version: 66.10
glider: 165
mission: 5
dive: 72
start: 11 30 111 12 8 13
data:
$ID,165
$MISSION,5
$DIVE,72
$N_DIVES,0
$D_SURF,6
$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,450
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,-137333.59
$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,47
$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,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
$GPS1,301111,120055,1902.103,11959.024,40,1.1,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.96
$_SM_ANGLEo,-67.5
$GPS2,301111,120750,1902.037,11958.976,11,2.0,11,-2.0
$SPEED_LIMITS,0.147,0.279
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,156.6,4178,-22.7,-8.462
$D_GRID,3178
$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,-0.85,-72.7,0.0,0.0,0,26,0.00,0.00,-8.20,0.000,2,0.000,0.000,151,2009,1110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-0.98,-181.1,5.8,0.0,1,161,9.35,2.25,-112.72,0.000,4,0.221,0.054,2637,542,3526,0,0,0,0,0,0,25.66,26.03,26.36
$GC,363,-0.93,-181.1,76.9,-24.1,59,369,0.00,2.15,0.00,0.000,6,0.000,0.036,2629,1949,3527,0,0,0,0,0,0,28.83,26.15,28.83
$GC,690,-0.88,-181.1,155.7,-23.2,120,698,0.12,2.22,0.00,0.000,4,0.203,0.050,2654,3354,3528,0,0,0,0,0,0,26.06,26.22,28.83
$GC,759,-0.86,-181.1,169.5,-19.2,132,767,0.00,2.15,0.00,0.000,6,0.000,0.034,2654,1951,3528,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1081,-0.84,-181.1,228.9,-18.8,178,1091,0.00,2.12,0.00,0.000,4,0.000,0.049,2654,563,3528,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1145,-0.82,-181.1,241.6,-19.4,184,1156,0.15,2.10,0.00,0.000,6,0.181,0.037,2681,1955,3528,0,0,0,0,0,0,26.11,26.36,28.83
$GC,1456,-0.83,-181.1,289.8,-16.5,215,1465,0.00,2.12,0.00,0.000,4,0.000,0.050,2673,3356,3528,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1523,-0.84,-181.1,300.5,-16.7,221,1530,0.00,2.12,0.00,0.000,6,0.000,0.034,2673,1947,3528,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1830,-0.84,-181.1,351.5,-15.8,252,1839,0.00,2.15,0.00,0.000,4,0.000,0.050,2673,560,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1854,-0.84,-181.1,354.7,-15.4,254,1861,0.00,2.12,0.00,0.000,6,0.000,0.039,2673,1962,3527,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2163,-0.85,-181.1,398.6,-13.4,285,2171,0.00,2.15,0.00,0.000,4,0.000,0.054,2671,3357,3525,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2197,-0.86,-181.1,402.9,-13.5,288,2204,0.00,2.12,0.00,0.000,6,0.000,0.034,2670,1946,3525,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2504,-0.87,-181.1,447.5,-14.7,319,2513,0.00,2.15,0.00,0.000,4,0.000,0.050,2670,557,3523,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2547,-0.88,-181.1,453.9,-15.6,323,2555,0.00,2.12,0.00,0.000,6,0.000,0.040,2670,1953,3523,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2856,-0.89,-181.1,498.6,-14.6,354,2864,0.00,2.20,0.00,0.000,4,0.000,0.054,2670,3371,3520,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2891,-0.91,-181.1,503.4,-15.0,357,2897,0.00,2.15,0.00,0.000,6,0.000,0.034,2670,1944,3520,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3197,-0.92,-181.1,551.0,-15.6,388,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1944,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3500,-0.93,-181.1,596.0,-14.6,418,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1944,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3807,-0.95,-181.1,640.8,-14.4,435,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1943,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4108,-0.96,-181.1,680.7,-12.7,450,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1943,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4407,-0.98,-181.1,719.7,-13.7,465,4409,0.12,0.00,0.00,0.000,6,0.102,0.000,2615,1943,3510,0,0,0,0,0,0,26.56,28.83,28.83
