version: 66.11
glider: 165
mission: 7
dive: 102
start: 8 29 112 18 0 19
data:
$ID,165
$MISSION,7
$DIVE,102
$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,-274520.19
$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,60
$R_STBD_OVSHOOT,38
$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
$GPS1,290812,175235,1851.666,12224.603,35,1.3,35,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-74.9
$GPS2,290812,175951,1851.791,12224.453,10,2.5,29,-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,135.7,19958,-15.1,-12.222
$D_GRID,1519
$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,-292.0,0.0,0.0,0,104,0.00,0.00,-82.90,0.000,2,0.000,0.000,154,2554,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.79,-292.0,3.4,-6.3,15,156,9.50,2.15,-32.35,0.000,4,0.233,0.054,2635,1155,3960,0,0,0,0,0,0,25.82,26.15,26.47
$GC,270,-0.70,-292.0,63.1,-44.1,34,277,0.15,2.17,0.00,0.000,6,0.180,0.047,2665,2540,3960,0,0,0,0,0,0,26.04,26.21,28.83
$GC,586,-0.62,-292.0,180.7,-29.0,50,591,0.00,2.10,0.00,0.000,4,0.000,0.035,2665,1159,3960,0,0,0,0,0,0,28.83,26.36,28.83
$GC,603,-0.55,-292.0,180.7,-29.0,50,612,0.20,2.15,0.00,0.000,6,0.158,0.046,2714,2550,3961,0,0,0,0,0,0,26.16,26.32,28.83
$GC,909,-0.52,-292.0,244.3,-16.3,66,915,0.00,1.75,0.00,0.000,4,0.000,0.054,2708,3689,3961,0,0,0,0,0,0,28.83,26.38,28.83
$GC,943,-0.49,-292.0,248.2,-16.4,67,949,0.00,1.65,0.00,0.000,6,0.000,0.029,2708,2549,3961,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1257,-0.47,-292.0,301.3,-16.4,83,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2541,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1559,-0.46,-292.0,350.9,-16.5,98,1565,0.12,2.08,0.00,0.000,4,0.153,0.037,2746,1149,3961,0,0,0,0,0,0,26.38,26.47,28.83
$GC,1639,-0.46,-292.0,357.7,-11.3,101,1646,0.00,2.20,0.00,0.000,6,0.000,0.047,2743,2559,3961,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1944,-0.48,-292.0,383.7,-8.2,117,1949,0.00,1.75,0.00,0.000,4,0.000,0.057,2743,3689,3961,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1971,-0.49,-292.0,385.6,-8.4,118,1976,0.00,1.70,0.00,0.000,6,0.000,0.030,2742,2552,3961,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2290,-0.51,-292.0,412.9,-8.9,134,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2544,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2594,-0.53,-292.0,440.7,-9.7,149,2599,0.00,1.77,0.00,0.000,4,0.000,0.057,2742,3690,3957,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2667,-0.56,-292.0,447.3,-9.9,152,2672,0.00,1.70,0.00,0.000,6,0.000,0.031,2742,2531,3957,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2980,-0.58,-292.0,480.2,-9.8,168,2986,0.12,1.83,0.00,0.000,4,0.086,0.054,2661,3687,3953,0,0,0,0,0,0,26.60,26.48,28.83
$GC,3013,-0.59,-292.0,483.1,-10.4,169,3021,0.15,1.67,0.00,0.000,6,0.146,0.031,2702,2547,3952,0,0,0,0,0,0,26.38,26.59,28.83
$GC,3329,-0.59,-292.0,519.5,-10.3,185,3334,0.00,2.08,0.00,0.000,4,0.000,0.039,2702,1157,3949,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3443,-0.60,-292.0,530.2,-10.4,190,3449,0.00,2.20,0.00,0.000,6,0.000,0.048,2700,2555,3948,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3756,-0.60,-292.0,564.7,-10.3,206,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2555,3945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4059,-0.60,-292.0,594.8,-10.2,221,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2555,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4357,-0.60,-292.0,627.3,-11.3,232,4362,0.00,2.12,0.00,0.000,4,0.000,0.040,2700,1161,3941,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4414,-0.60,-292.0,631.2,-11.4,233,4421,0.00,2.20,0.00,0.000,6,0.000,0.050