version: 66.11
glider: 165
mission: 7
dive: 96
start: 8 28 112 17 11 54
data:
$ID,165
$MISSION,7
$DIVE,96
$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,-274512.69
$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,2890
$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,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,31
$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
$GPS1,280812,170453,1851.041,12222.366,37,1.3,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-74.4
$GPS2,280812,171125,1851.078,12222.286,10,1.4,10,-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,118.0,36808,-15.1,-12.222
$D_GRID,1525
$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,-292.0,0.0,0.0,0,103,0.00,0.00,-83.10,0.000,2,0.000,0.000,166,2554,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.79,-292.0,3.4,-7.6,15,157,9.45,2.15,-33.45,0.000,4,0.233,0.048,2637,1144,3959,0,0,0,0,0,0,25.82,26.17,26.44
$GC,386,-0.69,-292.0,109.5,-39.6,41,392,0.15,2.17,0.00,0.000,6,0.190,0.046,2666,2549,3961,0,0,0,0,0,0,26.07,26.25,28.83
$GC,710,-0.62,-292.0,213.3,-24.8,57,715,0.00,2.12,0.00,0.000,4,0.000,0.034,2667,1130,3961,0,0,0,0,0,0,28.83,26.36,28.83
$GC,722,-0.55,-292.0,213.3,-24.8,57,729,0.17,2.20,0.00,0.000,6,0.157,0.044,2707,2550,3961,0,0,0,0,0,0,26.21,26.35,28.83
$GC,1037,-0.53,-292.0,273.7,-16.7,73,1042,0.00,1.75,0.00,0.000,4,0.000,0.054,2701,3690,3961,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1094,-0.50,-292.0,281.1,-16.6,75,1102,0.00,1.70,0.00,0.000,6,0.000,0.030,2701,2534,3962,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1400,-0.48,-292.0,328.0,-14.2,91,1407,0.12,1.80,0.00,0.000,4,0.154,0.054,2740,3692,3961,0,0,0,0,0,0,26.36,26.44,28.83
$GC,1459,-0.48,-292.0,333.6,-13.5,93,1466,0.00,1.67,0.00,0.000,6,0.000,0.031,2740,2570,3962,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1765,-0.49,-292.0,367.5,-10.2,109,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2563,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2067,-0.50,-292.0,396.3,-9.2,124,2072,0.00,1.77,0.00,0.000,4,0.000,0.057,2740,3684,3961,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2096,-0.52,-292.0,398.5,-9.1,125,2101,0.00,1.67,0.00,0.000,6,0.000,0.031,2740,2534,3961,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2415,-0.53,-292.0,429.4,-9.9,141,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2535,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2717,-0.55,-292.0,458.4,-8.7,156,2723,0.00,2.05,0.00,0.000,4,0.000,0.041,2740,1166,3958,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2755,-0.57,-292.0,460.6,-8.3,157,2763,0.10,2.17,0.00,0.000,6,0.099,0.048,2682,2556,3958,0,0,0,0,0,0,26.51,26.51,28.83
$GC,3061,-0.55,-292.0,499.3,-13.8,173,3063,0.12,0.00,0.00,0.000,6,0.155,0.000,2715,2557,3954,0,0,0,0,0,0,26.43,28.83,28.83
$GC,3364,-0.56,-292.0,529.1,-10.7,188,3369,0.00,2.12,0.00,0.000,4,0.000,0.040,2712,1154,3951,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3396,-0.57,-292.0,531.9,-10.6,189,3402,0.00,2.20,0.00,0.000,6,0.000,0.050,2715,2554,3950,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3712,-0.57,-292.0,565.3,-10.8,205,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2555,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4012,-0.58,-292.0,597.9,-10.7,220,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2554,3946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4322,-0.59,-292.0,632.6,-11.4,231,4327,0.00,1.77,0.00,0.000,4,0.000,0.060,2713,3693,3943,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