version: 66.11
glider: 166
mission: 8
dive: 34
start: 8 16 112 18 25 18
data:
$ID,166
$MISSION,8
$DIVE,34
$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,380
$T_MISSION,3410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,450
$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,-26407.492
$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,2175
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,47
$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,3
$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
$GPS1,160812,181605,1921.471,12308.686,29,1.3,29,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-50.8
$GPS2,160812,182451,1921.466,12308.666,11,2.8,30,-2.3
$SPEED_LIMITS,0.150,0.281
$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,40.6,158720,-13.8,-8.684
$D_GRID,4553
$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,16,begin dive
$GC,18,-0.61,-194.6,0.0,0.0,0,96,0.00,0.00,-75.75,0.000,2,0.000,0.000,156,2181,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.61,-194.6,3.0,-3.5,13,161,7.78,1.48,-46.15,0.000,4,0.243,0.068,2106,3161,3596,0,0,0,0,0,0,26.03,26.25,26.56
$GC,330,-0.54,-194.6,65.7,-33.1,42,336,0.15,1.42,0.00,0.000,6,0.161,0.030,2143,2168,3596,0,0,0,0,0,0,26.24,26.41,28.83
$GC,654,-0.51,-194.6,134.4,-18.0,58,659,0.00,1.40,0.00,0.000,4,0.000,0.034,2147,1202,3596,0,0,0,0,0,0,28.83,26.51,28.83
$GC,697,-0.49,-194.6,141.4,-16.9,60,702,0.00,1.45,0.00,0.000,6,0.000,0.039,2142,2170,3596,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1021,-0.48,-194.6,188.6,-13.1,76,1026,0.00,1.50,0.00,0.000,4,0.000,0.052,2135,3185,3596,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1107,-0.48,-194.6,199.2,-12.7,80,1112,0.00,1.45,0.00,0.000,6,0.000,0.029,2135,2167,3596,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1425,-0.48,-194.6,238.8,-12.0,96,1431,0.00,1.38,0.00,0.000,4,0.000,0.034,2137,1208,3596,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1533,-0.48,-194.6,251.2,-11.7,101,1538,0.00,1.42,0.00,0.000,6,0.000,0.039,2143,2175,3596,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1850,-0.48,-194.6,288.3,-10.5,117,1855,0.00,1.40,0.00,0.000,4,0.000,0.034,2148,1207,3595,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1928,-0.48,-194.6,294.0,-9.3,120,1935,0.00,1.42,0.00,0.000,6,0.000,0.040,2142,2174,3595,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2233,-0.48,-194.6,323.7,-9.7,136,2238,0.00,1.48,0.00,0.000,4,0.000,0.052,2110,3151,3594,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2325,-0.49,-194.6,331.9,-10.0,140,2332,0.10,1.38,0.00,0.000,6,0.116,0.030,2162,2180,3593,0,0,0,0,0,0,26.63,26.73,28.83
$GC,2641,-0.52,-194.6,354.0,-6.3,156,2646,0.00,1.42,0.00,0.000,4,0.000,0.036,2162,1198,3592,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2693,-0.55,-194.6,357.2,-6.8,158,2698,0.00,1.45,0.00,0.000,6,0.000,0.041,2157,2175,3590,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3006,-0.58,-194.6,381.2,-6.8,174,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2174,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3308,-0.61,-194.6,401.6,-6.8,189,3313,0.00,1.50,0.00,0.000,4,0.000,0.054,2149,3187,3585,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3413,-0.64,-194.6,408.2,-6.2,194,3419,0.08,1.45,0.00,0.000,6,0.051,0.032,2071,2172,3584,0,0,0,0,0,0,26.73,26.77,28.83
$GC,3737,-0.63,-194.6,443.5,-11.3,210,3739,0.15,0.00,0.00,0.000,6,0.150,0.000,2113,2171,3581,0,0,0,0,0,0,26.63,28.83,28.83
