version: 66.10
glider: 165
mission: 5
dive: 266
start: 1 13 112 0 36 12
data:
$ID,165
$MISSION,5
$DIVE,266
$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,300
$T_MISSION,340
$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,-271745.09
$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,51
$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,250
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,50
$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
$GPS1,130112,002925,2204.241,12029.998,35,1.2,35,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.56
$_SM_ANGLEo,-71.7
$GPS2,130112,003550,2204.282,12030.021,9,1.8,9,-2.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,61.3,10268,-17.0,-11.000
$D_GRID,605
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.81,-194.6,0.0,0.0,0,116,0.00,0.00,-98.18,0.000,2,0.000,0.000,163,1946,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.81,-194.6,11.6,-12.4,15,141,10.32,2.17,-3.28,0.000,4,0.246,0.056,2692,539,3584,0,0,0,0,0,0,25.24,26.11,26.48
$GC,215,-0.74,-194.6,46.7,-24.2,31,222,0.00,2.15,0.00,0.000,6,0.000,0.032,2685,1962,3585,0,0,0,0,0,0,28.83,26.20,28.83
$GC,546,-0.68,-194.6,120.0,-22.6,92,554,0.15,0.00,0.00,0.000,6,0.177,0.000,2728,1962,3586,0,0,0,0,0,0,26.04,28.83,28.83
$GC,879,-0.64,-194.6,163.9,-11.5,153,885,0.00,2.12,0.00,0.000,4,0.000,0.042,2721,3358,3586,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1035,-0.64,-194.6,179.4,-9.1,181,1042,0.00,2.10,0.00,0.000,6,0.000,0.030,2720,1951,3586,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1353,-0.62,-194.6,220.6,-12.0,226,1363,0.00,2.12,0.00,0.000,4,0.000,0.046,2721,552,3587,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1389,-0.61,-194.6,224.8,-12.5,229,1398,0.10,2.08,0.00,0.000,6,0.135,0.034,2747,1949,3587,0,0,0,0,0,0,26.05,26.33,28.83
$GC,1696,-0.63,-194.6,263.7,-10.1,260,1707,0.00,2.12,0.00,0.000,4,0.000,0.047,2740,3348,3587,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1775,-0.65,-194.6,270.3,-9.1,267,1782,0.00,2.10,0.00,0.000,6,0.000,0.031,2740,1946,3587,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2082,-0.68,-194.6,298.0,-8.3,298,2092,0.00,2.17,0.00,0.000,4,0.000,0.047,2740,3360,3587,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2127,-0.71,-194.6,301.5,-8.0,302,2135,0.00,2.08,0.00,0.000,6,0.000,0.031,2740,1952,3587,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2435,-0.74,-194.6,336.9,-14.1,333,2444,0.00,2.15,0.00,0.000,4,0.000,0.048,2740,561,3587,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2481,-0.77,-194.6,342.5,-13.5,337,2489,0.12,2.12,0.00,0.000,6,0.088,0.037,2666,1952,3587,0,0,0,0,0,0,26.29,26.32,28.83
$GC,2787,-0.74,-194.6,391.6,-14.9,368,2796,0.12,2.17,0.00,0.000,4,0.164,0.047,2697,3360,3586,0,0,0,0,0,0,26.22,26.22,28.83
$GC,2860,-0.75,-194.6,401.2,-12.3,375,2869,0.00,2.10,0.00,0.000,6,0.000,0.032,2697,1962,3586,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3169,-0.74,-194.6,432.6,-11.2,406,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1962,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3472,-0.74,-194.6,466.7,-11.0,436,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1962,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3781,-0.74,-194.6,501.8,-10.2,467,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1962,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-0.74,-194.6,526.7,-14.7,498,4100,0.00,2.17,0.00,0.000,4,0.000,0.050,2687,3362,3581,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4162,-0.74,-194.6,534.8,-11.2,505,4166,0.00,2.12,0.00,0.000,6,0.000,0.032,2687,1950,3580,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,4415,end dive,NO_VERTICAL_VELOCITY
$STATE,4415,begin apogee
$GC,4420,-0.17,0.0,545.3,0.0,530,4578,0.57,0.00,152.10,0.971,6,0.093,0.000,2893,1950,2786,0,0,0,0,0,0,26.04,28.83,24.08
$STATE,4579,end apogee,CONTROL_FINISHED_OK
$STATE,4579,begin climb
