version: 66.11
glider: 166
mission: 8
dive: 74
start: 8 26 112 13 49 21
data:
$ID,166
$MISSION,8
$DIVE,74
$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,-26459.42
$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
$GPS1,260812,133935,1923.358,12427.636,32,1.0,32,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-58.4
$GPS2,260812,134854,1923.384,12427.670,10,1.5,15,-2.3
$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,223.0,173430,-13.1,-8.250
$D_GRID,5356
$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,-70.22,0.000,2,0.000,0.000,155,2201,1975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.1,-4.0,12,161,7.72,0.00,-53.85,0.000,6,0.236,0.000,2113,2201,3598,0,0,0,0,0,0,25.82,28.83,26.51
$GC,465,-0.52,-194.6,106.8,-28.0,49,471,0.00,1.45,0.00,0.000,4,0.000,0.035,2106,1223,3597,0,0,0,0,0,0,28.83,26.39,28.83
$GC,535,-0.46,-194.6,123.2,-25.7,52,541,0.20,1.48,0.00,0.000,6,0.158,0.041,2159,2203,3597,0,0,0,0,0,0,26.21,26.41,28.83
$GC,854,-0.45,-194.6,174.0,-13.8,68,859,0.00,1.42,0.00,0.000,4,0.000,0.034,2153,1229,3598,0,0,0,0,0,0,28.83,26.51,28.83
$GC,947,-0.44,-194.6,185.1,-13.4,72,952,0.00,1.45,0.00,0.000,6,0.000,0.040,2147,2201,3598,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1259,-0.44,-194.6,226.2,-12.3,88,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2201,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1563,-0.44,-194.6,260.6,-11.0,103,1568,0.00,1.42,0.00,0.000,4,0.000,0.034,2149,1226,3597,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1626,-0.44,-194.6,267.7,-10.7,106,1631,0.00,1.45,0.00,0.000,6,0.000,0.040,2154,2201,3597,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1948,-0.44,-194.6,298.9,-9.3,122,1954,0.00,1.50,0.00,0.000,4,0.000,0.053,2147,3202,3596,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2018,-0.45,-194.6,304.7,-9.1,125,2023,0.00,1.45,0.00,0.000,6,0.000,0.029,2146,2183,3595,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2336,-0.45,-194.6,335.7,-9.1,141,2342,0.00,1.38,0.00,0.000,4,0.000,0.034,2139,1230,3593,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2445,-0.46,-194.6,344.8,-8.8,146,2451,0.00,1.45,0.00,0.000,6,0.000,0.040,2135,2204,3593,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2764,-0.46,-194.6,376.3,-10.0,162,2769,0.10,1.38,0.00,0.000,4,0.161,0.032,2147,1230,3591,0,0,0,0,0,0,26.59,26.66,28.83
$GC,2827,-0.47,-194.6,381.5,-8.4,165,2832,0.00,1.45,0.00,0.000,6,0.000,0.041,2141,2203,3590,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3151,-0.49,-194.6,404.0,-6.7,181,3156,0.00,1.40,0.00,0.000,4,0.000,0.035,2140,1236,3587,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3195,-0.51,-194.6,407.0,-6.9,183,3200,0.00,1.45,0.00,0.000,6,0.000,0.041,2133,2201,3587,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3518,-0.52,-194.6,431.5,-7.6,199,3524,0.00,1.40,0.00,0.000,4,0.000,0.035,2134,1238,3584,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3572,-0.54,-194.6,434.9,-7.7,201,3577,0.00,1.45,0.00,0.000,6,0.000,0.042,2128,2208,3584,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3885,-0.55,-194.6,460.5,-7.4,217,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2208,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,-0.57,-194.6,481.6,-6.9,232,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2209,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4488,-0.58,-194.6,501.2,-6.4,247,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2209,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4787,-0.60,-194.6,522.1,-7.6,262,