version: 66.11
glider: 165
mission: 7
dive: 69
start: 8 23 112 16 37 3
data:
$ID,165
$MISSION,7
$DIVE,69
$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,-274463.12
$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,56
$R_STBD_OVSHOOT,28
$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
$GPS1,230812,162829,1852.234,12216.967,35,1.0,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.0
$GPS2,230812,163635,1852.363,12216.938,10,1.3,26,-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,105.5,24001,-13.1,-8.250
$D_GRID,1507
$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,-194.6,0.0,0.0,0,83,0.00,0.00,-62.33,0.000,2,0.000,0.000,157,2473,2379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.61,-194.6,3.1,-6.5,11,130,9.82,1.98,-28.45,0.000,4,0.237,0.071,2690,3691,3762,0,0,0,0,0,0,25.87,26.14,26.45
$GC,138,-0.61,-194.6,17.3,-29.6,19,145,0.00,1.75,0.00,0.000,6,0.000,0.029,2692,2477,3763,0,0,0,0,0,0,28.83,26.25,28.83
$GC,297,-0.61,-194.6,85.4,-39.7,32,303,0.00,2.05,0.00,0.000,4,0.000,0.040,2693,1127,3764,0,0,0,0,0,0,28.83,26.26,28.83
$GC,531,-0.61,-194.6,151.5,-21.0,43,536,0.00,2.12,0.00,0.000,6,0.000,0.047,2687,2501,3765,0,0,0,0,0,0,28.83,26.34,28.83
$GC,845,-0.61,-194.6,214.0,-20.0,59,850,0.00,1.85,0.00,0.000,4,0.000,0.057,2678,3693,3767,0,0,0,0,0,0,28.83,26.41,28.83
$GC,949,-0.61,-194.6,237.0,-22.5,64,954,0.00,1.75,0.00,0.000,6,0.000,0.031,2677,2531,3766,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1273,-0.61,-194.6,297.2,-17.1,80,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2530,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1574,-0.61,-194.6,340.0,-13.6,95,1580,0.00,2.15,0.00,0.000,4,0.000,0.042,2677,1100,3766,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1626,-0.61,-194.6,346.0,-13.8,97,1632,0.00,2.20,0.00,0.000,6,0.000,0.047,2674,2508,3766,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1939,-0.61,-194.6,393.5,-15.3,113,1944,0.00,1.85,0.00,0.000,4,0.000,0.057,2671,3702,3764,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1982,-0.61,-194.6,399.9,-14.9,115,1987,0.12,1.77,0.00,0.000,6,0.157,0.031,2704,2487,3763,0,0,0,0,0,0,26.44,26.57,28.83
$GC,2305,-0.61,-194.6,439.2,-12.1,131,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2487,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2608,-0.61,-194.6,474.6,-11.5,146,2613,0.00,2.08,0.00,0.000,4,0.000,0.041,2705,1112,3759,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2640,-0.61,-194.6,477.6,-11.5,147,2645,0.00,2.17,0.00,0.000,6,0.000,0.049,2700,2501,3759,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2952,-0.61,-194.6,515.3,-12.5,163,2958,0.00,1.85,0.00,0.000,4,0.000,0.059,2692,3691,3755,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3031,-0.61,-194.6,523.0,-12.2,166,3038,0.00,1.77,0.00,0.000,6,0.000,0.031,2692,2514,3754,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3336,-0.61,-194.6,565.2,-13.7,182,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2507,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3660,-0.61,-194.6,609.6,-14.0,197,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2507,3749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3956,-0.61,-194.6,648.7,-12.6,207,3962,0.00,2.15,0.00,0.000,4,0.000,0.043,2692,1102,3746,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3985,-0.61,-194.6,648.7,-12.6,207,3992,0.00,2.17,0.00,0.000,6,0.000,0.049,2687,2501,3745,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4290,-0.61,-194.6,688.7,-11.8,218,4296,0.00,1.88,0.00,0.000,4,0.000,0.061,2686,3698,3740,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4323,-0.61,-194.6,692.5,-11.6,219,4328,0.00,1.77,0.00