version: 66.10
glider: 165
mission: 5
dive: 227
start: 1 5 112 16 38 48
data:
$ID,165
$MISSION,5
$DIVE,227
$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,-271696.34
$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,65
$R_STBD_OVSHOOT,56
$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
$GPS1,050112,163224,2117.267,12002.632,39,1.0,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.83
$_SM_ANGLEo,-63.6
$GPS2,050112,163826,2117.173,12002.637,10,1.2,10,-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,357.5,51735,-20.3,-14.667
$D_GRID,2882
$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,-219.0,0.0,0.0,0,118,0.00,0.00,-100.20,0.000,2,0.000,0.000,138,1941,3064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.95,-219.0,11.1,-10.9,16,151,10.05,2.20,-10.60,0.000,4,0.239,0.054,2626,3351,3681,0,0,0,0,0,0,25.27,26.07,26.50
$GC,191,-0.86,-219.0,39.7,-36.2,27,199,0.17,2.10,0.00,0.000,6,0.170,0.034,2672,1967,3682,0,0,0,0,0,0,25.77,26.16,28.83
$GC,539,-0.79,-219.0,150.7,-28.9,88,548,0.00,2.20,0.00,0.000,4,0.000,0.047,2679,560,3682,0,0,0,0,0,0,28.83,26.21,28.83
$GC,625,-0.74,-219.0,172.5,-24.4,102,635,0.10,2.12,0.00,0.000,6,0.148,0.036,2704,1933,3682,0,0,0,0,0,0,25.95,26.26,28.83
$GC,954,-0.74,-219.0,232.5,-16.7,146,966,0.00,2.22,0.00,0.000,4,0.000,0.051,2695,3363,3683,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1017,-0.75,-219.0,240.7,-14.4,151,1024,0.00,2.10,0.00,0.000,6,0.000,0.034,2696,1957,3683,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1324,-0.75,-219.0,289.6,-15.2,182,1333,0.00,2.15,0.00,0.000,4,0.000,0.050,2696,557,3684,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1368,-0.75,-219.0,296.3,-15.4,186,1377,0.00,2.12,0.00,0.000,6,0.000,0.037,2686,1964,3684,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1676,-0.75,-219.0,347.6,-14.8,217,1685,0.00,2.20,0.00,0.000,4,0.000,0.052,2676,3373,3684,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1743,-0.76,-219.0,355.9,-13.0,223,1751,0.00,2.15,0.00,0.000,6,0.000,0.034,2676,1949,3684,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2049,-0.76,-219.0,397.4,-13.8,254,2058,0.00,2.15,0.00,0.000,4,0.000,0.050,2676,560,3684,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2114,-0.76,-219.0,405.9,-13.8,260,2122,0.12,2.15,0.00,0.000,6,0.162,0.038,2707,1960,3683,0,0,0,0,0,0,26.08,26.30,28.83
$GC,2421,-0.79,-219.0,436.6,-9.5,291,2430,0.00,2.20,0.00,0.000,4,0.000,0.053,2699,3370,3682,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2457,-0.82,-219.0,439.9,-10.2,294,2464,0.00,2.12,0.00,0.000,6,0.000,0.034,2699,1955,3681,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2763,-0.85,-219.0,474.4,-11.7,325,2772,0.00,2.15,0.00,0.000,4,0.000,0.050,2700,557,3680,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2800,-0.87,-219.0,478.3,-12.0,328,2807,0.00,2.15,0.00,0.000,6,0.000,0.039,2699,1967,3680,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3105,-0.90,-219.0,515.8,-12.5,359,3114,0.12,2.17,0.00,0.000,4,0.089,0.051,2616,3357,3677,0,0,0,0,0,0,26.52,26.20,28.83
$GC,3202,-0.89,-219.0,530.9,-16.8,368,3209,0.17,2.15,0.00,0.000,6,0.151,0.036,2666,1948,3676,0,0,0,0,0,0,25.99,26.34,28.83
