version: 66.10
glider: 165
mission: 5
dive: 285
start: 1 15 112 2 53 10
data:
$ID,165
$MISSION,5
$DIVE,285
$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,-7
$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,-271773.03
$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,51
$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
$GPS1,150112,024624,2203.130,12021.496,23,1.1,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.17
$_SM_ANGLEo,-72.5
$GPS2,150112,025231,2203.204,12021.381,14,1.4,14,-2.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,HEADING
$TGT_LATLONG,2152.773,12018.369
$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,726
$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,-194.6,0.0,0.0,0,113,0.00,0.00,-94.57,0.000,2,0.000,0.000,146,1999,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.81,-194.6,12.3,-15.5,15,138,10.10,2.28,-2.03,0.000,4,0.232,0.060,2690,548,3582,0,0,0,0,0,0,25.15,26.04,26.44
$GC,215,-0.74,-194.6,50.2,-26.3,32,223,0.00,2.15,0.00,0.000,6,0.000,0.033,2683,1946,3583,0,0,0,0,0,0,28.83,26.15,28.83
$GC,549,-0.68,-194.6,126.4,-17.5,93,557,0.12,2.15,0.00,0.000,4,0.176,0.041,2721,548,3584,0,0,0,0,0,0,26.08,26.17,28.83
$GC,642,-0.67,-194.6,139.6,-13.7,109,649,0.00,2.12,0.00,0.000,6,0.000,0.032,2713,1957,3585,0,0,0,0,0,0,28.83,26.26,28.83
$GC,973,-0.66,-194.6,186.0,-13.4,170,981,0.00,2.17,0.00,0.000,4,0.000,0.044,2713,563,3586,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1006,-0.65,-194.6,190.2,-12.7,175,1012,0.00,2.12,0.00,0.000,6,0.000,0.034,2710,1966,3586,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1321,-0.64,-194.6,226.0,-12.5,213,1328,0.12,0.00,0.00,0.000,6,0.165,0.000,2749,1967,3586,0,0,0,0,0,0,26.20,28.83,28.83
$GC,1629,-0.66,-194.6,261.6,-11.2,244,1639,0.00,2.12,0.00,0.000,4,0.000,0.047,2742,3355,3586,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1727,-0.70,-194.6,271.2,-9.7,253,1735,0.00,2.08,0.00,0.000,6,0.000,0.031,2742,1946,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2034,-0.72,-194.6,300.0,-9.3,284,2044,0.00,2.22,0.00,0.000,4,0.000,0.047,2742,3362,3585,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2079,-0.75,-194.6,304.0,-9.3,288,2088,0.08,2.10,0.00,0.000,6,0.056,0.031,2672,1949,3585,0,0,0,0,0,0,26.24,26.34,28.83
$GC,2387,-0.72,-194.6,346.6,-14.0,319,2396,0.12,2.20,0.00,0.000,4,0.162,0.044,2703,3362,3584,0,0,0,0,0,0,26.20,26.19,28.83
$GC,2421,-0.71,-194.6,350.3,-11.5,322,2429,0.00,2.10,0.00,0.000,6,0.000,0.031,2703,1957,3584,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2729,-0.71,-194.6,386.3,-12.5,353,2738,0.00,2.15,0.00,0.000,4,0.000,0.049,2703,560,3582,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2775,-0.71,-194.6,391.9,-13.7,357,2781,0.00,2.15,0.00,0.000,6,0.000,0.037,2700,1959,3583,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3080,-0.71,-194.6,430.0,-11.1,388,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1959,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3383,-0.71,-194.6,461.5,-9.4,418,3392,0.00,2.17,0.00,0.000,4,0.000,0.049,2690,3364,3579,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3438,-0.71,-194.6,466.7,-9.6,423,3445,0.12,2.15,0.00,0.000,6,0.148,0.032,2725,1946,3579,0,0,0,0,0,0,26.04,26.29,28.83
