version: 66.11
glider: 166
mission: 8
dive: 8
start: 8 11 112 11 40 2
data:
$ID,166
$MISSION,8
$DIVE,8
$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,-26366.502
$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,31
$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
$GPS1,110812,112839,1820.942,12247.191,9,3.6,29,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-63.8
$GPS2,110812,113936,1821.209,12247.032,38,1.1,38,-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,246.3,57096,-14.2,-10.000
$D_GRID,3889
$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,-59.22,0.000,2,0.000,0.000,133,2250,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.64,-233.6,3.1,-4.9,10,149,8.00,1.40,-50.85,0.000,4,0.235,0.054,2205,1270,3756,0,0,0,0,0,0,25.99,26.33,26.62
$GC,369,-0.64,-233.6,53.4,-19.7,51,374,0.00,1.48,0.00,0.000,6,0.000,0.041,2206,2253,3756,0,0,0,0,0,0,28.83,26.46,28.83
$GC,692,-0.64,-233.6,104.1,-10.6,67,697,0.00,1.42,0.00,0.000,4,0.000,0.034,2207,1277,3756,0,0,0,0,0,0,28.83,26.59,28.83
$GC,734,-0.64,-233.6,108.3,-9.9,69,739,0.00,1.45,0.00,0.000,6,0.000,0.041,2194,2248,3756,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1058,-0.64,-233.6,147.2,-11.8,85,1063,0.00,1.50,0.00,0.000,4,0.000,0.056,2191,3261,3756,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1121,-0.64,-233.6,154.3,-11.2,88,1127,0.00,1.48,0.00,0.000,6,0.000,0.031,2185,2238,3756,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1444,-0.64,-233.6,182.0,-7.4,104,1451,0.12,1.35,0.00,0.000,4,0.142,0.031,2216,1260,3756,0,0,0,0,0,0,26.62,26.72,28.83
$GC,1523,-0.64,-233.6,185.6,-5.9,107,1530,0.00,1.48,0.00,0.000,6,0.000,0.041,2216,2252,3756,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1829,-0.64,-233.6,204.6,-7.8,123,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2253,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2130,-0.64,-233.6,235.1,-10.3,138,2135,0.00,1.42,0.00,0.000,4,0.000,0.037,2212,1278,3755,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2363,-0.64,-233.6,255.8,-8.8,149,2369,0.00,1.45,0.00,0.000,6,0.000,0.042,2211,2251,3754,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2677,-0.64,-233.6,289.0,-11.9,165,2682,0.00,1.42,0.00,0.000,4,0.000,0.036,2214,1276,3753,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2910,-0.64,-233.6,315.3,-11.5,176,2915,0.00,1.45,0.00,0.000,6,0.000,0.043,2214,2248,3752,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3223,-0.64,-233.6,344.6,-8.2,192,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2248,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3525,-0.64,-233.6,370.4,-9.3,207,3530,0.00,1.42,0.00,0.000,4,0.000,0.037,2210,1277,3748,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3622,-0.64,-233.6,378.5,-9.6,211,3629,0.00,1.45,0.00,0.000,6,0.000,0.044,2211,2247,3747,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3928,-0.64,-233.6,408.7,-9.6,227,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2247,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4229,-0.64,-233.6,439.2,-10.6,242,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2247,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4530,-0.64,-233.6,472.1,-11.0,257,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2247,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4829,-0.64,-233.6,502.9,-10.0,272,4834,0.00,1.42,0.00,0.000,4,0.000,0.039,2210,1288,3737,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4906,-0.64,-233.6,509.2,-9.9,275,4912,0.00,1.45,0.00,0.000,6,0.000,0.046,2211,2248,3736,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5212,-0.64,-233.6,540.0,-9.6,291,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2248,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5515,-0.64,-233.6,570.3,-10.3,306,5520,0.00,1.42,0.00,0.000,4,0.000,0.039,2211,1284,3731,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5603,-0.64,-233.6,579.0,-10.1,310,5608,0.00,1.45,0.00,0.000,6,0.000,0.047,2209,2242,3730,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5912,-0.64,-233.6,609.8,-9.7,324,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2242,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6210,-0.64,-233.6,641.1,-11.0,334,6216,0.00,1.42,0.00,0.000,4,0.000,0.041,2210,1282,3724,0,0,0,0,0,0,28.83,26.80,28.83
