version: 66.11
glider: 166
mission: 8
dive: 15
start: 8 12 112 20 9 2
data:
$ID,166
$MISSION,8
$DIVE,15
$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,275
$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,-26376.824
$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,58
$R_STBD_OVSHOOT,50
$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
$GPS1,120812,200005,1830.606,12224.141,30,1.5,30,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-61.2
$GPS2,120812,200835,1830.669,12224.119,11,1.1,27,-2.0
$SPEED_LIMITS,0.173,0.340
$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,232.7,13713,-13.2,-10.000
$D_GRID,823
$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,-267.6,0.0,0.0,0,91,0.00,0.00,-70.40,0.000,2,0.000,0.000,188,2229,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.61,-267.6,3.2,-5.1,12,162,7.65,1.48,-54.22,0.000,4,0.246,0.075,2107,3166,3896,0,0,0,0,0,0,26.04,26.26,26.56
$GC,263,-0.49,-267.6,47.0,-32.2,36,271,0.10,1.40,0.00,0.000,6,0.172,0.031,2154,2191,3896,0,0,0,0,0,0,26.21,26.38,28.83
$GC,570,-0.43,-267.6,128.8,-23.2,52,576,0.12,1.50,0.00,0.000,4,0.179,0.049,2174,3166,3896,0,0,0,0,0,0,26.36,26.44,28.83
$GC,728,-0.45,-267.6,146.2,-10.5,59,735,0.00,1.40,0.00,0.000,6,0.000,0.031,2170,2185,3897,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1035,-0.52,-267.6,171.2,-7.5,75,1040,0.00,1.50,0.00,0.000,4,0.000,0.052,2178,3182,3897,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1129,-0.59,-267.6,177.5,-7.5,79,1135,0.08,1.40,0.00,0.000,6,0.050,0.030,2081,2198,3897,0,0,0,0,0,0,26.61,26.63,28.83
$GC,1443,-0.55,-267.6,224.5,-14.0,95,1450,0.17,1.40,0.00,0.000,4,0.149,0.031,2135,1224,3896,0,0,0,0,0,0,26.54,26.65,28.83
$GC,1539,-0.57,-267.6,233.1,-10.1,99,1545,0.00,1.42,0.00,0.000,6,0.000,0.040,2125,2188,3896,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1852,-0.59,-267.6,265.3,-10.1,115,1858,0.00,1.40,0.00,0.000,4,0.000,0.036,2108,1229,3893,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1902,-0.61,-267.6,269.3,-9.6,117,1908,0.00,1.45,0.00,0.000,6,0.000,0.041,2101,2201,3893,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2221,-0.64,-267.6,297.0,-8.3,133,2226,0.00,1.42,0.00,0.000,4,0.000,0.037,2101,1229,3889,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2346,-0.66,-267.6,308.2,-9.3,139,2351,0.00,1.45,0.00,0.000,6,0.000,0.042,2093,2201,3888,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2669,-0.68,-267.6,344.4,-11.0,155,2674,0.00,1.42,0.00,0.000,4,0.000,0.037,2093,1227,3885,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2733,-0.71,-267.6,351.4,-11.1,158,2739,0.00,1.48,0.00,0.000,6,0.000,0.044,2087,2206,3884,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3056,-0.72,-267.6,385.7,-10.5,174,3062,0.00,1.42,0.00,0.000,4,0.000,0.038,2086,1237,3882,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3124,-0.74,-267.6,392.7,-11.0,177,3129,0.00,1.45,0.00,0.000,6,0.000,0.044,2080,2203,3881,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3443,-0.76,-267.6,429.8,-11.6,193,3448,0.00,1.42,0.00,0.000,4,0.000,0.039,2081,1233,3877,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3481,-0.78,-267.6,432.4,-11.5,194,3488,0.00,1.45,0.00,0.000,6,0.000,0.045,2074,2197,3877,