version: 66.11
glider: 165
mission: 7
dive: 60
start: 8 21 112 12 41 24
data:
$ID,165
$MISSION,7
$DIVE,60
$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,-274451.88
$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,43
$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
$GPS1,210812,122635,1847.657,12210.938,35,1.2,35,-2.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.4
$GPS2,210812,124057,1847.731,12210.728,15,99.0,34,-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,115.9,31056,-13.4,-8.684
$D_GRID,1064
$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,-204.4,0.0,0.0,0,106,0.00,0.00,-85.50,0.000,2,0.000,0.000,115,2514,2687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.63,-204.4,3.6,-9.0,15,147,9.85,2.25,-21.27,0.000,4,0.233,0.055,2693,1095,3809,0,0,0,0,0,0,25.85,26.13,26.39
$GC,375,-0.54,-204.4,103.4,-38.8,39,382,0.15,2.20,0.00,0.000,6,0.190,0.045,2722,2502,3809,0,0,0,0,0,0,26.12,26.26,28.83
$GC,691,-0.49,-204.4,177.9,-17.0,55,696,0.00,1.83,0.00,0.000,4,0.000,0.058,2716,3686,3810,0,0,0,0,0,0,28.83,26.34,28.83
$GC,759,-0.46,-204.4,187.9,-16.1,58,765,0.12,1.77,0.00,0.000,6,0.152,0.036,2749,2496,3810,0,0,0,0,0,0,26.29,26.41,28.83
$GC,1079,-0.46,-204.4,221.0,-11.8,74,1086,0.00,2.10,0.00,0.000,4,0.000,0.043,2749,1102,3810,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1113,-0.45,-204.4,224.2,-12.6,75,1118,0.00,2.17,0.00,0.000,6,0.000,0.047,2749,2499,3811,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1426,-0.45,-204.4,254.9,-9.1,91,1431,0.00,1.85,0.00,0.000,4,0.000,0.057,2747,3693,3810,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1489,-0.45,-204.4,260.9,-9.5,94,1494,0.00,1.77,0.00,0.000,6,0.000,0.032,2747,2490,3809,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1813,-0.45,-204.4,290.0,-8.6,110,1818,0.00,2.08,0.00,0.000,4,0.000,0.041,2747,1103,3807,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1840,-0.45,-204.4,292.2,-9.0,111,1845,0.00,2.17,0.00,0.000,6,0.000,0.047,2742,2498,3806,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2159,-0.45,-204.4,325.5,-11.1,127,2164,0.00,1.83,0.00,0.000,4,0.000,0.058,2740,3689,3804,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2236,-0.45,-204.4,332.7,-11.2,130,2243,0.00,1.75,0.00,0.000,6,0.000,0.031,2739,2508,3803,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2543,-0.45,-204.4,366.2,-9.9,146,2548,0.00,2.12,0.00,0.000,4,0.000,0.041,2740,1102,3800,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2590,-0.45,-204.4,370.7,-10.2,148,2595,0.00,2.20,0.00,0.000,6,0.000,0.047,2743,2510,3799,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2908,-0.45,-204.4,401.6,-9.4,164,2913,0.00,1.83,0.00,0.000,4,0.000,0.058,2740,3687,3796,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2981,-0.45,-204.4,407.2,-9.3,167,2986,0.00,1.77,0.00,0.000,6,0.000,0.032,2740,2490,3795,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3294,-0.45,-204.4,434.3,-7.8,183,3299,0.00,1.90,0.00,0.000,4,0.000,0.059,2740,3689,3792,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3358,-0.45,-204.4,439.0,-7.3,186,3363,0.00,1.77,0.00,0.000,6,0.000,0.032,2739,2503,3792,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3683,-0.45,-204.4,462.2,-7.4,202,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2497,3790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3983,-0.45,-204.4,488.5,-8.6,217,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2497,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4283,-0.45,-204.4,517.0,-9.5,232,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2497,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