version: 66.11
glider: 165
mission: 7
dive: 91
start: 8 27 112 20 18 55
data:
$ID,165
$MISSION,7
$DIVE,91
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$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,270
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-13
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51833
$NAV_MODE,2
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-274503.59
$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,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2967
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.425434
$PRESSURE_SLOPE,0.000116182
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$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,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043563917
$SEABIRD_T_H,0.00062612642
$SEABIRD_T_I,2.3748129e-05
$SEABIRD_T_J,2.537425e-06
$SEABIRD_C_G,-9.8483667
$SEABIRD_C_H,1.1161635
$SEABIRD_C_I,-0.0015063961
$SEABIRD_C_J,0.00020304731
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,270812,200653,1852.145,12216.767,38,1.3,38,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-66.9
$GPS2,270812,201827,1852.540,12216.563,12,2.2,31,-2.1
$SPEED_LIMITS,0.212,0.379
$TGT_NAME,M5
$TGT_LATLONG,1845.000,12242.270
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$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,123.4,47195,-15.1,-12.222
$D_GRID,1474
$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,18,-0.79,-292.0,0.0,0.0,0,101,0.00,0.00,-80.70,0.000,2,0.000,0.000,153,2510,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.79,-292.0,3.1,-4.3,14,154,9.50,2.17,-31.40,0.000,4,0.230,0.051,2640,1086,3961,0,0,0,0,0,0,25.80,26.13,26.42
$GC,383,-0.70,-292.0,114.9,-37.6,37,391,0.15,2.25,0.00,0.000,6,0.171,0.049,2671,2510,3961,0,0,0,0,0,0,26.10,26.25,28.83
$GC,689,-0.64,-292.0,192.9,-26.6,53,695,0.00,1.85,0.00,0.000,4,0.000,0.057,2665,3706,3962,0,0,0,0,0,0,28.83,26.34,28.83
$GC,727,-0.59,-292.0,199.1,-26.7,54,734,0.15,1.80,0.00,0.000,6,0.151,0.029,2706,2478,3962,0,0,0,0,0,0,26.25,26.41,28.83
$GC,1033,-0.57,-292.0,258.9,-14.6,70,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2478,3962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1336,-0.55,-292.0,298.1,-13.9,85,1341,0.00,1.92,0.00,0.000,4,0.000,0.056,2700,3701,3962,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1451,-0.55,-292.0,316.5,-17.5,90,1456,0.00,1.77,0.00,0.000,6,0.000,0.031,2700,2493,3962,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1764,-0.53,-292.0,364.9,-13.2,106,1770,0.00,2.08,0.00,0.000,4,0.000,0.043,2700,1108,3962,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1823,-0.53,-292.0,370.3,-12.4,108,1829,0.00,2.17,0.00,0.000,6,0.000,0.048,2700,2502,3961,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2128,-0.52,-292.0,405.9,-10.4,124,2134,0.12,1.85,0.00,0.000,4,0.156,0.055,2740,3693,3960,0,0,0,0,0,0,26.44,26.48,28.83
$GC,2177,-0.53,-292.0,409.6,-9.1,126,2184,0.00,1.75,0.00,0.000,6,0.000,0.032,2740,2510,3959,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2497,-0.55,-292.0,432.4,-7.0,142,2502,0.00,1.85,0.00,0.000,4,0.000,0.058,2740,3691,3956,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2530,-0.56,-292.0,433.9,-6.8,143,2537,0.00,1.77,0.00,0.000,6,0.000,0.031,2740,2486,3956,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2846,-0.59,-292.0,456.3,-7.0,159,2851,0.00,1.88,0.00,0.000,4,0.000,0.057,2740,3687,3952,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2891,-0.61,-292.0,459.4,-7.0,161,2897,0.10,1.75,0.00,0.000,6,0.101,0.031,2671,2504,3951,0,0,0,0,0,0,26.53,26.60,28.83
$GC,3215,-0.59,-292.0,499.7,-11.7,177,3217,0.12,0.00,0.00,0.000,6,0.152,0.000,2704,2497,3948,0,0,0,0,0,0,26.46,28.83,28.83
