version: 66.11
glider: 166
mission: 8
dive: 59
start: 8 22 112 20 29 48
data:
$ID,166
$MISSION,8
$DIVE,59
$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,-26440.559
$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,34
$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
$GPS1,220812,201736,2013.769,12420.106,39,0.9,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-54.0
$GPS2,220812,202919,2013.716,12420.450,14,1.1,14,-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,299.3,2503,-13.1,-8.250
$D_GRID,5634
$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,-71.07,0.000,2,0.000,0.000,155,2210,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.3,-5.1,12,156,7.78,1.50,-44.28,0.000,4,0.236,0.057,2119,1225,3598,0,0,0,0,0,0,25.72,26.12,26.41
$GC,329,-0.51,-194.6,61.4,-29.9,41,334,0.00,1.48,0.00,0.000,6,0.000,0.040,2114,2199,3598,0,0,0,0,0,0,28.83,26.24,28.83
$GC,647,-0.48,-194.6,128.0,-18.7,57,649,0.15,0.00,0.00,0.000,6,0.164,0.000,2152,2200,3598,0,0,0,0,0,0,26.24,28.83,28.83
$GC,948,-0.47,-194.6,167.4,-12.5,72,954,0.00,1.45,0.00,0.000,4,0.000,0.035,2153,1218,3599,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1086,-0.47,-194.6,182.1,-11.4,78,1093,0.00,1.48,0.00,0.000,6,0.000,0.040,2148,2201,3599,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1392,-0.46,-194.6,217.7,-10.9,94,1397,0.00,1.45,0.00,0.000,4,0.000,0.035,2139,1217,3599,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1429,-0.46,-194.6,220.2,-10.6,95,1435,0.00,1.48,0.00,0.000,6,0.000,0.040,2136,2203,3598,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1736,-0.46,-194.6,256.3,-11.4,111,1741,0.12,1.40,0.00,0.000,4,0.158,0.031,2169,1217,3598,0,0,0,0,0,0,26.46,26.59,28.83
$GC,1800,-0.47,-194.6,262.1,-9.7,114,1805,0.00,1.48,0.00,0.000,6,0.000,0.041,2172,2204,3598,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2123,-0.48,-194.6,288.9,-8.5,130,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2204,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2424,-0.50,-194.6,315.3,-8.7,145,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2204,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2726,-0.52,-194.6,341.8,-9.1,160,2731,0.00,1.45,0.00,0.000,4,0.000,0.036,2151,1219,3592,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2769,-0.55,-194.6,346.0,-9.0,162,2774,0.00,1.48,0.00,0.000,6,0.000,0.041,2145,2198,3591,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3092,-0.57,-194.6,373.1,-7.9,178,3097,0.00,1.50,0.00,0.000,4,0.000,0.054,2137,3204,3590,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3125,-0.59,-194.6,374.8,-7.8,179,3131,0.00,1.45,0.00,0.000,6,0.000,0.031,2137,2195,3591,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3440,-0.60,-194.6,400.9,-7.6,195,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2194,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3742,-0.62,-194.6,421.8,-6.7,210,3748,0.00,1.40,0.00,0.000,4,0.000,0.037,2137,1229,3585,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3776,-0.64,-194.6,423.8,-6.8,211,3781,0.00,1.45,0.00,0.000,6,0.000,0.043,2131,2198,3585,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4089,-0.66,-194.6,445.3,-6.4,227,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2198,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4392,-0.68,-194.6,465.8,-7.2,242,4394,0.12,0.00,0.00,0.000,6,0.083,0.000,2061,2198,3581,0,0,0,0,0,0,26.74,28.83,28.83
$GC,4691,-0.67,-194.6,503.3,-13.0,257,4693,0.12,0.00,0.00,0.000,6,0.161,0.000,2092,2198,3579,0,0,0,0,0,0,26.54,28.83,28.83
