version: 66.11
glider: 165
mission: 7
dive: 99
start: 8 29 112 5 11 17
data:
$ID,165
$MISSION,7
$DIVE,99
$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,-274516.44
$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,54
$R_STBD_OVSHOOT,35
$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
$GPS1,290812,050329,1852.056,12223.829,35,1.1,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-75.5
$GPS2,290812,051048,1852.239,12223.728,8,1.3,13,-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,138.3,21470,-15.1,-12.222
$D_GRID,1607
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.79,-292.0,0.0,0.0,0,105,0.00,0.00,-83.78,0.000,2,0.000,0.000,156,2527,2483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.79,-292.0,3.4,-7.1,15,158,9.40,2.10,-32.60,0.000,4,0.230,0.048,2636,1144,3958,0,0,0,0,0,0,25.82,26.15,26.45
$GC,386,-0.70,-292.0,106.5,-38.4,40,393,0.15,2.20,-0.08,0.000,6,0.190,0.048,2665,2544,3964,0,0,0,0,0,0,26.08,26.25,25.88
$GC,706,-0.63,-292.0,210.5,-27.2,56,711,0.00,1.77,0.00,0.000,4,0.000,0.056,2659,3693,3965,0,0,0,0,0,0,28.83,26.34,28.83
$GC,753,-0.57,-292.0,222.1,-27.7,58,759,0.17,1.67,0.00,0.000,6,0.151,0.029,2708,2533,3965,0,0,0,0,0,0,26.23,26.41,28.83
$GC,1072,-0.55,-292.0,281.9,-16.1,74,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2532,3965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,-0.53,-292.0,326.3,-14.4,89,1380,0.00,2.05,0.00,0.000,4,0.000,0.041,2708,1169,3965,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1407,-0.51,-292.0,329.8,-14.0,90,1412,0.00,2.15,0.00,0.000,6,0.000,0.047,2701,2550,3965,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1721,-0.50,-292.0,372.2,-13.3,106,1726,0.00,1.75,0.00,0.000,4,0.000,0.057,2694,3700,3965,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1813,-0.49,-292.0,384.1,-14.3,110,1820,0.12,1.65,0.00,0.000,6,0.144,0.030,2730,2563,3965,0,0,0,0,0,0,26.39,26.54,28.83
$GC,2129,-0.49,-292.0,413.4,-7.1,126,2134,0.00,2.10,0.00,0.000,4,0.000,0.040,2730,1151,3964,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2216,-0.51,-292.0,419.1,-6.7,130,2221,0.00,2.20,0.00,0.000,6,0.000,0.048,2730,2554,3963,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2535,-0.52,-292.0,445.7,-7.8,146,2541,0.00,1.75,0.00,0.000,4,0.000,0.057,2726,3699,3962,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2584,-0.53,-292.0,449.5,-8.1,148,2589,0.00,1.70,0.00,0.000,6,0.000,0.031,2726,2547,3962,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2903,-0.54,-292.0,478.7,-9.1,164,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2540,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3205,-0.56,-292.0,505.3,-8.9,179,3210,0.00,1.80,0.00,0.000,4,0.000,0.058,2726,3698,3956,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3243,-0.57,-292.0,507.6,-8.8,180,3249,0.00,1.70,0.00,0.000,6,0.000,0.031,2727,2547,3954,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3550,-0.58,-292.0,536.1,-9.9,196,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2542,3952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3850,-0.60,-292.0,565.2,-9.7,211,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2541,3951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4152,-0.62,-292.0,599.2,-12.1,226,4158,0.10,1.80,0.00,0.000,4,0.100,0.057,2671,3692,3946,0,0,0,0,0,0,26.62,26.48,28.83
