version: 66.10
glider: 165
mission: 5
dive: 229
start: 1 6 112 0 11 48
data:
$ID,165
$MISSION,5
$DIVE,229
$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,200
$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,-271698.84
$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,83
$R_STBD_OVSHOOT,43
$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
$GPS1,060112,000537,2118.965,12004.191,36,1.2,36,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.87
$_SM_ANGLEo,-64.4
$GPS2,060112,001126,2118.856,12004.281,11,1.3,11,-2.5
$SPEED_LIMITS,0.254,0.335
$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,353.9,48975,-21.6,-14.667
$D_GRID,2815
$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,-0.96,-194.6,0.0,0.0,0,100,0.00,0.00,-81.75,0.000,2,0.000,0.000,119,1918,3025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.96,-194.6,11.1,-10.5,12,133,10.10,2.28,-9.90,0.000,4,0.237,0.057,2625,3367,3583,0,0,0,0,0,0,25.29,26.04,26.48
$GC,184,-0.88,-194.6,40.4,-33.9,25,191,0.15,2.08,0.00,0.000,6,0.184,0.034,2662,1988,3584,0,0,0,0,0,0,25.75,26.15,28.83
$GC,543,-0.83,-194.6,150.5,-22.3,86,552,0.00,2.22,0.00,0.000,4,0.000,0.047,2662,563,3585,0,0,0,0,0,0,28.83,26.18,28.83
$GC,653,-0.80,-194.6,180.5,-27.9,103,661,0.12,2.10,0.00,0.000,6,0.182,0.037,2686,1948,3586,0,0,0,0,0,0,25.94,26.23,28.83
$GC,979,-0.78,-194.6,247.7,-19.4,141,988,0.00,2.15,0.00,0.000,4,0.000,0.047,2687,560,3587,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1114,-0.78,-194.6,269.6,-15.0,153,1123,0.00,2.10,0.00,0.000,6,0.000,0.037,2682,1960,3587,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1420,-0.78,-194.6,314.9,-15.3,184,1429,0.00,2.17,0.00,0.000,4,0.000,0.050,2671,3369,3588,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1482,-0.79,-194.6,324.3,-14.7,190,1491,0.00,2.12,0.00,0.000,6,0.000,0.034,2671,1946,3588,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1792,-0.79,-194.6,369.2,-12.3,221,1801,0.00,2.22,0.00,0.000,4,0.000,0.052,2671,3357,3588,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1834,-0.80,-194.6,374.2,-12.0,225,1843,0.00,2.12,0.00,0.000,6,0.000,0.035,2671,1948,3588,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2144,-0.80,-194.6,411.1,-12.5,256,2147,0.00,2.15,0.00,0.000,4,0.000,0.050,2671,558,3588,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2205,-0.80,-194.6,419.2,-13.2,262,2214,0.00,2.12,0.00,0.000,6,0.000,0.039,2671,1956,3587,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2515,-0.80,-194.6,457.9,-13.8,293,2524,0.00,2.20,0.00,0.000,4,0.000,0.054,2671,3366,3586,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2560,-0.82,-194.6,463.4,-13.3,297,2567,0.00,2.12,0.00,0.000,6,0.000,0.034,2671,1952,3586,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2867,-0.82,-194.6,509.2,-15.6,328,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1952,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3169,-0.83,-194.6,553.9,-14.5,358,3177,0.00,2.22,0.00,0.000,4,0.000,0.054,2671,3364,3583,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3215,-0.85,-194.6,560.0,-14.2,362,3222,0.00,2.15,0.00,0.000,6,0.000,0.036,2671,1956,3582,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3531,-0.86,-194.6,603.9,-13.4,393,3536,0.00,2.17,0.00,0.000,4,0.000,0.052,2671,560,3581,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3592,-0.88,-194.6,612.1,-13.7,396,3597,0.00,2.12,0.00,0.000,6,0.000,0.040,2671,1949,3580,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