version: 66.10
glider: 165
mission: 5
dive: 11
start: 11 15 111 11 29 46
data:
$ID,165
$MISSION,5
$DIVE,11
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,350
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51872
$NAV_MODE,1
$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,3
$NOCOMM_ACTION,163
$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,-137247.52
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2786
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,140
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-57.316994
$PRESSURE_SLOPE,0.000116182
$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,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$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,0.0043567759
$SEABIRD_T_H,0.00062679156
$SEABIRD_T_I,2.4204959e-05
$SEABIRD_T_J,2.6176024e-06
$SEABIRD_C_G,-10.134539
$SEABIRD_C_H,1.1435308
$SEABIRD_C_I,-0.0010041125
$SEABIRD_C_J,0.00016055659
$GPS1,151111,112207,2124.902,11953.495,39,1.1,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-69.8
$GPS2,151111,112925,2124.979,11953.218,13,1.0,13,-2.5
$SPEED_LIMITS,0.163,0.274
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,180.0,268764,-16.0,-9.429
$D_GRID,3034
$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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.74,-170.3,0.0,0.0,0,87,0.00,0.00,-69.15,0.000,2,0.000,0.000,158,1941,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.74,-170.3,3.5,-6.6,10,128,10.43,2.22,-19.75,0.000,4,0.254,0.062,2707,558,3483,0,0,0,0,0,0,25.64,25.97,26.29
$GC,234,-0.63,-170.3,52.6,-35.3,35,242,0.15,2.17,0.00,0.000,6,0.186,0.039,2741,1951,3483,0,0,0,0,0,0,25.86,26.08,28.83
$GC,551,-0.58,-170.3,125.7,-17.6,96,559,0.00,2.20,0.00,0.000,4,0.000,0.050,2741,569,3483,0,0,0,0,0,0,28.83,26.20,28.83
$GC,712,-0.56,-170.3,148.9,-14.2,126,720,0.00,2.15,0.00,0.000,6,0.000,0.041,2740,1953,3484,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1029,-0.53,-170.3,192.7,-14.0,187,1037,0.12,2.20,0.00,0.000,4,0.174,0.050,2776,564,3484,0,0,0,0,0,0,26.25,26.34,28.83
$GC,1116,-0.55,-170.3,202.8,-9.7,203,1123,0.00,2.15,0.00,0.000,6,0.000,0.041,2776,1953,3484,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1433,-0.57,-170.3,230.2,-9.0,264,1441,0.00,2.20,0.00,0.000,4,0.000,0.052,2776,3353,3484,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1501,-0.60,-170.3,236.1,-8.6,276,1509,0.00,2.10,0.00,0.000,6,0.000,0.035,2776,1967,3484,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1822,-0.62,-170.3,262.6,-8.1,323,1830,0.00,2.15,0.00,0.000,4,0.000,0.052,2776,561,3484,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1875,-0.65,-170.3,267.3,-8.5,328,1886,0.08,2.08,0.00,0.000,6,0.067,0.040,2727,1953,3483,0,0,0,0,0,0,26.46,26.48,28.83
$GC,2184,-0.64,-170.3,301.4,-10.4,359,2193,0.00,2.20,0.00,0.000,4,0.000,0.053,2717,3371,3481,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2246,-0.64,-170.3,307.8,-10.4,365,2255,0.00,2.10,0.00,0.000,6,0.000,0.037,2717,1955,3481,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2556,-0.63,-170.3,342.4,-11.0,396,2565,0.00,2.15,0.00,0.000,4,0.000,0.054,2717,561,3480,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2659,-0.62,-170.3,353.6,-10.7,406,2668,0.10,2.10,0.00,0.000,6,0.142,0.041,2747,1951,3479,0,0,0,0,0,0,26.40,26.53,28.83