4583,-0.46,-204.4,546.2,-9.8,247,4588,0.00,1.85,0.00,0.000,4,0.000,0.060,2744,3686,3783,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4682,-0.47,-204.4,554.2,-9.4,251,4689,0.00,1.75,0.00,0.000,6,0.000,0.033,2739,2496,3782,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4987,-0.48,-204.4,583.5,-8.9,267,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2496,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5309,-0.48,-204.4,610.1,-8.0,281,5314,0.00,1.90,0.00,0.000,4,0.000,0.060,2740,3692,3778,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5367,-0.49,-204.4,613.0,-8.0,282,5373,0.00,1.77,0.00,0.000,6,0.000,0.033,2740,2506,3778,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5676,-0.50,-204.4,638.3,-7.8,293,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2498,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5973,-0.51,-204.4,663.3,-8.4,303,5978,0.00,1.88,0.00,0.000,4,0.000,0.061,2739,3686,3775,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6031,-0.52,-204.4,666.1,-8.4,304,6038,0.00,1.77,0.00,0.000,6,0.000,0.034,2740,2486,3774,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6338,-0.53,-204.4,691.4,-7.2,315,6343,0.00,1.92,0.00,0.000,4,0.000,0.060,2739,3695,3771,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6406,-0.54,-204.4,696.2,-7.2,317,6411,0.00,1.77,0.00,0.000,6,0.000,0.034,2737,2506,3771,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6738,-0.55,-204.4,720.3,-7.6,328,6743,0.00,1.88,0.00,0.000,4,0.000,0.061,2739,3696,3770,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6797,-0.56,-204.4,723.1,-7.6,329,6804,0.00,1.80,0.00,0.000,6,0.000,0.034,2739,2487,3769,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7103,-0.57,-204.4,746.9,-7.0,340,7108,0.00,1.92,0.00,0.000,4,0.000,0.061,2739,3692,3767,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7145,-0.58,-204.4,749.1,-6.8,341,7151,0.00,1.77,0.00,0.000,6,0.000,0.034,2739,2505,3769,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7472,-0.59,-204.4,768.1,-5.5,352,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2498,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7770,-0.60,-204.4,787.2,-6.3,362,7776,0.10,1.88,0.00,0.000,4,0.106,0.058,2677,3696,3765,0,0,0,0,0,0,26.66,26.58,28.83
$GC,7854,-0.60,-204.4,793.4,-7.7,364,7859,0.00,1.80,0.00,0.000,6,0.000,0.034,2677,2500,3764,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8169,-0.58,-204.4,829.0,-10.8,375,8174,0.12,2.12,0.00,0.000,4,0.164,0.041,2718,1101,3763,0,0,0,0,0,0,26.51,26.60,28.83
$GC,8227,-0.56,-204.4,832.3,-10.5,376,8234,0.00,2.20,0.00,0.000,6,0.000,0.050,2716,2500,3763,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8533,-0.56,-204.4,858.7,-7.9,387,8538,0.00,1.88,0.00,0.000,4,0.000,0.061,2713,3695,3761,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8591,-0.56,-204.4,861.2,-7.8,388,8599,0.00,1.80,0.00,0.000,6,0.000,0.035,2713,2480,3761,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8896,-0.56,-204.4,885.2,-7.0,399,8901,0.00,1.90,0.00,0.000,4,0.000,0.061,2712,3689,3760,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8939,-0.56,-204.4,887.4,-7.0,400,8944,0.00,1.77,0.00,0.000,6,0.000,0.034,2713,2503,3760,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9264,-0.56,-204.4,910.2,-6.8,411,9270,0.00,1.90,0.00,0.000,4,0.000,0.061,2713,3696,3758,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9312,-0.56,-204.4,912.5,-6.7,412,9317,0.00,1.80,0.00,0.000,6,0.000,0.035,2712,2488,3758,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9632,-0.56,-204.4,932.7,-6.4,423,9638,0.00,1.90,0.00,0.000