version: 66.11
glider: 166
mission: 8
dive: 14
start: 8 12 112 15 54 30
data:
$ID,166
$MISSION,8
$DIVE,14
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,330
$T_MISSION,350
$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,300
$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,-26374.146
$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,2320
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,39
$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
$GPS1,120812,154606,1830.399,12226.788,40,0.8,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-62.2
$GPS2,120812,155401,1830.282,12226.772,17,1.5,17,-2.0
$SPEED_LIMITS,0.173,0.352
$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,238.3,18422,-12.5,-10.000
$D_GRID,958
$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,17,-0.60,-292.0,0.0,0.0,0,89,0.00,0.00,-69.00,0.000,2,0.000,0.000,162,2220,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.60,-292.0,3.3,-5.4,12,159,7.62,1.52,-53.17,0.000,4,0.243,0.075,2116,3181,3962,0,0,0,0,0,0,26.03,26.25,26.55
$GC,388,-0.47,-292.0,88.3,-31.9,44,394,0.17,1.42,0.00,0.000,6,0.158,0.031,2165,2189,3962,0,0,0,0,0,0,26.26,26.43,28.83
$GC,712,-0.48,-292.0,144.3,-11.5,60,717,0.00,1.50,0.00,0.000,4,0.000,0.054,2162,3179,3962,0,0,0,0,0,0,28.83,26.47,28.83
$GC,790,-0.52,-292.0,149.7,-8.9,63,797,0.00,1.40,0.00,0.000,6,0.000,0.030,2160,2203,3962,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1098,-0.58,-292.0,176.5,-8.5,79,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2200,3963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1397,-0.64,-292.0,198.7,-7.3,94,1399,0.12,0.00,0.00,0.000,6,0.088,0.000,2077,2201,3963,0,0,0,0,0,0,26.65,28.83,28.83
$GC,1697,-0.61,-292.0,244.3,-15.6,109,1703,0.12,1.42,0.00,0.000,4,0.159,0.034,2138,1224,3961,0,0,0,0,0,0,26.56,26.66,28.83
$GC,1786,-0.63,-292.0,253.6,-10.7,113,1793,0.00,1.45,0.00,0.000,6,0.000,0.041,2115,2198,3961,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2106,-0.65,-292.0,283.4,-9.1,129,2111,0.00,1.50,0.00,0.000,4,0.000,0.055,2100,3203,3959,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2149,-0.68,-292.0,287.2,-8.9,131,2155,0.00,1.42,0.00,0.000,6,0.000,0.033,2100,2208,3959,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2473,-0.70,-292.0,318.8,-10.5,147,2478,0.00,1.42,0.00,0.000,4,0.000,0.037,2100,1222,3957,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2647,-0.73,-292.0,337.1,-11.1,155,2652,0.00,1.48,0.00,0.000,6,0.000,0.043,2093,2207,3955,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2960,-0.75,-292.0,375.0,-12.1,171,2966,0.00,1.42,0.00,0.000,4,0.000,0.037,2093,1230,3952,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3065,-0.77,-292.0,387.2,-11.7,176,3071,0.00,1.45,0.00,0.000,6,0.000,0.044,2087,2200,3951,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3389,-0.79,-292.0,421.5,-10.3,192,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2200,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3691,-0.81,-292.0,454.6,-12.0,207,3696,0.00,1.50,0.00,0.000,4,0.000,0.058,2080,3204,3945,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3728,-0.83,-292.0,457.7,-12.1,208,3735,0.00,1.45,0.00,0.000,6,0.000,0.036,2079,2205,3945,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4034,-0.85,-292.0,496.7,-12.0,224,4040,0.10,1.40,0.00,0.000,4,0.106,0.037,2019,1220,3942,0,0,0,0,0,0,26.78,26.75,28.83
$GC,4072,-0.85,-292.0,500.0,-12.4,225,4080,0.12,1.48,0.00,0.000,6,0.170,0.046,2044,2198,3942,0,0,0,0,0,0,26.63,26.74,28.83
