version: 66.11
glider: 166
mission: 8
dive: 39
start: 8 17 112 23 43 14
data:
$ID,166
$MISSION,8
$DIVE,39
$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,-26413.783
$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,56
$R_STBD_OVSHOOT,51
$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
$GPS1,170812,233400,1933.446,12321.984,40,1.2,40,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-53.0
$GPS2,170812,234248,1933.462,12321.976,10,1.2,15,-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,52.5,126817,-13.8,-8.684
$D_GRID,4973
$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,-194.6,0.0,0.0,0,91,0.00,0.00,-70.88,0.000,2,0.000,0.000,168,2207,2022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.61,-194.6,3.2,-4.6,12,162,7.62,1.50,-50.62,0.000,4,0.235,0.055,2123,1196,3598,0,0,0,0,0,0,25.97,26.26,26.53
$GC,386,-0.55,-194.6,70.5,-28.0,46,392,0.00,1.45,0.00,0.000,6,0.000,0.040,2118,2162,3598,0,0,0,0,0,0,28.83,26.39,28.83
$GC,693,-0.52,-194.6,144.4,-18.1,62,699,0.12,1.38,0.00,0.000,4,0.174,0.031,2141,1189,3598,0,0,0,0,0,0,26.37,26.50,28.83
$GC,798,-0.51,-194.6,158.7,-12.7,67,804,0.00,1.48,0.00,0.000,6,0.000,0.038,2136,2182,3598,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1122,-0.50,-194.6,200.0,-12.5,83,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2182,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1423,-0.50,-194.6,234.5,-11.6,98,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2182,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1723,-0.51,-194.6,269.1,-11.9,113,1728,0.00,1.45,0.00,0.000,4,0.000,0.034,2150,1192,3597,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1776,-0.52,-194.6,274.4,-11.9,115,1781,0.00,1.45,0.00,0.000,6,0.000,0.039,2148,2168,3597,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2089,-0.53,-194.6,307.4,-9.1,131,2094,0.00,1.50,0.00,0.000,4,0.000,0.053,2119,3180,3597,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2107,-0.53,-194.6,307.4,-9.1,131,2113,0.00,1.45,0.00,0.000,6,0.000,0.030,2120,2163,3597,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2413,-0.54,-194.6,343.2,-11.5,147,2418,0.00,1.50,0.00,0.000,4,0.000,0.051,2108,3170,3594,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2470,-0.55,-194.6,347.9,-11.1,149,2478,0.08,1.42,0.00,0.000,6,0.116,0.030,2136,2174,3594,0,0,0,0,0,0,26.60,26.73,28.83
$GC,2776,-0.57,-194.6,374.3,-7.7,165,2782,0.00,1.40,0.00,0.000,4,0.000,0.035,2136,1203,3592,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2896,-0.59,-194.6,382.6,-7.9,170,2903,0.00,1.45,0.00,0.000,6,0.000,0.041,2131,2179,3591,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3200,-0.61,-194.6,406.5,-6.9,186,3205,0.00,1.42,0.00,0.000,4,0.000,0.036,2131,1204,3586,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3258,-0.63,-194.6,409.5,-6.7,188,3264,0.00,1.45,0.00,0.000,6,0.000,0.041,2124,2176,3588,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3564,-0.64,-194.6,432.0,-7.5,204,3569,0.00,1.50,0.00,0.000,4,0.000,0.054,2116,3189,3586,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3621,-0.66,-194.6,435.2,-7.6,206,3628,0.00,1.45,0.00,0.000,6,0.000,0.031,2116,2176,3586,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3928,-0.68,-194.6,461.1,-8.2,222,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2176,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4229,-0.70,-194.6,484.4,-7.6,237,4235,0.00,1.48,0.00,0.000,4,0.000,0.056,2109,3169,3580,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4262,-0.71,-194.6,486.3,-7.7,238,4267,0.00,1.42,0.00,0.000,6,0.000,0.032,2109,2179,3580,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4576,-0.73,-194.6,509.9,-7.4,254,4581,0.00,1.42,0.00,0.000,4,0.000,0.038,2109,1199,3579,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4659,-0.74,-194.6,516.7,-8.2,258,4665,0.00,1.45,0.00,0.000,6,0.000,0.044,2102,2170,3576,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4983,-0.76,-194.6,545.7,-9.3,274,4988,0.00,1.50,0.00,0.000,4,0.000,0.057,2095,3170,3574,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5026,-0.77,-194.6,549.8,-9.4,276,5031,0.00,1.45,0.00,0.000,6,0.000,0.033,2095,2164,3573,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5350,-0.78,-194.6,578.7,-8.1,292,5355,0.00,1.40,0.00,0.000,4,0.000,0.038,2095,1204,3571,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5396,-0.79,-194.6,582.0,-7.7,294,5402,0.00,1.45,0.00,0.000,6,0.000,0.044,2088,2167,3571,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5725,-0.80,-194.6,607.5,-7.8,309,5730,0.00,1.50,0.00,0.000,4,0.000,0.057,2080,3173,3568,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5772,-0.81,-194.6,610.1,-7.8,310,5778,0.00,1.45,0.00,0.000,6,0.000,0.034,2081,2172,3568,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6093,-0.81,-194.6,639.0,-9.1,321,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2168,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6391,-0.82,-194.6,670.2,-10.6,331,6396,0.00,1.42,0.00,0.000,4,0.000,0.041,2081,1201,3563,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6488,-0.83,-194.6,680.4,-10.8,334,6493,0.00,1.48,0.00,0.000,6,0.000,0.047,2074,2174,