version: 66.11
glider: 166
mission: 8
dive: 73
start: 8 26 112 8 9 28
data:
$ID,166
$MISSION,8
$DIVE,73
$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,-26458.164
$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,62
$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
$GPS1,260812,075929,1926.445,12427.578,37,1.8,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-62.4
$GPS2,260812,080900,1926.403,12427.726,10,1.8,15,-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,197.3,178998,-13.1,-8.250
$D_GRID,5353
$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,-194.6,0.0,0.0,0,90,0.00,0.00,-69.78,0.000,2,0.000,0.000,156,2210,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.58,-194.6,3.2,-5.4,12,155,7.62,1.55,-47.95,0.000,4,0.230,0.072,2113,3182,3597,0,0,0,0,0,0,25.79,26.14,26.48
$GC,274,-0.50,-194.6,47.7,-33.3,39,281,0.10,1.42,0.00,0.000,6,0.166,0.031,2143,2202,3597,0,0,0,0,0,0,26.06,26.30,28.83
$GC,589,-0.46,-194.6,130.5,-21.9,55,594,0.00,1.42,0.00,0.000,4,0.000,0.034,2143,1218,3598,0,0,0,0,0,0,28.83,26.43,28.83
$GC,613,-0.42,-194.6,135.1,-21.5,56,619,0.12,1.50,0.00,0.000,6,0.168,0.041,2169,2210,3597,0,0,0,0,0,0,26.25,26.41,28.83
$GC,937,-0.42,-194.6,179.5,-11.8,72,943,0.00,1.50,0.00,0.000,4,0.000,0.053,2163,3216,3598,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1031,-0.43,-194.6,188.1,-10.3,76,1036,0.00,1.48,0.00,0.000,6,0.000,0.029,2163,2184,3597,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1344,-0.44,-194.6,221.2,-9.5,92,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2183,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1646,-0.45,-194.6,249.1,-9.1,107,1651,0.00,1.38,0.00,0.000,4,0.000,0.035,2169,1231,3597,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1693,-0.47,-194.6,253.3,-9.2,109,1698,0.00,1.45,0.00,0.000,6,0.000,0.040,2166,2206,3597,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2012,-0.48,-194.6,283.3,-9.2,125,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2204,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2313,-0.50,-194.6,310.4,-8.9,140,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2206,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2613,-0.52,-194.6,335.0,-7.8,155,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2206,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2913,-0.54,-194.6,357.5,-7.9,170,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2206,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3213,-0.56,-194.6,380.3,-7.2,185,3219,0.12,1.45,0.00,0.000,4,0.083,0.051,2064,3176,3588,0,0,0,0,0,0,26.73,26.60,28.83
$GC,3266,-0.57,-194.6,385.1,-8.8,187,3272,0.17,1.40,0.00,0.000,6,0.119,0.031,2124,2202,3587,0,0,0,0,0,0,26.50,26.70,28.83
$GC,3580,-0.58,-194.6,414.2,-8.8,203,3586,0.00,1.42,0.00,0.000,4,0.000,0.037,2124,1229,3583,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3664,-0.59,-194.6,421.9,-9.2,207,3671,0.00,1.45,0.00,0.000,6,0.000,0.042,2119,2198,3583,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3989,-0.61,-194.6,453.2,-9.6,223,3994,0.00,1.42,0.00,0.000,4,0.000,0.037,2119,1229,3581,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4072,-0.62,-194.6,461.4,-9.8,227,4077,0.00,1.48,0.00,0.000,6,0.000,0.043,2113,2204,3581,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4395,-0.63,-194.6,491.4,-8.7,243,4400,0.00,1.42,0.00,0.000,4,0.000,0.037,2114,1235,3578,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4438,-0.64,-194.6,495.1,-8.5,245,4443,0.00,1.45,0.00,0.000,6,0.000,0.044,2107,2198,3578,