version: 66.10
glider: 165
mission: 5
dive: 291
start: 1 16 112 4 18 36
data:
$ID,165
$MISSION,5
$DIVE,291
$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,-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,185
$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,-271784.75
$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,41
$R_STBD_OVSHOOT,47
$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
$GPS1,160112,041136,2158.768,12015.521,54,1.2,54,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.04
$_SM_ANGLEo,-70.3
$GPS2,160112,041814,2158.811,12015.402,14,1.6,14,-2.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,HEADING
$TGT_LATLONG,2148.053,12014.389
$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,187.7,20000,-17.0,-11.000
$D_GRID,931
$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,-194.6,0.0,0.0,0,116,0.00,0.00,-97.28,0.000,2,0.000,0.000,119,2005,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.81,-194.6,11.7,-14.1,15,140,10.25,2.12,-1.98,0.000,4,0.232,0.054,2672,3371,3583,0,0,0,0,0,0,25.04,26.04,26.39
$GC,149,-0.46,-194.6,28.8,-51.1,19,156,0.45,2.15,0.00,0.000,6,0.172,0.031,2795,1940,3584,0,0,0,0,0,0,25.34,26.09,28.83
$GC,479,-0.48,-194.6,72.1,-11.3,80,487,0.00,2.17,0.00,0.000,4,0.000,0.046,2796,554,3586,0,0,0,0,0,0,28.83,26.10,28.83
$GC,635,-0.53,-194.6,85.2,-8.3,108,645,0.00,2.15,0.00,0.000,6,0.000,0.034,2795,1949,3585,0,0,0,0,0,0,28.83,26.22,28.83
$GC,969,-0.56,-194.6,112.0,-5.3,169,976,0.00,2.17,0.00,0.000,4,0.000,0.045,2795,558,3586,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1017,-0.61,-194.6,114.6,-4.5,177,1024,0.12,2.12,0.00,0.000,6,0.083,0.036,2715,1958,3586,0,0,0,0,0,0,26.24,26.25,28.83
$GC,1348,-0.60,-194.6,157.3,-15.4,238,1357,0.12,2.22,0.00,0.000,4,0.156,0.049,2752,3358,3586,0,0,0,0,0,0,26.20,26.10,28.83
$GC,1403,-0.64,-194.6,164.6,-12.3,247,1409,0.00,2.12,0.00,0.000,6,0.000,0.031,2752,1945,3586,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1735,-0.66,-194.6,199.8,-8.1,308,1743,0.00,2.25,0.00,0.000,4,0.000,0.047,2752,3356,3587,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1773,-0.69,-194.6,202.7,-7.7,312,1777,0.00,2.12,0.00,0.000,6,0.000,0.031,2752,1947,3587,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2087,-0.71,-194.6,230.5,-9.4,343,2095,0.00,2.12,0.00,0.000,4,0.000,0.049,2753,557,3587,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2141,-0.74,-194.6,235.6,-9.4,348,2152,0.08,2.10,0.00,0.000,6,0.060,0.037,2680,1953,3587,0,0,0,0,0,0,26.19,26.25,28.83
$GC,2451,-0.71,-194.6,275.9,-12.8,379,2460,0.12,2.15,0.00,0.000,4,0.161,0.046,2711,3354,3587,0,0,0,0,0,0,26.20,26.16,28.83
$GC,2573,-0.73,-194.6,287.1,-9.1,390,2581,0.00,2.12,0.00,0.000,6,0.000,0.032,2710,1964,3587,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2879,-0.73,-194.6,319.2,-10.9,421,2888,0.00,2.20,0.00,0.000,4,0.000,0.050,2710,555,3587,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2982,-0.73,-194.6,330.5,-10.9,431,2990,0.00,2.15,0.00,0.000,6,0.000,0.038,2703,1953,3586,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3292,-0.73,-194.6,366.4,-11.1,462,3300,0.00,2.20,0.00,0.000,4,0.000,0.049,2692,3368,3585,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3355,-0.74,-194.6,373.4,-11.0,468,3363,0.00,2.12,0.00,0.000,6,0.000,0.032,2693,1949,3585,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3664,-0.73,-194.6,409.4,-11.1,499,3673,0.00,2.22,0.00,0.000,4,0.000,0.048,2687,3362,3584,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3739,-0.73,-194.6,418.2,-12.2,506,3747,0.00,2.12,0.00,0.000,6,0.000,0.032,2687,1948,3584,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4047,-0.71,-194.6,456.5,-12.3,537,4054,0.12,0.00,0.00,0.000,6,0.160,0.000,2720,1947,3583,0,0,0,0,0,0,26.25,28.83,28.83
