version: 66.11
glider: 165
mission: 7
dive: 70
start: 8 23 112 20 49 41
data:
$ID,165
$MISSION,7
$DIVE,70
$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,400
$T_MISSION,430
$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,200
$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,-274464.38
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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
$GPS1,230812,203805,1853.919,12217.581,35,1.1,35,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-73.1
$GPS2,230812,204913,1853.997,12217.785,10,1.7,10,-2.1
$SPEED_LIMITS,0.143,0.276
$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,142.1,24723,-13.1,-8.250
$D_GRID,1684
$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,-0.61,-194.6,0.0,0.0,0,88,0.00,0.00,-67.85,0.000,2,0.000,0.000,134,2517,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.61,-194.6,3.1,-3.3,12,140,9.88,1.85,-29.98,0.000,4,0.234,0.071,2690,3686,3762,0,0,0,0,0,0,25.82,26.09,26.39
$GC,368,-0.61,-194.6,104.8,-37.9,38,374,0.00,1.77,0.00,0.000,6,0.000,0.032,2691,2480,3763,0,0,0,0,0,0,28.83,26.28,28.83
$GC,686,-0.61,-194.6,174.7,-23.1,54,692,0.00,2.10,0.00,0.000,4,0.000,0.041,2691,1090,3766,0,0,0,0,0,0,28.83,26.37,28.83
$GC,711,-0.61,-194.6,179.7,-22.8,55,717,0.00,2.20,0.00,0.000,6,0.000,0.047,2691,2500,3765,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1035,-0.61,-194.6,246.6,-22.3,71,1040,0.00,1.83,0.00,0.000,4,0.000,0.056,2677,3691,3765,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1128,-0.61,-194.6,262.2,-18.8,75,1133,0.00,1.75,0.00,0.000,6,0.000,0.030,2677,2488,3763,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1441,-0.61,-194.6,320.1,-16.9,91,1446,0.00,2.08,0.00,0.000,4,0.000,0.041,2677,1106,3765,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1484,-0.61,-194.6,327.1,-16.5,93,1490,0.00,2.17,0.00,0.000,6,0.000,0.048,2674,2498,3764,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1808,-0.61,-194.6,376.7,-15.8,109,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2500,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2111,-0.61,-194.6,422.3,-14.8,124,2117,0.00,1.85,0.00,0.000,4,0.000,0.060,2671,3689,3767,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2139,-0.61,-194.6,426.6,-15.4,125,2145,0.00,1.75,0.00,0.000,6,0.000,0.031,2672,2509,3764,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2457,-0.61,-194.6,474.1,-14.5,141,2462,0.00,2.12,0.00,0.000,4,0.000,0.041,2671,1103,3761,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2543,-0.61,-194.6,485.5,-13.7,145,2550,0.12,2.20,0.00,0.000,6,0.166,0.049,2705,2507,3760,0,0,0,0,0,0,26.46,26.55,28.83
$GC,2863,-0.61,-194.6,521.8,-10.8,161,2868,0.00,1.83,0.00,0.000,4,0.000,0.057,2699,3698,3757,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2909,-0.61,-194.6,526.3,-10.7,163,2915,0.00,1.77,0.00,0.000,6,0.000,0.031,2699,2504,3755,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3228,-0.61,-194.6,562.3,-11.5,179,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2498,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3529,-0.61,-194.6,597.0,-11.7,194,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2498,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3838,-0.61,-194.6,633.1,-11.5,205,3843,0.00,2.15,0.00,0.000,4,0.000,0.042,2699,1087,3747,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3880,-0.61,-194.6,637.0,-11.5,206,3885,0.00,2.22,0.00,0.000,6,0.000,0.049,2699,2507,3747,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4205,-0.61,-194.6,672.5,-10.3,217,4210,0.00,1.85,0.00,0.000,4,0.000,0.058,2691