$GC,3745,-0.73,-194.6,490.5,-7.7,454,3754,0.00,2.12,0.00,0.000,4,0.000,0.050,2725,561,3578,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3779,-0.75,-194.6,493.0,-7.9,457,3787,0.00,2.12,0.00,0.000,6,0.000,0.039,2726,1952,3578,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4087,-0.77,-194.6,517.7,-8.6,488,4096,0.00,2.20,0.00,0.000,4,0.000,0.050,2725,3363,3575,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4149,-0.81,-194.6,522.6,-7.4,494,4159,0.10,2.15,0.00,0.000,6,0.101,0.032,2660,1951,3575,0,0,0,0,0,0,26.24,26.29,28.83
$GC,4459,-0.78,-194.6,559.9,-11.9,525,4469,0.12,2.17,0.00,0.000,4,0.164,0.049,2697,552,3574,0,0,0,0,0,0,26.17,26.12,28.83
$GC,4502,-0.77,-194.6,564.5,-10.7,529,4511,0.00,2.20,0.00,0.000,6,0.000,0.039,2698,1980,3574,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4812,-0.77,-194.6,594.7,-10.5,560,4820,0.00,2.17,0.00,0.000,4,0.000,0.050,2691,3373,3572,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4847,-0.77,-194.6,598.0,-10.4,563,4853,0.00,2.12,0.00,0.000,6,0.000,0.032,2691,1960,3572,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5164,-0.77,-194.6,633.7,-11.6,580,5170,0.00,2.20,0.00,0.000,4,0.000,0.050,2691,549,3571,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5206,-0.77,-194.6,638.6,-11.9,582,5211,0.00,2.20,0.00,0.000,6,0.000,0.039,2687,1968,3570,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5519,-0.77,-194.6,676.5,-11.3,598,5524,0.00,2.20,0.00,0.000,4,0.000,0.050,2686,3364,3569,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5580,-0.77,-194.6,682.5,-10.4,601,5586,0.00,2.12,0.00,0.000,6,0.000,0.033,2686,1949,3569,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5899,-0.77,-194.6,707.7,0.4,617,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1949,3568,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6077,begin apogee
$GC,6082,-0.17,0.0,727.0,-14.5,626,6245,0.62,0.00,155.70,1.118,6,0.119,0.000,2893,1949,2785,0,0,0,0,0,0,25.67,28.83,23.65
$STATE,6246,end apogee,CONTROL_FINISHED_OK
$STATE,6246,begin climb
$GC,6249,0.81,194.6,734.9,0.0,634,6424,0.85,2.50,163.52,1.083,4,0.059,0.048,3212,3391,1990,0,0,0,0,0,0,25.11,24.62,23.37
$GC,6530,0.73,194.6,700.7,20.2,648,6538,0.15,2.22,0.00,0.000,6,0.170,0.038,3185,1989,1987,0,0,0,0,0,0,25.41,25.63,28.83
$GC,6839,0.68,194.6,646.1,17.1,664,6844,0.00,2.20,0.00,0.000,4,0.000,0.045,3185,3392,1985,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6870,0.63,194.6,642.6,17.2,665,6878,0.15,2.17,0.00,0.000,6,0.174,0.036,3156,1994,1984,0,0,0,0,0,0,25.81,26.13,28.83
$GC,7177,0.60,194.6,595.6,14.2,682,7186,0.00,2.22,0.00,0.000,4,0.000,0.050,3164,580,1982,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7242,0.57,194.6,586.6,14.5,688,7250,0.00,2.15,0.00,0.000,6,0.000,0.034,3164,1994,1981,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7549,0.53,194.6,537.4,16.0,719,7558,0.12,2.20,0.00,0.000,4,0.160,0.044,3125,3399,1981,0,0,0,0,0,0,26.15,26.17,28.83
$GC,7667,0.52,194.6,521.7,13.3,730,7674,0.00,2.17,0.00,0.000,6,0.000,0.034,3132,1972,1981,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7973,0.50,194.6,483.1,11.9,761,7981,0.00,2.12,0.00,0.000,4,0.000,0.049,3143,600,1980,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8004,0.49,194.6,479.2,11.6,764,8014,0.12,2.12,0.00,0.000,6,0.144,0.033,3109,2012,1979,0,0,0,0,0,0,26.03,26.25,28.83
$GC,8316,0.53,223.0,447.9,9.9,795,8345,0.00,2.22,23.98,0.928,4,0.000,0.046,3108,3386,1876,0,0,0,0,0,0,28.83,25.91,24.46
