version: 66.11
glider: 165
mission: 7
dive: 58
start: 8 21 112 1 23 58
data:
$ID,165
$MISSION,7
$DIVE,58
$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,380
$T_MISSION,410
$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,210
$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,-274449.38
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,53
$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
$GPS1,210812,011154,1845.811,12204.989,40,1.2,40,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.1
$GPS2,210812,012331,1845.974,12205.126,12,1.4,12,-2.1
$SPEED_LIMITS,0.150,0.287
$TGT_NAME,MMIDA
$TGT_LATLONG,1845.000,12228.200
$TGT_RADIUS,2000.000
$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,90.1,40505,-13.4,-8.684
$D_GRID,996
$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,-0.63,-204.4,0.0,0.0,0,87,0.00,0.00,-66.70,0.000,2,0.000,0.000,134,2529,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.63,-204.4,3.1,-7.1,12,146,10.00,1.85,-38.45,0.000,4,0.240,0.071,2684,3674,3810,0,0,0,0,0,0,25.84,26.07,26.36
$GC,375,-0.53,-204.4,105.9,-35.6,39,381,0.15,1.77,0.00,0.000,6,0.175,0.033,2722,2490,3810,0,0,0,0,0,0,26.11,26.26,28.83
$GC,690,-0.49,-204.4,163.5,-16.7,55,695,0.00,1.85,0.00,0.000,4,0.000,0.055,2717,3665,3811,0,0,0,0,0,0,28.83,26.34,28.83
$GC,759,-0.46,-204.4,174.4,-17.1,58,765,0.12,1.73,0.00,0.000,6,0.151,0.031,2750,2483,3812,0,0,0,0,0,0,26.29,26.41,28.83
$GC,1079,-0.45,-204.4,209.5,-10.0,74,1085,0.00,2.10,0.00,0.000,4,0.000,0.044,2751,1103,3812,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1142,-0.45,-204.4,215.8,-9.6,77,1149,0.00,2.15,0.00,0.000,6,0.000,0.047,2750,2484,3812,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1467,-0.45,-204.4,244.8,-8.4,93,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2485,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1768,-0.45,-204.4,271.9,-9.5,108,1773,0.00,1.88,0.00,0.000,4,0.000,0.057,2751,3693,3807,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1861,-0.45,-204.4,279.8,-9.5,112,1867,0.00,1.75,0.00,0.000,6,0.000,0.032,2751,2501,3806,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2175,-0.45,-204.4,310.8,-9.9,128,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2494,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2477,-0.45,-204.4,342.5,-10.6,143,2483,0.00,1.88,0.00,0.000,4,0.000,0.058,2751,3686,3801,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2561,-0.46,-204.4,351.0,-9.8,147,2567,0.00,1.75,0.00,0.000,6,0.000,0.032,2751,2486,3800,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2885,-0.47,-204.4,379.9,-9.0,163,2890,0.00,2.08,0.00,0.000,4,0.000,0.042,2750,1104,3797,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2908,-0.48,-204.4,382.0,-9.1,164,2913,0.00,2.20,0.00,0.000,6,0.000,0.048,2750,2503,3797,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3232,-0.49,-204.4,407.6,-7.7,180,3237,0.00,1.85,0.00,0.000,4,0.000,0.059,2750,3691,3794,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3284,-0.50,-204.4,410.9,-7.6,182,3290,0.00,1.75,0.00,0.000,6,0.000,0.033,2750,2493,3794,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3599,-0.51,-204.4,434.6,-7.2,198,3604,0.00,1.90,0.00,0.000,4,0.000,0.059,2750,3691,3793,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3676,-0.52,-204.4,439.0,-7.0,201,3684,0.00,1.80,0.00,0.000,6,0.000,0.033,2750,2483,3792,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3982,-0.54,-204.4,461.7,-7.1,217,3988,0.00,1.90,0.00,0.000,4,0.000,0.060,2748,3687,3790,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4031,-0.55,-204.4,464.8,-7.1,219,4036,0.00,1.75,0.00,0.000,6,0.000,0.033,2750,2509,3789,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4350,-0.56,-204.4,488.5,-7.2,235,4355,0.00,1.88,0.00,0.000,4,0.000,0.060,2751,3690,3787,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4403,-0.57,-204.4,491.5,-7.0,237,4409,0.12,1.77,0.00,0.000,6,0.090,0.033,2679,2487,3787,0,0,0,0,0,0,26.61,26.65,28.83
