version: 66.10
glider: 165
mission: 5
dive: 278
start: 1 14 112 4 33 50
data:
$ID,165
$MISSION,5
$DIVE,278
$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,195
$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,-271760.09
$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,72
$R_STBD_OVSHOOT,46
$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
$GPS1,140112,042736,2206.549,12027.917,36,1.3,41,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.31
$_SM_ANGLEo,-69.2
$GPS2,140112,043328,2206.645,12027.786,12,2.6,31,-2.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,HEADING
$TGT_LATLONG,2156.214,12024.773
$TGT_RADIUS,1852.000
$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,197.7,20000,-17.0,-11.000
$D_GRID,590
$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,-0.81,-194.6,0.0,0.0,0,112,0.00,0.00,-93.75,0.000,2,0.000,0.000,140,1919,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.81,-194.6,11.8,-13.6,15,137,10.05,2.05,-3.47,0.000,4,0.233,0.052,2690,576,3581,0,0,0,0,0,0,25.29,26.15,26.53
$GC,158,-0.60,-194.6,32.1,-46.0,21,165,0.25,2.10,0.00,0.000,6,0.171,0.033,2751,1959,3582,0,0,0,0,0,0,25.69,26.18,28.83
$GC,487,-0.57,-194.6,89.2,-16.0,82,495,0.00,2.15,0.00,0.000,4,0.000,0.043,2751,586,3583,0,0,0,0,0,0,28.83,26.24,28.83
$GC,545,-0.56,-194.6,98.2,-14.6,92,553,0.00,2.10,0.00,0.000,6,0.000,0.034,2751,1957,3584,0,0,0,0,0,0,28.83,26.30,28.83
$GC,879,-0.56,-194.6,142.3,-12.1,153,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1958,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1209,-0.57,-194.6,175.7,-9.6,214,1217,0.00,2.15,0.00,0.000,4,0.000,0.044,2751,586,3585,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1340,-0.60,-194.6,187.4,-9.8,237,1346,0.00,2.08,0.00,0.000,6,0.000,0.034,2751,1962,3585,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1661,-0.63,-194.6,217.9,-9.9,280,1671,0.00,2.15,0.00,0.000,4,0.000,0.047,2751,3362,3585,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1689,-0.66,-194.6,220.4,-10.3,282,1697,0.00,2.10,0.00,0.000,6,0.000,0.030,2751,1974,3585,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1997,-0.68,-194.6,248.2,-9.0,313,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1973,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2308,-0.71,-194.6,272.4,-8.2,344,2318,0.00,2.15,0.00,0.000,4,0.000,0.047,2751,3351,3584,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2353,-0.75,-194.6,276.1,-7.9,348,2363,0.10,2.05,0.00,0.000,6,0.049,0.030,2670,1949,3584,0,0,0,0,0,0,26.31,26.37,28.83
$GC,2661,-0.72,-194.6,325.7,-16.4,379,2663,0.17,0.00,0.00,0.000,6,0.153,0.000,2719,1948,3584,0,0,0,0,0,0,26.13,28.83,28.83
$GC,2963,-0.73,-194.6,360.9,-11.0,409,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1948,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3264,-0.74,-194.6,392.9,-9.7,439,3272,0.00,2.20,0.00,0.000,4,0.000,0.047,2712,3352,3581,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3300,-0.75,-194.6,395.9,-9.3,442,3307,0.00,2.10,0.00,0.000,6,0.000,0.031,2713,1961,3581,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3605,-0.76,-194.6,419.4,-8.0,473,3614,0.00,2.15,0.00,0.000,4,0.000,0.050,2712,562,3580,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3662,-0.77,-194.6,423.2,-7.6,478,3669,0.00,2.12,0.00,0.000,6,0.000,0.037,2711,1950,3580,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3966,-0.77,-194.6,454.8,-11.6,509,3975,0.00,2.20,0.00,0.000,4,0.000,0.049,2711,3359,3578,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4064,-0.79,-194.6,464.2,-9.6,518,4070,0.00,2.12,0.00,0.000,6,0.000,0.032,2711,1954,3578,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4369,-0.80,-194.6,494.5,-9.5,549,4378,0.00,2.20,0.00,0.000,4,0.000,0.048,2711,3356,3576,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4426,-0.82,-194.6,499.3,-9.0,554,4432,0.00,2.12,0.00,0.000,6,0.000,0.032,2711,1953,3576,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4731,-0.84,-194.6,533.8,-11.4,585,4740,0.00,2.22,0.00,0.000,4,0.000,0.048,2711,3360,3575,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4764,-0.85,-194.6,537.3,-11.0,588,4773,0.08,2.10,0.00,0.000,6,0.057,0.032,2650,1956,3574,0,0,0,0,0,0,26.25,26.34,28.83
$GC,5074,-0.82,-194.6,581.7,-13.7,619,5083,0.12,2.15,0.00,0.000,4,0.168,0.048,2687,561,3573,0,0,0,0,0,0,26.19,26.18,28.83
