version: 66.10
glider: 165
mission: 5
dive: 267
start: 1 13 112 3 19 8
data:
$ID,165
$MISSION,5
$DIVE,267
$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,-8
$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,-271746.34
$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,55
$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
$GPS1,130112,031158,2205.609,12031.170,11,2.3,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.59
$_SM_ANGLEo,-72.6
$GPS2,130112,031828,2205.698,12031.093,15,2.1,34,-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,71.2,7443,-17.0,-11.000
$D_GRID,421
$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,-194.6,0.0,0.0,0,112,0.00,0.00,-94.57,0.000,2,0.000,0.000,146,2005,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.81,-194.6,12.9,-15.4,14,141,10.57,2.28,-1.42,0.000,4,0.252,0.055,2695,555,3584,0,0,0,0,0,0,25.31,26.13,26.44
$GC,310,-0.74,-194.6,70.2,-20.6,48,318,0.00,2.12,0.00,0.000,6,0.000,0.034,2688,1945,3585,0,0,0,0,0,0,28.83,26.26,28.83
$GC,643,-0.69,-194.6,136.9,-21.1,109,651,0.12,2.17,0.00,0.000,4,0.184,0.042,2716,3358,3586,0,0,0,0,0,0,26.12,26.25,28.83
$GC,773,-0.69,-194.6,157.6,-13.9,132,781,0.00,2.12,0.00,0.000,6,0.000,0.031,2715,1953,3586,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1104,-0.68,-194.6,199.0,-10.8,193,1110,0.00,2.20,0.00,0.000,4,0.000,0.045,2706,3365,3586,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1172,-0.68,-194.6,205.8,-9.6,200,1180,0.00,2.12,0.00,0.000,6,0.000,0.031,2706,1966,3586,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1481,-0.67,-194.6,243.7,-11.0,231,1491,0.12,2.15,0.00,0.000,4,0.157,0.044,2746,545,3586,0,0,0,0,0,0,26.25,26.26,28.83
$GC,1725,-0.68,-194.6,264.3,-5.5,254,1732,0.00,2.15,0.00,0.000,6,0.000,0.035,2742,1943,3587,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2031,-0.70,-194.6,289.5,-11.1,285,2040,0.00,2.15,0.00,0.000,4,0.000,0.047,2739,3352,3587,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2108,-0.73,-194.6,300.4,-14.6,292,2115,0.00,2.08,0.00,0.000,6,0.000,0.030,2740,1946,3586,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2415,-0.76,-194.6,320.4,-8.9,323,2424,0.12,2.22,0.00,0.000,4,0.089,0.049,2658,3359,3585,0,0,0,0,0,0,26.51,26.22,28.83
$GC,2569,-0.74,-194.6,341.7,-11.7,338,2579,0.20,2.10,0.00,0.000,6,0.145,0.032,2715,1960,3585,0,0,0,0,0,0,25.98,26.36,28.83
$STATE,2747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2747,begin apogee
$GC,2755,-0.17,0.0,361.6,-12.6,356,2911,0.52,0.00,148.40,0.822,6,0.118,0.000,2893,1959,2785,0,0,0,0,0,0,25.94,28.83,24.31
$STATE,2911,end apogee,CONTROL_FINISHED_OK
$STATE,2912,begin climb
$GC,2914,0.81,194.6,379.1,0.0,372,3081,0.85,2.33,152.10,0.828,4,0.056,0.044,3218,3394,1991,0,0,0,0,0,0,24.16,25.29,24.29
$GC,3258,0.73,194.6,341.1,24.3,406,3265,0.15,2.17,0.00,0.000,6,0.170,0.035,3189,1995,1988,0,0,0,0,0,0,25.81,26.09,28.83
$GC,3567,0.69,194.6,287.6,17.0,437,3575,0.00,2.17,0.00,0.000,4,0.000,0.044,3189,3395,1986,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3665,0.64,194.6,273.4,12.6,446,3674,0.10,2.20,0.00,0.000,6,0.149,0.038,3165,1972,1986,0,0,0,0,0,0,26.00,26.32,28.83
$GC,3973,0.64,217.8,236.0,10.1,477,4002,0.00,2.20,19.58,0.733,4,0.000,0.048,3173,589,1898,0,0,0,0,0,0,28.83,26.08,24.84
$GC,4040,0.62,217.8,228.5,12.2,483,4046,0.00,2.15,0.00,0.000,6,0.000,0.032,3173,1997,1895,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4350,0.65,255.3,190.5,9.6,522,4388,0.00,2.17,31.55,0.718,4,0.000,0.043,3173,3395,1743,0,0,0,0,0,0,28.83,25.91,24.82
$GC,4500,0.68,274.3,175.6,10.3,548,4527,0.00,2.17,17.10,0.675,6,0.000,0.033,3182,1978,1666,0,0,0,0,0,0,28.83,26.11,24.80
$GC,4852,0.72,305.8,137.9,9.8,612,4886,0.00,2.22,27.15,0.666,4,0.000,0.047,3193,601,1538,0,0,0,0,0,0,28.83,25.94,24.87
$GC,4966,0.74,314.9,126.0,10.7,631,4980,0.00,2.12,8.88,0.581,6,0.000,0.030,3192,1997,1502,0,0,0,0,0,0,28.83,26.14,24.79
$GC,5307,0.75,314.9,89.5,12.0,693,5313,0.00,2.15,0.00,0.000,4,0.000,0.042,3192,3393,1501,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5420,0.76,314.9,75.4,11.8,713,5427,0.00,2.12,0.00,0.000,6,0.000,0.031,3202,1973,1501,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5750,0.80,342.9,40.6,9.9,774,5783,0.00,2.17,24.23,0.588,4,0.000,0.048,3213,602,1387,0,0,0,0,0,0,28.83,26.08,24.99
$GC,5829,0.86,379.6,32.6,9.6,787,5868,0.00,2.10,30.60,0.578,6,0.000,0.029,3213,2001,1236,0,0,0,0,0,0,28.83,26.20,24.91
$STATE,6050,end climb,SURFACE_DEPTH_REACHED
$STATE,6050,begin surface coast
$FINISH,6.7,1.010112
$STATE,6174,end surface coast,CONTROL_FINISHED_OK
$STATE,6174,begin surface
$SM_CCo,6192,54.28,0.565,0,0,950,450.13
$SM_GC,7.20,7.70,0.00,54.28,0.031,0.000,0.565,166,2014,950,-8.61,1.70,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2155.06,12029.11,130112,000013
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.68
$INTERNAL_PRESSURE,9.42455
$TCM_TEMP,24.10
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,253.0,157.5
$24V_AH,24.2,60.407
$10V_AH,10.1,48.776
$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,20.475,56.350,459.575,54.275,0.000,30.556,43.432,168.964,6.000,0.000,37.733,1878.180,1848.167,547.245,2143.885,232.540,0.000,1369.586,0.000,1880.093,0.000,2.751,0.000
$DEVICE_MAMPS,251.685,55.080,827.730,565.335,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.070,591.573,918.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324380
$DATA_FILE_SIZE,50351,850
$CAP_FILE_SIZE,87274,0
$CFSIZE,260165632,176013312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130112,050436,2206.760,12031.653,34,1.0,40,-2.7