version: 66.10
glider: 165
mission: 5
dive: 218
start: 1 4 112 5 59 45
data:
$ID,165
$MISSION,5
$DIVE,218
$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,250
$T_MISSION,280
$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,225
$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,45
$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,-271685.09
$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,52
$R_STBD_OVSHOOT,48
$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
$GPS1,040112,055307,2111.667,11959.235,27,1.1,27,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.89
$_SM_ANGLEo,-64.2
$GPS2,040112,055922,2111.461,11959.227,11,2.5,30,-2.5
$SPEED_LIMITS,0.229,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,2119.097,12007.424
$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,47.5,20000,-18.7,-13.200
$D_GRID,3321
$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,-0.89,-219.0,0.0,0.0,0,117,0.00,0.00,-99.38,0.000,2,0.000,0.000,121,2005,3089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.89,-219.0,11.0,-9.8,16,149,10.23,0.00,-10.23,0.000,6,0.239,0.000,2656,2003,3680,0,0,0,0,0,0,25.29,28.83,26.49
$GC,469,-0.80,-219.0,130.8,-27.1,80,477,0.12,2.25,0.00,0.000,4,0.195,0.042,2692,560,3681,0,0,0,0,0,0,26.02,26.20,28.83
$GC,493,-0.72,-219.0,137.2,-27.1,83,500,0.12,2.10,0.00,0.000,6,0.190,0.034,2715,1948,3681,0,0,0,0,0,0,25.91,26.23,28.83
$GC,823,-0.69,-219.0,198.4,-21.3,144,830,0.00,2.17,0.00,0.000,4,0.000,0.046,2715,562,3683,0,0,0,0,0,0,28.83,26.25,28.83
$GC,942,-0.68,-219.0,219.8,-15.7,156,952,0.00,2.10,0.00,0.000,6,0.000,0.037,2710,1955,3683,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1252,-0.67,-219.0,270.2,-15.8,187,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1955,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1553,-0.67,-219.0,318.5,-14.9,217,1557,0.00,2.20,0.00,0.000,4,0.000,0.052,2699,3366,3683,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1629,-0.68,-219.0,328.2,-12.7,224,1637,0.12,2.12,0.00,0.000,6,0.150,0.034,2733,1961,3683,0,0,0,0,0,0,26.13,26.36,28.83
$GC,1937,-0.70,-219.0,356.8,-9.0,255,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1961,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2248,-0.73,-219.0,387.8,-10.8,286,2256,0.00,2.15,0.00,0.000,4,0.000,0.050,2733,554,3683,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2331,-0.77,-219.0,397.1,-11.2,294,2339,0.00,2.12,0.00,0.000,6,0.000,0.036,2728,1957,3682,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2639,-0.80,-219.0,431.7,-10.4,325,2649,0.12,2.15,0.00,0.000,4,0.089,0.050,2644,3356,3680,0,0,0,0,0,0,26.52,26.21,28.83
$GC,2676,-0.81,-219.0,436.0,-13.1,328,2683,0.15,2.12,0.00,0.000,6,0.153,0.034,2685,1950,3680,0,0,0,0,0,0,26.06,26.35,28.83
$GC,2982,-0.81,-219.0,476.8,-12.5,359,2990,0.00,2.22,0.00,0.000,4,0.000,0.053,2684,3362,3678,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3076,-0.83,-219.0,487.4,-10.6,368,3085,0.00,2.12,0.00,0.000,6,0.000,0.035,2684,1957,3677,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3385,-0.83,-219.0,523.6,-12.6,399,3393,0.00,2.15,0.00,0.000,4,0.000,0.051,2684,554,3675,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3437,-0.83,-219.0,530.4,-12.8,404,3446,0.00,2.15,0.00,0.000,6,0.000,0.040,2684,1955,3675,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3746,-0.83,-219.0,569.0,-11.9,435,3755,0.00,2.20,0.00,0.000,4,0.000,0.055,2684,3362,3672,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3813,-0.84,-219.0,575.8,-10.5,441,3820,0.00,2.15,0.00,0.000,6,0.000,0.035,2684,1951,3672,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4129,-0.84,-219.0,616.2,-12.7,467,