version: 66.10
glider: 165
mission: 5
dive: 230
start: 1 6 112 4 0 18
data:
$ID,165
$MISSION,5
$DIVE,230
$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,-271700.09
$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,49
$R_STBD_OVSHOOT,45
$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
$GPS1,060112,035331,2119.593,12003.993,35,1.1,35,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.87
$_SM_ANGLEo,-71.3
$GPS2,060112,035956,2119.469,12004.059,11,1.2,11,-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,354.1,47796,-21.6,-14.667
$D_GRID,2807
$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,-194.6,0.0,0.0,0,108,0.00,0.00,-89.90,0.000,2,0.000,0.000,120,2006,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.96,-194.6,12.0,-12.4,13,134,9.95,2.10,-3.78,0.000,4,0.233,0.052,2626,3364,3583,0,0,0,0,0,0,25.27,26.07,26.45
$GC,185,-0.88,-194.6,45.3,-32.0,25,192,0.15,2.12,0.00,0.000,6,0.186,0.034,2664,1947,3583,0,0,0,0,0,0,25.73,26.15,28.83
$GC,515,-0.83,-194.6,144.1,-23.9,86,523,0.00,2.15,0.00,0.000,4,0.000,0.045,2664,563,3585,0,0,0,0,0,0,28.83,26.20,28.83
$GC,569,-0.78,-194.6,155.5,-23.0,95,576,0.15,2.10,0.00,0.000,6,0.179,0.039,2694,1944,3585,0,0,0,0,0,0,25.86,26.21,28.83
$GC,893,-0.77,-194.6,215.1,-15.8,147,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1945,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1195,-0.77,-194.6,268.3,-17.3,177,1199,0.00,2.17,0.00,0.000,4,0.000,0.047,2694,546,3587,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1251,-0.77,-194.6,277.7,-16.5,182,1258,0.00,2.17,0.00,0.000,6,0.000,0.036,2687,1956,3587,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1558,-0.77,-194.6,324.6,-14.4,213,1566,0.00,2.20,0.00,0.000,4,0.000,0.051,2677,3365,3586,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1661,-0.78,-194.6,339.1,-14.1,223,1669,0.00,2.08,0.00,0.000,6,0.000,0.034,2677,1967,3587,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1970,-0.78,-194.6,384.0,-14.4,254,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1967,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2273,-0.78,-194.6,425.1,-13.1,284,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1966,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2583,-0.79,-194.6,464.0,-12.0,315,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1966,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2894,-0.80,-194.6,499.4,-11.3,346,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1966,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3202,-0.81,-194.6,535.8,-12.3,377,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1966,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3513,-0.83,-194.6,574.4,-13.5,408,3522,0.00,2.22,0.00,0.000,4,0.000,0.055,2673,3363,3579,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3595,-0.86,-194.6,585.7,-13.1,416,3604,0.00,2.12,0.00,0.000,6,0.000,0.036,2673,1954,3579,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3908,-0.87,-194.6,628.2,-13.2,437,3912,0.00,2.20,0.00,0.000,4,0.000,0.052,2673,548,3578,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3951,-0.89,-194.6,634.5,-13.6,439,3957,0.00,2.17,0.00,0.000,6,0.000,0.040,2674,1959,3577,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4270,-0.91,-194.6,679.7,-14.2,455,4276,0.00,2.22,0.00,0.000,4,0.000,0.056,2671,3366,3575,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4374,-0.94,-194.6,693.8,-13.9,460,4378,0.00,2.15,0.00,0.000,6,0.000,0.036,2671,1947,3575,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4686,-0.96,-194.6,736.6,-13.1,476,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1948,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4987,-0.98,-194.6,772.5,-11.4,491,4994,0.12,2.25,0.00,0.000,4,0.096,0.054,2600,3353,3571,0,0,0,0,0,0,26.48,26.10,28.83
$GC,5020,-1.00,-194.6,775.2,-11.8,492,5027,0.00,2.15,0.00,0.000,6,0.000,0.037,2600,1956,3570,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5328,-0.98,-194.6,822.4,-14.6,508,5330,0.12,0.00,0.00,0.000,6,0.174,0.000,2632,1956,3569,0,0,0,0,0,0,26.22,28.83,28.83
$GC,5628,-0.98,-194.6,858.4,-12.2,523,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1956,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5927,-0.98,-194.6,895.8,-12.4,538,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1956,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6228,-0.98,-194.6,934.1,-13.2,553,6234,0.00,2.28,0.00,0.000,4,0.000,0.058,2630,3366,3564,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6335,-0.99,-194.6,947.3,-12.9,558,6339,0.00,2.15,0.00,0.000,6,0.000,0.037,2630,1957,3563,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,6639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6639,begin apogee
$GC,6646,-0.17,0.0,990.5,-13.5,573,6812,0.80,0.00,159.38,1.310,6,0.134,0.000,2887,1957,2786,0,0,0,0,0,0,25.55,28.83,23.44
$STATE,6813,end apogee,CONTROL_FINISHED_OK
