version: 66.11
glider: 166
mission: 8
dive: 5
start: 8 11 112 2 16 49
data:
$ID,166
$MISSION,8
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,120
$T_BOOST,2
$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,120
$T_MISSION,135
$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,240
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52225
$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,-26233.717
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2420
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2803
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147
$AH0_10V,109
$MINV_24V,23
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.057545
$PRESSURE_SLOPE,0.0001160501
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5999999
$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,0.0043150801
$SEABIRD_T_H,0.00063196511
$SEABIRD_T_I,2.3897506e-05
$SEABIRD_T_J,2.561103e-06
$SEABIRD_C_G,-10.001128
$SEABIRD_C_H,1.125791
$SEABIRD_C_I,-0.0024671701
$SEABIRD_C_J,0.00026194067
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,110812,020803,1816.420,12252.437,12,3.0,31,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.9
$GPS2,110812,021601,1816.481,12252.363,11,1.2,11,-2.0
$SPEED_LIMITS,0.173,0.320
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,250.6,69022,-14.2,-10.000
$D_GRID,3826
$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,-0.64,-233.6,0.0,0.0,0,79,0.00,0.00,-59.20,0.000,2,0.000,0.000,139,2246,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.64,-233.6,3.1,-4.4,10,132,8.12,1.55,-36.72,0.000,4,0.240,0.077,2199,3234,3756,0,0,0,0,0,0,26.13,26.46,26.82
$GC,230,-0.64,-233.6,28.7,-18.3,34,238,0.00,1.42,0.00,0.000,6,0.000,0.031,2202,2238,3756,0,0,0,0,0,0,28.83,26.60,28.83
$GC,546,-0.64,-233.6,87.9,-18.3,56,551,0.00,1.38,0.00,0.000,4,0.000,0.034,2199,1272,3756,0,0,0,0,0,0,28.83,26.70,28.83
$GC,689,-0.64,-233.6,106.9,-11.5,63,694,0.00,1.45,0.00,0.000,6,0.000,0.041,2190,2254,3757,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1012,-0.64,-233.6,142.4,-10.4,79,1017,0.00,1.40,0.00,0.000,4,0.000,0.034,2189,1280,3756,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1058,-0.64,-233.6,146.6,-10.0,81,1064,0.05,1.42,0.00,0.000,6,0.129,0.041,2222,2244,3756,0,0,0,0,0,0,26.63,26.75,28.83
$GC,1377,-0.64,-233.6,167.3,-5.9,97,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2244,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1678,-0.64,-233.6,187.6,-8.1,112,1683,0.00,1.40,0.00,0.000,4,0.000,0.035,2228,1279,3756,0,0,0,0,0,0,28.83,26.81,28.83
$GC,1902,-0.64,-233.6,208.8,-9.7,123,1907,0.00,1.45,0.00,0.000,6,0.000,0.041,2226,2257,3756,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2225,-0.64,-233.6,241.4,-10.0,139,2230,0.00,1.42,0.00,0.000,4,0.000,0.036,2225,1277,3756,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2458,-0.64,-233.6,262.9,-9.3,150,2463,0.00,1.45,0.00,0.000,6,0.000,0.042,2226,2254,3755,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2771,-0.64,-233.6,291.6,-9.2,166,2777,0.00,1.42,0.00,0.000,4,0.000,0.036,2226,1272,3754,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2839,-0.64,-233.6,297.7,-9.6,169,2844,0.00,1.45,0.00,0.000,6,0.000,0.042,2225,2255,3753,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3157,-0.64,-233.6,328.1,-9.8,185,3162,0.00,1.40,0.00,0.000,4,0.000,0.037,2225,1276,3752,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3243,-0.64,-233.6,336.8,-10.5,189,3249,0.00,1.45,0.00,0.000,6,0.000,0.043,2225,2253,3752,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,3481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3481,begin apogee
$GC,3486,-0.19,0.0,361.8,-10.2,201,3686,0.32,0.00,187.77,1.180,6,0.062,0.000,2373,2253,2803,0,0,0,0,1,0,26.82,28.83,24.20
$STATE,3687,end apogee,CONTROL_FINISHED_OK
$STATE,3687,begin climb
$GC,3690,0.64,233.6,373.7,0.0,211,3896,0.65,1.60,195.52,0.689,4,0.038,0.038,2658,1237,1843,0,0,0,0,0,0,25.37,25.41,24.82
$GC,4126,0.64,233.6,315.6,17.5,233,4131,0.05,1.48,0.00,0.000,6,0.184,0.043,2632,2204,1835,0,0,0,0,0,0,26.13,26.28,28.83
$GC,4449,0.64,233.6,265.5,15.5,249,4455,0.00,1.45,0.00,0.000,4,0.000,0.039,2637,1234,1833,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4532,0.64,233.6,252.2,15.9,253,4538,0.00,1.45,0.00,0.000,6,0.000,0.044,2637,2201,1832,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4855,0.64,233.6,201.4,15.3,269,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2201,1830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5157,0.64,233.6,160.2,11.3,284,5162,0.00,1.50,0.00,0.000,4,0.000,0.057,2637,3213,1830,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5234,0.64,233.6,152.0,12.4,287,5241,0.00,1.45,0.00,0.000,6,0.000,0.034,2644,2209,1830,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5540,0.64,233.6,116.1,11.5,303,5545,0.00,1.50,0.00,0.000,4,0.000,0.057,2644,3177,1829,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5774,0.66,272.0,90.2,8.9,314,5794,0.00,1.40,15.82,0.276,6,0.000,0.034,2652,2198,1692,0,0,0,0,0,0,28.83,26.79,26.25
$GC,6107,0.69,356.2,64.1,7.6,331,6147,0.00,1.55,34.58,0.264,4,0.000,0.054,2652,3183,1349,0,0,0,0,0,0,28.83,26.50,26.22
$GC,6218,0.69,356.2,53.5,10.7,336,6223,0.00,1.42,0.00,0.000,6,0.000,0.034,2660,2197,1356,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6527,0.69,356.2,18.7,10.2,371,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2196,1356,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6713,end climb,SURFACE_DEPTH_REACHED
$STATE,6713,begin surface coast
$FINISH,0.8,1.003039
$STATE,6751,end surface coast,CONTROL_FINISHED_OK
$STATE,6752,begin surface
$SM_CCo,6768,36.92,0.119,0,0,964,450.13
$SM_GC,2.17,6.45,0.08,36.92,0.044,0.125,0.119,130,2255,964,-7.02,-1.24,450.13,0,0,0,0,0,0,26.74,26.79,26.51
$IRIDIUM_FIX,1807.77,12252.30,110812,000034
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.02
$INTERNAL_PRESSURE,9.72918
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,7768032
$24V_AH,24.2,1.193
$10V_AH,10.1,0.948
$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,15.650,34.950,433.700,36.925,0.000,51.951,32.210,153.915,0.000,0.000,12.458,1370.348,3860.100,487.291,1415.079,182.853,0.000,1124.531,0.000,1100.641,0.000,0.542,0.000
$DEVICE_MAMPS,240.210,125.460,1180.395,119.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6780.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.640,0.000,0.000,0.000
$MEM,309048
$DATA_FILE_SIZE,13432,415
$CAP_FILE_SIZE,93027,0
$CFSIZE,260165632,253595648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.464,  0.2,1
$GPS,110812,041127,1817.174,12250.768,12,2.1,31,-2.0