$GC,2971,-0.64,-170.3,378.6,-8.3,437,2979,0.00,2.17,0.00,0.000,4,0.000,0.053,2740,3357,3477,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3022,-0.66,-170.3,383.0,-8.4,442,3031,0.00,2.10,0.00,0.000,6,0.000,0.035,2740,1954,3476,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3333,-0.67,-170.3,409.8,-8.4,473,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1954,3474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3634,-0.68,-170.3,434.6,-7.9,503,3643,0.00,2.22,0.00,0.000,4,0.000,0.055,2740,3366,3471,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3659,-0.69,-170.3,436.6,-8.3,505,3666,0.00,2.12,0.00,0.000,6,0.000,0.037,2740,1955,3471,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3966,-0.71,-170.3,464.0,-9.1,536,3975,0.00,2.17,0.00,0.000,4,0.000,0.055,2740,541,3469,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4029,-0.72,-170.3,469.8,-9.3,542,4037,0.00,2.15,0.00,0.000,6,0.000,0.041,2740,1959,3469,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4338,-0.74,-170.3,496.0,-7.9,573,4347,0.00,2.20,0.00,0.000,4,0.000,0.056,2741,3366,3467,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4401,-0.76,-170.3,500.3,-6.9,579,4410,0.08,2.10,0.00,0.000,6,0.074,0.037,2692,1950,3466,0,0,0,0,0,0,26.55,26.61,28.83
$GC,4709,-0.75,-170.3,532.9,-11.4,610,4718,0.00,2.17,0.00,0.000,4,0.000,0.055,2692,552,3464,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4745,-0.73,-170.3,536.5,-11.2,613,4752,0.00,2.12,0.00,0.000,6,0.000,0.041,2687,1957,3464,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5051,-0.71,-170.3,572.1,-10.9,644,5053,0.12,0.00,0.00,0.000,6,0.183,0.000,2718,1957,3463,0,0,0,0,0,0,26.47,28.83,28.83
$GC,5351,-0.71,-170.3,598.4,-8.6,674,5360,0.00,2.20,0.00,0.000,4,0.000,0.056,2713,3360,3460,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5416,-0.71,-170.3,603.6,-8.5,678,5420,0.00,2.10,0.00,0.000,6,0.000,0.038,2713,1957,3460,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5729,-0.71,-170.3,633.3,-9.3,694,5735,0.00,2.17,0.00,0.000,4,0.000,0.057,2713,3357,3459,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5761,-0.71,-170.3,635.2,-9.4,695,5768,0.00,2.10,0.00,0.000,6,0.000,0.038,2713,1956,3459,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6068,-0.71,-170.3,665.0,-9.2,711,6074,0.00,2.17,0.00,0.000,4,0.000,0.057,2713,557,3458,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6102,-0.71,-170.3,667.0,-9.3,712,6108,0.00,2.15,0.00,0.000,6,0.000,0.043,2713,1956,3457,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6408,-0.71,-170.3,696.6,-8.9,728,6414,0.00,2.20,0.00,0.000,4,0.000,0.056,2713,547,3455,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6436,-0.71,-170.3,698.5,-9.0,729,6440,0.00,2.17,0.00,0.000,6,0.000,0.043,2713,1959,3455,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6744,-0.71,-170.3,725.1,-8.0,744,6749,0.00,2.20,0.00,0.000,4,0.000,0.057,2713,3364,3454,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6803,-0.72,-170.3,729.7,-7.7,747,6809,0.00,2.15,0.00,0.000,6,0.000,0.038,2712,1945,3454,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7124,-0.72,-170.3,756.2,-8.7,763,7129,0.00,2.25,0.00,0.000,4,0.000,0.057,2713,3366,3452,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7176,-0.73,-170.3,759.6,-8.6,765,7183,0.00,2.15,0.00,0.000,6,0.000,0.038,2713,1950,3452,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7483,-0.73,-170.3,787.7,-9.0,781,7489,0.00,2.25,0.00,0.000,4,0.000,0.056,2713,3369,3451,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7537,-0.74,-170.3,791.2,-9.1,783,7544,0.00,2.15,0.00,0.000,6,0.000,0.037,2713,1953,3451,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7843,-0.75,-170.3,819.1,-8.6,799,7849,0.00,2.17,0.00,0.000,4,0.000,0.057,2713,561,3450,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7892,-0.75,-170.3,822.7,-8.9,801,7896,0.00,2.15,0.00,0.000,6,0.000,0.043,2713,1956,3450,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8198,-0.76,-170.3,849.8,-8.4,816,8204,0.00,2.20,0.00,0.000,4,0.000,0.057,2713,3366,3449,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8246,-0.77,-170.3,853.0,-8.1,818,8250,0.00,2.12,0.00,0.000,6,0.000,0.037,2713,1951,3448,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8555,-0.78,-170.3,877.4,-7.7,833,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