version: 66.10
glider: 165
mission: 5
dive: 225
start: 1 5 112 9 9 59
data:
$ID,165
$MISSION,5
$DIVE,225
$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,-271693.84
$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,53
$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
$GPS1,050112,090307,2115.120,12002.913,27,1.9,27,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.94
$_SM_ANGLEo,-59.4
$GPS2,050112,090937,2114.962,12002.906,32,1.1,32,-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,357.4,55855,-20.3,-14.667
$D_GRID,2966
$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,-219.0,0.0,0.0,0,101,0.00,0.00,-82.62,0.000,2,0.000,0.000,143,2007,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.95,-219.0,11.0,-9.5,13,133,9.90,2.10,-10.55,0.000,4,0.234,0.054,2627,3353,3682,0,0,0,0,0,0,25.27,26.08,26.53
$GC,226,-0.87,-219.0,57.3,-33.0,34,235,0.12,2.12,0.00,0.000,6,0.160,0.033,2665,1957,3683,0,0,0,0,0,0,25.79,26.20,28.83
$GC,559,-0.82,-219.0,156.6,-22.7,95,566,0.00,2.15,0.00,0.000,4,0.000,0.046,2665,560,3683,0,0,0,0,0,0,28.83,26.21,28.83
$GC,595,-0.77,-219.0,164.9,-22.4,101,603,0.15,2.12,0.00,0.000,6,0.174,0.035,2696,1956,3683,0,0,0,0,0,0,25.91,26.25,28.83
$GC,921,-0.75,-219.0,228.4,-15.5,146,924,0.00,2.20,0.00,0.000,4,0.000,0.050,2688,3369,3685,0,0,0,0,0,0,28.83,26.20,28.83
$GC,935,-0.74,-219.0,230.2,-15.7,147,941,0.00,2.12,0.00,0.000,6,0.000,0.034,2688,1960,3685,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1244,-0.74,-219.0,284.7,-14.2,178,1253,0.00,2.12,0.00,0.000,4,0.000,0.049,2688,563,3685,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1339,-0.74,-219.0,298.9,-14.4,187,1348,0.00,2.12,0.00,0.000,6,0.000,0.037,2684,1950,3685,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1648,-0.74,-219.0,350.7,-16.9,218,1658,0.00,2.20,0.00,0.000,4,0.000,0.052,2674,3371,3685,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1711,-0.75,-219.0,360.5,-15.0,224,1720,0.12,2.15,0.00,0.000,6,0.151,0.035,2709,1948,3685,0,0,0,0,0,0,26.12,26.34,28.83
$GC,2023,-0.77,-219.0,397.5,-11.0,255,2031,0.00,2.22,0.00,0.000,4,0.000,0.051,2709,3365,3685,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2055,-0.80,-219.0,401.1,-10.7,258,2063,0.00,2.12,0.00,0.000,6,0.000,0.034,2709,1961,3685,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2365,-0.83,-219.0,437.0,-12.6,289,2373,0.00,2.15,0.00,0.000,4,0.000,0.050,2709,552,3684,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2406,-0.85,-219.0,442.5,-13.2,293,2415,0.00,2.12,0.00,0.000,6,0.000,0.037,2700,1956,3684,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2717,-0.87,-219.0,484.7,-13.1,324,2725,0.00,2.17,0.00,0.000,4,0.000,0.053,2690,3352,3682,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2748,-0.89,-219.0,488.7,-12.8,327,2757,0.00,2.12,0.00,0.000,6,0.000,0.034,2690,1944,3682,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3058,-0.91,-219.0,528.6,-12.7,358,3067,0.00,2.22,0.00,0.000,4,0.000,0.053,2686,3352,3680,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3124,-0.94,-219.0,536.2,-11.8,364,3131,0.12,2.12,0.00,0.000,6,0.090,0.035,2619,1954,3680,0,0,0,0,0,0,26.29,26.34,28.83
$GC,3430,-0.91,-219.0,588.9,-16.4,395,3439,0.12,2.25,0.00,0.000,4,0.175,0.053,2656,3372,3678,0,0,0,0,0,0,26.17,26.16,28.83
