version: 66.11
glider: 166
mission: 8
dive: 16
start: 8 12 112 23 51 33
data:
$ID,166
$MISSION,8
$DIVE,16
$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,-26378.18
$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,36
$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
$GPS1,120812,234245,1830.071,12222.474,9,2.9,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-63.8
$GPS2,120812,235106,1830.024,12222.612,31,1.8,31,-2.0
$SPEED_LIMITS,0.173,0.340
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,52.9,281778,-13.2,-10.000
$D_GRID,723
$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,-267.6,0.0,0.0,0,73,0.00,0.00,-52.55,0.000,2,0.000,0.000,157,2176,1629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.61,-267.6,3.1,-4.4,9,163,7.68,1.42,-68.82,0.000,4,0.246,0.060,2120,1217,3898,0,0,0,0,0,0,26.03,26.29,26.57
$GC,392,-0.51,-267.6,82.8,-28.5,44,397,0.15,1.48,0.00,0.000,6,0.185,0.043,2151,2195,3897,0,0,0,0,0,0,26.28,26.41,28.83
$GC,715,-0.51,-267.6,137.1,-12.1,60,720,0.00,1.42,0.00,0.000,4,0.000,0.034,2151,1219,3898,0,0,0,0,0,0,28.83,26.53,28.83
$GC,746,-0.51,-267.6,139.1,-10.6,61,753,0.00,1.48,0.00,0.000,6,0.000,0.042,2146,2203,3899,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1062,-0.52,-267.6,167.7,-9.5,77,1067,0.00,1.45,0.00,0.000,4,0.000,0.035,2146,1220,3899,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1161,-0.54,-267.6,176.0,-9.8,81,1168,0.00,1.48,0.00,0.000,6,0.000,0.041,2140,2205,3899,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1466,-0.55,-267.6,212.9,-11.5,97,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2205,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1767,-0.58,-267.6,243.3,-8.8,112,1772,0.00,1.50,0.00,0.000,4,0.000,0.055,2106,3215,3896,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1805,-0.60,-267.6,245.6,-8.9,113,1811,0.00,1.48,0.00,0.000,6,0.000,0.032,2106,2189,3896,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2110,-0.63,-267.6,276.1,-9.5,129,2115,0.00,1.40,0.00,0.000,4,0.000,0.037,2105,1221,3894,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2154,-0.65,-267.6,280.2,-9.5,131,2159,0.00,1.45,0.00,0.000,6,0.000,0.041,2099,2197,3893,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2477,-0.67,-267.6,316.0,-11.2,147,2482,0.00,1.50,0.00,0.000,4,0.000,0.056,2091,3209,3890,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2514,-0.69,-267.6,318.4,-10.9,148,2521,0.00,1.45,0.00,0.000,6,0.000,0.034,2091,2205,3889,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2820,-0.71,-267.6,350.8,-9.9,164,2826,0.00,1.50,0.00,0.000,4,0.000,0.057,2084,3207,3887,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2884,-0.73,-267.6,356.6,-8.9,167,2890,0.00,1.45,0.00,0.000,6,0.000,0.034,2084,2200,3886,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3208,-0.74,-267.6,391.3,-10.9,183,3213,0.00,1.42,0.00,0.000,4,0.000,0.039,2084,1226,3883,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3333,-0.76,-267.6,404.5,-10.7,189,3338,0.00,1.45,0.00,0.000,6,0.000,0.044,2077,2195,3882,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3655,-0.76,-267.6,442.4,-12.1,205,3660,0.00,1.50,0.00,0.000,4,0.000,0.057,2070,3205,3880,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3707,-0.77,-267.6,447.3,-11.4,207,3714,0.00,1.45,0.00,0.000,6,0.000,0.035,2070,2208,3879,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4022,-0.77,-267.6,480