version: 66.10
glider: 165
mission: 5
dive: 222
start: 1 4 112 22 5 59
data:
$ID,165
$MISSION,5
$DIVE,222
$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,-271690.09
$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,42
$R_STBD_OVSHOOT,48
$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
$GPS1,040112,215843,2113.072,12004.272,38,1.9,52,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.66
$_SM_ANGLEo,-56.4
$GPS2,040112,220537,2112.994,12004.269,31,1.2,31,-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,355.4,59728,-20.3,-14.667
$D_GRID,2990
$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,-219.0,0.0,0.0,0,131,0.00,0.00,-112.72,0.000,2,0.000,0.000,132,1971,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-0.95,-219.0,12.7,-14.1,18,158,10.02,2.15,-4.50,0.000,4,0.237,0.052,2630,3357,3680,0,0,0,0,0,0,25.29,26.08,26.48
$GC,280,-0.89,-219.0,70.6,-29.8,43,287,0.10,2.15,0.00,0.000,6,0.194,0.036,2658,1949,3681,0,0,0,0,0,0,25.91,26.18,28.83
$GC,646,-0.81,-219.0,182.9,-30.8,104,656,0.10,2.17,0.00,0.000,4,0.192,0.046,2683,558,3682,0,0,0,0,0,0,26.22,26.20,28.83
$GC,751,-0.79,-219.0,204.1,-20.6,119,758,0.00,2.12,0.00,0.000,6,0.000,0.036,2676,1948,3683,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1056,-0.76,-219.0,265.1,-17.5,150,1068,0.00,2.17,0.00,0.000,4,0.000,0.051,2669,3353,3684,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1103,-0.75,-219.0,271.9,-14.7,154,1115,0.12,2.12,0.00,0.000,6,0.160,0.034,2706,1949,3684,0,0,0,0,0,0,26.06,26.33,28.83
$GC,1413,-0.76,-219.0,313.8,-13.9,185,1422,0.00,2.15,0.00,0.000,4,0.000,0.050,2706,552,3684,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1435,-0.77,-219.0,316.9,-13.8,187,1444,0.00,2.12,0.00,0.000,6,0.000,0.037,2700,1957,3684,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1745,-0.77,-219.0,360.7,-15.2,218,1754,0.00,2.20,0.00,0.000,4,0.000,0.052,2689,3366,3684,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1797,-0.79,-219.0,368.2,-14.2,223,1806,0.00,2.12,0.00,0.000,6,0.000,0.034,2689,1948,3683,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2107,-0.80,-219.0,412.5,-13.5,254,2116,0.00,2.15,0.00,0.000,4,0.000,0.051,2689,555,3683,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2149,-0.82,-219.0,418.1,-13.4,258,2158,0.00,2.12,0.00,0.000,6,0.000,0.039,2687,1954,3683,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2459,-0.83,-219.0,458.1,-12.6,289,2468,0.00,2.17,0.00,0.000,4,0.000,0.054,2676,3360,3681,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2493,-0.84,-219.0,462.0,-12.3,292,2500,0.00,2.15,0.00,0.000,6,0.000,0.035,2677,1945,3680,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2800,-0.84,-219.0,503.5,-13.4,323,2809,0.00,2.25,0.00,0.000,4,0.000,0.053,2674,3369,3680,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2824,-0.85,-219.0,506.5,-13.3,325,2832,0.00,2.15,0.00,0.000,6,0.000,0.035,2674,1954,3679,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3132,-0.85,-219.0,549.6,-14.4,356,3136,0.00,2.20,0.00,0.000,4,0.000,0.051,2673,544,3678,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3217,-0.86,-219.0,560.6,-13.5,364,3224,0.00,2.17,0.00,0.000,6,0.000,0.041,2674,1962,3677,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3534,-0.87,-219.0,606.6,-14.9,394,3539,0.00,2.22,0.00,0.000,4,0.000,0.056,2672,3368,3674,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3602,-0.89,-219.0,614.9,-14.1,397,3606,0.00,2.15,0.00,0.000,6,0.000,0.036,2672,1946,3674,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3911,-0.89,-219.0,662.5,-15.3,412,3917,0.00,2.25,0.00,0.000,4,0.000,0.054,2671,