version: 66.11
glider: 165
mission: 7
dive: 74
start: 8 24 112 13 6 35
data:
$ID,165
$MISSION,7
$DIVE,74
$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,-274469.47
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,240812,125859,1854.485,12218.690,39,1.0,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-73.0
$GPS2,240812,130606,1854.663,12218.527,10,1.5,15,-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,130.7,24657,-13.1,-8.250
$D_GRID,1811
$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,-194.6,0.0,0.0,0,76,0.00,0.00,-55.45,0.000,2,0.000,0.000,130,2516,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.61,-194.6,3.1,-5.5,10,129,10.00,1.83,-31.08,0.000,4,0.239,0.064,2687,3688,3761,0,0,0,0,0,0,25.82,26.12,26.43
$GC,277,-0.61,-194.6,73.1,-39.8,33,283,0.00,1.77,0.00,0.000,6,0.000,0.032,2688,2500,3763,0,0,0,0,0,0,28.83,26.26,28.83
$GC,595,-0.61,-194.6,173.9,-25.1,49,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2499,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,898,-0.61,-194.6,240.0,-21.3,64,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2499,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1196,-0.61,-194.6,287.8,-16.0,79,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2499,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1498,-0.61,-194.6,334.2,-14.4,94,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2499,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1798,-0.61,-194.6,377.2,-14.4,109,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2499,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2096,-0.61,-194.6,419.3,-13.1,124,2102,0.00,2.12,0.00,0.000,4,0.000,0.044,2685,1102,3765,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2179,-0.61,-194.6,428.9,-11.5,128,2184,0.00,2.20,0.00,0.000,6,0.000,0.047,2686,2506,3764,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2502,-0.61,-194.6,469.4,-13.6,144,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2506,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2805,-0.61,-194.6,510.9,-13.5,159,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2506,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3104,-0.61,-194.6,553.2,-13.3,174,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2506,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3404,-0.61,-194.6,595.0,-14.5,189,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2507,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3712,-0.61,-194.6,639.3,-14.3,200,3717,0.00,1.85,0.00,0.000,4,0.000,0.060,2679,3690,3752,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3758,-0.61,-194.6,644.2,-14.4,201,3764,0.00,1.77,0.00,0.000,6,0.000,0.032,2679,2490,3752,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4077,-0.61,-194.6,689.3,-12.8,212,4083,0.00,2.08,0.00,0.000,4,0.000,0.044,2679,1108,3749,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4135,-0.61,-194.6,693.8,-12.6,213,4142,0.00,2.17,0.00,0.000,6,0.000,0.049,2674,2498,3749,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4442,-0.61,-194.6,734.2,-12.1,224,4447,0.00,2.12,0.00,0.000,4,0.000,0.041,2674,1106,3746,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4464,-0.61,-194.6,734.2,-12.1,224,4469,0.00,2.20,0.00,0.000,6,0.000,0.049,2674,2505,3746,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4777,-0.61,-194.6,770.7,-10.5,235,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2505,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5078,-0.61,-194.6,803.9,-10.9,245,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2505,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5377,-0.61,-194.6,838.2,-11.8,255,5382,0.00,1.83,0.00,0.000,4,0.000,0.060,2673,3686,3739,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5400,-0.61,-194.6,838.2,-11.8,255,5405,0.00,1.77,0.00,0.000,6,0.000,0.033,2674,2488,3738,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5712,-0.61,-194.6,880.6,-12.3,266,5718,0.00,2.10,0.00,0.000,4,0.000,0.042,2673,1107,3736,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5784,-0.61,-194.6,888.0,-12.1,268,5790,0.00,2.20,0.00,0.000,6,0.000,0.050,2674,2504,3736,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6109,-0.61,-194.6,927.3,-11.6,279,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2503,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6408,-0.61,-194.6,962.3,-11.6,289,6414,0.00,1.88,0.00,0.000,4,0.000,0.062,2673,3692,3731,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6457,-0.61,-194.6,966.3,-11.6,290,6463,0.00,1.77,0.00,0.000,6,0.000,0.034,2673,2506,3732,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,6683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6683,begin apogee
$GC,6689,-0.14,0.0,992.9,-10.7,298,6852,0.52,0.00,154.98,1.434,6,0.132,0.000,2846,2497,2967,0,0,0,0,0,0,26.41,28.83,23.77
$STATE,6853,end apogee,CONTROL_FINISHED_OK
$STATE,6853,begin climb
$GC,6855,0.61,194.6,997.3,0.0,303,7027,0.70,0.00,166.95,1.392,6,0.063,0.000,3105,2499,2173,0,0,0,0,0,0,24.87,28.83,23.51
