version: 66.11
glider: 166
mission: 8
dive: 49
start: 8 20 112 10 3 11
data:
$ID,166
$MISSION,8
$DIVE,49
$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,390
$T_MISSION,420
$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,-26427.977
$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,2310
$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,2200
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,35
$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
$GPS1,200812,095400,1953.800,12349.520,41,1.1,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-47.5
$GPS2,200812,100243,1953.858,12349.585,14,1.3,14,-2.4
$SPEED_LIMITS,0.147,0.279
$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,20.9,65772,-13.4,-8.462
$D_GRID,5295
$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,-0.59,-194.6,0.0,0.0,0,96,0.00,0.00,-75.47,0.000,2,0.000,0.000,156,2214,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.59,-194.6,3.2,-5.5,13,155,7.85,1.55,-40.28,0.000,4,0.244,0.072,2101,3185,3599,0,0,0,0,0,0,25.92,26.20,26.52
$GC,194,-0.52,-194.6,24.1,-34.9,29,202,0.10,1.45,0.00,0.000,6,0.170,0.031,2135,2193,3598,0,0,0,0,0,0,26.09,26.29,28.83
$GC,510,-0.47,-194.6,114.1,-23.4,49,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2190,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,812,-0.45,-194.6,161.8,-14.7,64,818,0.12,1.38,0.00,0.000,4,0.167,0.031,2165,1217,3598,0,0,0,0,0,0,26.39,26.52,28.83
$GC,879,-0.43,-194.6,170.2,-13.6,67,885,0.00,1.48,0.00,0.000,6,0.000,0.040,2160,2206,3599,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1198,-0.43,-194.6,204.0,-10.2,83,1203,0.00,1.42,0.00,0.000,4,0.000,0.034,2179,1230,3598,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1230,-0.44,-194.6,206.4,-10.5,84,1236,0.00,1.45,0.00,0.000,6,0.000,0.039,2168,2206,3599,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1545,-0.45,-194.6,239.8,-9.9,100,1550,0.00,1.50,0.00,0.000,4,0.000,0.052,2155,3218,3599,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1571,-0.45,-194.6,242.2,-9.8,101,1577,0.00,1.45,0.00,0.000,6,0.000,0.031,2162,2207,3598,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1889,-0.46,-194.6,272.0,-9.0,117,1895,0.00,1.42,0.00,0.000,4,0.000,0.034,2153,1223,3597,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1943,-0.47,-194.6,276.1,-9.2,119,1948,0.00,1.45,0.00,0.000,6,0.000,0.041,2151,2198,3597,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2256,-0.47,-194.6,309.0,-10.9,135,2261,0.00,1.42,0.00,0.000,4,0.000,0.034,2133,1223,3595,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2302,-0.48,-194.6,313.6,-10.8,137,2308,0.00,1.45,0.00,0.000,6,0.000,0.041,2126,2198,3595,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2621,-0.49,-194.6,348.3,-10.5,153,2626,0.00,1.50,0.00,0.000,4,0.000,0.054,2114,3209,3593,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2664,-0.50,-194.6,352.6,-10.3,155,2670,0.08,1.45,0.00,0.000,6,0.116,0.031,2149,2194,3592,0,0,0,0,0,0,26.58,26.72,28.83
$GC,2989,-0.52,-194.6,376.8,-7.0,171,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2193,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3290,-0.55,-194.6,395.6,-6.4,186,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2192,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3591,-0.58,-194.6,413.9,-5.7,201,3596,0.00,1.40,0.00,0.000,4,0.000,0.037,2152,1232,3586,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3669,-0.61,-194.6,417.7,-5.6,204,3676,0.05,1.45,0.00,0.000,6,0.063,0.041,2075,2204,3585,0,0,0,0,0,0,26.69,26.70,28.83
