version: 66.10
glider: 165
mission: 5
dive: 233
start: 1 6 112 15 22 47
data:
$ID,165
$MISSION,5
$DIVE,233
$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,-271703.84
$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,40
$R_STBD_OVSHOOT,39
$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
$GPS1,060112,151555,2122.218,12004.231,39,1.1,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.86
$_SM_ANGLEo,-64.6
$GPS2,060112,152225,2122.090,12004.323,8,1.6,8,-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,352.6,43076,-21.6,-14.667
$D_GRID,2830
$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,-194.6,0.0,0.0,0,103,0.00,0.00,-85.20,0.000,2,0.000,0.000,142,1957,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.96,-194.6,11.4,-10.5,13,135,9.98,2.22,-6.32,0.000,4,0.237,0.056,2623,3358,3583,0,0,0,0,0,0,25.22,26.06,26.48
$GC,153,-0.79,-194.6,34.7,-44.3,20,162,0.20,2.17,0.00,0.000,6,0.170,0.035,2688,1946,3584,0,0,0,0,0,0,25.60,26.13,28.83
$GC,491,-0.74,-194.6,132.0,-26.2,81,498,0.00,2.15,0.00,0.000,4,0.000,0.046,2688,547,3585,0,0,0,0,0,0,28.83,26.19,28.83
$GC,552,-0.68,-194.6,148.0,-26.3,92,561,0.12,2.17,0.00,0.000,6,0.155,0.037,2720,1952,3586,0,0,0,0,0,0,25.86,26.24,28.83
$GC,883,-0.68,-194.6,202.0,-15.7,152,893,0.00,2.17,0.00,0.000,4,0.000,0.050,2712,3365,3587,0,0,0,0,0,0,28.83,26.20,28.83
$GC,929,-0.70,-194.6,207.5,-12.9,156,939,0.00,2.08,0.00,0.000,6,0.000,0.033,2712,1965,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1238,-0.70,-194.6,249.8,-13.8,187,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1965,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1541,-0.71,-194.6,288.4,-12.7,217,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1965,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1850,-0.74,-194.6,329.9,-13.0,248,1859,0.00,2.15,0.00,0.000,4,0.000,0.050,2712,548,3588,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1878,-0.76,-194.6,333.2,-13.2,250,1885,0.00,2.15,0.00,0.000,6,0.000,0.039,2711,1965,3588,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2183,-0.78,-194.6,369.9,-11.7,281,2192,0.00,2.17,0.00,0.000,4,0.000,0.054,2709,3365,3588,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2246,-0.82,-194.6,376.3,-9.8,287,2255,0.00,2.10,0.00,0.000,6,0.000,0.034,2709,1951,3588,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2555,-0.85,-194.6,406.8,-9.8,318,2563,0.00,2.15,0.00,0.000,4,0.000,0.050,2709,557,3588,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2591,-0.88,-194.6,409.9,-10.0,321,2597,0.00,2.12,0.00,0.000,6,0.000,0.037,2700,1956,3587,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2897,-0.90,-194.6,441.1,-9.8,352,2906,0.12,2.17,0.00,0.000,4,0.088,0.050,2617,3366,3585,0,0,0,0,0,0,26.53,26.20,28.83
$GC,3012,-0.89,-194.6,456.9,-14.9,363,3021,0.12,2.10,0.00,0.000,6,0.138,0.035,2659,1957,3584,0,0,0,0,0,0,25.99,26.34,28.83
$GC,3322,-0.89,-194.6,494.0,-11.7,394,3330,0.00,2.17,0.00,0.000,4,0.000,0.050,2659,548,3583,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3386,-0.89,-194.6,501.9,-12.0,400,3393,0.00,2.15,0.00,0.000,6,0.000,0.041,2658,1951,3583,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3695,-0.89,-194.6,540.8,-13.1,431,3704,0.00,2.22,0.00,0.000,4,0.000,0.055,2657,3368,3581,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3759,-0.90,-194.6,548.6,-11.8,437,3766,0.00,2.17,0.00,0.000,6,0.000,0.035,2657,1943,3581,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4068,-0.90,-194.6,589.9,-13.6,468,4076,0.00,2.15,0.00,0.000,4,0.000,0.051,2658,560,3579,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4133,-0.91,-194.6,598.5,-13