,2700,2558,3940,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4721,-0.60,-292.0,669.4,-11.7,244,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2558,3938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5019,-0.60,-292.0,705.5,-12.4,254,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2558,3936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5321,-0.60,-292.0,741.9,-11.7,264,5327,0.00,2.17,0.00,0.000,4,0.000,0.041,2700,1149,3934,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5359,-0.60,-292.0,746.0,-11.5,265,5364,0.00,2.22,0.00,0.000,6,0.000,0.050,2700,2555,3933,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5689,-0.60,-292.0,777.2,-9.2,276,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2555,3931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5987,-0.60,-292.0,804.1,-9.0,286,5993,0.00,2.15,0.00,0.000,4,0.000,0.041,2700,1162,3930,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6022,-0.61,-292.0,807.2,-9.0,287,6027,0.00,2.20,0.00,0.000,6,0.000,0.050,2700,2550,3928,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6358,-0.61,-292.0,840.3,-10.4,298,6363,0.00,1.77,0.00,0.000,4,0.000,0.060,2700,3696,3927,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6416,-0.62,-292.0,843.8,-10.0,299,6423,0.00,1.70,0.00,0.000,6,0.000,0.034,2696,2543,3927,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6724,-0.63,-292.0,873.0,-8.3,310,6730,0.00,1.80,0.00,0.000,4,0.000,0.060,2699,3691,3925,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6773,-0.64,-292.0,876.0,-8.2,311,6778,0.00,1.70,0.00,0.000,6,0.000,0.034,2700,2541,3925,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7094,-0.65,-292.0,903.8,-8.7,322,7100,0.00,2.10,0.00,0.000,4,0.000,0.039,2700,1161,3923,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7128,-0.66,-292.0,907.0,-8.8,323,7134,0.00,2.20,0.00,0.000,6,0.000,0.049,2700,2550,3923,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7466,-0.67,-292.0,936.6,-9.1,334,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2551,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7764,-0.68,-292.0,964.7,-9.3,344,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2551,3920,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8061,begin apogee
$GC,8067,-0.14,0.0,991.2,-8.8,354,8267,0.40,0.00,194.62,1.419,6,0.119,0.000,2835,2551,2967,0,0,0,0,0,0,26.33,28.83,23.63
$STATE,8268,end apogee,CONTROL_FINISHED_OK
$STATE,8268,begin climb
$GC,8272,0.79,292.0,998.1,0.0,360,8539,0.90,2.45,255.82,1.372,4,0.065,0.050,3159,1176,1774,0,0,0,0,0,0,24.65,23.85,22.98
$GC,8567,0.71,292.0,954.2,23.8,369,8574,0.15,2.38,0.00,0.000,6,0.161,0.047,3124,2551,1771,0,0,0,0,0,0,24.32,24.42,28.83
$GC,8875,0.66,292.0,873.2,23.7,380,8881,0.00,1.85,0.00,0.000,4,0.000,0.056,3124,3693,1768,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9001,0.60,292.0,841.6,24.9,384,9008,0.17,1.77,0.00,0.000,6,0.165,0.039,3087,2568,1768,0,0,0,0,0,0,25.73,25.90,28.83
$GC,9336,0.56,292.0,777.3,18.7,395,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2561,1767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9637,0.52,292.0,726.5,16.8,405,9642,0.00,1.83,0.00,0.000,4,0.000,0.056,3083,3700,1766,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9679,0.49,292.0,720.2,17.2,406,9685,0.15,1.77,0.00,0.000,6,0.160,0.037,3050,2548,1766,0,0,0,0,0,0,26.09,26.27,28.83
$GC,10006,0.47,292.0,671.4,14.5,417,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2541,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10303,0.46,292.0,627.1,14.4,427,10309,0.00,1.83,0.00,0.000,4,0.000,0.055,3050,3694,1765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10331,0.44,292.0,627.1,14.4,427,10337,0.00,1.75,0.00,0.000,6,0.000,0.037,3056,2547,1765,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10639,0.42,292.0,578.7,14.2,440,10646,0.12,2.17,0.00,0.000,4,0.175,0.043,3025,1143,1765,0,0,0,0,0,0,26.25,26.36,28.83
