version: 66.10
glider: 165
mission: 5
dive: 219
start: 1 4 112 10 0 57
data:
$ID,165
$MISSION,5
$DIVE,219
$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,45
$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,-271686.34
$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,42
$R_STBD_OVSHOOT,49
$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
$GPS1,040112,095406,2111.592,12000.389,33,1.1,33,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.80
$_SM_ANGLEo,-58.1
$GPS2,040112,100034,2111.416,12000.315,11,2.5,30,-2.5
$SPEED_LIMITS,0.229,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,2119.052,12008.513
$TGT_RADIUS,1852.000
$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,47.5,20000,-18.7,-13.200
$D_GRID,3240
$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,-0.89,-219.0,0.0,0.0,0,117,0.00,0.00,-99.32,0.000,2,0.000,0.000,128,1962,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.89,-219.0,11.2,-10.4,16,149,10.07,2.20,-9.65,0.000,4,0.236,0.055,2665,536,3680,0,0,0,0,0,0,25.29,26.09,26.51
$GC,158,-0.61,-219.0,28.9,-49.8,21,165,0.32,2.15,0.00,0.000,6,0.187,0.030,2743,1966,3681,0,0,0,0,0,0,25.53,26.15,28.83
$GC,487,-0.57,-219.0,114.3,-23.7,82,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1966,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,818,-0.56,-219.0,177.4,-14.4,143,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1967,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1140,-0.56,-219.0,232.1,-18.2,188,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1967,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1444,-0.57,-219.0,272.2,-10.8,218,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1967,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1754,-0.60,-219.0,305.2,-10.1,249,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1967,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2065,-0.63,-219.0,338.6,-10.0,280,2074,0.00,2.12,0.00,0.000,4,0.000,0.054,2742,3343,3684,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2111,-0.67,-219.0,343.1,-9.8,284,2117,0.00,2.10,0.00,0.000,6,0.000,0.034,2742,1951,3684,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2417,-0.70,-219.0,374.6,-11.4,315,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1951,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,-0.74,-219.0,408.5,-10.7,345,2728,0.00,2.15,0.00,0.000,4,0.000,0.051,2742,556,3682,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2761,-0.78,-219.0,413.6,-11.2,349,2771,0.12,2.12,0.00,0.000,6,0.090,0.037,2673,1948,3682,0,0,0,0,0,0,26.30,26.31,28.83
$GC,3071,-0.76,-219.0,460.1,-15.3,380,3081,0.12,2.20,0.00,0.000,4,0.161,0.051,2703,3359,3680,0,0,0,0,0,0,26.24,26.21,28.83
$GC,3134,-0.79,-219.0,467.8,-11.1,386,3143,0.00,2.12,0.00,0.000,6,0.000,0.035,2703,1959,3679,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3444,-0.80,-219.0,502.4,-11.1,417,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1958,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3746,-0.81,-219.0,535.2,-11.6,447,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1959,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4057,-0.83,-219.0,570.7,-12.5,478,4065,0.00,2.20,0.00,0.000,4,0.000,0.055,2699,3353,3673,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4119,-0.86,-219.0,578.6,-12.6,484,4127,0.00,2.15,0.00,0.000,6,0.000,0.035,2698,1954,3674,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4441,-0.87,-219.0,623.4,-14.1,508,4445,0.00,2.20,0.00,0.000,4,0.000,0.052,2698,546,3672,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4486,-0.89,-219.0,629.7,-14.0,510,4491,0.12,2.17,0.00,0.000,6,0.090,0.040,2633,1949,3672,0,0,0,0,0,0,26.27,26.27,28.83
