version: 66.11
glider: 166
mission: 8
dive: 24
start: 8 14 112 14 3 6
data:
$ID,166
$MISSION,8
$DIVE,24
$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,250
$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,-26390.094
$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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,40
$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
$GPS1,140812,135423,1854.901,12236.054,24,1.0,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-43.1
$GPS2,140812,140237,1855.037,12235.932,14,1.6,14,-2.1
$SPEED_LIMITS,0.173,0.326
$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,97.8,233725,-13.9,-10.000
$D_GRID,2222
$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,-0.63,-243.3,0.0,0.0,0,96,0.00,0.00,-75.28,0.000,2,0.000,0.000,147,2120,2058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.63,-243.3,3.0,-4.0,13,166,7.75,1.52,-52.65,0.000,4,0.241,0.071,2112,3125,3796,0,0,0,0,0,0,26.00,26.21,26.51
$GC,190,-0.58,-243.3,17.8,-28.9,28,196,0.00,1.40,0.00,0.000,6,0.000,0.030,2114,2158,3796,0,0,0,0,0,0,28.83,26.29,28.83
$GC,514,-0.53,-243.3,118.5,-28.5,51,516,0.12,0.00,0.00,0.000,6,0.183,0.000,2143,2154,3795,0,0,0,0,0,0,26.31,28.83,28.83
$GC,817,-0.52,-243.3,171.8,-14.7,66,822,0.00,1.50,0.00,0.000,4,0.000,0.052,2137,3157,3796,0,0,0,0,0,0,28.83,26.48,28.83
$GC,945,-0.52,-243.3,187.0,-11.4,72,950,0.00,1.45,0.00,0.000,6,0.000,0.030,2133,2137,3796,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1262,-0.52,-243.3,230.6,-15.2,88,1268,0.00,1.50,0.00,0.000,4,0.000,0.051,2132,3145,3796,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1320,-0.52,-243.3,237.7,-16.1,90,1327,0.00,1.42,0.00,0.000,6,0.000,0.030,2132,2148,3795,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1626,-0.52,-243.3,289.0,-16.2,106,1631,0.00,1.40,0.00,0.000,4,0.000,0.036,2127,1178,3794,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1712,-0.52,-243.3,300.0,-13.4,110,1719,0.05,1.45,0.00,0.000,6,0.145,0.040,2150,2156,3794,0,0,0,0,0,0,26.55,26.64,28.83
$GC,2032,-0.53,-243.3,316.2,-6.5,126,2037,0.00,1.48,0.00,0.000,4,0.000,0.054,2122,3126,3792,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2099,-0.56,-243.3,320.9,-7.4,129,2105,0.00,1.38,0.00,0.000,6,0.000,0.031,2120,2161,3791,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2418,-0.57,-243.3,355.5,-13.3,145,2423,0.00,1.42,0.00,0.000,4,0.000,0.036,2120,1175,3790,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2450,-0.59,-243.3,358.8,-13.5,146,2455,0.00,1.45,0.00,0.000,6,0.000,0.041,2114,2152,3794,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2764,-0.61,-243.3,386.3,-4.9,162,2770,0.00,1.48,0.00,0.000,4,0.000,0.054,2106,3124,3788,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2817,-0.63,-243.3,389.1,-5.9,164,2822,0.00,1.40,0.00,0.000,6,0.000,0.031,2106,2142,3787,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3130,-0.65,-243.3,418.4,-11.0,180,3135,0.00,1.50,0.00,0.000,4,0.000,0.055,2099,3145,3784,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3173,-0.66,-243.3,423.5,-11.5,182,3179,0.00,1.42,0.00,0.000,6,0.000,0.032,2098,2152,3784,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3497,-0.68,-243.3,461.7,-9.7,198,3502,0.00,1.50,0.00,0.000,4,0.000,0.057,2091,3156,3781,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3575,-0.69,-243.3,467.2,-8.9,201,3582,0.00,1.45,0.00,0.000,6,0.000,0.033,2091,2148,3780,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3881,-0.71,-243.3,501.0,-12.0,217,3886,0.00,1.50,0.00,0.000,4,0.000,0.056,2084,3152,3777,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3927,-0.72,-243.3,506.6,-12.6,219,3932,0.00,1