version: 66.10
glider: 165
mission: 5
dive: 45
start: 11 23 111 21 38 2
data:
$ID,165
$MISSION,5
$DIVE,45
$N_DIVES,0
$D_SURF,5
$D_FLARE,3
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$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,1
$FERRY_MAX,45
$KALMAN_USE,13
$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,-137292.33
$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,41
$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,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$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,49
$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
$GPS1,231111,213037,2010.032,11957.887,26,1.3,26,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.90
$_SM_ANGLEo,-56.4
$GPS2,231111,213738,2010.125,11957.787,12,1.5,12,-2.3
$SPEED_LIMITS,0.147,0.279
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.191,-3.736
$KALMAN_X,8429581.0,0.0,0.0,4900619.0,-3555.0
$KALMAN_Y,2257943.0,0.0,0.0,-16774.1,59188.8
$MHEAD_RNG_PITCHd_Wd,179.4,129928,-5.2,-8.462
$D_GRID,3463
$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,-0.41,-194.6,0.0,0.0,0,26,0.00,0.00,-8.50,0.000,2,0.000,0.000,157,1997,633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29,-0.41,-194.6,3.9,0.0,1,173,9.30,2.28,-125.78,0.000,4,0.194,0.057,2818,542,3580,0,0,0,0,0,0,25.84,26.06,26.39
$GC,310,-0.28,-194.6,34.0,-22.8,49,317,0.17,2.15,0.00,0.000,6,0.176,0.040,2855,1946,3581,0,0,0,0,0,0,25.96,26.15,28.83
$GC,641,-0.24,-194.6,78.8,-7.2,110,649,0.00,2.22,0.00,0.000,4,0.000,0.050,2856,546,3582,0,0,0,0,0,0,28.83,26.25,28.83
$GC,679,-0.23,-194.6,80.8,-5.2,116,686,0.00,2.17,0.00,0.000,6,0.000,0.037,2855,1953,3582,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1013,-0.22,-194.6,100.5,-6.9,177,1019,0.00,2.17,0.00,0.000,4,0.000,0.050,2855,3364,3584,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1049,-0.22,-194.6,103.0,-6.1,183,1055,0.00,2.10,0.00,0.000,6,0.000,0.031,2856,1945,3584,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1381,-0.30,-194.6,122.2,-4.5,244,1389,0.00,2.15,0.00,0.000,4,0.000,0.050,2856,565,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1481,-0.35,-194.6,129.6,-8.7,262,1489,0.00,2.12,0.00,0.000,6,0.000,0.037,2855,1953,3584,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1813,-0.41,-194.6,157.5,-6.4,323,1820,0.12,2.15,0.00,0.000,4,0.117,0.047,2802,3365,3584,0,0,0,0,0,0,26.45,26.43,28.83
$GC,1920,-0.46,-194.6,164.4,-7.5,342,1928,0.00,2.12,0.00,0.000,6,0.000,0.034,2802,1953,3584,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2252,-0.49,-194.6,188.0,-5.8,403,2259,0.00,2.20,0.00,0.000,4,0.000,0.049,2802,3369,3584,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2502,-0.57,-194.6,204.1,-7.3,444,2512,0.08,2.10,0.00,0.000,6,0.096,0.034,2768,1952,3584,0,0,0,0,0,0,26.44,26.53,28.83
$GC,2812,-0.56,-194.6,227.1,-7.0,475,2820,0.00,2.15,0.00,0.000,4,0.000,0.050,2768,3356,3583,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2838,-0.55,-194.6,228.6,-6.2,477,2844,0.00,2.08,0.00,0.000,6,0.000,0.032,2768,1948,3583,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3143,-0.50,-194.6,253.0,-9.0,508,3153,0.00,2.20,0.00,0.000,4,0.000,0.052,2768,3353,3582,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3326,-0.47,-194.6,268.8,-8.5,525,3334,0.00,2.05,0.00,0.000,6,0.000,0.033,2768,1966,3582,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3634,-0.43,-194.6,291.4,-6.7,556,3642,0.15,0.00,0.00,0.000,6,0.134,0.000,2813,1966,3581,0,0,0,0,0,0,26.46,28.83,28.83
$GC,3943,-0.46,-194.6,307.6,-6.1,587,3947,0.00,2.17,0.00,0.000,4,0.000,0.052,2812,3366,3579,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4175,-0.52,-194.6,324.3,-7.6,610,4184,0.00,2.12,0.00,0.000,6,0.000,0.036,2815,1955,3578,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4485,-0.58,-194.6,344.2,-6.6,641,4495,0.15,2.17,0.00,0.000,4,0.114,0.050,2759,3352,3576,0,0,0,0,0,0,26.53,26.52,28.83