,3696,3743,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4228,-0.61,-194.6,672.5,-10.3,217,4233,0.00,1.80,0.00,0.000,6,0.000,0.032,2691,2482,3743,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4541,-0.61,-194.6,709.5,-11.4,228,4547,0.00,1.90,0.00,0.000,4,0.000,0.058,2687,3692,3740,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4588,-0.61,-194.6,713.3,-11.5,229,4593,0.00,1.77,0.00,0.000,6,0.000,0.033,2686,2487,3739,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4907,-0.61,-194.6,753.8,-12.3,240,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2480,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5206,-0.61,-194.6,792.7,-13.0,250,5211,0.00,2.10,0.00,0.000,4,0.000,0.042,2687,1105,3736,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5229,-0.61,-194.6,792.7,-13.0,250,5235,0.00,2.20,0.00,0.000,6,0.000,0.050,2687,2502,3735,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5543,-0.61,-194.6,836.3,-13.1,261,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2502,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5843,-0.61,-194.6,874.2,-12.4,271,5848,0.00,1.88,0.00,0.000,4,0.000,0.062,2687,3692,3731,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5900,-0.61,-194.6,878.4,-12.3,272,5907,0.00,1.77,0.00,0.000,6,0.000,0.034,2687,2505,3730,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6207,-0.61,-194.6,917.9,-11.9,283,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2498,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6507,-0.61,-194.6,950.4,-10.5,293,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2498,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6807,-0.61,-194.6,978.8,-9.2,303,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2498,3728,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6954,begin apogee
$GC,6960,-0.14,0.0,992.1,-8.8,308,7121,0.50,0.00,154.00,1.440,6,0.132,0.000,2850,2498,2967,0,0,0,0,0,0,26.45,28.83,23.75
$STATE,7123,end apogee,CONTROL_FINISHED_OK
$STATE,7123,begin climb
$GC,7125,0.61,194.6,994.5,0.0,313,7303,0.68,2.10,167.07,1.396,4,0.063,0.060,3102,3693,2172,0,0,0,0,0,0,24.84,24.36,23.47
$GC,7341,0.61,194.6,970.6,16.0,320,7346,0.00,1.92,0.00,0.000,6,0.000,0.040,3110,2521,2169,0,0,0,0,0,0,28.83,24.96,28.83
$GC,7654,0.61,194.6,905.9,19.1,331,7659,0.00,1.92,0.00,0.000,4,0.000,0.057,3110,3691,2164,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7707,0.61,194.6,899.2,19.4,332,7713,0.00,1.88,0.00,0.000,6,0.000,0.040,3118,2486,2164,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8021,0.61,194.6,835.3,19.2,343,8027,0.00,1.95,0.00,0.000,4,0.000,0.057,3118,3697,2162,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8109,0.61,194.6,822.0,20.1,345,8117,0.00,1.88,0.00,0.000,6,0.000,0.041,3127,2485,2161,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8414,0.61,194.6,757.7,19.0,356,8420,0.00,1.95,0.00,0.000,4,0.000,0.057,3128,3694,2161,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8477,0.61,194.6,744.5,20.1,358,8483,0.15,1.85,0.00,0.000,6,0.187,0.040,3098,2505,2160,0,0,0,0,0,0,26.18,26.33,28.83