.5,474,4139,0.00,2.15,0.00,0.000,6,0.000,0.041,2657,1960,3579,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4449,-0.91,-194.6,645.3,-15.4,491,4452,0.00,2.22,0.00,0.000,4,0.000,0.057,2657,3360,3576,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4545,-0.92,-194.6,657.1,-14.5,495,4552,0.00,2.15,0.00,0.000,6,0.000,0.036,2657,1955,3576,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4851,-0.93,-194.6,702.8,-13.9,511,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1955,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5152,-0.94,-194.6,741.7,-12.4,526,5158,0.00,2.22,0.00,0.000,4,0.000,0.057,2657,3363,3573,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5179,-0.95,-194.6,744.3,-12.3,527,5183,0.00,2.17,0.00,0.000,6,0.000,0.036,2657,1946,3572,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5486,-0.97,-194.6,779.4,-10.7,542,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1946,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5787,-0.98,-194.6,810.1,-9.9,557,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1946,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6086,-0.99,-194.6,840.4,-10.2,572,6092,0.00,2.30,0.00,0.000,4,0.000,0.057,2657,3377,3567,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6131,-1.01,-194.6,844.5,-10.3,574,6136,0.00,2.20,0.00,0.000,6,0.000,0.037,2657,1949,3567,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6446,-1.03,-194.6,879.6,-11.4,590,6452,0.12,2.17,0.00,0.000,4,0.094,0.052,2585,552,3565,0,0,0,0,0,0,26.49,26.13,28.83
$GC,6469,-1.03,-194.6,882.3,-11.9,591,6474,0.15,2.17,0.00,0.000,6,0.179,0.041,2613,1955,3565,0,0,0,0,0,0,25.82,26.19,28.83
$GC,6785,-1.02,-194.6,928.5,-14.6,607,6790,0.00,2.20,0.00,0.000,4,0.000,0.057,2606,3360,3564,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6823,-1.01,-194.6,934.8,-14.7,609,6829,0.00,2.15,0.00,0.000,6,0.000,0.037,2606,1956,3564,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7144,-1.00,-194.6,984.4,-15.1,625,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1956,3562,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7180,begin apogee
$GC,7186,-0.17,0.0,990.1,-14.8,627,7353,0.90,0.00,159.57,1.312,6,0.142,0.000,2890,1956,2786,0,0,0,0,0,0,25.46,28.83,23.42
$STATE,7354,end apogee,CONTROL_FINISHED_OK
$STATE,7354,begin climb
$GC,7357,0.96,194.6,995.7,0.0,635,7538,1.00,0.00,172.07,1.265,6,0.047,0.000,3270,1956,1991,0,0,0,0,0,0,24.84,28.83,22.72
$GC,7838,0.88,194.6,897.5,23.9,660,7844,0.12,2.35,0.00,0.000,4,0.194,0.051,3234,3401,1984,0,0,0,0,0,0,25.70,25.84,28.83
$GC,7971,0.81,194.6,870.6,22.1,666,7978,0.00,2.20,0.00,0.000,6,0.000,0.041,3242,2001,1983,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8278,0.75,194.6,800.4,22.0,682,8285,0.15,2.25,0.00,0.000,4,0.181,0.048,3195,3402,1981,0,0,0,0,0,0,25.94,26.10,28.83
$GC,8322,0.70,194.6,792.1,21.3,684,8327,0.00,2.22,0.00,0.000,6,0.000,0.038,3203,1966,1981,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8635,0.65,194.6,731.0,19.9,700,8641,0.12,2.28,0.00,0.000,4,0.178,0.047,3166,3407,1980,0,0,0,0,0,0,26.09,26.15,28.83
$GC,8696,0.62,194.6,719.9,18.9,703,8701,0.00,2.15,0.00,0.000,6,0.000,0.037,3173,1991,1980,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9015,0.60,194.6,663.8,17.5,719,9020,0.00,2.22,0.00,0.000,4,0.000,0.047,3173,3401,1979,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9034,0.58,194.6,660.2,17.5,720,9041,0.17,2.17,0.00,0.000,6,0.179,0.036,3139,2008,1979,0,0,0,0,0,0,25.84,26.28,28.83
$GC,9356,0.59,203.5,612.4,14.2,736,9365,0.00,0.00,7.10,0.897,6,0.000,0.000,3139,2008,1955,0,0,0,0,0,0,28.83,28.83,24.39