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3785,-0.78,-267.6,467.4,-11.1,210,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2197,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4089,-0.78,-267.6,501.1,-11.1,225,4094,0.00,1.42,0.00,0.000,4,0.000,0.039,2074,1232,3872,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4166,-0.79,-267.6,508.6,-11.4,228,4173,0.00,1.48,0.00,0.000,6,0.000,0.047,2067,2206,3871,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4471,-0.79,-267.6,543.7,-11.0,244,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2206,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4773,-0.79,-267.6,575.7,-10.8,259,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2206,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5082,-0.79,-267.6,611.5,-11.7,273,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2206,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5381,-0.79,-267.6,644.9,-11.3,283,5386,0.00,1.42,0.00,0.000,4,0.000,0.043,2066,1241,3860,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5429,-0.80,-267.6,648.5,-11.4,284,5434,0.00,1.45,0.00,0.000,6,0.000,0.049,2060,2195,3860,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5750,-0.83,-267.6,684.9,-9.9,295,5755,0.00,1.42,0.00,0.000,4,0.000,0.041,2060,1233,3858,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5983,-0.96,-267.6,684.9,-0.0,302,5988,0.12,1.48,0.00,0.000,6,0.099,0.052,2011,2198,3856,0,0,0,0,0,0,26.74,26.74,28.83
$STATE,5994,end dive,NO_VERTICAL_VELOCITY
$STATE,5994,begin apogee
$GC,6000,-0.19,0.0,684.8,0.0,303,6224,0.68,0.00,214.27,0.938,6,0.085,0.000,2260,2116,2796,0,0,0,0,0,0,26.70,28.83,24.29
$STATE,6226,end apogee,CONTROL_FINISHED_OK
$STATE,6226,begin climb
$GC,6228,0.61,267.6,684.6,0.0,310,6470,0.73,1.62,230.27,0.899,4,0.093,0.044,2517,1131,1702,0,0,0,0,0,0,25.01,24.81,24.19
$GC,6676,0.58,267.6,649.8,10.5,325,6681,0.00,1.50,0.00,0.000,6,0.000,0.047,2517,2115,1692,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6995,0.54,267.6,612.8,11.4,336,7000,0.00,1.50,0.00,0.000,4,0.000,0.060,2517,3097,1690,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7072,0.50,267.6,604.4,12.3,338,7078,0.15,1.50,0.00,0.000,6,0.173,0.039,2485,2102,1689,0,0,0,0,0,0,26.10,26.22,28.83
$GC,7381,0.52,307.9,573.8,9.0,353,7421,0.00,1.62,28.55,1.042,4,0.000,0.060,2485,3087,1546,0,0,0,0,1,0,28.83,25.74,24.80
$GC,7448,0.51,338.7,568.0,9.2,356,7494,0.00,1.50,33.47,1.179,6,0.000,0.039,2491,2074,1422,0,0,0,0,1,0,28.83,25.86,24.30
$GC,7807,0.53,369.6,533.2,9.2,374,7851,0.00,1.67,31.90,1.167,4,0.000,0.060,2491,3085,1295,0,0,0,0,1,0,28.83,25.37,24.46
$GC,7944,0.53,380.8,521.2,9.7,380,7970,0.00,1.50,14.07,0.803,6,0.000,0.039,2498,2106,1248,0,0,0,0,1,0,28.83,25.78,24.97
$GC,8271,0.54,404.2,490.4,9.4,397,8304,0.00,1.62,23.55,1.034,4,0.000,0.060,2498,3086,1155,0,0,0,0,1,0,28.83,25.60,24.70
$GC,8320,0.54,404.2,486.0,10.3,399,8325,0.00,1.50,0.00,0.000,6,0.000,0.039,2504,2081,1158,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8633,0.54,404.2,454.0,10.4,415,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2080,1158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8935,0.55,436.4,424.7,9.2,430,8978,0.00,1.67,32.42,1.128,4,0.000,0.059,2505,3090,1022,0,0,0,0,1,0,28.83,25.57,24.68
