version: 66.10
glider: 165
mission: 5
dive: 272
start: 1 13 112 13 22 59
data:
$ID,165
$MISSION,5
$DIVE,272
$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,-271752.59
$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,50
$R_STBD_OVSHOOT,48
$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
$GPS1,130112,131736,2208.423,12033.771,12,0.9,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.68
$_SM_ANGLEo,-72.4
$GPS2,130112,132238,2208.474,12033.879,12,1.0,12,-2.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,W2
$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,236.0,72706,-17.0,-11.000
$D_GRID,494
$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,14,begin dive
$GC,17,-0.81,-194.6,0.0,0.0,0,106,0.00,0.00,-86.65,0.000,2,0.000,0.000,144,1970,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.81,-194.6,11.4,-11.8,14,131,9.93,2.25,-6.60,0.000,4,0.230,0.057,2690,545,3582,0,0,0,0,0,0,25.38,26.16,26.54
$GC,329,-0.74,-194.6,75.2,-22.5,53,335,0.00,2.12,0.00,0.000,6,0.000,0.032,2683,1958,3584,0,0,0,0,0,0,28.83,26.31,28.83
$GC,657,-0.67,-194.6,148.3,-23.7,114,665,0.15,2.17,0.00,0.000,4,0.177,0.042,2718,3363,3584,0,0,0,0,0,0,26.10,26.30,28.83
$GC,673,-0.61,-194.6,152.2,-24.0,116,681,0.08,2.12,0.00,0.000,6,0.141,0.031,2745,1955,3584,0,0,0,0,0,0,26.13,26.37,28.83
$GC,1010,-0.60,-194.6,201.7,-14.6,177,1019,0.00,2.15,0.00,0.000,4,0.000,0.045,2740,3350,3585,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1036,-0.60,-194.6,204.9,-14.7,179,1042,0.00,2.08,0.00,0.000,6,0.000,0.030,2740,1956,3585,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1342,-0.60,-194.6,246.0,-12.5,210,1352,0.00,2.12,0.00,0.000,4,0.000,0.048,2740,562,3585,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1410,-0.60,-194.6,253.2,-11.1,216,1419,0.00,2.12,0.00,0.000,6,0.000,0.037,2739,1944,3586,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1718,-0.61,-194.6,289.3,-12.3,247,1727,0.00,2.15,0.00,0.000,4,0.000,0.048,2739,3356,3586,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1785,-0.65,-194.6,295.8,-9.6,253,1796,0.00,2.10,0.00,0.000,6,0.000,0.031,2739,1951,3586,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2094,-0.66,-194.6,324.5,-8.8,284,2102,0.00,2.12,0.00,0.000,4,0.000,0.048,2739,560,3585,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2127,-0.67,-194.6,327.2,-8.4,287,2135,0.00,2.10,0.00,0.000,6,0.000,0.037,2739,1954,3585,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2436,-0.70,-194.6,348.5,-5.5,318,2439,0.00,2.17,0.00,0.000,4,0.000,0.048,2740,3364,3585,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2492,-0.74,-194.6,350.6,-3.3,323,2499,0.00,2.12,0.00,0.000,6,0.000,0.031,2739,1949,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2798,-0.77,-194.6,373.2,-10.4,354,2807,0.10,2.12,0.00,0.000,4,0.101,0.047,2675,565,3584,0,0,0,0,0,0,26.55,26.28,28.83
$GC,2834,-0.77,-194.6,377.6,-13.0,357,2841,0.00,2.12,0.00,0.000,6,0.000,0.037,2674,1954,3584,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3140,-0.75,-194.6,415.9,-14.3,388,3149,0.12,2.20,0.00,0.000,4,0.162,0.047,2705,3368,3582,0,0,0,0,0,0,26.26,26.26,28.83
$GC,3215,-0.76,-194.6,423.4,-9.7,395,3224,0.00,2.10,0.00,0.000,6,0.000,0.032,2705,1962,3581,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3523,-0.76,-194.6,462.9,-11.5,426,3531,0.00,2.20,0.00,0.000,4,0.000,0.048,2698,3358,3580,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3558,-0.76,-194.6,466.6,-11.7,429,3565,0.00,2.12,0.00,0.000,6,0.000,0.032,2698,1950,3580,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,3763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3763,begin apogee
$GC,3769,-0.17,0.0,495.0,-15.7,450,3927,0.57,0.00,150.02,0.929,6,0.123,0.000,2889,1950,2785,0,0,0,0,0,0,25.91,28.83,24.25
$STATE,3928,end apogee,CONTROL_FINISHED_OK
$STATE,3928,begin climb