$GC,4599,-0.57,-194.6,351.2,-6.4,652,4608,0.00,2.05,0.00,0.000,6,0.000,0.034,2759,1957,3576,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4908,-0.56,-194.6,374.1,-8.0,683,4912,0.00,2.15,0.00,0.000,4,0.000,0.053,2758,560,3575,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4963,-0.53,-194.6,378.6,-8.8,688,4969,0.00,2.12,0.00,0.000,6,0.000,0.039,2757,1953,3574,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5270,-0.48,-194.6,407.3,-9.8,719,5272,0.15,0.00,0.00,0.000,6,0.144,0.000,2799,1953,3573,0,0,0,0,0,0,26.46,28.83,28.83
$GC,5571,-0.51,-194.6,427.3,-6.9,749,5579,0.00,2.15,0.00,0.000,4,0.000,0.054,2798,3358,3571,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5807,-0.57,-194.6,442.1,-6.4,772,5814,0.12,2.12,0.00,0.000,6,0.123,0.036,2761,1950,3570,0,0,0,0,0,0,26.48,26.58,28.83
$GC,6113,-0.57,-194.6,457.1,-5.5,803,6122,0.00,2.22,0.00,0.000,4,0.000,0.053,2761,3361,3568,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6175,-0.57,-194.6,460.3,-5.4,809,6183,0.00,2.10,0.00,0.000,6,0.000,0.034,2761,1947,3568,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6485,-0.56,-194.6,481.8,-7.9,840,6489,0.00,2.15,0.00,0.000,4,0.000,0.054,2761,555,3567,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6550,-0.53,-194.6,487.0,-8.6,846,6556,0.00,2.15,0.00,0.000,6,0.000,0.040,2756,1956,3566,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6857,-0.52,-194.6,513.5,-8.8,877,6865,0.00,2.20,0.00,0.000,4,0.000,0.052,2756,551,3565,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6921,-0.48,-194.6,519.2,-9.5,883,6929,0.15,2.15,0.00,0.000,6,0.145,0.041,2798,1956,3564,0,0,0,0,0,0,26.40,26.55,28.83
$GC,7229,-0.52,-194.6,543.0,-7.9,914,7232,0.00,2.17,0.00,0.000,4,0.000,0.053,2798,3360,3564,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7461,-0.59,-194.6,562.3,-9.0,937,7470,0.12,2.12,0.00,0.000,6,0.121,0.036,2760,1950,3562,0,0,0,0,0,0,26.48,26.58,28.83
$GC,7773,-0.60,-194.6,582.2,-5.1,968,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1950,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8084,-0.61,-194.6,597.4,-5.2,999,8092,0.00,2.15,0.00,0.000,4,0.000,0.054,2759,554,3560,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8108,-0.61,-194.6,598.7,-5.2,1001,8115,0.00,2.15,0.00,0.000,6,0.000,0.041,2760,1956,3560,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8416,-0.61,-194.6,618.8,-7.4,1018,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1956,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8715,-0.61,-194.6,644.8,-9.1,1033,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1956,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9015,-0.61,-194.6,671.9,-8.8,1048,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1955,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9316,-0.61,-194.6,694.5,-6.9,1063,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1956,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9615,-0.61,-194.6,711.4,-5.0,1078,9619,0.00,2.20,0.00,0.000,4,0.000,0.055,2760,561,3555,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9630,-0.61,-194.6,711.4,-5.0,1078,9636,0.00,2.15,0.00,0.000,6,0.000,0.042,2760,1953,3555,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9938,-0.61,-194.6,726.8,-4.8,1094,9941,0.00,2.20,0.00,0.000,4,0.000,0.056,2760,3362,3554,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9972,-0.61,-194.6,727.9,-4.7,1095,9979,0.00,2.10,0.00,0.000,6,0.000,0.034,2760,1956,3553,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10281,-0.62,-194.6,744.9,-5.9,1111,10286,0.00,2.20,0.00,0.000,4,0.000,0.055,2760,3357,3553,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10403,-0.62,-194.6,752.1,