version: 66.10
glider: 165
mission: 5
dive: 210
start: 1 2 112 21 16 21
data:
$ID,165
$MISSION,5
$DIVE,210
$N_DIVES,0
$D_SURF,11
$D_FLARE,11
$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,250
$T_MISSION,280
$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,225
$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,-271675.09
$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,59
$R_STBD_OVSHOOT,58
$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
$GPS1,020112,210907,2110.097,11954.967,32,1.0,32,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.00
$_SM_ANGLEo,-63.4
$GPS2,020112,211558,2109.884,11954.948,13,2.2,32,-2.5
$SPEED_LIMITS,0.229,0.342
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$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,10.1,65612,-18.7,-13.200
$D_GRID,3451
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.89,-219.0,0.0,0.0,0,117,0.00,0.00,-99.60,0.000,2,0.000,0.000,127,1941,3063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.89,-219.0,11.5,-11.8,16,150,9.98,2.20,-10.55,0.000,4,0.233,0.057,2646,3350,3680,0,0,0,0,0,0,25.29,26.06,26.51
$GC,248,-0.82,-219.0,57.7,-27.8,38,256,0.12,2.12,0.00,0.000,6,0.158,0.034,2684,1964,3681,0,0,0,0,0,0,25.81,26.20,28.83
$GC,586,-0.73,-219.0,161.1,-28.3,99,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1964,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,913,-0.68,-219.0,229.1,-22.3,146,925,0.12,2.15,0.00,0.000,4,0.171,0.047,2725,558,3682,0,0,0,0,0,0,26.17,26.25,28.83
$GC,1003,-0.68,-219.0,243.7,-13.5,154,1011,0.00,2.12,0.00,0.000,6,0.000,0.036,2724,1936,3682,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1311,-0.68,-219.0,288.8,-17.3,185,1319,0.00,2.20,0.00,0.000,4,0.000,0.051,2717,3358,3683,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1416,-0.70,-219.0,306.9,-17.4,195,1424,0.00,2.10,0.00,0.000,6,0.000,0.034,2717,1952,3683,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1724,-0.71,-219.0,353.9,-11.2,226,1733,0.00,2.15,0.00,0.000,4,0.000,0.050,2717,551,3683,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1749,-0.71,-219.0,356.5,-11.3,228,1756,0.00,2.12,0.00,0.000,6,0.000,0.037,2713,1957,3683,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2056,-0.72,-219.0,393.2,-12.6,259,2065,0.00,2.17,0.00,0.000,4,0.000,0.048,2713,552,3683,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2120,-0.74,-219.0,401.1,-12.5,265,2128,0.00,2.10,0.00,0.000,6,0.000,0.038,2713,1949,3683,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2428,-0.75,-219.0,439.3,-11.9,296,2437,0.00,2.20,0.00,0.000,4,0.000,0.052,2703,3369,3682,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2553,-0.77,-219.0,453.2,-10.9,308,2562,0.00,2.10,0.00,0.000,6,0.000,0.034,2703,1963,3681,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2860,-0.78,-219.0,488.2,-10.0,339,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1963,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3163,-0.80,-219.0,519.6,-11.2,369,3172,0.00,2.15,0.00,0.000,4,0.000,0.051,2703,554,3678,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3207,-0.81,-219.0,524.6,-11.3,373,3214,0.00,2.15,0.00,0.000,6,0.000,0.038,2700,1969,3677,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3515,-0.83,-219.0,565.2,-13.9,404,3523,0.00,2.20,0.00,0.000,4,0.000,0.054,2691,3366,3674,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3587,-0.85,-219.0,574.7,-13.1,411,3595,0.00,2.15,0.00,0.000,6,0.000,0.034,2690,1951,3674,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3899,-0.86,-219.0,615.3,-12.4,436,3905,0.00,2.20,0.00,0.000,4,0.000,0.053,2686,3353,3671,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3951,-0.87,-219.0,620.2,-12.0,438,3958,0.00,2.12,0.00,0.000,6,0.000,0.035,2686,1944,3671,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