version: 66.10
glider: 165
mission: 5
dive: 221
start: 1 4 112 18 26 56
data:
$ID,165
$MISSION,5
$DIVE,221
$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,225
$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,-271688.84
$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,50
$R_STBD_OVSHOOT,40
$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
$GPS1,040112,181906,2112.162,12004.146,38,1.5,43,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.84
$_SM_ANGLEo,-56.9
$GPS2,040112,182634,2112.042,12004.132,14,3.3,33,-2.5
$SPEED_LIMITS,0.254,0.354
$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,355.9,61451,-20.3,-14.667
$D_GRID,3044
$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,-0.95,-219.0,0.0,0.0,0,120,0.00,0.00,-101.55,0.000,2,0.000,0.000,133,1956,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.95,-219.0,13.0,-15.7,16,145,10.10,0.00,-4.15,0.000,6,0.239,0.000,2636,1953,3681,0,0,0,0,0,0,25.30,28.83,26.47
$GC,468,-0.86,-219.0,144.8,-31.0,79,474,0.12,0.00,0.00,0.000,6,0.200,0.000,2671,1953,3682,0,0,0,0,0,0,26.00,28.83,28.83
$GC,795,-0.83,-219.0,216.6,-19.8,132,805,0.00,2.15,0.00,0.000,4,0.000,0.047,2671,554,3683,0,0,0,0,0,0,28.83,26.23,28.83
$GC,811,-0.79,-219.0,218.8,-20.7,133,817,0.00,2.12,0.00,0.000,6,0.000,0.037,2670,1953,3683,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1119,-0.77,-219.0,279.7,-16.4,164,1130,0.12,2.17,0.00,0.000,4,0.182,0.050,2699,3364,3683,0,0,0,0,0,0,26.16,26.21,28.83
$GC,1166,-0.77,-219.0,286.2,-14.3,168,1176,0.00,2.08,0.00,0.000,6,0.000,0.034,2699,1962,3683,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1473,-0.77,-219.0,325.7,-12.4,199,1482,0.00,2.20,0.00,0.000,4,0.000,0.050,2699,540,3684,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1530,-0.78,-219.0,332.7,-13.3,204,1537,0.00,2.15,0.00,0.000,6,0.000,0.037,2698,1957,3684,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1835,-0.80,-219.0,373.1,-12.5,235,1844,0.00,2.20,0.00,0.000,4,0.000,0.054,2698,3363,3684,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1970,-0.83,-219.0,388.7,-11.4,248,1979,0.00,2.12,0.00,0.000,6,0.000,0.034,2698,1956,3683,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2279,-0.84,-219.0,427.4,-11.2,279,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1956,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2589,-0.86,-219.0,458.3,-9.9,310,2597,0.00,2.15,0.00,0.000,4,0.000,0.052,2698,558,3680,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2613,-0.88,-219.0,460.8,-10.3,312,2620,0.00,2.15,0.00,0.000,6,0.000,0.039,2698,1954,3680,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2921,-0.90,-219.0,495.3,-12.2,343,2930,0.12,2.17,0.00,0.000,4,0.090,0.054,2630,3354,3677,0,0,0,0,0,0,26.51,26.17,28.83
$GC,3014,-0.89,-219.0,510.7,-17.6,352,3023,0.08,2.12,0.00,0.000,6,0.150,0.036,2655,1955,3677,0,0,0,0,0,0,26.06,26.33,28.83