.6,-9.8,223,4027,0.00,1.42,0.00,0.000,4,0.000,0.039,2070,1225,3877,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4054,-0.77,-267.6,483.0,-9.9,224,4060,0.00,1.48,0.00,0.000,6,0.000,0.046,2063,2202,3876,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4367,-0.77,-267.6,515.7,-9.8,240,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2202,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4670,-0.77,-267.6,546.2,-10.9,255,4675,0.00,1.45,0.00,0.000,4,0.000,0.041,2062,1223,3872,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4753,-0.77,-267.6,556.5,-12.0,259,4758,0.00,1.48,0.00,0.000,6,0.000,0.047,2056,2198,3871,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5076,-0.77,-267.6,592.5,-10.9,275,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2199,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5396,-0.77,-267.6,629.4,-11.4,287,5401,0.00,1.45,0.00,0.000,4,0.000,0.041,2055,1224,3866,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5489,-0.77,-267.6,640.0,-11.4,290,5495,0.00,1.50,0.00,0.000,6,0.000,0.048,2049,2203,3865,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5824,-0.77,-267.6,677.2,-10.2,301,5830,0.00,1.45,0.00,0.000,4,0.000,0.044,2049,1226,3863,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5867,-0.77,-267.6,681.4,-10.6,302,5873,0.12,1.48,0.00,0.000,6,0.168,0.049,2075,2197,3862,0,0,0,0,0,0,26.65,26.75,28.83
$GC,6195,-0.79,-267.6,711.1,-8.6,313,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2197,3860,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6339,begin apogee
$GC,6345,-0.19,0.0,724.3,-9.0,318,6574,0.52,0.00,217.73,1.300,6,0.126,0.000,2252,2095,2802,0,0,0,0,1,0,26.67,28.83,23.71
$STATE,6576,end apogee,CONTROL_FINISHED_OK
$STATE,6576,begin climb
$GC,6578,0.61,267.6,733.0,0.0,325,6831,0.75,1.65,236.12,1.499,4,0.071,0.060,2520,3079,1710,0,0,0,0,1,0,24.77,24.44,23.57
$GC,6946,0.55,267.6,698.6,12.5,338,6951,0.12,1.52,0.00,0.000,6,0.181,0.038,2499,2075,1711,0,0,0,0,0,0,25.38,25.46,28.83
$GC,7279,0.52,267.6,660.3,10.7,349,7285,0.00,1.60,0.00,0.000,4,0.000,0.059,2499,3076,1710,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7337,0.48,267.6,656.6,10.8,350,7344,0.00,1.48,0.00,0.000,6,0.000,0.039,2504,2101,1710,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7645,0.46,286.7,624.0,9.5,361,7673,0.15,0.00,19.75,1.037,6,0.167,0.000,2464,2096,1633,0,0,0,0,1,0,26.17,28.83,24.91
$GC,7974,0.50,387.9,600.4,7.5,372,8082,0.00,1.65,96.55,1.418,4,0.000,0.057,2463,3088,1220,0,0,0,0,1,0,28.83,24.70,23.82
$GC,8125,0.52,455.7,588.4,8.3,379,8202,0.00,1.50,65.40,1.340,6,0.000,0.037,2467,2100,943,0,0,0,0,1,0,28.83,25.30,23.75
$GC,8520,0.63,605.8,558.1,6.2,399,8656,0.12,1.58,122.22,1.166,4,0.096,0.044,2544,1123,452,0,0,0,0,1,0,25.93,24.60,23.73
$GC,8684,0.63,625.7,542.3,9.5,407,8690,0.00,1.55,0.90,0.252,6,0.000,0.045,2541,2100,453,0,0,0,0,0,0,28.83,25.10,24.92
$GC,9008,0.63,625.7,506.0,12.0,423,9013,0.00,1.52,0.85,0.240,4,0.000,0.057,2544,3088,453,0,0,0,0,0,0,28.83,25.93,25.84
$GC,9040,0.63,625.7,503.1,12.2,424,9047,0.00,1.50,0.73,0.250,6,0.000,0.038,2551,2071,452,0,0,0,0,0,0,28.83,26.01,25.86
$GC,9355,0.63,625.7,458.6,13.8,440,9361,0.00,1.58,0.77,0.244,4,0.000,0.057,2551,3089,452,0,0,0,0,0,0,28.83,26.18,26.10
$GC,9388,0.62,625.7,455.4,13.5,441,9394,0.15,1.50,0.00,0.000,6,0.168,0.038,2519,2065,455,0,0,0,0,0,0,26.13,26.25,28.83
