version: 66.10
glider: 165
mission: 5
dive: 270
start: 1 13 112 9 12 42
data:
$ID,165
$MISSION,5
$DIVE,270
$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,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,-271750.09
$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,37
$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,250
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,50
$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
$GPS1,130112,090624,2208.154,12032.967,38,1.2,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.72
$_SM_ANGLEo,-71.7
$GPS2,130112,091222,2208.230,12033.020,12,5.1,31,-2.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,121.2,4119,-17.0,-11.000
$D_GRID,443
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.81,-194.6,0.0,0.0,0,111,0.00,0.00,-91.07,0.000,2,0.000,0.000,146,1964,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.81,-194.6,11.8,-12.7,14,136,10.10,2.17,-4.40,0.000,4,0.236,0.054,2693,543,3581,0,0,0,0,0,0,25.33,26.15,26.50
$GC,273,-0.75,-194.6,75.5,-29.3,42,281,0.00,2.15,0.00,0.000,6,0.000,0.033,2685,1950,3582,0,0,0,0,0,0,28.83,26.27,28.83
$GC,607,-0.68,-194.6,142.8,-21.5,103,614,0.12,0.00,0.00,0.000,6,0.184,0.000,2722,1951,3582,0,0,0,0,0,0,26.15,28.83,28.83
$GC,936,-0.66,-194.6,203.6,-16.5,162,939,0.00,2.15,0.00,0.000,4,0.000,0.045,2713,3354,3584,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1115,-0.66,-194.6,232.2,-15.0,179,1124,0.00,2.12,0.00,0.000,6,0.000,0.032,2714,1937,3584,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1423,-0.65,-194.6,277.3,-12.2,210,1433,0.00,2.22,0.00,0.000,4,0.000,0.045,2704,3368,3584,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1479,-0.65,-194.6,283.6,-12.0,215,1488,0.10,2.10,0.00,0.000,6,0.125,0.032,2740,1952,3584,0,0,0,0,0,0,26.13,26.39,28.83
$GC,1787,-0.67,-194.6,313.9,-9.4,246,1791,0.00,2.15,0.00,0.000,4,0.000,0.049,2741,560,3584,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1861,-0.69,-194.6,320.2,-8.1,253,1865,0.00,2.12,0.00,0.000,6,0.000,0.038,2741,1951,3584,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2172,-0.71,-194.6,351.6,-11.6,284,2181,0.00,2.17,0.00,0.000,4,0.000,0.049,2740,3368,3585,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2269,-0.75,-194.6,361.4,-10.1,293,2275,0.00,2.12,0.00,0.000,6,0.000,0.031,2740,1953,3584,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2574,-0.78,-194.6,396.0,-10.2,324,2584,0.12,2.12,0.00,0.000,4,0.089,0.047,2663,561,3584,0,0,0,0,0,0,26.53,26.27,28.83
$GC,2628,-0.75,-194.6,403.7,-15.1,329,2637,0.12,2.12,0.00,0.000,6,0.140,0.037,2699,1962,3584,0,0,0,0,0,0,26.00,26.33,28.83
$GC,2937,-0.75,-194.6,441.3,-10.7,360,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1962,3582,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2954,begin apogee
$GC,2961,-0.17,0.0,443.5,-11.0,362,3118,0.57,0.00,148.90,0.874,6,0.122,0.000,2893,1962,2785,0,0,0,0,0,0,25.94,28.83,24.30
$STATE,3119,end apogee,CONTROL_FINISHED_OK
$STATE,3119,begin climb
$GC,3121,0.81,194.6,447.2,0.0,378,3290,0.85,2.30,152.98,0.856,4,0.060,0.050,3227,600,1990,0,0,0,0,0,0,25.49,25.33,24.32
$GC,3324,0.75,194.6,425.2,16.3,398,3333,0.15,2.17,0.00,0.000,6,0.156,0.036,3188,1996,1986,0,0,0,0,0,0,25.54,25.72,28.83
$GC,3634,0.71,194.6,376.3,14.7,429,3643,0.00,2.17,0.00,0.000,4,0.000,0.046,3188,3396,1984,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3666,0.66,194.6,371.6,14.6,432,3675,0.12,2.15,0.00,0.000,6,0.171,0.034,3165,1994,1984,0,0,0,0,0,0,26.01,26.25,28.83
