version: 66.11
glider: 165
mission: 7
dive: 90
start: 8 27 112 16 5 47
data:
$ID,165
$MISSION,7
$DIVE,90
$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,-274502.34
$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,41
$R_STBD_OVSHOOT,33
$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
$GPS1,270812,155606,1851.992,12217.562,27,1.0,27,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-69.8
$GPS2,270812,160518,1852.214,12217.325,9,1.1,14,-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,124.5,45740,-15.1,-12.222
$D_GRID,1507
$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,19,-0.79,-292.0,0.0,0.0,0,108,0.00,0.00,-86.38,0.000,2,0.000,0.000,157,2491,2535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.79,-292.0,3.4,-7.3,15,161,9.55,1.90,-30.67,0.000,4,0.234,0.068,2629,3680,3961,0,0,0,0,0,0,25.82,26.11,26.42
$GC,260,-0.68,-292.0,60.4,-48.5,33,266,0.17,1.77,0.00,0.000,6,0.190,0.031,2672,2494,3961,0,0,0,0,0,0,26.00,26.22,28.83
$GC,574,-0.62,-292.0,180.4,-27.2,49,579,0.00,2.10,0.00,0.000,4,0.000,0.036,2673,1095,3962,0,0,0,0,0,0,28.83,26.34,28.83
$GC,617,-0.57,-292.0,189.8,-23.6,51,623,0.15,2.20,0.00,0.000,6,0.146,0.049,2713,2497,3962,0,0,0,0,0,0,26.22,26.33,28.83
$GC,942,-0.55,-292.0,246.4,-18.2,67,947,0.00,1.85,0.00,0.000,4,0.000,0.057,2708,3696,3962,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1047,-0.53,-292.0,262.1,-14.4,72,1052,0.00,1.77,0.00,0.000,6,0.000,0.031,2708,2485,3964,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1370,-0.52,-292.0,305.3,-12.6,88,1376,0.00,1.88,0.00,0.000,4,0.000,0.055,2699,3690,3962,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1469,-0.51,-292.0,315.7,-12.4,92,1476,0.12,1.75,0.00,0.000,6,0.141,0.030,2735,2503,3962,0,0,0,0,0,0,26.38,26.52,28.83
$GC,1775,-0.51,-292.0,349.2,-10.2,108,1780,0.00,2.12,0.00,0.000,4,0.000,0.041,2736,1099,3962,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1819,-0.52,-292.0,353.7,-9.9,110,1824,0.00,2.20,0.00,0.000,6,0.000,0.047,2735,2509,3962,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2143,-0.54,-292.0,385.5,-9.9,126,2148,0.00,1.80,0.00,0.000,4,0.000,0.056,2728,3690,3961,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2182,-0.55,-292.0,388.0,-9.9,127,2188,0.00,1.77,0.00,0.000,6,0.000,0.031,2728,2487,3961,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2487,-0.56,-292.0,420.9,-10.6,143,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2486,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2789,-0.57,-292.0,450.1,-9.3,158,2795,0.00,1.88,0.00,0.000,4,0.000,0.057,2727,3687,3957,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2842,-0.59,-292.0,454.4,-9.1,160,2848,0.00,1.75,0.00,0.000,6,0.000,0.031,2726,2505,3956,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3156,-0.60,-292.0,480.8,-8.2,176,3161,0.00,1.88,0.00,0.000,4,0.000,0.057,2727,3691,3953,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3193,-0.61,-292.0,482.7,-8.1,177,3200,0.00,1.77,0.00,0.000,6,0.000,0.031,2726,2498,3952,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3499,-0.62,-292.0,508.2,-7.4,193,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2498,3949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3802,-0.64,-292.0,529.5,-7.0,208,3807,0.00,1.88,0.00,0.000,4,0.000,0.059,2725,3693,3947,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3836,-0.65,-292.0,531.3,-6.8,209,3842,0.12,1.77,0.00,0.000,6,0.087,0.033,2654,2492,3946,0,0,0,0,0,0,26.56,26.60,28.83
$GC,4151,-0.63,-292.0,572.5,-13.5,225,4157,0.12,1.90,0.00,0.000,4,0.158,0.058,2686,3686,3943,0,0,0,0,0,0,26.44,26.51,28.83
