version: 66.11
glider: 165
mission: 7
dive: 73
start: 8 24 112 9 7 53
data:
$ID,165
$MISSION,7
$DIVE,73
$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,-274468.12
$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,43
$R_STBD_OVSHOOT,36
$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
$GPS1,240812,085954,1854.192,12219.018,37,1.7,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-71.9
$GPS2,240812,090725,1854.337,12218.950,14,1.7,14,-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,143.8,23710,-13.1,-8.250
$D_GRID,1755
$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,-194.6,0.0,0.0,0,77,0.00,0.00,-56.78,0.000,2,0.000,0.000,162,2514,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.61,-194.6,3.4,-5.4,10,125,9.90,1.88,-28.62,0.000,4,0.240,0.069,2690,3686,3761,0,0,0,0,0,0,25.89,26.17,26.47
$GC,304,-0.61,-194.6,81.7,-37.2,34,310,0.00,1.77,0.00,0.000,6,0.000,0.033,2689,2499,3762,0,0,0,0,0,0,28.83,26.32,28.83
$GC,628,-0.61,-194.6,180.4,-23.1,50,633,0.00,1.83,0.00,0.000,4,0.000,0.054,2682,3684,3763,0,0,0,0,0,0,28.83,26.39,28.83
$GC,690,-0.61,-194.6,194.6,-22.2,53,696,0.00,1.77,0.00,0.000,6,0.000,0.031,2682,2494,3764,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1013,-0.61,-194.6,258.7,-19.4,69,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2492,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1316,-0.61,-194.6,304.9,-16.0,84,1321,0.00,2.10,0.00,0.000,4,0.000,0.043,2681,1102,3765,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1383,-0.61,-194.6,314.6,-15.0,87,1388,0.00,2.15,0.00,0.000,6,0.000,0.046,2674,2492,3765,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1701,-0.61,-194.6,369.8,-16.5,103,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2492,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2003,-0.61,-194.6,418.4,-16.6,118,2008,0.00,1.85,0.00,0.000,4,0.000,0.059,2671,3687,3763,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2046,-0.61,-194.6,426.3,-17.2,120,2052,0.12,1.77,0.00,0.000,6,0.155,0.030,2704,2481,3762,0,0,0,0,0,0,26.46,26.60,28.83
$GC,2370,-0.61,-194.6,468.0,-11.8,136,2375,0.00,2.08,0.00,0.000,4,0.000,0.041,2705,1106,3759,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2407,-0.61,-194.6,470.8,-11.8,137,2414,0.00,2.17,0.00,0.000,6,0.000,0.048,2700,2501,3759,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2715,-0.61,-194.6,507.5,-11.4,153,2720,0.00,1.83,0.00,0.000,4,0.000,0.058,2692,3690,3757,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2758,-0.61,-194.6,512.7,-11.7,155,2763,0.00,1.75,0.00,0.000,6,0.000,0.031,2692,2509,3756,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3081,-0.61,-194.6,552.2,-12.6,171,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2503,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3383,-0.61,-194.6,586.8,-11.7,186,3388,0.00,2.15,0.00,0.000,4,0.000,0.041,2692,1089,3751,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3430,-0.61,-194.6,592.2,-12.0,188,3436,0.00,2.22,0.00,0.000,6,0.000,0.049,2687,2507,3751,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3751,-0.61,-194.6,630.1,-11.3,200,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2507,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4048,-0.61,-194.6,664.5,-11.2,210,4054,0.00,1.83,0.00,0.000,4,0.000,0.060,2686,3687,3744,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4087,-0.61,-194.6,668.2,-11.1,211,4092,0.00,1.77,0.00,0.000,6,0.000,0.032,2686,2492,3744,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4416,-0.61,-194.6,707.0,-11.9,222,4421