$GC,3517,-0.59,-292.0,526.9,-9.6,192,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2497,3945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3819,-0.59,-292.0,559.0,-9.9,207,3824,0.00,1.85,0.00,0.000,4,0.000,0.058,2700,3687,3942,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3891,-0.60,-292.0,565.3,-9.3,210,3897,0.00,1.77,0.00,0.000,6,0.000,0.032,2700,2485,3941,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4205,-0.60,-292.0,597.1,-10.3,226,4211,0.00,2.10,0.00,0.000,4,0.000,0.041,2700,1103,3938,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4233,-0.60,-292.0,599.6,-10.5,227,4238,0.00,2.20,0.00,0.000,6,0.000,0.049,2700,2500,3939,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4553,-0.60,-292.0,633.8,-10.5,238,4558,0.00,1.85,0.00,0.000,4,0.000,0.060,2698,3695,3934,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4636,-0.60,-292.0,640.8,-10.6,240,4641,0.00,1.77,0.00,0.000,6,0.000,0.033,2698,2506,3934,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4951,-0.60,-292.0,677.8,-11.4,251,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2500,3932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5251,-0.60,-292.0,712.5,-11.6,261,5256,0.00,1.88,0.00,0.000,4,0.000,0.060,2698,3687,3933,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5284,-0.60,-292.0,716.6,-11.4,262,5290,0.00,1.80,0.00,0.000,6,0.000,0.032,2699,2484,3930,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5620,-0.60,-292.0,752.8,-10.9,273,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2476,3929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5918,-0.60,-292.0,785.2,-10.6,283,5923,0.00,1.92,0.00,0.000,4,0.000,0.060,2698,3687,3926,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5966,-0.60,-292.0,788.7,-10.5,284,5972,0.00,1.77,0.00,0.000,6,0.000,0.033,2697,2497,3925,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6286,-0.61,-292.0,822.2,-9.7,295,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2490,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6587,-0.62,-292.0,850.9,-9.2,305,6592,0.00,1.88,0.00,0.000,4,0.000,0.061,2698,3686,3922,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6680,-0.63,-292.0,859.4,-9.0,308,6685,0.00,1.77,0.00,0.000,6,0.000,0.033,2698,2505,3922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7016,-0.64,-292.0,890.9,-9.7,319,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2506,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7314,-0.65,-292.0,922.5,-10.8,329,7320,0.00,1.90,0.00,0.000,4,0.000,0.060,2698,3696,3918,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7342,-0.66,-292.0,922.5,-10.8,329,7349,0.00,1.80,0.00,0.000,6,0.000,0.034,2698,2498,3918,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7651,-0.67,-292.0,960.7,-12.1,340,7656,0.00,1.90,0.00,0.000,4,0.000,0.062,2698,3686,3916,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7694,-0.68,-292.0,965.4,-12.3,341,7699,0.00,1.80,0.00,0.000,6,0.000,0.034,2698,2485,3916,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,7894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7894,begin apogee
$GC,7902,-0.14,0.0,993.0,-13.1,348,8101,0.45,0.00,193.98,1.434,6,0.122,0.000,2849,2657,2967,0,0,0,0,0,0,26.36,28.83,23.64
$STATE,8102,end apogee,CONTROL_FINISHED_OK
$STATE,8102,begin climb
$GC,8106,0.79,292.0,1009.1,0.0,354,8372,0.85,1.80,256.90,1.393,4,0.057,0.057,3164,3687,1774,0,0,0,0,0,0,24.70,23.86,23.01
$GC,8414,0.71,292.0,966.1,23.2,365,8420,0.17,1.70,0.00,0.000,6,0.179,0.041,3130,2662,1772,0,0,0,0,0,0,24.46,24.58,28.83
$GC,8746,0.64,292.0,890.6,23.8,376,8751,0.00,2.28,0.00,0.000,4,0.000,0.049,3139,1235,1769,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8793,0.59,292.0,881.8,23.9,377,8799,0.17,2.30,0.00,0.000,6,0.156,0.048,3092,2651,1767,0,0,0,0,0,0,25.69,25.82,28.83
$GC,9115,0.55,292.0,816.1,19.8,388,9120,0.00,2.25,0.00,0.000,4,0.000,0.046,3099,1239,1766,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9157,0.51,292.0,809.2,19.8,389,9163,0.12,2.25,0.00,0.000,6,0.155,0.047,3068,2657,1766,0,0,0,0,0,0,25.99,26.11,28.83
