version: 66.11
glider: 166
mission: 8
dive: 55
start: 8 21 112 21 40 23
data:
$ID,166
$MISSION,8
$DIVE,55
$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,400
$T_MISSION,430
$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,-26435.525
$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,58
$R_STBD_OVSHOOT,62
$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,2
$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
$GPS1,210812,213054,2006.516,12408.243,42,1.2,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-45.9
$GPS2,210812,213955,2006.404,12408.645,11,1.8,11,-2.5
$SPEED_LIMITS,0.143,0.276
$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,8.6,25352,-13.1,-8.250
$D_GRID,5464
$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,-0.58,-194.6,0.0,0.0,0,91,0.00,0.00,-71.00,0.000,2,0.000,0.000,159,2234,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.58,-194.6,3.0,-3.9,12,162,7.68,1.50,-50.15,0.000,4,0.235,0.054,2122,1223,3598,0,0,0,0,0,0,25.86,26.21,26.49
$GC,391,-0.52,-194.6,79.5,-28.2,45,396,0.00,1.42,0.00,0.000,6,0.000,0.038,2117,2178,3598,0,0,0,0,0,0,28.83,26.36,28.83
$GC,714,-0.48,-194.6,154.8,-22.1,61,720,0.12,1.38,0.00,0.000,4,0.174,0.032,2159,1214,3598,0,0,0,0,0,0,26.32,26.46,28.83
$GC,947,-0.48,-194.6,186.0,-11.5,72,953,0.00,1.48,0.00,0.000,6,0.000,0.040,2148,2207,3598,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1261,-0.48,-194.6,220.9,-11.1,88,1266,0.00,1.42,0.00,0.000,4,0.000,0.034,2155,1225,3598,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1409,-0.48,-194.6,236.8,-10.9,95,1414,0.00,1.45,0.00,0.000,6,0.000,0.040,2148,2200,3598,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1727,-0.48,-194.6,270.2,-10.3,111,1732,0.00,1.42,0.00,0.000,4,0.000,0.035,2131,1223,3597,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1810,-0.48,-194.6,279.2,-10.8,115,1817,0.03,1.45,0.00,0.000,6,0.180,0.041,2146,2198,3597,0,0,0,0,0,0,26.51,26.62,28.83
$GC,2135,-0.48,-194.6,312.9,-10.3,131,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2198,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2436,-0.49,-194.6,339.5,-8.6,146,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2198,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2737,-0.50,-194.6,367.9,-9.8,161,2742,0.00,1.42,0.00,0.000,4,0.000,0.035,2125,1225,3591,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2829,-0.51,-194.6,376.5,-10.1,165,2834,0.00,1.45,0.00,0.000,6,0.000,0.041,2121,2197,3591,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3142,-0.52,-194.6,405.8,-8.3,181,3148,0.00,1.42,0.00,0.000,4,0.000,0.037,2121,1223,3588,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3207,-0.53,-194.6,411.2,-8.4,184,3212,0.00,1.48,0.00,0.000,6,0.000,0.043,2114,2202,3588,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3530,-0.54,-194.6,439.0,-9.0,200,3535,0.00,1.45,0.00,0.000,4,0.000,0.036,2114,1218,3585,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3613,-0.55,-194.6,446.8,-9.3,204,3619,0.00,1.48,0.00,0.000,6,0.000,0.043,2108,2201,3584,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3937,-0.56,-194.6,477.3,-9.8,220,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2201,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4239,-0.57,-194.6,506.3,-9.7,235,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2201,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4538,-0.58,-194.6,533.2,-9.0,250,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2201,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4840,-0.59,-194.6,560.9,-9.5,265,4845,0.00,1.45,