version: 66.10
glider: 165
mission: 5
dive: 92
start: 12 9 111 8 50 23
data:
$ID,165
$MISSION,5
$DIVE,92
$N_DIVES,0
$D_SURF,11
$D_FLARE,11
$D_TGT,660
$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,220
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$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,0
$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,450
$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,-271520.12
$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,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,55
$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,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$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,48
$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
$GPS1,091211,084614,1844.770,12020.444,7,1.6,7,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.86
$_SM_ANGLEo,-55.1
$GPS2,091211,085001,1844.842,12020.319,8,1.6,8,-2.0
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.084,-0.266
$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,310.3,45322,-16.8,-10.000
$D_GRID,2924
$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,16,-0.77,-170.3,0.0,0.0,0,100,0.00,0.00,-81.85,0.000,2,0.000,0.000,163,1941,3034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.77,-170.3,11.7,-10.4,13,131,9.98,2.15,-7.35,0.000,4,0.245,0.052,2684,3350,3484,0,0,0,0,0,0,25.89,26.40,26.71
$GC,371,-0.71,-170.3,92.1,-20.2,62,380,0.10,2.05,0.00,0.000,6,0.166,0.035,2715,1965,3485,0,0,0,0,0,0,26.23,26.51,28.83
$GC,706,-0.67,-170.3,149.2,-14.8,123,713,0.00,2.10,0.00,0.000,4,0.000,0.045,2706,3351,3486,0,0,0,0,0,0,28.83,26.48,28.83
$GC,924,-0.65,-170.3,179.6,-14.1,163,931,0.12,2.05,0.00,0.000,6,0.165,0.032,2739,1956,3486,0,0,0,0,0,0,26.34,26.55,28.83
$GC,1244,-0.64,-170.3,218.7,-12.4,209,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1954,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1554,-0.64,-170.3,255.0,-10.7,240,1563,0.00,2.10,0.00,0.000,4,0.000,0.047,2731,3345,3484,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1642,-0.64,-170.3,264.2,-10.7,248,1650,0.00,2.08,0.00,0.000,6,0.000,0.031,2731,1952,3484,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1949,-0.64,-170.3,296.5,-10.3,279,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1952,3482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2250,-0.64,-170.3,331.1,-11.4,309,2259,0.00,2.10,0.00,0.000,4,0.000,0.048,2731,567,3480,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2291,-0.64,-170.3,336.2,-12.0,313,2300,0.00,2.08,0.00,0.000,6,0.000,0.036,2721,1953,3479,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2601,-0.64,-170.3,368.9,-10.4,344,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1953,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2903,-0.64,-170.3,401.3,-11.4,374,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1953,3474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3204,-0.64,-170.3,434.6,-11.3,404,3207,0.00,2.15,0.00,0.000,4,0.000,0.048,2711,3358,3472,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3258,-0.64,-170.3,440.6,-11.2,409,3265,0.12,2.08,0.00,0.000,6,0.161,0.031,2743,1951,3471,0,0,0,0,0,0,26.32,26.56,28.83
$GC,3567,-0.66,-170.3,472.7,-10.4,440,3575,0.00,2.10,0.00,0.000,4,0.000,0.048,2744,566,3469,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3608,-0.68,-170.3,477.2,-10.7,444,3617,0.00,2.10,0.00,0.000,6,0.000,0.037,2740,1957,3469,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3918,-0.69,-170.3,505.4,-7.6,475,3927,0.00,2.10,0.00,0.000,4,0.000,0.049,2730,3351,3466,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4012,-0.71,-170.3,511.8,-7.0,484,4020,0.00,2.05,0.00,0.000,6,0.000,0.031,2730,1953,3465,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4320,-0.72,-170.3,530.1,-5.4,515,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1953,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4623,-0.74,-170.3,549.4,-7.5,545,4631,0.00,2.17,0.00,0.000,4,0.000,0.048,2720,3364,3461,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4697,-0.75,-170.3,555.5,-8.4,552,4704,0.00,2.10,0.00,0.000,6,0.000,0.032,2720,1948,3461,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5005,-0.76,-170.3,584.9,-9.4,583,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1948,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5306,-0.76,-170.3,609.9,-7.8,607,5312,0.00,2.15,0.00,0.000,4,0.000,0.049,2710,3354,3456,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5366,-0.77,-170.3,614.6,-7.9,610,5371,0.00,2.05,0.00,0.000,6,0.000,0.032,2710,1965,3456,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5684,-0.77,-170.3,642.1,-9.2,626,5690,0.00,2.17,0.00,0.000,4,0.000,0.048,2700,3363,3455,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5712,-0.77,-170.3,644.1,-9.3,627,5717,0.00,2.10,0.00,0.000,6,0.000,0.031,2700,1951,3454,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,5877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5877,begin apogee