$GC,4356,-0.73,-194.6,491.5,-10.2,568,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1947,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4659,-0.75,-194.6,525.6,-10.9,598,4667,0.00,2.17,0.00,0.000,4,0.000,0.053,2720,560,3580,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4723,-0.77,-194.6,532.9,-11.3,604,4730,0.00,2.17,0.00,0.000,6,0.000,0.040,2716,1954,3580,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5031,-0.79,-194.6,567.3,-10.4,635,5039,0.00,2.20,0.00,0.000,4,0.000,0.052,2711,3358,3578,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5073,-0.82,-194.6,571.4,-10.0,639,5082,0.00,2.12,0.00,0.000,6,0.000,0.034,2711,1957,3577,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5384,-0.83,-194.6,602.6,-9.3,669,5390,0.00,2.17,0.00,0.000,4,0.000,0.052,2711,564,3577,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5436,-0.85,-194.6,606.2,-9.0,671,5443,0.10,2.17,0.00,0.000,6,0.105,0.041,2653,1963,3577,0,0,0,0,0,0,26.15,26.18,28.83
$GC,5746,-0.82,-194.6,641.7,-10.5,687,5752,0.12,2.20,0.00,0.000,4,0.168,0.048,2685,3363,3575,0,0,0,0,0,0,26.16,26.08,28.83
$GC,5855,-0.83,-194.6,652.3,-9.8,692,5864,0.00,2.15,0.00,0.000,6,0.000,0.034,2685,1956,3574,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6166,-0.83,-194.6,687.7,-11.4,708,6172,0.00,2.17,0.00,0.000,4,0.000,0.053,2685,560,3573,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6188,-0.83,-194.6,690.1,-11.5,709,6192,0.00,2.17,0.00,0.000,6,0.000,0.041,2684,1951,3573,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,6358,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6358,begin apogee
$GC,6363,-0.17,0.0,710.7,-12.3,718,6529,0.62,0.00,156.75,1.108,6,0.124,0.000,2889,1951,2785,0,0,0,0,0,0,25.63,28.83,23.60
$STATE,6530,end apogee,CONTROL_FINISHED_OK
$STATE,6530,begin climb
$GC,6532,0.81,194.6,717.8,0.0,726,6708,0.88,2.35,164.12,1.074,4,0.056,0.053,3227,596,1990,0,0,0,0,0,0,25.10,24.52,23.27
$GC,6862,0.74,194.6,678.3,15.7,743,6869,0.15,2.22,0.00,0.000,6,0.159,0.040,3189,1993,1983,0,0,0,0,0,0,25.54,25.78,28.83
$GC,7185,0.68,194.6,630.3,14.6,759,7190,0.00,2.20,0.00,0.000,4,0.000,0.048,3189,3398,1982,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7328,0.63,194.6,608.1,15.7,766,7335,0.17,2.17,0.00,0.000,6,0.173,0.035,3152,1995,1981,0,0,0,0,0,0,25.80,26.20,28.83
$GC,7643,0.61,205.1,571.6,10.6,795,7654,0.00,0.00,8.75,0.881,6,0.000,0.000,3152,1995,1949,0,0,0,0,0,0,28.83,28.83,24.32
$GC,7955,0.59,205.1,535.9,11.3,826,7963,0.00,2.20,0.00,0.000,4,0.000,0.050,3160,584,1947,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8007,0.56,205.1,529.9,11.5,831,8016,0.00,2.17,0.00,0.000,6,0.000,0.034,3160,2012,1946,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8317,0.53,205.1,489.1,13.8,862,8326,0.12,2.10,0.00,0.000,4,0.160,0.044,3121,3383,1946,0,0,0,0,0,0,26.15,26.16,28.83
$GC,8379,0.52,205.1,480.5,13.1,868,8390,0.00,2.15,0.00,0.000,6,0.000,0.034,3129,1989,1946,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8691,0.51,205.1,443.2,11.8,899,8699,0.00,2.15,0.00,0.000,4,0.000,0.048,3140,586,1945,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8715,0.50,205.1,440.6,11.9,901,8722,0.00,2.15,0.00,0.000,6,0.000,0.033,3140,2000,1945,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9022,0.53,235.8,405.2,9.8,932,9055,0.00,2.17,27.88,0.906,4,0.000,0.044,3140,3389,1823,0,0,0,0,0,0,28.83,25.86,24.43
