version: 66.10
glider: 165
mission: 5
dive: 226
start: 1 5 112 12 50 18
data:
$ID,165
$MISSION,5
$DIVE,226
$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,-271695.09
$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,53
$R_STBD_OVSHOOT,52
$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
$GPS1,050112,124307,2116.032,12002.442,34,1.0,34,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.90
$_SM_ANGLEo,-58.6
$GPS2,050112,124956,2115.932,12002.425,12,1.1,12,-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,358.1,53995,-20.3,-14.667
$D_GRID,2941
$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,-219.0,0.0,0.0,0,113,0.00,0.00,-94.90,0.000,2,0.000,0.000,135,1942,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.95,-219.0,11.9,-12.0,15,139,10.05,2.25,-5.25,0.000,4,0.238,0.053,2626,3353,3682,0,0,0,0,0,0,25.24,26.09,26.48
$GC,189,-0.86,-219.0,46.2,-34.5,27,197,0.17,2.10,0.00,0.000,6,0.182,0.033,2671,1947,3683,0,0,0,0,0,0,25.72,26.17,28.83
$GC,532,-0.80,-219.0,158.5,-24.1,88,541,0.00,2.15,0.00,0.000,4,0.000,0.047,2670,565,3684,0,0,0,0,0,0,28.83,26.20,28.83
$GC,591,-0.76,-219.0,172.7,-20.6,98,600,0.10,2.12,0.00,0.000,6,0.152,0.037,2699,1941,3685,0,0,0,0,0,0,25.94,26.25,28.83
$GC,913,-0.74,-219.0,231.5,-16.9,142,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1942,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1216,-0.74,-219.0,279.5,-15.9,172,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1942,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1525,-0.74,-219.0,323.5,-14.0,203,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1942,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1827,-0.74,-219.0,363.1,-13.5,233,1835,0.00,2.20,0.00,0.000,4,0.000,0.054,2692,3353,3686,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1863,-0.76,-219.0,367.7,-13.4,236,1870,0.00,2.10,0.00,0.000,6,0.000,0.034,2692,1950,3686,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2168,-0.76,-219.0,414.3,-15.4,267,2177,0.00,2.22,0.00,0.000,4,0.000,0.051,2686,3356,3685,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2213,-0.78,-219.0,420.5,-14.8,271,2220,0.00,2.12,0.00,0.000,6,0.000,0.035,2686,1956,3685,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2520,-0.79,-219.0,463.8,-12.8,302,2529,0.00,2.20,0.00,0.000,4,0.000,0.053,2684,3352,3684,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2552,-0.80,-219.0,467.6,-12.0,305,2561,0.00,2.12,0.00,0.000,6,0.000,0.035,2684,1951,3684,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2862,-0.81,-219.0,504.8,-11.7,336,2866,0.00,2.17,0.00,0.000,4,0.000,0.051,2683,550,3682,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2934,-0.83,-219.0,513.7,-12.5,343,2938,0.00,2.17,0.00,0.000,6,0.000,0.039,2684,1956,3682,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3246,-0.84,-219.0,549.3,-11.8,374,3255,0.00,2.20,0.00,0.000,4,0.000,0.054,2683,3359,3680,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3331,-0.87,-219.0,558.3,-10.6,382,3338,0.00,2.12,0.00,0.000,6,0.000,0.035,2683,1946,3679,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3638,-0.88,-219.0,595.8,-12.2,413,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1946,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3938,-0.90,-219.0,632.4,-12.6,430,3944,0.00,2.25,0.00,0.000,4,0.000,0.054,2676,3368,3675,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3983,-0.92,-219.0,637.1,-12.1,432,3989,0.00,2.15,0.00,0.000,6,0.000,0.036,2676,1947,3674,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4298,-0.93,-219.0,675.6,-11.8,448,4304,0.00,2.15,0.00,0.000,4,0.000,0.053,2676,553,3672,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4340,-0.94,-219.0,680.4,-11.9,450,4343,0.00,2.17,0.00,0.000,6,0.000,0.039,2674,1954,3672,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4662,-0.96,-219.0,718.2,-11.7,466,4667,0.00,2.20,0.00,0.000,4,0.000,0.056,2671,3350,3670,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4756,-0.98,-219.0,726.5,-10.3,470,4763,0.10,2.12,0.00,0.000,6,0.107,0.035,2616,1945,3669,0,0,0,0,0,0,26.25,26.32,28.83