1951,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8853,-0.79,-170.3,899.8,-7.5,848,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1951,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9154,-0.80,-170.3,924.5,-8.6,863,9160,0.00,2.25,0.00,0.000,4,0.000,0.058,2713,3364,3446,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9197,-0.81,-170.3,927.9,-8.4,865,9201,0.00,2.12,0.00,0.000,6,0.000,0.038,2713,1952,3445,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9510,-0.82,-170.3,955.1,-8.7,881,9515,0.00,2.22,0.00,0.000,4,0.000,0.058,2713,3360,3444,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9612,-0.84,-170.3,963.7,-8.5,886,9616,0.10,2.12,0.00,0.000,6,0.117,0.040,2668,1951,3445,0,0,0,0,0,0,26.55,26.60,28.83
$STATE,9862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9862,begin apogee
$GC,9868,-0.17,0.0,992.0,-11.2,899,10012,0.70,0.00,136.23,1.265,6,0.147,0.000,2891,2069,2786,0,0,0,0,0,0,26.36,28.83,23.80
$STATE,10013,end apogee,CONTROL_FINISHED_OK
$STATE,10013,begin climb
$GC,10015,0.74,170.3,995.8,0.0,906,10171,0.82,0.00,151.75,1.232,6,0.056,0.000,3201,2068,2091,0,0,0,0,0,0,24.89,28.83,23.65
$GC,10466,0.64,170.3,916.6,21.9,929,10472,0.15,2.25,0.00,0.000,4,0.186,0.054,3162,3459,2083,0,0,0,0,0,0,25.60,25.75,28.83
$GC,10619,0.56,170.3,886.6,21.1,936,10626,0.15,2.20,0.00,0.000,6,0.200,0.041,3135,2071,2081,0,0,0,0,0,0,25.75,25.94,28.83
$GC,10925,0.50,170.3,833.0,15.7,952,10930,0.00,2.25,0.00,0.000,4,0.000,0.057,3144,656,2080,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10947,0.44,170.3,830.0,15.3,953,10953,0.20,2.20,0.00,0.000,6,0.167,0.040,3090,2060,2078,0,0,0,0,0,0,25.95,26.13,28.83
$GC,11263,0.41,170.3,793.0,11.5,969,11268,0.00,2.20,0.00,0.000,4,0.000,0.052,3090,3462,2078,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11344,0.38,170.3,783.0,12.4,973,11348,0.00,2.17,0.00,0.000,6,0.000,0.038,3099,2059,2078,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11657,0.34,170.3,747.2,11.0,989,11663,0.12,2.22,0.00,0.000,4,0.177,0.049,3062,3467,2078,0,0,0,0,0,0,26.17,26.29,28.83
$GC,11700,0.31,170.3,742.9,10.8,991,11704,0.00,2.17,0.00,0.000,6,0.000,0.037,3069,2052,2077,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12013,0.30,170.3,712.2,10.2,1007,12018,0.00,2.20,0.00,0.000,4,0.000,0.050,3069,3467,2077,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12040,0.28,170.3,710.1,10.4,1008,12045,0.15,2.15,0.00,0.000,6,0.173,0.037,3040,2052,2077,0,0,0,0,0,0,26.20,26.38,28.83
$GC,12347,0.29,179.5,681.6,9.1,1023,12358,0.00,2.22,6.72,0.890,4,0.000,0.054,3049,657,2054,0,0,0,0,0,0,28.83,26.26,25.26
$GC,12409,0.31,187.1,676.0,9.1,1026,12426,0.00,2.12,8.20,0.926,6,0.000,0.037,3049,2063,2024,0,0,0,0,0,0,28.83,26.32,25.15
$GC,12728,0.31,189.9,646.3,9.3,1042,12738,0.00,2.25,4.38,0.720,4,0.000,0.051,3049,3463,2011,0,0,0,0,0,0,28.83,26.18,25.15
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$STATE,18981,end climb,SURFACE_DEPTH_REACHED
$STATE,18981,begin surface coast
$FINISH,1.0,1.008300
$STATE,19010,end surface coast,CONTROL_FINISHED_OK
$STATE,19011,begin surface
$SM_CCo,19088,0.00,0.000,0,0,865,471.22
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$IRIDIUM_FIX,2122.58,11953.88,151111,050516
$TT8_MAMPS,0.023968,0.023968
$HUMID,37.00
$INTERNAL_PRESSURE,9.45385
$TCM_TEMP,26.70
$XPDR_PINGS,39
$24V_AH,23.6,5.443
$10V_AH,10.4,5.289
$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
$DEVICE_SECS,22.225,179.325,548.425,0.000,0.000,27.414,47.743,222.269,9.750,0.000,16.133,4355.589,9600.420,712.490,4403.490,429.051,0.000,2439.775,0.000,4097.369,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325152
$DATA_FILE_SIZE,103482,1851
$CAP_FILE_SIZE,216203,0
$CFSIZE,260165632,200228864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151111,164907,2121.754,11951.166,34,1.4,34,-2.5