$GC,4717,-0.54,-204.4,532.5,-12.9,253,4722,0.12,2.10,0.00,0.000,4,0.161,0.040,2718,1105,3785,0,0,0,0,0,0,26.52,26.60,28.83
$GC,4749,-0.51,-204.4,535.3,-12.6,254,4756,0.00,2.20,0.00,0.000,6,0.000,0.048,2715,2506,3784,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5064,-0.50,-204.4,566.4,-9.8,270,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2506,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5366,-0.49,-204.4,598.9,-11.1,285,5372,0.00,1.83,0.00,0.000,4,0.000,0.060,2713,3687,3780,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5424,-0.49,-204.4,603.0,-11.2,287,5431,0.00,1.77,0.00,0.000,6,0.000,0.033,2713,2510,3779,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5731,-0.48,-204.4,637.4,-10.0,298,5733,0.12,0.00,0.00,0.000,6,0.152,0.000,2747,2503,3778,0,0,0,0,0,0,26.53,28.83,28.83
$GC,6032,-0.49,-204.4,655.9,-5.7,308,6038,0.00,1.85,0.00,0.000,4,0.000,0.060,2742,3686,3775,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6075,-0.51,-204.4,658.0,-5.7,309,6081,0.00,1.75,0.00,0.000,6,0.000,0.033,2742,2504,3775,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6402,-0.52,-204.4,680.3,-7.3,320,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2497,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6700,-0.53,-204.4,701.5,-6.8,330,6705,0.00,1.88,0.00,0.000,4,0.000,0.061,2742,3692,3772,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6738,-0.54,-204.4,703.9,-7.0,331,6744,0.00,1.77,0.00,0.000,6,0.000,0.034,2742,2486,3774,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7069,-0.55,-204.4,726.6,-6.5,342,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2479,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7367,-0.56,-204.4,745.6,-6.5,352,7373,0.00,1.92,0.00,0.000,4,0.000,0.061,2742,3693,3768,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7442,-0.58,-204.4,750.2,-6.8,354,7447,0.00,1.77,0.00,0.000,6,0.000,0.034,2742,2505,3768,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7768,-0.59,-204.4,770.6,-5.8,365,7774,0.00,1.90,0.00,0.000,4,0.000,0.060,2743,3698,3767,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7821,-0.61,-204.4,772.8,-6.0,366,7827,0.12,1.77,0.00,0.000,6,0.096,0.034,2672,2497,3766,0,0,0,0,0,0,26.62,26.66,28.83
$GC,8138,-0.58,-204.4,807.8,-11.1,377,8140,0.15,0.00,0.00,0.000,6,0.155,0.000,2712,2489,3765,0,0,0,0,0,0,26.51,28.83,28.83
$GC,8437,-0.57,-204.4,830.5,-7.0,387,8443,0.00,1.90,0.00,0.000,4,0.000,0.061,2712,3687,3764,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8521,-0.57,-204.4,835.2,-7.1,389,8527,0.00,1.75,0.00,0.000,6,0.000,0.034,2712,2505,3763,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8836,-0.57,-204.4,859.6,-7.6,400,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2501,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9136,-0.57,-204.4,883.2,-7.9,410,9141,0.00,1.90,0.00,0.000,4,0.000,0.062,2712,3692,3762,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9183,-0.57,-204.4,885.9,-7.9,411,9188,0.00,1.80,0.00,0.000,6,0.000,0.034,2712,2487,3762,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9502,-0.57,-204.4,911.9,-7.7,422,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2479,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9802,-0.57,-204.4,931.5,-6.2,432,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2480,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10101,-0.57,-204.4,953.5,-7.3,442,10107,0.00,1.90,0.00,0.000,4,0.000,0.063,2712,3686,3759,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10150,-0.57,-204.4,955.6,-7.1,443,10156,0.00,1.77,0.00,0.000,6,0.000,0.034,2712,2506,3759,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10470,-0.57,-204.4,980.0,-8.0,454,10475,0.00,1.90,0.00,0.000,4,0.000,0.062,2712,3693,3758,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10505,-0.58,-204.4,982.1,-7.6,455,10511,0.00,1.83,0.00,0.000,6,0.000,0.036,2712,2480,3758,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,10747,end