$GC,5062,-0.95,-219.0,771.4,-14.6,486,5067,0.00,2.15,0.00,0.000,4,0.000,0.053,2616,551,3667,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5090,-0.93,-219.0,774.5,-14.7,487,5094,0.15,2.15,0.00,0.000,6,0.174,0.039,2645,1956,3667,0,0,0,0,0,0,25.89,26.25,28.83
$GC,5397,-0.93,-219.0,811.7,-11.0,502,5403,0.00,2.22,0.00,0.000,4,0.000,0.057,2643,3364,3665,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5546,-0.94,-219.0,825.7,-9.5,509,5555,0.00,2.15,0.00,0.000,6,0.000,0.037,2643,1950,3664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5859,-0.94,-219.0,862.3,-12.3,525,5864,0.00,2.15,0.00,0.000,4,0.000,0.054,2643,560,3663,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5890,-0.94,-219.0,865.0,-12.4,526,5897,0.00,2.15,0.00,0.000,6,0.000,0.041,2643,1953,3662,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6199,-0.94,-219.0,905.7,-12.7,542,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1953,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6497,-0.94,-219.0,944.3,-12.9,557,6503,0.00,2.25,0.00,0.000,4,0.000,0.059,2643,3367,3659,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6586,-0.95,-219.0,954.2,-12.2,561,6590,0.00,2.17,0.00,0.000,6,0.000,0.037,2643,1957,3658,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,6870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6870,begin apogee
$GC,6876,-0.17,0.0,992.3,-13.1,575,7062,0.75,0.00,178.18,1.311,6,0.130,0.000,2886,1956,2786,0,0,0,0,0,0,25.60,28.83,23.36
$STATE,7063,end apogee,CONTROL_FINISHED_OK
$STATE,7063,begin climb
$GC,7066,0.95,219.0,999.9,0.0,584,7272,1.00,2.60,194.62,1.268,4,0.047,0.053,3266,3393,1892,0,0,0,0,0,0,24.72,23.87,22.68
$GC,7324,0.86,219.0,959.8,23.2,597,7332,0.20,2.30,0.00,0.000,6,0.192,0.040,3229,2007,1889,0,0,0,0,0,0,24.46,24.76,28.83
$GC,7632,0.80,219.0,890.3,22.1,613,7638,0.00,2.22,0.00,0.000,4,0.000,0.050,3228,3396,1886,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7671,0.73,219.0,881.4,22.2,615,7678,0.17,2.22,0.00,0.000,6,0.178,0.038,3192,1984,1886,0,0,0,0,0,0,25.72,26.04,28.83
$GC,7994,0.70,219.0,823.1,17.7,631,7999,0.00,2.22,0.00,0.000,4,0.000,0.051,3200,571,1884,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8040,0.66,219.0,815.6,18.1,633,8045,0.15,2.20,0.00,0.000,6,0.158,0.035,3162,2011,1883,0,0,0,0,0,0,25.91,26.20,28.83
$GC,8348,0.64,219.0,767.5,15.4,648,8352,0.00,2.15,0.00,0.000,4,0.000,0.049,3162,3391,1882,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8453,0.62,219.0,750.3,16.8,653,8457,0.00,2.20,0.00,0.000,6,0.000,0.037,3169,1956,1882,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8766,0.59,219.0,694.8,17.4,669,8770,0.00,2.12,0.00,0.000,4,0.000,0.050,3179,598,1882,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8808,0.57,219.0,687.4,17.2,671,8814,0.17,2.12,0.00,0.000,6,0.150,0.034,3132,1997,1880,0,0,0,0,0,0,25.96,26.27,28.83
$GC,9128,0.61,250.7,643.1,13.2,687,9160,0.00,2.22,27.10,1.080,4,0.000,0.049,3131,3385,1763,0,0,0,0,0,0,28.83,25.81,24.51