$GC,4205,-0.62,-292.0,604.3,-12.6,228,4211,0.00,1.67,0.00,0.000,6,0.000,0.031,2671,2540,3946,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4522,-0.61,-292.0,658.8,-16.0,239,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2532,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4819,-0.59,-292.0,705.9,-15.3,249,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2529,3941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5120,-0.58,-292.0,749.0,-14.0,259,5126,0.12,2.10,0.00,0.000,4,0.158,0.041,2710,1168,3939,0,0,0,0,0,0,26.42,26.51,28.83
$GC,5173,-0.58,-292.0,753.4,-13.6,260,5179,0.00,2.17,0.00,0.000,6,0.000,0.049,2710,2552,3939,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5488,-0.59,-292.0,785.6,-9.4,271,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2552,3936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5789,-0.60,-292.0,813.2,-9.1,281,5794,0.00,2.15,0.00,0.000,4,0.000,0.040,2710,1156,3934,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5812,-0.62,-292.0,813.2,-9.1,281,5817,0.00,2.20,0.00,0.000,6,0.000,0.049,2710,2550,3934,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6128,-0.63,-292.0,845.3,-9.6,292,6133,0.00,1.77,0.00,0.000,4,0.000,0.060,2710,3699,3932,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6171,-0.64,-292.0,848.7,-9.5,293,6177,0.00,1.70,0.00,0.000,6,0.000,0.034,2710,2542,3932,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6498,-0.66,-292.0,875.2,-7.4,304,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2542,3931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6795,-0.68,-292.0,897.1,-7.4,314,6797,0.12,0.00,0.00,0.000,6,0.091,0.000,2655,2540,3929,0,0,0,0,0,0,26.60,28.83,28.83
$GC,7096,-0.66,-292.0,935.2,-12.8,324,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2541,3927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7395,-0.65,-292.0,971.9,-12.0,334,7401,0.00,1.80,0.00,0.000,4,0.000,0.059,2647,3689,3925,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7443,-0.63,-292.0,976.2,-12.1,335,7449,0.15,1.67,0.00,0.000,6,0.145,0.034,2688,2545,3923,0,0,0,0,0,0,26.35,26.60,28.83
$STATE,7580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7580,begin apogee
$GC,7586,-0.14,0.0,990.8,-8.8,340,7791,0.45,0.00,195.45,1.424,6,0.124,0.000,2841,2544,2966,0,0,0,0,0,0,26.34,28.83,23.63
$STATE,7794,end apogee,CONTROL_FINISHED_OK
$STATE,7794,begin climb
$GC,7796,0.79,292.0,999.6,0.0,347,8062,0.82,2.03,254.73,1.378,4,0.057,0.057,3147,3687,1774,0,0,0,0,0,0,24.73,23.83,22.98
$GC,8127,0.71,292.0,941.9,24.6,358,8133,0.15,1.83,0.00,0.000,6,0.183,0.038,3120,2589,1772,0,0,0,0,0,0,24.63,24.76,28.83
$GC,8462,0.66,292.0,866.7,21.7,369,8468,0.00,2.33,0.00,0.000,4,0.000,0.048,3129,1137,1769,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8500,0.60,292.0,859.6,21.4,370,8507,0.17,2.30,0.00,0.000,6,0.148,0.047,3081,2561,1767,0,0,0,0,0,0,25.71,25.84,28.83
$GC,8832,0.57,292.0,803.6,17.0,381,8838,0.00,1.80,0.00,0.000,4,0.000,0.057,3081,3690,1766,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8875,0.53,292.0,797.1,17.3,382,8881,0.00,1.77,0.00,0.000,6,0.000,0.038,3086,2545,1766,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9200,0.49,292.0,740.5,16.8,393,9206,0.12,2.20,0.00,0.000,4,0.175,0.045,3058,1138,1766,0,0,0,0,0,0,26.11,26.22,28.83
$GC,9260,0.46,292.0,735.2,16.1,394,9267,0.00,2.25,0.00,0.000,6,0.000,0.046,3058,2552,1765,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9566,0.44,292.0,688.6,14.6,405,9572,0.00,1.80,0.00,0.000,4,0.000,0.056,3058,3691,1764,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9605,0.41,292.0,683.0,15.0,406,9611,0.15,1.75,0.00,0.000,6,0.162,0.037,3025,2546,1764,0,0,0,0,0,0,26.17,26.35,28.83
$GC,9935,0.45,325.0,644.5,11.3,417,9966,0.00,0.00,28.52,1.184,6,0.000,0.000,3025,2541,1642,0,0,0,0,0,0,28.83,28.83,24.82
$GC,10267,0.58,422.5,609.5,9.5,428,10366,0.12,2.35,86.62,1.167,4,0.090,0.046,3113,1155,1244,0,0,0,0,0,0,26.15,24.86,24.03