$GC,9486,0.48,292.0,751.3,17.7,400,9491,0.00,1.65,0.00,0.000,4,0.000,0.058,3067,3697,1764,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9558,0.45,292.0,739.2,17.8,402,9563,0.00,1.62,0.00,0.000,6,0.000,0.039,3072,2639,1764,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9884,0.42,292.0,677.5,18.6,413,9890,0.12,2.17,0.00,0.000,4,0.183,0.042,3044,1238,1764,0,0,0,0,0,0,26.18,26.31,28.83
$GC,9937,0.39,292.0,671.5,17.9,414,9942,0.00,2.25,0.00,0.000,6,0.000,0.047,3044,2657,1762,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10253,0.38,292.0,622.7,14.5,425,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2657,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10550,0.37,292.0,580.6,13.7,437,10555,0.00,2.22,0.00,0.000,4,0.000,0.044,3053,1244,1762,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10598,0.36,292.0,574.8,13.5,439,10605,0.12,2.22,0.00,0.000,6,0.147,0.046,3019,2654,1761,0,0,0,0,0,0,26.28,26.39,28.83
$GC,10918,0.47,382.7,540.6,9.7,455,10999,0.00,0.00,78.30,1.142,6,0.000,0.000,3019,2656,1406,0,0,0,0,0,0,28.83,28.83,24.20
$GC,11298,0.69,543.2,509.0,7.7,474,11461,0.25,2.35,146.90,1.073,4,0.060,0.046,3152,1255,752,0,0,0,0,1,0,25.99,24.75,23.96
$GC,11565,0.66,543.2,441.6,23.3,487,11571,0.15,2.30,0.00,0.000,6,0.145,0.046,3112,2663,742,0,0,0,0,0,0,25.36,25.45,28.83
$GC,11889,0.63,543.2,357.5,26.7,503,11895,0.00,2.28,0.00,0.000,4,0.000,0.046,3120,1249,739,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11963,0.60,543.2,342.2,24.7,506,11968,0.00,2.25,0.00,0.000,6,0.000,0.044,3119,2658,738,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12276,0.57,543.2,262.7,25.2,522,12283,0.12,2.22,0.00,0.000,4,0.159,0.041,3089,1238,737,0,0,0,0,0,0,26.08,26.17,28.83
$GC,12336,0.55,543.2,253.4,23.3,524,12343,0.00,2.22,0.00,0.000,6,0.000,0.043,3089,2648,736,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12641,0.54,543.2,195.1,16.9,540,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2649,735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12944,0.57,556.4,151.7,11.8,555,12964,0.00,2.22,12.70,0.774,4,0.000,0.044,3095,1245,696,0,0,0,0,0,0,28.83,26.12,25.34
$GC,13016,0.72,645.2,145.5,9.7,558,13082,0.10,2.20,52.38,0.786,6,0.103,0.040,3166,2657,484,0,0,0,0,1,0,26.14,26.17,24.71
$GC,13391,0.73,645.2,79.9,12.4,577,13397,0.12,2.22,0.00,0.000,4,0.135,0.038,3129,1240,478,0,0,0,0,0,0,25.96,26.01,28.83
$GC,13467,0.95,780.2,74.9,8.4,580,13473,0.22,2.22,0.00,0.000,6,0.082,0.041,3217,2655,478,0,0,0,0,0,0,26.06,26.07,28.83
$GC,13782,1.08,807.3,38.5,11.5,600,13788,0.00,1.60,0.00,0.000,4,0.000,0.053,3217,3686,479,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13887,1.15,807.3,24.8,13.2,610,13894,0.15,1.58,0.00,0.000,6,0.073,0.031,3318,2611,479,0,0,0,0,0,0,26.29,26.32,28.83
$STATE,14007,end climb,SURFACE_DEPTH_REACHED
$STATE,14007,begin surface coast
$FINISH,1.3,1.019703
$STATE,14028,end surface coast,CONTROL_FINISHED_OK
$STATE,14028,begin surface
$SM_CCo,14108,0.00,0.000,0,0,479,610.31
$SM_GC,1.91,8.02,0.12,0.00,0.036,0.074,0.000,171,2501,479,-8.46,1.81,610.31,0,0,0,0,0,0,26.28,26.39,28.83
$IRIDIUM_FIX,1846.42,12216.74,270812,202055
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.46
$INTERNAL_PRESSURE,9.19993
$TCM_TEMP,25.00
$XPDR_PINGS,2
$SC_FREEKB,7735040
$24V_AH,23.0,21.318
$10V_AH,10.3,14.280
$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,21.325,107.675,741.150,0.000,0.000,56.718,82.532,251.562,0.500,0.000,35.041,2064.873,9528.346,812.495,2067.282,324.850,0.000,1750.694,0.000,1555.986,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,74.205,1434.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14066.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.766,0.000,0.000,0.000
$MEM,304492
$DATA_FILE_SIZE,23325,637
$CAP_FILE_SIZE,163754,0
$CFSIZE,260165632,191385600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.291,301.4,1
$GPS,280812,001523,1852.072,12216.892,38,1.3,38,-2.1