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1951,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4429,-0.84,-219.0,651.0,-11.4,482,4434,0.00,2.17,0.00,0.000,4,0.000,0.053,2684,554,3669,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4461,-0.84,-219.0,653.4,-11.4,483,4467,0.00,2.17,0.00,0.000,6,0.000,0.041,2684,1955,3668,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4768,-0.85,-219.0,688.9,-10.3,499,4774,0.00,2.22,0.00,0.000,4,0.000,0.057,2684,3366,3666,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4842,-0.87,-219.0,694.5,-9.5,502,4849,0.00,2.15,0.00,0.000,6,0.000,0.035,2684,1956,3665,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5148,-0.88,-219.0,727.8,-10.7,518,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1956,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5449,-0.89,-219.0,760.4,-11.0,533,5455,0.00,2.28,0.00,0.000,4,0.000,0.056,2684,3367,3661,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5512,-0.91,-219.0,766.9,-10.7,536,5516,0.00,2.17,0.00,0.000,6,0.000,0.037,2684,1954,3661,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5825,-0.92,-219.0,802.3,-11.3,552,5831,0.00,2.28,0.00,0.000,4,0.000,0.056,2684,3365,3659,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5884,-0.94,-219.0,808.5,-10.5,555,5890,0.08,2.17,0.00,0.000,6,0.065,0.037,2630,1949,3659,0,0,0,0,0,0,26.21,26.29,28.83
$GC,6204,-0.92,-219.0,855.9,-15.2,571,6210,0.00,2.28,0.00,0.000,4,0.000,0.057,2630,3368,3658,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6253,-0.90,-219.0,861.7,-15.0,573,6263,0.12,2.17,0.00,0.000,6,0.163,0.037,2662,1957,3657,0,0,0,0,0,0,25.98,26.26,28.83
$GC,6564,-0.90,-219.0,900.3,-11.6,589,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1957,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6865,-0.90,-219.0,936.5,-11.6,604,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1957,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7164,-0.90,-219.0,969.6,-11.1,619,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1957,3654,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7341,begin apogee
$GC,7347,-0.17,0.0,990.0,-11.4,628,7533,0.70,0.00,177.50,1.315,6,0.126,0.000,2893,1957,2786,0,0,0,0,0,0,25.63,28.83,23.34
$STATE,7535,end apogee,CONTROL_FINISHED_OK
$STATE,7536,begin climb
$GC,7538,0.89,219.0,997.2,0.0,637,7744,0.95,2.58,195.48,1.269,4,0.047,0.054,3254,3399,1892,0,0,0,0,0,0,24.72,23.84,22.68
$GC,7778,0.80,219.0,960.2,22.5,649,7783,0.22,2.38,0.00,0.000,6,0.184,0.040,3210,2001,1889,0,0,0,0,0,0,24.26,24.52,28.83
$GC,8085,0.73,219.0,896.0,20.7,664,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2001,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8386,0.67,219.0,831.6,21.8,679,8393,0.12,2.20,0.00,0.000,4,0.173,0.047,3171,3394,1884,0,0,0,0,0,0,25.98,26.07,28.83
$GC,8454,0.61,219.0,819.2,21.2,682,8458,0.00,2.22,0.00,0.000,6,0.000,0.037,3178,1966,1883,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8762,0.57,219.0,758.8,18.7,697,8764,0.17,0.00,0.00,0.000,6,0.167,0.000,3133,1966,1883,0,0,0,0,0,0,25.98,28.83,28.83
$GC,9061,0.56,219.0,716.6,13.3,712,9066,0.00,2.28,0.00,0.000,4,0.000,0.047,3132,3408,1882,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9129,0.55,219.0,708.1,13.9,715,9133,0.00,2.20,0.00,0.000,6,0.000,0.035,3140,1968,1881,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9437,0.53,219.0,665.2,13.8,730,9442,0.00,2.25,0.00,0.000,4,0.000,0.047,3140,3397,1881,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9469,0.52,219.0,662.5,14.0,731,9476,0.12,2.12,0.00,0.000,6,0.172,0.036,3117,1994,1881,0,0,0,0,0,0,25.99,26.28,28.83
$GC,9777,0.56,257.7,624.4,11.6,747,9816,0.00,2.30,32.85,1.077,4,0.000,0.050,3126,593,1734,0,0,0,0,0,0,28.83,25.72,24.49
