version: 66.10
glider: 165
mission: 5
dive: 231
start: 1 6 112 7 46 53
data:
$ID,165
$MISSION,5
$DIVE,231
$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,-271701.34
$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,64
$R_STBD_OVSHOOT,50
$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
$GPS1,060112,074007,2120.316,12003.786,32,1.0,32,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.84
$_SM_ANGLEo,-65.7
$GPS2,060112,074631,2120.196,12003.848,9,1.0,14,-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,354.3,46412,-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,-194.6,0.0,0.0,0,103,0.00,0.00,-85.20,0.000,2,0.000,0.000,122,1941,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.96,-194.6,11.4,-10.4,13,135,9.93,2.25,-6.75,0.000,4,0.232,0.056,2623,3355,3583,0,0,0,0,0,0,25.23,26.05,26.48
$GC,192,-0.88,-194.6,46.5,-34.1,27,199,0.17,2.08,0.00,0.000,6,0.182,0.034,2667,1970,3584,0,0,0,0,0,0,25.70,26.15,28.83
$GC,522,-0.83,-194.6,146.8,-23.4,88,530,0.00,2.20,0.00,0.000,4,0.000,0.046,2667,558,3586,0,0,0,0,0,0,28.83,26.20,28.83
$GC,565,-0.80,-194.6,155.5,-19.4,95,573,0.12,2.12,0.00,0.000,6,0.180,0.035,2690,1951,3586,0,0,0,0,0,0,25.94,26.25,28.83
$GC,895,-0.78,-194.6,214.3,-15.9,148,905,0.00,2.17,0.00,0.000,4,0.000,0.050,2683,3361,3587,0,0,0,0,0,0,28.83,26.19,28.83
$GC,930,-0.77,-194.6,219.5,-15.7,151,934,0.00,2.12,0.00,0.000,6,0.000,0.034,2683,1955,3587,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1242,-0.77,-194.6,272.4,-15.1,182,1252,0.00,2.15,0.00,0.000,4,0.000,0.049,2683,547,3588,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1264,-0.77,-194.6,276.1,-15.8,184,1274,0.00,2.17,0.00,0.000,6,0.000,0.037,2673,1964,3588,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1574,-0.77,-194.6,331.6,-16.5,215,1578,0.00,2.17,0.00,0.000,4,0.000,0.052,2664,3365,3588,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1639,-0.77,-194.6,340.6,-14.1,221,1646,0.12,2.15,0.00,0.000,6,0.157,0.035,2697,1946,3588,0,0,0,0,0,0,26.08,26.34,28.83
$GC,1947,-0.79,-194.6,375.4,-9.8,252,1956,0.00,2.12,0.00,0.000,4,0.000,0.050,2697,552,3588,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1991,-0.81,-194.6,379.6,-10.1,256,1998,0.00,2.15,0.00,0.000,6,0.000,0.039,2697,1951,3588,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2299,-0.84,-194.6,409.1,-10.1,287,2307,0.00,2.17,0.00,0.000,4,0.000,0.053,2690,3359,3587,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2373,-0.87,-194.6,416.4,-9.7,294,2380,0.00,2.12,0.00,0.000,6,0.000,0.034,2690,1947,3587,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2681,-0.89,-194.6,449.2,-11.2,325,2689,0.00,2.12,0.00,0.000,4,0.000,0.050,2690,554,3585,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2705,-0.91,-194.6,451.7,-11.2,327,2712,0.00,2.15,0.00,0.000,6,0.000,0.040,2687,1961,3585,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3013,-0.93,-194.6,486.1,-11.6,358,3022,0.10,2.17,0.00,0.000,4,0.105,0.054,2629,3357,3583,0,0,0,0,0,0,26.53,26.17,28.83
$GC,3098,-0.93,-194.6,497.6,-14.6,366,3105,0.00,2.15,0.00,0.000,6,0.000,0.036,2629,1951,3582,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3405,-0.91,-194.6,545.0,-15.5,397,3414,0.00,2.25,0.00,0.000,4,0.000,0.054,2625,3366,3581,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3447,-0.90,-194.6,551.2,-14.9,401,3457,0.12,2.15,0.00,0.000,6,0.166,0.036,2657,1956,3581,0,0,0,0,0,0,26.03,26.32,28.83
