version: 66.10
glider: 165
mission: 5
dive: 269
start: 1 13 112 6 58 51
data:
$ID,165
$MISSION,5
$DIVE,269
$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,-271748.84
$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,33
$R_STBD_OVSHOOT,44
$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
$GPS1,130112,065249,2207.582,12032.296,7,1.7,12,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.89
$_SM_ANGLEo,-74.2
$GPS2,130112,065831,2207.648,12032.292,13,1.5,13,-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,103.0,4948,-17.0,-11.000
$D_GRID,452
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.81,-194.6,0.0,0.0,0,112,0.00,0.00,-91.35,0.000,2,0.000,0.000,158,1982,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.81,-194.6,12.3,-13.9,14,138,10.25,2.30,-3.62,0.000,4,0.245,0.061,2693,536,3583,0,0,0,0,0,0,25.39,26.11,26.51
$GC,344,-0.76,-194.6,74.1,-19.4,55,351,0.00,2.15,0.00,0.000,6,0.000,0.034,2686,1957,3584,0,0,0,0,0,0,28.83,26.28,28.83
$GC,673,-0.70,-194.6,145.8,-20.2,116,681,0.12,0.00,0.00,0.000,6,0.182,0.000,2722,1957,3585,0,0,0,0,0,0,26.17,28.83,28.83
$GC,1007,-0.68,-194.6,198.2,-15.2,177,1014,0.00,2.17,0.00,0.000,4,0.000,0.047,2714,3366,3585,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1045,-0.66,-194.6,203.9,-15.9,181,1052,0.00,2.15,0.00,0.000,6,0.000,0.031,2713,1942,3586,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1352,-0.66,-194.6,240.0,-12.5,212,1363,0.00,2.12,0.00,0.000,4,0.000,0.048,2713,547,3585,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1429,-0.67,-194.6,249.6,-12.0,219,1437,0.00,2.12,0.00,0.000,6,0.000,0.040,2713,1945,3586,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1737,-0.67,-194.6,287.4,-11.8,250,1747,0.00,2.17,0.00,0.000,4,0.000,0.048,2703,3366,3586,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1842,-0.68,-194.6,300.0,-12.3,260,1852,0.00,2.10,0.00,0.000,6,0.000,0.031,2703,1950,3586,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2152,-0.68,-194.6,339.4,-8.3,291,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1950,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2455,-0.68,-194.6,371.3,-12.8,321,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1949,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2765,-0.68,-194.6,409.1,-11.8,352,2773,0.00,2.20,0.00,0.000,4,0.000,0.049,2697,3353,3583,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2799,-0.68,-194.6,412.7,-10.8,355,2806,0.12,2.12,0.00,0.000,6,0.148,0.032,2732,1947,3583,0,0,0,0,0,0,26.14,26.37,28.83
$GC,3108,-0.70,-194.6,434.9,-5.8,386,3117,0.00,2.12,0.00,0.000,4,0.000,0.050,2732,564,3581,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3140,-0.72,-194.6,436.7,-5.4,389,3149,0.00,2.15,0.00,0.000,6,0.000,0.037,2729,1968,3581,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,3410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3410,begin apogee
$GC,3415,-0.17,0.0,452.6,-7.4,416,3573,0.47,0.00,149.30,0.895,6,0.114,0.000,2891,1968,2786,0,0,0,0,0,0,26.01,28.83,24.28
$STATE,3574,end apogee,CONTROL_FINISHED_OK
$STATE,3574,begin climb
$GC,3576,0.81,194.6,457.8,0.0,432,3742,0.85,2.28,153.62,0.870,4,0.055,0.051,3229,599,1990,0,0,0,0,0,0,25.48,25.30,24.29
$GC,3881,0.74,194.6,422.5,16.3,462,3888,0.15,2.17,0.00,0.000,6,0.159,0.037,3190,1996,1985,0,0,0,0,0,0,25.79,26.03,28.83
