version: 66.10
glider: 165
mission: 5
dive: 274
start: 1 13 112 18 18 53
data:
$ID,165
$MISSION,5
$DIVE,274
$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,-271755.09
$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,52
$R_STBD_OVSHOOT,49
$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
$GPS1,130112,181307,2208.467,12031.735,35,1.1,36,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.43
$_SM_ANGLEo,-73.5
$GPS2,130112,181832,2208.448,12031.717,12,1.2,12,-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,234.2,69730,-17.0,-11.000
$D_GRID,492
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.81,-194.6,0.0,0.0,0,114,0.00,0.00,-94.88,0.000,2,0.000,0.000,123,2017,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.81,-194.6,11.5,-12.3,15,138,10.20,2.12,-4.68,0.000,4,0.235,0.053,2673,3360,3582,0,0,0,0,0,0,25.22,26.15,26.54
$GC,310,-0.74,-194.6,66.3,-24.8,50,318,0.10,2.15,0.00,0.000,6,0.145,0.031,2706,1946,3584,0,0,0,0,0,0,25.96,26.28,28.83
$GC,645,-0.70,-194.6,132.3,-16.4,111,651,0.00,2.15,0.00,0.000,4,0.000,0.047,2706,551,3585,0,0,0,0,0,0,28.83,26.23,28.83
$GC,702,-0.67,-194.6,142.2,-17.3,121,710,0.12,2.12,0.00,0.000,6,0.168,0.036,2731,1949,3585,0,0,0,0,0,0,26.04,26.30,28.83
$GC,1032,-0.67,-194.6,189.1,-11.6,182,1039,0.00,2.20,0.00,0.000,4,0.000,0.047,2726,3353,3586,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1087,-0.69,-194.6,194.9,-11.1,191,1094,0.00,2.10,0.00,0.000,6,0.000,0.031,2726,1953,3586,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1398,-0.69,-194.6,226.1,-12.1,226,1408,0.00,2.12,0.00,0.000,4,0.000,0.048,2726,561,3586,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1445,-0.70,-194.6,231.5,-12.3,230,1453,0.00,2.15,0.00,0.000,6,0.000,0.037,2726,1951,3587,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1752,-0.70,-194.6,268.2,-12.0,261,1760,0.00,2.17,0.00,0.000,4,0.000,0.048,2726,3361,3586,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1859,-0.72,-194.6,280.0,-10.6,271,1867,0.00,2.10,0.00,0.000,6,0.000,0.031,2726,1955,3587,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2167,-0.74,-194.6,311.0,-9.9,302,2176,0.00,2.12,0.00,0.000,4,0.000,0.049,2726,560,3587,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2239,-0.76,-194.6,317.6,-9.4,309,2248,0.00,2.15,0.00,0.000,6,0.000,0.037,2725,1958,3587,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2550,-0.77,-194.6,349.3,-10.5,340,2559,0.00,2.17,0.00,0.000,4,0.000,0.049,2725,3362,3586,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2625,-0.81,-194.6,356.8,-10.4,347,2633,0.12,2.12,0.00,0.000,6,0.086,0.031,2651,1949,3585,0,0,0,0,0,0,26.32,26.36,28.83
$GC,2933,-0.77,-194.6,400.8,-11.7,378,2942,0.15,2.20,0.00,0.000,4,0.161,0.045,2689,3370,3583,0,0,0,0,0,0,26.15,26.24,28.83
$GC,3018,-0.77,-194.6,409.0,-9.1,386,3025,0.00,2.12,0.00,0.000,6,0.000,0.032,2689,1959,3583,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3325,-0.76,-194.6,442.7,-11.1,417,3334,0.00,2.20,0.00,0.000,4,0.000,0.049,2681,3368,3582,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3347,-0.74,-194.6,445.1,-10.3,419,3356,0.00,2.12,0.00,0.000,6,0.000,0.031,2681,1952,3581,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3657,-0.73,-194.6,482.7,-14.5,450,3659,0.12,0.00,0.00,0.000,6,0.161,0.000,2714,1952,3581,0,0,0,0,0,0,26.27,28.83,28.83
$STATE,3744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3745,begin apogee
$GC,3750,-0.17,0.0,492.8,-11.3,459,3910,0.50,0.00,150.60,0.933,6,0.112,0.000,2887,1952,2785,0,0,0,0,0,0,25.94,28.83,24.18
$STATE,3911,end apogee,CONTROL_FINISHED_OK
$STATE,3911,begin climb
$GC,3913,0.81,194.6,500.3,0.0,475,4079,0.85,2.20,155.60,0.907,4,0.061,0.050,3225,601,1990,0,0,0,0,0,0,25.42,25.22,24.18