$GC,4802,-0.86,-219.0,685.6,-17.5,526,4808,0.12,2.20,0.00,0.000,4,0.172,0.054,2669,3356,3669,0,0,0,0,0,0,26.18,26.14,28.83
$GC,4864,-0.86,-219.0,694.4,-15.2,529,4868,0.00,2.15,0.00,0.000,6,0.000,0.036,2669,1952,3669,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5177,-0.86,-219.0,735.6,-12.5,545,5183,0.00,2.17,0.00,0.000,4,0.000,0.053,2669,558,3667,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5209,-0.86,-219.0,738.3,-12.7,546,5215,0.00,2.17,0.00,0.000,6,0.000,0.041,2669,1956,3667,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5516,-0.86,-219.0,775.4,-11.6,562,5521,0.00,2.22,0.00,0.000,4,0.000,0.057,2669,3361,3665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5600,-0.87,-219.0,783.6,-10.2,566,5606,0.00,2.15,0.00,0.000,6,0.000,0.036,2669,1953,3664,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5916,-0.87,-219.0,819.6,-11.7,582,5921,0.00,2.20,0.00,0.000,4,0.000,0.053,2669,540,3663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5985,-0.87,-219.0,826.9,-12.1,585,5994,0.00,2.20,0.00,0.000,6,0.000,0.041,2669,1954,3662,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6296,-0.87,-219.0,863.2,-11.7,601,6301,0.00,2.22,0.00,0.000,4,0.000,0.057,2669,3361,3661,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6376,-0.89,-219.0,872.6,-11.7,605,6382,0.00,2.15,0.00,0.000,6,0.000,0.037,2669,1956,3660,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6697,-0.89,-219.0,911.4,-11.6,621,6703,0.00,2.20,0.00,0.000,4,0.000,0.054,2669,555,3659,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6756,-0.91,-219.0,918.7,-11.9,624,6762,0.00,2.20,0.00,0.000,6,0.000,0.042,2669,1974,3658,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7077,-0.91,-219.0,954.9,-10.9,640,7083,0.00,2.22,0.00,0.000,4,0.000,0.058,2670,3366,3656,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7130,-0.93,-219.0,959.4,-10.8,642,7137,0.00,2.17,0.00,0.000,6,0.000,0.037,2669,1945,3656,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,7414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7414,begin apogee
$GC,7421,-0.17,0.0,991.7,-11.3,657,7606,0.68,0.00,177.62,1.311,6,0.122,0.000,2893,1999,2786,0,0,0,0,0,0,25.69,28.83,23.38
$STATE,7608,end apogee,CONTROL_FINISHED_OK
$STATE,7608,begin climb
$GC,7610,0.89,219.0,998.1,0.0,666,7818,0.95,2.50,194.00,1.262,4,0.050,0.054,3247,3386,1891,0,0,0,0,0,0,24.71,23.86,22.71
$GC,7859,0.80,219.0,958.6,23.6,679,7864,0.20,2.35,0.00,0.000,6,0.181,0.041,3209,1988,1888,0,0,0,0,0,0,24.38,24.60,28.83
$GC,8175,0.74,219.0,893.6,20.4,695,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1988,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,0.68,219.0,833.6,19.8,710,8478,0.12,2.22,0.00,0.000,4,0.173,0.047,3171,3394,1883,0,0,0,0,0,0,26.00,26.08,28.83
$GC,8561,0.63,219.0,819.2,17.9,714,8570,0.00,2.20,0.00,0.000,6,0.000,0.036,3178,1987,1882,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8872,0.59,219.0,763.6,18.1,730,8874,0.15,0.00,0.00,0.000,6,0.172,0.000,3140,1987,1882,0,0,0,0,0,0,26.06,28.83,28.83
$GC,9173,0.58,219.0,720.4,14.5,745,9179,0.00,2.22,0.00,0.000,4,0.000,0.047,3140,3395,1880,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9252,0.56,219.0,707.3,16.4,749,9258,0.00,2.20,0.00,0.000,6,0.000,0.035,3147,1967,1880,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9572,0.54,219.0,656.6,15.7,765,9577,0.00,2.15,0.00,0.000,4,0.000,0.050,3158,594,1880,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9593,0.52,219.0,653.6,15.5,766,9600,0.15,2.15,0.00,0.000,6,0.148,0.033,3116,2014,1879,0,0,0,0,0,0,26.00,26.28,28.83
$GC,9912,0.58,263.3,614.9,11.4,782,9955,0.00,2.22,37.47,1.066,4,0.000,0.048,3116,3387,1712,0,0,0,0,0,0,28.83,25.65,24.45
