version: 66.10
glider: 165
mission: 5
dive: 228
start: 1 5 112 20 30 58
data:
$ID,165
$MISSION,5
$DIVE,228
$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,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,-271697.59
$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,46
$R_STBD_OVSHOOT,59
$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
$GPS1,050112,202127,2118.125,12003.826,26,2.4,45,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.94
$_SM_ANGLEo,-63.8
$GPS2,050112,203036,2117.995,12003.906,10,1.5,26,-2.5
$SPEED_LIMITS,0.254,0.335
$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,354.8,50463,-21.6,-14.667
$D_GRID,2815
$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,-0.96,-194.6,0.0,0.0,0,124,0.00,0.00,-105.30,0.000,2,0.000,0.000,128,1998,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-0.96,-194.6,11.1,-9.4,16,151,9.95,2.15,-7.50,0.000,4,0.236,0.057,2624,3345,3581,0,0,0,0,0,0,25.31,26.07,26.47
$GC,200,-0.87,-194.6,44.8,-39.1,28,209,0.12,2.15,0.00,0.000,6,0.160,0.034,2664,1944,3582,0,0,0,0,0,0,25.77,26.17,28.83
$GC,558,-0.83,-194.6,151.5,-19.7,89,565,0.00,2.15,0.00,0.000,4,0.000,0.047,2664,545,3583,0,0,0,0,0,0,28.83,26.21,28.83
$GC,639,-0.80,-194.6,168.0,-18.7,102,649,0.10,2.15,0.00,0.000,6,0.152,0.037,2688,1930,3583,0,0,0,0,0,0,25.94,26.25,28.83
$GC,980,-0.79,-194.6,228.4,-17.6,148,991,0.00,2.25,0.00,0.000,4,0.000,0.051,2681,3373,3583,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1047,-0.79,-194.6,240.3,-16.5,154,1058,0.00,2.12,0.00,0.000,6,0.000,0.034,2680,1948,3583,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1360,-0.79,-194.6,294.2,-17.4,185,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1948,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1670,-0.79,-194.6,337.2,-13.0,216,1679,0.00,2.20,0.00,0.000,4,0.000,0.050,2672,3365,3584,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1702,-0.79,-194.6,341.6,-13.0,219,1710,0.00,2.12,0.00,0.000,6,0.000,0.034,2672,1956,3584,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2012,-0.79,-194.6,380.7,-12.5,250,2020,0.00,2.15,0.00,0.000,4,0.000,0.050,2672,558,3583,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2095,-0.79,-194.6,391.8,-13.3,258,2103,0.00,2.10,0.00,0.000,6,0.000,0.038,2671,1952,3583,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2403,-0.79,-194.6,430.8,-11.9,289,2412,0.00,2.22,0.00,0.000,4,0.000,0.054,2671,3366,3582,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2457,-0.81,-194.6,436.7,-11.2,294,2465,0.00,2.12,0.00,0.000,6,0.000,0.034,2671,1956,3582,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2767,-0.82,-194.6,476.5,-13.6,325,2775,0.00,2.15,0.00,0.000,4,0.000,0.050,2671,560,3580,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2811,-0.83,-194.6,482.6,-14.1,329,2818,0.00,2.15,0.00,0.000,6,0.000,0.039,2671,1968,3580,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3120,-0.84,-194.6,523.3,-12.7,360,3128,0.00,2.15,0.00,0.000,4,0.000,0.054,2671,3357,3577,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3161,-0.85,-194.6,528.6,-12.4,364,3170,0.00,2.10,0.00,0.000,6,0.000,0.034,2671,1956,3577,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3473,-0.87,-194.6,568.9,-13.0,395,3481,0.00,2.15,0.00,0.000,4,0.000,0.050,2671,555,3575,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3497,-0.88,-194.6,572.3,-13.9,397,3504,0.00,2.15,0.00,0.000,6,0.000,0.041,2671,1954,3575,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3806,-0.89,-194.6,613.0,-12.9