$GC,4990,-0.67,-194.6,534.7,-9.9,272,4996,0.00,1.42,0.00,0.000,4,0.000,0.039,2093,1232,3576,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5034,-0.67,-194.6,539.4,-10.2,274,5041,0.00,1.48,0.00,0.000,6,0.000,0.045,2088,2198,3576,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5358,-0.67,-194.6,571.1,-9.4,290,5363,0.00,1.42,0.00,0.000,4,0.000,0.040,2088,1235,3574,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5395,-0.67,-194.6,573.3,-9.4,291,5401,0.00,1.48,0.00,0.000,6,0.000,0.046,2081,2207,3574,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5702,-0.67,-194.6,601.1,-8.2,307,5707,0.00,1.45,0.00,0.000,4,0.000,0.039,2081,1227,3572,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5799,-0.67,-194.6,608.8,-8.2,310,5804,0.00,1.48,0.00,0.000,6,0.000,0.047,2074,2200,3570,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6128,-0.67,-194.6,635.7,-8.2,321,6134,0.00,1.50,0.00,0.000,4,0.000,0.058,2067,3185,3569,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6176,-0.67,-194.6,638.8,-8.2,322,6182,0.00,1.42,0.00,0.000,6,0.000,0.034,2067,2212,3568,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6494,-0.67,-194.6,669.0,-9.5,333,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2211,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6794,-0.67,-194.6,699.6,-10.5,343,6800,0.00,1.48,0.00,0.000,4,0.000,0.041,2067,1220,3563,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6842,-0.67,-194.6,703.4,-10.6,344,6848,0.12,1.50,0.00,0.000,6,0.161,0.049,2093,2230,3563,0,0,0,0,0,0,26.49,26.63,28.83
$GC,7164,-0.68,-194.6,735.1,-9.3,355,7169,0.00,1.48,0.00,0.000,4,0.000,0.061,2089,3177,3561,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7203,-0.69,-194.6,738.5,-9.4,356,7208,0.00,1.45,0.00,0.000,6,0.000,0.036,2089,2190,3561,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7533,-0.70,-194.6,770.6,-9.9,367,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2189,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7831,-0.71,-194.6,799.1,-9.3,377,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2188,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8132,-0.72,-194.6,826.0,-8.7,387,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2189,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8431,-0.73,-194.6,851.2,-8.5,397,8437,0.00,1.55,0.00,0.000,4,0.000,0.063,2089,3174,3555,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8484,-0.73,-194.6,854.2,-8.7,398,8490,0.00,1.45,0.00,0.000,6,0.000,0.037,2087,2193,3554,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8800,-0.74,-194.6,885.0,-9.3,409,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2192,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9099,-0.75,-194.6,912.9,-9.3,419,9104,0.00,1.45,0.00,0.000,4,0.000,0.045,2087,1219,3551,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9181,-0.76,-194.6,918.8,-9.2,421,9186,0.00,1.50,0.00,0.000,6,0.000,0.053,2080,2192,3551,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9494,-0.76,-194.6,949.9,-9.3,432,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2192,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9794,-0.76,-194.6,976.2,-8.7,442,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2192,3549,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9972,begin apogee
$GC,9978,-0.19,0.0,991.8,-8.7,448,10155,0.50,0.00,165.80,1.123,6,0.126,0.000,2243,2059,2797,0,0,0,0,0,0,26.43,28.83,24.34
$STATE,10156,end apogee,CONTROL_FINISHED_OK
