version: 66.10
glider: 165
mission: 5
dive: 281
start: 1 14 112 13 30 18
data:
$ID,165
$MISSION,5
$DIVE,281
$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,-271766.66
$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,46
$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
$GPS1,140112,132330,2204.680,12025.204,28,1.8,32,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.25
$_SM_ANGLEo,-72.3
$GPS2,140112,132956,2204.750,12025.227,13,1.5,13,-2.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,HEADING
$TGT_LATLONG,2154.318,12022.214
$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,736
$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,15,-0.81,-194.6,0.0,0.0,0,105,0.00,0.00,-87.45,0.000,2,0.000,0.000,132,1981,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.81,-194.6,11.5,-12.5,14,132,10.12,2.28,-5.80,0.000,4,0.232,0.055,2691,542,3582,0,0,0,0,0,0,25.22,26.08,26.45
$GC,222,-0.75,-194.6,51.3,-20.4,33,229,0.00,2.15,0.00,0.000,6,0.000,0.032,2683,1958,3584,0,0,0,0,0,0,28.83,26.17,28.83
$GC,552,-0.69,-194.6,121.9,-17.3,94,560,0.12,0.00,0.00,0.000,6,0.184,0.000,2720,1959,3584,0,0,0,0,0,0,26.10,28.83,28.83
$GC,884,-0.66,-194.6,176.5,-16.3,155,891,0.00,2.17,0.00,0.000,4,0.000,0.044,2720,560,3585,0,0,0,0,0,0,28.83,26.22,28.83
$GC,965,-0.64,-194.6,188.4,-13.9,169,971,0.00,2.12,0.00,0.000,6,0.000,0.033,2713,1968,3585,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1283,-0.63,-194.6,230.5,-11.8,208,1294,0.12,2.15,0.00,0.000,4,0.166,0.044,2752,3357,3586,0,0,0,0,0,0,26.22,26.21,28.83
$GC,1342,-0.66,-194.6,235.4,-8.1,213,1349,0.00,2.10,0.00,0.000,6,0.000,0.030,2752,1949,3585,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1648,-0.69,-194.6,262.9,-9.5,244,1658,0.00,2.08,0.00,0.000,4,0.000,0.047,2752,571,3586,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1704,-0.72,-194.6,268.2,-10.5,249,1713,0.00,2.05,0.00,0.000,6,0.000,0.036,2752,1947,3586,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2012,-0.75,-194.6,297.5,-9.3,280,2014,0.12,0.00,0.00,0.000,6,0.087,0.000,2676,1947,3586,0,0,0,0,0,0,26.52,28.83,28.83
$GC,2312,-0.72,-194.6,341.6,-15.3,310,2321,0.12,2.17,0.00,0.000,4,0.161,0.046,2706,3359,3585,0,0,0,0,0,0,26.22,26.21,28.83
$GC,2365,-0.72,-194.6,348.3,-12.2,315,2374,0.00,2.08,0.00,0.000,6,0.000,0.031,2706,1956,3585,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2674,-0.72,-194.6,389.0,-13.6,346,2677,0.00,2.15,0.00,0.000,4,0.000,0.049,2706,561,3585,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2695,-0.72,-194.6,392.0,-13.6,348,2704,0.00,2.15,0.00,0.000,6,0.000,0.037,2697,1954,3584,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3005,-0.71,-194.6,431.1,-13.0,379,3014,0.00,2.20,0.00,0.000,4,0.000,0.048,2688,3368,3582,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3040,-0.70,-194.6,435.2,-12.7,382,3048,0.12,2.15,0.00,0.000,6,0.148,0.032,2722,1945,3582,0,0,0,0,0,0,26.06,26.32,28.83
$GC,3350,-0.71,-194.6,463.7,-7.9,413,3359,0.00,2.15,0.00,0.000,4,0.000,0.050,2722,560,3581,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3395,-0.73,-194.6,467.4,-8.5,417,3402,0.00,2.15,0.00,0.000,6,0.000,0.038,2723,1957,3580,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3702,-0.74,-194.6,489.1,-7.6,448,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1957,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4004,-0.76,-194.6,510.3,-8.2,478,4012,0.00,2.20,0.00,0.000,4,0.000,0.049,2716,3367,3578,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4040,-0.78,-194.6,512.8,-7.4,481,4047,0.00,2.12,0.00,0.000,6,0.000,0.032,2716,1951,3578,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4346,-0.79,-194.6,541.1,-9.8,512,4354,0.00,2.15,0.00,0.000,4,0.000,0.050,2716,564,3576,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4389,-0.80,-194.6,545.5,-10.5,516,4397,0.00,2.12,0.00,0.000,6,0.000,0.038,2714,1953,3576,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4697,-0.82,-194.6,578.2,-11.5,547,4706,0.00,2.20,0.00,0.000,4,0.000,0.050,2711,3364,3575,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4803,-0.84,-194.6,589.3,-11.2,557,4810,0.00,2.15,0.00,0.000,6,0.000,0.033,2711,1950,3574,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5111,-0.90,-194.6,617.8,-5.3,578,5117,0.12,2.20,0.00,0.000,4,0.091,0.040,2643,3372,3573,0,0,0,0,0,0,26.48,26.19,28.83