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4761,-0.64,-194.6,523.0,-8.5,261,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2198,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5062,-0.65,-194.6,549.5,-9.0,276,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2198,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5364,-0.66,-194.6,576.0,-8.5,291,5369,0.00,1.42,0.00,0.000,4,0.000,0.040,2106,1235,3570,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5397,-0.67,-194.6,578.2,-8.4,292,5402,0.00,1.48,0.00,0.000,6,0.000,0.046,2100,2205,3570,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5712,-0.68,-194.6,606.1,-8.7,307,5717,0.00,1.45,0.00,0.000,4,0.000,0.039,2100,1227,3567,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5749,-0.69,-194.6,609.2,-8.8,308,5755,0.00,1.48,0.00,0.000,6,0.000,0.047,2092,2199,3567,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6080,-0.70,-194.6,641.5,-10.1,319,6085,0.00,1.52,0.00,0.000,4,0.000,0.060,2085,3178,3565,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6137,-0.70,-194.6,645.0,-10.1,320,6144,0.00,1.42,0.00,0.000,6,0.000,0.035,2084,2202,3564,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6444,-0.70,-194.6,676.8,-9.2,331,6449,0.00,1.42,0.00,0.000,4,0.000,0.041,2084,1229,3561,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6510,-0.70,-194.6,682.9,-9.2,333,6515,0.00,1.48,0.00,0.000,6,0.000,0.048,2077,2198,3560,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6840,-0.70,-194.6,714.2,-9.3,344,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2198,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7138,-0.70,-194.6,743.1,-9.8,354,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2198,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7438,-0.70,-194.6,771.1,-9.1,364,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2198,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7738,-0.70,-194.6,797.9,-8.9,374,7743,0.00,1.45,0.00,0.000,4,0.000,0.044,2077,1231,3552,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7801,-0.70,-194.6,803.6,-9.0,376,7806,0.00,1.50,0.00,0.000,6,0.000,0.051,2071,2197,3552,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8135,-0.70,-194.6,832.6,-8.7,387,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2197,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8434,-0.70,-194.6,859.3,-8.9,397,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2197,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8734,-0.70,-194.6,887.0,-9.5,407,8739,0.00,1.45,0.00,0.000,4,0.000,0.045,2075,1231,3548,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8772,-0.70,-194.6,890.3,-9.6,408,8777,0.00,1.50,0.00,0.000,6,0.000,0.052,2067,2229,3548,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9102,-0.70,-194.6,924.4,-10.2,419,9107,0.00,1.50,0.00,0.000,4,0.000,0.044,2067,1204,3546,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9184,-0.70,-194.6,931.3,-10.4,421,9189,0.00,1.50,0.00,0.000,6,0.000,0.051,2060,2204,3546,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9497,-0.70,-194.6,966.9,-10.7,432,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2204,3544,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9735,begin apogee
$GC,9741,-0.19,0.0,992.9,-10.8,440,9951,0.55,0.00,204.20,0.952,6,0.127,0.000,2241,2067,2803,0,0,0,0,0,0,26.34,28.83,24.39
$STATE,9952,end apogee,CONTROL_FINISHED_OK
$STATE,9952,begin climb
$GC,9955,0.58,194.6,1003.1,0.0,447,10146,0.73,1.65,182.30,1.054,4,0.080,0.062,2496,3055,2002,0,0,0,0,0,0,25.03,24.63,23.99
