version: 66.11
glider: 165
mission: 7
dive: 94
start: 8 28 112 8 50 41
data:
$ID,165
$MISSION,7
$DIVE,94
$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,-274508.72
$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,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
$GPS1,280812,084329,1851.619,12220.934,37,1.1,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-74.2
$GPS2,280812,085013,1851.757,12220.847,10,1.8,10,-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,131.1,39599,-15.1,-12.222
$D_GRID,1605
$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,-83.50,0.000,2,0.000,0.000,167,2517,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.79,-292.0,3.1,-5.1,15,157,9.57,2.15,-34.62,0.000,4,0.239,0.052,2636,1144,3961,0,0,0,0,0,0,25.84,26.17,26.47
$GC,387,-0.70,-292.0,111.4,-39.3,41,393,0.12,2.20,0.00,0.000,6,0.195,0.047,2658,2546,3961,0,0,0,0,0,0,26.10,26.27,28.83
$GC,711,-0.64,-292.0,213.1,-27.6,57,716,0.00,2.12,0.00,0.000,4,0.000,0.037,2660,1149,3962,0,0,0,0,0,0,28.83,26.37,28.83
$GC,775,-0.59,-292.0,227.8,-24.3,60,781,0.15,2.20,0.00,0.000,6,0.157,0.049,2698,2551,3962,0,0,0,0,0,0,26.26,26.36,28.83
$GC,1099,-0.57,-292.0,286.0,-16.7,76,1105,0.00,1.77,0.00,0.000,4,0.000,0.057,2698,3696,3962,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1163,-0.55,-292.0,297.1,-17.3,79,1168,0.00,1.70,0.00,0.000,6,0.000,0.030,2698,2542,3962,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1486,-0.53,-292.0,346.0,-14.3,95,1492,0.00,2.10,0.00,0.000,4,0.000,0.040,2698,1146,3962,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1510,-0.51,-292.0,349.2,-13.9,96,1516,0.00,2.22,0.00,0.000,6,0.000,0.049,2698,2562,3962,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1834,-0.50,-292.0,391.8,-13.2,112,1840,0.12,1.73,0.00,0.000,4,0.160,0.057,2738,3687,3962,0,0,0,0,0,0,26.41,26.46,28.83
$GC,1898,-0.50,-292.0,397.7,-10.2,115,1903,0.00,1.67,0.00,0.000,6,0.000,0.031,2738,2549,3962,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2221,-0.51,-292.0,429.2,-10.2,131,2226,0.00,1.80,0.00,0.000,4,0.000,0.057,2738,3689,3961,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2254,-0.53,-292.0,431.4,-10.0,132,2260,0.00,1.67,0.00,0.000,6,0.000,0.031,2738,2547,3959,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2569,-0.55,-292.0,461.2,-9.1,148,2574,0.00,1.80,0.00,0.000,4,0.000,0.057,2738,3688,3958,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2613,-0.57,-292.0,465.3,-9.4,150,2618,0.00,1.70,0.00,0.000,6,0.000,0.031,2738,2534,3957,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2936,-0.59,-292.0,496.3,-9.6,166,2938,0.12,0.00,0.00,0.000,6,0.085,0.000,2668,2534,3954,0,0,0,0,0,0,26.61,28.83,28.83
$GC,3238,-0.57,-292.0,543.5,-16.0,181,3244,0.12,1.83,0.00,0.000,4,0.156,0.057,2700,3687,3950,0,0,0,0,0,0,26.42,26.50,28.83
$GC,3272,-0.55,-292.0,547.1,-15.5,182,3277,0.00,1.67,0.00,0.000,6,0.000,0.031,2700,2551,3950,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3585,-0.55,-292.0,584.6,-11.2,198,3590,0.00,2.08,0.00,0.000,4,0.000,0.041,2700,1159,3947,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3652,-0.55,-292.0,591.2,-10.8,201,3657,0.00,2.20,0.00,0.000,6,0.000,0.050,2700,2556,3949,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3964,-0.55,-292.0,622.0,-9.8,213,3970,0.00,2.15,0.00,0.000,4,0.000,0.039,2700,1156,3944,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4002,-0.55,-292.0,625.7,-9.9,214,4008,0.00,2.20,0.00,0.000,6,0.000,0.050,2700,2551,3944,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4334,-0.55,-292.0,662.3,-11.4,225,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2551,3941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