version: 66.10
glider: 165
mission: 5
dive: 159
start: 12 24 111 3 2 2
data:
$ID,165
$MISSION,5
$DIVE,159
$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,330
$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,250
$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,60
$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,-271611.25
$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,46
$R_STBD_OVSHOOT,54
$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,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
$GPS1,241211,025524,2046.114,11940.323,37,1.1,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.78
$_SM_ANGLEo,-56.3
$GPS2,241211,030138,2046.024,11940.075,14,1.5,14,-2.4
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2051.423,11950.083
$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,62.4,20000,-15.2,-11.000
$D_GRID,3171
$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,-0.80,-243.3,0.0,0.0,0,117,0.00,0.00,-98.68,0.000,2,0.000,0.000,137,2001,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.80,-243.3,11.5,-9.4,16,156,10.10,2.25,-15.30,0.000,4,0.236,0.053,2691,532,3779,0,0,0,0,0,0,25.40,26.06,26.46
$GC,228,-0.71,-243.3,47.3,-28.1,34,237,0.10,2.17,0.00,0.000,6,0.178,0.032,2713,1949,3780,0,0,0,0,0,0,25.75,26.13,28.83
$GC,561,-0.62,-243.3,149.1,-20.9,95,568,0.12,2.17,0.00,0.000,4,0.183,0.045,2742,3365,3780,0,0,0,0,0,0,26.06,26.17,28.83
$GC,601,-0.58,-243.3,157.1,-17.6,102,609,0.00,2.15,0.00,0.000,6,0.000,0.031,2742,1946,3780,0,0,0,0,0,0,28.83,26.27,28.83
$GC,933,-0.55,-243.3,210.8,-14.9,157,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1946,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1245,-0.53,-243.3,257.7,-14.6,188,1256,0.12,2.20,0.00,0.000,4,0.157,0.049,2779,3347,3781,0,0,0,0,0,0,26.26,26.25,28.83
$GC,1331,-0.57,-243.3,268.1,-9.5,196,1341,0.00,2.08,0.00,0.000,6,0.000,0.031,2779,1956,3781,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1642,-0.59,-243.3,300.4,-9.7,227,1646,0.00,2.12,0.00,0.000,4,0.000,0.048,2779,564,3781,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1714,-0.63,-243.3,306.5,-7.9,234,1718,0.00,2.10,0.00,0.000,6,0.000,0.034,2779,1955,3781,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2026,-0.66,-243.3,328.0,-7.2,265,2035,0.12,2.15,0.00,0.000,4,0.086,0.048,2699,3350,3781,0,0,0,0,0,0,26.53,26.28,28.83
$GC,2123,-0.64,-243.3,339.4,-13.7,274,2130,0.15,2.10,0.00,0.000,6,0.143,0.032,2743,1946,3780,0,0,0,0,0,0,26.13,26.41,28.83
$GC,2428,-0.65,-243.3,375.3,-10.3,305,2432,0.00,2.12,0.00,0.000,4,0.000,0.048,2743,558,3780,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2452,-0.66,-243.3,377.9,-10.8,307,2460,0.00,2.10,0.00,0.000,6,0.000,0.034,2743,1953,3780,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2761,-0.68,-243.3,409.2,-9.4,338,2769,0.00,2.15,0.00,0.000,4,0.000,0.052,2740,3354,3779,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2854,-0.71,-243.3,417.0,-8.1,347,2862,0.00,2.08,0.00,0.000,6,0.000,0.032,2740,1960,3778,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3163,-0.72,-243.3,446.4,-10.5,378,3171,0.00,2.15,0.00,0.000,4,0.000,0.048,2740,560,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3208,-0.74,-243.3,451.0,-11.7,382,3215,0.00,2.12,0.00,0.000,6,0.000,0.036,2740,1956,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3514,-0.75,-243.3,481.6,-9.9,413,3523,0.00,2.15,0.00,0.000,4,0.000,0.051,2740,3357,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3611,-0.78,-243.3,489.9,-9.0,422,3618,0.12,2.12,0.00,0.000,6,0.090,0.032,2668,1944,3773,0,0,0,0,0,0,26.36,26.41,28.83
$GC,3916,-0.74,-243.3,539.1,-16.5,453,3926,0.12,2.15,0.00,0.000,4,0.168,0.047,2706,563,3771,0,0,0,0,0,0,26.24,26.28,28.83