-5.9,1117,10407,0.00,2.10,0.00,0.000,6,0.000,0.035,2759,1953,3552,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10716,-0.62,-194.6,773.1,-7.0,1133,10720,0.00,2.17,0.00,0.000,4,0.000,0.054,2760,551,3552,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10818,-0.60,-194.6,780.8,-7.5,1138,10824,0.00,2.15,0.00,0.000,6,0.000,0.042,2759,1959,3551,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11139,-0.60,-194.6,805.2,-7.7,1154,11142,0.00,2.20,0.00,0.000,4,0.000,0.056,2759,3366,3551,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11173,-0.60,-194.6,806.9,-7.8,1155,11180,0.00,2.12,0.00,0.000,6,0.000,0.035,2759,1947,3550,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11480,-0.60,-194.6,831.5,-7.1,1171,11486,0.00,2.17,0.00,0.000,4,0.000,0.054,2759,556,3550,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11501,-0.60,-194.6,832.8,-7.1,1172,11507,0.00,2.15,0.00,0.000,6,0.000,0.042,2759,1960,3550,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11820,-0.60,-194.6,851.5,-5.3,1188,11826,0.00,2.22,0.00,0.000,4,0.000,0.053,2759,551,3549,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11843,-0.60,-194.6,852.6,-5.3,1189,11847,0.00,2.15,0.00,0.000,6,0.000,0.042,2760,1955,3549,0,0,0,0,0,0,28.83,26.50,28.83
$GC,12157,-0.59,-194.6,867.6,-4.2,1205,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1956,3549,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12313,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12313,begin apogee
$GC,12318,-0.17,0.0,874.8,-4.6,1213,12480,0.38,0.00,153.10,1.223,6,0.104,0.000,2893,1956,2785,0,0,0,0,0,0,26.36,28.83,24.01
$STATE,12481,end apogee,CONTROL_FINISHED_OK
$STATE,12481,begin climb
$GC,12483,0.41,194.6,878.1,0.0,1221,12660,0.50,2.40,165.70,1.188,4,0.057,0.057,3101,601,1991,0,0,0,0,0,0,24.96,24.48,23.72
$GC,12808,0.32,194.6,841.3,14.4,1237,12813,0.17,2.25,0.00,0.000,6,0.154,0.041,3055,1995,1983,0,0,0,0,0,0,25.29,25.42,28.83
$GC,13117,0.25,194.6,807.0,9.7,1252,13122,0.00,2.22,0.00,0.000,4,0.000,0.051,3055,3394,1981,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13175,0.18,194.6,800.6,10.3,1255,13182,0.20,2.20,0.00,0.000,6,0.159,0.037,3007,1991,1980,0,0,0,0,0,0,25.77,25.94,28.83
$GC,13497,3.39,2829.3,781.1,5.5,1271,13886,2.35,2.38,346.42,1.039,4,0.047,0.050,3945,586,485,0,0,0,0,5,0,26.13,24.61,23.89
$GC,13973,3.04,2829.3,430.1,84.9,1304,13980,0.00,2.28,0.00,0.000,6,0.000,0.035,3942,2005,483,0,0,0,0,0,0,28.83,25.27,28.83
$GC,14287,2.69,2829.3,151.7,90.7,1339,14294,0.50,2.30,0.00,0.000,4,0.249,0.050,3826,580,481,0,0,0,0,0,0,25.55,25.82,28.83
$GC,14356,2.37,2829.3,96.3,77.2,1351,14363,0.43,2.20,0.00,0.000,6,0.241,0.034,3717,2009,480,0,0,0,0,0,0,25.61,25.91,28.83
$STATE,14599,end climb,SURFACE_DEPTH_REACHED
$STATE,14599,begin surface coast
$FINISH,3.0,1.021668
$STATE,14792,end surface coast,CONTROL_FINISHED_OK
$STATE,14792,begin surface
$SM_CCo,14872,0.00,0.000,0,0,477,566.40
$SM_GC,3.64,9.65,0.10,0.00,0.067,0.128,0.000,171,1962,477,-8.63,0.96,566.40,0,0,0,0,0,0
$IRIDIUM_FIX,2001.88,11955.23,231111,171718
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.03
$INTERNAL_PRESSURE,9.35619
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.7,12.379
$10V_AH,10.3,12.444
$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,24.700,121.700,665.225,0.000,0.000,29.425,48.385,209.556,0.250,0.000,16.568,3329.242,7526.218,768.021,3298.064,355.003,0.384,2210.251,0.000,2996.402,0.000,0.538,0.000
$DEVICE_MAMPS,249.390,127.755,1223.235,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,972.489,1185.971,865.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324568
$DATA_FILE_SIZE,83484,1432
$CAP_FILE_SIZE,164565,0
$CFSIZE,260165632,196620288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,241111,014707,2010.394,11958.401,34,1.0,34,-2.3