$GC,4707,-0.97,-181.1,769.1,-15.9,480,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1943,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5008,-0.95,-181.1,813.9,-14.7,495,5012,0.00,2.15,0.00,0.000,4,0.000,0.054,2615,555,3506,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5078,-0.94,-181.1,823.4,-15.0,498,5083,0.15,2.15,0.00,0.000,6,0.193,0.040,2642,1968,3506,0,0,0,0,0,0,26.15,26.48,28.83
$GC,5386,-0.95,-181.1,862.4,-11.5,513,5390,0.00,2.17,0.00,0.000,4,0.000,0.057,2642,3354,3504,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5471,-0.96,-181.1,871.8,-11.4,517,5475,0.00,2.10,0.00,0.000,6,0.000,0.036,2642,1956,3504,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5789,-0.97,-181.1,906.8,-11.0,533,5794,0.00,2.22,0.00,0.000,4,0.000,0.056,2642,3361,3502,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5828,-0.98,-181.1,911.2,-11.1,535,5833,0.00,2.15,0.00,0.000,6,0.000,0.037,2643,1946,3502,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6148,-0.98,-181.1,948.9,-12.7,551,6154,0.00,2.25,0.00,0.000,4,0.000,0.057,2642,3353,3500,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6202,-1.00,-181.1,954.2,-13.1,553,6209,0.00,2.12,0.00,0.000,6,0.000,0.037,2642,1958,3499,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,6465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6465,begin apogee
$GC,6471,-0.17,0.0,991.6,-13.2,567,6622,0.77,0.00,144.07,1.299,6,0.143,0.000,2891,1958,2786,0,0,0,0,0,0,26.10,28.83,23.91
$STATE,6623,end apogee,CONTROL_FINISHED_OK
$STATE,6623,begin climb
$GC,6626,0.98,181.1,995.9,0.0,574,6790,1.05,2.53,157.27,1.261,4,0.047,0.054,3284,3388,2045,0,0,0,0,0,0,24.91,24.34,23.51
$GC,6818,0.88,181.1,968.2,21.6,583,6825,0.25,2.30,0.00,0.000,6,0.209,0.041,3237,1992,2041,0,0,0,0,0,0,24.58,24.75,28.83
$GC,7124,0.81,181.1,894.0,22.9,599,7130,0.00,2.28,0.00,0.000,4,0.000,0.050,3237,3396,2037,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7254,0.74,181.1,864.1,25.0,605,7264,0.22,2.22,0.00,0.000,6,0.195,0.037,3189,1978,2036,0,0,0,0,0,0,25.61,25.88,28.83
$GC,7565,0.70,181.1,796.1,22.0,621,7571,0.00,2.22,0.00,0.000,4,0.000,0.049,3189,3387,2034,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7667,0.66,181.1,772.6,23.7,626,7672,0.15,2.15,0.00,0.000,6,0.194,0.037,3163,1987,2034,0,0,0,0,0,0,25.86,26.13,28.83
$GC,7982,0.63,181.1,709.7,19.0,642,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1987,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8280,0.61,181.1,655.3,17.6,657,8286,0.00,2.22,0.00,0.000,4,0.000,0.047,3163,3403,2032,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8334,0.59,181.1,647.9,18.0,659,8341,0.12,2.15,0.00,0.000,6,0.201,0.035,3143,1988,2032,0,0,0,0,0,0,26.02,26.30,28.83
$GC,8640,0.59,181.1,597.3,15.5,675,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1988,2031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8944,0.59,181.1,547.9,16.0,705,8952,0.00,2.20,0.00,0.000,4,0.000,0.047,3143,3399,2031,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9079,0.58,181.1,526.0,15.3,718,9086,0.00,2.15,0.00,0.000,6,0.000,0.034,3151,1987,2031,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9385,0.57,181.1,482.2,13.9,749,9394,0.00,2.20,0.00,0.000,4,0.000,0.047,3151,3405,2031,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9548,0.55,181.1,458.6,14.2,765,9558,0.12,2.15,0.00,0.000,6,0.192,0.034,3132,1982,2031,0,0,0,0,0,0,26.13,26.41,28.83