,0.000,6,0.000,0.034,2686,2487,3742,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4658,-0.61,-194.6,725.4,-9.4,230,4664,0.00,1.92,0.00,0.000,4,0.000,0.060,2686,3693,3739,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4700,-0.61,-194.6,728.7,-9.3,231,4705,0.00,1.77,0.00,0.000,6,0.000,0.033,2686,2504,3739,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5025,-0.61,-194.6,760.1,-9.6,242,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2497,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5323,-0.61,-194.6,789.8,-9.9,252,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2497,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5623,-0.61,-194.6,818.9,-9.6,262,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2497,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5924,-0.61,-194.6,848.7,-9.9,272,5929,0.00,1.90,0.00,0.000,4,0.000,0.062,2686,3690,3731,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5971,-0.61,-194.6,852.0,-9.9,273,5976,0.00,1.77,0.00,0.000,6,0.000,0.033,2686,2504,3730,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6289,-0.61,-194.6,885.7,-10.2,284,6295,0.00,2.12,0.00,0.000,4,0.000,0.042,2686,1102,3729,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6367,-0.61,-194.6,892.2,-10.1,286,6372,0.00,2.22,0.00,0.000,6,0.000,0.050,2686,2509,3728,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6686,-0.61,-194.6,923.5,-9.3,297,6692,0.00,1.83,0.00,0.000,4,0.000,0.061,2686,3687,3726,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6738,-0.61,-194.6,926.9,-9.5,298,6744,0.00,1.80,0.00,0.000,6,0.000,0.034,2686,2497,3725,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7051,-0.61,-194.6,956.8,-8.8,309,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2489,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7352,-0.61,-194.6,983.5,-9.1,319,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2489,3724,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7439,begin apogee
$GC,7444,-0.14,0.0,991.7,-9.1,322,7607,0.50,0.00,154.00,1.444,6,0.131,0.000,2851,2489,2967,0,0,0,0,0,0,26.45,28.83,23.70
$STATE,7609,end apogee,CONTROL_FINISHED_OK
$STATE,7609,begin climb
$GC,7611,0.61,194.6,995.8,0.0,327,7787,0.68,2.15,167.75,1.404,4,0.063,0.059,3102,3686,2172,0,0,0,0,0,0,24.86,24.30,23.41
$GC,7806,0.61,194.6,975.0,14.5,334,7812,0.00,1.95,0.00,0.000,6,0.000,0.039,3110,2524,2170,0,0,0,0,0,0,28.83,24.70,28.83
$GC,8141,0.61,194.6,915.0,17.9,345,8147,0.00,1.92,0.00,0.000,4,0.000,0.057,3110,3694,2165,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8174,0.61,194.6,908.1,18.1,346,8180,0.00,1.92,0.00,0.000,6,0.000,0.041,3119,2480,2164,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8510,0.61,194.6,845.2,19.1,357,8515,0.00,1.95,0.00,0.000,4,0.000,0.054,3119,3688,2163,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8639,0.61,194.6,819.3,20.7,361,8645,0.00,1.85,0.00,0.000,6,0.000,0.039,3127,2500,2162,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8970,0.61,194.6,749.0,21.6,372,8975,0.00,1.90,0.00,0.000,4,0.000,0.056,3127,3693,2161,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9037,0.61,194.6,734.3,22.1,374,9043,0.15,1.85,0.00,0.000,6,0.188,0.040,3096,2498,2161,0,0,0,0,0,0,26.18,26.33,28.83