4259,-0.88,-219.0,657.4,-11.0,454,4263,0.00,2.17,0.00,0.000,4,0.000,0.052,2686,550,3670,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4295,-0.89,-219.0,660.2,-11.1,455,4301,0.00,2.15,0.00,0.000,6,0.000,0.040,2686,1950,3669,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4602,-0.90,-219.0,694.9,-10.7,471,4607,0.00,2.22,0.00,0.000,4,0.000,0.056,2686,3362,3668,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4636,-0.91,-219.0,697.1,-10.7,472,4643,0.00,2.12,0.00,0.000,6,0.000,0.035,2686,1957,3667,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4942,-0.92,-219.0,731.3,-11.2,488,4945,0.00,2.17,0.00,0.000,4,0.000,0.052,2686,557,3665,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4993,-0.94,-219.0,736.1,-11.3,490,5003,0.12,2.15,0.00,0.000,6,0.094,0.041,2624,1958,3665,0,0,0,0,0,0,26.23,26.25,28.83
$GC,5303,-0.91,-219.0,784.0,-14.9,506,5310,0.12,2.22,0.00,0.000,4,0.171,0.055,2658,3364,3662,0,0,0,0,0,0,26.18,26.10,28.83
$GC,5367,-0.91,-219.0,791.1,-12.6,509,5371,0.00,2.15,0.00,0.000,6,0.000,0.036,2658,1947,3661,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5679,-0.91,-219.0,828.5,-11.6,525,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1947,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5979,-0.91,-219.0,862.9,-11.7,540,5985,0.00,2.17,0.00,0.000,4,0.000,0.054,2658,554,3658,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6028,-0.91,-219.0,867.7,-12.0,542,6037,0.00,2.17,0.00,0.000,6,0.000,0.042,2658,1960,3657,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6339,-0.91,-219.0,904.1,-11.2,558,6345,0.00,2.22,0.00,0.000,4,0.000,0.058,2658,3360,3656,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6372,-0.91,-219.0,906.3,-11.3,559,6379,0.00,2.15,0.00,0.000,6,0.000,0.036,2658,1947,3656,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6680,-0.91,-219.0,943.1,-11.9,575,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1948,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6979,-0.91,-219.0,979.0,-11.9,590,6985,0.00,2.30,0.00,0.000,4,0.000,0.057,2658,3362,3654,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7044,-0.92,-219.0,985.9,-11.6,593,7049,0.00,2.15,0.00,0.000,6,0.000,0.037,2658,1957,3653,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,7076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7076,begin apogee
$GC,7082,-0.17,0.0,990.5,-11.4,595,7267,0.70,0.00,177.12,1.313,6,0.125,0.000,2887,1957,2785,0,0,0,0,0,0,25.65,28.83,23.41
$STATE,7268,end apogee,CONTROL_FINISHED_OK
$STATE,7268,begin climb
$GC,7272,0.89,219.0,996.4,0.0,604,7480,0.95,2.62,194.52,1.266,4,0.047,0.053,3247,3393,1891,0,0,0,0,0,0,24.73,23.84,22.72
$GC,7546,0.80,219.0,946.6,26.1,618,7551,0.20,2.30,0.00,0.000,6,0.184,0.041,3209,1989,1888,0,0,0,0,0,0,24.60,24.84,28.83
$GC,7860,0.73,219.0,873.7,23.4,634,7866,0.00,2.25,0.00,0.000,4,0.000,0.052,3217,582,1886,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7887,0.67,219.0,868.8,23.7,635,7892,0.20,2.20,0.00,0.000,6,0.155,0.037,3164,2001,1884,0,0,0,0,0,0,25.70,26.01,28.83
$GC,8195,0.63,219.0,808.3,18.1,650,8201,0.00,2.22,0.00,0.000,4,0.000,0.050,3164,3402,1882,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8217,0.60,219.0,804.4,18.5,651,8221,0.00,2.17,0.00,0.000,6,0.000,0.037,3172,1992,1882,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8529,0.55,219.0,745.5,18.0,667,8531,0.15,0.00,0.00,0.000,6,0.169,0.000,3132,1991,1882,0,0,0,0,0,0,26.06,28.83,28.83
$GC,8830,0.54,219.0,702.7,13.8,682,8836,0.00,2.20,0.00,0.000,4,0.000,0.050,3142,580,1881,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8891,0.54,226.3,695.0,12.9,685,8901,0.00,2.12,5.72,0.862,6,0.000,0.034,3141,2001,1863,0,0,0,0,0,0,28.83,26.26,24.46
$GC,9207,0.56,252.5,655.7,12.1,700,9234,0.00,0.00,24.77,1.079,6,0.000,0.000,3141,2002,1756,0,0,0,0,0,0,28.83,28.83,24.59
