version: 66.11
glider: 166
mission: 8
dive: 6
start: 8 11 112 4 48 33
data:
$ID,166
$MISSION,8
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,245
$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,500
$N_FILEKB,4
$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,-26363.895
$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,42
$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,48
$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
$GPS1,110812,044333,1817.318,12250.468,9,3.8,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-62.5
$GPS2,110812,044807,1817.347,12250.423,15,1.7,15,-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,250.5,65257,-14.2,-10.000
$D_GRID,3817
$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,-233.6,0.0,0.0,0,116,0.00,0.00,-95.82,0.000,2,0.000,0.000,155,2256,2594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.64,-233.6,3.2,-2.4,16,159,7.90,1.55,-25.25,0.000,4,0.234,0.076,2203,3237,3764,0,0,0,0,0,0,26.26,26.54,26.89
$GC,304,-0.64,-233.6,40.0,-18.4,42,309,0.00,1.42,0.00,0.000,6,0.000,0.032,2198,2248,3764,0,0,0,0,0,0,28.83,26.68,28.83
$GC,616,-0.64,-233.6,94.1,-15.2,60,622,0.00,1.40,0.00,0.000,4,0.000,0.034,2197,1269,3762,0,0,0,0,0,0,28.83,26.73,28.83
$GC,780,-0.64,-233.6,115.3,-12.2,68,786,0.00,1.45,0.00,0.000,6,0.000,0.041,2192,2244,3762,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1103,-0.64,-233.6,149.1,-10.4,84,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2244,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1405,-0.64,-233.6,172.2,-7.4,99,1410,0.00,1.42,0.00,0.000,4,0.000,0.034,2186,1262,3761,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1463,-0.64,-233.6,175.5,-7.3,101,1469,0.00,1.45,0.00,0.000,6,0.000,0.041,2187,2244,3761,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1768,-0.64,-233.6,203.8,-9.2,117,1774,0.12,1.38,0.00,0.000,4,0.148,0.032,2219,1262,3757,0,0,0,0,0,0,26.73,26.82,28.83
$GC,1802,-0.64,-233.6,205.6,-8.7,118,1807,0.00,1.45,0.00,0.000,6,0.000,0.041,2214,2247,3759,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2115,-0.64,-233.6,226.4,-7.5,134,2120,0.00,1.40,0.00,0.000,4,0.000,0.036,2208,1277,3756,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2348,-0.64,-233.6,246.1,-9.1,145,2354,0.00,1.45,0.00,0.000,6,0.000,0.041,2208,2255,3755,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2662,-0.64,-233.6,276.2,-9.3,161,2667,0.00,1.42,0.00,0.000,4,0.000,0.036,2206,1272,3752,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2895,-0.64,-233.6,294.9,-8.1,172,2900,0.00,1.45,0.00,0.000,6,0.000,0.042,2205,2250,3751,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3208,-0.64,-233.6,322.1,-9.1,188,3213,0.00,1.42,0.00,0.000,4,0.000,0.037,2206,1264,3748,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3401,-0.64,-233.6,339.6,-9.7,197,3406,0.00,1.48,0.00,0.000,6,0.000,0.042,2206,2256,3746,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3714,-0.64,-233.6,367.4,-8.5,213,3719,0.00,1.48,0.00,0.000,4,0.000,0.058,2201,3225,3744,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3818,-0.64,-233.6,376.7,-9.0,218,3823,0.00,1.40,0.00,0.000,6,0.000,0.033,2201,2244,3743,0,0,0,0,0,0,28.83,26.86,28.83
$GC,4141,-0.64,-233.6,407.8,-9.8,234,4147,0.00,1.40,0.00,0.000,4,0.000,0.037,2201,1273,3740,0,0,0,0,0,0,28.83,26.83,28.83
$GC,4255,-0.64,-233.6,418.0,-9.8,239,4260,0.00,1.45,0.00,0.000,6,0.000,0.044,2201,2248,3739,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4568,-0.64,-233.6,449.1,-10.0,255,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2248,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4870,-0.64,-233.6,479.0,-10.0,270,4875,0.00,1.42,0.00,0.000,4,0.000,0.039,2200,1272,3734,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4973,-0.64,-233.6,489.9,-10.4,275,4978,0.00,1.45,0.00,0.000,6,0.000,0.045,2201,2242,3733,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5296,-0.64,-233.6,522.3,-10.2,291,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2242,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5598,-0.64,-233.6,551.6,-9.6,306,5603,0.00,1.42,0.00,0.000,4,0.000,0.041,2201,1272,3727,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5690,-0.64,-233.6,559.4,-9.3,310,5695,0.00,1.48,0.00,0.000,6,0.000,0.046,2201,2251,3726,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6003,-0.64,-233.6,590.2,-9.6,326,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2251,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6313,-0.64,-233.6,620.7,-9.8,338,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2251,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,-0.64,-233.6,651.4,-10.2,348,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2251,3718,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6701,begin apogee