$GC,9047,0.58,469.2,415.2,9.2,435,9090,0.00,1.50,32.90,1.112,6,0.000,0.038,2510,2077,889,0,0,0,0,1,0,28.83,25.83,24.32
$GC,9399,0.63,541.6,385.8,8.2,453,9502,0.00,1.70,80.95,1.223,4,0.000,0.058,2510,3084,594,0,0,0,0,3,0,28.83,24.79,23.94
$GC,9537,0.69,599.7,375.0,8.5,459,9582,0.00,1.52,33.35,1.057,6,0.000,0.037,2510,2095,453,0,0,0,0,1,0,28.83,25.25,24.12
$GC,9883,0.79,688.2,345.9,7.8,477,9889,0.15,1.50,1.98,0.169,4,0.085,0.042,2581,1118,455,0,0,0,0,0,0,25.94,25.92,25.79
$GC,9922,0.87,766.7,343.5,8.0,478,9931,0.00,1.50,2.22,0.302,6,0.000,0.045,2581,2105,456,0,0,0,0,0,0,28.83,25.96,25.23
$GC,10228,0.83,766.7,291.0,17.5,494,10235,0.00,1.55,2.33,0.320,4,0.000,0.047,2588,1120,455,0,0,0,0,0,0,28.83,26.17,25.48
$GC,10267,0.79,766.7,286.9,17.2,495,10274,0.00,1.52,1.62,0.177,6,0.000,0.047,2588,2124,454,0,0,0,0,0,0,28.83,26.20,26.09
$GC,10573,0.75,766.7,227.7,20.1,511,10579,0.10,1.52,1.40,0.164,4,0.184,0.058,2565,3084,454,0,0,0,0,0,0,26.25,26.29,26.22
$GC,10607,0.70,766.7,222.9,20.2,512,10613,0.00,1.48,0.82,0.230,6,0.000,0.037,2570,2099,454,0,0,0,0,0,0,28.83,26.36,26.22
$GC,10921,0.70,766.7,177.1,13.0,528,10926,0.00,1.42,1.23,0.195,4,0.000,0.044,2577,1124,454,0,0,0,0,0,0,28.83,26.41,26.32
$GC,10973,0.70,766.7,171.3,12.9,530,10981,0.08,1.48,0.85,0.184,6,0.126,0.044,2550,2095,453,0,0,0,0,0,0,26.34,26.44,26.32
$GC,11290,0.77,814.7,141.2,8.8,546,11293,0.00,0.00,1.08,0.200,6,0.000,0.000,2551,2096,454,0,0,0,0,0,0,28.83,28.83,26.38
$GC,11589,0.90,879.3,118.9,8.4,561,11596,0.15,1.42,1.12,0.168,4,0.097,0.041,2608,1123,454,0,0,0,0,0,0,26.49,26.52,26.43
$GC,11615,1.03,884.5,115.7,9.9,562,11621,0.15,1.48,0.00,0.000,6,0.160,0.043,2643,2096,456,0,0,0,0,0,0,26.42,26.53,28.83
$GC,11940,1.17,884.5,82.0,10.4,578,11947,0.12,1.42,0.93,0.173,4,0.099,0.040,2693,1120,453,0,0,0,0,0,0,26.54,26.55,26.47
$GC,12176,1.33,931.5,59.0,8.8,589,12183,0.17,1.48,1.00,0.192,6,0.122,0.041,2757,2103,454,0,0,0,0,0,0,26.53,26.59,26.50
$GC,12491,1.33,931.5,28.0,11.5,615,12498,0.00,1.52,2.12,0.145,4,0.000,0.052,2749,3088,455,0,0,0,0,0,0,28.83,26.59,26.53
$STATE,12654,end climb,SURFACE_DEPTH_REACHED
$STATE,12656,begin surface coast
$FINISH,1.2,1.007372
$STATE,12677,end surface coast,CONTROL_FINISHED_OK
$STATE,12677,begin surface
$SM_CCo,12755,0.00,0.000,0,0,461,574.49
$SM_GC,2.11,6.70,1.33,0.00,0.045,0.031,0.000,141,2182,461,-6.71,1.27,574.49,0,0,0,0,0,0,26.64,26.66,28.83
$IRIDIUM_FIX,1823.67,12228.27,120812,151517
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.49
$INTERNAL_PRESSURE,9.53386
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,7764192
$24V_AH,23.9,3.856
$10V_AH,10.0,2.440
$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,17.425,77.225,774.425,0.000,0.000,30.238,43.814,214.318,0.000,0.000,30.026,2123.383,7963.204,803.334,2093.145,279.765,0.000,1830.948,0.000,1694.823,0.000,0.540,0.000
$DEVICE_MAMPS,245.565,94.860,1223.235,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12716.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.541,0.000,0.000,0.000
$MEM,308788
$DATA_FILE_SIZE,23364,649
$CAP_FILE_SIZE,162790,0
$CFSIZE,260165632,252538880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$CURRENT,0.148, 35.7,1
$GPS,120812,234245,1830.071,12222.474,9,2.9,28,-2.0