3562,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6816,-0.83,-194.6,714.4,-9.9,345,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2174,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7116,-0.83,-194.6,741.0,-8.9,355,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2174,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7416,-0.83,-194.6,767.3,-8.6,365,7421,0.00,1.45,0.00,0.000,4,0.000,0.041,2074,1201,3561,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7530,-0.83,-194.6,775.8,-9.0,368,7536,0.00,1.48,0.00,0.000,6,0.000,0.048,2067,2170,3557,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7843,-0.83,-194.6,807.3,-9.8,379,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2170,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8144,-0.83,-194.6,838.5,-10.5,389,8149,0.00,1.45,0.00,0.000,4,0.000,0.042,2067,1204,3554,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8180,-0.83,-194.6,842.0,-10.5,390,8185,0.00,1.50,0.00,0.000,6,0.000,0.050,2060,2213,3553,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8508,-0.83,-194.6,875.8,-9.9,401,8513,0.00,1.52,0.00,0.000,4,0.000,0.044,2060,1198,3552,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8550,-0.83,-194.6,879.1,-9.8,402,8555,0.00,1.50,0.00,0.000,6,0.000,0.050,2053,2178,3554,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8874,-0.83,-194.6,910.1,-9.1,413,8879,0.00,1.45,0.00,0.000,4,0.000,0.042,2053,1208,3550,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8916,-0.83,-194.6,913.4,-9.2,414,8921,0.00,1.48,0.00,0.000,6,0.000,0.050,2051,2170,3550,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9238,-0.83,-194.6,944.8,-9.4,425,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2170,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9539,-0.83,-194.6,972.1,-9.0,435,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2170,3548,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9746,begin apogee
$GC,9752,-0.19,0.0,990.8,-8.9,442,9959,0.62,0.00,200.68,0.991,6,0.129,0.000,2255,2073,2803,0,0,0,0,0,0,26.57,28.83,24.36
$STATE,9960,end apogee,CONTROL_FINISHED_OK
$STATE,9960,begin climb
$GC,9963,0.61,194.6,996.6,0.0,449,10160,0.73,1.70,185.48,1.028,4,0.076,0.062,2513,3057,1998,0,0,0,0,0,0,25.01,24.67,24.00
$GC,10192,0.56,194.6,982.1,9.7,456,10197,0.00,1.50,0.00,0.000,6,0.000,0.037,2520,2077,1989,0,0,0,0,0,0,28.83,25.15,28.83
$GC,10507,0.53,194.6,945.0,10.9,467,10512,0.00,1.55,0.00,0.000,4,0.000,0.060,2521,3054,1982,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10615,0.50,194.6,933.9,11.7,470,10622,0.12,1.50,0.00,0.000,6,0.161,0.038,2488,2071,1981,0,0,0,0,0,0,25.89,26.04,28.83
$GC,10937,0.48,194.6,901.8,9.7,481,10942,0.00,1.55,0.00,0.000,4,0.000,0.057,2488,3066,1984,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11030,0.46,194.6,891.5,10.5,484,11036,0.00,1.50,0.00,0.000,6,0.000,0.037,2493,2071,1980,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11365,0.44,194.6,858.2,9.6,495,11370,0.00,1.55,0.00,0.000,4,0.000,0.060,2494,3069,1980,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11474,0.42,194.6,849.1,9.5,498,11480,0.12,1.50,0.00,0.000,6,0.151,0.037,2461,2066,1979,0,0,0,0,0,0,26.26,26.41,28.83
$GC,11796,0.43,243.2,825.3,7.2,509,11853,0.00,1.65,46.30,0.998,4,0.000,0.059,2460,3055,1798,0,0,0,0,0,0,28.83,25.57,24.91
$GC,11936,0.43,255.0,815.0,8.3,513,11947,0.00,1.50,3.40,0.656,6,0.000,0.037,2466,2044,1762,0,0,0,0,0,0,28.83,25.86,24.98
$GC,12248,0.43,255.0,783.8,9.6,524,12254,0.00,1.65,1.55,0.200,4,0.000,0.058,2466,3056,1759,0,0,0,0,0,0,28.83,26.11,25.99
$GC,12301,0.43,255.0,780.1,9.7,525,12306,0.00,1.48,0.00,0.000,6,0.000,0.037,2474,2074,1768,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12615,0.42,255.0,748.6,9.1,536,12617,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2074,1771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12915,0.43,284.1,723.9,7.8,546,12957,0.00,1.60,31.12,1.047,4,0.000,0.059,2474,3050,1644,0,0,0,0,1,0,28.83,25.75,24.78
$GC,13021,0.44,304.9,716.5,8.1,549,13055,0.00,1.50,24.40,0.959,6,0.000,0.037,2481,2038,1559,0,0,0,0,1,0,28.83,25.92,24.53
$GC,13368,0.44,304.9,683.8,9.8,561,13373,0.00,1.62,0.00,0.000,4,0.000,0.057,2481,3054,1565,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13480,0.44,304.9,673.4,10.9,564,13485,0.00,1.48,0.00,0.000,6,0.000,0.037,2488,2077,1565,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13793,0.44,304.9,638.4,9.9,575,13798,0.00,1.52,0.00,0.000,4,0.000,0.057,2489,3070,1565,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,20023,end climb,SURFACE_DEPTH_REACHED
$STATE,20023,begin surface coast
$FINISH,1.4,1.010895
$STATE,20044,end surface coast,CONTROL_FINISHED_OK
$STATE,20044,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,38.34
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$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,10.1,6.375
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.200,0.000,0.000,0.000
$MEM,329160
$DATA_FILE_SIZE,33309,917
$CAP_FILE_SIZE,222541,0
$CFSIZE,260165632,249925632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.119,297.5,1
$GPS,180812,051954,1936.696,12323.434,38,1.4,38,-2.3