$GC,9276,0.64,264.0,624.3,14.1,693,9295,0.00,2.15,13.30,0.998,6,0.000,0.036,3139,1988,1709,0,0,0,0,0,0,28.83,26.00,24.46
$GC,9603,0.70,305.6,578.6,12.8,718,9647,0.10,2.25,37.55,1.036,4,0.107,0.049,3204,592,1539,0,0,0,0,0,0,26.28,25.54,24.38
$GC,9670,0.67,305.6,567.3,18.5,724,9680,0.15,2.17,0.00,0.000,6,0.152,0.031,3165,1978,1537,0,0,0,0,0,0,25.49,25.72,28.83
$GC,9979,0.67,305.6,520.2,14.7,755,9988,0.00,2.25,0.00,0.000,4,0.000,0.047,3165,3405,1536,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10021,0.67,305.6,513.7,15.6,759,10029,0.00,2.17,0.00,0.000,6,0.000,0.037,3173,1989,1536,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10331,0.67,305.6,463.5,16.3,790,10339,0.00,2.20,0.00,0.000,4,0.000,0.050,3183,586,1536,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10393,0.67,305.6,453.2,16.9,796,10402,0.00,2.10,0.00,0.000,6,0.000,0.032,3183,1982,1534,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10703,0.67,305.6,397.6,17.2,827,10707,0.00,2.22,0.00,0.000,4,0.000,0.047,3183,3405,1534,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10787,0.67,305.6,382.5,18.3,835,10794,0.00,2.17,0.00,0.000,6,0.000,0.036,3192,1983,1534,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11096,0.67,305.6,328.1,17.9,866,11100,0.00,2.17,0.00,0.000,4,0.000,0.049,3203,589,1534,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11177,0.67,305.6,313.9,16.1,874,11187,0.12,2.12,0.00,0.000,6,0.148,0.031,3170,1997,1533,0,0,0,0,0,0,26.06,26.31,28.83
$GC,11490,0.77,371.4,272.7,11.7,905,11551,0.00,2.25,55.35,0.819,4,0.000,0.047,3170,3393,1270,0,0,0,0,0,0,28.83,25.60,24.58
$GC,11584,0.89,436.6,261.7,11.7,914,11650,0.12,2.22,54.33,0.786,6,0.050,0.035,3251,1979,1004,0,0,0,0,0,0,25.75,25.76,24.34
$GC,11953,0.89,436.6,191.4,16.6,955,11959,0.00,2.17,0.00,0.000,4,0.000,0.048,3261,596,1000,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12092,0.94,462.5,171.2,13.5,980,12118,0.00,2.17,21.75,0.698,6,0.000,0.031,3261,2006,899,0,0,0,0,0,0,28.83,26.18,24.84
$GC,12440,0.97,462.5,121.2,14.7,1044,12448,0.00,2.25,0.00,0.000,4,0.000,0.052,3271,601,895,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12504,1.00,462.5,110.3,16.8,1055,12511,0.00,2.10,0.00,0.000,6,0.000,0.029,3271,1997,895,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12842,1.13,545.0,60.7,11.0,1116,12933,0.12,2.30,80.90,0.607,4,0.089,0.047,3352,589,562,0,0,0,0,0,0,26.41,25.58,24.73
$GC,12975,1.11,545.0,35.6,22.1,1135,12983,0.17,2.15,0.00,0.000,6,0.152,0.028,3304,2004,559,0,0,0,0,0,0,25.53,25.83,28.83
$STATE,13103,end climb,SURFACE_DEPTH_REACHED
$STATE,13103,begin surface coast
$FINISH,6.7,1.022971
$STATE,13169,end surface coast,CONTROL_FINISHED_OK
$STATE,13169,begin surface
$SM_CCo,13248,0.00,0.000,0,0,556,547.02
$SM_GC,7.34,7.95,0.03,0.00,0.029,0.205,0.000,162,1940,556,-8.63,1.64,547.02,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12001.90,050112,090901
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.69
$INTERNAL_PRESSURE,9.39525
$TCM_TEMP,24.80
$XPDR_PINGS,18
$24V_AH,22.7,52.444
$10V_AH,10.1,42.918
$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,21.775,126.975,663.075,0.000,0.000,23.409,22.009,226.931,4.500,0.000,15.330,2739.287,7148.641,688.120,2731.417,340.014,0.000,1948.635,0.000,2448.758,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,205.020,1311.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.202,1015.732,644.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66993,1169
$CAP_FILE_SIZE,149800,0
$CFSIZE,260165632,179437568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050112,163224,2117.267,12002.632,39,1.0,39,-2.5