version: 66.10
glider: 165
mission: 5
dive: 232
start: 1 6 112 11 35 0
data:
$ID,165
$MISSION,5
$DIVE,232
$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,-271702.59
$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,45
$R_STBD_OVSHOOT,40
$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
$GPS1,060112,112807,2121.175,12003.844,34,1.0,34,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.85
$_SM_ANGLEo,-67.8
$GPS2,060112,113438,2121.038,12003.931,13,1.6,13,-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,353.8,44891,-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,-194.6,0.0,0.0,0,105,0.00,0.00,-86.45,0.000,2,0.000,0.000,125,1960,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.96,-194.6,11.3,-10.6,13,137,10.07,2.20,-6.15,0.000,4,0.236,0.048,2646,538,3582,0,0,0,0,0,0,25.24,26.10,26.46
$GC,144,-0.69,-194.6,29.1,-46.4,18,152,0.28,2.20,0.00,0.000,6,0.180,0.032,2718,1958,3583,0,0,0,0,0,0,25.50,26.10,28.83
$GC,477,-0.64,-194.6,116.2,-24.5,79,484,0.00,2.17,0.00,0.000,4,0.000,0.045,2721,551,3584,0,0,0,0,0,0,28.83,26.17,28.83
$GC,507,-0.60,-194.6,124.0,-24.5,84,515,0.12,2.15,0.00,0.000,6,0.152,0.034,2751,1948,3584,0,0,0,0,0,0,25.85,26.22,28.83
$GC,841,-0.62,-194.6,177.1,-13.2,145,847,0.00,2.20,0.00,0.000,4,0.000,0.050,2751,3371,3585,0,0,0,0,0,0,28.83,26.17,28.83
$GC,889,-0.66,-194.6,183.6,-13.1,153,896,0.00,2.12,0.00,0.000,6,0.000,0.033,2751,1946,3585,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1210,-0.70,-194.6,230.4,-13.5,194,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1946,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1513,-0.74,-194.6,264.1,-9.5,224,1524,0.12,2.12,0.00,0.000,4,0.088,0.048,2668,558,3587,0,0,0,0,0,0,26.51,26.25,28.83
$GC,1570,-0.74,-194.6,271.6,-13.6,229,1579,0.15,2.10,0.00,0.000,6,0.142,0.037,2707,1957,3586,0,0,0,0,0,0,25.93,26.29,28.83
$GC,1879,-0.76,-194.6,309.2,-12.6,260,1887,0.00,2.17,0.00,0.000,4,0.000,0.051,2699,3357,3587,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1932,-0.78,-194.6,316.1,-13.3,265,1941,0.00,2.08,0.00,0.000,6,0.000,0.034,2699,1957,3587,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2241,-0.80,-194.6,358.3,-12.9,296,2244,0.00,2.15,0.00,0.000,4,0.000,0.050,2699,555,3587,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2296,-0.82,-194.6,365.1,-13.0,301,2302,0.00,2.15,0.00,0.000,6,0.000,0.038,2690,1958,3586,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2603,-0.83,-194.6,401.3,-11.3,332,2611,0.00,2.15,0.00,0.000,4,0.000,0.053,2681,3352,3587,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2634,-0.85,-194.6,404.8,-11.1,335,2643,0.00,2.10,0.00,0.000,6,0.000,0.034,2681,1951,3586,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2944,-0.86,-194.6,442.9,-13.2,366,2953,0.00,2.22,0.00,0.000,4,0.000,0.051,2673,3359,3584,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3046,-0.88,-194.6,455.5,-12.8,376,3055,0.00,2.15,0.00,0.000,6,0.000,0.035,2673,1945,3584,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3356,-0.89,-194.6,497.1,-13.2,407,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1945,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3661,-0.90,-194.6,537.0,-13.5,437,3669,0.00,2.15,0.00,0.000,4,0.000,0.052,2673,560,3581,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3703,-0.91,-194.6,543.3,-14.0,441,3711,0.00,2.12,0.00,0.000,6,0.000,0.040,2673,1950,3581,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4013,-0.93,-194.6,585.2,-14.2,472,4021,0.00,2.22,0.00,0.000,4,0.000,0.055,2671,3368,3579,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4129,-0.96,-194.6,600.7,-14.1,483,4136,0.00,2.15,0.00,0.000,6,0.000,0.035,2671,1946,3578,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4436,-0.97,-194.6,644.8,-14.0,499,4439,0.00,2.17,0.00,0.000,4,0.000,0.052,2671,551,3576,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4466,-0.99,-194.6,648.0,-14.0,500,4471,0.12,2.20,0.00,0.000,6,0.093,0.041,2609,1966,3576,0,0,0,0,0,0,26.24,26.25,28.83