$GC,3979,-0.74,-243.3,547.7,-12.0,459,3988,0.00,2.12,0.00,0.000,6,0.000,0.037,2700,1953,3770,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4289,-0.73,-243.3,583.3,-11.5,490,4298,0.00,2.20,0.00,0.000,4,0.000,0.052,2690,3368,3768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4395,-0.73,-243.3,594.4,-10.8,500,4402,0.00,2.15,0.00,0.000,6,0.000,0.034,2690,1947,3767,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4703,-0.72,-243.3,632.6,-12.7,518,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1947,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5002,-0.71,-243.3,670.0,-12.5,533,5008,0.12,2.25,0.00,0.000,4,0.158,0.053,2726,3358,3763,0,0,0,0,0,0,26.27,26.20,28.83
$GC,5091,-0.73,-243.3,677.8,-9.6,537,5100,0.00,2.12,0.00,0.000,6,0.000,0.034,2726,1959,3762,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5403,-0.75,-243.3,706.0,-8.1,553,5408,0.00,2.22,0.00,0.000,4,0.000,0.054,2726,3357,3761,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5430,-0.77,-243.3,707.7,-8.2,554,5434,0.00,2.15,0.00,0.000,6,0.000,0.034,2726,1947,3761,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5737,-0.79,-243.3,730.3,-7.3,569,5743,0.00,2.25,0.00,0.000,4,0.000,0.054,2726,3358,3758,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5781,-0.82,-243.3,733.5,-7.7,571,5787,0.12,2.15,0.00,0.000,6,0.091,0.034,2659,1946,3758,0,0,0,0,0,0,26.32,26.36,28.83
$GC,6096,-0.79,-243.3,777.1,-14.5,587,6098,0.15,0.00,0.00,0.000,6,0.159,0.000,2699,1944,3756,0,0,0,0,0,0,26.20,28.83,28.83
$GC,6397,-0.79,-243.3,812.7,-12.1,602,6403,0.00,2.28,0.00,0.000,4,0.000,0.057,2699,3364,3755,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6449,-0.79,-243.3,817.3,-11.7,604,6456,0.00,2.15,0.00,0.000,6,0.000,0.036,2699,1958,3754,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6756,-0.79,-243.3,852.9,-10.9,620,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1959,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7058,-0.79,-243.3,882.0,-9.0,635,7063,0.00,2.20,0.00,0.000,4,0.000,0.054,2699,555,3751,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7080,-0.79,-243.3,884.1,-9.2,636,7084,0.00,2.17,0.00,0.000,6,0.000,0.039,2698,1957,3751,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7394,-0.80,-243.3,911.1,-8.6,652,7399,0.00,2.20,0.00,0.000,4,0.000,0.056,2699,3365,3749,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7461,-0.82,-243.3,916.3,-8.6,655,7465,0.00,2.17,0.00,0.000,6,0.000,0.034,2699,1943,3749,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7768,-0.82,-243.3,944.7,-9.6,670,7773,0.00,2.25,0.00,0.000,4,0.000,0.054,2698,3353,3748,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7802,-0.83,-243.3,946.7,-9.6,671,7809,0.00,2.15,0.00,0.000,6,0.000,0.034,2699,1947,3747,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8108,-0.84,-243.3,978.1,-10.1,687,8113,0.00,2.28,0.00,0.000,4,0.000,0.055,2699,3362,3747,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8131,-0.85,-243.3,980.1,-10.3,688,8136,0.00,2.15,0.00,0.000,6,0.000,0.034,2699,1957,3746,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,8241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8241,begin apogee
$GC,8246,-0.17,0.0,991.9,-10.1,694,8449,0.57,0.00,194.52,1.310,6,0.116,0.000,2891,1957,2785,0,0,0,0,0,0,25.81,28.83,23.49
$STATE,8450,end apogee,CONTROL_FINISHED_OK
$STATE,8450,begin climb
$GC,8452,0.80,243.3,1001.7,0.0,704,8679,0.88,2.55,215.32,1.266,4,0.050,0.050,3223,3398,1792,0,0,0,0,0,0,24.64,23.82,22.85
$GC,8773,0.70,243.3,948.6,24.7,720,8782,0.17,2.30,0.00,0.000,6,0.159,0.041,3183,1994,1789,0,0,0,0,0,0,24.68,24.94,28.83
$GC,9082,0.63,243.3,881.6,20.4,736,9088,0.00,2.28,0.00,0.000,4,0.000,0.054,3191,582,1785,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9103,0.56,243.3,877.5,20.7,737,9109,0.17,2.20,0.00,0.000,6,0.145,0.035,3137,1988,1784,0,0,0,0,0,0,25.60,25.90,28.83