3359,3672,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3970,-0.91,-219.0,671.7,-15.1,415,3976,0.00,2.17,0.00,0.000,6,0.000,0.037,2671,1947,3672,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4290,-0.92,-219.0,716.2,-13.9,431,4296,0.00,2.17,0.00,0.000,4,0.000,0.054,2671,558,3669,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4339,-0.93,-219.0,721.6,-13.7,433,4348,0.00,2.15,0.00,0.000,6,0.000,0.041,2671,1954,3669,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4650,-0.95,-219.0,757.8,-10.7,449,4656,0.00,2.20,0.00,0.000,4,0.000,0.057,2671,3355,3667,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4691,-0.96,-219.0,762.0,-10.7,451,4697,0.00,2.10,0.00,0.000,6,0.000,0.036,2671,1964,3667,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5012,-0.98,-219.0,796.3,-10.8,467,5018,0.12,2.20,0.00,0.000,4,0.095,0.051,2603,555,3665,0,0,0,0,0,0,26.48,26.17,28.83
$GC,5045,-0.99,-219.0,798.9,-11.3,468,5053,0.12,2.20,0.00,0.000,6,0.184,0.043,2632,1962,3665,0,0,0,0,0,0,25.91,26.21,28.83
$GC,5351,-0.98,-219.0,844.5,-14.5,484,5357,0.00,2.22,0.00,0.000,4,0.000,0.057,2630,3360,3662,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5430,-0.98,-219.0,856.7,-15.1,488,5436,0.00,2.17,0.00,0.000,6,0.000,0.037,2630,1953,3662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5752,-0.97,-219.0,907.8,-16.8,504,5757,0.00,2.17,0.00,0.000,4,0.000,0.055,2630,560,3660,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5771,-0.96,-219.0,911.1,-16.6,505,5776,0.00,2.17,0.00,0.000,6,0.000,0.042,2630,1955,3660,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6092,-0.96,-219.0,960.0,-14.2,521,6098,0.00,2.25,0.00,0.000,4,0.000,0.054,2630,547,3659,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6119,-0.96,-219.0,962.9,-14.2,522,6123,0.00,2.22,0.00,0.000,6,0.000,0.043,2630,1963,3659,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,6303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6303,begin apogee
$GC,6308,-0.17,0.0,991.6,-14.7,531,6495,0.80,0.00,178.30,1.309,6,0.136,0.000,2885,1963,2785,0,0,0,0,0,0,25.58,28.83,23.35
$STATE,6497,end apogee,CONTROL_FINISHED_OK
$STATE,6497,begin climb
$GC,6499,0.95,219.0,998.0,0.0,540,6706,1.02,2.55,195.02,1.266,4,0.051,0.054,3266,3386,1891,0,0,0,0,0,0,24.70,23.85,22.68
$GC,6732,0.85,219.0,960.3,24.0,552,6738,0.17,2.33,0.00,0.000,6,0.178,0.041,3229,1998,1889,0,0,0,0,0,0,24.18,24.41,28.83
$GC,7052,0.79,219.0,888.9,21.3,568,7057,0.00,2.25,0.00,0.000,4,0.000,0.053,3238,584,1885,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7084,0.72,219.0,884.9,20.9,569,7091,0.20,2.20,0.00,0.000,6,0.165,0.037,3186,2000,1883,0,0,0,0,0,0,25.67,25.99,28.83
$GC,7391,0.68,219.0,832.1,16.0,585,7397,0.00,2.22,0.00,0.000,4,0.000,0.050,3186,3403,1882,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7479,0.64,219.0,817.9,17.7,589,7484,0.15,2.20,0.00,0.000,6,0.178,0.037,3157,1985,1882,0,0,0,0,0,0,25.86,26.22,28.83
$GC,7789,0.65,241.1,773.0,13.7,604,7810,0.00,0.00,19.08,1.128,6,0.000,0.000,3157,1985,1802,0,0,0,0,0,0,28.83,28.83,24.56
$GC,8106,0.67,265.3,729.2,13.6,620,8134,0.00,2.28,22.73,1.112,4,0.000,0.050,3165,568,1703,0,0,0,0,0,0,28.83,25.74,24.49
$GC,8176,0.68,280.3,721.2,14.0,623,8201,0.00,2.22,14.50,1.052,6,0.000,0.034,3165,2016,1643,0,0,0,0,0,0,28.83,25.86,24.33
$GC,8503,0.66,280.3,669.0,16.1,640,8507,0.00,2.17,0.00,0.000,4,0.000,0.047,3165,3393,1640,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8595,0.65,280.3,655.0,16.6,644,8604,0.00,2.17,0.00,0.000,6,0.000,0.037,3175,1966,1640,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8906,0.64,280.3,602.5,16.2,660,8911,0.00,2.12,0.00,0.000,4,0.000,0.050,3184,597,1639,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8937,0.62,280.3,597.5,16.6,662,8946,0.10,2.08,0.00,0.000,6,0.135,0.032,3152,1969,1637,0,0,0,0,0,0,25.98,26.27,28.83