3912,-0.90,-194.6,653.6,-12.9,412,3918,0.00,2.22,0.00,0.000,4,0.000,0.056,2671,3362,3578,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4020,-0.92,-194.6,666.0,-12.1,417,4024,0.00,2.15,0.00,0.000,6,0.000,0.036,2671,1955,3577,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4332,-0.94,-194.6,704.3,-11.6,433,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1955,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4634,-0.96,-194.6,736.4,-10.4,448,4639,0.00,2.22,0.00,0.000,4,0.000,0.056,2671,3362,3573,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4655,-0.98,-194.6,738.3,-10.2,449,4660,0.12,2.15,0.00,0.000,6,0.092,0.037,2603,1947,3573,0,0,0,0,0,0,26.25,26.29,28.83
$GC,4971,-0.96,-194.6,781.9,-14.1,465,4973,0.15,0.00,0.00,0.000,6,0.170,0.000,2643,1946,3571,0,0,0,0,0,0,26.12,28.83,28.83
$GC,5268,-0.96,-194.6,815.4,-11.2,480,5272,0.00,2.20,0.00,0.000,4,0.000,0.054,2643,551,3570,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5298,-0.96,-194.6,818.0,-11.5,481,5302,0.00,2.17,0.00,0.000,6,0.000,0.041,2643,1957,3570,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5606,-0.96,-194.6,854.8,-12.0,496,5612,0.00,2.25,0.00,0.000,4,0.000,0.057,2643,3363,3568,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5653,-0.97,-194.6,859.5,-11.9,498,5657,0.00,2.17,0.00,0.000,6,0.000,0.037,2643,1952,3568,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5960,-0.97,-194.6,897.2,-12.4,513,5965,0.00,2.25,0.00,0.000,4,0.000,0.057,2643,3366,3566,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5994,-0.98,-194.6,899.8,-12.6,514,6001,0.00,2.17,0.00,0.000,6,0.000,0.037,2643,1955,3565,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6302,-0.99,-194.6,940.0,-12.8,530,6307,0.00,2.20,0.00,0.000,4,0.000,0.054,2642,554,3564,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6350,-1.00,-194.6,945.3,-12.9,532,6358,0.00,2.20,0.00,0.000,6,0.000,0.042,2643,1957,3564,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6660,-1.01,-194.6,986.8,-12.7,548,6666,0.00,2.22,0.00,0.000,4,0.000,0.057,2642,3360,3563,0,0,0,0,0,0,28.83,26.02,28.83
$STATE,6699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6699,begin apogee
$GC,6708,-0.17,0.0,991.7,-12.4,550,6874,0.75,0.00,159.35,1.318,6,0.129,0.000,2886,1984,2785,0,0,0,0,0,0,25.57,28.83,23.39
$STATE,6876,end apogee,CONTROL_FINISHED_OK
$STATE,6877,begin climb
$GC,6879,0.96,194.6,997.3,0.0,558,7062,1.02,2.53,173.40,1.278,4,0.051,0.052,3269,3396,1990,0,0,0,0,0,0,24.78,23.86,22.66
$GC,7097,0.87,194.6,962.0,23.1,569,7104,0.20,2.35,0.00,0.000,6,0.193,0.040,3233,1997,1987,0,0,0,0,0,0,24.27,24.56,28.83
$GC,7419,0.81,194.6,895.5,20.7,585,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1997,1983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7719,0.75,194.6,829.8,22.5,600,7725,0.12,2.22,0.00,0.000,4,0.180,0.048,3193,3396,1982,0,0,0,0,0,0,25.98,26.08,28.83
$GC,7801,0.71,194.6,813.1,20.9,604,7805,0.00,2.17,0.00,0.000,6,0.000,0.037,3201,1988,1982,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8114,0.68,194.6,753.5,17.7,620,8116,0.12,0.00,0.00,0.000,6,0.174,0.000,3171,1988,1981,0,0,0,0,0,0,26.13,28.83,28.83
$GC,8413,0.67,200.0,709.1,14.4,635,8424,0.00,2.30,4.18,0.740,4,0.000,0.047,3171,3398,1969,0,0,0,0,0,0,28.83,26.19,24.23