,423,3811,0.00,2.20,0.00,0.000,4,0.000,0.056,2670,3365,3573,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3866,-0.91,-194.6,620.7,-13.0,426,3870,0.00,2.15,0.00,0.000,6,0.000,0.036,2670,1957,3571,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4188,-0.93,-194.6,661.9,-12.6,442,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1956,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4489,-0.95,-194.6,696.8,-10.6,457,4495,0.00,2.22,0.00,0.000,4,0.000,0.056,2670,3359,3568,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4516,-0.97,-194.6,699.1,-11.0,458,4520,0.00,2.15,0.00,0.000,6,0.000,0.036,2670,1944,3567,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4823,-0.99,-194.6,736.8,-12.1,473,4825,0.12,0.00,0.00,0.000,6,0.094,0.000,2606,1944,3566,0,0,0,0,0,0,26.50,28.83,28.83
$GC,5124,-0.97,-194.6,785.4,-16.6,488,5130,0.12,2.28,0.00,0.000,4,0.173,0.054,2643,3363,3563,0,0,0,0,0,0,26.16,26.10,28.83
$GC,5156,-0.96,-194.6,788.7,-16.5,489,5163,0.00,2.17,0.00,0.000,6,0.000,0.037,2643,1947,3563,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5465,-0.96,-194.6,833.6,-13.8,505,5470,0.00,2.17,0.00,0.000,4,0.000,0.054,2643,560,3562,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5511,-0.96,-194.6,839.5,-14.4,507,5516,0.00,2.15,0.00,0.000,6,0.000,0.041,2643,1953,3561,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5818,-0.96,-194.6,883.8,-13.8,522,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1953,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6120,-0.96,-194.6,925.3,-14.3,537,6125,0.00,2.25,0.00,0.000,4,0.000,0.059,2643,3362,3558,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6179,-0.97,-194.6,933.8,-14.2,540,6184,0.00,2.15,0.00,0.000,6,0.000,0.037,2643,1942,3557,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6500,-0.98,-194.6,976.1,-13.0,556,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1942,3555,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6616,begin apogee
$GC,6622,-0.17,0.0,991.7,-13.1,562,6788,0.75,0.00,157.85,1.313,6,0.131,0.000,2885,1996,2786,0,0,0,0,0,0,25.62,28.83,23.46
$STATE,6789,end apogee,CONTROL_FINISHED_OK
$STATE,6789,begin climb
$GC,6791,0.96,194.6,998.2,0.0,570,6970,1.02,0.00,171.82,1.268,6,0.050,0.000,3272,1996,1992,0,0,0,0,0,0,24.85,28.83,22.72
$GC,7260,0.88,194.6,904.5,24.5,594,7266,0.12,2.25,0.00,0.000,4,0.195,0.052,3234,3396,1983,0,0,0,0,0,0,25.66,25.82,28.83
$GC,7339,0.81,194.6,886.1,22.7,598,7346,0.12,2.20,0.00,0.000,6,0.207,0.039,3215,1988,1983,0,0,0,0,0,0,25.67,26.01,28.83
$GC,7661,0.77,194.6,821.4,20.1,614,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1988,1981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7959,0.72,194.6,764.1,18.7,629,7966,0.12,2.22,0.00,0.000,4,0.174,0.046,3176,3396,1979,0,0,0,0,0,0,26.08,26.15,28.83
$GC,7979,0.68,194.6,760.6,18.4,630,7985,0.00,2.20,0.00,0.000,6,0.000,0.035,3183,1988,1979,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8301,0.65,194.6,710.3,16.0,646,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1989,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8599,0.62,194.6,661.2,16.4,661,8606,0.12,2.25,0.00,0.000,4,0.181,0.045,3148,3404,1979,0,0,0,0,0,0,26.12,26.18,28.83
$GC,8664,0.61,195.8,652.7,14.6,664,8669,0.00,2.17,0.00,0.000,6,0.000,0.035,3155,1989,1978,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8980,0.67,251.1,613.3,11.9,680,9032,0.00,2.30,47.47,1.077,4,0.000,0.045,3155,3394,1761,0,0,0,0,0,0,28.83,25.51,24.31