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2209,3574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5087,-0.62,-194.6,544.9,-7.5,277,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2209,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5387,-0.64,-194.6,566.1,-6.8,292,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2209,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5687,-0.66,-194.6,587.2,-7.5,307,5692,0.00,1.45,0.00,0.000,4,0.000,0.041,2128,1235,3567,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5720,-0.68,-194.6,589.3,-7.7,308,5725,0.00,1.48,0.00,0.000,6,0.000,0.047,2121,2203,3566,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6035,-0.69,-194.6,616.5,-8.5,321,6037,0.10,0.00,0.00,0.000,6,0.100,0.000,2059,2203,3564,0,0,0,0,0,0,26.73,28.83,28.83
$GC,6333,-0.69,-194.6,649.8,-11.1,331,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2203,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6633,-0.68,-194.6,682.3,-10.9,341,6639,0.12,1.40,0.00,0.000,4,0.156,0.040,2099,1235,3560,0,0,0,0,0,0,26.51,26.63,28.83
$GC,6738,-0.68,-194.6,690.9,-9.5,344,6743,0.00,1.48,0.00,0.000,6,0.000,0.050,2094,2197,3559,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7063,-0.69,-194.6,719.9,-8.5,355,7068,0.00,1.42,0.00,0.000,4,0.000,0.042,2093,1244,3557,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7116,-0.69,-194.6,722.8,-8.5,356,7121,0.00,1.48,0.00,0.000,6,0.000,0.050,2087,2204,3557,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7432,-0.70,-194.6,749.6,-7.7,367,7437,0.00,1.45,0.00,0.000,4,0.000,0.041,2087,1231,3554,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7470,-0.71,-194.6,752.3,-7.8,368,7475,0.00,1.50,0.00,0.000,6,0.000,0.050,2079,2236,3554,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7800,-0.71,-194.6,777.8,-7.4,379,7805,0.00,1.50,0.00,0.000,4,0.000,0.042,2077,1205,3552,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7863,-0.71,-194.6,782.7,-7.6,381,7869,0.00,1.52,0.00,0.000,6,0.000,0.050,2072,2221,3552,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8198,-0.71,-194.6,809.3,-8.2,392,8203,0.00,1.48,0.00,0.000,4,0.000,0.043,2072,1235,3550,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8264,-0.71,-194.6,814.9,-8.6,394,8270,0.00,1.48,0.00,0.000,6,0.000,0.051,2065,2195,3550,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8595,-0.71,-194.6,848.4,-10.4,405,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2195,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8893,-0.71,-194.6,879.9,-10.6,415,8898,0.00,1.52,0.00,0.000,4,0.000,0.063,2060,3184,3547,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8945,-0.71,-194.6,883.4,-10.6,416,8950,0.00,1.42,0.00,0.000,6,0.000,0.037,2059,2220,3547,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9258,-0.71,-194.6,916.6,-9.6,427,9263,0.00,1.48,0.00,0.000,4,0.000,0.044,2059,1227,3546,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9335,-0.71,-194.6,922.7,-9.7,429,9341,0.12,1.50,0.00,0.000,6,0.161,0.051,2085,2228,3545,0,0,0,0,0,0,26.39,26.55,28.83
$GC,9656,-0.71,-194.6,947.1,-7.1,440,9661,0.00,1.50,0.00,0.000,4,0.000,0.044,2085,1201,3544,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9713,-0.72,-194.6,949.7,-7.2,441,9720,0.00,1.55,0.00,0.000,6,0.000,0.052,2080,2204,3543,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10021,-0.73,-194.6,975.3,-7.8,452,10026,0.00,1.48,0.00,0.000,4,0.000,0.044,2080,1221,3542,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10064,-0.74,-194.6,978.2,-7.9,453,10070,0.00,1.52,0.00,0.000,6,0.000,0.053,2073,2204,3541,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,10206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10206,begin apogee