$GC,4378,-0.84,-292.0,548.0,-14.7,241,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2198,3939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4680,-0.83,-292.0,586.5,-12.5,256,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2198,3936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4978,-0.81,-292.0,622.8,-12.0,268,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2198,3933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5279,-0.80,-292.0,658.8,-12.0,278,5284,0.00,1.45,0.00,0.000,4,0.000,0.042,2044,1221,3931,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5312,-0.80,-292.0,662.8,-11.9,279,5317,0.00,1.50,0.00,0.000,6,0.000,0.048,2039,2201,3931,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5646,-0.79,-292.0,702.0,-11.2,290,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2201,3928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5946,-0.78,-292.0,734.8,-11.3,300,5951,0.12,1.40,0.00,0.000,4,0.177,0.041,2078,1227,3925,0,0,0,0,0,0,26.65,26.76,28.83
$GC,6041,-0.79,-292.0,743.9,-10.0,303,6046,0.00,1.50,0.00,0.000,6,0.000,0.050,2072,2204,3924,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6377,-0.81,-292.0,773.9,-8.9,314,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2204,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6675,-0.83,-292.0,802.2,-9.1,324,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2204,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6974,-0.93,-292.0,812.6,-0.2,334,6980,0.12,1.42,0.00,0.000,4,0.099,0.040,2014,1219,3919,0,0,0,0,0,0,26.76,26.77,28.83
$STATE,7036,end dive,NO_VERTICAL_VELOCITY
$STATE,7036,begin apogee
$GC,7043,-0.19,0.0,812.7,0.0,336,7286,0.68,0.00,231.38,1.324,6,0.096,0.000,2256,2102,2803,0,0,0,0,1,0,26.70,28.83,23.60
$STATE,7288,end apogee,CONTROL_FINISHED_OK
$STATE,7288,begin climb
$GC,7290,0.60,292.0,812.6,0.0,344,7567,0.75,1.73,262.77,1.563,4,0.099,0.061,2505,3086,1611,0,0,0,0,1,0,24.66,24.30,23.39
$GC,7727,0.55,292.0,787.4,11.9,358,7733,0.00,1.52,0.00,0.000,6,0.000,0.040,2512,2098,1612,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8034,0.51,292.0,747.8,11.7,369,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2096,1610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8332,0.46,292.0,713.1,11.6,379,8334,0.15,0.00,0.00,0.000,6,0.169,0.000,2473,2093,1610,0,0,0,0,0,0,26.07,28.83,28.83
$GC,8632,0.48,351.9,685.3,8.6,389,8698,0.00,0.00,58.70,1.419,6,0.000,0.000,2473,2094,1367,0,0,0,0,1,0,28.83,28.83,24.01
$GC,8994,0.51,407.9,656.5,8.7,401,9061,0.00,1.62,55.47,1.385,4,0.000,0.060,2473,3081,1140,0,0,0,0,1,0,28.83,24.81,23.90
$GC,9118,0.52,445.4,645.3,9.1,405,9167,0.00,1.50,39.08,1.287,6,0.000,0.041,2478,2098,986,0,0,0,0,1,0,28.83,25.39,23.85
$GC,9475,0.58,511.1,613.2,8.5,417,9548,0.00,0.00,65.12,1.382,6,0.000,0.000,2478,2097,718,0,0,0,0,1,0,28.83,28.83,23.77
$GC,9846,0.69,666.9,588.0,6.4,432,9933,0.17,0.00,73.97,1.353,6,0.086,0.000,2551,2096,453,0,0,0,0,2,0,25.87,28.83,23.78
$GC,10226,0.66,666.9,543.0,11.8,451,10232,0.00,1.55,1.10,0.265,4,0.000,0.057,2551,3084,453,0,0,0,0,0,0,28.83,25.81,25.63
$GC,10270,0.64,666.9,537.5,11.8,453,10277,0.12,1.52,0.80,0.246,6,0.178,0.040,2529,2070,453,0,0,0,0,0,0,25.79,25.91,25.75
$GC,10596,0.67,695.7,511.4,9.3,469,10598,0.00,0.00,0.52,0.297,6,0.000,0.000,2529,2068,455,0,0,0,0,0,0,28.83,28.83,26.03
