version: 66.10
glider: 165
mission: 5
dive: 277
start: 1 14 112 1 48 59
data:
$ID,165
$MISSION,5
$DIVE,277
$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,195
$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,-271758.84
$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,49
$R_STBD_OVSHOOT,47
$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
$GPS1,140112,014306,2207.453,12028.717,24,1.3,25,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.46
$_SM_ANGLEo,-72.9
$GPS2,140112,014838,2207.489,12028.695,13,1.2,13,-2.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,HEADING
$TGT_LATLONG,2157.058,12025.682
$TGT_RADIUS,1852.000
$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,197.7,20000,-17.0,-11.000
$D_GRID,564
$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,-194.6,0.0,0.0,0,106,0.00,0.00,-86.90,0.000,2,0.000,0.000,149,2006,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.81,-194.6,11.2,-11.5,14,132,9.95,2.30,-6.38,0.000,4,0.232,0.053,2690,542,3581,0,0,0,0,0,0,25.34,26.13,26.49
$GC,190,-0.73,-194.6,40.9,-26.3,27,197,0.12,2.12,0.00,0.000,6,0.185,0.032,2712,1950,3583,0,0,0,0,0,0,25.89,26.20,28.83
$GC,520,-0.68,-194.6,116.1,-19.2,88,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1951,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,854,-0.65,-194.6,177.2,-14.7,149,861,0.00,2.17,0.00,0.000,4,0.000,0.044,2704,3371,3584,0,0,0,0,0,0,28.83,26.27,28.83
$GC,916,-0.62,-194.6,187.8,-16.2,160,924,0.12,2.15,0.00,0.000,6,0.121,0.031,2748,1946,3584,0,0,0,0,0,0,26.08,26.36,28.83
$GC,1238,-0.64,-194.6,216.8,-9.5,202,1242,0.00,2.12,0.00,0.000,4,0.000,0.047,2748,563,3585,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1322,-0.68,-194.6,225.9,-11.1,210,1332,0.00,2.12,0.00,0.000,6,0.000,0.035,2742,1967,3586,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1634,-0.70,-194.6,260.1,-10.8,241,1637,0.00,2.15,0.00,0.000,4,0.000,0.047,2740,3368,3585,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1686,-0.73,-194.6,265.7,-9.8,246,1690,0.00,2.12,0.00,0.000,6,0.000,0.031,2740,1951,3586,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1999,-0.75,-194.6,298.0,-11.1,277,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1950,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2300,-0.78,-194.6,328.3,-8.7,307,2309,0.12,2.10,0.00,0.000,4,0.087,0.047,2660,572,3585,0,0,0,0,0,0,26.53,26.25,28.83
$GC,2355,-0.75,-194.6,335.1,-13.4,312,2363,0.17,2.10,0.00,0.000,6,0.157,0.039,2706,1951,3585,0,0,0,0,0,0,25.98,26.31,28.83
$GC,2662,-0.75,-194.6,367.8,-10.1,343,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1950,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2965,-0.75,-194.6,409.2,-15.6,373,2973,0.00,2.17,0.00,0.000,4,0.000,0.048,2698,3360,3581,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3040,-0.76,-194.6,420.0,-14.2,380,3047,0.00,2.10,0.00,0.000,6,0.000,0.032,2698,1954,3581,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3346,-0.76,-194.6,459.9,-11.0,411,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1954,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3650,-0.76,-194.6,487.7,-8.3,441,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1954,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,-0.76,-194.6,516.6,-11.0,472,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1954,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4260,-0.76,-194.6,554.7,-13.4,502,4269,0.00,2.22,0.00,0.000,4,0.000,0.050,2698,3364,3575,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,4339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4339,begin apogee
$GC,4347,-0.17,0.0,564.9,-11.4,510,4507,0.57,0.00,151.27,0.982,6,0.114,0.000,2892,1993,2786,0,0,0,0,0,0,25.90,28.83,24.11
$STATE,4508,end apogee,CONTROL_FINISHED_OK
$STATE,4508,begin climb
$GC,4510,0.81,194.6,571.5,0.0,526,4674,0.85,0.00,156.40,0.954,6,0.057,0.000,3223,1993,1992,0,0,0,0,0,0,25.39,28.83,24.11