.55,-292.0,695.1,-10.8,235,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2551,3939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4931,-0.55,-292.0,725.8,-9.7,245,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2551,3937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5233,-0.55,-292.0,753.9,-9.6,255,5238,0.00,1.80,0.00,0.000,4,0.000,0.060,2700,3699,3934,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5280,-0.55,-292.0,757.1,-9.6,256,5286,0.00,1.73,0.00,0.000,6,0.000,0.033,2700,2536,3934,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5601,-0.56,-292.0,789.6,-9.9,267,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2529,3932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5899,-0.56,-292.0,819.0,-9.3,277,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2529,3930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6200,-0.57,-292.0,846.9,-9.6,287,6205,0.00,1.83,0.00,0.000,4,0.000,0.061,2700,3687,3928,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6242,-0.58,-292.0,850.4,-9.8,288,6248,0.00,1.70,0.00,0.000,6,0.000,0.034,2700,2549,3928,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6569,-0.59,-292.0,883.5,-10.0,299,6575,0.00,1.85,0.00,0.000,4,0.000,0.061,2700,3708,3926,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6603,-0.60,-292.0,887.1,-9.9,300,6608,0.00,1.75,0.00,0.000,6,0.000,0.034,2700,2540,3925,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6939,-0.61,-292.0,919.3,-9.4,311,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2540,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7237,-0.62,-292.0,944.7,-8.0,321,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2540,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7536,-0.63,-292.0,970.0,-8.5,331,7542,0.00,2.12,0.00,0.000,4,0.000,0.044,2700,1153,3922,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7573,-0.64,-292.0,973.2,-8.6,332,7578,0.00,2.22,0.00,0.000,6,0.000,0.050,2700,2550,3921,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,7784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7784,begin apogee
$GC,7789,-0.14,0.0,993.0,-9.5,339,7989,0.43,0.00,194.38,1.426,6,0.119,0.000,2843,2550,2967,0,0,0,0,0,0,26.36,28.83,23.64
$STATE,7991,end apogee,CONTROL_FINISHED_OK
$STATE,7991,begin climb
$GC,7993,0.79,292.0,1001.9,0.0,345,8260,0.85,2.50,255.00,1.383,4,0.063,0.052,3158,1172,1776,0,0,0,0,0,0,24.65,23.84,22.99
$GC,8283,0.71,292.0,960.0,22.8,355,8290,0.15,2.40,0.00,0.000,6,0.164,0.048,3123,2553,1773,0,0,0,0,0,0,24.26,24.35,28.83
$GC,8606,0.65,292.0,880.0,23.7,366,8611,0.00,1.83,0.00,0.000,4,0.000,0.057,3123,3693,1769,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8713,0.59,292.0,857.3,23.2,369,8719,0.17,1.77,0.00,0.000,6,0.165,0.040,3082,2564,1769,0,0,0,0,0,0,25.72,25.87,28.83
$GC,9034,0.55,292.0,796.3,18.6,380,9040,0.00,2.25,0.00,0.000,4,0.000,0.047,3090,1144,1768,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9062,0.51,292.0,796.3,18.6,380,9070,0.12,2.25,0.00,0.000,6,0.151,0.046,3059,2553,1766,0,0,0,0,0,0,26.00,26.11,28.83
$GC,9370,0.49,292.0,743.4,15.3,391,9375,0.00,1.80,0.00,0.000,4,0.000,0.055,3059,3690,1766,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9484,0.47,292.0,728.2,15.8,394,9490,0.00,1.77,0.00,0.000,6,0.000,0.038,3064,2550,1766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9801,0.44,292.0,674.8,17.8,405,9803,0.12,0.00,0.00,0.000,6,0.175,0.000,3033,2542,1766,0,0,0,0,0,0,26.20,28.83,28.83
$GC,10098,0.44,295.4,636.2,12.1,415,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2542,1766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10400,0.45,310.4,600.0,11.8,425,10417,0.00,0.00,15.82,1.117,6,0.000,0.000,3033,2542,1702,0,0,0,0,0,0,28.83,28.83,25.14
