version: 66.08
glider: 167
mission: 5
dive: 51
start: 9 27 110 21 57 37
data:
$ID,167
$MISSION,5
$DIVE,51
$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,-33806.539
$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,41
$R_STBD_OVSHOOT,118
$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
$GPS1,270910,215201,2408.423,12605.058,8,1.5,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.7
$GPS2,270910,215714,2408.460,12605.021,14,1.6,14,-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,33.7,6762,-19.1,-13.889
$D_GRID,1654
$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,14,begin dive
$GC,16,-0.81,-228.7,0.0,0.0,0,85,0.00,0.00,-65.85,0.000,2,0.000,0.000,118,778,3379,0,0,0,0,0,0
$GC,88,-0.81,-228.7,6.5,-13.4,9,111,9.25,0.00,-8.95,0.000,6,0.226,0.000,2549,775,3965,0,0,0,0,0,0
$GC,427,-0.81,-228.7,122.9,-26.0,72,435,0.00,1.98,0.00,0.000,4,0.000,0.018,2540,2180,3968,0,0,0,0,0,0
$GC,518,-0.81,-228.7,143.1,-21.3,88,526,0.00,2.10,0.00,0.000,6,0.000,0.037,2540,795,3969,0,0,0,0,0,0
$GC,858,-0.81,-228.7,223.5,-22.0,149,864,0.00,0.88,0.00,0.000,4,0.000,0.044,2540,187,3970,0,0,0,0,0,0
$GC,1110,-0.81,-228.7,283.0,-22.8,195,1117,0.00,0.73,0.00,0.000,6,0.000,0.024,2536,792,3970,0,0,0,0,0,0
$GC,1439,-0.81,-228.7,347.1,-19.2,233,1443,0.00,0.88,0.00,0.000,4,0.000,0.044,2536,190,3971,0,0,0,0,0,0
$GC,1695,-0.81,-228.7,395.4,-18.4,256,1698,0.00,0.68,0.00,0.000,6,0.000,0.024,2532,757,3970,0,0,0,0,0,0
$GC,2027,-0.81,-228.7,453.6,-18.1,287,2031,0.00,0.82,0.00,0.000,4,0.000,0.044,2532,190,3970,0,0,0,0,0,0
$GC,2088,-0.81,-228.7,465.5,-18.4,292,2096,0.00,0.70,0.00,0.000,6,0.000,0.023,2530,770,3970,0,0,0,0,0,0
$STATE,2306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2306,begin apogee
$GC,2312,-0.14,0.0,501.3,15.6,313,2491,0.73,0.00,170.70,0.954,4,0.132,0.000,2771,998,3028,0,0,0,0,0,0
$STATE,2492,end apogee,CONTROL_FINISHED_OK
$STATE,2492,begin climb
$GC,2494,0.81,228.7,510.9,0.0,328,2676,0.80,0.00,173.12,0.929,6,0.054,0.000,3083,997,2094,0,0,0,0,0,0
$GC,2994,0.81,228.7,444.3,16.9,373,2997,0.00,1.92,0.00,0.000,4,0.000,0.021,3082,2362,2087,0,0,0,0,0,0
$GC,3196,0.81,228.7,408.5,17.8,391,3200,0.00,2.05,0.00,0.000,6,0.000,0.034,3092,1001,2086,0,0,0,0,0,0
$GC,3523,0.81,228.7,350.1,18.4,421,3526,0.00,1.20,0.00,0.000,4,0.000,0.044,3098,191,2084,0,0,0,0,0,0
$GC,3658,0.81,228.7,325.8,17.9,433,3662,0.00,1.05,0.00,0.000,6,0.000,0.021,3098,1012,2083,0,0,0,0,0,0
$GC,3989,0.81,228.7,270.5,16.4,480,3997,0.00,1.90,0.00,0.000,4,0.000,0.021,3098,2349,2081,0,0,0,0,0,0
$GC,4026,0.81,228.7,264.2,16.4,486,4034,0.00,2.08,0.00,0.000,6,0.000,0.034,3108,973,2081,0,0,0,0,0,0
$GC,4361,0.81,228.7,208.6,16.2,547,4368,0.00,1.12,0.00,0.000,4,0.000,0.044,3114,206,2080,0,0,0,0,0,0
$GC,4434,0.81,228.7,195.2,17.7,560,4443,0.08,0.98,0.00,0.000,6,0.175,0.021,3090,959,2080,0,0,0,0,0,0
$GC,4774,0.85,260.3,150.1,12.6,621,4803,0.00,2.00,22.55,0.723,4,0.000,0.019,3090,2374,1966,0,0,0,0,0,0
$GC,4919,0.86,265.1,130.5,13.7,646,4935,0.00,2.08,4.93,0.537,6,0.000,0.034,3098,1007,1948,0,0,0,0,0,0
$GC,5257,0.93,329.2,85.8,11.3,708,5318,0.00,2.03,50.17,0.674,4,0.000,0.021,3098,2370,1684,0,0,0,0,0,0
$GC,5417,1.03,410.8,68.3,10.6,734,5491,0.12,2.08,62.97,0.641,6,0.058,0.035,3169,1016,1352,0,0,0,0,0,0
$STATE,5781,end climb,SURFACE_DEPTH_REACHED
$STATE,5781,begin surface coast
$FINISH,0.8,1.010053
$STATE,5798,end surface coast,CONTROL_FINISHED_OK
$STATE,5798,begin surface
$SM_CCo,5876,0.00,0.000,0,0,1342,413.82
$SM_GC,1.59,7.80,0.00,0.00,0.037,0.000,0.000,123,783,1342,-8.37,-0.20,413.82
$IRIDIUM_FIX,2356.84,12605.46,270910,202020
$TT8_MAMPS,0.027713
$HUMID,39.64
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,24.6,10.748
$10V_AH,10.6,8.692
$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,18.775,29.750,484.450,0.000,0.000,23.026,13.353,130.278,0.000,0.000,15.437,1874.269,1481.473,448.421,2127.242,254.373,0.000,1226.757,0.000,1972.228,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,52.020,953.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.825,820.084,1364.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,46957,802
$CAP_FILE_SIZE,76436,0
$CFSIZE,260165632,164782080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,283.4,1
$GPS,270910,233636,2409.444,12604.822,13,0.8,28,-3.6