.45,0.00,0.000,6,0.000,0.032,2083,2145,3777,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4245,-0.73,-243.3,548.7,-12.1,235,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2141,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4547,-0.75,-243.3,581.7,-10.7,250,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2141,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4867,-0.76,-243.3,610.1,-7.9,264,4872,0.00,1.50,0.00,0.000,4,0.000,0.059,2076,3139,3769,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4934,-0.77,-243.3,614.8,-7.3,266,4939,0.00,1.42,0.00,0.000,6,0.000,0.035,2076,2157,3769,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5265,-0.78,-243.3,634.3,-5.1,277,5270,0.00,1.50,0.00,0.000,4,0.000,0.059,2068,3153,3764,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5302,-0.79,-243.3,636.1,-5.1,278,5308,0.00,1.45,0.00,0.000,6,0.000,0.035,2068,2153,3765,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5633,-0.80,-243.3,656.6,-7.2,289,5638,0.00,1.42,0.00,0.000,4,0.000,0.041,2069,1183,3762,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5667,-0.81,-243.3,659.6,-7.6,290,5672,0.00,1.45,0.00,0.000,6,0.000,0.047,2061,2145,3762,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6003,-0.81,-243.3,690.9,-9.9,301,6008,0.00,1.50,0.00,0.000,4,0.000,0.061,2055,3146,3759,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6074,-0.81,-243.3,697.8,-10.3,303,6080,0.00,1.45,0.00,0.000,6,0.000,0.035,2055,2153,3759,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6400,-0.81,-243.3,731.7,-9.8,314,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2151,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6698,-0.81,-243.3,762.8,-10.2,324,6703,0.00,1.50,0.00,0.000,4,0.000,0.062,2047,3141,3755,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6724,-0.81,-243.3,762.8,-10.2,324,6732,0.00,1.45,0.00,0.000,6,0.000,0.037,2047,2153,3755,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7031,-0.81,-243.3,796.1,-10.3,335,7036,0.00,1.52,0.00,0.000,4,0.000,0.062,2040,3127,3753,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7073,-0.81,-243.3,799.6,-10.4,336,7078,0.00,1.42,0.00,0.000,6,0.000,0.037,2040,2152,3753,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7397,-0.81,-243.3,837.8,-12.0,347,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2150,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7696,-0.81,-243.3,873.1,-11.2,357,7701,0.00,1.45,0.00,0.000,4,0.000,0.043,2040,1172,3748,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7729,-0.81,-243.3,876.8,-11.1,358,7735,0.00,1.50,0.00,0.000,6,0.000,0.051,2033,2148,3750,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8065,-0.80,-243.3,909.7,-8.9,369,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2148,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8363,-0.80,-243.3,932.8,-6.7,379,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2148,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8664,-0.80,-243.3,950.2,-5.7,389,8669,0.00,1.50,0.00,0.000,4,0.000,0.064,2025,3142,3745,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8691,-0.80,-243.3,950.2,-5.7,389,8698,0.10,1.45,0.00,0.000,6,0.142,0.038,2059,2152,3745,0,0,0,0,0,0,26.64,26.77,28.83
$GC,8999,-0.81,-243.3,975.3,-9.7,400,9005,0.00,1.45,0.00,0.000,4,0.000,0.044,2059,1173,3744,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9033,-0.82,-243.3,979.6,-10.5,401,9038,0.00,1.50,0.00,0.000,6,0.000,0.052,2054,2183,3744,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9123,begin apogee
$GC,9129,-0.19,0.0,991.3,-12.2,404,9340,0.60,0.00,204.38,1.170,6,0.123,0.000,2256,2053,2801,0,0,0,0,0,0,26.64,28.83,24.01