$GC,10693,0.41,292.0,573.1,12.9,442,10699,0.00,2.22,0.00,0.000,6,0.000,0.044,3025,2562,1763,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11006,0.54,392.5,541.3,9.4,458,11100,0.12,1.85,86.97,1.128,4,0.089,0.052,3105,3694,1365,0,0,0,0,0,0,26.48,24.96,24.18
$GC,11161,0.50,392.5,513.7,21.4,465,11167,0.22,1.83,0.00,0.000,6,0.143,0.038,3050,2549,1364,0,0,0,0,0,0,25.36,25.48,28.83
$GC,11474,0.50,392.5,470.1,12.3,481,11480,0.00,2.22,0.00,0.000,4,0.000,0.044,3058,1130,1362,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11585,0.61,469.9,459.3,10.0,486,11658,0.00,2.28,65.88,1.053,6,0.000,0.044,3058,2558,1050,0,0,0,0,0,0,28.83,26.07,24.21
$GC,11959,0.61,469.9,407.0,14.8,505,11964,0.00,2.28,0.00,0.000,4,0.000,0.045,3067,1137,1047,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12003,0.62,469.9,400.7,14.8,507,12008,0.00,2.28,0.00,0.000,6,0.000,0.043,3067,2555,1047,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12326,0.61,469.9,346.9,18.3,523,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2556,1046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12627,0.61,469.9,301.8,13.8,538,12632,0.00,2.22,0.00,0.000,4,0.000,0.044,3077,1143,1046,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12743,0.71,533.6,290.1,10.4,543,12811,0.12,2.22,58.03,0.929,6,0.086,0.041,3160,2565,789,0,0,0,0,0,0,26.30,26.29,24.56
$GC,13111,0.66,533.6,186.1,25.4,562,13117,0.17,1.75,0.00,0.000,4,0.151,0.050,3104,3689,783,0,0,0,0,0,0,25.86,25.96,28.83
$GC,13144,0.63,533.6,180.4,23.9,563,13151,0.00,1.77,0.00,0.000,6,0.000,0.035,3110,2538,782,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13459,0.80,651.2,145.0,8.9,579,13540,0.10,2.22,72.00,0.790,4,0.098,0.042,3193,1145,484,0,0,0,0,0,0,26.26,25.22,24.55
$GC,13685,0.80,651.2,107.3,14.5,590,13691,0.15,2.22,0.00,0.000,6,0.126,0.041,3151,2550,480,0,0,0,0,0,0,25.68,25.77,28.83
$GC,14011,0.95,687.2,74.4,11.2,606,14013,0.15,0.00,0.00,0.000,6,0.075,0.000,3250,2550,479,0,0,0,0,0,0,26.17,28.83,28.83
$GC,14310,1.10,762.1,42.6,10.1,624,14316,0.00,2.17,0.00,0.000,4,0.000,0.039,3250,1139,479,0,0,0,0,0,0,28.83,26.24,28.83
$GC,14339,1.24,828.0,40.0,10.4,626,14346,0.12,2.17,0.00,0.000,6,0.091,0.038,3309,2554,479,0,0,0,0,0,0,26.23,26.25,28.83
$STATE,14482,end climb,SURFACE_DEPTH_REACHED
$STATE,14482,begin surface coast
$FINISH,1.5,1.021284
$STATE,14493,end surface coast,CONTROL_FINISHED_OK
$STATE,14493,begin surface
$SM_CCo,14572,0.00,0.000,0,0,479,610.31
$SM_GC,2.10,7.93,0.00,0.00,0.031,0.000,0.000,166,2554,479,-8.43,0.11,610.31,0,0,0,0,0,0,26.31,28.83,28.83
$IRIDIUM_FIX,1846.42,12221.81,290812,131317
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.71
$INTERNAL_PRESSURE,9.2097
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,7730816
$24V_AH,23.0,24.232
$10V_AH,10.1,15.667
$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,21.250,104.825,733.325,0.000,0.000,31.560,20.542,167.049,0.000,0.000,32.661,2035.966,9996.349,784.961,1867.237,319.551,0.000,1724.659,0.000,1540.699,0.000,0.542,0.000
$DEVICE_MAMPS,232.560,59.670,1419.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14501.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.141,0.000,0.000,0.000
$MEM,304444
$DATA_FILE_SIZE,23407,649
$CAP_FILE_SIZE,161319,0
$CFSIZE,260165632,190480384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.350,301.7,1
$GPS,290812,220429,1851.559,12223.848,37,1.0,37,-2.1