$GC,9656,0.61,217.3,570.1,14.0,761,9675,0.00,2.33,13.98,0.991,4,0.000,0.049,3147,571,1899,0,0,0,0,0,0,28.83,26.03,24.60
$GC,9699,0.62,218.1,563.9,14.6,765,9708,0.00,2.17,0.00,0.000,6,0.000,0.033,3147,2006,1897,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10008,0.64,234.4,519.6,13.8,796,10030,0.00,2.25,15.98,0.963,4,0.000,0.048,3148,3387,1829,0,0,0,0,0,0,28.83,25.94,24.61
$GC,10059,0.64,234.4,512.1,15.2,801,10068,0.00,2.17,0.00,0.000,6,0.000,0.036,3157,1964,1828,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10368,0.64,234.4,464.8,15.3,832,10377,0.00,2.15,0.00,0.000,4,0.000,0.049,3167,594,1827,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10424,0.64,234.4,457.0,15.1,837,10431,0.00,2.12,0.00,0.000,6,0.000,0.032,3168,1997,1826,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10730,0.67,263.7,414.4,13.2,868,10762,0.00,2.25,26.27,0.923,4,0.000,0.048,3168,3384,1709,0,0,0,0,0,0,28.83,25.85,24.63
$GC,10781,0.69,277.7,407.6,14.0,873,10801,0.00,2.12,13.70,0.853,6,0.000,0.037,3177,1994,1653,0,0,0,0,0,0,28.83,25.91,24.46
$GC,11100,0.69,277.7,360.1,15.6,905,11109,0.00,2.22,0.00,0.000,4,0.000,0.049,3187,583,1650,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11173,0.70,277.7,349.3,14.8,912,11181,0.00,2.12,0.00,0.000,6,0.000,0.031,3187,1980,1649,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11482,0.70,277.7,300.2,17.0,943,11491,0.00,2.20,0.00,0.000,4,0.000,0.047,3187,3396,1649,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11525,0.70,277.7,292.9,16.9,947,11534,0.00,2.17,0.00,0.000,6,0.000,0.036,3197,1973,1649,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11836,0.70,277.7,243.8,15.8,978,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1973,1649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12138,0.77,321.2,201.3,12.5,1008,12186,0.00,2.22,37.30,0.753,4,0.000,0.048,3207,597,1476,0,0,0,0,0,0,28.83,25.84,24.75
$GC,12201,0.80,336.0,192.9,13.9,1017,12221,0.00,2.15,13.93,0.689,6,0.000,0.031,3207,2003,1414,0,0,0,0,0,0,28.83,25.93,24.60
$GC,12544,0.89,383.6,150.4,12.3,1080,12591,0.00,2.20,40.10,0.694,4,0.000,0.044,3207,3396,1220,0,0,0,0,0,0,28.83,25.70,24.72
$GC,12638,0.97,411.7,137.6,13.3,1095,12669,0.12,2.15,24.05,0.659,6,0.088,0.034,3282,1990,1106,0,0,0,0,0,0,25.83,25.86,24.60
$GC,13031,0.98,411.7,69.6,16.4,1159,13038,0.00,2.22,0.00,0.000,4,0.000,0.043,3281,3405,1103,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13151,1.05,447.0,52.3,12.9,1179,13185,0.00,2.15,28.62,0.593,6,0.000,0.036,3292,1991,963,0,0,0,0,0,0,28.83,26.20,24.93
$STATE,13388,end climb,SURFACE_DEPTH_REACHED
$STATE,13388,begin surface coast
$FINISH,6.6,1.023079
$STATE,13461,end surface coast,CONTROL_FINISHED_OK
$STATE,13461,begin surface
$SM_CCo,13478,2.90,0.277,0,0,950,450.13
$SM_GC,8.03,7.97,0.00,2.90,0.033,0.000,0.277,153,1989,950,-8.63,0.96,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2113.32,11959.90,060112,111108
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.15
$INTERNAL_PRESSURE,9.43431
$TCM_TEMP,24.50
$XPDR_PINGS,13
$24V_AH,22.7,53.767
$10V_AH,10.0,43.704
$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,21.400,122.350,552.675,2.900,0.000,29.482,39.015,196.724,3.250,0.000,10.783,2874.726,7257.763,646.013,2742.511,343.749,0.000,1870.187,0.000,2484.869,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,57.375,1311.975,276.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,834.138,1065.837,720.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70207,1233
$CAP_FILE_SIZE,151792,0
$CFSIZE,260165632,178909184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060112,190837,2123.508,12005.534,25,1.4,25,-2.5