$GC,9857,0.55,181.1,422.8,13.0,796,9861,0.00,2.20,0.00,0.000,4,0.000,0.047,3132,3396,2030,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9888,0.55,181.1,418.7,13.1,799,9897,0.00,2.12,0.00,0.000,6,0.000,0.034,3140,1985,2030,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10198,0.55,181.1,372.0,16.8,830,10208,0.00,2.20,0.00,0.000,4,0.000,0.046,3140,3398,2030,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10250,0.55,181.1,362.5,18.2,835,10259,0.00,2.12,0.00,0.000,6,0.000,0.034,3150,1978,2030,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10560,0.55,181.1,310.0,14.4,866,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1978,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10863,0.55,181.1,268.6,13.4,896,10873,0.00,2.20,0.00,0.000,4,0.000,0.046,3150,3399,2030,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11011,0.55,181.1,248.4,13.4,910,11022,0.12,2.12,0.00,0.000,6,0.184,0.034,3131,1986,2030,0,0,0,0,0,0,26.17,26.46,28.83
$GC,11322,0.57,181.1,209.1,12.9,941,11330,0.00,2.17,0.00,0.000,4,0.000,0.046,3130,3396,2030,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11423,0.58,181.1,196.1,13.1,953,11429,0.00,2.12,0.00,0.000,6,0.000,0.034,3138,1983,2030,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11752,0.60,181.1,154.7,13.0,1014,11760,0.00,2.22,0.00,0.000,4,0.000,0.045,3138,3400,2030,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11810,0.61,181.1,147.0,12.8,1024,11818,0.00,2.15,0.00,0.000,6,0.000,0.033,3148,1986,2030,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12146,0.62,181.1,112.2,9.6,1085,12152,0.00,2.20,0.00,0.000,4,0.000,0.044,3148,3405,2031,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12197,0.62,181.1,106.7,10.0,1094,12205,0.00,2.15,0.00,0.000,6,0.000,0.033,3158,1991,2030,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12530,0.66,197.6,73.0,7.2,1155,12550,0.00,2.20,12.50,0.616,4,0.000,0.043,3158,3405,1979,0,0,0,0,0,0,28.83,26.34,25.65
$GC,12573,0.70,213.0,69.5,7.3,1162,12594,0.00,2.15,14.00,0.609,6,0.000,0.031,3169,1994,1916,0,0,0,0,0,0,28.83,26.40,25.55
$GC,12920,0.79,253.4,43.2,5.3,1225,12960,0.12,2.25,32.80,0.610,4,0.092,0.045,3247,589,1751,0,0,0,0,0,0,26.36,25.93,25.33
$GC,13204,0.86,284.3,20.6,6.0,1276,13237,0.00,2.15,25.70,0.576,6,0.000,0.031,3247,1997,1625,0,0,0,0,0,0,28.83,26.14,25.25
$STATE,13420,end climb,SURFACE_DEPTH_REACHED
$STATE,13420,begin surface coast
$FINISH,5.3,1.010137
$STATE,13498,end surface coast,CONTROL_FINISHED_OK
$STATE,13498,begin surface
$SM_CCo,13515,114.72,0.558,0,0,949,450.13
$SM_GC,5.21,7.95,0.00,114.72,0.040,0.000,0.558,173,2001,949,-8.61,1.30,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,1857.82,11957.99,301111,050517
$TT8_MAMPS,0.023968,0.023968
$HUMID,39.28
$INTERNAL_PRESSURE,9.43431
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.5,17.881
$10V_AH,10.3,16.908
$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,20.800,113.275,386.350,114.725,0.000,28.730,19.317,220.573,0.000,0.000,13.626,3091.776,6989.817,683.219,2935.429,324.344,0.000,1906.560,0.000,2653.992,0.000,0.540,0.000
$DEVICE_MAMPS,221.085,57.375,1298.970,558.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.591,1077.083,853.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324616
$DATA_FILE_SIZE,76913,1329
$CAP_FILE_SIZE,148767,0
$CFSIZE,260165632,193847296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301111,155634,1859.793,11959.088,8,99.0,27,-2.0