$GC,3464,-0.90,-219.0,593.5,-15.0,398,3473,0.00,2.15,0.00,0.000,6,0.000,0.036,2656,1962,3677,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3784,-0.90,-219.0,633.5,-12.1,417,3789,0.00,2.20,0.00,0.000,4,0.000,0.052,2656,549,3676,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3835,-0.90,-219.0,638.4,-12.3,419,3842,0.00,2.15,0.00,0.000,6,0.000,0.040,2656,1953,3675,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4144,-0.90,-219.0,681.1,-14.5,435,4149,0.00,2.25,0.00,0.000,4,0.000,0.056,2656,3371,3674,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4205,-0.91,-219.0,689.5,-14.2,438,4210,0.00,2.17,0.00,0.000,6,0.000,0.036,2656,1947,3673,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4519,-0.91,-219.0,733.3,-14.2,454,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1946,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4817,-0.91,-219.0,779.1,-15.6,469,4823,0.00,2.28,0.00,0.000,4,0.000,0.057,2656,3361,3669,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4886,-0.93,-219.0,788.2,-15.2,472,4890,0.00,2.15,0.00,0.000,6,0.000,0.037,2656,1948,3668,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5193,-0.93,-219.0,836.0,-15.2,487,5197,0.00,2.20,0.00,0.000,4,0.000,0.054,2656,552,3666,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5263,-0.94,-219.0,845.5,-15.1,490,5267,0.00,2.17,0.00,0.000,6,0.000,0.042,2656,1958,3666,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5571,-0.95,-219.0,893.2,-14.8,505,5577,0.00,2.25,0.00,0.000,4,0.000,0.058,2656,3364,3664,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5638,-0.96,-219.0,901.8,-14.3,508,5642,0.00,2.17,0.00,0.000,6,0.000,0.037,2656,1951,3664,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5947,-0.97,-219.0,946.3,-13.9,523,5952,0.00,2.25,0.00,0.000,4,0.000,0.057,2656,3365,3662,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5995,-0.99,-219.0,951.7,-13.8,525,6004,0.00,2.15,0.00,0.000,6,0.000,0.037,2656,1955,3662,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,6283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6283,begin apogee
$GC,6288,-0.17,0.0,991.7,-13.8,540,6475,0.70,0.00,178.62,1.310,6,0.125,0.000,2886,1954,2786,0,0,0,0,0,0,25.67,28.83,23.36
$STATE,6476,end apogee,CONTROL_FINISHED_OK
$STATE,6476,begin climb
$GC,6478,0.95,219.0,1000.7,0.0,549,6680,1.00,0.00,195.20,1.265,6,0.049,0.000,3263,1954,1892,0,0,0,0,0,0,24.71,28.83,22.70
$GC,6982,0.87,219.0,898.8,23.8,575,6988,0.12,2.33,0.00,0.000,4,0.192,0.050,3229,3399,1885,0,0,0,0,0,0,25.68,25.83,28.83
$GC,7112,0.80,219.0,871.6,21.9,581,7121,0.00,2.17,0.00,0.000,6,0.000,0.039,3237,2010,1884,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7423,0.74,219.0,801.4,22.5,597,7429,0.15,2.22,0.00,0.000,4,0.184,0.049,3202,574,1883,0,0,0,0,0,0,25.94,26.13,28.83
$GC,7434,0.67,219.0,801.4,22.5,597,7442,0.15,2.17,0.00,0.000,6,0.168,0.034,3165,1988,1883,0,0,0,0,0,0,25.89,26.20,28.83
$GC,7743,0.65,219.0,750.6,15.1,613,7748,0.00,2.20,0.00,0.000,4,0.000,0.050,3165,3398,1882,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7887,0.63,219.0,728.2,16.1,620,7893,0.00,2.15,0.00,0.000,6,0.000,0.037,3173,1967,1882,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8202,0.60,219.0,677.4,15.3,636,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1968,1881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8502,0.58,219.0,632.5,14.9,651,8508,0.12,2.15,0.00,0.000,4,0.178,0.047,3144,587,1880,0,0,0,0,0,0,26.14,26.21,28.83
$GC,8543,0.58,228.7,627.2,14.2,653,8561,0.00,2.12,7.93,0.928,6,0.000,0.033,3144,2008,1852,0,0,0,0,0,0,28.83,26.28,24.44