$GC,9189,0.52,237.9,387.6,10.9,948,9198,0.12,2.15,0.00,0.000,6,0.161,0.034,3117,1976,1821,0,0,0,0,0,0,25.78,26.03,28.83
$GC,9499,0.59,285.7,360.3,9.2,979,9549,0.00,2.28,43.40,0.880,4,0.000,0.049,3125,595,1621,0,0,0,0,0,0,28.83,25.60,24.34
$GC,9575,0.63,302.3,353.0,10.4,986,9601,0.00,2.17,16.10,0.815,6,0.000,0.031,3125,1992,1553,0,0,0,0,0,0,28.83,25.79,24.25
$GC,9902,0.72,355.9,322.4,9.0,1019,9955,0.12,2.22,46.45,0.840,4,0.089,0.044,3201,3393,1333,0,0,0,0,0,0,26.25,25.55,24.34
$GC,9977,0.70,355.9,312.0,16.4,1026,9985,0.12,2.20,0.00,0.000,6,0.158,0.034,3179,1991,1332,0,0,0,0,0,0,25.50,25.70,28.83
$GC,10285,0.70,355.9,273.4,12.5,1057,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1991,1330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10592,0.70,355.9,232.5,12.4,1088,10602,0.00,2.20,0.00,0.000,4,0.000,0.048,3187,583,1330,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10694,0.72,355.9,220.4,12.0,1097,10700,0.00,2.15,0.00,0.000,6,0.000,0.031,3187,1994,1330,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11010,0.72,355.9,180.8,11.7,1143,11016,0.00,2.17,0.00,0.000,4,0.000,0.044,3187,3396,1329,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11106,0.73,355.9,169.4,11.5,1160,11114,0.00,2.17,0.00,0.000,6,0.000,0.034,3196,1982,1329,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11440,0.77,385.7,133.4,9.9,1221,11472,0.00,2.17,25.50,0.686,4,0.000,0.047,3207,586,1211,0,0,0,0,0,0,28.83,25.98,24.71
$GC,11590,0.85,435.3,118.5,9.1,1247,11641,0.00,2.12,40.75,0.674,6,0.000,0.031,3207,1998,1009,0,0,0,0,0,0,28.83,26.13,24.58
$GC,11967,0.88,435.3,80.6,11.1,1315,11974,0.00,2.22,0.00,0.000,4,0.000,0.047,3216,587,1006,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12015,0.91,435.3,75.1,11.2,1323,12021,0.00,2.10,0.00,0.000,6,0.000,0.030,3216,1993,1007,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12344,0.95,443.0,33.9,10.7,1384,12359,0.12,2.22,7.22,0.508,4,0.089,0.045,3302,583,978,0,0,0,0,0,0,26.41,26.14,24.61
$GC,12436,0.92,443.0,18.8,17.4,1399,12444,0.20,2.12,0.00,0.000,6,0.141,0.029,3244,1997,978,0,0,0,0,0,0,25.87,26.25,28.83
$STATE,12483,end climb,SURFACE_DEPTH_REACHED
$STATE,12483,begin surface coast
$FINISH,6.0,1.024087
$STATE,12583,end surface coast,CONTROL_FINISHED_OK
$STATE,12584,begin surface
$SM_CCo,12600,6.32,0.471,0,0,950,450.13
$SM_GC,6.69,7.85,0.00,6.32,0.035,0.000,0.471,153,2009,950,-8.63,1.53,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2152.74,12014.38,160112,000027
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.78
$INTERNAL_PRESSURE,9.37572
$TCM_TEMP,22.90
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,683.1,77.3
$24V_AH,23.3,64.080
$10V_AH,9.9,51.505
$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,22.000,121.625,536.925,6.325,0.000,27.901,41.710,191.509,7.250,0.000,17.940,3281.500,5444.834,654.311,3241.647,369.874,0.000,2012.459,0.000,2967.772,0.000,2.633,0.000
$DEVICE_MAMPS,231.795,54.315,1107.720,471.240,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,965.451,1136.049,1045.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325304
$DATA_FILE_SIZE,83677,1425
$CAP_FILE_SIZE,160286,0
$CFSIZE,260165632,174202880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160112,075007,2158.344,12015.083,40,1.2,40,-2.7