_GC,1.97,0.00,0.00,22.17,0.000,0.000,0.315,119,778,1398,-8.45,-0.31,400.08
$IRIDIUM_FIX,2354.48,12613.96,270910,181844
$TT8_MAMPS,0.028462
$HUMID,40.07
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.90
$XPDR_PINGS,0
$24V_AH,24.6,10.622
$10V_AH,10.6,8.587
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.725,34.025,460.500,22.175,0.000,30.694,15.622,135.985,0.000,0.000,18.636,1878.192,1412.705,472.687,2137.804,257.720,0.000,1240.764,0.000,1962.952,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,55.080,955.485,315.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.144,819.729,1379.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,46937,801
$CAP_FILE_SIZE,77304,0
$CFSIZE,260165632,164831232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.104,304.6,1
$GPS,270910,215201,2408.423,12605.058,8,1.5,13,-3.6