version: 66.10
glider: 165
mission: 5
dive: 224
start: 1 5 112 5 30 48
data:
$ID,165
$MISSION,5
$DIVE,224
$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,-271692.59
$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,49
$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
$GPS1,050112,052401,2114.472,12003.553,41,1.2,41,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.81
$_SM_ANGLEo,-61.8
$GPS2,050112,053026,2114.318,12003.553,13,1.5,13,-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,356.4,57151,-20.3,-14.667
$D_GRID,2984
$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,-112.53,0.000,2,0.000,0.000,141,2008,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-0.95,-219.0,12.8,-15.7,18,157,9.95,2.10,-3.83,0.000,4,0.236,0.051,2627,3372,3680,0,0,0,0,0,0,25.28,26.10,26.47
$GC,224,-0.87,-219.0,52.0,-30.5,33,232,0.15,2.12,0.00,0.000,6,0.182,0.033,2664,1951,3682,0,0,0,0,0,0,25.79,26.17,28.83
$GC,564,-0.81,-219.0,157.7,-25.4,94,573,0.00,2.17,0.00,0.000,4,0.000,0.046,2664,556,3682,0,0,0,0,0,0,28.83,26.22,28.83
$GC,592,-0.76,-219.0,165.2,-26.1,98,601,0.12,2.15,0.00,0.000,6,0.148,0.036,2697,1948,3682,0,0,0,0,0,0,25.91,26.25,28.83
$GC,915,-0.74,-219.0,231.7,-16.9,142,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1948,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1218,-0.74,-219.0,278.9,-14.6,172,1228,0.00,2.15,0.00,0.000,4,0.000,0.048,2698,563,3684,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1243,-0.74,-219.0,283.0,-15.7,174,1251,0.00,2.15,0.00,0.000,6,0.000,0.037,2697,1952,3684,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1551,-0.74,-219.0,327.3,-14.1,205,1559,0.00,2.20,0.00,0.000,4,0.000,0.052,2695,3369,3684,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1615,-0.76,-219.0,335.6,-12.8,211,1622,0.00,2.12,0.00,0.000,6,0.000,0.034,2695,1964,3684,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1923,-0.78,-219.0,375.6,-12.4,242,1931,0.00,2.17,0.00,0.000,4,0.000,0.050,2695,551,3684,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1948,-0.79,-219.0,378.3,-12.6,244,1954,0.00,2.15,0.00,0.000,6,0.000,0.038,2687,1968,3683,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2256,-0.80,-219.0,418.7,-12.8,275,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1968,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2566,-0.81,-219.0,462.2,-14.2,306,2575,0.00,2.15,0.00,0.000,4,0.000,0.054,2677,3358,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2599,-0.83,-219.0,466.9,-14.3,309,2607,0.00,2.12,0.00,0.000,6,0.000,0.035,2677,1952,3680,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2908,-0.84,-219.0,512.2,-13.7,340,2916,0.00,2.20,0.00,0.000,4,0.000,0.054,2673,3352,3679,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2951,-0.85,-219.0,517.7,-13.2,344,2959,0.00,2.10,0.00,0.000,6,0.000,0.035,2673,1955,3679,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3260,-0.86,-219.0,559.3,-13.1,375,3268,0.00,2.17,0.00,0.000,4,0.000,0.051,2673,548,3676,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3305,-0.87,-219.0,564.7,-13.1,379,3312,0.00,2.15,0.00,0.000,6,0.000,0.039,2673,1953,3676,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3612,-0.88,-219.0,603.3,-12.5,409,3617,0.00,2.22,0.00,0.000,4,0.000,0.055,2671,3362,3674,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3655,-0.89,-219.0,608.1,-12.3,411,3659,0.00,2.15,0.00,0.000,6,0.000,0.035,2671