version: 66.10
glider: 165
mission: 5
dive: 223
start: 1 5 112 1 46 17
data:
$ID,165
$MISSION,5
$DIVE,223
$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,225
$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,-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,-271691.34
$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,44
$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
$GPS1,050112,013936,2113.776,12004.151,36,1.2,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.86
$_SM_ANGLEo,-54.2
$GPS2,050112,014555,2113.679,12004.158,9,1.3,14,-2.5
$SPEED_LIMITS,0.254,0.354
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$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,355.5,58445,-20.3,-14.667
$D_GRID,2967
$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,-0.95,-219.0,0.0,0.0,0,126,0.00,0.00,-107.20,0.000,2,0.000,0.000,129,2006,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-0.95,-219.0,12.4,-14.4,17,151,10.10,2.15,-5.35,0.000,4,0.240,0.056,2626,3351,3681,0,0,0,0,0,0,25.25,26.08,26.48
$GC,192,-0.84,-219.0,42.8,-38.4,27,199,0.17,2.15,0.00,0.000,6,0.176,0.035,2672,1944,3682,0,0,0,0,0,0,25.74,26.15,28.83
$GC,523,-0.77,-219.0,150.1,-29.5,88,531,0.00,2.17,0.00,0.000,4,0.000,0.046,2679,545,3683,0,0,0,0,0,0,28.83,26.21,28.83
$GC,556,-0.71,-219.0,159.3,-29.2,93,564,0.17,2.10,0.00,0.000,6,0.174,0.034,2717,1945,3683,0,0,0,0,0,0,25.86,26.25,28.83
$GC,881,-0.71,-219.0,225.0,-16.0,140,891,0.00,2.17,0.00,0.000,4,0.000,0.047,2717,550,3684,0,0,0,0,0,0,28.83,26.24,28.83
$GC,935,-0.71,-219.0,233.5,-15.7,145,944,0.00,2.10,0.00,0.000,6,0.000,0.037,2711,1954,3684,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1245,-0.71,-219.0,280.7,-14.3,176,1255,0.00,2.17,0.00,0.000,4,0.000,0.050,2700,3364,3684,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1289,-0.72,-219.0,287.1,-14.5,180,1299,0.00,2.12,0.00,0.000,6,0.000,0.034,2700,1949,3684,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1598,-0.72,-219.0,336.2,-15.6,211,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1949,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-0.73,-219.0,385.3,-16.6,241,1908,0.00,2.20,0.00,0.000,4,0.000,0.051,2690,3363,3684,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1933,-0.75,-219.0,390.7,-16.6,244,1941,0.00,2.12,0.00,0.000,6,0.000,0.035,2690,1952,3684,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2241,-0.76,-219.0,438.2,-15.0,275,2250,0.00,2.17,0.00,0.000,4,0.000,0.051,2690,553,3683,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2318,-0.77,-219.0,449.0,-14.8,282,2325,0.00,2.15,0.00,0.000,6,0.000,0.038,2687,1954,3682,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2624,-0.78,-219.0,490.3,-11.8,313,2633,0.00,2.17,0.00,0.000,4,0.000,0.053,2677,3368,3681,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2670,-0.80,-219.0,495.0,-11.0,317,2677,0.00,2.12,0.00,0.000,6,0.000,0.034,2678,1955,3681,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2976,-0.81,-219.0,530.8,-11.2,348,2985,0.00,2.17,0.00,0.000,4,0.000,0.053,2673,3351,3679,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3002,-0.82,-219.0,533.2,-11.1,350,3009,0.00,2.10,0.00,0.000,6,0.000,0.035,2673,1954,3679,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3308,-0.83,-219.0,572.5,-13.0,381,3317,0.00,2.17,0.00,0.000,4,0.000,0.051,2673,554,3677,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3394,-0.84,-219.0,582.8,-12.5,389,3400,0.00,2.15,0.00,0.000,6,0.000,0.040,2673,1960,3676,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3711,-0.85,-219.0,623.8,-12.8,412,3717,0.00,2.22,0.00,0.000,4,0.000,0.055,2671,3365,3674,