version: 66.11
glider: 166
mission: 8
dive: 68
start: 8 25 112 1 31 5
data:
$ID,166
$MISSION,8
$DIVE,68
$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,-26451.881
$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,61
$R_STBD_OVSHOOT,46
$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
$GPS1,250812,012136,1945.873,12427.490,27,1.2,27,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-60.0
$GPS2,250812,013037,1945.850,12427.601,11,1.3,11,-2.4
$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,211.4,214951,-13.1,-8.250
$D_GRID,5652
$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,-70.97,0.000,2,0.000,0.000,157,2216,2006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.2,-4.5,12,162,7.65,1.50,-49.70,0.000,4,0.233,0.073,2109,3170,3598,0,0,0,0,0,0,25.86,26.18,26.53
$GC,241,-0.50,-194.6,38.7,-35.5,35,246,0.08,1.40,0.00,0.000,6,0.177,0.029,2147,2192,3598,0,0,0,0,0,0,26.07,26.32,28.83
$GC,554,-0.46,-194.6,117.7,-19.3,52,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2191,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,856,-0.43,-194.6,167.4,-16.1,67,861,0.00,1.40,0.00,0.000,4,0.000,0.034,2128,1229,3598,0,0,0,0,0,0,28.83,26.53,28.83
$GC,904,-0.41,-194.6,174.9,-17.2,69,910,0.12,1.42,0.00,0.000,6,0.132,0.040,2174,2185,3598,0,0,0,0,0,0,26.35,26.51,28.83
$GC,1224,-0.43,-194.6,211.6,-10.1,85,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2185,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1525,-0.45,-194.6,240.2,-8.9,100,1530,0.00,1.40,0.00,0.000,4,0.000,0.035,2193,1233,3597,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1583,-0.46,-194.6,243.8,-8.3,102,1589,0.00,1.45,0.00,0.000,6,0.000,0.041,2188,2204,3598,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1889,-0.48,-194.6,267.9,-7.7,118,1894,0.00,1.50,0.00,0.000,4,0.000,0.052,2162,3214,3598,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1977,-0.50,-194.6,274.8,-8.2,122,1983,0.00,1.45,0.00,0.000,6,0.000,0.029,2165,2200,3597,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2296,-0.52,-194.6,299.6,-7.0,138,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2198,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2599,-0.54,-194.6,319.8,-6.5,153,2604,0.00,1.40,0.00,0.000,4,0.000,0.035,2157,1235,3594,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2632,-0.56,-194.6,321.5,-6.7,154,2638,0.00,1.45,0.00,0.000,6,0.000,0.041,2150,2207,3593,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2946,-0.58,-194.6,345.4,-7.2,170,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2208,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3248,-0.60,-194.6,366.1,-6.6,185,3250,0.10,0.00,0.00,0.000,6,0.098,0.000,2079,2207,3590,0,0,0,0,0,0,26.74,28.83,28.83
$GC,3547,-0.59,-194.6,399.8,-11.4,200,3553,0.12,1.40,0.00,0.000,4,0.155,0.034,2117,1226,3587,0,0,0,0,0,0,26.55,26.67,28.83
$GC,3614,-0.59,-194.6,405.5,-9.4,203,3619,0.00,1.45,0.00,0.000,6,0.000,0.042,2112,2197,3587,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3933,-0.60,-194.6,434.7,-10.1,219,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2197,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4234,-0.61,-194.6,464.2,-9.3,234,4240,0.00,1.42,0.00,0.000,4,0.000,0.037,2112,1232,3582,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4278,-0.62,-194.6,468.3,-9.3,236,4284,0.00,1.45,0.00,0.000,6,0.000,0.043,2106,2197,3582,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4602,-0.63,-194.6,495.0,-8.4,252,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2197,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4904,-0.64,-194