$GC,9063,0.72,290.0,603.5,12.7,683,9106,0.00,2.25,35.20,1.034,6,0.000,0.035,3165,1966,1603,0,0,0,0,0,0,28.83,25.72,24.10
$GC,9405,0.72,290.8,555.1,14.6,716,9414,0.00,2.17,0.00,0.000,4,0.000,0.050,3175,590,1598,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9446,0.72,290.8,548.9,14.8,720,9455,0.00,2.15,0.00,0.000,6,0.000,0.032,3175,2003,1597,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9756,0.72,290.8,498.2,16.0,751,9765,0.00,2.17,0.00,0.000,4,0.000,0.047,3176,3387,1596,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9838,0.72,290.8,485.4,16.0,759,9847,0.00,2.12,0.00,0.000,6,0.000,0.037,3185,1994,1596,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10148,0.72,290.8,431.6,18.6,790,10157,0.00,2.20,0.00,0.000,4,0.000,0.050,3195,587,1596,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10223,0.72,290.8,418.8,17.4,797,10229,0.00,2.15,0.00,0.000,6,0.000,0.032,3195,1993,1594,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10530,0.72,290.8,362.7,17.0,828,10538,0.00,2.20,0.00,0.000,4,0.000,0.047,3204,585,1594,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10551,0.72,290.8,359.2,16.8,830,10560,0.00,2.15,0.00,0.000,6,0.000,0.031,3204,2007,1594,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10861,0.71,290.8,304.3,17.2,861,10870,0.00,2.15,0.00,0.000,4,0.000,0.046,3204,3386,1593,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10958,0.70,290.8,288.3,17.3,870,10970,0.10,2.10,0.00,0.000,6,0.148,0.036,3182,1987,1594,0,0,0,0,0,0,25.95,26.28,28.83
$GC,11270,0.72,290.8,238.3,16.4,901,11279,0.00,2.15,0.00,0.000,4,0.000,0.048,3190,593,1594,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11342,0.75,290.8,227.5,15.0,907,11348,0.00,2.10,0.00,0.000,6,0.000,0.031,3190,1980,1592,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11658,0.83,337.7,189.0,12.3,946,11708,0.00,2.25,39.70,0.744,4,0.000,0.046,3199,589,1408,0,0,0,0,0,0,28.83,25.84,24.75
$GC,11778,0.98,427.3,175.3,10.1,965,11860,0.17,2.15,73.85,0.719,6,0.072,0.030,3283,1990,1042,0,0,0,0,0,0,25.96,26.00,24.46
$GC,12225,0.98,427.3,94.3,18.6,1037,12232,0.00,2.22,0.00,0.000,4,0.000,0.046,3293,581,1038,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12301,0.99,427.3,80.0,17.1,1049,12308,0.00,2.12,0.00,0.000,6,0.000,0.030,3293,1997,1039,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12667,0.99,427.3,12.3,16.6,1110,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1997,1038,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12680,end climb,SURFACE_DEPTH_REACHED
$STATE,12680,begin surface coast
$FINISH,6.6,0.999294
$STATE,12761,end surface coast,CONTROL_FINISHED_OK
$STATE,12763,begin surface
$SM_CCo,12781,19.10,0.553,0,0,950,450.13
$SM_GC,7.66,7.93,0.05,19.10,0.033,0.138,0.553,159,1915,950,-8.63,1.36,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12005.06,050112,202017
$TT8_MAMPS,0.023219,0.023219
$HUMID,44.48
$INTERNAL_PRESSURE,9.42455
$TCM_TEMP,24.30
$XPDR_PINGS,17
$24V_AH,22.7,52.843
$10V_AH,10.1,43.146
$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,20.900,113.200,525.900,19.100,0.000,46.364,95.831,193.281,4.250,0.000,29.185,2621.318,6931.393,637.735,2823.273,327.904,0.000,1811.238,0.000,2476.888,0.000,0.542,0.000
$DEVICE_MAMPS,235.620,138.465,1312.740,553.095,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.517,979.279,820.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63518,1125
$CAP_FILE_SIZE,147073,0
$CFSIZE,260165632,179294208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060112,000537,2118.965,12004.191,36,1.2,36,-2.5