$GC,10718,0.45,310.4,558.9,12.7,441,10723,0.00,2.20,0.00,0.000,4,0.000,0.043,3040,1131,1696,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10746,0.45,310.4,556.0,12.6,442,10752,0.00,2.28,0.00,0.000,6,0.000,0.045,3040,2564,1698,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11065,0.44,310.4,513.0,13.6,458,11071,0.00,1.77,0.00,0.000,4,0.000,0.055,3040,3684,1698,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11134,0.44,310.4,504.1,13.8,461,11140,0.00,1.75,0.00,0.000,6,0.000,0.037,3049,2537,1698,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11453,0.43,310.4,461.8,13.1,477,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2530,1701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11755,0.44,327.6,425.3,11.7,492,11779,0.00,1.92,16.00,1.003,4,0.000,0.055,3049,3706,1632,0,0,0,0,0,0,28.83,26.06,25.22
$GC,11849,0.44,327.6,414.7,12.7,496,11855,0.00,1.77,0.00,0.000,6,0.000,0.036,3056,2551,1630,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12164,0.54,418.9,380.6,9.7,512,12249,0.00,2.35,79.20,1.007,4,0.000,0.044,3066,1146,1258,0,0,0,0,0,0,28.83,25.04,24.30
$GC,12292,0.61,471.6,367.4,10.7,518,12349,0.00,2.30,45.35,0.962,6,0.000,0.043,3066,2556,1042,0,0,0,0,0,0,28.83,25.41,24.22
$GC,12650,0.61,471.6,318.0,14.0,536,12656,0.00,2.25,0.00,0.000,4,0.000,0.044,3074,1145,1039,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12708,0.62,471.6,312.6,12.6,538,12715,0.00,2.25,0.00,0.000,6,0.000,0.041,3075,2564,1038,0,0,0,0,0,0,28.83,25.95,28.83
$GC,13014,0.62,471.6,269.4,16.6,554,13019,0.00,2.25,0.00,0.000,4,0.000,0.044,3083,1140,1038,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13046,0.62,471.6,265.6,16.7,555,13052,0.00,2.22,0.00,0.000,6,0.000,0.041,3083,2553,1038,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13360,0.62,471.6,213.1,16.0,571,13361,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2553,1037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13662,0.82,611.1,177.4,8.3,586,13803,0.17,2.35,127.07,0.812,4,0.070,0.044,3194,1147,484,0,0,0,0,0,0,26.39,24.99,24.34
$GC,13847,0.79,611.1,128.7,26.6,595,13853,0.17,2.28,0.00,0.000,6,0.132,0.041,3146,2550,482,0,0,0,0,0,0,25.31,25.39,28.83
$GC,14171,1.12,845.9,96.4,5.6,611,14173,0.30,0.00,0.00,0.000,6,0.050,0.000,3293,2551,478,0,0,0,0,0,0,26.05,28.83,28.83
$GC,14472,1.06,845.9,6.8,30.1,637,14479,0.17,2.17,0.00,0.000,4,0.158,0.040,3246,1145,479,0,0,0,0,0,0,26.03,26.16,28.83
$STATE,14484,end climb,SURFACE_DEPTH_REACHED
$STATE,14484,begin surface coast
$FINISH,0.8,0.998194
$STATE,14495,end surface coast,CONTROL_FINISHED_OK
$STATE,14495,begin surface
$SM_CCo,14575,0.00,0.000,0,0,478,610.55
$SM_GC,1.46,7.85,2.25,0.00,0.035,0.039,0.000,173,2555,478,-8.42,-0.79,610.55,0,0,0,0,0,0,26.18,26.17,28.83
$IRIDIUM_FIX,1844.15,12216.74,280812,040430
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.54
$INTERNAL_PRESSURE,9.19993
$TCM_TEMP,24.80
$XPDR_PINGS,2
$SC_FREEKB,7733888
$24V_AH,23.0,22.118
$10V_AH,9.8,14.660
$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,20.750,104.925,732.825,0.000,0.000,23.855,40.340,147.987,0.500,0.000,12.743,2007.516,10065.942,749.209,1840.363,312.495,0.000,1708.759,0.000,1533.776,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,61.200,1425.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14521.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.432,0.000,0.000,0.000
$MEM,304464
$DATA_FILE_SIZE,23416,641
$CAP_FILE_SIZE,159157,0
$CFSIZE,260165632,191131648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.217,315.4,1
$GPS,280812,125453,1851.382,12221.605,35,1.9,35,-2.1