$GC,4186,0.69,194.6,379.0,14.3,493,4195,0.00,2.20,0.00,0.000,4,0.000,0.047,3190,3410,1982,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4239,0.64,194.6,370.8,16.3,498,4248,0.12,2.17,0.00,0.000,6,0.146,0.035,3158,2001,1982,0,0,0,0,0,0,25.98,26.30,28.83
$GC,4548,0.64,212.9,336.4,10.3,529,4568,0.00,2.30,15.12,0.772,4,0.000,0.049,3167,568,1917,0,0,0,0,0,0,28.83,26.11,24.82
$GC,4616,0.62,213.7,329.8,11.0,535,4623,0.00,2.20,0.00,0.000,6,0.000,0.033,3167,2003,1915,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4923,0.65,262.2,297.2,9.2,566,4974,0.00,2.20,41.58,0.793,4,0.000,0.043,3167,3402,1715,0,0,0,0,0,0,28.83,25.79,24.70
$GC,5050,0.63,262.2,282.5,11.8,578,5060,0.00,2.20,0.00,0.000,6,0.000,0.034,3176,1967,1713,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5360,0.64,283.7,246.2,10.2,609,5388,0.00,2.17,19.10,0.736,4,0.000,0.048,3186,602,1628,0,0,0,0,0,0,28.83,26.03,24.84
$GC,5394,0.64,293.1,243.2,10.6,612,5412,0.08,2.15,9.30,0.658,6,0.132,0.031,3160,1991,1591,0,0,0,0,0,0,25.90,26.10,24.73
$GC,5711,0.66,293.1,212.1,11.2,644,5715,0.00,2.17,0.00,0.000,4,0.000,0.044,3160,3398,1588,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5787,0.68,293.1,203.9,11.1,651,5794,0.00,2.15,0.00,0.000,6,0.000,0.032,3167,1988,1588,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6117,0.71,306.8,171.4,10.5,709,6136,0.00,2.17,13.12,0.662,4,0.000,0.045,3178,578,1533,0,0,0,0,0,0,28.83,26.17,24.88
$GC,6214,0.78,346.4,161.9,9.5,726,6255,0.00,2.17,33.55,0.689,6,0.000,0.031,3178,1995,1372,0,0,0,0,0,0,28.83,26.28,24.82
$GC,6580,0.91,433.8,130.3,7.7,792,6656,0.15,2.28,70.20,0.659,4,0.078,0.041,3261,3401,1014,0,0,0,0,0,0,26.37,25.65,24.70
$GC,6719,0.91,433.8,111.3,13.9,815,6726,0.00,2.20,0.00,0.000,6,0.000,0.034,3270,1975,1012,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7050,0.90,433.8,59.8,15.9,876,7058,0.12,2.17,0.00,0.000,4,0.155,0.047,3238,595,1011,0,0,0,0,0,0,26.16,26.18,28.83
$GC,7193,0.93,433.8,40.5,14.6,901,7200,0.00,2.08,0.00,0.000,6,0.000,0.029,3238,1998,1011,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,7413,end climb,SURFACE_DEPTH_REACHED
$STATE,7413,begin surface coast
$FINISH,6.6,1.023445
$STATE,7542,end surface coast,CONTROL_FINISHED_OK
$STATE,7542,begin surface
$SM_CCo,7559,12.62,0.526,0,0,950,450.13
$SM_GC,7.11,7.68,0.05,12.62,0.027,0.154,0.526,154,1964,950,-8.62,1.44,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2157.39,12035.48,130112,050524
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.57
$INTERNAL_PRESSURE,9.42455
$TCM_TEMP,23.40
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,271.2,999.0
$24V_AH,24.3,60.653
$10V_AH,10.0,48.956
$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,20.125,65.400,504.900,12.625,0.000,29.192,46.107,148.132,7.000,0.000,15.957,2128.964,2766.739,541.564,2228.560,247.309,0.000,1465.078,0.000,2002.248,0.000,2.837,0.000
$DEVICE_MAMPS,244.800,153.765,895.050,525.555,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,646.342,735.335,846.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324016
$DATA_FILE_SIZE,56962,965
$CAP_FILE_SIZE,97726,0
$CFSIZE,260165632,175898624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130112,090624,2208.154,12032.967,38,1.2,39,-2.7