0.00,0.000,4,0.000,0.039,2108,1232,3574,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4879,-0.60,-194.6,563.5,-9.6,266,4885,0.00,1.48,0.00,0.000,6,0.000,0.045,2101,2206,3574,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5183,-0.61,-194.6,597.1,-10.8,282,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2205,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5494,-0.62,-194.6,628.1,-9.4,293,5499,0.00,1.45,0.00,0.000,4,0.000,0.040,2101,1229,3569,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5546,-0.62,-194.6,631.1,-9.1,294,5552,0.00,1.48,0.00,0.000,6,0.000,0.047,2095,2201,3569,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5862,-0.63,-194.6,659.0,-7.9,305,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2201,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6160,-0.64,-194.6,681.5,-7.3,315,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2201,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6460,-0.65,-194.6,705.0,-8.0,325,6465,0.00,1.45,0.00,0.000,4,0.000,0.042,2094,1229,3562,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6513,-0.65,-194.6,708.0,-8.4,326,6518,0.00,1.48,0.00,0.000,6,0.000,0.048,2088,2198,3562,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6828,-0.66,-194.6,741.7,-10.7,337,6833,0.00,1.45,0.00,0.000,4,0.000,0.041,2088,1224,3560,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6871,-0.67,-194.6,745.5,-10.7,338,6876,0.00,1.50,0.00,0.000,6,0.000,0.048,2081,2237,3559,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7193,-0.67,-194.6,779.0,-9.6,349,7199,0.00,1.50,0.00,0.000,4,0.000,0.041,2081,1230,3558,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7310,-0.67,-194.6,788.0,-9.6,352,7317,0.00,1.48,0.00,0.000,6,0.000,0.049,2075,2198,3557,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7617,-0.67,-194.6,817.0,-8.5,363,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2198,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7917,-0.67,-194.6,841.9,-8.2,373,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2198,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8217,-0.67,-194.6,864.4,-7.3,383,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2199,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8517,-0.67,-194.6,886.5,-7.4,393,8522,0.00,1.45,0.00,0.000,4,0.000,0.045,2075,1232,3551,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8574,-0.67,-194.6,889.0,-7.5,394,8581,0.00,1.50,0.00,0.000,6,0.000,0.052,2069,2233,3550,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8881,-0.67,-194.6,916.6,-8.8,405,8886,0.00,1.50,0.00,0.000,4,0.000,0.044,2070,1203,3548,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8932,-0.67,-194.6,919.6,-9.0,406,8937,0.00,1.50,0.00,0.000,6,0.000,0.051,2078,2208,3548,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9245,-0.67,-194.6,953.4,-10.4,417,9250,0.00,1.48,0.00,0.000,4,0.000,0.044,2070,1226,3547,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9292,-0.67,-194.6,956.9,-10.4,418,9298,0.12,1.50,0.00,0.000,6,0.161,0.051,2103,2229,3547,0,0,0,0,0,0,26.48,26.62,28.83
$GC,9615,-0.68,-194.6,988.9,-9.6,429,9620,0.00,1.50,0.00,0.000,4,0.000,0.044,2096,1199,3546,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,9645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9646,begin apogee
$GC,9653,-0.19,0.0,992.4,-9.5,430,9901,0.45,0.00,240.20,0.877,6,0.124,0.000,2242,2087,2797,0,0,0,0,0,0,26.48,28.83,24.35
$STATE,9903,end apogee,CONTROL_FINISHED_OK
$STATE,9903,begin climb
$GC,9905,0.58,194.6,1005.6,0.0,438,10095,0.73,1.60,182.18,1.056,4,0.076,0.060,2491,3052,2003,0,0,0,0,0,0,25.01,24.60,23.96