$GC,9702,0.71,740.1,427.7,7.1,457,9708,0.00,1.40,0.08,1.216,4,0.000,0.046,2524,1113,454,0,0,0,0,0,0,28.83,26.34,26.05
$GC,9741,0.81,860.8,425.9,7.0,458,9749,0.17,1.50,0.28,0.417,6,0.081,0.045,2611,2114,453,0,0,0,0,0,0,26.36,26.36,26.25
$GC,10047,0.72,860.8,361.4,21.4,474,10053,0.17,1.48,0.80,0.201,4,0.175,0.057,2553,3088,451,0,0,0,0,0,0,26.31,26.40,26.32
$GC,10101,0.65,860.8,353.2,20.0,476,10106,0.00,1.48,0.00,0.000,6,0.000,0.037,2559,2099,455,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10414,0.64,860.8,307.8,14.5,492,10420,0.12,1.52,0.32,0.292,4,0.178,0.055,2521,3095,452,0,0,0,0,0,0,26.40,26.46,26.39
$GC,10467,0.64,860.8,302.9,12.5,494,10474,0.00,1.50,0.00,0.000,6,0.000,0.037,2526,2056,455,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10782,0.69,860.8,269.6,10.7,510,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2056,456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11083,0.77,913.4,245.8,8.7,525,11091,0.12,1.35,0.22,0.356,4,0.094,0.041,2591,1125,452,0,0,0,0,0,0,26.57,26.57,26.47
$GC,11109,0.83,936.6,242.7,9.4,526,11115,0.00,1.48,0.00,0.000,6,0.000,0.044,2591,2100,455,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11433,0.79,936.6,184.4,16.4,542,11439,0.00,1.48,0.60,0.269,4,0.000,0.054,2591,3091,451,0,0,0,0,0,0,28.83,26.57,26.48
$GC,11547,0.74,936.6,166.3,17.5,547,11554,0.10,1.45,0.25,0.332,6,0.145,0.034,2565,2101,452,0,0,0,0,0,0,26.50,26.63,26.50
$GC,11862,0.81,985.7,128.5,8.8,563,11867,0.00,1.50,0.00,0.000,4,0.000,0.054,2565,3103,456,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11929,0.89,1089.6,123.8,7.4,566,11936,0.12,1.48,0.10,0.931,6,0.093,0.034,2639,2088,453,0,0,0,0,0,0,26.62,26.66,26.41
$GC,12250,0.94,1167.6,88.2,8.0,582,12256,0.00,1.40,0.08,1.268,4,0.000,0.038,2646,1113,452,0,0,0,0,0,0,28.83,26.65,26.30
$GC,12357,1.01,1249.4,79.6,7.9,587,12362,0.00,1.48,0.00,0.000,6,0.000,0.041,2646,2097,456,0,0,0,0,0,0,28.83,26.66,28.83
$GC,12680,1.04,1249.4,48.7,10.1,603,12686,0.00,1.40,0.68,0.251,4,0.000,0.039,2653,1126,451,0,0,0,0,0,0,28.83,26.67,26.58
$GC,12774,1.09,1267.8,39.0,9.5,612,12780,0.00,1.45,0.35,0.344,6,0.000,0.040,2653,2098,451,0,0,0,0,0,0,28.83,26.68,26.58
$GC,13090,1.28,1584.4,25.2,2.0,643,13098,0.22,0.00,0.65,0.234,6,0.065,0.000,2763,2098,451,0,0,0,0,0,0,26.71,28.83,26.60
$STATE,13284,end climb,SURFACE_DEPTH_REACHED
$STATE,13284,begin surface coast
$FINISH,1.2,1.015748
$STATE,13306,end surface coast,CONTROL_FINISHED_OK
$STATE,13306,begin surface
$SM_CCo,13383,0.00,0.000,0,0,458,575.23
$SM_GC,2.03,6.68,0.17,0.00,0.041,0.079,0.000,142,2230,458,-6.71,-0.54,575.23,0,0,0,0,0,0,26.71,26.71,28.83
$IRIDIUM_FIX,1823.67,12222.00,120812,202015
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.13
$INTERNAL_PRESSURE,9.57292
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,7763808
$24V_AH,23.6,4.159
$10V_AH,9.8,2.580
$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,17.500,80.225,765.425,0.000,0.000,30.772,20.926,232.864,0.000,0.000,32.478,2152.591,8563.465,801.106,2065.966,300.714,0.000,1818.273,0.000,1676.098,0.000,0.541,0.000
$DEVICE_MAMPS,245.565,81.855,1498.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13345.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.075,0.000,0.000,0.000
$MEM,308956
$DATA_FILE_SIZE,23408,685
$CAP_FILE_SIZE,166168,0
$CFSIZE,260165632,252444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.112, 50.6,1
$GPS,130812,033553,1832.211,12225.037,38,1.1,38,-2.0