version: 66.11
glider: 166
mission: 8
dive: 93
start: 8 31 112 10 31 11
data:
$ID,166
$MISSION,8
$DIVE,93
$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,1
$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,-26584.268
$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,2340
$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,2150
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,36
$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
$GPS1,310812,101136,1833.597,12432.927,35,0.9,35,-2.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-58.3
$GPS2,310812,103043,1833.759,12432.748,13,0.9,13,-2.2
$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,193.9,81138,-13.1,-8.250
$D_GRID,5332
$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,-194.6,0.0,0.0,0,86,0.00,0.00,-65.22,0.000,2,0.000,0.000,160,2130,2022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.58,-194.6,3.2,-4.3,11,156,7.90,1.45,-49.28,0.000,4,0.236,0.057,2133,1175,3598,0,0,0,0,0,0,25.74,26.17,26.51
$GC,384,-0.53,-194.6,62.6,-23.3,47,391,0.15,1.48,0.00,0.000,6,0.177,0.041,2164,2151,3596,0,0,0,0,0,0,26.08,26.32,28.83
$GC,690,-0.51,-194.6,122.2,-17.6,63,695,0.00,1.50,0.00,0.000,4,0.000,0.050,2159,3151,3597,0,0,0,0,0,0,28.83,26.38,28.83
$GC,718,-0.49,-194.6,126.0,-17.3,64,723,0.00,1.48,0.00,0.000,6,0.000,0.029,2163,2127,3597,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1037,-0.48,-194.6,169.7,-12.7,80,1042,0.00,1.58,0.00,0.000,4,0.000,0.051,2168,3133,3597,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1081,-0.48,-194.6,174.8,-12.2,82,1086,0.00,1.40,0.00,0.000,6,0.000,0.028,2168,2148,3597,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1404,-0.48,-194.6,211.0,-11.1,98,1410,0.00,1.40,0.00,0.000,4,0.000,0.034,2165,1180,3597,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1502,-0.48,-194.6,221.7,-12.8,102,1508,0.00,1.45,0.00,0.000,6,0.000,0.038,2158,2157,3597,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1808,-0.48,-194.6,260.1,-11.1,118,1810,0.12,0.00,0.00,0.000,6,0.151,0.000,2187,2158,3597,0,0,0,0,0,0,26.49,28.83,28.83
$GC,2110,-0.51,-194.6,280.9,-5.8,133,2115,0.00,1.50,0.00,0.000,4,0.000,0.052,2185,3166,3595,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2163,-0.53,-194.6,283.4,-5.6,135,2169,0.00,1.45,0.00,0.000,6,0.000,0.029,2189,2147,3595,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2478,-0.56,-194.6,301.6,-6.2,151,2483,0.00,1.50,0.00,0.000,4,0.000,0.052,2158,3142,3593,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2510,-0.59,-194.6,303.2,-6.4,152,2515,0.00,1.40,0.00,0.000,6,0.000,0.030,2157,2160,3593,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2823,-0.61,-194.6,327.3,-8.0,168,2829,0.00,1.50,0.00,0.000,4,0.000,0.053,2150,3132,3590,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2877,-0.63,-194.6,331.0,-8.1,170,2882,0.00,1.40,0.00,0.000,6,0.000,0.030,2150,2149,3590,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3190,-0.66,-194.6,354.4,-6.2,186,3195,0.00,1.50,0.00,0.000,4,0.000,0.053,2142,3152,3587,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3258,-0.68,-194.6,358.0,-5.7,189,3263,0.00,1.42,0.00,0.000,6,0.000,0.030,2142,2153,3587,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3577,-0.70,-194.6,375.9,-6.1,205,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2151,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3878,-0.72,-194.6,399.5,-8.4,220,3884,0.10,1.50,0.00,0.000,4,0.098,0.052,2063,3121,3582,0,0,0,0,0,0,26.72,26.58,28.83
$GC,3906,-0.74,-194.6,402.3,-9.0,221,3912,0.08,1.40,0.00,0.000,6,0.130,0.032,2106,2144,3582,0,0,0,0,0,0,26.43,26.68,28.83