4359,-0.60,-292.0,636.5,-11.3,232,4364,0.00,1.67,0.00,0.000,6,0.000,0.033,2714,2552,3942,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4692,-0.61,-292.0,669.5,-10.2,243,4697,0.00,2.10,0.00,0.000,4,0.000,0.041,2713,1158,3940,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4775,-0.62,-292.0,676.9,-10.5,245,4780,0.00,2.20,0.00,0.000,6,0.000,0.050,2712,2561,3942,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5092,-0.63,-292.0,713.3,-10.9,256,5097,0.00,1.77,0.00,0.000,4,0.000,0.060,2713,3698,3938,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5126,-0.64,-292.0,717.0,-10.7,257,5131,0.00,1.73,0.00,0.000,6,0.000,0.034,2713,2546,3937,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5462,-0.65,-292.0,750.7,-10.4,268,5467,0.00,1.83,0.00,0.000,4,0.000,0.059,2713,3695,3935,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5509,-0.67,-292.0,754.2,-10.3,269,5516,0.12,1.70,0.00,0.000,6,0.089,0.034,2643,2541,3934,0,0,0,0,0,0,26.55,26.60,28.83
$GC,5833,-0.64,-292.0,809.2,-17.3,280,5839,0.12,2.08,0.00,0.000,4,0.161,0.039,2681,1168,3932,0,0,0,0,0,0,26.41,26.52,28.83
$GC,5898,-0.63,-292.0,819.1,-16.1,282,5903,0.00,2.20,0.00,0.000,6,0.000,0.050,2681,2555,3933,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6233,-0.63,-292.0,862.4,-13.1,293,6238,0.00,1.77,0.00,0.000,4,0.000,0.060,2681,3690,3931,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6270,-0.63,-292.0,866.5,-12.6,294,6276,0.00,1.70,0.00,0.000,6,0.000,0.033,2681,2545,3930,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6600,-0.63,-292.0,910.1,-13.5,305,6606,0.00,2.10,0.00,0.000,4,0.000,0.041,2681,1148,3931,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6678,-0.63,-292.0,918.2,-13.0,307,6684,0.00,2.22,0.00,0.000,6,0.000,0.050,2681,2553,3928,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6998,-0.63,-292.0,952.8,-8.9,318,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2556,3926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7298,-0.63,-292.0,982.2,-12.1,328,7303,0.00,1.77,0.00,0.000,4,0.000,0.060,2678,3701,3924,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7372,-0.63,-292.0,988.5,-11.3,330,7377,0.00,1.70,0.00,0.000,6,0.000,0.034,2682,2550,3924,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,7392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7392,begin apogee
$GC,7398,-0.14,0.0,990.6,-9.6,331,7598,0.45,0.00,194.98,1.415,6,0.122,0.000,2835,2543,2967,0,0,0,0,0,0,26.34,28.83,23.66
$STATE,7600,end apogee,CONTROL_FINISHED_OK
$STATE,7600,begin climb
$GC,7602,0.79,292.0,995.3,0.0,337,7868,0.88,2.08,254.12,1.369,4,0.067,0.058,3145,3688,1775,0,0,0,0,0,0,24.65,23.87,23.05
$GC,8002,0.72,292.0,910.5,27.3,351,8008,0.12,1.83,0.00,0.000,6,0.188,0.039,3125,2562,1771,0,0,0,0,0,0,25.02,25.16,28.83
$GC,8333,0.65,292.0,828.5,24.4,362,8338,0.00,2.25,0.00,0.000,4,0.000,0.046,3134,1142,1769,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8345,0.59,292.0,828.5,24.4,362,8351,0.20,2.28,0.00,0.000,6,0.152,0.046,3079,2556,1767,0,0,0,0,0,0,25.75,25.89,28.83
$GC,8673,0.56,292.0,764.6,18.7,373,8678,0.00,1.83,0.00,0.000,4,0.000,0.057,3079,3699,1766,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8752,0.52,292.0,750.9,19.8,375,8757,0.00,1.80,0.00,0.000,6,0.000,0.038,3084,2539,1764,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9072,0.48,292.0,683.6,21.0,386,9078,0.12,1.85,0.00,0.000,4,0.180,0.054,3047,3696,1765,0,0,0,0,0,0,26.12,26.24,28.83