.6,522.1,-9.2,267,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2198,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5204,-0.64,-194.6,549.3,-9.2,282,5209,0.00,1.50,0.00,0.000,4,0.000,0.057,2104,3194,3575,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5261,-0.65,-194.6,553.6,-9.3,284,5269,0.00,1.42,0.00,0.000,6,0.000,0.033,2102,2211,3574,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5567,-0.66,-194.6,582.1,-8.4,300,5573,0.00,1.45,0.00,0.000,4,0.000,0.039,2101,1223,3572,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5611,-0.67,-194.6,585.8,-8.3,302,5617,0.00,1.48,0.00,0.000,6,0.000,0.046,2094,2200,3571,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5945,-0.67,-194.6,612.6,-7.9,316,5951,0.00,1.52,0.00,0.000,4,0.000,0.058,2088,3182,3569,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5978,-0.67,-194.6,615.5,-8.1,317,5984,0.00,1.42,0.00,0.000,6,0.000,0.034,2088,2206,3569,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6313,-0.67,-194.6,646.6,-10.2,328,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2205,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,-0.67,-194.6,678.9,-10.7,338,6617,0.00,1.45,0.00,0.000,4,0.000,0.041,2086,1228,3565,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6660,-0.67,-194.6,682.5,-10.6,339,6665,0.00,1.48,0.00,0.000,6,0.000,0.047,2079,2198,3564,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6978,-0.67,-194.6,716.3,-9.6,350,6983,0.00,1.45,0.00,0.000,4,0.000,0.041,2079,1223,3562,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7035,-0.67,-194.6,719.3,-9.4,351,7041,0.00,1.50,0.00,0.000,6,0.000,0.049,2071,2233,3561,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7341,-0.67,-194.6,750.8,-9.5,362,7347,0.00,1.50,0.00,0.000,4,0.000,0.042,2072,1199,3559,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7388,-0.67,-194.6,754.0,-9.6,363,7393,0.00,1.50,0.00,0.000,6,0.000,0.049,2065,2210,3559,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7706,-0.67,-194.6,785.0,-9.0,374,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2210,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8007,-0.67,-194.6,810.8,-8.5,384,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2210,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8306,-0.67,-194.6,836.6,-8.5,394,8311,0.00,1.48,0.00,0.000,4,0.000,0.044,2064,1231,3553,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8342,-0.67,-194.6,839.5,-8.6,395,8348,0.12,1.50,0.00,0.000,6,0.160,0.051,2090,2233,3553,0,0,0,0,0,0,26.44,26.59,28.83
$GC,8673,-0.68,-194.6,862.1,-6.8,406,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2233,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8972,-0.69,-194.6,884.4,-7.7,416,8977,0.00,1.50,0.00,0.000,4,0.000,0.045,2090,1209,3550,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9049,-0.70,-194.6,889.8,-8.2,418,9054,0.00,1.50,0.00,0.000,6,0.000,0.051,2086,2212,3550,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9369,-0.71,-194.6,918.5,-8.6,429,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2212,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9668,-0.72,-194.6,943.4,-8.2,439,9673,0.00,1.48,0.00,0.000,4,0.000,0.047,2088,1236,3547,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9711,-0.73,-194.6,946.2,-8.1,440,9716,0.00,1.50,0.00,0.000,6,0.000,0.053,2080,2233,3547,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10036,-0.73,-194.6,971.3,-7.3,451,10041,0.00,1.50,0.00,0.000,4,0.000,0.066,2080,3182,3545,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10071,-0.74,-194.6,973.8,-7.4,452,10076,0.00,1.45,0.00,0.000,6,0.000,0.040,2078,2212,3546,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,10311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10311,begin apogee