$GC,6706,-0.19,0.0,660.3,-9.9,351,6897,0.40,0.00,185.12,0.957,6,0.070,0.000,2366,2251,2798,0,0,0,0,0,0,26.77,28.83,24.43
$STATE,6899,end apogee,CONTROL_FINISHED_OK
$STATE,6899,begin climb
$GC,6901,0.64,233.6,670.9,0.0,357,7111,0.68,1.67,198.48,0.916,4,0.044,0.042,2646,1233,1840,0,0,0,0,0,0,25.31,25.13,24.41
$GC,7174,0.64,233.6,642.3,18.1,366,7179,0.00,1.50,0.00,0.000,6,0.000,0.048,2646,2207,1831,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7499,0.64,233.6,574.5,19.7,379,7504,0.00,1.50,0.00,0.000,4,0.000,0.062,2646,3188,1828,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7632,0.64,233.6,548.5,21.1,385,7637,0.00,1.48,0.00,0.000,6,0.000,0.039,2653,2199,1828,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7945,0.64,233.6,487.9,18.2,401,7950,0.00,1.50,0.00,0.000,4,0.000,0.061,2653,3182,1826,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7978,0.64,233.6,483.5,18.4,402,7983,0.08,1.45,0.00,0.000,6,0.197,0.039,2631,2204,1826,0,0,0,0,0,0,26.32,26.54,28.83
$GC,8291,0.64,233.6,429.9,16.4,418,8296,0.00,1.48,0.00,0.000,4,0.000,0.046,2636,1224,1824,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8393,0.64,233.6,413.2,16.4,423,8399,0.00,1.50,0.00,0.000,6,0.000,0.050,2636,2205,1826,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8716,0.64,233.6,358.6,17.3,439,8721,0.00,1.52,0.00,0.000,4,0.000,0.063,2636,3209,1823,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8773,0.64,233.6,350.8,17.6,441,8780,0.00,1.50,0.00,0.000,6,0.000,0.040,2643,2195,1823,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9079,0.64,233.6,297.1,15.9,457,9084,0.00,1.50,0.00,0.000,4,0.000,0.060,2643,3183,1822,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9136,0.64,233.6,289.7,16.3,459,9143,0.00,1.45,0.00,0.000,6,0.000,0.039,2651,2199,1822,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9442,0.64,233.6,239.4,15.7,475,9448,0.00,1.45,0.00,0.000,4,0.000,0.044,2658,1218,1822,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9561,0.64,233.6,222.7,16.3,480,9568,0.08,1.50,0.00,0.000,6,0.187,0.049,2635,2207,1821,0,0,0,0,0,0,26.50,26.68,28.83
$GC,9865,0.64,233.6,175.0,14.8,496,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2207,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10167,0.64,233.6,135.0,11.1,511,10173,0.00,1.48,0.00,0.000,4,0.000,0.042,2640,1214,1821,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10234,0.64,241.3,128.8,9.8,514,10239,0.00,1.50,0.00,0.000,6,0.000,0.047,2640,2203,1821,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10552,0.65,269.3,95.7,9.2,530,10573,0.00,1.50,13.57,0.277,4,0.000,0.041,2645,1215,1705,0,0,0,0,0,0,28.83,26.67,26.21
$GC,10801,0.69,356.3,75.5,7.5,542,10842,0.00,1.50,36.70,0.288,6,0.000,0.046,2645,2239,1349,0,0,0,0,0,0,28.83,26.69,26.10
$GC,11151,0.69,356.3,36.8,10.8,565,11157,0.00,1.48,2.00,0.168,4,0.000,0.057,2645,3180,1347,0,0,0,0,0,0,28.83,26.55,26.41
$GC,11215,0.69,356.3,30.0,10.7,571,11222,0.00,1.42,1.70,0.155,6,0.000,0.034,2654,2196,1347,0,0,0,0,0,0,28.83,26.65,26.43
$STATE,11514,end climb,SURFACE_DEPTH_REACHED
$STATE,11514,begin surface coast
$FINISH,1.0,0.995289
$STATE,11561,end surface coast,CONTROL_FINISHED_OK
$STATE,11561,begin surface
$SM_CCo,11578,56.40,0.122,0,0,760,500.17
$SM_GC,1.79,6.55,0.10,56.40,0.047,0.106,0.122,142,2266,760,-7.02,-0.88,500.17,0,0,0,0,0,0,26.69,26.72,26.39
$IRIDIUM_FIX,1810.04,12249.16,110812,040449
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.73
$INTERNAL_PRESSURE,9.63152
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,7767648
$24V_AH,24.4,1.335
$10V_AH,9.8,1.092
$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,15.800,61.625,437.575,56.400,0.000,0.000,0.000,0.000,0.000,0.000,15.759,2082.992,7220.593,565.399,1663.877,181.472,0.000,1458.268,0.000,1614.151,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,106.335,957.015,121.635,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11535.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.707,0.000,0.000,0.000
$MEM,308892
$DATA_FILE_SIZE,23398,634
$CAP_FILE_SIZE,155592,0
$CFSIZE,260165632,253460480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.580, 15.7,1
$GPS,110812,080335,1819.009,12248.558,26,1.0,27,-2.0