$GC,10895,0.73,768.4,483.9,8.3,484,10900,0.00,1.45,0.00,0.000,4,0.000,0.050,2533,1123,456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10939,0.78,847.6,480.2,8.2,486,10946,0.12,1.52,0.75,0.246,6,0.099,0.047,2597,2105,452,0,0,0,0,0,0,26.29,26.32,26.17
$GC,11264,0.71,847.6,421.0,19.6,502,11270,0.15,1.50,0.47,0.243,4,0.173,0.058,2552,3091,453,0,0,0,0,0,0,26.27,26.35,26.26
$GC,11292,0.65,847.6,416.2,19.5,503,11297,0.00,1.50,0.00,0.000,6,0.000,0.040,2558,2065,455,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11611,0.62,847.6,363.5,17.0,519,11618,0.12,1.40,0.22,0.360,4,0.190,0.046,2527,1117,453,0,0,0,0,0,0,26.34,26.43,26.34
$GC,11645,0.60,847.6,359.7,16.6,520,11651,0.00,1.50,0.47,0.312,6,0.000,0.047,2527,2118,455,0,0,0,0,0,0,28.83,26.44,26.32
$GC,11959,0.64,854.6,327.7,9.8,536,11966,0.00,1.48,0.08,1.259,4,0.000,0.045,2532,1121,454,0,0,0,0,0,0,28.83,26.48,26.13
$GC,11998,0.68,854.6,325.2,10.0,537,12005,0.00,1.50,0.10,0.976,6,0.000,0.046,2532,2130,454,0,0,0,0,0,0,28.83,26.49,26.29
$GC,12304,0.76,945.9,295.8,7.9,553,12310,0.00,1.50,0.17,0.612,4,0.000,0.045,2535,1118,453,0,0,0,0,0,0,28.83,26.52,26.41
$GC,12352,0.86,1081.5,292.6,6.9,555,12359,0.17,1.50,0.00,0.000,6,0.079,0.047,2618,2125,456,0,0,0,0,0,0,26.55,26.51,28.83
$GC,12672,0.78,1081.5,220.3,24.4,571,12678,0.15,1.48,0.00,0.000,4,0.173,0.044,2580,1123,456,0,0,0,0,0,0,26.46,26.55,28.83
$GC,12766,0.75,1081.5,206.4,16.5,575,12773,0.00,1.50,0.12,0.803,6,0.000,0.046,2580,2131,455,0,0,0,0,0,0,28.83,26.55,26.44
$GC,13082,0.73,1081.5,159.2,13.0,591,13088,0.00,1.42,0.60,0.273,4,0.000,0.056,2580,3089,452,0,0,0,0,0,0,28.83,26.56,26.48
$GC,13154,0.73,1081.5,150.9,13.0,594,13160,0.00,1.48,0.00,0.000,6,0.000,0.037,2586,2092,457,0,0,0,0,0,0,28.83,26.61,28.83
$GC,13468,0.83,1214.1,124.0,6.9,610,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2090,455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13770,0.96,1214.1,94.2,12.2,625,13777,0.12,1.50,0.55,0.216,4,0.135,0.054,2629,3093,451,0,0,0,0,0,0,26.60,26.61,26.53
$GC,14004,1.10,1214.1,66.6,13.3,636,14011,0.10,1.45,0.43,0.302,6,0.116,0.034,2674,2090,453,0,0,0,0,0,0,26.56,26.68,26.55
$GC,14320,1.24,1214.1,31.4,10.3,660,14327,0.12,1.50,0.30,0.290,4,0.138,0.050,2718,3100,454,0,0,0,0,0,0,26.61,26.64,26.58
$GC,14437,1.29,1232.5,19.9,9.6,676,14444,0.00,1.45,0.73,0.221,6,0.000,0.032,2725,2096,452,0,0,0,0,0,0,28.83,26.70,26.58
$STATE,14565,end climb,SURFACE_DEPTH_REACHED
$STATE,14566,begin surface coast
$FINISH,1.3,1.010920
$STATE,14589,end surface coast,CONTROL_FINISHED_OK
$STATE,14589,begin surface
$SM_CCo,14666,0.00,0.000,0,0,459,574.98
$SM_GC,2.04,6.62,0.17,0.00,0.045,0.076,0.000,142,2225,459,-6.71,-0.85,574.98,0,0,0,0,0,0,26.69,26.69,28.83
$IRIDIUM_FIX,1823.67,12231.41,120812,111101
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.27
$INTERNAL_PRESSURE,9.54363
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,7764576
$24V_AH,23.4,3.627
$10V_AH,9.8,2.306
$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,18.100,68.150,793.925,0.000,0.000,29.370,16.045,219.927,0.000,0.000,19.151,2241.121,9715.960,850.899,2040.824,289.959,0.000,1835.793,0.000,1682.644,0.000,0.541,0.000
$DEVICE_MAMPS,243.270,76.500,1562.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14619.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.166,0.000,0.000,0.000
$MEM,308884
$DATA_FILE_SIZE,26720,705
$CAP_FILE_SIZE,169921,0
$CFSIZE,260165632,252624896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$CURRENT,0.317,352.0,1
$GPS,120812,200005,1830.606,12224.141,30,1.5,30,-2.0