$GC,10212,-0.19,0.0,990.9,-8.3,458,10448,0.50,0.00,227.20,0.900,6,0.124,0.000,2239,2068,2799,0,0,0,0,0,0,26.33,28.83,24.39
$STATE,10450,end apogee,CONTROL_FINISHED_OK
$STATE,10450,begin climb
$GC,10452,0.58,194.6,1000.0,0.0,466,10646,0.75,1.75,184.12,1.045,4,0.070,0.063,2505,3068,1999,0,0,0,0,0,0,25.06,24.60,23.96
$GC,10683,0.54,194.6,987.4,8.4,473,10690,0.00,1.52,0.00,0.000,6,0.000,0.037,2512,2076,1989,0,0,0,0,0,0,28.83,25.09,28.83
$GC,10991,0.51,194.6,950.5,11.1,484,10997,0.12,1.58,0.00,0.000,4,0.174,0.060,2487,3069,1983,0,0,0,0,0,0,25.72,25.81,28.83
$GC,11075,0.48,194.6,943.7,10.7,486,11080,0.00,1.50,0.00,0.000,6,0.000,0.038,2492,2059,1983,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11390,0.46,194.6,913.1,9.0,497,11395,0.00,1.58,0.00,0.000,4,0.000,0.063,2494,3060,1981,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11462,0.44,194.6,907.0,9.2,499,11468,0.17,1.50,0.00,0.000,6,0.165,0.039,2452,2038,1981,0,0,0,0,0,0,25.99,26.22,28.83
$GC,11788,0.47,260.3,885.3,6.4,510,11876,0.00,1.75,82.03,0.857,4,0.000,0.060,2452,3068,1736,0,0,0,0,0,0,28.83,25.23,24.66
$GC,11940,0.48,313.3,874.9,6.7,515,12023,0.00,1.52,75.35,0.786,6,0.000,0.037,2454,2065,1520,0,0,0,0,0,0,28.83,25.63,24.49
$GC,12331,0.50,331.0,845.7,7.7,528,12361,0.00,1.60,21.60,0.838,4,0.000,0.060,2454,3066,1448,0,0,0,0,0,0,28.83,25.60,25.03
$GC,12458,0.51,332.9,835.5,8.2,532,12464,0.00,1.52,0.00,0.000,6,0.000,0.037,2458,2071,1440,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12789,0.53,348.1,809.7,7.8,543,12819,0.00,1.65,22.50,0.830,4,0.000,0.060,2459,3064,1378,0,0,0,0,0,0,28.83,25.77,25.18
$GC,12878,0.54,356.1,804.5,8.0,545,12886,0.00,1.50,2.62,0.490,6,0.000,0.038,2464,2055,1349,0,0,0,0,0,0,28.83,25.93,24.87
$GC,13184,0.55,364.3,777.8,8.0,556,13212,0.00,1.65,19.05,0.878,4,0.000,0.060,2467,3056,1311,0,0,0,0,0,0,28.83,25.81,25.21
$GC,13255,0.56,369.6,772.5,8.1,558,13261,0.00,1.50,1.40,0.203,6,0.000,0.038,2472,2047,1292,0,0,0,0,0,0,28.83,25.94,25.74
$GC,13582,0.58,369.6,744.3,8.6,569,13587,0.00,1.60,0.00,0.000,4,0.000,0.060,2472,3074,1301,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13629,0.59,369.6,740.9,8.7,570,13635,0.00,1.50,0.00,0.000,6,0.000,0.038,2479,2054,1302,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,21559,end climb,SURFACE_DEPTH_REACHED
$STATE,21560,begin surface coast
$FINISH,1.3,1.010424
$STATE,21587,end surface coast,CONTROL_FINISHED_OK
$STATE,21587,begin surface
$SM_CCo,21664,0.00,0.000,0,0,440,579.64
$SM_GC,2.03,6.43,0.20,0.00,0.029,0.069,0.000,156,2218,440,-6.70,-0.90,579.64,0,0,0,0,0,0,26.58,26.56,28.83
$IRIDIUM_FIX,1920.65,12427.69,260812,080857
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.50
$INTERNAL_PRESSURE,9.58269
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,7741536
$24V_AH,24.0,18.307
$10V_AH,10.2,12.712
$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,16.800,132.425,905.325,0.000,0.000,31.593,30.060,276.492,0.000,0.000,16.593,3209.704,14725.587,1003.520,2842.235,432.920,0.000,2402.888,0.000,2396.245,0.000,0.542,0.000
$DEVICE_MAMPS,235.620,69.615,1044.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21614.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.009,0.000,0.000,0.000
$MEM,329260
$DATA_FILE_SIZE,36695,981
$CAP_FILE_SIZE,244917,0
$CFSIZE,260165632,245911552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,150.1,1
$GPS,260812,195136,1919.195,12426.427,32,1.2,32,-2.3