$GC,3759,-0.90,-194.6,590.9,-12.4,432,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1956,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4079,-0.91,-194.6,629.9,-12.1,452,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1956,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4378,-0.92,-194.6,667.0,-12.7,467,4383,0.00,2.22,0.00,0.000,4,0.000,0.056,2657,3359,3575,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4406,-0.93,-194.6,669.5,-12.7,468,4410,0.00,2.12,0.00,0.000,6,0.000,0.036,2657,1956,3574,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4714,-0.94,-194.6,709.5,-13.1,483,4720,0.00,2.15,0.00,0.000,4,0.000,0.053,2657,563,3573,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4753,-0.95,-194.6,714.8,-13.1,485,4758,0.00,2.17,0.00,0.000,6,0.000,0.041,2657,1958,3573,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5074,-0.97,-194.6,756.2,-13.1,501,5080,0.00,2.20,0.00,0.000,4,0.000,0.057,2657,3359,3570,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5133,-0.98,-194.6,763.8,-12.9,504,5137,0.00,2.15,0.00,0.000,6,0.000,0.036,2657,1954,3570,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5456,-1.00,-194.6,803.3,-12.2,520,5462,0.00,2.17,0.00,0.000,4,0.000,0.053,2656,552,3569,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5485,-1.01,-194.6,805.9,-12.5,521,5493,0.00,2.20,0.00,0.000,6,0.000,0.042,2657,1960,3569,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5795,-1.03,-194.6,844.6,-11.7,537,5801,0.12,2.22,0.00,0.000,4,0.096,0.055,2577,3366,3567,0,0,0,0,0,0,26.48,26.08,28.83
$GC,5879,-1.01,-194.6,857.2,-15.9,541,5886,0.17,2.17,0.00,0.000,6,0.163,0.037,2624,1954,3566,0,0,0,0,0,0,25.84,26.26,28.83
$GC,6195,-1.01,-194.6,902.4,-14.0,557,6200,0.00,2.20,0.00,0.000,4,0.000,0.054,2624,548,3565,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6218,-1.01,-194.6,905.3,-14.2,558,6222,0.00,2.20,0.00,0.000,6,0.000,0.041,2617,1956,3565,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6531,-1.01,-194.6,951.5,-14.9,574,6536,0.00,2.22,0.00,0.000,4,0.000,0.058,2610,3368,3563,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6578,-1.01,-194.6,957.7,-15.0,576,6582,0.00,2.17,0.00,0.000,6,0.000,0.037,2610,1945,3563,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,6783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6783,begin apogee
$GC,6790,-0.17,0.0,990.3,-15.0,586,6958,0.88,0.00,159.77,1.312,6,0.138,0.000,2888,1998,2785,0,0,0,0,0,0,25.49,28.83,23.41
$STATE,6959,end apogee,CONTROL_FINISHED_OK
$STATE,6959,begin climb
$GC,6962,0.96,194.6,996.7,0.0,594,7149,1.00,2.50,172.48,1.268,4,0.050,0.054,3267,3390,1990,0,0,0,0,0,0,24.81,23.89,22.68
$GC,7200,0.87,194.6,958.9,23.7,606,7205,0.17,2.33,0.00,0.000,6,0.194,0.041,3237,2001,1987,0,0,0,0,0,0,24.49,24.75,28.83
$GC,7508,0.81,194.6,890.6,21.6,621,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2001,1983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7807,0.75,194.6,824.2,22.3,636,7813,0.12,2.22,0.00,0.000,4,0.184,0.047,3198,3402,1982,0,0,0,0,0,0,25.97,26.08,28.83
$GC,7850,0.70,194.6,815.4,22.1,638,7855,0.12,2.20,0.00,0.000,6,0.187,0.038,3178,1988,1982,0,0,0,0,0,0,25.89,26.20,28.83
$GC,8166,0.67,194.6,759.4,16.8,654,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1988,1981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8463,0.65,194.6,709.2,16.6,669,8469,0.00,2.25,0.00,0.000,4,0.000,0.047,3177,3402,1980,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8524,0.63,194.6,698.6,17.4,672,8530,0.10,2.17,0.00,0.000,6,0.164,0.037,3155,1987,1980,0,0,0,0,0,0,25.91,26.29,28.83
$GC,8845,0.63,208.9,652.2,13.9,688,8862,0.00,0.00,11.80,1.017,6,0.000,0.000,3155,1987,1933,0,0,0,0,0,0,28.83,28.83,24.53