$GC,3322,-0.89,-219.0,560.0,-15.6,383,3332,0.00,2.17,0.00,0.000,4,0.000,0.052,2655,558,3675,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3385,-0.89,-219.0,570.1,-16.2,389,3394,0.00,2.12,0.00,0.000,6,0.000,0.041,2656,1952,3675,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3706,-0.89,-219.0,613.6,-13.4,416,3712,0.00,2.20,0.00,0.000,4,0.000,0.056,2656,3363,3672,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3753,-0.89,-219.0,619.0,-13.5,418,3757,0.00,2.15,0.00,0.000,6,0.000,0.036,2656,1945,3672,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4061,-0.89,-219.0,663.0,-13.6,433,4066,0.00,2.25,0.00,0.000,4,0.000,0.054,2656,3370,3669,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4099,-0.89,-219.0,668.4,-13.6,435,4105,0.00,2.15,0.00,0.000,6,0.000,0.036,2656,1950,3669,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4421,-0.89,-219.0,711.0,-13.1,451,4426,0.00,2.17,0.00,0.000,4,0.000,0.054,2656,560,3668,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4482,-0.89,-219.0,718.9,-13.1,454,4486,0.00,2.20,0.00,0.000,6,0.000,0.042,2656,1966,3667,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4799,-0.89,-219.0,760.0,-12.8,470,4805,0.00,2.20,0.00,0.000,4,0.000,0.057,2656,3359,3664,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4849,-0.90,-219.0,765.4,-13.4,472,4853,0.00,2.15,0.00,0.000,6,0.000,0.037,2656,1956,3664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5161,-0.91,-219.0,809.2,-14.0,488,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1956,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5463,-0.92,-219.0,850.8,-13.8,503,5468,0.00,2.17,0.00,0.000,4,0.000,0.055,2655,557,3661,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5494,-0.92,-219.0,853.9,-14.4,504,5500,0.00,2.17,0.00,0.000,6,0.000,0.042,2656,1962,3660,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5801,-0.93,-219.0,896.8,-13.3,520,5807,0.00,2.25,0.00,0.000,4,0.000,0.059,2655,3365,3658,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5906,-0.95,-219.0,909.9,-12.6,525,5910,0.00,2.17,0.00,0.000,6,0.000,0.037,2655,1954,3658,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6218,-0.97,-219.0,949.8,-12.2,541,6224,0.00,2.20,0.00,0.000,4,0.000,0.054,2655,558,3656,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6282,-0.98,-219.0,957.6,-13.0,544,6288,0.00,2.20,0.00,0.000,6,0.000,0.042,2655,1966,3656,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,6535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6535,begin apogee
$GC,6541,-0.17,0.0,990.1,-12.6,557,6727,0.73,0.00,178.20,1.310,6,0.129,0.000,2892,1965,2785,0,0,0,0,0,0,25.62,28.83,23.37
$STATE,6728,end apogee,CONTROL_FINISHED_OK
$STATE,6728,begin climb
$GC,6730,0.95,219.0,997.2,0.0,566,6932,1.00,0.00,194.55,1.262,6,0.046,0.000,3272,1966,1892,0,0,0,0,0,0,24.72,28.83,22.68
$GC,7222,0.86,219.0,890.5,25.6,591,7229,0.15,2.28,0.00,0.000,4,0.188,0.052,3230,3393,1885,0,0,0,0,0,0,25.60,25.79,28.83
$GC,7295,0.79,219.0,875.9,24.6,594,7302,0.12,2.22,0.00,0.000,6,0.198,0.041,3209,1972,1884,0,0,0,0,0,0,25.67,25.95,28.83
$GC,7603,0.74,219.0,808.9,20.0,610,7608,0.00,2.15,0.00,0.000,4,0.000,0.052,3217,597,1883,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7622,0.69,219.0,804.8,20.0,611,7628,0.17,2.17,0.00,0.000,6,0.158,0.036,3171,2013,1882,0,0,0,0,0,0,25.85,26.14,28.83
$GC,7944,0.66,219.0,750.3,17.3,627,7948,0.00,2.15,0.00,0.000,4,0.000,0.050,3171,3389,1881,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8059,0.63,219.0,731.0,18.7,632,8066,0.00,2.12,0.00,0.000,6,0.000,0.037,3178,2011,1881,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8366,0.60,219.0,670.2,19.2,648,8372,0.12,2.25,0.00,0.000,4,0.177,0.048,3151,570,1881,0,0,0,0,0,0,26.11,26.19,28.83