$GC,7316,0.61,194.6,926.5,18.1,319,7322,0.00,1.95,0.00,0.000,4,0.000,0.057,3105,3693,2165,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7470,0.61,194.6,895.1,20.5,324,7475,0.00,1.88,0.00,0.000,6,0.000,0.039,3113,2504,2164,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7805,0.61,194.6,833.9,18.9,335,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2497,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8103,0.61,194.6,774.4,20.3,345,8109,0.00,1.92,0.00,0.000,4,0.000,0.057,3114,3697,2161,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8247,0.61,194.6,746.4,22.4,349,8253,0.00,1.85,0.00,0.000,6,0.000,0.040,3122,2500,2161,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8561,0.61,194.6,682.7,18.0,360,8566,0.00,1.90,0.00,0.000,4,0.000,0.055,3122,3694,2160,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8691,0.61,194.6,657.3,20.5,364,8696,0.12,1.85,0.00,0.000,6,0.190,0.040,3099,2488,2159,0,0,0,0,0,0,26.25,26.41,28.83
$GC,9020,0.61,194.6,607.4,14.5,375,9027,0.00,1.92,0.00,0.000,4,0.000,0.057,3099,3691,2158,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9120,0.61,194.6,593.1,16.3,378,9126,0.00,1.83,0.00,0.000,6,0.000,0.039,3106,2503,2158,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9424,0.61,194.6,538.3,16.7,394,9429,0.00,1.88,0.00,0.000,4,0.000,0.056,3107,3691,2157,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9544,0.61,194.6,519.3,18.7,399,9550,0.00,1.83,0.00,0.000,6,0.000,0.038,3115,2491,2157,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9847,0.61,194.6,464.2,16.6,415,9852,0.00,1.90,0.00,0.000,4,0.000,0.054,3115,3688,2157,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9906,0.61,194.6,456.7,16.8,417,9912,0.00,1.80,0.00,0.000,6,0.000,0.039,3123,2506,2158,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10210,0.61,194.6,401.6,17.0,433,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2506,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10513,0.61,194.6,352.8,15.4,448,10519,0.00,1.88,0.00,0.000,4,0.000,0.055,3124,3693,2156,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10747,0.61,194.6,312.5,18.7,459,10753,0.12,1.83,0.00,0.000,6,0.187,0.038,3100,2499,2156,0,0,0,0,0,0,26.36,26.53,28.83
$GC,11062,0.61,194.6,267.7,12.8,475,11067,0.00,1.90,0.00,0.000,4,0.000,0.054,3100,3696,2156,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11295,0.61,194.6,236.8,14.2,486,11300,0.00,1.80,0.00,0.000,6,0.000,0.037,3108,2493,2156,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11608,0.61,194.6,199.4,11.2,502,11613,0.00,2.12,0.00,0.000,4,0.000,0.044,3118,1102,2156,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11827,0.61,194.6,178.3,9.8,512,11834,0.00,2.17,0.00,0.000,6,0.000,0.044,3118,2505,2155,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12133,0.61,194.6,148.1,8.7,528,12138,0.00,1.80,0.00,0.000,4,0.000,0.054,3118,3685,2156,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12368,0.61,194.6,127.2,9.0,539,12373,0.00,1.75,0.00,0.000,6,0.000,0.034,3127,2505,2156,0,0,0,0,0,0,28.83,26.58,28.83
$GC,12681,0.86,398.7,108.7,2.4,555,12852,0.12,2.30,162.88,0.763,4,0.087,0.044,3231,1093,1341,0,0,0,0,0,0,26.61,25.04,24.41
$GC,12945,0.86,398.7,75.4,14.7,568,12952,0.20,2.25,0.00,0.000,6,0.132,0.041,3174,2501,1339,0,0,0,0,0,0,25.52,25.62,28.83
$GC,13260,0.86,398.7,37.8,11.5,588,13265,0.00,1.85,0.00,0.000,4,0.000,0.050,3174,3691,1339,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13293,0.86,398.7,33.7,12.3,591,13298,0.00,1.83,0.00,0.000,6,0.000,0.033,3179,2480,1339,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13452,0.86,398.7,15.1,10.7,615,13458,0.00,2.10,0.00,0.000,4,0.000,0.041,3189,1097,1339,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13515,0.86,398.7,8.4,9.5,627,13522,0.00,2.17,0.00,0.000,6,0.000,0.041,3189,2502,1339,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,13562,end climb,SURFACE_DEPTH_REACHED
$STATE,13562,begin surface coast
$FINISH,0.9,1.021359
$STATE,13600,end surface coast,CONTROL_FINISHED_OK
$STATE,13600,begin surface
$SM_CCo,13617,22.27,0.053,0,0,1131,450.13
$SM_GC,1.65,7.62,0.00,22.27,0.032,0.000,0.053,173,2503,1131,-8.46,0.08,450.13,0,0,0,0,0,0,26.26,28.83,26.23
$IRIDIUM_FIX,1844.15,12218.67,240812,090910
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.27
$INTERNAL_PRESSURE,9.28782
$TCM_TEMP,25.90
$XPDR_PINGS,1
$SC_FREEKB,7741568
$24V_AH,23.5,17.020
$10V_AH,9.8,11.846
$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,19.425,81.925,484.800,22.275,0.000,28.722,23.328,171.190,0.250,0.000,18.532,2133.098,9128.346,582.681,1934.339,291.758,0.000,1479.374,0.000,1618.643,0.000,0.543,0.000
$DEVICE_MAMPS,238.680,64.260,1433.610,52.785,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13629.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.252,0.000,0.000,0.000
$MEM,306460
$DATA_FILE_SIZE,23404,643
$CAP_FILE_SIZE,143450,0
$CFSIZE,260165632,193040384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.397,308.0,1
$GPS,240812,165506,1855.682,12217.815,26,1.0,26,-2.1