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3755,-0.86,-219.0,628.8,-12.6,414,3761,0.00,2.15,0.00,0.000,6,0.000,0.036,2671,1945,3674,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4070,-0.87,-219.0,670.0,-13.0,430,4076,0.00,2.22,0.00,0.000,4,0.000,0.054,2671,3351,3672,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4125,-0.89,-219.0,675.1,-12.9,432,4131,0.00,2.15,0.00,0.000,6,0.000,0.036,2671,1945,3672,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4430,-0.90,-219.0,717.1,-13.0,448,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1945,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4730,-0.91,-219.0,753.1,-11.6,463,4734,0.00,2.17,0.00,0.000,4,0.000,0.054,2671,560,3667,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4757,-0.92,-219.0,755.9,-11.7,464,4763,0.00,2.17,0.00,0.000,6,0.000,0.040,2670,1960,3667,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5073,-0.93,-219.0,790.9,-10.3,480,5078,0.00,2.20,0.00,0.000,4,0.000,0.057,2671,3359,3665,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5098,-0.95,-219.0,793.0,-10.2,481,5104,0.00,2.10,0.00,0.000,6,0.000,0.036,2671,1964,3665,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5413,-0.97,-219.0,824.5,-9.4,497,5418,0.00,2.22,0.00,0.000,4,0.000,0.054,2671,545,3663,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5457,-0.98,-219.0,828.2,-9.3,499,5464,0.12,2.20,0.00,0.000,6,0.096,0.041,2612,1955,3663,0,0,0,0,0,0,26.20,26.22,28.83
$GC,5775,-0.96,-219.0,868.1,-12.8,515,5781,0.00,2.25,0.00,0.000,4,0.000,0.055,2601,3371,3661,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5883,-0.94,-219.0,880.9,-12.1,520,5888,0.15,2.17,0.00,0.000,6,0.163,0.038,2642,1946,3660,0,0,0,0,0,0,25.92,26.27,28.83
$GC,6191,-0.94,-219.0,914.8,-10.9,535,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1946,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6490,-0.94,-219.0,951.4,-13.0,550,6495,0.00,2.28,0.00,0.000,4,0.000,0.057,2642,3363,3657,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6535,-0.95,-219.0,956.5,-12.8,552,6541,0.00,2.17,0.00,0.000,6,0.000,0.038,2642,1959,3657,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,6787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6787,begin apogee
$GC,6792,-0.17,0.0,990.1,-12.9,565,6979,0.75,0.00,178.65,1.308,6,0.130,0.000,2886,1959,2785,0,0,0,0,0,0,25.62,28.83,23.36
$STATE,6980,end apogee,CONTROL_FINISHED_OK
$STATE,6980,begin climb
$GC,6982,0.95,219.0,997.2,0.0,574,7192,1.00,2.60,194.70,1.262,4,0.050,0.053,3263,3392,1891,0,0,0,0,0,0,24.69,23.85,22.68
$GC,7280,0.86,219.0,942.8,26.5,589,7287,0.15,2.28,0.00,0.000,6,0.179,0.041,3231,2009,1888,0,0,0,0,0,0,24.78,25.09,28.83
$GC,7595,0.79,219.0,867.9,23.1,605,7601,0.00,2.25,0.00,0.000,4,0.000,0.049,3231,3404,1885,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7676,0.73,219.0,849.1,23.6,609,7682,0.15,2.22,0.00,0.000,6,0.158,0.039,3193,1961,1884,0,0,0,0,0,0,25.75,26.06,28.83
$GC,7996,0.68,219.0,783.0,20.6,625,8002,0.00,2.28,0.00,0.000,4,0.000,0.048,3193,3398,1883,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8056,0.64,219.0,770.1,21.4,628,8063,0.17,2.20,0.00,0.000,6,0.175,0.037,3152,1985,1883,0,0,0,0,0,0,25.82,26.20,28.83
$GC,8377,0.63,219.0,715.9,15.9,644,8382,0.00,2.20,0.00,0.000,4,0.000,0.050,3161,583,1881,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8450,0.62,219.0,706.8,15.3,647,8456,0.00,2.17,0.00,0.000,6,0.000,0.034,3160,2010,1880,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8755,0.61,219.0,659.3,14.8,663,8759,0.00,2.15,0.00,0.000,4,0.000,0.048,3160,3386,1879,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8850,0.59,219.0,645.9,16.5,667,8858,0.12,2.12,0.00,0.000,6,0.181,0.035,3140,1993,1879,0,0,0,0,0,0,25.98,26.32,28.83