$GC,9116,0.45,292.0,676.4,20.9,387,9121,0.00,1.80,0.00,0.000,6,0.000,0.038,3053,2528,1766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9442,0.43,292.0,623.2,15.0,398,9447,0.00,2.15,0.00,0.000,4,0.000,0.044,3063,1130,1765,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9489,0.42,292.0,618.0,14.8,399,9496,0.15,2.22,0.00,0.000,6,0.147,0.047,3021,2551,1764,0,0,0,0,0,0,26.20,26.33,28.83
$GC,9799,0.45,314.4,580.7,11.6,412,9823,0.00,1.80,19.00,1.106,4,0.000,0.056,3020,3692,1684,0,0,0,0,0,0,28.83,25.94,25.08
$GC,9920,0.45,314.4,565.1,13.1,418,9926,0.00,1.80,0.00,0.000,6,0.000,0.036,3026,2547,1683,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10243,0.46,327.1,525.9,11.9,434,10263,0.00,0.00,12.88,1.027,6,0.000,0.000,3026,2542,1632,0,0,0,0,0,0,28.83,28.83,25.08
$GC,10564,0.52,370.3,488.9,11.0,450,10611,0.00,2.33,38.78,1.076,4,0.000,0.044,3035,1134,1457,0,0,0,0,0,0,28.83,25.39,24.58
$GC,10650,0.60,418.4,480.2,10.9,454,10700,0.12,2.28,42.95,1.055,6,0.085,0.043,3116,2552,1261,0,0,0,0,0,0,25.62,25.60,24.24
$GC,11008,0.55,418.4,396.0,24.8,472,11014,0.15,1.80,0.00,0.000,4,0.158,0.051,3070,3687,1258,0,0,0,0,0,0,25.82,25.91,28.83
$GC,11074,0.53,418.4,383.5,20.8,475,11079,0.00,1.77,0.00,0.000,6,0.000,0.036,3075,2551,1257,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11397,0.51,418.4,336.5,14.1,491,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2546,1256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11701,0.50,418.4,288.0,17.3,506,11706,0.00,1.80,0.00,0.000,4,0.000,0.053,3076,3687,1256,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11809,0.49,418.4,269.1,17.4,511,11816,0.12,1.73,0.00,0.000,6,0.156,0.035,3050,2547,1255,0,0,0,0,0,0,26.18,26.33,28.83
$GC,12129,0.77,620.6,240.6,6.5,527,12311,0.22,2.28,171.68,0.871,4,0.060,0.041,3176,1144,484,0,0,0,0,0,0,26.41,24.87,24.20
$GC,12370,0.72,620.6,177.6,32.3,538,12378,0.20,2.30,0.00,0.000,6,0.135,0.044,3120,2550,481,0,0,0,0,0,0,25.27,25.36,28.83
$GC,12675,1.02,819.0,131.5,6.6,554,12681,0.25,2.20,0.00,0.000,4,0.073,0.037,3219,1147,479,0,0,0,0,0,0,25.94,25.94,28.83
$GC,12743,1.25,940.2,125.3,8.8,557,12749,0.20,2.22,0.00,0.000,6,0.090,0.040,3298,2565,480,0,0,0,0,0,0,25.98,26.01,28.83
$GC,13052,1.18,940.2,32.6,35.7,574,13058,0.00,2.20,0.00,0.000,4,0.000,0.041,3307,1143,479,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13076,1.11,940.2,23.9,36.2,576,13084,0.22,2.22,0.00,0.000,6,0.158,0.044,3245,2553,479,0,0,0,0,0,0,26.03,26.18,28.83
$STATE,13143,end climb,SURFACE_DEPTH_REACHED
$STATE,13144,begin surface coast
$FINISH,1.0,1.021378
$STATE,13161,end surface coast,CONTROL_FINISHED_OK
$STATE,13161,begin surface
$SM_CCo,13239,0.00,0.000,0,0,478,610.55
$SM_GC,1.68,7.85,0.00,0.00,0.034,0.000,0.000,164,2553,478,-8.45,0.08,610.55,0,0,0,0,0,0,26.22,28.83,28.83
$IRIDIUM_FIX,1846.42,12221.81,280812,121240
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.43
$INTERNAL_PRESSURE,9.19016
$TCM_TEMP,24.40
$XPDR_PINGS,1
$SC_FREEKB,7733120
$24V_AH,23.0,22.639
$10V_AH,9.8,14.901
$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,21.650,106.700,734.375,0.000,0.000,24.550,28.462,150.063,0.250,0.000,13.770,1951.300,8792.191,754.812,1817.906,312.152,0.000,1715.260,0.000,1539.399,0.000,0.542,0.000
$DEVICE_MAMPS,233.325,60.435,1415.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13186.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.708,0.000,0.000,0.000
$MEM,304424
$DATA_FILE_SIZE,23413,591
$CAP_FILE_SIZE,155479,0
$CFSIZE,260165632,190976000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.309,299.9,1
$GPS,280812,205353,1851.194,12222.676,38,1.4,38,-2.1