$GC,4189,-0.61,-292.0,575.8,-13.4,226,4196,0.00,1.77,0.00,0.000,6,0.000,0.032,2686,2506,3943,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4518,-0.60,-292.0,614.3,-11.9,241,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2506,3942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4816,-0.59,-292.0,650.5,-12.0,251,4822,0.00,1.88,0.00,0.000,4,0.000,0.060,2686,3696,3939,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4899,-0.59,-292.0,657.9,-11.7,253,4905,0.00,1.80,0.00,0.000,6,0.000,0.032,2686,2495,3938,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5216,-0.58,-292.0,698.9,-12.2,264,5222,0.00,1.88,0.00,0.000,4,0.000,0.060,2686,3687,3935,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5264,-0.58,-292.0,703.2,-12.2,265,5269,0.00,1.77,0.00,0.000,6,0.000,0.032,2686,2502,3935,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5585,-0.58,-292.0,743.6,-12.0,276,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2502,3933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5882,-0.58,-292.0,780.0,-12.0,286,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2502,3931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6183,-0.58,-292.0,814.2,-11.1,296,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2502,3930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6482,-0.58,-292.0,847.2,-10.9,306,6488,0.00,1.88,0.00,0.000,4,0.000,0.062,2686,3686,3929,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6531,-0.58,-292.0,851.3,-11.0,307,6536,0.00,1.77,0.00,0.000,6,0.000,0.033,2686,2503,3928,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6851,-0.58,-292.0,887.8,-11.0,318,6856,0.00,2.15,0.00,0.000,4,0.000,0.042,2686,1101,3926,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6893,-0.58,-292.0,891.9,-11.0,319,6899,0.00,2.22,0.00,0.000,6,0.000,0.050,2686,2505,3926,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7219,-0.58,-292.0,927.1,-10.6,330,7226,0.00,1.88,0.00,0.000,4,0.000,0.061,2686,3700,3924,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7273,-0.58,-292.0,931.1,-10.7,331,7278,0.00,1.83,0.00,0.000,6,0.000,0.034,2686,2481,3923,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7589,-0.58,-292.0,965.9,-10.6,342,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2475,3922,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7824,begin apogee
$GC,7830,-0.14,0.0,990.9,-10.1,350,8030,0.47,0.00,194.88,1.427,6,0.124,0.000,2845,2655,2967,0,0,0,0,0,0,26.36,28.83,23.65
$STATE,8031,end apogee,CONTROL_FINISHED_OK
$STATE,8031,begin climb
$GC,8034,0.79,292.0,999.4,0.0,356,8300,0.85,1.85,253.95,1.381,4,0.059,0.057,3157,3682,1775,0,0,0,0,0,0,24.67,23.87,23.02
$GC,8353,0.71,292.0,945.8,25.4,367,8359,0.15,1.67,0.00,0.000,6,0.184,0.040,3131,2665,1772,0,0,0,0,0,0,24.56,24.69,28.83
$GC,8675,0.65,292.0,864.7,23.9,378,8680,0.00,2.28,0.00,0.000,4,0.000,0.049,3141,1245,1770,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8732,0.59,292.0,856.1,23.5,379,8739,0.17,2.28,0.00,0.000,6,0.152,0.047,3092,2648,1768,0,0,0,0,0,0,25.71,25.84,28.83
$GC,9041,0.55,292.0,792.3,19.2,390,9046,0.00,1.67,0.00,0.000,4,0.000,0.057,3092,3700,1766,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9098,0.51,292.0,785.1,19.4,391,9106,0.08,1.65,0.00,0.000,6,0.151,0.038,3073,2646,1766,0,0,0,0,0,0,26.00,26.15,28.83
$GC,9408,0.49,292.0,727.5,17.7,402,9413,0.00,2.17,0.00,0.000,4,0.000,0.046,3080,1247,1766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9465,0.47,292.0,720.9,17.8,403,9472,0.00,2.22,0.00,0.000,6,0.000,0.046,3080,2652,1765,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9774,0.44,292.0,659.8,18.9,414,9780,0.12,2.22,0.00,0.000,4,0.168,0.043,3049,1241,1765,0,0,0,0,0,0,26.20,26.30,28.83