$STATE,6813,begin climb
$GC,6816,0.96,194.6,995.9,0.0,581,6998,1.02,2.62,173.27,1.265,4,0.050,0.052,3272,3399,1991,0,0,0,0,0,0,24.82,23.90,22.70
$GC,7010,0.87,194.6,968.5,21.8,591,7020,0.22,2.38,0.00,0.000,6,0.189,0.041,3231,2003,1988,0,0,0,0,0,0,24.02,24.25,28.83
$GC,7322,0.81,194.6,896.3,21.4,607,7328,0.00,2.25,0.00,0.000,4,0.000,0.050,3230,3401,1984,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7409,0.74,194.6,877.1,24.0,611,7414,0.17,2.25,0.00,0.000,6,0.180,0.039,3194,1969,1983,0,0,0,0,0,0,25.70,26.03,28.83
$GC,7716,0.70,194.6,815.8,18.4,626,7721,0.00,2.17,0.00,0.000,4,0.000,0.051,3202,585,1981,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7737,0.67,194.6,812.1,18.4,627,7743,0.10,2.15,0.00,0.000,6,0.146,0.036,3171,2005,1980,0,0,0,0,0,0,25.89,26.17,28.83
$GC,8059,0.65,194.6,756.8,17.7,643,8064,0.00,2.15,0.00,0.000,4,0.000,0.048,3171,3384,1979,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8166,0.62,194.6,738.4,18.3,648,8175,0.00,2.15,0.00,0.000,6,0.000,0.036,3178,1985,1979,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8477,0.60,194.6,681.1,17.5,664,8479,0.12,0.00,0.00,0.000,6,0.181,0.000,3147,1985,1979,0,0,0,0,0,0,26.15,28.83,28.83
$GC,8778,0.60,194.6,632.4,16.2,679,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1985,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9077,0.60,194.6,585.9,15.0,698,9086,0.00,2.22,0.00,0.000,4,0.000,0.047,3147,3390,1978,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9101,0.60,194.6,582.6,15.3,700,9108,0.00,2.15,0.00,0.000,6,0.000,0.035,3154,1967,1978,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9408,0.60,195.7,536.7,14.6,731,9417,0.00,2.25,0.00,0.000,4,0.000,0.046,3154,3390,1977,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9500,0.59,195.7,522.7,15.3,740,9509,0.00,2.12,0.00,0.000,6,0.000,0.035,3164,1985,1977,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9810,0.58,195.7,476.4,14.7,771,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1985,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10112,0.59,206.7,434.4,14.1,801,10130,0.00,2.28,9.27,0.848,4,0.000,0.046,3164,3395,1943,0,0,0,0,0,0,28.83,26.16,24.44
$GC,10157,0.59,206.7,428.0,14.8,805,10165,0.12,2.15,0.00,0.000,6,0.180,0.035,3144,1990,1942,0,0,0,0,0,0,25.91,26.20,28.83
$GC,10464,0.64,241.8,386.9,12.9,836,10503,0.00,2.20,31.48,0.902,4,0.000,0.047,3152,594,1799,0,0,0,0,0,0,28.83,25.79,24.60
$GC,10526,0.70,272.2,379.0,13.1,842,10558,0.00,2.15,27.23,0.872,6,0.000,0.031,3152,1997,1675,0,0,0,0,0,0,28.83,25.88,24.35
$GC,10862,0.77,312.3,335.7,12.6,875,10904,0.12,2.25,35.60,0.851,4,0.093,0.047,3216,3398,1511,0,0,0,0,0,0,26.20,25.61,24.53
$GC,10953,0.76,312.3,318.2,21.2,884,10963,0.08,2.17,0.00,0.000,6,0.157,0.036,3202,1992,1510,0,0,0,0,0,0,25.56,25.82,28.83
$GC,11263,0.76,312.3,267.1,15.8,915,11272,0.00,2.17,0.00,0.000,4,0.000,0.049,3210,583,1508,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11306,0.76,312.3,260.5,15.3,919,11315,0.00,2.15,0.00,0.000,6,0.000,0.031,3210,1988,1508,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11615,0.77,320.8,216.3,14.2,950,11626,0.00,0.00,7.97,0.666,6,0.000,0.000,3210,1988,1478,0,0,0,0,0,0,28.83,28.83,24.74
$GC,11940,0.80,327.6,166.8,14.3,1001,11955,0.00,2.17,7.75,0.621,4,0.000,0.044,3210,3393,1449,0,0,0,0,0,0,28.83,26.15,24.81
$GC,11969,0.82,335.3,162.4,14.3,1005,11984,0.00,2.15,7.93,0.615,6,0.000,0.034,3219,1967,1419,0,0,0,0,0,0,28.83,26.18,24.82
$GC,12318,0.98,446.4,116.0,9.1,1067,12415,0.12,2.20,89.57,0.665,4,0.092,0.047,3303,593,964,0,0,0,0,0,0,26.36,25.46,24.58
$GC,12553,0.99,446.4,79.8,17.0,1103,12561,0.12,2.12,0.00,0.000,6,0.151,0.029,3270,2005,962,0,0,0,0,0,0,25.72,25.96,28.83
$GC,12922,1.02,446.4,23.5,16.5,1164,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2006,962,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13006,end climb,SURFACE_DEPTH_REACHED
$STATE,13006,begin surface coast
$FINISH,6.7,1.022885
$STATE,13091,end surface coast,CONTROL_FINISHED_OK
$STATE,13091,begin surface
$SM_CCo,13110,4.25,0.387,0,0,950,450.13
$SM_GC,8.07,7.88,0.03,4.25,0.033,0.207,0.387,161,1944,950,-8.62,1.72,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12005.06,060112,000023
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.09
$INTERNAL_PRESSURE,9.43431
$TCM_TEMP,24.60
$XPDR_PINGS,11
$24V_AH,22.7,53.209
$10V_AH,10.1,43.370
$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,21.400,92.100,549.450,4.250,0.000,30.840,47.925,179.290,2.750,0.000,14.011,2769.447,7132.276,625.229,2638.240,326.089,0.000,1766.509,0.000,2390.692,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,207.315,1310.445,387.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.715,1026.312,716.820,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66969,1193
$CAP_FILE_SIZE,140356,0
$CFSIZE,260165632,179146752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060112,074007,2120.316,12003.786,32,1.0,32,-2.5