$GC,8420,0.58,219.0,663.4,18.2,650,8427,0.00,2.15,0.00,0.000,6,0.000,0.034,3151,1993,1879,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8726,0.58,227.7,615.2,14.3,666,8738,0.00,2.20,6.80,0.888,4,0.000,0.047,3151,3389,1856,0,0,0,0,0,0,28.83,26.19,24.45
$GC,8911,0.57,227.7,588.0,15.4,678,8920,0.00,2.17,0.00,0.000,6,0.000,0.036,3160,1963,1856,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9221,0.58,248.4,545.8,13.7,709,9243,0.00,0.00,19.73,1.002,6,0.000,0.000,3160,1963,1773,0,0,0,0,0,0,28.83,28.83,24.65
$GC,9541,0.57,248.4,500.2,14.8,741,9550,0.00,2.15,0.00,0.000,4,0.000,0.049,3171,583,1769,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9565,0.56,248.4,497.1,14.8,743,9575,0.10,2.12,0.00,0.000,6,0.133,0.032,3137,1975,1769,0,0,0,0,0,0,25.89,26.17,28.83
$GC,9874,0.65,307.2,459.4,12.0,774,9933,0.00,2.28,51.17,0.962,4,0.000,0.044,3137,3395,1533,0,0,0,0,0,0,28.83,25.50,24.40
$GC,10029,0.77,375.1,441.6,11.6,789,10096,0.15,2.17,59.15,0.927,6,0.080,0.036,3212,1989,1255,0,0,0,0,0,0,25.84,25.86,24.21
$GC,10397,0.77,375.1,378.1,18.1,826,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1989,1252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10697,0.77,375.1,320.3,19.3,856,10705,0.00,2.17,0.00,0.000,4,0.000,0.050,3223,593,1251,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10779,0.77,375.1,304.5,18.6,864,10788,0.00,2.12,0.00,0.000,6,0.000,0.031,3223,1995,1249,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11089,0.77,375.1,248.9,16.8,895,11097,0.00,2.15,0.00,0.000,4,0.000,0.045,3223,3390,1249,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11112,0.77,375.1,245.3,16.4,897,11122,0.12,2.15,0.00,0.000,6,0.167,0.037,3195,1985,1249,0,0,0,0,0,0,25.97,26.25,28.83
$GC,11421,0.87,432.6,203.7,12.1,928,11477,0.12,2.25,46.40,0.756,4,0.092,0.049,3277,592,1021,0,0,0,0,0,0,26.44,25.73,24.72
$GC,11559,0.86,432.6,179.0,20.0,949,11566,0.17,2.15,0.00,0.000,6,0.145,0.031,3228,1998,1020,0,0,0,0,0,0,25.66,25.95,28.83
$GC,11892,0.97,486.3,133.3,12.3,1010,11943,0.00,2.28,43.95,0.682,4,0.000,0.045,3236,583,800,0,0,0,0,0,0,28.83,25.70,24.77
$GC,12018,1.17,599.6,119.9,9.6,1031,12125,0.25,2.15,84.78,0.623,6,0.058,0.029,3352,2003,484,0,0,0,0,3,0,25.92,25.94,24.53
$GC,12463,1.17,599.6,18.3,25.0,1108,12472,0.00,2.25,0.00,0.000,4,0.000,0.049,3363,592,482,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,12489,end climb,SURFACE_DEPTH_REACHED
$STATE,12489,begin surface coast
$FINISH,6.7,1.023425
$STATE,12534,end surface coast,CONTROL_FINISHED_OK
$STATE,12534,begin surface
$SM_CCo,12615,0.00,0.000,0,0,482,565.17
$SM_GC,7.13,8.12,2.12,0.00,0.031,0.034,0.000,155,1957,482,-8.64,-1.44,565.17,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,12005.90,040112,141402
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.40
$INTERNAL_PRESSURE,9.37572
$TCM_TEMP,24.50
$XPDR_PINGS,11
$24V_AH,22.7,51.384
$10V_AH,10.0,42.378
$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,21.900,113.150,684.725,0.000,0.000,24.367,40.253,223.482,2.750,0.000,37.126,2581.559,6778.200,728.923,2636.424,322.954,0.000,1948.250,0.000,2320.097,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,58.905,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.032,980.891,570.112,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325320
$DATA_FILE_SIZE,63557,1120
$CAP_FILE_SIZE,140262,0
$CFSIZE,260165632,179818496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040112,215843,2113.072,12004.272,38,1.9,52,-2.5