$GC,4772,-0.97,-194.6,702.0,-16.5,515,4774,0.12,0.00,0.00,0.000,6,0.174,0.000,2641,1966,3575,0,0,0,0,0,0,26.22,28.83,28.83
$GC,5074,-0.97,-194.6,745.5,-14.5,530,5079,0.00,2.20,0.00,0.000,4,0.000,0.057,2632,3361,3573,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5125,-0.97,-194.6,751.4,-14.3,532,5132,0.00,2.15,0.00,0.000,6,0.000,0.037,2632,1958,3572,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5433,-0.97,-194.6,801.0,-15.5,548,5439,0.00,2.25,0.00,0.000,4,0.000,0.056,2630,3359,3570,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5460,-0.97,-194.6,804.1,-15.6,549,5464,0.00,2.17,0.00,0.000,6,0.000,0.037,2630,1945,3570,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5767,-0.97,-194.6,852.3,-15.0,564,5773,0.00,2.28,0.00,0.000,4,0.000,0.056,2629,3359,3568,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5801,-0.97,-194.6,855.2,-14.9,565,5808,0.00,2.17,0.00,0.000,6,0.000,0.037,2629,1945,3568,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6107,-0.97,-194.6,901.7,-14.5,581,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1945,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6407,-0.97,-194.6,941.8,-13.4,596,6413,0.00,2.20,0.00,0.000,4,0.000,0.054,2629,555,3565,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6448,-0.97,-194.6,947.6,-14.2,598,6454,0.00,2.17,0.00,0.000,6,0.000,0.042,2629,1948,3565,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,6765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6765,begin apogee
$GC,6771,-0.17,0.0,992.3,-13.9,614,6938,0.80,0.00,159.40,1.308,6,0.135,0.000,2886,1997,2785,0,0,0,0,0,0,25.58,28.83,23.47
$STATE,6941,end apogee,CONTROL_FINISHED_OK
$STATE,6941,begin climb
$GC,6943,0.96,194.6,999.8,0.0,622,7125,1.00,2.55,170.93,1.265,4,0.050,0.054,3274,598,1991,0,0,0,0,0,0,24.87,23.94,22.75
$GC,7132,0.87,194.6,977.3,19.1,632,7139,0.17,2.38,0.00,0.000,6,0.183,0.038,3235,1994,1988,0,0,0,0,0,0,24.02,24.23,28.83
$GC,7448,0.81,194.6,911.1,20.4,648,7454,0.00,2.25,0.00,0.000,4,0.000,0.052,3235,3398,1983,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7542,0.75,194.6,894.5,20.8,652,7550,0.20,2.17,0.00,0.000,6,0.174,0.039,3190,2008,1982,0,0,0,0,0,0,25.71,26.07,28.83
$GC,7848,0.71,194.6,839.8,16.3,668,7854,0.00,2.22,0.00,0.000,4,0.000,0.049,3190,3401,1981,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7896,0.68,194.6,832.8,16.9,670,7900,0.00,2.20,0.00,0.000,6,0.000,0.037,3198,1985,1981,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8204,0.64,194.6,778.2,18.0,685,8210,0.12,2.22,0.00,0.000,4,0.181,0.046,3163,3396,1980,0,0,0,0,0,0,26.08,26.17,28.83
$GC,8271,0.61,194.6,768.0,17.0,688,8276,0.00,2.17,0.00,0.000,6,0.000,0.036,3170,1974,1980,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8579,0.60,194.6,715.8,17.3,703,8585,0.00,2.25,0.00,0.000,4,0.000,0.047,3170,3402,1978,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8658,0.57,194.6,701.4,18.0,707,8665,0.17,2.17,0.00,0.000,6,0.176,0.037,3135,1981,1978,0,0,0,0,0,0,25.86,26.28,28.83
$GC,8979,0.58,203.2,654.9,14.2,723,8988,0.00,0.00,6.65,0.896,6,0.000,0.000,3135,1980,1957,0,0,0,0,0,0,28.83,28.83,24.35