,4,0.000,0.061,2713,3689,3758,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9685,-0.56,-204.4,935.1,-6.7,424,9690,0.00,1.77,0.00,0.000,6,0.000,0.035,2713,2506,3757,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10001,-0.56,-204.4,958.0,-6.7,435,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2500,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10298,-0.56,-204.4,980.3,-8.0,445,10303,0.00,1.88,0.00,0.000,4,0.000,0.061,2713,3686,3755,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10356,-0.56,-204.4,982.9,-8.0,446,10363,0.00,1.80,0.00,0.000,6,0.000,0.035,2712,2505,3755,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,10419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10419,begin apogee
$GC,10425,-0.14,0.0,990.1,-8.0,449,10597,0.40,0.00,162.25,1.454,6,0.126,0.000,2847,2378,2965,0,0,0,0,0,0,26.49,28.83,23.63
$STATE,10598,end apogee,CONTROL_FINISHED_OK
$STATE,10599,begin climb
$GC,10601,0.63,204.4,995.5,0.0,454,10788,0.70,2.30,176.30,1.411,4,0.065,0.059,3105,3682,2132,0,0,0,0,0,0,24.78,24.21,23.30
$GC,10847,0.56,204.4,963.1,18.9,463,10854,0.15,2.10,0.00,0.000,6,0.181,0.041,3079,2418,2128,0,0,0,0,0,0,24.84,24.96,28.83
$GC,11182,0.50,204.4,899.9,18.5,474,11188,0.00,2.10,0.00,0.000,4,0.000,0.056,3079,3689,2125,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11266,0.44,204.4,887.0,19.4,476,11273,0.17,2.05,0.00,0.000,6,0.173,0.041,3041,2396,2124,0,0,0,0,0,0,25.79,25.92,28.83
$GC,11583,0.41,204.4,835.7,14.2,487,11588,0.00,2.10,0.00,0.000,4,0.000,0.056,3041,3686,2121,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11681,0.37,204.4,821.5,14.7,490,11686,0.00,2.03,0.00,0.000,6,0.000,0.040,3048,2395,2122,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12011,0.33,204.4,776.8,13.5,501,12017,0.12,2.08,0.00,0.000,4,0.183,0.054,3011,3695,2121,0,0,0,0,0,0,26.19,26.27,28.83
$GC,12046,0.30,204.4,772.3,13.4,502,12052,0.00,2.05,0.00,0.000,6,0.000,0.040,3018,2381,2121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12381,0.28,204.4,734.2,11.2,513,12387,0.00,2.12,0.00,0.000,4,0.000,0.056,3023,3696,2121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12471,0.26,204.4,726.4,11.6,515,12478,0.15,2.00,0.00,0.000,6,0.161,0.040,2986,2402,2121,0,0,0,0,0,0,26.27,26.39,28.83
$GC,12777,0.36,288.3,702.2,6.3,526,12854,0.00,2.17,70.95,1.270,4,0.000,0.055,2983,3687,1790,0,0,0,0,0,0,28.83,24.92,24.03
$GC,12943,0.48,382.1,693.1,6.0,531,13036,0.17,2.05,84.05,1.235,6,0.074,0.037,3077,2399,1409,0,0,0,0,0,0,25.55,25.56,23.77
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$STATE,19203,end climb,SURFACE_DEPTH_REACHED
$STATE,19203,begin surface coast
$FINISH,0.4,1.009061
$STATE,19236,end surface coast,CONTROL_FINISHED_OK
$STATE,19236,begin surface
$SM_CCo,19316,0.00,0.000,0,0,480,610.06
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$IRIDIUM_FIX,1841.87,12210.46,210812,121202
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.66
$INTERNAL_PRESSURE,9.2097
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,7746944
$24V_AH,23.3,14.177
$10V_AH,9.9,9.458
$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,20.725,175.975,693.300,0.000,0.000,77.009,100.989,308.220,0.000,0.000,38.323,2898.140,13216.394,839.890,2804.311,408.513,0.000,2108.245,0.000,2164.080,0.000,0.542,0.000
$DEVICE_MAMPS,232.560,69.615,1454.265,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.458,0.000,0.000,0.000
$MEM,306432
$DATA_FILE_SIZE,33382,877
$CAP_FILE_SIZE,224239,0
$CFSIZE,260165632,194408448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.217,297.9,1
$GPS,210812,180436,1847.720,12211.564,34,1.1,34,-2.1