$STATE,9341,end apogee,CONTROL_FINISHED_OK
$STATE,9342,begin climb
$GC,9344,0.63,243.3,1010.8,0.0,411,9573,0.75,0.00,225.20,1.100,6,0.067,0.000,2527,2053,1811,0,0,0,0,0,0,24.84,28.83,23.87
$GC,9876,0.60,243.3,978.2,10.4,429,9881,0.00,1.55,0.00,0.000,4,0.000,0.063,2527,3035,1790,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9954,0.57,243.3,971.1,11.0,431,9959,0.00,1.50,0.00,0.000,6,0.000,0.039,2535,2026,1790,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10273,0.54,243.3,932.4,12.0,442,10279,0.12,1.58,0.00,0.000,4,0.191,0.059,2499,3039,1788,0,0,0,0,0,0,26.03,26.12,28.83
$GC,10369,0.51,243.3,921.7,11.4,445,10375,0.00,1.50,0.00,0.000,6,0.000,0.039,2505,2052,1788,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10704,0.49,243.3,886.2,10.3,456,10710,0.00,1.52,0.00,0.000,4,0.000,0.061,2504,3036,1787,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10777,0.47,243.3,879.2,10.4,458,10783,0.10,1.48,0.00,0.000,6,0.158,0.039,2479,2054,1787,0,0,0,0,0,0,26.23,26.36,28.83
$GC,11103,0.49,314.2,852.4,8.0,469,11175,0.00,1.67,59.35,1.380,4,0.000,0.060,2477,3039,1521,0,0,0,0,1,0,28.83,25.02,24.08
$GC,11204,0.49,356.9,844.3,8.8,472,11261,0.00,1.50,45.47,1.366,6,0.000,0.037,2483,2051,1347,0,0,0,0,1,0,28.83,25.38,23.80
$GC,11584,0.49,361.0,805.3,9.9,485,11595,0.00,0.00,9.23,1.030,6,0.000,0.000,2483,2051,1331,0,0,0,0,0,0,28.83,28.83,25.06
$GC,11884,0.50,377.5,776.3,9.5,495,11914,0.00,1.62,15.62,0.936,4,0.000,0.060,2483,3043,1265,0,0,0,0,1,0,28.83,25.82,24.70
$GC,11976,0.50,377.5,766.8,10.2,498,11981,0.00,1.52,0.00,0.000,6,0.000,0.040,2490,2026,1268,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12310,0.50,377.5,726.3,12.8,509,12315,0.00,1.58,0.00,0.000,4,0.000,0.060,2491,3041,1268,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12377,0.50,377.5,717.8,13.0,511,12382,0.00,1.50,0.00,0.000,6,0.000,0.039,2497,2019,1268,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12706,0.52,428.6,682.7,8.6,522,12769,0.00,1.67,50.95,1.418,4,0.000,0.060,2498,3040,1054,0,0,0,0,1,0,28.83,25.04,24.08
$GC,12861,0.56,541.9,672.2,6.9,527,13008,0.00,1.50,123.68,1.471,6,0.000,0.039,2503,2048,591,0,0,0,0,3,0,28.83,25.60,23.58
$GC,13307,0.63,648.3,644.7,7.1,542,13348,0.00,0.00,33.55,1.236,6,0.000,0.000,2503,2048,455,0,0,0,0,1,0,28.83,28.83,24.37
$GC,13638,0.66,648.3,615.0,10.2,553,13649,0.00,1.58,5.90,0.771,4,0.000,0.047,2509,1061,452,0,0,0,0,0,0,28.83,25.75,25.09
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$STATE,18587,end climb,SURFACE_DEPTH_REACHED
$STATE,18587,begin surface coast
$FINISH,1.3,1.021648
$STATE,18603,end surface coast,CONTROL_FINISHED_OK
$STATE,18603,begin surface
$SM_CCo,18682,0.00,0.000,0,0,453,576.46
$SM_GC,1.73,6.50,0.17,0.00,0.031,0.072,0.000,122,2175,453,-6.73,-0.96,576.46,0,0,0,0,0,0,26.72,26.70,28.83
$IRIDIUM_FIX,1846.42,12235.08,140812,080842
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.81
$INTERNAL_PRESSURE,9.55339
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,7760736
$24V_AH,23.6,6.650
$10V_AH,9.6,3.841
$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,17.075,110.350,773.325,0.000,0.000,32.428,19.628,233.059,0.000,0.000,15.030,2701.242,12800.131,925.908,2394.389,349.513,0.000,2105.689,0.000,1998.251,0.000,0.540,0.000
$DEVICE_MAMPS,240.975,71.910,1471.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18630.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.193,0.000,0.000,0.000
$MEM,308800
$DATA_FILE_SIZE,30057,846
$CAP_FILE_SIZE,207998,0
$CFSIZE,260165632,251576320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$CURRENT,0.383,336.0,1
$GPS,140812,191535,1858.265,12237.822,28,1.1,28,-2.2