$GC,3976,0.65,213.8,337.5,10.3,463,3998,0.00,2.22,16.00,0.763,4,0.000,0.044,3165,3391,1913,0,0,0,0,0,0,28.83,26.11,24.84
$GC,4036,0.63,213.8,330.8,11.8,469,4040,0.00,2.15,0.00,0.000,6,0.000,0.034,3172,1991,1912,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4348,0.60,213.8,290.8,13.7,500,4358,0.00,2.17,0.00,0.000,4,0.000,0.047,3182,568,1911,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4433,0.59,213.8,279.5,12.7,508,4444,0.12,2.17,0.00,0.000,6,0.143,0.032,3141,2009,1910,0,0,0,0,0,0,26.11,26.32,28.83
$GC,4744,0.66,273.5,250.4,8.7,539,4804,0.00,2.20,49.58,0.757,4,0.000,0.044,3141,3381,1669,0,0,0,0,0,0,28.83,25.77,24.70
$GC,4882,0.72,311.6,237.1,9.6,552,4921,0.08,2.15,33.17,0.724,6,0.058,0.033,3204,1962,1514,0,0,0,0,0,0,25.98,26.03,24.68
$GC,5228,0.72,311.6,192.6,14.8,591,5234,0.00,2.22,0.00,0.000,4,0.000,0.041,3204,3393,1511,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5245,0.72,311.6,190.3,14.7,593,5252,0.00,2.12,0.00,0.000,6,0.000,0.032,3214,1999,1511,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5575,0.72,311.6,151.6,11.4,654,5584,0.12,2.17,0.00,0.000,4,0.148,0.040,3173,3387,1511,0,0,0,0,0,0,26.25,26.27,28.83
$GC,5609,0.78,344.6,148.4,9.7,659,5642,0.00,2.12,27.67,0.662,6,0.000,0.032,3180,1969,1381,0,0,0,0,0,0,28.83,26.33,24.92
$GC,5969,0.85,388.9,119.1,9.3,724,6017,0.12,2.20,36.62,0.640,4,0.085,0.048,3270,600,1199,0,0,0,0,0,0,26.44,25.90,24.89
$GC,6054,0.84,388.9,107.8,13.7,737,6062,0.17,2.10,0.00,0.000,6,0.136,0.031,3218,1982,1197,0,0,0,0,0,0,25.82,26.06,28.83
$GC,6384,0.86,388.9,65.9,12.0,798,6392,0.00,2.17,0.00,0.000,4,0.000,0.041,3217,3390,1195,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6428,0.88,388.9,60.9,11.5,805,6434,0.00,2.10,0.00,0.000,6,0.000,0.032,3224,1988,1195,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6759,0.89,388.9,22.0,11.8,866,6767,0.00,2.15,0.00,0.000,4,0.000,0.047,3235,607,1195,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6817,0.91,388.9,15.0,11.7,876,6825,0.00,2.10,0.00,0.000,6,0.000,0.029,3235,2003,1195,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,6852,end climb,SURFACE_DEPTH_REACHED
$STATE,6852,begin surface coast
$FINISH,6.8,1.023647
$STATE,6958,end surface coast,CONTROL_FINISHED_OK
$STATE,6958,begin surface
$SM_CCo,6975,47.15,0.558,0,0,950,450.13
$SM_GC,7.39,7.75,0.00,47.15,0.032,0.000,0.558,147,2014,950,-8.64,1.67,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2202.04,12028.29,130112,060635
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.99
$INTERNAL_PRESSURE,9.43431
$TCM_TEMP,23.80
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,266.9,999.0
$24V_AH,24.3,60.778
$10V_AH,10.1,49.047
$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,20.650,69.100,464.925,47.150,0.000,28.474,39.363,146.924,6.000,0.000,34.984,2012.497,2429.672,550.659,2142.775,240.468,0.000,1434.492,0.000,1903.409,0.000,2.829,0.000
$DEVICE_MAMPS,235.620,54.315,873.630,558.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.512,674.731,813.508,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324016
$DATA_FILE_SIZE,53636,901
$CAP_FILE_SIZE,96855,0
$CFSIZE,260165632,175841280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130112,111057,2208.229,12033.079,11,99.0,31,-2.7