version: 66.10
glider: 165
mission: 5
dive: 271
start: 1 13 112 11 16 56
data:
$ID,165
$MISSION,5
$DIVE,271
$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,-271751.34
$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,58
$R_STBD_OVSHOOT,50
$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
$GPS1,130112,111057,2208.229,12033.079,11,99.0,31,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.02
$_SM_ANGLEo,-73.8
$GPS2,130112,111636,2208.286,12033.106,9,2.0,25,-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,123.5,4040,-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,-194.6,0.0,0.0,0,112,0.00,0.00,-92.22,0.000,2,0.000,0.000,134,2016,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.81,-194.6,11.9,-12.7,15,135,10.02,0.00,-3.95,0.000,6,0.233,0.000,2681,2014,3582,0,0,0,0,0,0,25.37,28.83,26.54
$GC,458,-0.72,-194.6,112.9,-25.5,78,465,0.12,0.00,0.00,0.000,6,0.187,0.000,2718,2014,3583,0,0,0,0,0,0,26.13,28.83,28.83
$GC,792,-0.68,-194.6,178.4,-15.8,139,798,0.00,2.25,0.00,0.000,4,0.000,0.046,2719,556,3584,0,0,0,0,0,0,28.83,26.28,28.83
$GC,819,-0.64,-194.6,182.6,-16.0,143,826,0.12,2.10,0.00,0.000,6,0.169,0.034,2743,1947,3584,0,0,0,0,0,0,26.08,26.34,28.83
$GC,1137,-0.64,-194.6,223.9,-11.9,186,1147,0.00,2.15,0.00,0.000,4,0.000,0.047,2740,3356,3584,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1223,-0.66,-194.6,232.7,-10.6,194,1233,0.00,2.05,0.00,0.000,6,0.000,0.031,2740,1971,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1533,-0.67,-194.6,268.6,-9.7,225,1542,0.00,2.12,0.00,0.000,4,0.000,0.047,2739,3353,3584,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1580,-0.69,-194.6,272.2,-8.1,229,1587,0.00,2.10,0.00,0.000,6,0.000,0.031,2740,1950,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1886,-0.70,-194.6,295.2,-6.5,260,1896,0.00,2.15,0.00,0.000,4,0.000,0.047,2740,3352,3585,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1914,-0.72,-194.6,296.6,-6.5,262,1921,0.00,2.12,0.00,0.000,6,0.000,0.031,2739,1950,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2219,-0.73,-194.6,332.4,-14.8,293,2228,0.00,2.12,0.00,0.000,4,0.000,0.049,2740,561,3585,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2245,-0.75,-194.6,335.5,-14.6,295,2252,0.00,2.12,0.00,0.000,6,0.000,0.037,2739,1954,3585,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2551,-0.76,-194.6,364.1,-6.6,326,2561,0.12,2.15,0.00,0.000,4,0.086,0.046,2660,557,3585,0,0,0,0,0,0,26.53,26.30,28.83
$GC,2576,-0.76,-194.6,366.1,-7.4,328,2586,0.12,2.10,0.00,0.000,6,0.138,0.037,2698,1949,3584,0,0,0,0,0,0,26.02,26.34,28.83
$GC,2885,-0.76,-194.6,398.7,-13.6,359,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1949,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3196,-0.76,-194.6,439.3,-10.6,390,3205,0.00,2.12,0.00,0.000,4,0.000,0.048,2699,564,3583,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,3226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3226,begin apogee
$GC,3234,-0.17,0.0,443.5,-11.6,393,3392,0.57,0.00,148.90,0.868,6,0.125,0.000,2889,1996,2785,0,0,0,0,0,0,25.93,28.83,24.34
$STATE,3392,end apogee,CONTROL_FINISHED_OK
$STATE,3393,begin climb