,0.00,2.12,0.00,0.000,4,0.000,0.042,2686,1095,3742,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4519,-0.61,-194.6,718.2,-11.9,225,4524,0.00,2.22,0.00,0.000,6,0.000,0.050,2686,2507,3741,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4843,-0.61,-194.6,760.5,-12.7,236,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2507,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5142,-0.61,-194.6,797.2,-12.4,246,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2507,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5443,-0.61,-194.6,836.6,-13.5,256,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2507,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5742,-0.61,-194.6,874.9,-11.7,266,5747,0.00,1.85,0.00,0.000,4,0.000,0.061,2686,3695,3732,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5806,-0.61,-194.6,882.3,-11.9,268,5811,0.00,1.77,0.00,0.000,6,0.000,0.034,2686,2504,3731,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6140,-0.61,-194.6,919.3,-10.9,279,6145,0.00,2.15,0.00,0.000,4,0.000,0.043,2686,1100,3732,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6197,-0.61,-194.6,923.0,-10.8,280,6204,0.00,2.20,0.00,0.000,6,0.000,0.050,2685,2503,3730,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6504,-0.61,-194.6,955.8,-9.4,291,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2503,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6803,-0.61,-194.6,981.5,-8.2,301,6808,0.00,1.85,0.00,0.000,4,0.000,0.061,2680,3693,3726,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6851,-0.61,-194.6,984.4,-8.2,302,6857,0.00,1.80,0.00,0.000,6,0.000,0.034,2680,2486,3725,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,6927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6927,begin apogee
$GC,6932,-0.14,0.0,992.4,-8.6,305,7096,0.50,0.00,154.02,1.434,6,0.131,0.000,2845,2479,2966,0,0,0,0,0,0,26.43,28.83,23.78
$STATE,7098,end apogee,CONTROL_FINISHED_OK
$STATE,7098,begin climb
$GC,7100,0.61,194.6,993.3,0.0,310,7270,0.70,0.00,167.05,1.389,6,0.067,0.000,3101,2479,2173,0,0,0,0,0,0,24.91,28.83,23.53
$GC,7560,0.61,194.6,912.6,20.8,326,7565,0.00,1.98,0.00,0.000,4,0.000,0.057,3101,3686,2165,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7743,0.61,194.6,871.5,22.4,332,7748,0.00,1.83,0.00,0.000,6,0.000,0.038,3109,2525,2164,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8078,0.61,194.6,808.4,18.8,343,8084,0.00,1.88,0.00,0.000,4,0.000,0.056,3109,3688,2163,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8203,0.61,194.6,784.0,19.4,347,8209,0.00,1.88,0.00,0.000,6,0.000,0.038,3118,2475,2161,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8539,0.61,194.6,722.6,18.3,358,8544,0.00,1.92,0.00,0.000,4,0.000,0.055,3118,3688,2161,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8632,0.61,194.6,703.8,19.3,361,8637,0.00,1.85,0.00,0.000,6,0.000,0.039,3126,2487,2161,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8968,0.61,194.6,638.4,20.1,372,8973,0.00,1.92,0.00,0.000,4,0.000,0.055,3126,3690,2159,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9051,0.61,194.6,624.3,20.7,374,9056,0.15,1.83,0.00,0.000,6,0.181,0.039,3095,2501,2159,0,0,0,0,0,0,26.27,26.44,28.83