$GC,8811,0.61,194.6,689.4,16.2,369,8816,0.00,1.90,0.00,0.000,4,0.000,0.057,3097,3688,2159,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9028,0.61,194.6,646.2,20.9,376,9034,0.00,1.83,0.00,0.000,6,0.000,0.039,3104,2498,2159,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9338,0.61,194.6,587.3,18.7,387,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2498,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9639,0.61,194.6,532.9,17.5,402,9645,0.00,1.90,0.00,0.000,4,0.000,0.055,3105,3690,2158,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9702,0.61,194.6,520.4,18.6,405,9708,0.00,1.85,0.00,0.000,6,0.000,0.038,3113,2505,2158,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10026,0.61,194.6,464.5,16.7,421,10031,0.00,1.88,0.00,0.000,4,0.000,0.054,3113,3696,2158,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10164,0.61,194.6,441.8,18.3,427,10170,0.00,1.85,0.00,0.000,6,0.000,0.039,3122,2482,2157,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10470,0.61,194.6,392.3,13.9,443,10475,0.00,1.90,0.00,0.000,4,0.000,0.054,3122,3697,2157,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10675,0.61,194.6,360.4,15.4,453,10681,0.12,1.83,0.00,0.000,6,0.187,0.039,3099,2503,2157,0,0,0,0,0,0,26.37,26.53,28.83
$GC,11000,0.61,194.6,323.9,11.9,469,11005,0.00,1.90,0.00,0.000,4,0.000,0.054,3098,3700,2156,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11016,0.61,194.6,323.9,11.9,469,11024,0.00,1.85,0.00,0.000,6,0.000,0.037,3106,2482,2157,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11322,0.61,194.6,276.9,14.8,485,11328,0.00,1.92,0.00,0.000,4,0.000,0.053,3106,3697,2157,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11557,0.61,194.6,238.8,16.6,496,11562,0.00,1.83,0.00,0.000,6,0.000,0.037,3114,2490,2159,0,0,0,0,0,0,28.83,26.56,28.83
$GC,11869,0.61,194.6,202.7,10.3,512,11874,0.00,1.88,0.00,0.000,4,0.000,0.054,3115,3689,2156,0,0,0,0,0,0,28.83,26.52,28.83
$GC,12103,0.61,194.6,169.1,14.9,523,12108,0.00,1.80,0.00,0.000,6,0.000,0.036,3124,2496,2156,0,0,0,0,0,0,28.83,26.56,28.83
$GC,12416,0.66,229.6,139.8,7.3,539,12451,0.00,1.95,26.65,0.809,4,0.000,0.054,3124,3694,2029,0,0,0,0,0,0,28.83,26.08,25.34
$GC,12682,0.77,321.7,117.7,5.6,552,12765,0.00,1.83,75.03,0.784,6,0.000,0.035,3133,2474,1655,0,0,0,0,0,0,28.83,26.27,24.60
$GC,13083,0.89,420.7,88.8,5.4,572,13172,0.12,2.03,80.97,0.737,4,0.085,0.050,3212,3684,1249,0,0,0,0,0,0,26.10,25.15,24.53
$GC,13353,0.89,420.7,44.2,17.9,586,13360,0.12,1.80,0.00,0.000,6,0.161,0.034,3188,2521,1248,0,0,0,0,0,0,25.74,25.86,28.83
$GC,13508,0.89,420.7,23.9,11.1,602,13514,0.00,2.20,0.00,0.000,4,0.000,0.041,3196,1082,1248,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13563,0.89,420.7,18.8,8.3,612,13571,0.00,2.22,0.00,0.000,6,0.000,0.039,3196,2510,1248,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13725,0.99,501.2,7.1,6.0,643,13767,0.00,0.00,35.65,0.063,6,0.000,0.000,3196,2510,920,0,0,0,0,0,0,28.83,28.83,26.13
$STATE,13772,end climb,SURFACE_DEPTH_REACHED
$STATE,13772,begin surface coast
$FINISH,0.6,0.998726
$STATE,13829,end surface coast,CONTROL_FINISHED_OK
$STATE,13829,begin surface
$SM_CCo,13907,0.00,0.000,0,0,918,502.62
$SM_GC,1.69,7.72,0.00,0.00,0.036,0.000,0.000,159,2512,918,-8.47,0.34,502.62,0,0,0,0,0,0,26.21,28.83,28.83
$IRIDIUM_FIX,1846.42,12216.74,230812,202010
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.69
$INTERNAL_PRESSURE,9.25853
$TCM_TEMP,26.00
$XPDR_PINGS,0
$SC_FREEKB,7743104
$24V_AH,23.5,16.321
$10V_AH,9.9,11.273
$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,19.425,100.500,539.375,0.000,0.000,47.967,92.499,235.265,0.000,0.000,12.792,2238.143,9177.286,631.093,2215.553,311.161,0.000,1606.159,0.000,1728.140,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,71.145,1440.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13867.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.455,0.000,0.000,0.000
$MEM,306480
$DATA_FILE_SIZE,23385,662
$CAP_FILE_SIZE,156154,0
$CFSIZE,260165632,193392640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186,351.9,1
$GPS,240812,004235,1854.180,12218.960,24,1.0,24,-2.1