version: 66.10
glider: 165
mission: 5
dive: 279
start: 1 14 112 7 34 22
data:
$ID,165
$MISSION,5
$DIVE,279
$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,-271762.75
$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,45
$R_STBD_OVSHOOT,35
$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
$GPS1,140112,072658,2205.931,12027.259,8,99.0,27,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.14
$_SM_ANGLEo,-67.4
$GPS2,140112,073400,2206.071,12027.187,34,1.2,38,-2.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,HEADING
$TGT_LATLONG,2155.640,12024.174
$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,578
$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,13,begin dive
$GC,16,-0.81,-194.6,0.0,0.0,0,118,0.00,0.00,-99.15,0.000,2,0.000,0.000,130,1986,3474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.81,-194.6,13.0,-17.8,16,144,10.10,2.22,-1.67,0.000,4,0.232,0.050,2690,540,3583,0,0,0,0,0,0,25.24,26.15,26.46
$GC,179,-0.71,-194.6,40.8,-30.1,25,187,0.15,2.15,0.00,0.000,6,0.175,0.032,2720,1962,3584,0,0,0,0,0,0,25.82,26.18,28.83
$GC,509,-0.67,-194.6,108.4,-17.9,86,517,0.00,2.20,0.00,0.000,4,0.000,0.044,2720,558,3585,0,0,0,0,0,0,28.83,26.22,28.83
$GC,542,-0.62,-194.6,114.7,-20.0,91,549,0.15,2.10,0.00,0.000,6,0.165,0.032,2752,1957,3585,0,0,0,0,0,0,25.96,26.30,28.83
$GC,874,-0.61,-194.6,162.5,-13.0,152,881,0.00,2.17,0.00,0.000,4,0.000,0.044,2753,558,3586,0,0,0,0,0,0,28.83,26.26,28.83
$GC,900,-0.61,-194.6,166.0,-13.6,156,908,0.00,2.12,0.00,0.000,6,0.000,0.034,2752,1947,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1228,-0.61,-194.6,205.9,-10.4,212,1238,0.00,2.17,0.00,0.000,4,0.000,0.046,2752,3361,3586,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1285,-0.63,-194.6,211.3,-9.4,217,1289,0.00,2.10,0.00,0.000,6,0.000,0.030,2752,1943,3586,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1598,-0.65,-194.6,245.0,-8.3,248,1608,0.00,2.08,0.00,0.000,4,0.000,0.045,2752,561,3586,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1643,-0.69,-194.6,248.5,-7.7,252,1653,0.00,2.10,0.00,0.000,6,0.000,0.034,2752,1960,3586,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1953,-0.71,-194.6,271.1,-7.8,283,1962,0.00,2.15,0.00,0.000,4,0.000,0.047,2752,3357,3586,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1987,-0.75,-194.6,273.8,-7.9,286,1998,0.12,2.10,0.00,0.000,6,0.083,0.031,2665,1946,3587,0,0,0,0,0,0,26.33,26.36,28.83
$GC,2297,-0.71,-194.6,320.2,-15.3,317,2306,0.15,2.10,0.00,0.000,4,0.155,0.047,2713,566,3586,0,0,0,0,0,0,26.16,26.25,28.83
$GC,2371,-0.71,-194.6,329.7,-11.3,324,2379,0.00,2.12,0.00,0.000,6,0.000,0.037,2713,1953,3586,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2680,-0.71,-194.6,367.9,-13.5,355,2689,0.00,2.17,0.00,0.000,4,0.000,0.048,2703,3365,3585,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2724,-0.71,-194.6,373.3,-12.9,359,2731,0.00,2.10,0.00,0.000,6,0.000,0.031,2703,1954,3585,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3032,-0.71,-194.6,409.7,-10.9,390,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1953,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3335,-0.71,-194.6,442.5,-10.3,420,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1953,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3644,-0.71,-194.6,476.8,-11.4,451,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1953,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3953,-0.71,-194.6,509.5,-9.8,482,3962,0.00,2.20,0.00,0.000,4,0.000,0.049,2700,3355,3579,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4010,-0.73,-194.6,514.9,-10.2,487,4016,0.00,2.12,0.00,0.000,6,0.000,0.032,2700,1951,3579,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4315,-0.73,-194.6,544.0,-9.0,518,4323,0.00,2.17,0.00,0.000,4,0.000,0.050,2700,558,3579,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4408,-0.73,-194.6,553.3,-10.5,527,4416,0.00,2.15,0.00,0.000,6,0.000,0.039,2700,1957,3578,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,4657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4657,begin apogee
$GC,4662,-0.17,0.0,578.3,-10.2,552,4822,0.57,0.00,152.32,0.997,6,0.117,0.000,2892,1957,2786,0,0,0,0,0,0,25.86,28.83,24.06