$GC,4039,-0.65,-194.6,469.2,-8.0,225,4044,0.00,1.50,0.00,0.000,4,0.000,0.057,2108,3172,3579,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4103,-0.66,-194.6,474.3,-7.7,228,4108,0.00,1.42,0.00,0.000,6,0.000,0.032,2114,2177,3579,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4427,-0.68,-194.6,499.5,-8.1,244,4433,0.00,1.50,0.00,0.000,4,0.000,0.057,2101,3172,3576,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4471,-0.69,-194.6,503.4,-8.6,246,4477,0.00,1.45,0.00,0.000,6,0.000,0.032,2101,2163,3575,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4795,-0.70,-194.6,534.6,-9.9,262,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2160,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5097,-0.71,-194.6,562.7,-9.0,277,5102,0.00,1.50,0.00,0.000,4,0.000,0.057,2093,3161,3570,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5175,-0.72,-194.6,568.3,-8.7,280,5181,0.00,1.42,0.00,0.000,6,0.000,0.034,2093,2176,3569,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5481,-0.73,-194.6,593.9,-7.8,296,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2176,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5802,-0.74,-194.6,619.5,-8.0,308,5808,0.00,1.50,0.00,0.000,4,0.000,0.059,2086,3172,3565,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5846,-0.75,-194.6,622.5,-8.2,309,5851,0.00,1.45,0.00,0.000,6,0.000,0.034,2086,2172,3564,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6170,-0.76,-194.6,653.0,-9.2,320,6175,0.00,1.42,0.00,0.000,4,0.000,0.041,2086,1198,3561,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6217,-0.77,-194.6,656.1,-9.1,321,6223,0.00,1.48,0.00,0.000,6,0.000,0.047,2079,2174,3561,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6536,-0.77,-194.6,685.6,-8.9,332,6541,0.00,1.52,0.00,0.000,4,0.000,0.059,2071,3164,3557,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6563,-0.77,-194.6,685.6,-8.9,332,6570,0.00,1.45,0.00,0.000,6,0.000,0.035,2071,2166,3558,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6870,-0.77,-194.6,715.8,-9.0,343,6875,0.00,1.40,0.00,0.000,4,0.000,0.041,2071,1208,3557,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6946,-0.77,-194.6,721.9,-9.4,345,6952,0.00,1.48,0.00,0.000,6,0.000,0.048,2064,2179,3556,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7265,-0.77,-194.6,754.0,-9.6,356,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2179,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7565,-0.77,-194.6,783.4,-10.0,366,7570,0.00,1.45,0.00,0.000,4,0.000,0.041,2065,1202,3552,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7622,-0.77,-194.6,786.9,-10.2,367,7628,0.00,1.48,0.00,0.000,6,0.000,0.049,2055,2174,3552,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7928,-0.77,-194.6,822.0,-10.3,378,7933,0.00,1.50,0.00,0.000,4,0.000,0.061,2049,3173,3551,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7991,-0.77,-194.6,828.8,-10.5,380,7996,0.00,1.48,0.00,0.000,6,0.000,0.035,2050,2168,3551,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8326,-0.77,-194.6,863.9,-10.2,391,8331,0.00,1.42,0.00,0.000,4,0.000,0.042,2050,1199,3549,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8464,-0.77,-194.6,876.3,-10.0,395,8470,0.00,1.48,0.00,0.000,6,0.000,0.050,2043,2169,3548,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8785,-0.76,-194.6,908.4,-9.7,406,8791,0.12,1.45,0.00,0.000,4,0.174,0.040,2086,1198,3547,0,0,0,0,0,0,26.61,26.73,28.83
$GC,8818,-0.76,-194.6,911.5,-9.5,407,8823,0.00,1.50,0.00,0.000,6,0.000,0.050,2081,2175,3546,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9154,-0.77,-194.6,937.6,-8.1,418,9159,0.00,1.50,0.00,0.000,4,0.000,0.062,2073,3172,3545,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9181,-0.78,-194.6,937.6,-8.1,418,9188,0.00,1.45,0.00,0.000,6,0.000,0.037,2073,2178,3545,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9489,-0.79,-194.6,963.8,-8.2,429,9494,0.00,1.45,0.00,0.000,4,0.000,0.043,2073,1197,3544,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9531,-0.79,-194.6,966.8,-8.3,430,9537,0.00,1.50,0.00,0.000,6,0.000,0.051,2066,2178,3544,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,9822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9822,begin apogee