$GC,4085,0.74,194.6,487.0,13.3,492,4092,0.15,2.22,0.00,0.000,6,0.151,0.038,3187,1995,1987,0,0,0,0,0,0,25.27,25.43,28.83
$GC,4394,0.69,194.6,439.8,14.1,523,4402,0.00,2.15,0.00,0.000,4,0.000,0.045,3186,3390,1984,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4570,0.64,194.6,413.4,13.6,540,4578,0.15,2.12,0.00,0.000,6,0.164,0.034,3155,1995,1982,0,0,0,0,0,0,25.97,26.28,28.83
$GC,4878,0.62,197.5,378.8,10.9,571,4887,0.00,2.20,0.00,0.000,4,0.000,0.044,3155,3399,1982,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5034,0.59,197.5,359.7,13.3,586,5041,0.00,2.15,0.00,0.000,6,0.000,0.035,3162,1982,1981,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5341,0.56,197.5,322.6,11.3,617,5351,0.12,2.15,0.00,0.000,4,0.165,0.045,3132,598,1980,0,0,0,0,0,0,26.21,26.25,28.83
$GC,5384,0.61,241.9,318.7,9.3,621,5428,0.00,2.12,38.62,0.821,6,0.000,0.031,3132,1998,1799,0,0,0,0,0,0,28.83,26.34,24.63
$GC,5730,0.64,265.7,285.4,10.1,655,5759,0.00,2.20,20.90,0.776,4,0.000,0.046,3132,3393,1701,0,0,0,0,0,0,28.83,25.95,24.75
$GC,5785,0.64,265.7,279.3,11.7,660,5793,0.00,2.17,0.00,0.000,6,0.000,0.038,3142,2006,1701,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6093,0.64,265.7,243.3,11.4,691,6101,0.00,2.20,0.00,0.000,4,0.000,0.047,3152,584,1700,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6137,0.65,267.4,238.6,10.9,695,6145,0.00,2.12,0.00,0.000,6,0.000,0.031,3152,1993,1698,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6444,0.65,267.4,201.6,12.7,726,6455,0.00,2.17,0.00,0.000,4,0.000,0.044,3152,3398,1698,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6574,0.70,299.2,187.4,9.8,748,6613,0.00,2.17,29.00,0.730,6,0.000,0.033,3161,1972,1564,0,0,0,0,0,0,28.83,26.31,24.81
$GC,6936,0.78,348.8,161.1,9.1,814,6988,0.12,2.30,41.75,0.705,4,0.089,0.041,3240,3393,1363,0,0,0,0,0,0,26.39,25.80,24.73
$GC,7012,0.76,348.8,149.4,17.5,826,7020,0.15,2.17,0.00,0.000,6,0.126,0.034,3199,2009,1363,0,0,0,0,0,0,25.67,25.93,28.83
$GC,7348,0.78,348.8,113.5,11.1,887,7355,0.00,2.20,0.00,0.000,4,0.000,0.046,3207,580,1361,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7463,0.81,360.5,100.6,10.6,908,7483,0.00,2.15,10.82,0.594,6,0.000,0.030,3207,1992,1315,0,0,0,0,0,0,28.83,26.31,24.86
$GC,7810,0.84,371.7,64.4,10.6,971,7830,0.00,2.20,10.77,0.567,4,0.000,0.042,3207,3393,1269,0,0,0,0,0,0,28.83,26.18,24.91
$GC,7903,0.87,371.7,54.1,11.6,987,7910,0.00,2.15,0.00,0.000,6,0.000,0.032,3216,1968,1268,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8232,0.94,419.6,21.6,9.2,1048,8280,0.10,0.00,39.03,0.577,6,0.101,0.000,3281,1968,1073,0,0,0,0,0,0,26.48,28.83,24.94
$STATE,8312,end climb,SURFACE_DEPTH_REACHED
$STATE,8313,begin surface coast
$FINISH,6.5,1.023203
$STATE,8401,end surface coast,CONTROL_FINISHED_OK
$STATE,8401,begin surface
$SM_CCo,8419,23.95,0.552,0,0,950,450.13
$SM_GC,7.29,7.90,0.00,23.95,0.031,0.000,0.552,152,1963,950,-8.63,0.23,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2159.71,12033.48,130112,151523
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.41
$INTERNAL_PRESSURE,9.42455
$TCM_TEMP,23.50
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,295.4,0.0
$24V_AH,24.2,61.309
$10V_AH,9.9,49.441
$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,20.875,82.175,497.100,23.950,0.000,27.889,19.551,155.243,6.000,0.000,15.220,2390.116,3081.153,606.895,2416.776,269.068,0.000,1610.643,0.000,2207.192,0.000,3.067,0.000
$DEVICE_MAMPS,234.855,52.785,933.300,551.565,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.558,818.249,920.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63494,1077
$CAP_FILE_SIZE,112368,0
$CFSIZE,260165632,175583232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130112,204026,2208.239,12031.094,9,1.8,10,-2.7