$GC,9424,0.51,243.3,827.1,15.3,753,9429,0.00,2.22,0.00,0.000,4,0.000,0.049,3137,3399,1783,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9484,0.47,243.3,817.2,16.1,756,9490,0.12,2.17,0.00,0.000,6,0.138,0.036,3104,1970,1783,0,0,0,0,0,0,25.86,26.13,28.83
$GC,9805,0.46,243.3,776.3,12.6,772,9810,0.00,2.25,0.00,0.000,4,0.000,0.047,3103,3399,1782,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9831,0.44,243.3,773.7,12.6,773,9836,0.00,2.17,0.00,0.000,6,0.000,0.035,3111,1979,1782,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10140,0.42,243.3,731.6,13.5,788,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1979,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10438,0.40,243.3,692.6,12.6,803,10445,0.12,2.15,0.00,0.000,4,0.161,0.048,3081,598,1781,0,0,0,0,0,0,26.17,26.19,28.83
$GC,10458,0.38,243.3,690.2,12.4,804,10464,0.00,2.15,0.00,0.000,6,0.000,0.033,3081,2000,1780,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10779,0.44,290.2,658.3,9.6,820,10825,0.00,2.28,40.00,1.093,4,0.000,0.047,3081,3389,1602,0,0,0,0,0,0,28.83,25.60,24.60
$GC,10913,0.49,317.5,646.6,10.2,826,10945,0.00,2.17,25.50,1.047,6,0.000,0.034,3090,1991,1490,0,0,0,0,0,0,28.83,25.81,24.43
$GC,11260,0.58,383.3,613.1,9.0,844,11325,0.12,2.35,57.12,1.047,4,0.090,0.051,3172,598,1222,0,0,0,0,0,0,26.12,25.20,24.31
$GC,11438,0.56,383.3,586.4,15.4,857,11448,0.15,2.17,0.00,0.000,6,0.151,0.032,3131,1993,1219,0,0,0,0,0,0,25.53,25.75,28.83
$GC,11749,0.56,383.3,547.6,12.6,888,11758,0.00,2.22,0.00,0.000,4,0.000,0.049,3140,593,1217,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11800,0.56,383.3,541.1,12.8,893,11809,0.00,2.15,0.00,0.000,6,0.000,0.032,3140,1994,1217,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12112,0.55,383.3,495.9,15.1,924,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1994,1216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12412,0.54,383.3,447.2,17.2,954,12421,0.00,2.20,0.00,0.000,4,0.000,0.048,3150,591,1216,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12465,0.54,383.3,438.3,17.4,959,12473,0.00,2.10,0.00,0.000,6,0.000,0.032,3150,1980,1216,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12774,0.53,383.3,390.7,14.8,990,12783,0.12,2.20,0.00,0.000,4,0.154,0.042,3109,3404,1216,0,0,0,0,0,0,26.18,26.20,28.83
$GC,12806,0.53,383.3,386.4,13.1,993,12815,0.00,2.15,0.00,0.000,6,0.000,0.034,3116,1989,1216,0,0,0,0,0,0,28.83,26.29,28.83
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$GC,15361,0.99,633.4,63.7,13.9,1331,15368,0.00,2.10,0.00,0.000,6,0.000,0.029,3274,1986,483,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15691,1.04,671.2,16.5,9.9,1392,15698,0.00,2.20,0.00,0.000,4,0.000,0.046,3284,592,482,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,15721,end climb,SURFACE_DEPTH_REACHED
$STATE,15721,begin surface coast
$FINISH,7.6,1.022802
$STATE,15769,end surface coast,CONTROL_FINISHED_OK
$STATE,15769,begin surface
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$IRIDIUM_FIX,2036.38,11938.41,231211,222205
$TT8_MAMPS,0.023968,0.023968
$HUMID,40.62
$INTERNAL_PRESSURE,9.40502
$TCM_TEMP,25.30
$XPDR_PINGS,7
$24V_AH,22.9,37.306
$10V_AH,10.2,34.586
$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,22.500,157.300,698.975,0.000,0.000,29.927,20.927,188.535,1.750,0.000,17.486,3299.950,8612.218,775.646,3157.509,363.184,0.000,2273.706,0.000,2880.916,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,56.610,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,951.309,1220.182,711.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324732
$DATA_FILE_SIZE,80198,1406
$CAP_FILE_SIZE,179415,0
$CFSIZE,260165632,185024512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241211,072725,2046.106,11940.969,37,1.3,37,-2.4