$GC,10185,0.56,213.4,993.5,7.7,447,10210,0.00,1.50,17.67,0.999,6,0.000,0.038,2501,2069,1924,0,0,0,0,0,0,28.83,25.33,24.42
$GC,10523,0.54,213.4,960.6,9.1,459,10528,0.00,1.62,0.00,0.000,4,0.000,0.063,2501,3059,1912,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10576,0.51,213.4,957.3,9.3,460,10582,0.12,1.50,0.00,0.000,6,0.181,0.039,2478,2051,1912,0,0,0,0,0,0,25.79,25.95,28.83
$GC,10891,0.50,213.4,929.1,8.4,471,10896,0.00,1.60,0.00,0.000,4,0.000,0.061,2478,3058,1910,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10958,0.48,213.4,923.4,8.5,473,10965,0.00,1.50,0.00,0.000,6,0.000,0.038,2483,2068,1910,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11289,0.47,219.4,895.9,8.1,484,11295,0.00,1.52,0.00,0.000,4,0.000,0.062,2483,3051,1909,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11398,0.45,219.4,887.8,8.4,487,11405,0.12,1.48,0.00,0.000,6,0.174,0.039,2460,2071,1909,0,0,0,0,0,0,26.18,26.36,28.83
$GC,11720,0.46,274.9,865.3,6.7,498,11801,0.00,1.67,77.05,0.862,4,0.000,0.061,2458,3057,1680,0,0,0,0,0,0,28.83,25.30,24.70
$GC,11834,0.47,329.0,859.2,6.7,501,11918,0.00,1.50,78.60,0.788,6,0.000,0.038,2464,2064,1462,0,0,0,0,0,0,28.83,25.55,24.44
$GC,12231,0.48,329.0,826.4,8.4,515,12236,0.00,1.62,0.00,0.000,4,0.000,0.061,2464,3058,1446,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12308,0.48,329.0,820.5,8.9,517,12313,0.00,1.50,0.00,0.000,6,0.000,0.038,2472,2046,1446,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12626,0.48,329.0,790.5,8.8,528,12631,0.00,1.60,0.00,0.000,4,0.000,0.062,2471,3064,1445,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12683,0.48,329.0,787.5,8.8,529,12689,0.00,1.50,0.00,0.000,6,0.000,0.039,2478,2072,1444,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12989,0.49,344.5,759.9,7.8,540,13009,0.00,0.00,18.33,0.888,6,0.000,0.000,2478,2072,1398,0,0,0,0,0,0,28.83,28.83,25.38
$GC,13289,0.49,347.8,736.5,8.2,550,13294,0.00,1.52,0.00,0.000,4,0.000,0.061,2478,3053,1386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13346,0.49,347.8,733.5,8.4,551,13353,0.00,1.48,0.00,0.000,6,0.000,0.041,2484,2074,1385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13653,0.49,347.8,703.6,9.1,562,13658,0.00,1.55,0.00,0.000,4,0.000,0.061,2486,3049,1385,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13685,0.49,347.8,700.2,9.5,563,13691,0.00,1.48,0.00,0.000,6,0.000,0.039,2494,2075,1385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,14020,0.49,347.8,664.2,11.3,574,14025,0.00,1.50,0.00,0.000,4,0.000,0.060,2493,3054,1386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,14087,0.49,347.8,656.5,11.5,576,14093,0.12,1.48,0.00,0.000,6,0.158,0.038,2467,2068,1385,0,0,0,0,0,0,26.27,26.43,28.83
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$STATE,20574,end climb,SURFACE_DEPTH_REACHED
$STATE,20574,begin surface coast
$FINISH,1.3,1.021898
$STATE,20597,end surface coast,CONTROL_FINISHED_OK
$STATE,20597,begin surface
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$IRIDIUM_FIX,1957.29,12403.68,210812,151505
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.88
$INTERNAL_PRESSURE,9.52409
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,7748832
$24V_AH,24.0,14.056
$10V_AH,9.7,9.269
$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,0.000,0.000,0.000,0.000,0.000,0.000,17.587,0.000,0.000,0.000
$MEM,329164
$DATA_FILE_SIZE,33328,922
$CAP_FILE_SIZE,225727,0
$CFSIZE,260165632,248094720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.307,114.3,1
$GPS,220812,032606,2008.883,12411.567,30,1.0,30,-2.5