$GC,9164,0.68,244.8,609.8,12.9,704,9202,0.00,0.00,32.80,1.065,6,0.000,0.000,3155,1986,1787,0,0,0,0,0,0,28.83,28.83,24.41
$GC,9503,0.72,275.0,563.9,13.1,734,9535,0.00,2.28,27.17,1.019,4,0.000,0.050,3163,567,1664,0,0,0,0,0,0,28.83,25.66,24.45
$GC,9568,0.74,290.6,555.7,13.9,740,9593,0.00,2.22,15.02,0.954,6,0.000,0.032,3163,2012,1600,0,0,0,0,0,0,28.83,25.79,24.30
$GC,9893,0.75,298.8,509.2,14.3,773,9907,0.00,2.17,8.77,0.869,4,0.000,0.046,3163,3382,1566,0,0,0,0,0,0,28.83,25.95,24.53
$GC,9995,0.77,305.0,495.1,14.4,782,10010,0.00,2.20,7.07,0.814,6,0.000,0.037,3173,1969,1541,0,0,0,0,0,0,28.83,26.07,24.51
$GC,10310,0.77,305.0,446.7,15.6,814,10319,0.00,2.15,0.00,0.000,4,0.000,0.050,3183,591,1540,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10345,0.78,305.0,441.6,15.7,817,10352,0.00,2.12,0.00,0.000,6,0.000,0.032,3183,1993,1540,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10653,0.78,305.0,391.1,16.4,848,10661,0.00,2.17,0.00,0.000,4,0.000,0.047,3183,3393,1539,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10734,0.79,305.0,376.9,17.0,856,10743,0.00,2.15,0.00,0.000,6,0.000,0.037,3193,1981,1540,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11045,0.79,305.0,323.3,16.1,887,11053,0.00,2.15,0.00,0.000,4,0.000,0.049,3203,590,1540,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11119,0.80,307.9,312.5,14.5,894,11126,0.00,2.12,0.00,0.000,6,0.000,0.031,3203,2006,1539,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11428,0.80,307.9,265.6,16.0,925,11437,0.00,2.12,0.00,0.000,4,0.000,0.046,3203,3382,1539,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11523,0.81,307.9,250.5,15.7,934,11534,0.00,2.10,3.95,0.519,6,0.000,0.036,3213,1984,1529,0,0,0,0,0,0,28.83,26.28,24.40
$GC,11833,0.81,307.9,199.3,17.3,965,11839,0.00,2.17,0.00,0.000,4,0.000,0.047,3224,585,1529,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11933,0.86,335.4,183.9,13.3,983,11966,0.00,2.12,24.73,0.734,6,0.000,0.031,3224,1988,1417,0,0,0,0,0,0,28.83,26.32,24.81
$GC,12287,0.88,335.4,130.6,14.8,1048,12294,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1988,1416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12641,1.05,439.9,89.4,9.4,1109,12735,0.15,2.30,83.88,0.641,4,0.081,0.047,3318,593,990,0,0,0,0,0,0,26.40,25.53,24.63
$GC,12750,1.04,439.9,72.1,19.6,1126,12761,0.10,2.17,0.00,0.000,6,0.137,0.029,3286,1990,989,0,0,0,0,0,0,25.45,25.70,28.83
$GC,13110,1.05,439.9,12.7,16.0,1187,13117,0.00,2.17,0.00,0.000,4,0.000,0.043,3294,581,988,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,13124,end climb,SURFACE_DEPTH_REACHED
$STATE,13125,begin surface coast
$FINISH,6.7,1.022944
$STATE,13168,end surface coast,CONTROL_FINISHED_OK
$STATE,13168,begin surface
$SM_CCo,13189,9.10,0.499,0,0,951,450.13
$SM_GC,7.47,7.95,2.12,9.10,0.033,0.033,0.499,161,1949,951,-8.63,-1.53,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12005.06,060112,030332
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.40
$INTERNAL_PRESSURE,9.42455
$TCM_TEMP,24.60
$XPDR_PINGS,13
$24V_AH,22.7,53.395
$10V_AH,10.1,43.480
$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,21.475,126.575,547.450,9.100,0.000,29.091,41.460,184.677,3.250,0.000,17.270,2798.686,7098.117,649.408,2688.673,338.947,0.000,1864.032,0.000,2429.971,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,101.745,1311.975,498.780,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.986,1029.915,673.288,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70234,1197
$CAP_FILE_SIZE,149805,0
$CFSIZE,260165632,179060736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060112,112807,2121.175,12003.844,34,1.0,34,-2.5