$GC,9158,0.66,279.1,605.3,12.0,683,9217,0.00,2.28,50.90,1.064,4,0.000,0.049,3149,577,1648,0,0,0,0,0,0,28.83,25.48,24.31
$GC,9230,0.70,312.5,595.7,13.2,687,9270,0.00,2.20,30.92,1.015,6,0.000,0.032,3148,1977,1511,0,0,0,0,0,0,28.83,25.63,24.16
$GC,9570,0.76,346.8,550.2,13.1,721,9610,0.12,2.33,30.50,0.997,4,0.093,0.048,3206,3392,1371,0,0,0,0,0,0,26.17,25.58,24.44
$GC,9627,0.74,346.8,540.7,18.4,726,9634,0.00,2.20,0.00,0.000,6,0.000,0.037,3215,1988,1371,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9936,0.72,346.8,478.3,20.0,757,9945,0.12,2.17,0.00,0.000,4,0.170,0.048,3186,589,1369,0,0,0,0,0,0,25.96,26.05,28.83
$GC,9951,0.69,346.8,476.2,20.1,758,9958,0.00,2.15,0.00,0.000,6,0.000,0.031,3186,2005,1368,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10258,0.69,346.8,423.8,15.8,789,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2006,1368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10561,0.69,346.8,375.1,15.7,819,10567,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2006,1367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10871,0.70,346.8,325.3,16.1,850,10880,0.00,2.15,0.00,0.000,4,0.000,0.046,3186,3396,1367,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10923,0.71,346.8,316.2,17.2,855,10932,0.00,2.15,0.00,0.000,6,0.000,0.035,3196,1976,1367,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11233,0.72,348.3,267.4,14.6,886,11243,0.00,2.15,0.00,0.000,4,0.000,0.049,3206,596,1367,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11278,0.73,348.3,261.0,14.9,890,11287,0.00,2.08,0.00,0.000,6,0.000,0.031,3206,1990,1367,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11588,0.76,370.4,218.6,13.7,921,11616,0.00,2.22,20.70,0.749,4,0.000,0.045,3206,3400,1275,0,0,0,0,0,0,28.83,26.06,24.88
$GC,11665,0.83,404.1,208.7,13.2,928,11700,0.00,2.20,28.48,0.738,6,0.000,0.035,3216,1983,1137,0,0,0,0,0,0,28.83,26.10,24.74
$GC,12023,0.88,426.2,159.5,13.7,989,12049,0.00,2.17,19.52,0.681,4,0.000,0.046,3226,589,1046,0,0,0,0,0,0,28.83,25.92,24.88
$GC,12154,1.09,555.9,143.8,8.9,1012,12303,0.17,2.17,124.95,0.652,6,0.046,0.030,3324,2010,519,0,0,0,0,3,0,26.05,26.08,24.53
$GC,12629,1.09,555.9,52.8,19.9,1095,12635,0.00,2.25,0.00,0.000,4,0.000,0.047,3334,586,517,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12704,1.10,555.9,38.1,15.5,1107,12711,0.00,2.12,0.00,0.000,6,0.000,0.029,3334,1995,516,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,12845,end climb,SURFACE_DEPTH_REACHED
$STATE,12846,begin surface coast
$FINISH,6.8,1.023079
$STATE,12907,end surface coast,CONTROL_FINISHED_OK
$STATE,12907,begin surface
$SM_CCo,12984,0.00,0.000,0,0,516,556.83
$SM_GC,7.24,8.07,0.00,0.00,0.035,0.000,0.000,164,2007,516,-8.61,1.47,556.83,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12005.90,040112,222235
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.09
$INTERNAL_PRESSURE,9.38548
$TCM_TEMP,24.50
$XPDR_PINGS,9
$24V_AH,22.7,51.824
$10V_AH,10.1,42.595
$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,21.575,126.875,679.325,0.000,0.000,29.952,37.826,180.746,2.250,0.000,17.405,2643.828,7039.220,730.218,2611.435,326.995,0.000,1983.225,0.000,2351.490,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,56.610,1308.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.945,994.756,602.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325348
$DATA_FILE_SIZE,66881,1143
$CAP_FILE_SIZE,146065,0
$CFSIZE,260165632,179662848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,050112,052401,2114.472,12003.553,41,1.2,41,-2.5