$STATE,5269,end dive,NO_VERTICAL_VELOCITY
$STATE,5269,begin apogee
$GC,5277,-0.17,0.0,618.7,0.0,586,5437,0.68,0.00,153.35,1.032,6,0.075,0.000,2896,1988,2786,0,0,0,0,0,0,26.08,28.83,23.91
$STATE,5438,end apogee,CONTROL_FINISHED_OK
$STATE,5438,begin climb
$GC,5441,0.81,194.6,618.5,0.0,594,5609,0.85,2.42,158.75,1.003,4,0.064,0.048,3213,3400,1991,0,0,0,0,0,0,25.26,25.00,23.83
$GC,5635,1.21,473.3,617.9,0.4,604,5883,0.32,2.22,238.30,0.974,6,0.069,0.034,3345,1985,855,0,0,0,0,0,0,25.40,25.44,23.82
$GC,6183,1.12,473.3,443.9,31.2,654,6192,0.12,2.17,0.00,0.000,4,0.193,0.040,3310,3399,849,0,0,0,0,0,0,25.88,26.09,28.83
$GC,6198,1.02,473.3,440.9,31.5,655,6205,0.15,2.20,0.00,0.000,6,0.184,0.038,3281,1989,849,0,0,0,0,0,0,25.80,26.11,28.83
$GC,6505,0.97,473.3,360.3,25.8,686,6514,0.00,2.20,0.00,0.000,4,0.000,0.050,3290,586,848,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6629,0.91,473.3,327.9,27.3,698,6638,0.12,2.12,0.00,0.000,6,0.137,0.033,3249,2009,847,0,0,0,0,0,0,25.96,26.27,28.83
$GC,6939,0.88,473.3,260.3,21.6,729,6947,0.00,2.22,0.00,0.000,4,0.000,0.049,3256,589,847,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6994,0.85,473.3,248.5,21.7,734,7004,0.08,2.10,0.00,0.000,6,0.144,0.031,3230,1984,846,0,0,0,0,0,0,26.06,26.33,28.83
$GC,7304,0.84,473.3,193.8,17.3,768,7311,0.00,2.22,0.00,0.000,4,0.000,0.049,3238,589,846,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7361,0.84,473.3,184.8,14.7,778,7369,0.00,2.12,0.00,0.000,6,0.000,0.031,3238,1981,846,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7692,0.84,473.3,134.6,15.3,839,7699,0.00,2.20,0.00,0.000,4,0.000,0.049,3247,586,846,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7762,0.84,473.3,123.6,16.1,851,7768,0.00,2.10,0.00,0.000,6,0.000,0.030,3247,1995,845,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8094,0.85,473.3,75.5,14.3,912,8102,0.00,2.25,0.00,0.000,4,0.000,0.047,3257,581,845,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8162,0.87,473.3,65.3,14.5,924,8170,0.00,2.15,0.00,0.000,6,0.000,0.030,3258,1997,845,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8493,0.88,473.3,20.5,12.6,985,8499,0.00,2.12,0.00,0.000,4,0.000,0.042,3257,3396,845,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8529,0.90,473.3,15.6,13.7,991,8536,0.00,2.15,0.00,0.000,6,0.000,0.033,3266,1977,845,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,8566,end climb,SURFACE_DEPTH_REACHED
$STATE,8567,begin surface coast
$FINISH,5.9,1.012379
$STATE,8668,end surface coast,CONTROL_FINISHED_OK
$STATE,8668,begin surface
$SM_CCo,8745,0.00,0.000,0,0,845,476.13
$SM_GC,6.80,7.80,0.00,0.00,0.030,0.000,0.000,149,1970,845,-8.61,0.42,476.13,0,0,0,0,0,0
$IRIDIUM_FIX,2157.39,12023.92,140112,101001
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.48
$INTERNAL_PRESSURE,9.41478
$TCM_TEMP,24.00
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,486.1,0.0
$24V_AH,23.8,62.341
$10V_AH,10.0,50.196
$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,21.000,86.600,550.400,0.000,0.000,25.562,42.604,187.549,6.250,0.000,17.206,2315.991,3557.836,606.438,2368.502,270.609,0.000,1613.675,0.000,2100.689,0.000,5.859,0.000
$DEVICE_MAMPS,231.795,55.080,1031.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.372,811.650,743.131,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324164
$DATA_FILE_SIZE,60316,1016
$CAP_FILE_SIZE,112679,0
$CFSIZE,260165632,175099904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140112,155707,2204.354,12024.440,26,1.2,27,-2.7