,1954,3673,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3968,-0.90,-219.0,645.6,-12.1,427,3971,0.00,2.17,0.00,0.000,4,0.000,0.052,2671,557,3672,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4018,-0.92,-219.0,650.8,-12.3,429,4022,0.00,2.17,0.00,0.000,6,0.000,0.041,2671,1955,3672,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4326,-0.93,-219.0,689.9,-12.8,444,4331,0.00,2.20,0.00,0.000,4,0.000,0.057,2671,3364,3669,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4393,-0.95,-219.0,697.4,-12.7,447,4397,0.00,2.15,0.00,0.000,6,0.000,0.036,2671,1947,3669,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4700,-0.96,-219.0,738.6,-13.5,462,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1947,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5000,-0.97,-219.0,779.8,-13.6,477,5005,0.00,2.28,0.00,0.000,4,0.000,0.056,2670,3381,3664,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5028,-0.99,-219.0,782.4,-13.7,478,5033,0.12,2.20,0.00,0.000,6,0.093,0.037,2601,1950,3664,0,0,0,0,0,0,26.26,26.30,28.83
$GC,5336,-0.96,-219.0,840.1,-18.8,493,5338,0.15,0.00,0.00,0.000,6,0.170,0.000,2640,1950,3662,0,0,0,0,0,0,26.13,28.83,28.83
$GC,5634,-0.96,-219.0,884.6,-14.2,508,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1950,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5937,-0.96,-219.0,923.9,-12.4,523,5942,0.00,2.25,0.00,0.000,4,0.000,0.057,2632,3353,3659,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6003,-0.96,-219.0,931.2,-12.1,526,6007,0.00,2.15,0.00,0.000,6,0.000,0.038,2632,1945,3658,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6317,-0.96,-219.0,971.0,-12.8,542,6322,0.00,2.17,0.00,0.000,4,0.000,0.055,2632,557,3657,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6383,-0.96,-219.0,979.0,-13.4,545,6387,0.00,2.20,0.00,0.000,6,0.000,0.042,2630,1960,3656,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,6468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6468,begin apogee
$GC,6473,-0.17,0.0,991.3,-12.9,549,6660,0.80,0.00,178.02,1.309,6,0.135,0.000,2887,1960,2786,0,0,0,0,0,0,25.59,28.83,23.37
$STATE,6661,end apogee,CONTROL_FINISHED_OK
$STATE,6661,begin climb
$GC,6663,0.95,219.0,997.7,0.0,558,6863,1.00,0.00,194.45,1.268,6,0.049,0.000,3263,1960,1893,0,0,0,0,0,0,24.70,28.83,22.68
$GC,7155,0.86,219.0,900.5,22.5,583,7161,0.12,2.30,0.00,0.000,4,0.194,0.052,3229,3399,1886,0,0,0,0,0,0,25.65,25.81,28.83
$GC,7284,0.80,219.0,874.4,21.2,589,7293,0.00,2.20,0.00,0.000,6,0.000,0.039,3237,1996,1885,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7595,0.73,219.0,807.4,21.6,605,7597,0.20,0.00,0.00,0.000,6,0.172,0.000,3184,1995,1883,0,0,0,0,0,0,25.89,28.83,28.83
$GC,7894,0.70,219.0,750.9,18.0,620,7900,0.00,2.25,0.00,0.000,4,0.000,0.048,3183,3410,1882,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8025,0.66,219.0,728.0,19.3,626,8033,0.00,2.20,0.00,0.000,6,0.000,0.037,3191,1984,1881,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8334,0.62,219.0,665.2,19.7,642,8340,0.12,2.20,0.00,0.000,4,0.178,0.048,3163,580,1881,0,0,0,0,0,0,26.12,26.20,28.83
$GC,8388,0.59,219.0,657.9,19.0,644,8395,0.00,2.15,0.00,0.000,6,0.000,0.034,3164,2010,1879,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8694,0.57,219.0,604.5,17.0,660,8699,0.00,2.15,0.00,0.000,4,0.000,0.048,3163,3383,1879,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8757,0.55,219.0,593.9,17.6,664,8764,0.17,2.17,0.00,0.000,6,0.165,0.036,3127,1964,1879,0,0,0,0,0,0,25.91,26.29,28.83