$GC,9859,0.62,297.1,614.9,11.6,751,9901,0.00,2.17,35.55,1.053,6,0.000,0.032,3126,1994,1575,0,0,0,0,0,0,28.83,25.88,24.21
$GC,10199,0.69,345.3,575.4,11.3,778,10250,0.12,2.28,42.90,1.031,4,0.092,0.045,3194,3398,1377,0,0,0,0,0,0,26.17,25.41,24.32
$GC,10277,0.66,345.3,563.2,18.7,785,10284,0.15,2.22,0.00,0.000,6,0.166,0.037,3167,1998,1376,0,0,0,0,0,0,25.41,25.65,28.83
$GC,10582,0.66,345.3,515.1,15.2,816,10591,0.00,2.22,0.00,0.000,4,0.000,0.050,3175,586,1374,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10707,0.66,345.3,497.2,14.3,828,10713,0.00,2.15,0.00,0.000,6,0.000,0.031,3176,1992,1373,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11014,0.65,345.3,447.7,15.8,859,11023,0.00,2.20,0.00,0.000,4,0.000,0.046,3175,3397,1372,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11046,0.64,345.3,442.2,17.0,862,11054,0.00,2.17,0.00,0.000,6,0.000,0.036,3184,1986,1373,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11356,0.63,345.3,391.2,15.9,893,11364,0.00,2.20,0.00,0.000,4,0.000,0.049,3195,582,1373,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11437,0.63,345.3,378.7,14.4,901,11447,0.15,2.15,0.00,0.000,6,0.142,0.031,3154,1992,1372,0,0,0,0,0,0,26.02,26.31,28.83
$GC,11748,0.68,370.3,340.5,12.2,932,11777,0.00,2.20,21.58,0.853,4,0.000,0.046,3154,3396,1275,0,0,0,0,0,0,28.83,25.99,24.82
$GC,11800,0.72,377.8,334.0,12.9,937,11814,0.00,2.17,8.20,0.742,6,0.000,0.034,3161,1988,1245,0,0,0,0,0,0,28.83,26.05,24.64
$GC,12115,0.75,388.9,294.9,12.8,968,12135,0.00,2.25,10.85,0.762,4,0.000,0.049,3172,585,1199,0,0,0,0,0,0,28.83,26.03,24.77
$GC,12192,0.83,422.6,285.7,11.8,975,12231,0.12,2.15,28.73,0.808,6,0.089,0.031,3235,2005,1062,0,0,0,0,0,0,26.06,26.10,24.66
$GC,12532,0.82,422.6,222.7,18.0,1009,12540,0.00,2.22,0.00,0.000,4,0.000,0.047,3245,592,1059,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12595,0.82,422.6,211.6,16.7,1015,12604,0.12,2.12,0.00,0.000,6,0.151,0.031,3211,1994,1059,0,0,0,0,0,0,25.92,26.17,28.83
$GC,12924,0.89,460.9,168.4,11.7,1069,12962,0.00,2.22,32.00,0.711,4,0.000,0.044,3218,586,905,0,0,0,0,0,0,28.83,25.87,24.87
$GC,13035,1.03,538.0,155.4,10.1,1088,13142,0.15,2.15,82.43,0.655,6,0.044,0.030,3308,1990,590,0,0,0,0,3,0,25.98,26.03,24.55
$GC,13470,1.03,538.0,74.2,20.1,1165,13476,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1998,580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13803,1.03,538.0,18.9,21.5,1226,13812,0.00,2.22,0.00,0.000,4,0.000,0.046,3319,585,579,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,13840,end climb,SURFACE_DEPTH_REACHED
$STATE,13840,begin surface coast
$FINISH,6.5,1.000478
$STATE,13908,end surface coast,CONTROL_FINISHED_OK
$STATE,13908,begin surface
$SM_CCo,13987,0.00,0.000,0,0,577,541.87
$SM_GC,7.30,7.97,2.10,0.00,0.031,0.029,0.000,161,1950,577,-8.61,-1.67,541.87,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,11958.74,040112,010149
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.77
$INTERNAL_PRESSURE,9.39525
$TCM_TEMP,24.80
$XPDR_PINGS,12
$24V_AH,22.7,50.740
$10V_AH,10.1,42.029
$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,22.175,118.700,668.050,0.000,0.000,30.383,22.162,172.935,3.000,0.000,33.577,2870.989,7662.902,753.028,2742.864,321.200,0.000,2027.772,0.000,2479.128,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,56.610,1315.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.901,1080.225,621.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325376
$DATA_FILE_SIZE,70286,1244
$CAP_FILE_SIZE,151679,0
$CFSIZE,260165632,180039680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040112,095406,2111.592,12000.389,33,1.1,33,-2.5