$GC,3974,-0.61,-194.6,450.0,-10.9,220,3976,0.12,0.00,0.00,0.000,6,0.155,0.000,2109,2205,3583,0,0,0,0,0,0,26.60,28.83,28.83
$GC,4276,-0.62,-194.6,475.9,-8.7,235,4281,0.00,1.42,0.00,0.000,4,0.000,0.037,2109,1233,3580,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4309,-0.63,-194.6,478.1,-8.6,236,4314,0.00,1.45,0.00,0.000,6,0.000,0.043,2105,2198,3580,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4622,-0.64,-194.6,506.1,-8.7,252,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2198,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4923,-0.65,-194.6,533.0,-9.0,267,4928,0.00,1.42,0.00,0.000,4,0.000,0.038,2105,1230,3575,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5020,-0.66,-194.6,540.6,-9.0,271,5027,0.00,1.45,0.00,0.000,6,0.000,0.044,2098,2195,3574,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5327,-0.67,-194.6,569.9,-9.5,287,5332,0.00,1.50,0.00,0.000,4,0.000,0.057,2090,3196,3572,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5390,-0.68,-194.6,576.0,-9.7,290,5395,0.00,1.45,0.00,0.000,6,0.000,0.034,2090,2197,3572,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5713,-0.69,-194.6,606.8,-8.9,305,5718,0.00,1.42,0.00,0.000,4,0.000,0.040,2091,1224,3569,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5770,-0.70,-194.6,609.7,-8.8,306,5777,0.00,1.48,0.00,0.000,6,0.000,0.047,2084,2200,3569,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6077,-0.70,-194.6,637.8,-8.4,317,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2200,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6376,-0.70,-194.6,663.6,-8.9,327,6382,0.00,1.50,0.00,0.000,4,0.000,0.059,2077,3195,3564,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6420,-0.71,-194.6,666.6,-8.9,328,6425,0.00,1.45,0.00,0.000,6,0.000,0.036,2077,2205,3563,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6743,-0.71,-194.6,696.9,-9.1,339,6748,0.00,1.45,0.00,0.000,4,0.000,0.041,2077,1222,3561,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6806,-0.71,-194.6,702.5,-9.2,341,6811,0.00,1.50,0.00,0.000,6,0.000,0.048,2070,2200,3561,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7140,-0.71,-194.6,735.9,-10.0,352,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2200,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7438,-0.71,-194.6,764.4,-9.5,362,7444,0.00,1.45,0.00,0.000,4,0.000,0.043,2070,1228,3557,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7521,-0.71,-194.6,770.6,-9.6,364,7527,0.00,1.48,0.00,0.000,6,0.000,0.048,2063,2198,3556,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7834,-0.71,-194.6,802.8,-9.7,375,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2198,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8135,-0.71,-194.6,831.5,-9.5,385,8140,0.00,1.45,0.00,0.000,4,0.000,0.041,2066,1225,3553,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8201,-0.71,-194.6,837.6,-9.6,387,8206,0.00,1.48,0.00,0.000,6,0.000,0.050,2060,2191,3553,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8529,-0.71,-194.6,871.4,-10.5,398,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2192,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8828,-0.71,-194.6,901.0,-9.4,408,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2192,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9128,-0.71,-194.6,925.9,-7.9,418,9134,0.00,1.45,0.00,0.000,4,0.000,0.044,2060,1223,3548,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9211,-0.71,-194.6,930.8,-7.9,420,9216,0.00,1.50,0.00,0.000,6,0.000,0.052,2053,2227,3548,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9523,-0.71,-194.6,959.9,-9.3,431,9528,0.00,1.50,0.00,0.000,4,0.000,0.043,2053,1195,3548,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9570,-0.71,-194.6,963.2,-9.5,432,9576,0.12,1.50,0.00,0.000,6,0.165,0.051,2080,2202,3548,0,0,0,0,0,0,26.51,26.65,28.83