$GC,8529,0.57,252.7,425.9,9.9,816,8562,0.00,2.15,27.02,0.910,6,0.000,0.033,3114,2009,1754,0,0,0,0,0,0,28.83,26.13,24.41
$GC,8870,0.65,301.1,394.0,9.2,850,8920,0.12,2.30,42.67,0.896,4,0.090,0.047,3204,580,1557,0,0,0,0,0,0,26.28,25.57,24.36
$GC,8976,0.62,301.1,378.6,15.5,860,8985,0.15,2.15,0.00,0.000,6,0.119,0.032,3154,1970,1554,0,0,0,0,0,0,25.60,25.85,28.83
$GC,9283,0.62,301.1,343.1,11.3,891,9292,0.00,2.25,0.00,0.000,4,0.000,0.044,3154,3408,1553,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9379,0.62,301.1,331.9,12.4,900,9385,0.00,2.20,0.00,0.000,6,0.000,0.034,3162,1976,1553,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9686,0.62,301.1,296.5,11.5,931,9696,0.00,2.17,0.00,0.000,4,0.000,0.049,3173,580,1552,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9713,0.62,301.5,293.9,11.0,933,9720,0.00,2.17,0.00,0.000,6,0.000,0.032,3173,2013,1552,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10019,0.62,301.5,252.3,14.8,964,10029,0.00,2.15,0.00,0.000,4,0.000,0.044,3173,3396,1552,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10063,0.62,301.5,245.8,15.3,968,10074,0.08,2.15,0.00,0.000,6,0.141,0.034,3156,1987,1551,0,0,0,0,0,0,25.98,26.25,28.83
$GC,10374,0.68,337.6,212.6,9.6,999,10413,0.00,2.22,31.55,0.764,4,0.000,0.047,3164,581,1407,0,0,0,0,0,0,28.83,25.89,24.63
$GC,10524,0.75,369.2,197.0,9.8,1015,10556,0.00,2.15,27.30,0.738,6,0.000,0.031,3164,1984,1280,0,0,0,0,0,0,28.83,26.07,24.57
$GC,10880,0.77,369.2,164.6,11.1,1080,10888,0.10,2.22,0.00,0.000,4,0.102,0.043,3221,3393,1278,0,0,0,0,0,0,26.32,26.05,28.83
$GC,10957,0.77,369.2,153.2,15.8,1093,10965,0.12,2.17,0.00,0.000,6,0.154,0.034,3197,1987,1277,0,0,0,0,0,0,25.92,26.16,28.83
$GC,11287,0.87,434.5,117.0,8.5,1154,11345,0.00,2.30,53.42,0.680,4,0.000,0.047,3205,578,1012,0,0,0,0,0,0,28.83,25.69,24.61
$GC,11437,1.00,511.5,103.8,8.1,1179,11520,0.20,2.17,74.00,0.653,6,0.066,0.030,3304,2000,698,0,0,0,0,0,0,25.96,25.97,24.47
$GC,11842,0.98,511.5,29.8,18.1,1252,11850,0.12,2.28,0.00,0.000,4,0.153,0.047,3274,583,682,0,0,0,0,0,0,26.01,26.03,28.83
$GC,11902,1.00,511.5,21.0,13.0,1262,11909,0.00,2.15,0.00,0.000,6,0.000,0.030,3274,1991,681,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,11974,end climb,SURFACE_DEPTH_REACHED
$STATE,11974,begin surface coast
$FINISH,5.9,1.022945
$STATE,12071,end surface coast,CONTROL_FINISHED_OK
$STATE,12071,begin surface
$SM_CCo,12149,0.00,0.000,0,0,679,517.09
$SM_GC,6.68,7.95,0.00,0.00,0.036,0.000,0.000,147,2003,679,-8.64,1.36,517.09,0,0,0,0,0,0
$IRIDIUM_FIX,2155.06,12023.92,140112,222204
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.73
$INTERNAL_PRESSURE,9.36595
$TCM_TEMP,22.70
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,476.4,0.0
$24V_AH,23.4,62.995
$10V_AH,9.9,50.684
$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,21.775,122.150,599.175,0.000,0.000,29.664,21.095,180.155,5.500,0.000,16.983,2952.583,5674.841,686.141,2864.417,339.453,0.000,1967.664,0.000,2608.443,0.000,3.090,0.000
$DEVICE_MAMPS,231.795,59.670,1118.430,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.958,1075.343,821.384,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325472
$DATA_FILE_SIZE,73437,1293
$CAP_FILE_SIZE,148302,0
$CFSIZE,260165632,174739456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150112,061654,2202.734,12020.343,35,1.6,35,-2.7