version: 66.11
glider: 165
mission: 7
dive: 98
start: 8 29 112 1 7 50
data:
$ID,165
$MISSION,7
$DIVE,98
$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,-274515.19
$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,55
$R_STBD_OVSHOOT,30
$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
$GPS1,290812,010005,1851.370,12222.453,36,1.2,36,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-75.5
$GPS2,290812,010721,1851.568,12222.312,12,99.0,31,-2.1
$SPEED_LIMITS,0.212,0.379
$TGT_NAME,M4
$TGT_LATLONG,1845.000,12233.290
$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,115.2,22774,-15.1,-12.222
$D_GRID,1586
$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,16,begin dive
$GC,18,-0.79,-292.0,0.0,0.0,0,98,0.00,0.00,-76.97,0.000,2,0.000,0.000,164,2541,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.79,-292.0,3.0,-4.5,14,162,9.48,2.12,-42.83,0.000,4,0.233,0.052,2636,1148,3961,0,0,0,0,0,0,25.81,26.16,26.46
$GC,391,-0.70,-292.0,107.4,-37.1,42,397,0.12,2.20,0.00,0.000,6,0.194,0.045,2658,2553,3961,0,0,0,0,0,0,26.08,26.26,28.83
$GC,710,-0.63,-292.0,206.5,-30.1,58,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2554,3962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1012,-0.58,-292.0,283.0,-21.8,73,1018,0.12,1.75,0.00,0.000,4,0.166,0.054,2694,3692,3962,0,0,0,0,0,0,26.32,26.40,28.83
$GC,1060,-0.54,-292.0,291.4,-19.7,75,1066,0.00,1.67,0.00,0.000,6,0.000,0.030,2694,2534,3963,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1380,-0.52,-292.0,342.0,-15.5,91,1386,0.00,2.05,0.00,0.000,4,0.000,0.040,2694,1168,3962,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1413,-0.50,-292.0,345.8,-15.2,92,1418,0.15,2.17,0.00,0.000,6,0.138,0.047,2731,2558,3962,0,0,0,0,0,0,26.36,26.44,28.83
$GC,1728,-0.51,-292.0,382.8,-11.2,108,1734,0.00,1.73,0.00,0.000,4,0.000,0.057,2729,3689,3962,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1823,-0.53,-292.0,392.3,-11.2,112,1828,0.00,1.65,0.00,0.000,6,0.000,0.031,2729,2558,3962,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2136,-0.54,-292.0,428.0,-10.7,128,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2551,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2438,-0.55,-292.0,456.6,-9.3,143,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2552,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2739,-0.56,-292.0,483.8,-8.9,158,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2552,3956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3039,-0.58,-292.0,510.5,-8.4,173,3045,0.00,1.80,0.00,0.000,4,0.000,0.059,2729,3691,3952,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3104,-0.60,-292.0,516.2,-8.4,176,3110,0.00,1.65,0.00,0.000,6,0.000,0.032,2729,2552,3951,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3429,-0.62,-292.0,543.2,-8.1,192,3435,0.12,2.10,0.00,0.000,4,0.088,0.038,2659,1149,3949,0,0,0,0,0,0,26.60,26.51,28.83
$GC,3493,-0.62,-292.0,551.4,-11.6,195,3499,0.12,2.20,0.00,0.000,6,0.157,0.050,2691,2549,3948,0,0,0,0,0,0,26.39,26.50,28.83
$GC,3817,-0.62,-292.0,589.1,-11.1,211,3822,0.00,1.80,0.00,0.000,4,0.000,0.058,2687,3709,3945,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3895,-0.62,-292.0,595.8,-10.6,214,3902,0.00,1.73,0.00,0.000,6,0.000,0.031,2687,2544,3944,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4214,-0.61,-292.0,633.7,-11.6,226,4219,0.00,2.10,0.00,0.000,4,0.000,0.040,2687,1153,3942,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4247,-0.61,-292.0,638.0,-11.6,227,4252,0.00,2.22,0.00,0.000,6,0.000,0.050,2687,2555,3942,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4584,-0.60,-292.0,676.0,-11.6,238,4589,0.00,1.75,0.00,0.000,4,0.000,