$STATE,9890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9890,begin apogee
$GC,9895,-0.19,0.0,992.2,-8.7,443,10075,0.47,0.00,173.70,1.067,6,0.125,0.000,2240,2067,2802,0,0,0,0,0,0,26.55,28.83,24.40
$STATE,10077,end apogee,CONTROL_FINISHED_OK
$STATE,10077,begin climb
$GC,10079,0.59,194.6,999.5,0.0,449,10269,0.75,0.00,183.15,1.041,6,0.083,0.000,2501,2067,2008,0,0,0,0,0,0,25.03,28.83,24.02
$GC,10550,0.57,194.6,964.3,9.4,465,10555,0.00,1.60,0.00,0.000,4,0.000,0.063,2502,3055,1983,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10632,0.54,194.6,958.1,9.6,467,10638,0.00,1.50,0.00,0.000,6,0.000,0.039,2510,2053,1982,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10948,0.52,194.6,926.6,9.3,478,10953,0.12,1.58,0.00,0.000,4,0.180,0.060,2469,3059,1981,0,0,0,0,0,0,26.04,26.13,28.83
$GC,11012,0.50,194.6,921.3,8.7,480,11017,0.00,1.50,0.00,0.000,6,0.000,0.037,2474,2070,1981,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11348,0.49,218.8,895.8,7.8,491,11376,0.00,1.65,21.58,1.060,4,0.000,0.062,2474,3063,1902,0,0,0,0,0,0,28.83,25.85,25.16
$GC,11418,0.48,233.6,890.6,8.0,493,11442,0.00,1.50,16.83,0.842,6,0.000,0.037,2482,2052,1845,0,0,0,0,0,0,28.83,25.98,25.11
$GC,11771,0.47,235.2,860.0,8.4,505,11776,0.00,1.58,0.00,0.000,4,0.000,0.061,2481,3056,1834,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11868,0.45,235.2,851.1,9.3,508,11874,0.12,1.48,0.00,0.000,6,0.171,0.038,2457,2074,1834,0,0,0,0,0,0,26.06,26.22,28.83
$GC,12197,0.47,272.8,826.4,7.4,519,12240,0.00,1.65,33.40,1.124,4,0.000,0.059,2456,3066,1689,0,0,0,0,1,0,28.83,25.59,24.65
$GC,12267,0.48,311.0,821.9,7.3,521,12320,0.00,1.50,40.88,1.241,6,0.000,0.037,2462,2059,1534,0,0,0,0,1,0,28.83,25.74,24.10
$GC,12618,0.50,350.3,795.3,7.3,533,12668,0.00,1.70,44.88,0.952,4,0.000,0.058,2463,3066,1370,0,0,0,0,0,0,28.83,25.24,24.62
$GC,12705,0.51,381.7,790.5,7.5,535,12745,0.00,1.50,33.15,0.919,6,0.000,0.037,2469,2071,1240,0,0,0,0,0,0,28.83,25.50,24.47
$GC,13074,0.52,385.8,758.6,8.3,548,13079,0.00,1.55,0.00,0.000,4,0.000,0.058,2469,3066,1233,0,0,0,0,0,0,28.83,25.94,28.83
$GC,13137,0.53,385.8,753.0,8.6,550,13142,0.00,1.52,0.00,0.000,6,0.000,0.037,2483,2034,1233,0,0,0,0,0,0,28.83,26.04,28.83
$GC,13472,0.54,385.8,721.7,9.6,561,13477,0.00,1.60,0.00,0.000,4,0.000,0.058,2477,3069,1232,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13514,0.55,385.8,717.9,9.9,562,13519,0.00,1.50,0.00,0.000,6,0.000,0.037,2484,2043,1232,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,20947,end climb,SURFACE_DEPTH_REACHED
$STATE,20947,begin surface coast
$FINISH,1.4,1.009071
$STATE,20968,end surface coast,CONTROL_FINISHED_OK
$STATE,20968,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,38.73
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$XPDR_PINGS,1
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$10V_AH,10.0,8.189
$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,0.000,0.000,0.000,0.000,0.000,0.000,18.176,0.000,0.000,0.000
$MEM,329164
$DATA_FILE_SIZE,33382,955
$CAP_FILE_SIZE,225507,0
$CFSIZE,260165632,248770560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.131,128.8,1
$GPS,200812,155506,1956.272,12352.417,30,1.2,30,-2.4