$GC,10385,0.55,422.5,592.1,17.8,432,10393,0.17,2.33,0.00,0.000,6,0.139,0.044,3066,2556,1242,0,0,0,0,0,0,25.09,25.19,28.83
$GC,10691,0.54,422.5,534.5,17.0,448,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2556,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10994,0.53,422.5,486.2,16.0,463,10999,0.00,2.25,0.00,0.000,4,0.000,0.045,3073,1140,1240,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11017,0.52,422.5,482.1,16.0,464,11022,0.00,2.25,0.00,0.000,6,0.000,0.044,3073,2556,1240,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11341,0.50,422.5,429.2,17.3,480,11346,0.00,1.77,0.00,0.000,4,0.000,0.054,3073,3690,1239,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11364,0.49,422.5,424.4,18.0,481,11370,0.08,1.77,0.00,0.000,6,0.115,0.037,3044,2551,1239,0,0,0,0,0,0,26.13,26.29,28.83
$GC,11690,0.68,568.4,390.2,8.1,497,11852,0.15,2.33,139.60,0.985,4,0.078,0.044,3143,1144,645,0,0,0,0,2,0,26.39,24.89,24.14
$GC,11932,0.66,568.4,342.4,22.1,508,11940,0.15,2.30,0.00,0.000,6,0.135,0.044,3102,2552,641,0,0,0,0,0,0,25.38,25.46,28.83
$GC,12235,0.64,568.4,279.0,20.5,524,12241,0.00,1.83,0.00,0.000,4,0.000,0.053,3102,3696,637,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12280,0.63,568.4,270.6,19.8,526,12286,0.00,1.77,0.00,0.000,6,0.000,0.036,3106,2549,637,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12604,0.62,568.4,207.8,18.8,542,12609,0.00,2.20,0.00,0.000,4,0.000,0.042,3116,1136,635,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12684,0.62,568.4,198.7,15.2,545,12690,0.00,2.22,0.00,0.000,6,0.000,0.040,3117,2555,633,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12988,0.64,568.4,155.4,13.8,561,12993,0.00,1.77,0.00,0.000,4,0.000,0.052,3117,3691,632,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13015,0.65,568.4,151.8,14.0,562,13020,0.00,1.73,0.00,0.000,6,0.000,0.034,3121,2536,632,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13336,0.87,707.1,113.3,8.3,578,13376,0.12,2.22,34.47,0.751,4,0.086,0.043,3226,1149,484,0,0,0,0,0,0,26.41,25.81,25.12
$GC,13448,0.87,707.1,97.5,16.5,583,13454,0.20,2.22,0.00,0.000,6,0.119,0.042,3166,2552,482,0,0,0,0,0,0,25.86,25.94,28.83
$GC,13762,1.15,894.0,67.2,7.0,599,13770,0.22,2.15,0.00,0.000,4,0.057,0.037,3312,1152,481,0,0,0,0,0,0,26.25,26.19,28.83
$GC,13813,1.20,919.4,59.6,11.5,601,13819,0.12,2.20,0.00,0.000,6,0.163,0.044,3278,2552,481,0,0,0,0,0,0,26.06,26.19,28.83
$STATE,14011,end climb,SURFACE_DEPTH_REACHED
$STATE,14011,begin surface coast
$FINISH,1.1,1.021206
$STATE,14022,end surface coast,CONTROL_FINISHED_OK
$STATE,14022,begin surface
$SM_CCo,14101,0.00,0.000,0,0,481,609.82
$SM_GC,1.83,7.85,0.00,0.00,0.030,0.000,0.000,159,2553,481,-8.44,0.08,609.82,0,0,0,0,0,0,26.31,28.83,28.83
$IRIDIUM_FIX,1844.15,12221.81,290812,010154
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.16
$INTERNAL_PRESSURE,9.2097
$TCM_TEMP,25.40
$XPDR_PINGS,4
$SC_FREEKB,7731968
$24V_AH,23.0,23.443
$10V_AH,9.8,15.278
$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,21.425,103.375,739.400,0.000,0.000,28.256,41.644,175.527,1.000,0.000,16.190,1981.157,9617.246,778.465,1830.533,331.202,0.000,1723.801,0.000,1510.346,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,59.670,1424.430,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14028.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.301,0.000,0.000,0.000
$MEM,305164
$DATA_FILE_SIZE,23416,628
$CAP_FILE_SIZE,159987,0
$CFSIZE,260165632,190726144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.195,342.1,1
$GPS,290812,090736,1851.836,12224.890,35,1.0,35,-2.1