$GC,3509,-0.89,-219.0,575.3,-13.9,399,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1948,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3818,-0.90,-219.0,616.4,-12.7,424,3823,0.00,2.22,0.00,0.000,4,0.000,0.054,2660,3363,3672,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3851,-0.91,-219.0,619.0,-12.6,425,3858,0.00,2.15,0.00,0.000,6,0.000,0.036,2660,1958,3672,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4158,-0.91,-219.0,659.6,-12.5,441,4164,0.00,2.25,0.00,0.000,4,0.000,0.055,2658,3363,3670,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4185,-0.91,-219.0,662.0,-12.4,442,4189,0.00,2.15,0.00,0.000,6,0.000,0.036,2658,1946,3670,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4493,-0.91,-219.0,700.7,-12.2,457,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1945,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4792,-0.91,-219.0,738.8,-12.8,472,4798,0.00,2.28,0.00,0.000,4,0.000,0.057,2658,3362,3665,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4866,-0.93,-219.0,746.1,-12.2,475,4872,0.00,2.17,0.00,0.000,6,0.000,0.037,2658,1947,3664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5174,-0.94,-219.0,784.7,-12.0,491,5180,0.00,2.28,0.00,0.000,4,0.000,0.056,2658,3366,3663,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5193,-0.95,-219.0,787.1,-12.1,492,5199,0.00,2.15,0.00,0.000,6,0.000,0.037,2658,1957,3662,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5514,-0.96,-219.0,822.9,-11.3,508,5519,0.00,2.20,0.00,0.000,4,0.000,0.054,2658,548,3661,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5586,-0.97,-219.0,830.0,-11.7,511,5593,0.00,2.20,0.00,0.000,6,0.000,0.041,2658,1958,3661,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5894,-0.99,-219.0,869.7,-12.6,527,5899,0.00,2.22,0.00,0.000,4,0.000,0.058,2658,3359,3659,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5946,-1.00,-219.0,874.7,-12.8,529,5953,0.00,2.15,0.00,0.000,6,0.000,0.037,2658,1946,3658,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6253,-1.02,-219.0,914.8,-12.4,545,6259,0.10,2.25,0.00,0.000,4,0.109,0.054,2600,3363,3657,0,0,0,0,0,0,26.51,26.07,28.83
$GC,6302,-1.02,-219.0,920.6,-13.3,547,6306,0.00,2.15,0.00,0.000,6,0.000,0.037,2601,1953,3656,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6608,-1.00,-219.0,972.4,-16.4,562,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1953,3655,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6725,begin apogee
$GC,6731,-0.17,0.0,991.6,-15.9,568,6916,0.90,0.00,177.93,1.315,6,0.139,0.000,2886,1952,2786,0,0,0,0,0,0,25.52,28.83,23.33
$STATE,6917,end apogee,CONTROL_FINISHED_OK
$STATE,6917,begin climb
$GC,6920,0.95,219.0,998.6,0.0,577,7124,1.00,2.62,195.68,1.268,4,0.049,0.054,3262,3392,1891,0,0,0,0,0,0,24.68,23.85,22.68
$GC,7169,0.86,219.0,953.3,25.2,590,7176,0.17,2.35,0.00,0.000,6,0.188,0.041,3232,1994,1888,0,0,0,0,0,0,24.38,24.61,28.83
$GC,7491,0.80,219.0,881.5,21.7,606,7496,0.00,2.25,0.00,0.000,4,0.000,0.050,3232,3398,1885,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7539,0.73,219.0,872.4,21.8,608,7548,0.20,2.22,0.00,0.000,6,0.174,0.040,3188,1968,1884,0,0,0,0,0,0,25.70,26.01,28.83
$GC,7849,0.70,219.0,811.2,19.4,624,7855,0.00,2.20,0.00,0.000,4,0.000,0.052,3196,585,1883,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7930,0.66,219.0,795.2,20.2,628,7937,0.10,2.15,0.00,0.000,6,0.144,0.035,3165,1997,1881,0,0,0,0,0,0,25.92,26.18,28.83
$GC,8251,0.64,219.0,738.4,17.5,644,8256,0.00,2.17,0.00,0.000,4,0.000,0.049,3165,3393,1880,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8333,0.62,219.0,724.1,17.8,648,8337,0.00,2.17,0.00,0.000,6,0.000,0.037,3173,1971,1881,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8645,0.59,219.0,668.6,17.6,664,8652,0.12,2.25,0.00,0.000,4,0.178,0.045,3136,3390,1880,0,0,0,0,0,0,26.12,26.17,28.83