$GC,8457,0.65,200.0,703.1,14.8,637,8463,0.00,2.17,0.00,0.000,6,0.000,0.035,3178,1986,1970,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8773,0.63,200.0,656.1,14.9,653,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1986,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9073,0.60,200.0,610.9,15.8,668,9079,0.12,2.22,0.00,0.000,4,0.178,0.045,3140,3401,1968,0,0,0,0,0,0,26.12,26.17,28.83
$GC,9117,0.59,200.0,605.0,15.5,670,9123,0.00,2.20,0.00,0.000,6,0.000,0.036,3148,1960,1968,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9433,0.62,218.6,561.3,13.7,700,9453,0.00,0.00,17.90,1.012,6,0.000,0.000,3148,1960,1895,0,0,0,0,0,0,28.83,28.83,24.58
$GC,9752,0.63,228.3,514.4,14.2,732,9772,0.00,2.35,9.55,0.905,4,0.000,0.046,3147,3399,1854,0,0,0,0,0,0,28.83,26.03,24.58
$GC,9824,0.63,228.3,503.7,15.5,739,9833,0.00,2.15,0.00,0.000,6,0.000,0.035,3157,1988,1853,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10134,0.63,228.3,454.9,15.2,770,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1989,1852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10437,0.63,228.3,410.5,15.1,800,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1989,1852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10748,0.69,270.0,368.5,12.6,831,10787,0.00,0.00,36.75,0.900,6,0.000,0.000,3157,1989,1685,0,0,0,0,0,0,28.83,28.83,24.59
$GC,11085,0.79,337.2,327.5,11.3,865,11149,0.15,2.25,57.75,0.858,4,0.083,0.047,3245,585,1411,0,0,0,0,0,0,26.23,25.44,24.41
$GC,11194,0.77,337.2,308.0,19.2,875,11203,0.17,2.20,0.00,0.000,6,0.148,0.032,3198,2017,1408,0,0,0,0,0,0,25.45,25.69,28.83
$GC,11504,0.78,337.2,263.3,15.0,906,11515,0.00,2.15,0.00,0.000,4,0.000,0.045,3197,3389,1407,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11620,0.80,337.2,245.3,16.3,916,11629,0.00,2.17,0.00,0.000,6,0.000,0.035,3204,1987,1407,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11929,0.82,337.2,198.1,15.0,948,11938,0.00,2.20,0.00,0.000,4,0.000,0.047,3215,590,1406,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12039,0.91,384.8,183.5,12.3,966,12088,0.00,2.12,39.55,0.727,6,0.000,0.031,3215,1976,1215,0,0,0,0,0,0,28.83,26.28,24.77
$GC,12446,1.02,438.5,128.7,12.0,1033,12497,0.15,2.28,43.75,0.669,4,0.081,0.047,3308,592,996,0,0,0,0,0,0,26.27,25.70,24.76
$GC,12532,1.02,438.5,113.3,18.5,1045,12539,0.00,2.15,0.00,0.000,6,0.000,0.030,3308,1995,995,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12899,1.01,438.5,43.4,21.1,1106,12908,0.12,0.00,0.00,0.000,6,0.164,0.000,3272,2000,993,0,0,0,0,0,0,26.03,28.83,28.83
$STATE,13113,end climb,SURFACE_DEPTH_REACHED
$STATE,13114,begin surface coast
$FINISH,6.6,1.012597
$STATE,13196,end surface coast,CONTROL_FINISHED_OK
$STATE,13196,begin surface
$SM_CCo,13214,10.75,0.516,0,0,949,450.13
$SM_GC,7.33,7.85,0.00,10.75,0.032,0.000,0.516,158,2005,949,-8.61,1.50,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,12005.06,050112,202056
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.50
$INTERNAL_PRESSURE,9.42455
$TCM_TEMP,24.80
$XPDR_PINGS,15
$24V_AH,22.7,53.027
$10V_AH,10.1,43.260
$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,21.450,109.825,542.175,10.750,0.000,23.297,17.244,182.609,3.750,0.000,13.969,2715.411,7150.592,617.919,2735.472,347.977,0.000,1785.818,0.000,2535.535,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,57.375,1318.095,515.610,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.727,1011.274,834.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63485,1155
$CAP_FILE_SIZE,149428,0
$CFSIZE,260165632,179216384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060112,035331,2119.593,12003.993,35,1.1,35,-2.5