$GC,5883,-0.17,0.0,661.7,-10.1,635,6019,0.60,0.00,128.80,1.048,6,0.128,0.000,2897,1949,2785,0,0,0,0,0,0,26.13,28.83,24.44
$STATE,6022,end apogee,CONTROL_FINISHED_OK
$STATE,6022,begin climb
$GC,6024,0.77,170.3,665.0,0.0,642,6167,0.80,0.00,138.90,1.011,6,0.059,0.000,3200,1948,2091,0,0,0,0,0,0,25.35,28.83,24.37
$GC,6459,0.70,170.3,599.1,18.8,664,6468,0.00,2.30,0.00,0.000,4,0.000,0.048,3200,3401,2083,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6604,0.62,170.3,570.3,20.5,678,6613,0.20,2.15,0.00,0.000,6,0.179,0.034,3156,1989,2081,0,0,0,0,0,0,25.91,26.22,28.83
$GC,6911,0.57,170.3,520.5,15.8,709,6920,0.00,2.20,0.00,0.000,4,0.000,0.047,3156,3399,2080,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7036,0.52,170.3,499.1,17.7,721,7045,0.12,2.12,0.00,0.000,6,0.159,0.034,3124,1992,2080,0,0,0,0,0,0,26.07,26.38,28.83
$GC,7343,0.50,170.3,456.1,13.6,752,7352,0.00,2.17,0.00,0.000,4,0.000,0.046,3124,3395,2078,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7379,0.47,170.3,451.8,13.6,755,7386,0.12,2.12,0.00,0.000,6,0.177,0.034,3102,1985,2078,0,0,0,0,0,0,26.17,26.43,28.83
$GC,7685,0.46,171.7,418.3,9.9,786,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1985,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7988,0.49,202.6,390.5,8.8,816,8018,0.00,2.20,25.35,0.876,4,0.000,0.044,3101,3397,1957,0,0,0,0,0,0,28.83,26.08,25.36
$GC,8107,0.49,202.6,378.3,11.1,827,8114,0.00,2.15,0.00,0.000,6,0.000,0.033,3110,1986,1955,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8412,0.49,202.6,344.1,11.3,858,8415,0.00,2.15,0.00,0.000,4,0.000,0.047,3120,592,1954,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8432,0.49,202.6,341.5,11.7,860,8441,0.00,2.12,0.00,0.000,6,0.000,0.032,3120,2001,1953,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8743,0.48,202.6,302.9,12.7,891,8752,0.00,2.15,0.00,0.000,4,0.000,0.045,3120,3397,1952,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8827,0.47,202.6,291.9,13.3,899,8835,0.00,2.10,0.00,0.000,6,0.000,0.033,3130,1993,1952,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9137,0.45,202.6,253.7,12.9,930,9147,0.12,2.12,0.00,0.000,4,0.169,0.043,3092,3387,1952,0,0,0,0,0,0,26.27,26.36,28.83
$GC,9195,0.45,202.6,247.3,11.7,935,9202,0.00,2.12,0.00,0.000,6,0.000,0.033,3099,1982,1951,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9504,0.53,254.4,221.3,8.0,966,9554,0.00,2.20,41.05,0.763,4,0.000,0.043,3099,3387,1749,0,0,0,0,0,0,28.83,25.92,25.29
$GC,9581,0.55,254.4,214.2,10.6,973,9587,0.00,2.15,0.00,0.000,6,0.000,0.033,3108,1976,1748,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9901,0.59,277.4,180.7,9.1,1021,9927,0.00,2.20,19.80,0.703,4,0.000,0.042,3108,3392,1653,0,0,0,0,0,0,28.83,26.01,25.35
$GC,9989,0.62,277.4,171.6,10.4,1036,9997,0.00,2.15,0.00,0.000,6,0.000,0.033,3116,1995,1653,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10324,0.64,278.4,140.0,10.0,1097,10331,0.12,2.15,0.00,0.000,4,0.086,0.046,3199,592,1652,0,0,0,0,0,0,26.38,26.21,28.83
$GC,10362,0.62,278.4,135.2,14.5,1103,10370,0.17,2.10,0.00,0.000,6,0.148,0.031,3151,1989,1651,0,0,0,0,0,0,26.03,26.29,28.83
$GC,10693,0.63,278.4,96.3,10.1,1164,10701,0.00,2.20,0.00,0.000,4,0.000,0.047,3159,592,1650,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10738,0.72,332.5,92.6,7.9,1171,10789,0.00,2.10,44.70,0.645,6,0.000,0.031,3160,2001,1429,0,0,0,0,0,0,28.83,26.37,25.32
$GC,11113,0.84,396.0,64.8,7.5,1239,11170,0.15,2.25,50.35,0.607,4,0.077,0.045,3257,589,1169,0,0,0,0,0,0,26.30,25.72,25.17
$GC,11203,0.84,396.0,53.1,13.3,1254,11212,0.10,2.15,0.00,0.000,6,0.129,0.030,3222,1987,1166,0,0,0,0,0,0,25.72,25.88,28.83
$GC,11538,0.86,396.0,22.5,11.5,1315,11544,0.00,2.15,0.00,0.000,4,0.000,0.040,3222,3397,1165,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11589,0.88,396.0,16.7,10.4,1324,11597,0.00,2.15,0.00,0.000,6,0.000,0.032,3230,1984,1165,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,11634,end climb,SURFACE_DEPTH_REACHED
$STATE,11634,begin surface coast
$FINISH,5.8,1.021696
$STATE,11732,end surface coast,CONTROL_FINISHED_OK
$STATE,11733,begin surface
$SM_CCo,11749,40.53,0.545,0,0,951,450.13
$SM_GC,7.02,7.90,0.00,40.53,0.044,0.000,0.545,166,1977,951,-8.63,0.62,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,1837.32,12023.09,091211,080818
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.76
$INTERNAL_PRESSURE,9.49291
$TCM_TEMP,24.90
$XPDR_PINGS,27
$24V_AH,24.4,23.739
$10V_AH,10.3,24.563
$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,20.750,98.175,448.950,40.525,0.000,0.000,0.000,0.000,6.750,0.000,11.134,3086.710,5251.215,594.903,2669.925,259.872,0.000,1803.801,0.000,2652.805,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,52.020,1048.050,545.445,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,913.764,1089.422,931.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324624
$DATA_FILE_SIZE,76886,1350
$CAP_FILE_SIZE,148357,0
$CFSIZE,260165632,191451136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091211,120807,1845.849,12018.418,32,1.2,32,-2.0