$GC,9245,0.63,291.5,553.4,14.2,693,9265,0.00,2.28,10.90,0.944,4,0.000,0.047,3152,3390,1596,0,0,0,0,0,0,28.83,26.10,24.67
$GC,9310,0.63,291.5,544.1,15.2,699,9319,0.00,2.12,0.00,0.000,6,0.000,0.036,3159,1997,1596,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9618,0.67,322.6,500.2,13.3,730,9652,0.00,2.25,28.92,0.982,4,0.000,0.049,3170,587,1468,0,0,0,0,0,0,28.83,25.77,24.59
$GC,9739,0.79,403.1,485.9,11.1,741,9816,0.08,2.15,69.15,0.968,6,0.063,0.032,3222,1990,1141,0,0,0,0,0,0,25.89,25.98,24.20
$GC,10116,0.77,403.1,413.7,19.5,779,10125,0.00,2.17,0.00,0.000,4,0.000,0.044,3222,3393,1137,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10141,0.76,403.1,409.1,20.0,781,10148,0.15,2.17,0.00,0.000,6,0.162,0.037,3193,1981,1136,0,0,0,0,0,0,25.79,26.06,28.83
$GC,10449,0.77,403.1,355.1,18.6,812,10457,0.00,2.17,0.00,0.000,4,0.000,0.050,3201,589,1136,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10583,0.79,403.1,330.9,17.9,825,10592,0.00,2.10,0.00,0.000,6,0.000,0.031,3201,1997,1135,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10890,0.80,403.1,276.1,17.0,856,10901,0.00,2.20,0.00,0.000,4,0.000,0.048,3211,587,1135,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10916,0.81,403.1,272.1,17.2,858,10924,0.00,2.15,0.00,0.000,6,0.000,0.031,3211,1992,1135,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11225,0.83,403.1,219.8,15.6,889,11234,0.00,2.17,0.00,0.000,4,0.000,0.047,3220,587,1135,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11250,0.84,403.1,216.4,15.2,891,11256,0.00,2.12,0.00,0.000,6,0.000,0.030,3220,1991,1135,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11568,0.91,442.7,167.4,12.9,942,11606,0.00,0.00,32.58,0.717,6,0.000,0.000,3220,1992,979,0,0,0,0,0,0,28.83,28.83,24.88
$GC,11930,1.09,546.1,126.9,10.0,1008,12046,0.20,2.33,99.70,0.656,4,0.066,0.047,3336,586,558,0,0,0,0,1,0,26.29,25.44,24.58
$GC,12142,1.08,546.1,81.7,23.6,1043,12150,0.15,2.12,0.00,0.000,6,0.149,0.029,3295,1998,554,0,0,0,0,0,0,25.61,25.88,28.83
$GC,12506,1.10,546.1,27.0,18.5,1104,12515,0.00,2.25,0.00,0.000,4,0.000,0.047,3303,584,552,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12567,1.11,546.1,16.0,20.7,1113,12574,0.00,2.10,0.00,0.000,6,0.000,0.028,3303,1994,551,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,12592,end climb,SURFACE_DEPTH_REACHED
$STATE,12592,begin surface coast
$FINISH,6.8,1.023051
$STATE,12658,end surface coast,CONTROL_FINISHED_OK
$STATE,12659,begin surface
$SM_CCo,12736,0.00,0.000,0,0,549,548.74
$SM_GC,7.28,8.00,0.00,0.00,0.035,0.000,0.000,155,2002,549,-8.62,1.33,548.74,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,12005.90,040112,181859
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.58
$INTERNAL_PRESSURE,9.38548
$TCM_TEMP,24.70
$XPDR_PINGS,14
$24V_AH,22.7,51.606
$10V_AH,10.1,42.489
$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,21.625,135.600,670.875,0.000,0.000,29.386,40.548,193.320,3.500,0.000,34.253,2621.686,6709.347,767.127,2707.892,333.215,0.000,1991.953,0.000,2423.364,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,56.610,1308.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.420,975.266,707.542,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325376
$DATA_FILE_SIZE,63524,1129
$CAP_FILE_SIZE,150694,0
$CFSIZE,260165632,179736576
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050112,013936,2113.776,12004.151,36,1.2,42,-2.5