$GC,4225,-0.74,-194.6,433.5,-8.2,237,4231,0.00,1.50,0.00,0.000,4,0.000,0.054,2101,3146,3579,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4283,-0.75,-194.6,437.6,-8.7,239,4290,0.00,1.42,0.00,0.000,6,0.000,0.031,2101,2147,3579,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4589,-0.76,-194.6,466.2,-8.7,255,4594,0.00,1.50,0.00,0.000,4,0.000,0.054,2093,3143,3577,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4658,-0.76,-194.6,471.6,-8.6,258,4664,0.00,1.42,0.00,0.000,6,0.000,0.031,2093,2149,3576,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4976,-0.76,-194.6,500.1,-9.3,274,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2147,3574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5279,-0.76,-194.6,526.9,-8.8,289,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2147,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5579,-0.77,-194.6,554.1,-9.0,304,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2147,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5878,-0.77,-194.6,582.0,-9.7,319,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2147,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6179,-0.78,-194.6,612.8,-10.5,332,6185,0.00,1.52,0.00,0.000,4,0.000,0.058,2087,3122,3565,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6237,-0.79,-194.6,616.8,-10.7,333,6243,0.00,1.40,0.00,0.000,6,0.000,0.034,2087,2161,3565,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6545,-0.79,-194.6,651.6,-10.4,344,6550,0.00,1.50,0.00,0.000,4,0.000,0.057,2080,3150,3562,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6582,-0.80,-194.6,655.3,-10.4,345,6587,0.00,1.48,0.00,0.000,6,0.000,0.034,2080,2138,3562,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6912,-0.80,-194.6,687.3,-8.9,356,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2138,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7211,-0.80,-194.6,710.5,-7.2,366,7216,0.00,1.52,0.00,0.000,4,0.000,0.060,2072,3136,3558,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7248,-0.80,-194.6,712.8,-7.1,367,7253,0.00,1.45,0.00,0.000,6,0.000,0.034,2072,2144,3558,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7578,-0.80,-194.6,738.0,-7.9,378,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2143,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7876,-0.80,-194.6,764.7,-9.1,388,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2142,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8176,-0.80,-194.6,793.1,-9.7,398,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2141,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8476,-0.80,-194.6,823.3,-10.2,408,8481,0.00,1.52,0.00,0.000,4,0.000,0.063,2065,3133,3550,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8518,-0.80,-194.6,826.9,-10.5,409,8523,0.00,1.45,0.00,0.000,6,0.000,0.037,2065,2152,3550,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8843,-0.80,-194.6,863.7,-11.1,420,8848,0.00,1.50,0.00,0.000,4,0.000,0.063,2057,3127,3548,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8895,-0.80,-194.6,867.5,-11.0,421,8901,0.00,1.45,0.00,0.000,6,0.000,0.037,2058,2147,3548,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9208,-0.80,-194.6,904.1,-10.7,432,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2146,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9508,-0.80,-194.6,933.8,-9.7,442,9514,0.00,1.52,0.00,0.000,4,0.000,0.063,2050,3136,3545,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9556,-0.80,-194.6,936.9,-9.6,443,9562,0.12,1.48,0.00,0.000,6,0.154,0.037,2084,2139,3545,0,0,0,0,0,0,26.34,26.58,28.83