$GC,3395,0.81,194.6,448.6,0.0,409,3560,0.85,2.30,152.40,0.851,4,0.063,0.047,3213,3401,1990,0,0,0,0,0,0,25.51,25.37,24.35
$GC,3615,0.74,194.6,422.9,18.3,431,3624,0.10,2.17,0.00,0.000,6,0.151,0.036,3191,2003,1987,0,0,0,0,0,0,25.63,25.89,28.83
$GC,3924,0.69,194.6,378.2,14.5,462,3932,0.00,2.22,0.00,0.000,4,0.000,0.050,3199,577,1985,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4051,0.65,194.6,359.0,16.0,474,4059,0.15,2.17,0.00,0.000,6,0.146,0.034,3158,2004,1983,0,0,0,0,0,0,26.06,26.30,28.83
$GC,4360,0.69,242.8,324.5,9.2,505,4406,0.00,2.17,39.15,0.796,4,0.000,0.043,3159,3399,1794,0,0,0,0,0,0,28.83,25.85,24.74
$GC,4483,0.68,242.8,310.2,12.8,517,4490,0.00,2.20,0.00,0.000,6,0.000,0.034,3166,1958,1793,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4791,0.71,280.6,272.8,9.6,548,4830,0.00,2.20,32.15,0.760,4,0.000,0.047,3176,599,1640,0,0,0,0,0,0,28.83,25.89,24.80
$GC,4936,0.71,280.6,257.1,11.4,562,4940,0.00,2.10,0.00,0.000,6,0.000,0.031,3176,1990,1638,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5249,0.71,280.6,221.3,11.1,593,5257,0.00,2.15,0.00,0.000,4,0.000,0.043,3176,3395,1637,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5344,0.74,308.8,210.9,9.9,602,5374,0.00,2.10,24.48,0.708,6,0.000,0.031,3185,2006,1525,0,0,0,0,0,0,28.83,26.37,24.90
$GC,5689,0.81,369.7,175.1,8.7,655,5746,0.00,2.22,50.10,0.689,4,0.000,0.044,3196,581,1279,0,0,0,0,0,0,28.83,25.77,24.78
$GC,5914,0.85,369.7,148.2,11.1,695,5921,0.00,2.12,0.00,0.000,6,0.000,0.028,3196,1997,1275,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6243,0.91,404.0,119.5,9.7,756,6276,0.12,0.00,28.45,0.634,6,0.086,0.000,3272,1998,1137,0,0,0,0,0,0,26.44,28.83,24.95
$GC,6603,0.90,404.0,62.4,15.8,821,6610,0.12,2.12,0.00,0.000,4,0.148,0.039,3231,3399,1134,0,0,0,0,0,0,26.21,26.25,28.83
$GC,6631,0.90,404.0,58.4,14.5,825,6638,0.00,2.15,0.00,0.000,6,0.000,0.032,3238,1974,1134,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6961,0.91,404.0,16.2,12.5,886,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1975,1134,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7004,end climb,SURFACE_DEPTH_REACHED
$STATE,7004,begin surface coast
$FINISH,6.5,1.005405
$STATE,7114,end surface coast,CONTROL_FINISHED_OK
$STATE,7114,begin surface
$SM_CCo,7131,36.88,0.555,0,0,951,450.13
$SM_GC,7.21,7.80,0.00,36.88,0.035,0.000,0.555,150,1973,951,-8.63,0.51,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2202.04,12030.29,130112,090909
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.72
$INTERNAL_PRESSURE,9.45385
$TCM_TEMP,24.50
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,266.7,999.0
$24V_AH,24.3,60.904
$10V_AH,10.1,49.139
$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,20.250,60.350,475.625,36.875,0.000,29.897,40.116,140.159,6.750,0.000,27.825,2026.824,2548.471,552.167,2147.098,230.735,0.000,1428.555,0.000,1917.952,0.000,2.830,0.000
$DEVICE_MAMPS,233.325,49.725,868.275,554.625,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.714,692.534,828.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323992
$DATA_FILE_SIZE,53507,914
$CAP_FILE_SIZE,93943,0
$CFSIZE,260165632,175792128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130112,131736,2208.423,12033.771,12,0.9,30,-2.7