$GC,8864,0.59,237.3,585.1,14.3,674,8881,0.00,2.17,9.23,0.936,4,0.000,0.048,3144,3382,1818,0,0,0,0,0,0,28.83,26.11,24.61
$GC,8988,0.59,237.3,566.1,16.0,686,8995,0.00,2.15,0.00,0.000,6,0.000,0.035,3154,1987,1818,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9294,0.59,237.3,516.3,15.7,717,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1987,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9597,0.60,248.8,471.9,14.2,747,9613,0.00,0.00,11.77,0.900,6,0.000,0.000,3154,1987,1771,0,0,0,0,0,0,28.83,28.83,24.70
$GC,9914,0.65,289.7,428.1,12.8,779,9956,0.00,2.28,36.55,0.931,4,0.000,0.048,3164,587,1603,0,0,0,0,0,0,28.83,25.69,24.55
$GC,10027,0.74,343.6,413.8,12.2,790,10084,0.00,2.15,47.42,0.907,6,0.000,0.031,3164,1978,1383,0,0,0,0,0,0,28.83,25.90,24.29
$GC,10386,0.83,402.3,369.2,12.0,826,10445,0.12,2.33,49.15,0.871,4,0.093,0.046,3229,3396,1143,0,0,0,0,0,0,26.17,25.47,24.44
$GC,10482,0.82,402.3,352.3,20.6,835,10489,0.00,2.20,0.00,0.000,6,0.000,0.037,3239,1989,1141,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10788,0.80,402.3,290.8,19.6,866,10799,0.12,2.22,0.00,0.000,4,0.173,0.047,3210,578,1141,0,0,0,0,0,0,25.95,26.03,28.83
$GC,10899,0.86,435.3,275.3,13.2,876,10934,0.00,2.20,27.62,0.791,6,0.000,0.031,3210,2006,1010,0,0,0,0,0,0,28.83,26.20,24.74
$GC,11234,0.88,435.3,221.3,17.0,910,11244,0.00,2.25,0.00,0.000,4,0.000,0.047,3219,586,1006,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11279,0.91,435.3,213.6,17.3,914,11289,0.00,2.12,0.00,0.000,6,0.000,0.030,3220,1995,1006,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11604,1.00,483.7,170.4,12.5,966,11651,0.12,2.25,39.33,0.707,4,0.092,0.046,3301,580,811,0,0,0,0,0,0,26.38,25.79,24.81
$GC,11724,1.00,483.7,149.0,18.8,986,11732,0.08,2.17,0.00,0.000,6,0.138,0.030,3276,1994,810,0,0,0,0,0,0,25.75,25.98,28.83
$GC,12059,1.01,483.7,93.9,15.8,1047,12066,0.00,2.22,0.00,0.000,4,0.000,0.047,3283,580,809,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12117,1.04,483.7,83.6,15.6,1057,12124,0.00,2.12,0.00,0.000,6,0.000,0.029,3284,1985,809,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12472,1.05,483.7,28.2,17.6,1118,12481,0.00,2.22,0.00,0.000,4,0.000,0.047,3294,581,809,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12509,1.06,483.7,22.1,16.8,1123,12515,0.00,2.10,0.00,0.000,6,0.000,0.028,3293,2005,809,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,12570,end climb,SURFACE_DEPTH_REACHED
$STATE,12570,begin surface coast
$FINISH,6.6,1.004073
$STATE,12636,end surface coast,CONTROL_FINISHED_OK
$STATE,12636,begin surface
$SM_CCo,12715,0.00,0.000,0,0,808,485.20
$SM_GC,7.28,7.97,0.08,0.00,0.037,0.101,0.000,166,1942,808,-8.62,1.27,485.20,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,12001.90,050112,050546
$TT8_MAMPS,0.023968,0.023968
$HUMID,42.99
$INTERNAL_PRESSURE,9.42455
$TCM_TEMP,24.90
$XPDR_PINGS,10
$24V_AH,22.7,52.227
$10V_AH,10.1,42.808
$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,21.225,122.275,602.825,0.000,0.000,30.503,19.731,191.653,2.500,0.000,34.676,2675.956,6766.228,687.511,2635.768,328.319,0.000,1887.049,0.000,2367.723,0.000,0.541,0.000
$DEVICE_MAMPS,234.090,100.980,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.619,989.604,633.016,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,67002,1145
$CAP_FILE_SIZE,144448,0
$CFSIZE,260165632,179515392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050112,124307,2116.032,12002.442,34,1.0,34,-2.5