$GC,9368,0.61,194.6,676.9,16.3,385,9373,0.00,1.92,0.00,0.000,4,0.000,0.057,3097,3696,2160,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9506,0.61,194.6,655.3,17.3,389,9511,0.00,1.85,0.00,0.000,6,0.000,0.040,3104,2494,2160,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9825,0.61,194.6,603.5,14.7,400,9830,0.00,1.92,0.00,0.000,4,0.000,0.055,3104,3698,2159,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9883,0.61,194.6,596.0,16.0,402,9889,0.00,1.85,0.00,0.000,6,0.000,0.040,3112,2496,2159,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10188,0.61,194.6,541.5,17.1,418,10194,0.00,1.92,0.00,0.000,4,0.000,0.057,3113,3701,2158,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10286,0.61,194.6,525.1,19.5,422,10293,0.00,1.85,0.00,0.000,6,0.000,0.039,3122,2495,2158,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10591,0.61,194.6,466.0,18.5,438,10597,0.00,1.90,0.00,0.000,4,0.000,0.054,3121,3696,2158,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10702,0.61,194.6,444.4,21.0,443,10708,0.12,1.85,0.00,0.000,6,0.187,0.040,3099,2484,2158,0,0,0,0,0,0,26.34,26.50,28.83
$GC,11020,0.61,194.6,396.2,13.9,459,11026,0.00,1.92,0.00,0.000,4,0.000,0.056,3099,3690,2157,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11255,0.61,194.6,359.4,17.5,470,11260,0.00,1.83,0.00,0.000,6,0.000,0.038,3106,2488,2158,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11568,0.61,194.6,309.7,13.6,486,11570,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2488,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11870,0.61,194.6,270.0,12.8,501,11875,0.00,1.90,0.00,0.000,4,0.000,0.054,3103,3691,2157,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12104,0.61,194.6,238.7,14.0,512,12109,0.00,1.80,0.00,0.000,6,0.000,0.037,3115,2504,2157,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12418,0.61,194.6,196.4,13.3,528,12424,0.00,1.90,0.00,0.000,4,0.000,0.054,3116,3703,2158,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12651,0.61,194.6,163.2,14.4,539,12656,0.00,1.83,0.00,0.000,6,0.000,0.037,3125,2499,2157,0,0,0,0,0,0,28.83,26.56,28.83
$GC,12964,0.61,194.6,127.4,10.0,555,12969,0.00,1.88,0.00,0.000,4,0.000,0.053,3125,3702,2157,0,0,0,0,0,0,28.83,26.52,28.83
$GC,13198,0.71,276.8,113.2,5.9,566,13269,0.00,1.80,63.78,0.798,6,0.000,0.035,3134,2480,1838,0,0,0,0,0,0,28.83,26.56,24.86
$GC,13570,0.90,426.8,89.5,4.0,585,13704,0.12,2.05,121.80,0.747,4,0.083,0.050,3225,3690,1226,0,0,0,0,0,0,26.14,25.01,24.38
$GC,13817,0.90,426.8,48.0,20.5,597,13825,0.17,1.83,0.00,0.000,6,0.148,0.034,3185,2514,1225,0,0,0,0,0,0,25.56,25.67,28.83
$GC,13972,0.90,426.8,25.9,10.4,613,13978,0.00,2.20,0.00,0.000,4,0.000,0.041,3193,1083,1225,0,0,0,0,0,0,28.83,25.92,28.83
$GC,14043,0.96,472.6,20.8,6.9,625,14075,0.00,2.22,23.73,0.619,6,0.000,0.040,3193,2509,1038,0,0,0,0,0,0,28.83,26.01,25.11
$GC,14231,1.08,570.2,8.3,5.5,660,14275,0.12,0.00,40.70,0.064,2,0.083,0.000,3284,2509,720,0,0,0,0,0,0,26.05,28.83,28.83
$STATE,14275,end climb,SURFACE_DEPTH_REACHED
$STATE,14276,begin surface coast
$FINISH,0.3,1.008692
$STATE,14308,end surface coast,CONTROL_FINISHED_OK
$STATE,14308,begin surface
$SM_CCo,14386,0.00,0.000,0,0,706,554.62
$SM_GC,1.51,8.05,0.00,0.00,0.037,0.000,0.000,159,2509,706,-8.48,0.25,554.62,0,0,0,0,0,0,26.03,28.83,28.83
$IRIDIUM_FIX,1846.42,12216.74,230812,101057
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.32
$INTERNAL_PRESSURE,9.22923
$TCM_TEMP,25.80
$XPDR_PINGS,0
$SC_FREEKB,7743488
$24V_AH,23.4,16.133
$10V_AH,10.0,11.127
$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,19.875,104.400,571.750,0.000,0.000,29.227,18.650,198.835,0.000,0.000,29.385,2283.252,9482.883,660.330,2125.322,310.776,0.000,1649.758,0.000,1754.617,0.000,0.542,0.000
$DEVICE_MAMPS,237.150,71.145,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14348.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.855,0.000,0.000,0.000
$MEM,306444
$DATA_FILE_SIZE,23373,673
$CAP_FILE_SIZE,157734,0
$CFSIZE,260165632,193486848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263,320.4,1
$GPS,230812,203805,1853.919,12217.581,35,1.1,35,-2.1