$GC,10168,0.56,243.7,993.9,6.8,454,10224,0.00,1.50,47.28,0.998,6,0.000,0.037,2503,2080,1799,0,0,0,0,0,0,28.83,25.01,24.03
$GC,10552,0.54,243.7,954.0,10.3,467,10558,0.00,1.55,0.00,0.000,4,0.000,0.059,2506,3057,1786,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10620,0.52,243.7,946.9,10.8,469,10625,0.12,1.50,0.00,0.000,6,0.171,0.037,2481,2047,1786,0,0,0,0,0,0,25.77,25.94,28.83
$GC,10950,0.50,243.7,915.4,9.4,480,10956,0.00,1.60,0.00,0.000,4,0.000,0.060,2482,3058,1784,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11008,0.49,243.7,911.7,9.6,481,11015,0.00,1.48,0.00,0.000,6,0.000,0.037,2486,2075,1784,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11316,0.48,243.7,877.2,10.5,492,11321,0.00,1.52,0.00,0.000,4,0.000,0.059,2488,3065,1783,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11379,0.46,243.7,869.7,11.1,494,11385,0.10,1.50,0.00,0.000,6,0.146,0.037,2460,2070,1783,0,0,0,0,0,0,26.13,26.34,28.83
$GC,11713,0.46,243.7,839.2,9.0,505,11718,0.00,1.55,0.00,0.000,4,0.000,0.060,2462,3067,1782,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11795,0.45,243.7,833.2,9.1,507,11800,0.00,1.48,0.00,0.000,6,0.000,0.037,2467,2077,1782,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12110,0.45,253.3,804.8,8.0,518,12120,0.00,1.58,2.97,0.601,4,0.000,0.059,2471,3062,1766,0,0,0,0,0,0,28.83,26.39,25.28
$GC,12177,0.45,264.7,799.5,7.9,520,12203,0.00,1.48,21.48,0.903,6,0.000,0.037,2476,2072,1723,0,0,0,0,0,0,28.83,26.44,25.44
$GC,12505,0.46,295.6,775.4,7.4,531,12551,0.00,1.58,40.97,0.823,4,0.000,0.055,2477,3066,1593,0,0,0,0,0,0,28.83,25.63,25.06
$GC,12596,0.45,311.3,768.1,7.8,534,12619,0.00,1.52,18.00,0.831,6,0.000,0.037,2483,2075,1532,0,0,0,0,0,0,28.83,25.82,24.94
$GC,12927,0.45,311.3,740.5,8.3,545,12932,0.00,1.55,0.00,0.000,4,0.000,0.059,2484,3067,1519,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12984,0.45,311.3,737.8,8.3,546,12991,0.10,1.50,0.00,0.000,6,0.138,0.037,2458,2075,1519,0,0,0,0,0,0,25.96,26.13,28.83
$GC,13294,0.50,401.0,717.3,5.7,557,13430,0.00,1.60,127.65,0.763,4,0.000,0.055,2458,3057,1163,0,0,0,0,0,0,28.83,25.07,24.53
$GC,13474,0.55,489.2,706.5,5.7,563,13609,0.00,1.52,127.40,0.718,6,0.000,0.037,2457,2052,806,0,0,0,0,0,0,28.83,25.46,24.43
$GC,13928,0.62,489.2,659.7,12.5,578,13934,0.12,1.62,0.00,0.000,4,0.133,0.056,2501,3057,791,0,0,0,0,0,0,25.82,25.86,28.83
$GC,14162,0.70,489.2,632.5,12.6,585,14168,0.12,1.50,0.00,0.000,6,0.119,0.037,2536,2030,791,0,0,0,0,0,0,26.00,26.11,28.83
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$STATE,19631,end climb,SURFACE_DEPTH_REACHED
$STATE,19631,begin surface coast
$FINISH,1.4,1.012364
$STATE,19657,end surface coast,CONTROL_FINISHED_OK
$STATE,19657,begin surface
$SM_CCo,19736,0.00,0.000,0,0,444,578.66
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$IRIDIUM_FIX,1922.94,12427.69,260812,010157
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.42
$INTERNAL_PRESSURE,9.56316
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,7741920
$24V_AH,24.0,18.076
$10V_AH,10.1,12.527
$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,17.150,107.550,872.700,0.000,0.000,31.052,41.530,271.943,0.000,0.000,16.313,2968.639,13335.018,898.177,2703.332,389.957,0.000,2211.748,0.000,2261.323,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,71.910,1054.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.614,0.000,0.000,0.000
$MEM,329252
$DATA_FILE_SIZE,33398,896
$CAP_FILE_SIZE,219140,0
$CFSIZE,260165632,246046720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206, 72.3,1
$GPS,260812,133935,1923.358,12427.636,32,1.0,32,-2.3