$GC,9278,0.62,229.3,614.0,13.3,738,9305,0.00,0.00,24.40,1.050,6,0.000,0.000,3135,1980,1850,0,0,0,0,0,0,28.83,28.83,24.52
$GC,9601,0.69,269.0,572.1,12.7,764,9640,0.12,0.00,35.72,1.024,6,0.090,0.000,3205,1980,1688,0,0,0,0,0,0,26.26,28.83,24.39
$GC,9938,0.66,269.0,508.5,18.1,798,9940,0.15,0.00,0.00,0.000,6,0.156,0.000,3168,1981,1685,0,0,0,0,0,0,25.92,28.83,28.83
$GC,10238,0.71,308.4,467.6,12.7,828,10278,0.00,2.38,34.95,0.951,4,0.000,0.047,3168,3411,1527,0,0,0,0,0,0,28.83,25.68,24.52
$GC,10292,0.75,328.8,460.5,13.6,833,10321,0.00,2.25,19.42,0.893,6,0.000,0.037,3175,1979,1444,0,0,0,0,0,0,28.83,25.78,24.37
$GC,10621,0.76,328.8,409.8,15.5,866,10630,0.00,2.20,0.00,0.000,4,0.000,0.049,3186,583,1442,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10684,0.78,328.8,400.2,15.7,872,10693,0.00,2.15,0.00,0.000,6,0.000,0.031,3185,1999,1442,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10993,0.78,328.8,350.5,16.8,903,11002,0.00,2.17,0.00,0.000,4,0.000,0.047,3186,3398,1442,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11019,0.79,328.8,347.0,16.6,905,11026,0.00,2.17,0.00,0.000,6,0.000,0.037,3195,1979,1441,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11325,0.85,368.4,301.8,12.7,936,11365,0.00,2.28,33.53,0.826,4,0.000,0.049,3206,585,1283,0,0,0,0,0,0,28.83,25.82,24.70
$GC,11411,0.87,368.4,289.5,15.1,944,11421,0.00,2.15,0.00,0.000,6,0.000,0.031,3205,1993,1281,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11721,0.90,383.5,244.1,13.9,975,11742,0.10,2.28,13.98,0.735,4,0.109,0.045,3254,3403,1221,0,0,0,0,0,0,26.31,25.99,24.79
$GC,11818,0.90,383.5,226.1,18.6,984,11829,0.00,2.15,0.00,0.000,6,0.000,0.037,3264,1992,1219,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12150,0.90,383.5,158.4,19.4,1033,12157,0.00,2.20,0.00,0.000,4,0.000,0.048,3275,583,1219,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12257,0.90,383.5,139.1,16.3,1052,12266,0.10,2.17,0.00,0.000,6,0.137,0.031,3241,2003,1219,0,0,0,0,0,0,25.96,26.27,28.83
$GC,12594,1.02,447.3,102.0,11.4,1113,12652,0.12,2.33,51.78,0.649,4,0.091,0.047,3320,586,959,0,0,0,0,0,0,26.44,25.76,24.81
$GC,12772,1.02,447.3,68.8,21.1,1144,12781,0.12,2.17,0.00,0.000,6,0.133,0.030,3278,2006,958,0,0,0,0,0,0,25.71,26.03,28.83
$GC,13120,1.03,447.3,11.5,17.4,1205,13126,0.00,2.22,0.00,0.000,4,0.000,0.047,3286,577,957,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,13134,end climb,SURFACE_DEPTH_REACHED
$STATE,13134,begin surface coast
$FINISH,6.6,1.023138
$STATE,13150,end surface coast,CONTROL_FINISHED_OK
$STATE,13150,begin surface
$SM_CCo,13170,3.00,0.295,0,0,950,450.13
$SM_GC,8.08,7.85,2.12,3.00,0.029,0.030,0.295,162,1946,950,-8.62,-1.47,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12005.06,060112,070759
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.97
$INTERNAL_PRESSURE,9.43431
$TCM_TEMP,24.70
$XPDR_PINGS,9
$24V_AH,22.7,53.583
$10V_AH,10.1,43.591
$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,22.050,123.150,550.750,3.000,0.000,31.006,48.286,184.078,2.250,0.000,15.967,2833.873,7049.674,642.014,2705.263,326.063,0.000,1841.250,0.000,2434.970,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,123.930,1308.150,294.525,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,818.443,1034.775,701.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70196,1210
$CAP_FILE_SIZE,149411,0
$CFSIZE,260165632,178987008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060112,151555,2122.218,12004.231,39,1.1,39,-2.5