$GC,5110,-0.80,-194.6,585.9,-12.6,622,5117,0.00,2.15,0.00,0.000,6,0.000,0.039,2686,1951,3573,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,5143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5144,begin apogee
$GC,5149,-0.17,0.0,590.2,-10.5,626,5308,0.62,0.00,151.98,1.007,6,0.123,0.000,2892,1951,2786,0,0,0,0,0,0,25.78,28.83,24.04
$STATE,5309,end apogee,CONTROL_FINISHED_OK
$STATE,5309,begin climb
$GC,5312,0.81,194.6,594.3,0.0,642,5478,0.85,0.00,157.48,0.978,6,0.054,0.000,3219,1951,1991,0,0,0,0,0,0,25.37,28.83,24.03
$GC,5779,0.74,194.6,530.7,16.0,689,5788,0.12,2.22,0.00,0.000,4,0.165,0.051,3181,3392,1985,0,0,0,0,0,0,26.01,25.54,28.83
$GC,5851,0.68,194.6,519.3,14.9,696,5860,0.00,2.12,0.00,0.000,6,0.000,0.035,3187,2001,1985,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6161,0.63,194.6,470.6,15.9,727,6170,0.12,2.20,0.00,0.000,4,0.171,0.043,3150,3406,1983,0,0,0,0,0,0,26.14,26.22,28.83
$GC,6226,0.60,194.6,461.4,14.7,733,6233,0.00,2.17,0.00,0.000,6,0.000,0.034,3158,1975,1983,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6534,0.59,210.1,424.0,10.4,764,6553,0.00,2.15,12.80,0.837,4,0.000,0.047,3169,590,1929,0,0,0,0,0,0,28.83,26.13,24.66
$GC,6587,0.57,212.9,418.2,10.9,769,6597,0.12,2.17,4.38,0.591,6,0.150,0.034,3136,2012,1917,0,0,0,0,0,0,25.97,26.17,24.51
$GC,6898,0.59,237.9,384.4,10.1,800,6927,0.00,2.22,22.27,0.859,4,0.000,0.045,3136,3393,1815,0,0,0,0,0,0,28.83,25.96,24.68
$GC,7064,0.59,237.9,365.5,12.2,816,7071,0.00,2.15,0.00,0.000,6,0.000,0.034,3144,1987,1814,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7371,0.63,278.5,331.9,9.5,847,7413,0.00,2.28,35.38,0.839,4,0.000,0.048,3154,581,1649,0,0,0,0,0,0,28.83,25.79,24.61
$GC,7524,0.69,313.4,316.6,9.7,862,7561,0.00,2.15,30.60,0.811,6,0.000,0.031,3154,1986,1507,0,0,0,0,0,0,28.83,26.06,24.56
$GC,7862,0.69,313.4,276.0,11.9,896,7872,0.00,2.15,0.00,0.000,4,0.000,0.044,3154,3387,1506,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7908,0.69,313.4,270.4,12.9,900,7916,0.00,2.17,0.00,0.000,6,0.000,0.035,3163,1988,1506,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8216,0.72,336.5,236.0,10.1,931,8245,0.00,2.20,20.45,0.751,4,0.000,0.048,3174,589,1414,0,0,0,0,0,0,28.83,26.03,24.79
$GC,8355,0.77,364.9,222.3,9.9,944,8390,0.00,2.15,24.67,0.743,6,0.000,0.031,3174,1986,1297,0,0,0,0,0,0,28.83,26.18,24.72
$GC,8696,0.80,370.9,189.2,10.8,988,8704,0.00,0.00,6.20,0.585,6,0.000,0.000,3173,1986,1273,0,0,0,0,0,0,28.83,28.83,24.65
$GC,9029,0.90,428.9,156.6,8.8,1049,9086,0.15,2.25,47.83,0.702,4,0.078,0.043,3259,3393,1035,0,0,0,0,0,0,26.41,25.77,24.71
$GC,9150,0.90,428.9,138.1,15.2,1069,9157,0.00,2.17,0.00,0.000,6,0.000,0.034,3269,1983,1033,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9479,0.88,428.9,81.9,17.7,1130,9488,0.12,2.20,0.00,0.000,4,0.160,0.047,3237,589,1032,0,0,0,0,0,0,26.12,26.14,28.83
$GC,9615,0.90,428.9,64.2,11.4,1154,9622,0.00,2.15,0.00,0.000,6,0.000,0.030,3237,1997,1032,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9947,0.98,474.1,25.8,9.3,1215,9991,0.00,2.28,36.17,0.588,4,0.000,0.046,3247,575,850,0,0,0,0,0,0,28.83,25.96,24.93
$GC,10091,1.10,537.7,11.9,8.6,1240,10107,0.12,2.15,9.85,0.513,2,0.044,0.029,3333,1975,820,0,0,0,0,0,0,26.11,26.15,28.83
$STATE,10108,end climb,SURFACE_DEPTH_REACHED
$STATE,10108,begin surface coast
$FINISH,6.0,1.008795
$STATE,10243,end surface coast,CONTROL_FINISHED_OK
$STATE,10243,begin surface
$SM_CCo,10322,0.00,0.000,0,0,813,483.98
$SM_GC,6.90,7.97,0.00,0.00,0.027,0.000,0.000,148,1987,813,-8.62,0.90,483.98,0,0,0,0,0,0
$IRIDIUM_FIX,2159.71,12027.11,140112,010151
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.90
$INTERNAL_PRESSURE,9.42455
$TCM_TEMP,23.50
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,340.9,0.0
$24V_AH,24.0,61.877
$10V_AH,9.9,49.871
$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,21.000,90.650,560.050,0.000,0.000,23.559,16.521,161.964,8.000,0.000,35.272,2830.507,4136.151,629.468,2765.902,302.470,0.000,1793.791,0.000,2525.423,0.000,4.488,0.000
$DEVICE_MAMPS,233.325,52.020,1006.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,852.486,1005.882,956.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324192
$DATA_FILE_SIZE,73656,1267
$CAP_FILE_SIZE,131641,0
$CFSIZE,260165632,175292416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140112,072658,2205.931,12027.259,8,99.0,27,-2.7