version: 66.11
glider: 166
mission: 8
dive: 65
start: 8 24 112 8 26 9
data:
$ID,166
$MISSION,8
$DIVE,65
$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,-26448.109
$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,65
$R_STBD_OVSHOOT,45
$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
$GPS1,240812,081623,1956.916,12425.828,24,1.1,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-60.6
$GPS2,240812,082542,1956.886,12426.116,15,1.4,15,-2.5
$SPEED_LIMITS,0.143,0.276
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,223.7,235514,-13.1,-8.250
$D_GRID,5618
$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,-0.58,-194.6,0.0,0.0,0,91,0.00,0.00,-69.85,0.000,2,0.000,0.000,165,2222,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.1,-3.8,12,161,7.57,1.52,-53.72,0.000,4,0.230,0.071,2109,3184,3597,0,0,0,0,0,0,25.83,26.15,26.49
$GC,243,-0.50,-194.6,32.3,-33.5,36,251,0.10,1.42,0.00,0.000,6,0.171,0.029,2142,2197,3597,0,0,0,0,0,0,26.04,26.30,28.83
$GC,560,-0.46,-194.6,114.6,-22.9,55,565,0.00,1.50,0.00,0.000,4,0.000,0.050,2132,3182,3597,0,0,0,0,0,0,28.83,26.36,28.83
$GC,604,-0.43,-194.6,122.2,-19.1,57,610,0.10,1.42,0.00,0.000,6,0.137,0.028,2169,2189,3597,0,0,0,0,0,0,26.26,26.46,28.83
$GC,927,-0.43,-194.6,163.1,-10.3,73,933,0.00,1.40,0.00,0.000,4,0.000,0.033,2171,1220,3597,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1053,-0.44,-194.6,174.6,-9.4,79,1059,0.00,1.45,0.00,0.000,6,0.000,0.039,2166,2194,3597,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1377,-0.46,-194.6,207.7,-9.8,95,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2194,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1679,-0.47,-194.6,233.4,-8.6,110,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2195,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1980,-0.49,-194.6,258.0,-7.6,125,1985,0.00,1.52,0.00,0.000,4,0.000,0.053,2179,3181,3596,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2028,-0.51,-194.6,261.2,-7.3,127,2034,0.08,1.40,0.00,0.000,6,0.052,0.030,2091,2201,3596,0,0,0,0,0,0,26.65,26.67,28.83
$GC,2347,-0.48,-194.6,307.5,-15.2,143,2354,0.17,1.40,0.00,0.000,4,0.152,0.032,2148,1234,3594,0,0,0,0,0,0,26.48,26.66,28.83
$GC,2417,-0.48,-194.6,315.1,-12.6,146,2422,0.00,1.45,0.00,0.000,6,0.000,0.041,2144,2207,3594,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2734,-0.48,-194.6,349.2,-10.3,162,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2207,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3036,-0.48,-194.6,379.3,-9.9,177,3041,0.00,1.42,0.00,0.000,4,0.000,0.035,2118,1236,3590,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3093,-0.48,-194.6,383.7,-9.8,179,3101,0.12,1.45,0.00,0.000,6,0.119,0.041,2155,2204,3589,0,0,0,0,0,0,26.53,26.66,28.83
$GC,3400,-0.50,-194.6,404.4,-6.3,195,3405,0.00,1.50,0.00,0.000,4,0.000,0.054,2150,3213,3587,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3477,-0.53,-194.6,408.1,-5.8,198,3485,0.00,1.45,0.00,0.000,6,0.000,0.031,2150,2206,3586,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3783,-0.55,-194.6,428.7,-6.5,214,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2205,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4085,-0.58,-194.6,448.0,-6.5,229,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2205,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4385,-0.61,-194.6,463.2,-4.2,244,4387,0.12,0.00,0.00,0.000,6,0.087,0.000,2071,2205,3579,0,0,0,0,0,0,26.72,28.83,28.83
$GC,4685,-0.60,-194.6,490.1,-9.8,259,4687,0.15,0.00,0.00,0.000,6,0.146,0.000,2113,2205,3577,0,0,0,0,0,0,26.54,28.83,28.83