$GC,9364,0.61,194.6,564.4,17.3,388,9370,0.00,1.90,0.00,0.000,4,0.000,0.056,3095,3690,2159,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9436,0.61,194.6,552.3,18.7,391,9441,0.00,1.83,0.00,0.000,6,0.000,0.038,3102,2500,2158,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9749,0.61,194.6,504.3,13.2,407,9754,0.00,1.88,0.00,0.000,4,0.000,0.056,3103,3688,2158,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9867,0.61,194.6,488.9,15.3,412,9874,0.00,1.83,0.00,0.000,6,0.000,0.038,3111,2488,2158,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10172,0.61,194.6,438.4,15.9,428,10177,0.00,1.92,0.00,0.000,4,0.000,0.054,3111,3697,2157,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10269,0.61,194.6,423.3,18.4,432,10276,0.00,1.83,0.00,0.000,6,0.000,0.038,3120,2504,2157,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10575,0.61,194.6,367.0,17.9,448,10580,0.00,1.85,0.00,0.000,4,0.000,0.054,3120,3687,2157,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10754,0.61,194.6,336.8,18.2,456,10762,0.00,1.83,0.00,0.000,6,0.000,0.037,3129,2482,2157,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11059,0.61,194.6,288.9,13.4,472,11061,0.12,0.00,0.00,0.000,6,0.182,0.000,3097,2474,2157,0,0,0,0,0,0,26.40,28.83,28.83
$GC,11359,0.61,194.6,253.1,12.2,487,11365,0.00,1.90,0.00,0.000,4,0.000,0.054,3098,3691,2157,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11593,0.61,194.6,222.8,13.2,498,11599,0.00,1.80,0.00,0.000,6,0.000,0.036,3104,2499,2157,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11906,0.61,194.6,193.7,9.6,514,11911,0.00,2.15,0.00,0.000,4,0.000,0.043,3114,1085,2157,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12021,0.61,194.6,184.4,8.8,519,12027,0.00,2.20,0.00,0.000,6,0.000,0.044,3114,2504,2156,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12336,0.63,207.6,156.2,7.9,535,12356,0.00,1.90,9.50,0.743,4,0.000,0.054,3114,3691,2120,0,0,0,0,0,0,28.83,26.36,25.56
$GC,12584,0.63,207.6,134.6,8.7,547,12589,0.00,1.80,0.00,0.000,6,0.000,0.034,3123,2489,2117,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12902,0.79,340.8,114.8,4.4,563,13024,0.00,2.28,108.25,0.773,4,0.000,0.042,3133,1106,1577,0,0,0,0,0,0,28.83,25.20,24.53
$GC,13121,0.88,412.0,102.4,6.2,573,13188,0.15,2.22,59.17,0.733,6,0.070,0.041,3237,2507,1285,0,0,0,0,0,0,25.75,25.72,24.53
$GC,13486,0.88,412.0,36.0,18.7,595,13492,0.15,1.83,0.00,0.000,4,0.148,0.047,3189,3691,1285,0,0,0,0,0,0,25.90,25.98,28.83
$GC,13551,0.88,412.0,26.5,14.3,601,13556,0.00,1.80,0.00,0.000,6,0.000,0.033,3195,2502,1282,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13711,0.88,412.0,6.5,12.0,631,13718,0.00,2.15,0.00,0.000,4,0.000,0.041,3205,1095,1284,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,13728,end climb,SURFACE_DEPTH_REACHED
$STATE,13729,begin surface coast
$FINISH,1.7,1.021402
$STATE,13744,end surface coast,CONTROL_FINISHED_OK
$STATE,13745,begin surface
$SM_CCo,13765,16.45,0.054,0,0,1131,450.13
$SM_GC,1.06,7.82,2.25,16.45,0.042,0.041,0.054,168,2508,1131,-8.46,-0.79,450.13,0,0,0,0,0,0,26.17,26.19,26.16
$IRIDIUM_FIX,1848.70,12219.88,240812,040418
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.66
$INTERNAL_PRESSURE,9.27806
$TCM_TEMP,25.70
$XPDR_PINGS,1
$SC_FREEKB,7741952
$24V_AH,23.5,16.845
$10V_AH,9.9,11.707
$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,19.625,101.100,498.000,16.450,0.000,31.284,20.810,184.074,0.250,0.000,17.334,2204.064,9090.164,620.875,2011.241,306.461,0.000,1548.911,0.000,1667.018,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,68.850,1434.375,54.315,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13781.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.576,0.000,0.000,0.000
$MEM,306448
$DATA_FILE_SIZE,23398,637
$CAP_FILE_SIZE,150814,0
$CFSIZE,260165632,193118208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.280,308.7,1
$GPS,240812,125859,1854.485,12218.690,39,1.0,39,-2.1