$GC,10317,-0.19,0.0,992.1,-7.5,460,10495,0.50,0.00,169.32,1.076,6,0.122,0.000,2242,2071,2795,0,0,0,0,0,0,26.38,28.83,24.29
$STATE,10496,end apogee,CONTROL_FINISHED_OK
$STATE,10496,begin climb
$GC,10499,0.58,194.6,997.1,0.0,466,10691,0.75,1.73,182.23,1.044,4,0.080,0.063,2505,3058,2001,0,0,0,0,0,0,25.04,24.64,24.00
$GC,10739,0.54,194.6,980.3,9.6,474,10744,0.00,1.55,0.00,0.000,6,0.000,0.040,2511,2086,1990,0,0,0,0,0,0,28.83,25.19,28.83
$GC,11074,0.52,194.6,944.8,10.4,485,11079,0.12,1.55,0.00,0.000,4,0.172,0.061,2478,3065,1984,0,0,0,0,0,0,25.78,25.86,28.83
$GC,11190,0.49,194.6,936.2,9.3,488,11195,0.00,1.50,0.00,0.000,6,0.000,0.041,2481,2057,1984,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11505,0.48,195.2,908.5,8.2,499,11511,0.00,1.58,0.00,0.000,4,0.000,0.063,2484,3061,1982,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11588,0.46,195.2,902.8,8.4,501,11594,0.00,1.50,0.00,0.000,6,0.000,0.041,2487,2041,1983,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11904,0.45,217.3,876.2,7.6,512,11933,0.00,1.67,20.30,1.047,4,0.000,0.063,2488,3063,1907,0,0,0,0,0,0,28.83,25.91,25.16
$GC,12012,0.43,229.4,868.6,7.9,515,12033,0.15,1.50,13.05,0.971,6,0.166,0.041,2454,2052,1862,0,0,0,0,0,0,25.89,26.06,25.22
$GC,12361,0.46,294.3,845.8,6.4,527,12459,0.00,1.65,91.55,0.796,4,0.000,0.060,2455,3061,1599,0,0,0,0,0,0,28.83,25.15,24.60
$GC,12531,0.48,331.2,834.6,7.2,532,12590,0.00,1.50,51.92,0.786,6,0.000,0.041,2459,2066,1449,0,0,0,0,0,0,28.83,25.60,24.56
$GC,12904,0.49,339.6,803.6,8.0,545,12914,0.00,1.62,2.85,0.565,4,0.000,0.062,2460,3058,1417,0,0,0,0,0,0,28.83,25.90,24.91
$GC,12982,0.50,339.8,798.2,8.2,547,12987,0.00,1.50,0.00,0.000,6,0.000,0.040,2467,2048,1425,0,0,0,0,0,0,28.83,26.02,28.83
$GC,13302,0.51,347.6,771.0,8.0,558,13330,0.00,1.67,18.65,0.890,4,0.000,0.061,2467,3067,1380,0,0,0,0,0,0,28.83,25.85,25.27
$GC,13372,0.52,353.6,766.0,8.1,560,13379,0.00,1.50,1.75,0.194,6,0.000,0.041,2474,2060,1358,0,0,0,0,0,0,28.83,25.97,25.77
$GC,13700,0.53,353.8,738.4,8.2,571,13705,0.00,1.58,0.00,0.000,4,0.000,0.062,2476,3068,1368,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13743,0.53,353.8,735.3,8.4,572,13748,0.00,1.50,0.00,0.000,6,0.000,0.038,2483,2049,1368,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,21440,end climb,SURFACE_DEPTH_REACHED
$STATE,21440,begin surface coast
$FINISH,1.4,1.021155
$STATE,21465,end surface coast,CONTROL_FINISHED_OK
$STATE,21466,begin surface
$SM_CCo,21544,0.00,0.000,0,0,444,578.66
$SM_GC,2.11,6.53,1.70,0.00,0.037,0.041,0.000,156,2206,444,-6.67,-0.88,578.66,0,0,0,0,0,0,26.46,26.42,28.83
$IRIDIUM_FIX,1943.54,12427.80,240812,191941
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.46
$INTERNAL_PRESSURE,9.56316
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,7743840
$24V_AH,24.0,16.942
$10V_AH,9.6,11.616
$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,17.050,129.675,865.625,0.000,0.000,29.310,23.982,266.234,0.000,0.000,12.070,3094.402,14889.646,967.231,2707.273,419.284,0.000,2310.744,0.000,2288.896,0.000,0.542,0.000
$DEVICE_MAMPS,232.560,72.675,1075.590,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21497.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.996,0.000,0.000,0.000
$MEM,329200
$DATA_FILE_SIZE,36731,970
$CAP_FILE_SIZE,238737,0
$CFSIZE,260165632,246599680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216,105.3,1
$GPS,250812,073130,1942.274,12427.876,42,1.0,42,-2.4