$GC,9818,0.41,292.0,653.6,18.4,415,9823,0.00,2.25,0.00,0.000,6,0.000,0.046,3049,2662,1764,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10142,0.40,292.0,603.9,13.8,426,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2663,1764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10444,0.39,292.0,565.9,12.4,440,10450,0.00,2.22,0.00,0.000,4,0.000,0.043,3058,1245,1763,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10511,0.41,305.1,558.2,11.9,443,10528,0.00,2.22,10.70,1.042,6,0.000,0.045,3058,2661,1723,0,0,0,0,0,0,28.83,26.40,25.25
$GC,10828,0.39,305.1,518.0,12.9,459,10829,0.12,0.00,0.00,0.000,6,0.159,0.000,3025,2660,1720,0,0,0,0,0,0,26.20,28.83,28.83
$GC,11128,0.48,374.6,487.9,10.3,474,11197,0.00,2.30,61.75,1.095,4,0.000,0.041,3032,1249,1440,0,0,0,0,0,0,28.83,25.19,24.40
$GC,11297,0.62,469.1,470.9,9.6,482,11385,0.20,2.28,81.72,1.056,6,0.067,0.043,3135,2660,1053,0,0,0,0,0,0,25.70,25.67,24.10
$GC,11696,0.59,469.1,375.8,23.4,502,11702,0.15,2.25,0.00,0.000,4,0.154,0.045,3096,1251,1048,0,0,0,0,0,0,25.77,25.86,28.83
$GC,11829,0.59,469.1,352.5,16.9,508,11835,0.00,2.22,0.00,0.000,6,0.000,0.043,3097,2646,1048,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12144,0.57,469.1,289.2,20.4,524,12149,0.00,2.20,0.00,0.000,4,0.000,0.047,3106,1246,1047,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12236,0.57,469.1,273.4,18.7,528,12241,0.00,2.20,0.00,0.000,6,0.000,0.044,3105,2652,1047,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12550,0.55,469.1,212.8,18.1,544,12556,0.00,2.22,0.00,0.000,4,0.000,0.044,3115,1239,1048,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12665,0.55,469.1,195.6,16.2,549,12671,0.12,2.22,0.00,0.000,6,0.137,0.043,3080,2658,1047,0,0,0,0,0,0,26.21,26.31,28.83
$GC,12979,0.68,552.2,156.1,9.9,565,13063,0.12,2.30,76.82,0.817,4,0.086,0.044,3171,1249,714,0,0,0,0,0,0,26.44,25.25,24.58
$GC,13134,0.67,552.2,130.4,18.4,572,13140,0.20,2.25,0.00,0.000,6,0.129,0.041,3112,2646,703,0,0,0,0,0,0,25.53,25.62,28.83
$GC,13448,0.76,552.2,100.3,13.4,588,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2646,698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13750,0.91,598.3,65.5,10.9,603,13808,0.20,0.00,44.47,0.676,6,0.089,0.000,3192,2646,526,0,0,0,0,1,0,26.20,28.83,24.98
$GC,14110,1.02,629.0,24.1,11.4,632,14123,0.10,1.62,5.97,0.511,4,0.099,0.049,3263,3694,483,0,0,0,0,0,0,26.15,26.01,25.30
$GC,14198,1.19,680.6,13.8,10.8,648,14205,0.00,1.58,0.00,0.000,6,0.000,0.032,3269,2629,482,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,14282,end climb,SURFACE_DEPTH_REACHED
$STATE,14282,begin surface coast
$FINISH,1.1,1.008451
$STATE,14308,end surface coast,CONTROL_FINISHED_OK
$STATE,14308,begin surface
$SM_CCo,14386,0.00,0.000,0,0,480,609.82
$SM_GC,2.10,7.88,0.15,0.00,0.032,0.063,0.000,171,2519,480,-8.46,1.89,609.82,0,0,0,0,0,0,26.15,26.25,28.83
$IRIDIUM_FIX,1844.15,12218.67,270812,151507
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.08
$INTERNAL_PRESSURE,9.22923
$TCM_TEMP,25.20
$XPDR_PINGS,3
$SC_FREEKB,7735424
$24V_AH,23.0,21.035
$10V_AH,10.2,14.159
$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,21.200,107.600,730.275,0.000,0.000,62.896,50.345,172.333,0.750,0.000,16.768,2107.811,9733.230,771.244,1995.437,327.790,0.000,1760.725,0.000,1623.302,0.000,0.541,0.000
$DEVICE_MAMPS,234.090,69.615,1426.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14341.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.608,0.000,0.000,0.000
$MEM,304456
$DATA_FILE_SIZE,23415,669
$CAP_FILE_SIZE,166792,0
$CFSIZE,260165632,191471616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.416,300.0,1
$GPS,270812,200653,1852.145,12216.767,38,1.3,38,-2.1