0.060,2686,3687,3939,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4641,-0.60,-292.0,680.6,-12.0,239,4647,0.00,1.70,0.00,0.000,6,0.000,0.032,2687,2538,3938,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4947,-0.60,-292.0,719.9,-12.0,250,4952,0.00,2.08,0.00,0.000,4,0.000,0.040,2687,1153,3936,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5044,-0.60,-292.0,731.4,-12.3,253,5051,0.00,2.20,0.00,0.000,6,0.000,0.049,2687,2552,3935,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5375,-0.60,-292.0,775.0,-13.2,264,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2551,3934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5675,-0.60,-292.0,814.4,-12.9,274,5680,0.00,2.15,0.00,0.000,4,0.000,0.040,2687,1154,3931,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5741,-0.60,-292.0,822.4,-12.4,276,5746,0.00,2.20,0.00,0.000,6,0.000,0.050,2687,2550,3931,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6072,-0.60,-292.0,858.3,-10.4,287,6078,0.00,1.80,0.00,0.000,4,0.000,0.060,2687,3704,3930,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6110,-0.60,-292.0,861.8,-10.3,288,6116,0.00,1.70,0.00,0.000,6,0.000,0.034,2687,2541,3929,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6442,-0.60,-292.0,893.8,-9.9,299,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2541,3927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6739,-0.60,-292.0,922.7,-9.8,309,6745,0.00,1.85,0.00,0.000,4,0.000,0.060,2686,3708,3925,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6767,-0.60,-292.0,922.7,-9.8,309,6773,0.00,1.73,0.00,0.000,6,0.000,0.034,2687,2541,3924,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7074,-0.60,-292.0,957.9,-10.2,320,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2540,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7373,-0.60,-292.0,987.4,-9.3,330,7378,0.00,2.10,0.00,0.000,4,0.000,0.041,2686,1157,3922,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7401,-0.60,-292.0,987.4,-9.3,330,7408,0.00,2.20,0.00,0.000,6,0.000,0.050,2687,2550,3922,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,7433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7433,begin apogee
$GC,7439,-0.14,0.0,992.3,-8.5,332,7639,0.45,0.00,194.80,1.424,6,0.123,0.000,2837,2550,2967,0,0,0,0,0,0,26.32,28.83,23.64
$STATE,7641,end apogee,CONTROL_FINISHED_OK
$STATE,7641,begin climb
$GC,7644,0.79,292.0,997.5,0.0,338,7910,0.88,2.47,254.30,1.375,4,0.066,0.050,3158,1167,1775,0,0,0,0,0,0,24.67,23.84,22.99
$GC,7929,0.71,292.0,951.8,23.1,348,7935,0.15,2.40,0.00,0.000,6,0.161,0.047,3123,2549,1772,0,0,0,0,0,0,24.21,24.31,28.83
$GC,8255,0.66,292.0,872.2,23.8,359,8260,0.00,1.83,0.00,0.000,4,0.000,0.055,3123,3699,1768,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8433,0.59,292.0,833.6,24.9,364,8441,0.17,1.77,0.00,0.000,6,0.164,0.039,3082,2564,1768,0,0,0,0,0,0,25.79,25.96,28.83
$GC,8741,0.56,292.0,772.0,17.6,375,8747,0.00,2.22,0.00,0.000,4,0.000,0.046,3090,1141,1767,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8805,0.53,292.0,761.6,16.5,377,8810,0.00,2.28,0.00,0.000,6,0.000,0.047,3090,2557,1765,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9141,0.49,292.0,700.7,18.1,388,9147,0.12,1.80,0.00,0.000,4,0.165,0.054,3053,3702,1764,0,0,0,0,0,0,26.15,26.23,28.83
$GC,9245,0.47,292.0,685.7,16.2,391,9250,0.00,1.80,0.00,0.000,6,0.000,0.038,3058,2530,1764,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9571,0.44,292.0,638.5,14.2,402,9577,0.00,1.85,0.00,0.000,4,0.000,0.057,3059,3694,1764,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9614,0.42,292.0,633.0,14.4,403,9620,0.15,1.75,0.00,0.000,6,0.162,0.038,3026,2548,1764,0,0,0,0,0,0,26.19,26.37,28.83