$GC,4985,-0.62,-194.6,514.9,-8.3,274,4991,0.00,1.45,0.00,0.000,4,0.000,0.038,2114,1220,3575,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5029,-0.63,-194.6,518.9,-8.4,276,5035,0.00,1.48,0.00,0.000,6,0.000,0.044,2109,2199,3575,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5353,-0.64,-194.6,547.3,-8.8,292,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2199,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5655,-0.65,-194.6,573.1,-8.3,307,5660,0.00,1.45,0.00,0.000,4,0.000,0.038,2109,1223,3570,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5707,-0.66,-194.6,577.0,-8.5,309,5713,0.00,1.48,0.00,0.000,6,0.000,0.045,2102,2195,3570,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6041,-0.67,-194.6,606.2,-8.5,325,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2195,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6341,-0.68,-194.6,630.5,-8.1,335,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2196,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6641,-0.69,-194.6,653.6,-7.5,345,6647,0.00,1.45,0.00,0.000,4,0.000,0.041,2102,1223,3563,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6691,-0.70,-194.6,656.4,-7.8,346,6696,0.00,1.50,0.00,0.000,6,0.000,0.047,2095,2236,3563,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7010,-0.71,-194.6,685.0,-8.9,357,7016,0.00,1.50,0.00,0.000,4,0.000,0.041,2095,1200,3562,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7063,-0.72,-194.6,688.1,-8.9,358,7068,0.00,1.50,0.00,0.000,6,0.000,0.048,2088,2212,3561,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7377,-0.73,-194.6,718.0,-8.8,369,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2212,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7677,-0.73,-194.6,742.2,-7.8,379,7682,0.00,1.48,0.00,0.000,4,0.000,0.043,2088,1225,3557,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7719,-0.74,-194.6,744.8,-7.7,380,7725,0.00,1.50,0.00,0.000,6,0.000,0.050,2081,2232,3557,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8045,-0.74,-194.6,770.7,-7.7,391,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2232,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8343,-0.74,-194.6,794.4,-8.0,401,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2232,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8643,-0.75,-194.6,820.0,-8.7,411,8648,0.00,1.50,0.00,0.000,4,0.000,0.044,2082,1204,3552,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8696,-0.75,-194.6,823.1,-8.8,412,8701,0.00,1.50,0.00,0.000,6,0.000,0.051,2076,2209,3551,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9008,-0.75,-194.6,854.5,-9.5,423,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2209,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9309,-0.75,-194.6,882.8,-9.4,433,9314,0.00,1.48,0.00,0.000,4,0.000,0.045,2076,1229,3549,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9375,-0.75,-194.6,889.0,-9.6,435,9380,0.00,1.50,0.00,0.000,6,0.000,0.052,2069,2230,3548,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9705,-0.75,-194.6,921.2,-9.7,446,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2230,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10003,-0.75,-194.6,948.5,-8.6,456,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2230,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10304,-0.75,-194.6,973.5,-8.4,466,10309,0.00,1.50,0.00,0.000,4,0.000,0.046,2069,1207,3545,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10416,-0.75,-194.6,981.6,-8.7,469,10421,0.00,1.50,0.00,0.000,6,0.000,0.053,2062,2208,3545,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,10516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10516,begin apogee