$GC,9828,-0.19,0.0,992.2,-8.2,440,10065,0.55,0.00,230.02,0.890,6,0.129,0.000,2250,2059,2802,0,0,0,0,0,0,26.61,28.83,24.34
$STATE,10067,end apogee,CONTROL_FINISHED_OK
$STATE,10067,begin climb
$GC,10070,0.61,194.6,1000.5,0.0,448,10263,0.75,1.70,184.10,1.028,4,0.064,0.062,2520,3051,1997,0,0,0,0,0,0,25.03,24.69,24.01
$GC,10342,0.57,194.6,978.5,11.6,457,10347,0.00,1.50,0.00,0.000,6,0.000,0.038,2527,2062,1986,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10673,0.53,194.6,936.5,12.3,468,10679,0.12,1.58,0.00,0.000,4,0.185,0.059,2489,3063,1982,0,0,0,0,0,0,25.88,25.96,28.83
$GC,10751,0.50,194.6,929.1,11.5,470,10757,0.00,1.50,0.00,0.000,6,0.000,0.037,2492,2071,1981,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11072,0.48,194.6,896.7,9.2,481,11077,0.00,1.55,0.00,0.000,4,0.000,0.061,2494,3062,1980,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11109,0.46,194.6,893.7,9.0,482,11115,0.12,1.48,0.00,0.000,6,0.177,0.037,2470,2075,1979,0,0,0,0,0,0,26.15,26.29,28.83
$GC,11438,0.46,227.2,868.1,7.7,493,11470,0.00,0.00,30.25,1.040,6,0.000,0.000,2471,2071,1875,0,0,0,0,0,0,28.83,28.83,24.99
$GC,11769,0.46,231.5,840.0,8.6,504,11774,0.00,1.52,0.00,0.000,4,0.000,0.060,2469,3057,1854,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11806,0.45,235.2,836.9,8.6,505,11812,0.00,1.48,1.33,0.203,6,0.000,0.039,2475,2077,1840,0,0,0,0,0,0,28.83,26.20,26.03
$GC,12136,0.45,235.2,806.6,9.2,516,12141,0.00,1.52,0.00,0.000,4,0.000,0.061,2475,3066,1848,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12233,0.44,235.2,797.3,9.8,519,12239,0.00,1.48,0.00,0.000,6,0.000,0.036,2483,2072,1848,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12564,0.43,245.3,767.9,8.4,530,12593,0.00,1.60,16.67,0.913,4,0.000,0.057,2483,3059,1797,0,0,0,0,1,0,28.83,26.10,25.01
$GC,12630,0.42,245.3,761.9,8.9,532,12637,0.12,1.48,0.00,0.000,6,0.171,0.036,2459,2073,1796,0,0,0,0,0,0,26.05,26.19,28.83
$GC,12961,0.42,245.3,733.5,8.7,543,12966,0.00,1.52,0.00,0.000,4,0.000,0.059,2457,3067,1795,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12988,0.42,245.3,733.5,8.7,543,12995,0.00,1.48,0.00,0.000,6,0.000,0.037,2463,2074,1795,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13294,0.42,253.4,705.1,8.4,554,13299,0.00,0.00,2.97,0.591,6,0.000,0.000,2463,2069,1766,0,0,0,0,0,0,28.83,28.83,25.29
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$STATE,21131,end climb,SURFACE_DEPTH_REACHED
$STATE,21131,begin surface coast
$FINISH,1.4,1.010805
$STATE,21158,end surface coast,CONTROL_FINISHED_OK
$STATE,21158,begin surface
$SM_CCo,21235,0.00,0.000,0,0,744,505.07
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$IRIDIUM_FIX,1909.23,12305.93,160812,131341
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.83
$INTERNAL_PRESSURE,9.59246
$TCM_TEMP,25.00
$XPDR_PINGS,1
$SC_FREEKB,7756896
$24V_AH,24.0,9.267
$10V_AH,10.1,5.486
$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,16.875,128.075,667.850,0.000,0.000,29.043,23.346,241.493,0.250,0.000,32.043,3264.925,14415.427,840.500,2847.480,386.539,0.000,2189.659,0.000,2409.031,0.000,0.542,0.000
$DEVICE_MAMPS,242.505,78.030,1039.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21185.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.341,0.000,0.000,0.000
$MEM,329140
$DATA_FILE_SIZE,36618,968
$CAP_FILE_SIZE,237130,0
$CFSIZE,260165632,250490880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.046,203.7,1
$GPS,170812,002035,1924.088,12310.135,38,0.9,43,-2.3