$GC,9931,0.47,329.5,596.7,11.2,414,9968,0.00,0.00,32.38,1.160,6,0.000,0.000,3026,2541,1622,0,0,0,0,0,0,28.83,28.83,24.79
$GC,10268,0.49,348.1,560.2,11.7,431,10293,0.00,1.90,16.98,1.082,4,0.000,0.056,3027,3685,1549,0,0,0,0,0,0,28.83,25.69,24.80
$GC,10316,0.49,348.1,554.7,12.3,433,10322,0.00,1.77,0.00,0.000,6,0.000,0.037,3032,2546,1549,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10634,0.51,361.0,515.4,11.9,449,10654,0.00,2.20,13.23,1.029,4,0.000,0.042,3041,1142,1496,0,0,0,0,0,0,28.83,25.82,24.92
$GC,10682,0.55,388.7,510.5,11.4,451,10717,0.00,2.25,25.90,1.072,6,0.000,0.044,3041,2555,1381,0,0,0,0,0,0,28.83,25.87,24.54
$GC,11018,0.57,409.0,471.0,11.7,468,11039,0.10,0.00,18.50,1.024,6,0.103,0.000,3099,2555,1299,0,0,0,0,0,0,26.06,28.83,24.75
$GC,11337,0.54,409.0,401.3,23.2,484,11343,0.12,1.80,0.00,0.000,4,0.155,0.051,3060,3694,1297,0,0,0,0,0,0,25.94,26.03,28.83
$GC,11356,0.51,409.0,401.3,23.2,484,11363,0.00,1.77,0.00,0.000,6,0.000,0.037,3065,2552,1296,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11662,0.50,409.0,349.3,14.9,500,11667,0.00,2.17,0.00,0.000,4,0.000,0.044,3075,1148,1296,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11685,0.49,409.0,345.8,14.9,501,11691,0.00,2.20,0.00,0.000,6,0.000,0.043,3075,2552,1296,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12009,0.48,409.0,296.9,14.8,517,12015,0.00,1.77,0.00,0.000,4,0.000,0.054,3075,3690,1296,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12077,0.47,409.0,287.1,15.2,520,12082,0.15,1.73,0.00,0.000,6,0.143,0.035,3039,2548,1295,0,0,0,0,0,0,26.19,26.33,28.83
$GC,12396,0.71,578.0,260.6,7.5,536,12586,0.20,2.28,161.68,0.858,4,0.063,0.043,3164,1149,610,0,0,0,0,4,0,26.43,24.95,24.28
$GC,12669,0.68,578.0,188.9,27.5,549,12675,0.20,2.28,0.00,0.000,6,0.131,0.043,3107,2552,605,0,0,0,0,0,0,25.39,25.48,28.83
$GC,12983,0.69,578.0,140.9,12.3,565,12988,0.00,1.80,0.00,0.000,4,0.000,0.051,3106,3691,602,0,0,0,0,0,0,28.83,25.96,28.83
$GC,13030,0.79,637.8,136.9,10.5,567,13067,0.10,1.75,27.02,0.761,6,0.098,0.032,3182,2536,483,0,0,0,0,0,0,26.02,26.05,24.91
$GC,13367,0.78,637.8,75.1,17.2,584,13373,0.12,2.15,0.00,0.000,4,0.145,0.041,3150,1150,480,0,0,0,0,0,0,25.96,26.03,28.83
$GC,13433,0.81,643.7,68.4,12.1,587,13438,0.00,2.20,0.00,0.000,6,0.000,0.037,3150,2565,480,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13747,0.90,643.7,31.3,13.7,609,13753,0.00,1.75,0.00,0.000,4,0.000,0.052,3151,3688,480,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,13946,end climb,SURFACE_DEPTH_REACHED
$STATE,13946,begin surface coast
$FINISH,1.1,1.020218
$STATE,13977,end surface coast,CONTROL_FINISHED_OK
$STATE,13977,begin surface
$SM_CCo,14057,0.00,0.000,0,0,480,610.06
$SM_GC,1.85,7.50,1.75,0.00,0.029,0.030,0.000,160,2537,480,-8.44,1.30,610.06,0,0,0,0,0,0,26.33,26.34,28.83
$IRIDIUM_FIX,1844.15,12218.67,280812,202040
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.24
$INTERNAL_PRESSURE,9.2097
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7732352
$24V_AH,23.0,23.170
$10V_AH,10.1,15.155
$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,20.550,110.100,744.775,0.000,0.000,26.048,19.110,177.876,0.000,0.000,34.553,2089.931,9328.530,793.160,1943.486,334.902,0.000,1796.548,0.000,1631.794,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,60.435,1423.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14002.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.487,0.000,0.000,0.000
$MEM,305096
$DATA_FILE_SIZE,23449,649
$CAP_FILE_SIZE,162511,0
$CFSIZE,260165632,190808064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.221,321.6,1
$GPS,290812,050329,1852.056,12223.829,35,1.1,40,-2.1