$GC,6323,-0.64,-233.6,651.7,-11.3,337,6328,0.00,1.48,0.00,0.000,6,0.000,0.048,2216,2253,3724,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,6393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6393,begin apogee
$GC,6398,-0.19,0.0,661.8,-11.1,340,6599,0.38,0.00,186.45,1.501,6,0.076,0.000,2362,2253,2803,0,0,0,0,1,0,26.76,28.83,23.80
$STATE,6600,end apogee,CONTROL_FINISHED_OK
$STATE,6600,begin climb
$GC,6602,0.64,233.6,675.1,0.0,346,6822,0.70,1.60,205.32,1.475,4,0.041,0.060,2646,3182,1849,0,0,0,0,1,0,25.04,24.68,23.75
$GC,6920,0.64,233.6,641.3,19.7,357,6926,0.00,1.50,0.00,0.000,6,0.000,0.037,2653,2206,1849,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7245,0.64,233.6,576.9,18.7,370,7250,0.00,1.52,0.00,0.000,4,0.000,0.060,2653,3193,1848,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7370,0.64,233.6,551.6,20.8,376,7376,0.12,1.50,0.00,0.000,6,0.210,0.039,2632,2160,1848,0,0,0,0,0,0,26.13,26.30,28.83
$GC,7693,0.64,233.6,495.0,17.3,392,7699,0.00,1.58,0.00,0.000,4,0.000,0.060,2630,3183,1846,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7807,0.64,233.6,476.0,18.6,397,7813,0.00,1.48,0.00,0.000,6,0.000,0.040,2636,2195,1846,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8120,0.64,233.6,420.4,16.9,413,8125,0.00,1.50,0.00,0.000,4,0.000,0.060,2636,3180,1845,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8146,0.64,233.6,416.6,16.7,414,8152,0.00,1.45,0.00,0.000,6,0.000,0.039,2643,2200,1845,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8465,0.64,233.6,360.6,18.0,430,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,1844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8767,0.64,233.6,308.2,17.1,445,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,1843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9066,0.64,233.6,258.0,16.3,460,9072,0.00,1.50,0.00,0.000,4,0.000,0.060,2643,3186,1843,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9090,0.64,233.6,253.9,16.1,461,9096,0.00,1.48,0.00,0.000,6,0.000,0.039,2650,2190,1843,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9413,0.64,233.6,208.0,13.1,477,9418,0.00,1.45,0.00,0.000,4,0.000,0.044,2658,1218,1842,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9460,0.64,233.6,202.3,13.2,479,9466,0.12,1.50,0.00,0.000,6,0.195,0.048,2629,2235,1842,0,0,0,0,0,0,26.51,26.66,28.83
$GC,9779,0.64,233.6,155.5,14.0,495,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2234,1842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10081,0.66,285.1,124.9,8.5,510,10128,0.00,1.50,40.08,0.603,4,0.000,0.058,2627,3180,1636,0,0,0,0,0,0,28.83,26.19,25.71
$GC,10357,0.66,285.1,92.5,11.8,523,10365,0.00,1.45,0.00,0.000,6,0.000,0.035,2632,2195,1634,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10663,0.67,304.7,60.1,9.4,539,10678,0.00,1.45,7.40,0.260,4,0.000,0.040,2639,1224,1558,0,0,0,0,0,0,28.83,26.50,26.22
$GC,10747,0.69,359.1,53.2,8.4,543,10776,0.00,1.48,22.02,0.246,6,0.000,0.044,2640,2202,1336,0,0,0,0,0,0,28.83,26.51,26.17
$GC,11080,0.70,371.9,22.6,9.6,576,11094,0.00,1.52,5.38,0.181,4,0.000,0.057,2644,3180,1284,0,0,0,0,0,0,28.83,26.48,26.34
$GC,11193,0.72,422.5,12.1,8.5,597,11218,0.00,1.42,20.00,0.142,6,0.000,0.034,2659,2198,1075,0,0,0,0,0,0,28.83,26.58,26.36
$STATE,11299,end climb,SURFACE_DEPTH_REACHED
$STATE,11299,begin surface coast
$FINISH,1.1,1.020224
$STATE,11336,end surface coast,CONTROL_FINISHED_OK
$STATE,11336,begin surface
$SM_CCo,11354,29.25,0.122,0,0,760,500.17
$SM_GC,2.07,6.50,0.08,29.25,0.038,0.125,0.122,156,2247,760,-7.01,-1.19,500.17,0,0,0,0,0,0,26.56,26.60,26.36
$IRIDIUM_FIX,1814.58,12245.34,110812,111149
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.58
$INTERNAL_PRESSURE,9.61199
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,7766880
$24V_AH,23.8,1.652
$10V_AH,9.8,1.356
$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,15.950,55.775,486.650,29.250,0.000,50.535,95.336,220.105,0.000,0.000,39.368,1969.252,7244.592,571.995,2004.599,254.565,0.000,1438.855,0.000,1512.865,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,125.460,1500.930,122.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11383.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.946,0.000,0.000,0.000
$MEM,308764
$DATA_FILE_SIZE,23410,624
$CAP_FILE_SIZE,137559,0
$CFSIZE,260165632,253292544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.668, 17.5,1
$GPS,110812,145106,1822.769,12245.142,38,0.9,39,-2.0