$STATE,4823,end apogee,CONTROL_FINISHED_OK
$STATE,4823,begin climb
$GC,4825,0.81,194.6,585.1,0.0,568,4993,0.85,2.28,157.07,0.968,4,0.050,0.051,3236,597,1990,0,0,0,0,0,0,25.38,25.15,24.06
$GC,5039,0.73,194.6,559.8,18.7,589,5048,0.15,2.20,0.00,0.000,6,0.140,0.038,3188,1991,1986,0,0,0,0,0,0,25.45,25.68,28.83
$GC,5348,0.68,194.6,513.5,15.4,620,5356,0.00,2.17,0.00,0.000,4,0.000,0.047,3188,3396,1983,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5383,0.63,194.6,508.2,15.9,623,5391,0.15,2.15,0.00,0.000,6,0.173,0.034,3159,1996,1983,0,0,0,0,0,0,25.90,26.23,28.83
$GC,5691,0.60,194.6,468.9,11.5,654,5699,0.00,2.17,0.00,0.000,4,0.000,0.045,3158,3406,1982,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5713,0.57,194.6,465.9,12.0,656,5723,0.12,2.17,0.00,0.000,6,0.170,0.034,3135,1994,1981,0,0,0,0,0,0,26.03,26.31,28.83
$GC,6022,0.56,194.6,432.2,11.4,687,6031,0.00,2.20,0.00,0.000,4,0.000,0.048,3143,579,1980,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6076,0.55,194.6,426.1,12.0,692,6084,0.00,2.15,0.00,0.000,6,0.000,0.033,3143,2010,1979,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6384,0.53,194.6,386.7,13.8,723,6393,0.00,2.12,0.00,0.000,4,0.000,0.045,3143,3387,1978,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6621,0.51,194.6,356.7,12.9,746,6628,0.15,2.15,0.00,0.000,6,0.152,0.034,3111,1967,1978,0,0,0,0,0,0,26.03,26.30,28.83
$GC,6928,0.55,231.9,325.4,9.6,777,6960,0.00,0.00,30.45,0.832,6,0.000,0.000,3111,1967,1840,0,0,0,0,0,0,28.83,28.83,24.61
$GC,7260,0.65,294.2,295.2,8.6,810,7319,0.12,2.35,52.95,0.813,4,0.088,0.042,3191,3395,1586,0,0,0,0,0,0,26.36,25.62,24.50
$GC,7336,0.62,294.2,285.5,14.5,817,7344,0.20,2.17,0.00,0.000,6,0.147,0.034,3147,1994,1585,0,0,0,0,0,0,25.51,25.75,28.83
$GC,7644,0.66,318.4,251.8,10.1,848,7674,0.00,2.20,21.50,0.754,4,0.000,0.047,3156,596,1486,0,0,0,0,0,0,28.83,25.92,24.73
$GC,7753,0.73,354.6,241.6,9.6,858,7790,0.00,2.15,31.02,0.754,6,0.000,0.030,3156,1991,1339,0,0,0,0,0,0,28.83,26.10,24.63
$GC,8089,0.77,361.9,208.1,10.7,892,8103,0.12,2.20,7.18,0.616,4,0.086,0.043,3230,3386,1309,0,0,0,0,0,0,26.33,26.10,24.69
$GC,8216,0.76,361.9,186.3,17.1,911,8224,0.17,2.15,0.00,0.000,6,0.145,0.034,3189,1973,1308,0,0,0,0,0,0,25.91,26.17,28.83
$GC,8546,0.77,361.9,146.6,11.4,972,8554,0.00,2.15,0.00,0.000,4,0.000,0.047,3197,604,1309,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8595,0.79,361.9,140.9,11.4,980,8603,0.00,2.12,0.00,0.000,6,0.000,0.030,3197,1993,1308,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8927,0.84,379.7,109.8,10.3,1041,8953,0.00,2.22,16.05,0.630,4,0.000,0.045,3206,604,1237,0,0,0,0,0,0,28.83,26.14,24.88
$GC,8979,0.90,401.3,104.2,10.2,1049,9005,0.00,2.10,18.73,0.625,6,0.000,0.029,3206,1998,1149,0,0,0,0,0,0,28.83,26.22,24.86
$GC,9331,0.93,401.3,71.6,11.3,1113,9338,0.12,0.00,0.00,0.000,6,0.086,0.000,3286,1999,1148,0,0,0,0,0,0,26.40,28.83,28.83
$GC,9660,0.90,401.3,16.4,15.7,1174,9668,0.12,0.00,0.00,0.000,6,0.155,0.000,3246,1999,1147,0,0,0,0,0,0,26.19,28.83,28.83
$STATE,9701,end climb,SURFACE_DEPTH_REACHED
$STATE,9701,begin surface coast
$FINISH,6.3,1.023122
$STATE,9811,end surface coast,CONTROL_FINISHED_OK
$STATE,9811,begin surface
$SM_CCo,9828,38.40,0.567,0,0,949,450.13
$SM_GC,6.86,7.80,0.00,38.40,0.034,0.000,0.567,149,2012,949,-8.61,1.61,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2159.71,12027.11,140112,040422
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.45
$INTERNAL_PRESSURE,9.43431
$TCM_TEMP,23.90
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,328.6,0.0
$24V_AH,24.1,62.021
$10V_AH,9.9,49.983
$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,21.350,86.425,487.275,38.400,0.000,28.384,43.674,190.697,5.750,0.000,42.800,2696.251,3973.096,614.145,2695.180,301.295,0.000,1729.661,0.000,2391.420,0.000,3.095,0.000
$DEVICE_MAMPS,231.795,51.255,996.795,566.865,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.088,963.125,886.124,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324216
$DATA_FILE_SIZE,70144,1201
$CAP_FILE_SIZE,125875,0
$CFSIZE,260165632,175222784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140112,102007,2205.203,12026.386,37,1.0,37,-2.7