$GC,9878,-0.81,-194.6,962.1,-7.3,454,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2139,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10175,-0.82,-194.6,982.7,-6.6,464,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2139,3542,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10292,begin apogee
$GC,10298,-0.19,0.0,990.6,-6.7,468,10465,0.55,0.00,159.80,1.128,6,0.122,0.000,2270,2138,2805,0,0,0,0,0,0,26.23,28.83,24.25
$STATE,10466,end apogee,CONTROL_FINISHED_OK
$STATE,10466,begin climb
$GC,10468,0.58,194.6,995.6,0.0,473,10656,0.70,1.70,177.73,1.066,4,0.051,0.064,2541,3105,2001,0,0,0,0,0,0,25.07,24.60,23.96
$GC,10730,0.53,194.6,972.8,13.4,482,10736,0.15,1.50,0.00,0.000,6,0.181,0.038,2513,2126,1989,0,0,0,0,0,0,25.11,25.27,28.83
$GC,11055,0.49,194.6,933.2,11.3,493,11060,0.00,1.50,0.00,0.000,4,0.000,0.047,2518,1129,1985,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11082,0.46,194.6,933.2,11.3,493,11090,0.00,1.52,0.00,0.000,6,0.000,0.050,2519,2125,1984,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11390,0.43,194.6,896.5,10.7,504,11396,0.12,1.52,0.00,0.000,4,0.177,0.060,2479,3109,1983,0,0,0,0,0,0,26.00,26.10,28.83
$GC,11495,0.40,194.6,887.5,9.6,507,11500,0.00,1.50,0.00,0.000,6,0.000,0.038,2484,2082,1983,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11822,0.39,208.5,860.6,7.9,518,11840,0.00,1.60,11.62,1.012,4,0.000,0.060,2486,3106,1945,0,0,0,0,0,0,28.83,26.09,25.32
$GC,11872,0.37,216.1,857.5,8.0,519,11879,0.12,1.48,1.80,0.191,6,0.174,0.038,2461,2132,1919,0,0,0,0,0,0,26.00,26.16,25.94
$GC,12187,0.37,252.7,833.1,7.2,530,12241,0.00,1.58,47.97,0.929,4,0.000,0.060,2462,3111,1764,0,0,0,0,0,0,28.83,25.49,24.86
$GC,12319,0.36,258.3,823.2,8.1,534,12325,0.00,1.50,0.00,0.000,6,0.000,0.037,2467,2107,1756,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12645,0.36,258.3,793.6,9.2,545,12647,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2107,1753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12943,0.35,258.3,766.4,8.7,555,12949,0.00,1.60,0.00,0.000,4,0.000,0.061,2468,3106,1754,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13011,0.34,258.3,760.7,8.8,557,13016,0.00,1.48,0.00,0.000,6,0.000,0.038,2474,2125,1752,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13341,0.34,258.3,732.4,8.4,568,13347,0.00,1.52,0.00,0.000,4,0.000,0.062,2475,3113,1751,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13384,0.33,258.3,729.2,8.6,569,13390,0.12,1.48,0.00,0.000,6,0.168,0.038,2449,2131,1753,0,0,0,0,0,0,26.17,26.37,28.83
$GC,13710,0.35,300.1,705.1,7.1,580,13777,0.00,1.50,61.15,0.803,4,0.000,0.044,2455,1145,1574,0,0,0,0,0,0,28.83,25.56,24.99
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$STATE,19606,end climb,SURFACE_DEPTH_REACHED
$STATE,19606,begin surface coast
$FINISH,1.5,1.008123
$STATE,19632,end surface coast,CONTROL_FINISHED_OK
$STATE,19632,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.73
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$TCM_TEMP,24.20
$XPDR_PINGS,0
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$24V_AH,24.0,24.184
$10V_AH,9.8,16.030
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.800,107.700,846.925,0.000,0.000,0.000,0.000,1910.360,0.000,0.000,14.658,2922.212,13598.748,871.216,3049.973,402.359,0.000,2941.149,0.000,2213.901,0.000,0.542,0.000
$DEVICE_MAMPS,235.620,64.260,1128.375,0.000,0.000,0.000,0.000,117.045,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
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$MEM,329052
$DATA_FILE_SIZE,33296,895
$CAP_FILE_SIZE,225933,0
$CFSIZE,260165632,243867648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,352.9,1
$GPS,310812,160100,1833.332,12432.402,41,1.1,41,-2.2