$GC,9064,0.64,281.9,554.3,11.8,695,9124,0.00,2.28,53.28,1.037,4,0.000,0.050,3135,595,1636,0,0,0,0,0,0,28.83,25.48,24.31
$GC,9163,0.71,320.5,542.7,12.9,704,9207,0.12,2.17,35.20,0.992,6,0.089,0.031,3200,1984,1478,0,0,0,0,0,0,25.70,25.75,24.17
$GC,9509,0.69,320.5,476.4,18.5,739,9517,0.00,2.20,0.00,0.000,4,0.000,0.047,3200,3392,1474,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9601,0.67,320.5,458.6,19.3,748,9610,0.17,2.15,0.00,0.000,6,0.164,0.037,3164,1986,1474,0,0,0,0,0,0,25.78,26.11,28.83
$GC,9912,0.69,326.5,413.6,14.4,779,9924,0.00,2.22,5.93,0.731,4,0.000,0.050,3173,592,1454,0,0,0,0,0,0,28.83,26.14,24.52
$GC,9985,0.72,343.0,403.7,13.9,786,10011,0.00,2.12,15.80,0.878,6,0.000,0.031,3173,1995,1385,0,0,0,0,0,0,28.83,26.21,24.73
$GC,10311,0.72,343.0,351.5,16.2,819,10320,0.00,2.20,0.00,0.000,4,0.000,0.046,3173,3396,1384,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10343,0.73,343.0,346.6,15.6,822,10352,0.00,2.15,0.00,0.000,6,0.000,0.035,3182,1976,1384,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10653,0.74,343.0,299.4,14.7,853,10662,0.00,2.15,0.00,0.000,4,0.000,0.049,3192,599,1384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10706,0.77,355.6,291.9,14.1,858,10727,0.00,2.10,11.93,0.780,6,0.000,0.031,3192,1995,1335,0,0,0,0,0,0,28.83,26.29,24.82
$GC,11026,0.79,355.6,244.7,14.9,890,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1995,1335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11328,0.86,397.3,198.9,12.8,920,11374,0.10,2.28,35.40,0.750,4,0.108,0.047,3254,601,1164,0,0,0,0,0,0,26.44,25.84,24.80
$GC,11434,0.92,443.3,184.4,12.6,937,11479,0.00,2.15,38.53,0.722,6,0.000,0.030,3254,2000,977,0,0,0,0,0,0,28.83,26.00,24.60
$GC,11802,0.94,443.3,123.4,14.9,1004,11810,0.00,2.25,0.00,0.000,4,0.000,0.047,3264,590,973,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11835,0.96,443.3,118.3,16.3,1009,11841,0.00,2.10,0.00,0.000,6,0.000,0.030,3264,1995,973,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12166,0.98,443.3,64.7,16.8,1070,12175,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1995,972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12519,1.10,529.9,12.1,10.8,1131,12527,0.12,0.00,5.32,0.441,2,0.096,0.000,3328,1995,956,0,0,0,0,0,0,26.42,28.83,28.83
$STATE,12528,end climb,SURFACE_DEPTH_REACHED
$STATE,12528,begin surface coast
$FINISH,6.8,1.007424
$STATE,12651,end surface coast,CONTROL_FINISHED_OK
$STATE,12651,begin surface
$SM_CCo,12668,1.55,0.074,0,0,951,450.13
$SM_GC,7.99,8.07,0.00,1.55,0.037,0.000,0.074,167,2008,951,-8.61,1.50,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12005.06,050112,010128
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.97
$INTERNAL_PRESSURE,9.42455
$TCM_TEMP,24.90
$XPDR_PINGS,11
$24V_AH,22.7,52.023
$10V_AH,10.1,42.701
$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,21.525,108.875,573.850,1.550,0.000,22.406,47.920,185.683,2.750,0.000,16.074,2685.075,6762.746,663.796,2606.889,329.685,0.000,1842.444,0.000,2351.526,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,56.610,1308.915,74.205,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.305,993.316,654.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66891,1154
$CAP_FILE_SIZE,142977,0
$CFSIZE,260165632,179593216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050112,090307,2115.120,12002.913,27,1.9,27,-2.5