$GC,8746,0.59,219.0,653.2,14.8,669,8751,0.00,2.12,0.00,0.000,6,0.000,0.037,3144,1988,1880,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9065,0.59,219.0,604.7,14.9,685,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1988,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9368,0.60,225.9,560.0,14.4,713,9375,0.00,0.00,5.18,0.778,6,0.000,0.000,3144,1988,1864,0,0,0,0,0,0,28.83,28.83,24.28
$GC,9675,0.60,225.9,514.0,15.6,744,9683,0.00,2.17,0.00,0.000,4,0.000,0.048,3154,593,1863,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9737,0.60,225.9,504.5,15.9,750,9746,0.00,2.10,0.00,0.000,6,0.000,0.032,3154,1993,1862,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10046,0.60,225.9,455.1,15.8,781,10055,0.00,2.17,0.00,0.000,4,0.000,0.047,3154,3389,1862,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10128,0.59,225.9,441.9,16.2,789,10136,0.00,2.12,0.00,0.000,6,0.000,0.036,3164,1991,1862,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10438,0.59,231.6,394.8,14.4,820,10450,0.00,2.22,6.68,0.767,4,0.000,0.049,3174,595,1841,0,0,0,0,0,0,28.83,26.22,24.50
$GC,10532,0.64,269.9,382.8,12.9,829,10571,0.00,2.12,34.10,0.908,6,0.000,0.032,3174,1990,1685,0,0,0,0,0,0,28.83,26.25,24.54
$GC,10873,0.66,291.0,335.3,13.7,863,10902,0.00,2.22,19.33,0.844,4,0.000,0.046,3183,595,1598,0,0,0,0,0,0,28.83,25.85,24.65
$GC,10928,0.66,291.0,327.9,14.7,868,10935,0.00,2.15,0.00,0.000,6,0.000,0.031,3183,2000,1596,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11237,0.68,307.3,282.5,13.9,899,11257,0.00,2.25,14.98,0.787,4,0.000,0.047,3183,3388,1532,0,0,0,0,0,0,28.83,25.94,24.74
$GC,11366,0.69,307.3,262.6,16.0,911,11375,0.00,2.15,0.00,0.000,6,0.000,0.036,3192,1990,1532,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11674,0.74,347.8,215.2,12.9,942,11715,0.00,2.28,35.05,0.766,4,0.000,0.049,3203,586,1367,0,0,0,0,0,0,28.83,25.77,24.71
$GC,11736,0.79,377.6,207.1,13.3,948,11772,0.00,2.17,26.02,0.734,6,0.000,0.031,3203,1979,1245,0,0,0,0,0,0,28.83,25.88,24.52
$GC,12094,0.85,399.6,159.2,13.7,1010,12115,0.00,0.00,18.70,0.683,6,0.000,0.000,3203,1980,1157,0,0,0,0,0,0,28.83,28.83,24.82
$GC,12441,1.03,504.8,118.7,9.9,1073,12544,0.17,2.30,90.93,0.659,4,0.070,0.048,3314,587,723,0,0,0,0,0,0,26.29,25.44,24.57
$GC,12605,1.03,504.8,89.8,17.7,1100,12614,0.08,2.20,0.00,0.000,6,0.133,0.030,3288,2000,714,0,0,0,0,0,0,25.58,25.81,28.83
$GC,12973,1.05,504.8,31.5,16.9,1161,12979,0.00,2.22,0.00,0.000,4,0.000,0.046,3295,581,712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13041,1.17,578.7,20.1,11.3,1172,13111,0.00,2.12,56.90,0.549,6,0.000,0.029,3295,1994,484,0,0,0,0,1,0,28.83,26.24,24.87
$STATE,13118,end climb,SURFACE_DEPTH_REACHED
$STATE,13118,begin surface coast
$FINISH,6.6,1.023250
$STATE,13196,end surface coast,CONTROL_FINISHED_OK
$STATE,13196,begin surface
$SM_CCo,13274,0.00,0.000,0,0,483,564.93
$SM_GC,7.40,8.02,0.00,0.00,0.032,0.000,0.000,153,1997,483,-8.64,1.19,564.93,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,12001.90,050112,121252
$TT8_MAMPS,0.023968,0.023968
$HUMID,42.75
$INTERNAL_PRESSURE,9.38548
$TCM_TEMP,24.90
$XPDR_PINGS,15
$24V_AH,22.7,52.655
$10V_AH,10.1,43.032
$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,21.625,127.175,681.450,0.000,0.000,29.257,19.738,184.087,3.750,0.000,13.506,2753.927,7022.945,744.575,2768.599,335.409,0.000,2017.472,0.000,2532.816,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,58.140,1315.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.138,1028.327,743.131,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70184,1195
$CAP_FILE_SIZE,152211,0
$CFSIZE,260165632,179355648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050112,202127,2118.125,12003.826,26,2.4,45,-2.5