$GC,9524,0.57,270.0,615.1,12.5,716,9546,0.00,2.25,16.42,1.021,4,0.000,0.048,3141,3387,1685,0,0,0,0,0,0,28.83,25.85,24.60
$GC,9630,0.56,270.0,602.1,13.4,721,9636,0.00,2.17,0.00,0.000,6,0.000,0.035,3151,1979,1683,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9944,0.55,270.0,556.6,15.0,752,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1979,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10248,0.54,270.0,508.1,17.5,782,10257,0.00,2.12,0.00,0.000,4,0.000,0.048,3161,595,1682,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10313,0.54,270.0,496.0,18.2,788,10320,0.15,2.10,0.00,0.000,6,0.143,0.032,3118,1978,1681,0,0,0,0,0,0,25.99,26.27,28.83
$GC,10620,0.56,270.0,445.7,15.2,819,10629,0.00,2.22,0.00,0.000,4,0.000,0.047,3118,3405,1680,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10641,0.58,270.0,442.5,14.9,821,10650,0.00,2.15,0.00,0.000,6,0.000,0.034,3126,1978,1680,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10952,0.65,321.4,401.0,11.1,852,11004,0.10,2.33,45.05,0.918,4,0.107,0.044,3184,3392,1474,0,0,0,0,0,0,26.47,25.65,24.58
$GC,11026,0.63,321.4,390.0,17.0,859,11034,0.15,2.20,0.00,0.000,6,0.160,0.036,3155,1991,1474,0,0,0,0,0,0,25.51,25.76,28.83
$GC,11333,0.65,321.4,349.2,13.9,890,11341,0.00,2.20,0.00,0.000,4,0.000,0.048,3164,589,1472,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11470,0.67,321.4,331.0,13.2,903,11477,0.00,2.12,0.00,0.000,6,0.000,0.031,3164,1995,1471,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11775,0.77,397.3,290.7,10.1,934,11846,0.10,0.00,63.17,0.825,6,0.106,0.000,3214,1995,1164,0,0,0,0,0,0,26.40,28.83,24.52
$GC,12146,0.76,397.3,234.9,17.2,971,12154,0.00,2.22,0.00,0.000,4,0.000,0.047,3224,583,1162,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12189,0.76,397.3,228.0,15.9,975,12197,0.00,2.12,0.00,0.000,6,0.000,0.031,3224,1994,1161,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12506,0.76,397.3,180.9,13.4,1018,12514,0.00,2.22,0.00,0.000,4,0.000,0.046,3234,593,1160,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12555,0.78,397.3,174.6,13.6,1026,12563,0.10,2.12,0.00,0.000,6,0.119,0.030,3197,1989,1160,0,0,0,0,0,0,25.99,26.26,28.83
$GC,12892,0.96,506.6,143.8,8.8,1087,12994,0.15,2.20,93.28,0.675,4,0.079,0.040,3281,3387,716,0,0,0,0,0,0,26.41,25.45,24.60
$GC,13073,0.98,506.6,115.0,15.3,1117,13080,0.00,2.17,0.00,0.000,6,0.000,0.034,3291,1976,709,0,0,0,0,0,0,28.83,25.80,28.83
$GC,13422,0.98,506.6,53.4,18.1,1178,13431,0.00,2.17,0.00,0.000,4,0.000,0.047,3302,589,705,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13548,0.99,506.6,34.5,15.9,1198,13559,0.08,2.12,0.00,0.000,6,0.124,0.029,3274,1997,703,0,0,0,0,0,0,26.01,26.25,28.83
$STATE,13684,end climb,SURFACE_DEPTH_REACHED
$STATE,13685,begin surface coast
$FINISH,6.9,1.023072
$STATE,13760,end surface coast,CONTROL_FINISHED_OK
$STATE,13760,begin surface
$SM_CCo,13837,0.00,0.000,0,0,702,511.21
$SM_GC,7.63,7.80,0.00,0.00,0.028,0.000,0.000,155,2009,702,-8.63,1.53,511.21,0,0,0,0,0,0
$IRIDIUM_FIX,2101.76,11955.59,020112,171757
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.26
$INTERNAL_PRESSURE,9.41478
$TCM_TEMP,25.00
$XPDR_PINGS,7
$24V_AH,22.7,49.049
$10V_AH,10.1,41.092
$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,21.300,126.625,620.075,0.000,0.000,30.978,44.753,184.089,1.750,0.000,35.640,2872.805,7469.169,726.300,2829.949,336.765,0.000,1990.987,0.000,2536.263,0.000,0.542,0.000
$DEVICE_MAMPS,232.560,58.140,1312.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,833.721,1068.170,701.179,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325084
$DATA_FILE_SIZE,70335,1234
$CAP_FILE_SIZE,154500,0
$CFSIZE,260165632,180670464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030112,010807,2110.242,11954.949,30,1.1,30,-2.5