dive,NO_VERTICAL_VELOCITY
$STATE,10747,begin apogee
$GC,10753,-0.14,0.0,982.1,0.0,463,10925,0.38,0.00,162.27,1.454,6,0.081,0.000,2856,2396,2966,0,0,0,0,0,0,26.58,28.83,23.61
$STATE,10926,end apogee,CONTROL_FINISHED_OK
$STATE,10926,begin climb
$GC,10929,0.63,204.4,981.6,0.0,468,11114,0.70,2.28,175.65,1.408,4,0.067,0.060,3111,3687,2132,0,0,0,0,0,0,24.77,24.19,23.29
$GC,11257,0.56,204.4,937.2,21.7,479,11265,0.15,2.08,0.00,0.000,6,0.177,0.042,3084,2419,2126,0,0,0,0,0,0,25.17,25.29,28.83
$GC,11567,0.51,204.4,874.5,18.5,490,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2419,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11863,0.46,204.4,825.3,16.3,500,11869,0.12,2.05,0.00,0.000,4,0.176,0.054,3046,3687,2122,0,0,0,0,0,0,25.99,26.08,28.83
$GC,11918,0.41,204.4,819.9,16.2,501,11923,0.00,2.00,0.00,0.000,6,0.000,0.039,3053,2394,2122,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12232,0.38,204.4,779.4,11.6,512,12237,0.00,2.10,0.00,0.000,4,0.000,0.056,3053,3687,2119,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12327,0.35,204.4,767.7,12.1,515,12333,0.17,2.03,0.00,0.000,6,0.163,0.040,3014,2397,2121,0,0,0,0,0,0,26.17,26.29,28.83
$GC,12663,0.34,204.4,736.1,9.7,526,12668,0.00,2.08,0.00,0.000,4,0.000,0.056,3014,3693,2121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12793,0.32,204.4,723.6,10.0,530,12798,0.00,2.03,0.00,0.000,6,0.000,0.040,3021,2391,2121,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13123,0.31,204.4,692.9,10.0,541,13129,0.00,2.10,0.00,0.000,4,0.000,0.057,3021,3691,2120,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13197,0.30,204.4,686.0,9.9,543,13203,0.12,2.00,0.00,0.000,6,0.161,0.039,2996,2397,2120,0,0,0,0,0,0,26.32,26.44,28.83
$GC,13522,0.30,204.4,654.2,9.2,554,13527,0.00,2.05,0.00,0.000,4,0.000,0.057,2997,3687,2119,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13550,0.30,204.4,654.2,9.2,554,13557,0.00,2.00,0.00,0.000,6,0.000,0.038,3003,2387,2119,0,0,0,0,0,0,28.83,26.46,28.83
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$STATE,20025,end climb,SURFACE_DEPTH_REACHED
$STATE,20025,begin surface coast
$FINISH,0.5,1.019398
$STATE,20069,end surface coast,CONTROL_FINISHED_OK
$STATE,20069,begin surface
$SM_CCo,20147,0.00,0.000,0,0,827,524.94
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$IRIDIUM_FIX,1839.59,12207.32,210812,010122
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.11
$INTERNAL_PRESSURE,9.23899
$TCM_TEMP,25.10
$XPDR_PINGS,1
$SC_FREEKB,7747712
$24V_AH,23.3,13.675
$10V_AH,9.7,9.092
$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,21.550,158.150,611.650,0.000,0.000,50.933,64.234,264.276,0.250,0.000,14.971,3091.714,13722.600,746.161,2851.635,422.375,0.000,2069.286,0.000,2313.759,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,91.035,1453.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20117.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.530,0.000,0.000,0.000
$MEM,306476
$DATA_FILE_SIZE,33407,919
$CAP_FILE_SIZE,229691,0
$CFSIZE,260165632,194621440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,209.9,1
$GPS,210812,070106,1846.131,12207.600,38,1.2,38,-2.1