$GC,4975,0.73,194.6,496.9,20.0,573,4984,0.12,2.17,0.00,0.000,4,0.164,0.044,3186,3394,1985,0,0,0,0,0,0,26.03,26.13,28.83
$GC,5133,0.67,194.6,469.9,15.9,588,5140,0.00,2.15,0.00,0.000,6,0.000,0.034,3193,1991,1984,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5440,0.62,194.6,425.4,14.8,619,5450,0.12,2.20,0.00,0.000,4,0.171,0.047,3165,581,1982,0,0,0,0,0,0,26.15,26.23,28.83
$GC,5476,0.58,194.6,421.5,12.5,622,5483,0.00,2.15,0.00,0.000,6,0.000,0.033,3165,1998,1981,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5783,0.55,194.6,385.4,12.2,653,5792,0.12,2.15,0.00,0.000,4,0.164,0.044,3126,3398,1980,0,0,0,0,0,0,26.20,26.25,28.83
$GC,5848,0.54,194.6,378.5,11.2,659,5856,0.00,2.12,0.00,0.000,6,0.000,0.034,3133,1991,1980,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6155,0.53,194.6,343.5,11.4,690,6164,0.00,2.17,0.00,0.000,4,0.000,0.047,3144,589,1980,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6221,0.52,194.6,336.5,11.4,696,6228,0.00,2.12,0.00,0.000,6,0.000,0.032,3144,2004,1979,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6527,0.50,194.6,303.5,11.0,727,6536,0.12,2.12,0.00,0.000,4,0.150,0.043,3103,3390,1978,0,0,0,0,0,0,26.25,26.24,28.83
$GC,6560,0.53,216.1,300.2,10.2,730,6583,0.00,2.12,17.75,0.794,6,0.000,0.033,3110,2002,1904,0,0,0,0,0,0,28.83,26.34,24.68
$GC,6884,0.61,271.6,269.7,8.9,762,6938,0.12,2.30,47.03,0.795,4,0.088,0.047,3201,582,1677,0,0,0,0,0,0,26.41,25.70,24.58
$GC,7007,0.60,271.6,251.3,16.7,774,7018,0.20,2.12,0.00,0.000,6,0.129,0.031,3144,1980,1674,0,0,0,0,0,0,25.73,25.99,28.83
$GC,7319,0.60,271.6,221.7,11.1,805,7327,0.00,2.17,0.00,0.000,4,0.000,0.044,3143,3393,1674,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7415,0.60,271.6,209.0,13.9,814,7425,0.00,2.15,0.00,0.000,6,0.000,0.033,3150,1965,1673,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7738,0.65,299.3,176.5,10.0,868,7771,0.00,2.17,23.75,0.715,4,0.000,0.047,3160,602,1565,0,0,0,0,0,0,28.83,26.03,24.82
$GC,7874,0.73,348.8,164.4,9.1,891,7925,0.00,2.10,41.92,0.705,6,0.000,0.030,3160,1990,1363,0,0,0,0,0,0,28.83,26.18,24.68
$GC,8251,0.79,365.4,128.5,10.4,959,8272,0.12,2.25,14.98,0.640,4,0.083,0.043,3241,3399,1295,0,0,0,0,0,0,26.36,26.05,24.87
$GC,8350,0.78,365.4,112.4,16.7,976,8358,0.12,2.17,0.00,0.000,6,0.125,0.034,3206,2004,1293,0,0,0,0,0,0,25.88,26.15,28.83
$GC,8686,0.83,389.1,75.1,10.1,1037,8714,0.00,2.28,20.75,0.616,4,0.000,0.047,3214,584,1197,0,0,0,0,0,0,28.83,26.06,24.94
$GC,8795,0.91,432.9,64.5,9.3,1055,8839,0.00,2.15,35.35,0.614,6,0.000,0.029,3214,2005,1019,0,0,0,0,0,0,28.83,26.19,24.84
$GC,9164,0.99,466.7,26.7,9.7,1122,9198,0.12,2.33,27.52,0.575,4,0.084,0.047,3306,574,881,0,0,0,0,0,0,26.38,25.95,24.94
$GC,9263,0.98,466.7,12.2,16.2,1138,9271,0.12,2.17,0.00,0.000,6,0.120,0.030,3264,1992,879,0,0,0,0,0,0,25.84,26.10,28.83
$STATE,9276,end climb,SURFACE_DEPTH_REACHED
$STATE,9276,begin surface coast
$FINISH,6.2,1.022981
$STATE,9360,end surface coast,CONTROL_FINISHED_OK
$STATE,9360,begin surface
$SM_CCo,9438,0.00,0.000,0,0,877,468.28
$SM_GC,6.94,7.82,0.05,0.00,0.030,0.135,0.000,154,1922,877,-8.62,1.27,468.28,0,0,0,0,0,0
$IRIDIUM_FIX,2159.71,12030.29,130112,232315
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.53
$INTERNAL_PRESSURE,9.42455
$TCM_TEMP,23.50
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,314.0,0.0
$24V_AH,24.1,61.726
$10V_AH,10.0,49.753
$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,21.075,78.025,536.725,0.000,0.000,28.701,19.380,159.182,7.000,0.000,15.800,2576.803,3801.445,569.727,2529.772,285.591,0.000,1639.246,0.000,2311.173,0.000,3.095,0.000
$DEVICE_MAMPS,231.795,135.405,982.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.875,914.756,888.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324208
$DATA_FILE_SIZE,66995,1155
$CAP_FILE_SIZE,118367,0
$CFSIZE,260165632,175382528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140112,042736,2206.549,12027.917,36,1.3,41,-2.7