$GC,4583,0.81,194.6,544.8,0.0,546,4749,0.85,2.22,157.00,0.939,4,0.063,0.052,3222,596,1991,0,0,0,0,0,0,25.33,25.10,24.04
$GC,4847,0.74,194.6,515.5,19.2,572,4855,0.12,2.17,0.00,0.000,6,0.161,0.035,3191,1981,1985,0,0,0,0,0,0,25.64,25.86,28.83
$GC,5155,0.69,194.6,456.5,15.7,603,5163,0.00,2.20,0.00,0.000,4,0.000,0.047,3191,3399,1983,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5318,0.63,194.6,433.0,14.2,619,5328,0.17,2.15,0.00,0.000,6,0.163,0.036,3152,2012,1982,0,0,0,0,0,0,25.94,26.27,28.83
$GC,5629,0.60,194.6,401.2,11.8,650,5638,0.00,2.22,0.00,0.000,4,0.000,0.049,3161,579,1981,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5674,0.58,194.6,395.7,12.9,654,5681,0.00,2.17,0.00,0.000,6,0.000,0.034,3161,2016,1980,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5981,0.55,194.6,353.2,11.9,685,5990,0.12,2.10,0.00,0.000,4,0.159,0.044,3121,3384,1979,0,0,0,0,0,0,26.21,26.24,28.83
$GC,6075,0.61,248.9,344.3,8.9,694,6126,0.00,2.10,44.58,0.845,6,0.000,0.032,3129,1969,1770,0,0,0,0,0,0,28.83,26.36,24.56
$GC,6434,0.61,248.9,307.6,13.4,730,6443,0.00,2.15,0.00,0.000,4,0.000,0.050,3140,595,1766,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6458,0.61,248.9,304.0,15.7,732,6465,0.00,2.10,0.00,0.000,6,0.000,0.031,3140,1978,1765,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6769,0.61,248.9,267.8,11.4,763,6778,0.00,2.17,0.00,0.000,4,0.000,0.051,3150,595,1764,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6793,0.61,248.9,264.9,11.4,765,6802,0.00,2.10,0.00,0.000,6,0.000,0.031,3149,1995,1764,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7102,0.61,248.9,230.5,12.4,796,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1995,1764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7403,0.67,289.4,200.1,9.5,826,7443,0.00,2.20,34.08,0.741,4,0.000,0.043,3150,3404,1605,0,0,0,0,0,0,28.83,25.91,24.74
$GC,7591,0.68,289.4,179.3,11.7,859,7598,0.00,2.17,0.00,0.000,6,0.000,0.032,3159,1976,1604,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7920,0.83,391.7,144.2,7.1,920,8016,0.15,2.25,84.07,0.689,4,0.078,0.053,3254,602,1187,0,0,0,0,0,0,26.41,25.53,24.56
$GC,8053,0.82,391.7,123.9,15.5,941,8061,0.15,2.15,0.00,0.000,6,0.142,0.030,3212,2008,1186,0,0,0,0,0,0,25.60,25.84,28.83
$GC,8385,0.86,411.0,91.8,10.3,1002,8407,0.00,2.20,16.45,0.609,4,0.000,0.041,3212,3390,1109,0,0,0,0,0,0,28.83,26.03,24.89
$GC,8507,0.90,426.3,79.0,10.4,1023,8527,0.00,2.12,13.90,0.588,6,0.000,0.032,3219,1986,1046,0,0,0,0,0,0,28.83,26.14,24.87
$GC,8854,0.92,426.3,40.8,11.8,1086,8862,0.00,2.17,0.00,0.000,4,0.000,0.047,3229,603,1043,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8973,0.95,426.3,27.5,11.3,1107,8979,0.00,2.08,0.00,0.000,6,0.000,0.028,3229,1992,1043,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,9117,end climb,SURFACE_DEPTH_REACHED
$STATE,9117,begin surface coast
$FINISH,6.4,1.011511
$STATE,9236,end surface coast,CONTROL_FINISHED_OK
$STATE,9236,begin surface
$SM_CCo,9254,18.80,0.550,0,0,950,450.13
$SM_GC,7.29,7.75,0.00,18.80,0.031,0.000,0.550,149,2004,950,-8.64,1.36,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2157.39,12029.11,120112,212111
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.27
$INTERNAL_PRESSURE,9.41478
$TCM_TEMP,24.20
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,356.3,0.0
$24V_AH,24.0,60.285
$10V_AH,10.0,48.684
$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,20.725,77.300,502.175,18.800,0.000,27.665,50.536,177.956,7.000,0.000,12.409,2546.827,3607.392,583.388,2628.822,286.672,0.000,1640.517,0.000,2367.437,0.000,4.472,0.000
$DEVICE_MAMPS,245.565,55.845,970.785,550.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.345,901.295,968.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325112
$DATA_FILE_SIZE,66947,1152
$CAP_FILE_SIZE,116677,0
$CFSIZE,260165632,176037888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130112,031158,2205.609,12031.170,11,2.3,30,-2.7