$STATE,10157,begin climb
$GC,10159,0.58,194.6,998.2,0.0,454,10346,0.73,0.00,180.88,1.062,6,0.083,0.000,2495,2059,2008,0,0,0,0,0,0,25.03,28.83,23.97
$GC,10635,0.56,194.6,961.1,9.3,470,10640,0.00,1.60,0.00,0.000,4,0.000,0.064,2499,3060,1986,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10728,0.53,194.6,952.1,9.6,473,10733,0.00,1.52,0.00,0.000,6,0.000,0.039,2506,2075,1985,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11063,0.51,194.6,918.9,10.2,484,11069,0.12,1.55,0.00,0.000,4,0.174,0.060,2466,3064,1983,0,0,0,0,0,0,26.01,26.10,28.83
$GC,11106,0.48,194.6,915.3,10.1,485,11111,0.00,1.50,0.00,0.000,6,0.000,0.038,2472,2044,1982,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11431,0.47,194.6,882.9,10.0,496,11437,0.00,1.60,0.00,0.000,4,0.000,0.061,2471,3059,1982,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11484,0.45,194.6,879.2,10.1,497,11489,0.00,1.48,0.00,0.000,6,0.000,0.039,2478,2075,1981,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11799,0.43,194.6,845.8,9.5,508,11804,0.00,1.58,0.00,0.000,4,0.000,0.062,2480,3063,1981,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11886,0.42,194.6,839.2,9.8,510,11894,0.15,1.48,0.00,0.000,6,0.171,0.040,2447,2080,1981,0,0,0,0,0,0,26.21,26.41,28.83
$GC,12194,0.43,230.0,813.7,7.2,521,12231,0.00,1.62,32.85,1.014,4,0.000,0.060,2448,3061,1857,0,0,0,0,0,0,28.83,25.77,25.12
$GC,12280,0.43,260.3,809.1,7.4,523,12328,0.00,1.50,40.38,0.785,6,0.000,0.038,2452,2078,1737,0,0,0,0,0,0,28.83,25.93,24.81
$GC,12645,0.44,275.4,779.5,7.8,536,12669,0.00,1.58,18.33,0.844,4,0.000,0.058,2454,3069,1676,0,0,0,0,0,0,28.83,25.72,25.13
$GC,12739,0.44,276.2,771.8,8.2,539,12744,0.00,1.52,0.00,0.000,6,0.000,0.038,2461,2054,1669,0,0,0,0,0,0,28.83,25.90,28.83
$GC,13075,0.44,276.2,743.9,8.3,550,13080,0.00,1.58,0.00,0.000,4,0.000,0.059,2461,3059,1667,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13118,0.44,276.2,740.7,8.3,551,13123,0.00,1.50,0.00,0.000,6,0.000,0.038,2468,2036,1667,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13442,0.44,282.9,712.9,8.1,562,13448,0.00,1.67,2.10,0.278,4,0.000,0.060,2469,3066,1647,0,0,0,0,0,0,28.83,26.25,24.97
$GC,13537,0.44,282.9,704.8,8.3,565,13542,0.00,1.50,0.00,0.000,6,0.000,0.039,2476,2074,1657,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13871,0.44,282.9,676.4,8.7,576,13876,0.00,1.52,0.00,0.000,4,0.000,0.061,2476,3063,1658,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13928,0.44,282.9,673.1,8.9,577,13936,0.00,1.50,0.00,0.000,6,0.000,0.039,2483,2033,1658,0,0,0,0,0,0,28.83,26.41,28.83
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$STATE,21204,end climb,SURFACE_DEPTH_REACHED
$STATE,21204,begin surface coast
$FINISH,1.6,1.022035
$STATE,21251,end surface coast,CONTROL_FINISHED_OK
$STATE,21251,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,39.80
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$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,7747296
$24V_AH,24.0,14.899
$10V_AH,10.0,9.981
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.975,111.350,818.675,0.000,0.000,24.696,40.705,417.992,0.000,0.000,15.173,3089.945,14789.530,885.015,2821.554,437.514,0.000,2202.268,0.000,2266.497,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,76.500,1123.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,329180
$DATA_FILE_SIZE,36691,991
$CAP_FILE_SIZE,236101,0
$CFSIZE,260165632,247631872
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,100.7,1
$GPS,230812,022636,2014.597,12419.125,41,1.2,41,-2.5