$GC,10522,-0.19,0.0,992.5,-8.9,473,10700,0.55,0.00,166.25,1.109,6,0.125,0.000,2244,2073,2794,0,0,0,0,0,0,26.39,28.83,24.23
$STATE,10701,end apogee,CONTROL_FINISHED_OK
$STATE,10701,begin climb
$GC,10704,0.58,194.6,999.0,0.0,479,10888,0.73,0.00,180.18,1.063,6,0.077,0.000,2495,2072,2008,0,0,0,0,0,0,25.05,28.83,23.98
$GC,11179,0.56,194.6,959.3,10.3,495,11184,0.00,1.58,0.00,0.000,4,0.000,0.062,2504,3063,1987,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11267,0.53,194.6,952.5,10.4,497,11273,0.00,1.50,0.00,0.000,6,0.000,0.037,2510,2050,1986,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11575,0.50,194.6,918.1,10.3,508,11581,0.12,1.58,0.00,0.000,4,0.177,0.058,2474,3060,1984,0,0,0,0,0,0,25.99,26.10,28.83
$GC,11690,0.48,194.6,909.4,9.3,511,11695,0.00,1.48,0.00,0.000,6,0.000,0.037,2477,2077,1984,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12005,0.46,198.4,881.6,8.1,522,12010,0.00,1.52,0.00,0.000,4,0.000,0.060,2479,3058,1983,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12057,0.45,198.4,878.5,8.3,523,12062,0.00,1.48,0.00,0.000,6,0.000,0.037,2484,2072,1983,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12373,0.43,198.4,849.0,9.0,534,12378,0.12,1.52,0.00,0.000,4,0.181,0.057,2446,3063,1982,0,0,0,0,0,0,26.22,26.33,28.83
$GC,12445,0.41,198.4,843.3,8.8,536,12451,0.00,1.48,0.00,0.000,6,0.000,0.037,2450,2075,1982,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12771,0.42,202.6,816.6,8.1,547,12776,0.00,1.50,0.00,0.000,4,0.000,0.059,2451,3061,1982,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12834,0.41,202.6,810.9,8.5,549,12840,0.00,1.48,0.00,0.000,6,0.000,0.037,2457,2078,1982,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13170,0.41,221.3,783.7,7.7,560,13202,0.00,1.60,24.00,1.015,4,0.000,0.058,2460,3066,1891,0,0,0,0,0,0,28.83,25.99,25.27
$GC,13266,0.41,244.2,776.6,7.6,563,13299,0.00,1.50,28.62,0.829,6,0.000,0.037,2465,2045,1806,0,0,0,0,0,0,28.83,26.12,25.08
$GC,13623,0.42,288.3,750.3,7.0,575,13691,0.00,1.65,61.53,0.796,4,0.000,0.057,2466,3067,1622,0,0,0,0,0,0,28.83,25.32,24.75
$GC,13813,0.44,322.7,737.2,7.3,581,13865,0.00,1.50,45.58,0.793,6,0.000,0.037,2472,2057,1483,0,0,0,0,0,0,28.83,25.79,24.68
$GC,14164,0.44,322.7,707.1,9.0,593,14169,0.00,1.60,0.00,0.000,4,0.000,0.058,2474,3067,1473,0,0,0,0,0,0,28.83,25.92,28.83
$GC,14206,0.44,322.7,704.0,9.2,594,14211,0.00,1.50,0.00,0.000,6,0.000,0.037,2480,2053,1472,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,20805,end climb,SURFACE_DEPTH_REACHED
$STATE,20805,begin surface coast
$FINISH,1.4,0.997610
$STATE,20831,end surface coast,CONTROL_FINISHED_OK
$STATE,20831,begin surface
$SM_CCo,20908,0.00,0.000,0,0,468,572.78
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$IRIDIUM_FIX,1952.70,12427.20,240812,020200
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.32
$INTERNAL_PRESSURE,9.55339
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,7744992
$24V_AH,24.0,16.225
$10V_AH,9.7,11.079
$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,17.150,110.750,729.450,0.000,0.000,29.075,36.686,265.198,0.000,0.000,15.847,3017.972,14552.256,839.334,2657.808,388.597,0.000,2109.266,0.000,2219.799,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,71.145,1109.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20863.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.489,0.000,0.000,0.000
$MEM,329128
$DATA_FILE_SIZE,33369,940
$CAP_FILE_SIZE,228188,0
$CFSIZE,260165632,246943744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.236,100.2,1
$GPS,240812,141554,1953.121,12427.037,38,1.2,38,-2.5