$GC,9982,0.63,310.1,608.6,11.3,785,10030,0.00,2.20,42.65,1.040,6,0.000,0.035,3124,1979,1521,0,0,0,0,0,0,28.83,25.78,24.15
$GC,10340,0.70,351.9,564.6,11.5,818,10382,0.12,2.22,36.62,1.013,4,0.090,0.049,3209,592,1351,0,0,0,0,0,0,26.17,25.51,24.39
$GC,10417,0.67,351.9,550.5,21.1,825,10426,0.12,2.15,0.00,0.000,6,0.135,0.031,3170,1980,1348,0,0,0,0,0,0,25.49,25.74,28.83
$GC,10725,0.67,351.9,504.7,13.6,856,10734,0.00,2.22,0.00,0.000,4,0.000,0.046,3170,3393,1347,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10747,0.68,360.0,501.9,12.9,858,10760,0.00,2.17,8.30,0.847,6,0.000,0.036,3178,1982,1317,0,0,0,0,0,0,28.83,26.12,24.62
$GC,11063,0.68,360.0,455.1,16.4,889,11071,0.00,2.17,0.00,0.000,4,0.000,0.050,3188,586,1316,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11114,0.68,360.0,446.6,16.4,894,11123,0.00,2.15,0.00,0.000,6,0.000,0.031,3188,1991,1315,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11426,0.67,360.0,395.5,16.9,925,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1991,1315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11726,0.67,360.0,345.6,16.3,955,11735,0.00,2.20,0.00,0.000,4,0.000,0.046,3188,3401,1315,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11782,0.67,360.0,337.1,16.2,960,11789,0.12,2.17,0.00,0.000,6,0.161,0.035,3166,1985,1315,0,0,0,0,0,0,26.03,26.29,28.83
$GC,12089,0.70,375.4,297.3,12.6,991,12109,0.00,2.25,14.55,0.789,4,0.000,0.048,3174,586,1254,0,0,0,0,0,0,28.83,26.13,24.84
$GC,12208,0.80,429.4,283.6,11.0,1002,12259,0.00,2.12,45.42,0.812,6,0.000,0.031,3174,1998,1033,0,0,0,0,0,0,28.83,26.20,24.60
$GC,12571,0.86,450.2,239.3,12.4,1038,12598,0.12,2.25,18.08,0.744,4,0.087,0.047,3256,581,947,0,0,0,0,0,0,26.24,25.88,24.81
$GC,12665,0.85,450.2,223.3,17.0,1047,12674,0.08,2.15,0.00,0.000,6,0.140,0.030,3229,1995,946,0,0,0,0,0,0,25.78,26.03,28.83
$GC,12983,0.86,450.2,173.4,15.9,1094,12991,0.00,2.25,0.00,0.000,4,0.000,0.047,3237,586,944,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13064,0.89,451.4,161.9,13.1,1108,13072,0.00,2.15,0.00,0.000,6,0.000,0.030,3237,1994,944,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13398,0.91,453.6,118.8,13.1,1169,13413,0.00,2.25,4.10,0.441,4,0.000,0.046,3247,583,934,0,0,0,0,0,0,28.83,26.21,24.63
$GC,13452,0.96,472.7,111.7,12.4,1178,13474,0.00,2.15,16.62,0.630,6,0.000,0.029,3247,1998,858,0,0,0,0,0,0,28.83,26.31,25.02
$GC,13801,1.05,521.2,67.0,11.2,1241,13859,0.12,2.28,49.62,0.611,4,0.087,0.046,3332,578,657,0,0,0,0,0,0,26.38,25.75,24.89
$GC,13917,1.03,521.2,43.5,22.7,1259,13924,0.17,2.15,0.00,0.000,6,0.146,0.029,3283,1997,645,0,0,0,0,0,0,25.65,25.95,28.83
$STATE,14135,end climb,SURFACE_DEPTH_REACHED
$STATE,14135,begin surface coast
$FINISH,6.7,1.022977
$STATE,14270,end surface coast,CONTROL_FINISHED_OK
$STATE,14270,begin surface
$SM_CCo,14348,0.00,0.000,0,0,636,527.40
$SM_GC,7.52,7.85,0.05,0.00,0.029,0.145,0.000,161,1952,636,-8.61,1.41,527.40,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,11953.58,040112,050509
$TT8_MAMPS,0.023968,0.023968
$HUMID,42.79
$INTERNAL_PRESSURE,9.41478
$TCM_TEMP,25.10
$XPDR_PINGS,13
$24V_AH,22.7,50.953
$10V_AH,10.1,42.149
$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,21.875,118.575,645.075,0.000,0.000,30.521,44.300,166.662,3.250,0.000,33.723,3068.207,7647.963,681.156,2986.669,341.278,0.000,2035.524,0.000,2704.567,0.000,0.541,0.000
$DEVICE_MAMPS,235.620,144.585,1311.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.780,1125.808,753.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325348
$DATA_FILE_SIZE,76938,1320
$CAP_FILE_SIZE,158742,0
$CFSIZE,260165632,179957760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040112,140106,2111.915,12001.710,22,1.2,22,-2.5