$GC,3931,0.81,194.6,509.1,0.0,466,4096,0.85,2.35,154.12,0.909,4,0.056,0.046,3217,3393,1991,0,0,0,0,0,0,25.48,25.32,24.28
$GC,4163,0.73,194.6,489.6,14.3,489,4171,0.15,2.17,0.00,0.000,6,0.168,0.036,3188,2011,1987,0,0,0,0,0,0,25.65,25.90,28.83
$GC,4470,0.76,251.6,449.8,8.8,520,4522,0.00,2.25,47.00,0.871,4,0.000,0.046,3188,3401,1760,0,0,0,0,0,0,28.83,25.67,24.57
$GC,4561,0.71,251.6,438.4,16.3,528,4568,0.00,2.22,0.00,0.000,6,0.000,0.037,3196,1975,1758,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4866,0.66,251.6,389.7,16.9,559,4875,0.12,2.25,0.00,0.000,4,0.161,0.044,3159,3397,1755,0,0,0,0,0,0,26.13,26.20,28.83
$GC,4912,0.64,251.6,383.2,15.1,563,4919,0.00,2.15,0.00,0.000,6,0.000,0.033,3166,1994,1755,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5218,0.62,251.6,330.6,15.8,594,5227,0.00,2.20,0.00,0.000,4,0.000,0.047,3177,576,1754,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5334,0.60,251.6,312.7,15.8,605,5342,0.12,2.15,0.00,0.000,6,0.146,0.031,3143,2006,1752,0,0,0,0,0,0,26.13,26.34,28.83
$GC,5641,0.60,251.6,276.7,11.4,636,5650,0.00,2.10,0.00,0.000,4,0.000,0.044,3143,3377,1751,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5674,0.60,251.6,272.5,12.2,639,5683,0.00,2.10,0.00,0.000,6,0.000,0.034,3150,1972,1751,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5983,0.63,279.5,236.9,9.9,670,6014,0.00,2.15,23.58,0.761,4,0.000,0.047,3161,601,1646,0,0,0,0,0,0,28.83,26.04,24.79
$GC,6051,0.64,279.5,230.0,11.1,676,6061,0.00,2.08,0.00,0.000,6,0.000,0.030,3161,1980,1644,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6363,0.80,390.0,198.2,6.8,709,6464,0.12,2.28,91.20,0.734,4,0.087,0.043,3233,3390,1193,0,0,0,0,0,0,26.43,25.54,24.56
$GC,6490,0.78,390.0,181.2,16.7,729,6497,0.15,2.17,0.00,0.000,6,0.151,0.034,3202,1995,1192,0,0,0,0,0,0,25.58,25.79,28.83
$GC,6823,0.80,390.0,137.6,11.3,790,6831,0.00,2.20,0.00,0.000,4,0.000,0.047,3210,598,1190,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6910,0.82,390.0,127.7,11.5,805,6917,0.00,2.10,0.00,0.000,6,0.000,0.030,3210,1997,1190,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7240,0.84,390.0,86.6,12.4,866,7248,0.00,2.15,0.00,0.000,4,0.000,0.042,3210,3385,1190,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7265,0.86,390.0,83.0,13.0,870,7273,0.00,2.15,0.00,0.000,6,0.000,0.033,3220,1968,1189,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7599,0.87,390.0,43.7,11.5,931,7606,0.00,2.10,0.00,0.000,4,0.000,0.047,3230,592,1190,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7689,0.89,390.0,33.2,11.6,947,7695,0.00,2.10,0.00,0.000,6,0.000,0.029,3230,2004,1189,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,7875,end climb,SURFACE_DEPTH_REACHED
$STATE,7876,begin surface coast
$FINISH,6.4,1.013661
$STATE,7995,end surface coast,CONTROL_FINISHED_OK
$STATE,7995,begin surface
$SM_CCo,8012,46.60,0.569,0,0,949,450.13
$SM_GC,6.93,7.65,0.00,46.60,0.027,0.000,0.569,150,2018,949,-8.62,1.75,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2202.04,12033.48,130112,111139
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.14
$INTERNAL_PRESSURE,9.43431
$TCM_TEMP,24.20
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,296.7,999.0
$24V_AH,24.2,61.037
$10V_AH,10.0,49.235
$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,20.125,86.225,465.925,46.600,0.000,25.150,22.802,136.309,6.750,0.000,15.469,2234.843,3044.261,590.189,2238.967,251.365,0.000,1546.732,0.000,2040.978,0.000,2.852,0.000
$DEVICE_MAMPS,230.265,56.610,928.710,569.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.720,779.875,817.327,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324000
$DATA_FILE_SIZE,60208,1004
$CAP_FILE_SIZE,106773,0
$CFSIZE,260165632,175718400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130112,153836,2208.481,12032.655,33,0.9,36,-2.7