version: 66.11
glider: 166
mission: 8
dive: 94
start: 8 31 112 16 9 47
data:
$ID,166
$MISSION,8
$DIVE,94
$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,-26585.527
$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,49
$R_STBD_OVSHOOT,33
$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
$GPS1,310812,160100,1833.332,12432.402,41,1.1,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-55.0
$GPS2,310812,160919,1833.507,12432.274,12,1.0,12,-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,176.3,80717,-13.1,-8.250
$D_GRID,5275
$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,16,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,-69.88,0.000,2,0.000,0.000,156,2160,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.1,-4.0,12,161,7.72,1.52,-54.40,0.000,4,0.228,0.057,2141,1168,3597,0,0,0,0,0,0,25.76,26.16,26.50
$GC,322,-0.53,-194.6,51.0,-26.1,45,328,0.12,1.50,0.00,0.000,6,0.177,0.040,2164,2154,3597,0,0,0,0,0,0,26.06,26.27,28.83
$GC,636,-0.51,-194.6,110.5,-15.5,61,641,0.00,1.50,0.00,0.000,4,0.000,0.050,2158,3156,3598,0,0,0,0,0,0,28.83,26.34,28.83
$GC,674,-0.48,-194.6,114.4,-15.8,62,681,0.00,1.48,0.00,0.000,6,0.000,0.029,2164,2131,3597,0,0,0,0,0,0,28.83,26.46,28.83
$GC,980,-0.47,-194.6,160.6,-13.7,78,985,0.00,1.38,0.00,0.000,4,0.000,0.034,2158,1181,3597,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1033,-0.47,-194.6,166.8,-13.7,80,1038,0.08,1.45,0.00,0.000,6,0.131,0.038,2193,2156,3597,0,0,0,0,0,0,26.30,26.48,28.83
$GC,1347,-0.48,-194.6,200.2,-10.1,96,1353,0.00,1.42,0.00,0.000,4,0.000,0.033,2184,1176,3597,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1386,-0.50,-194.6,202.4,-9.6,97,1393,0.00,1.45,0.00,0.000,6,0.000,0.038,2183,2156,3597,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1691,-0.52,-194.6,227.2,-7.3,113,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2156,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1993,-0.54,-194.6,250.5,-8.7,128,1998,0.00,1.48,0.00,0.000,4,0.000,0.051,2185,3127,3597,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2026,-0.56,-194.6,252.8,-8.8,129,2032,0.00,1.40,0.00,0.000,6,0.000,0.029,2184,2141,3597,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2340,-0.59,-194.6,282.8,-9.3,145,2345,0.00,1.50,0.00,0.000,4,0.000,0.053,2178,3142,3598,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2384,-0.61,-194.6,286.9,-9.3,147,2389,0.00,1.42,0.00,0.000,6,0.000,0.030,2178,2145,3595,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2707,-0.63,-194.6,320.1,-10.4,163,2713,0.12,1.48,0.00,0.000,4,0.082,0.049,2056,3128,3594,0,0,0,0,0,0,26.70,26.55,28.83
$GC,2785,-0.63,-194.6,330.1,-14.5,166,2792,0.17,1.40,0.00,0.000,6,0.126,0.029,2134,2144,3593,0,0,0,0,0,0,26.39,26.66,28.83
$GC,3092,-0.64,-194.6,366.4,-9.5,182,3097,0.00,1.40,0.00,0.000,4,0.000,0.036,2131,1181,3591,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3144,-0.66,-194.6,370.4,-9.1,184,3150,0.00,1.45,0.00,0.000,6,0.000,0.041,2127,2156,3591,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3458,-0.67,-194.6,398.4,-8.7,200,3463,0.00,1.50,0.00,0.000,4,0.000,0.054,2118,3167,3589,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3530,-0.68,-194.6,403.9,-8.7,203,3536,0.00,1.45,0.00,0.000,6,0.000,0.030,2118,2149,3588,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3844,-0.69,-194.6,432.5,-9.2,219,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2148,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4145,-0.71,-194.6,461.3,-9.6,234,4151,0.00,1.50,0.00,0.000,4,0.000,0.055,2115,3140,3583,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4198,-0.72,-194.6,465.5,-9.3,236,4204,0.00,1.42,0.00,0.000,6,0.000,0.031,2115,2148,3583,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4512,-0.73,-194.6,492.5,-8.2,252,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2145,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4815,-0.74,-194.6,518.5,-9.1,267,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2145,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5114,-0.75,-194.6,546.0,-9.2,282,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2145,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5414,-0.77,-194.6,571.2,-8.1,297,5420,0.00,1.55,0.00,0.000,4,0.000,0.057,2105,3129,3574,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5462,-0.78,-194.6,574.9,-8.1,299,5468,0.00,1.42,0.00,0.000,6,0.000,0.034,2105,2151,3573,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5790,-0.79,-194.6,602.9,-8.4,315,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2150,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6092,-0.80,-194.6,627.4,-7.9,325,6097,0.00,1.50,0.00,0.000,4,0.000,0.060,2097,3132,3568,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6139,-0.81,-194.6,630.2,-7.9,326,6144,0.00,1.42,0.00,0.000,6,0.000,0.034,2097,2151,3566,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6459,-0.82,-194.6,657.0,-8.1,337,6465,0.00,1.52,0.00,0.000,4,0.000,0.060,2090,3118,3566,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6497,-0.83,-194.6,659.9,-8.1,338,6502,0.00,1.42,0.00,0.000,6,0.000,0.035,2089,2143,3565,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6828,-0.84,-194.6,687.8,-8.4,349,6833,0.00,1.50,0.00,0.000,4,0.000,0.060,2082,3126,3563,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6861,-0.85,-194.6,691.0,-8.4,350,6866,0.00,1.42,0.00,0.000,6,0.000,0.035,2082,2159,3563,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7195,-0.85,-194.6,720.3,-9.0,361,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2154,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7495,-0.85,-194.6,748.1,-9.5,371,7500,0.00,1.45,0.00,0.000,4,0.000,0.044,2082,1178,3559,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7532,-0.86,-194.6,751.2,-9.5,372,7538,0.00,1.48,0.00,0.000,6,0.000,0.050,2075,2143,3559,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7864,-0.86,-194.6,781.6,-8.8,383,7869,0.00,1.50,0.00,0.000,4,0.000,0.062,2068,3129,3556,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7906,-0.86,-194.6,784.8,-8.8,384,7911,0.00,1.45,0.00,0.000,6,0.000,0.036,2068,2142,3556,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8231,-0.86,-194.6,815.4,-9.4,395,8236,0.00,1.42,0.00,0.000,4,0.000,0.044,2067,1182,3554,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8277,-0.86,-194.6,818.9,-9.5,396,8283,0.00,1.48,0.00,0.000,6,0.000,0.050,2060,2144,3553,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8595,-0.86,-194.6,852.7,-10.5,407,8600,0.00,1.50,0.00,0.000,4,0.000,0.063,2053,3130,3552,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8661,-0.86,-194.6,859.6,-10.7,409,8667,0.00,1.45,0.00,0.000,6,0.000,0.037,2053,2147,3552,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8991,-0.86,-194.6,896.8,-11.5,420,8992,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2146,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9291,-0.86,-194.6,931.9,-11.5,430,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2145,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9590,-0.86,-194.6,965.4,-11.0,440,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2145,3548,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9828,begin apogee
$GC,9834,-0.19,0.0,991.2,-10.5,448,10011,0.65,0.00,164.98,1.093,6,0.125,0.000,2268,2144,2792,0,0,0,0,0,0,26.20,28.83,24.22
$STATE,10013,end apogee,CONTROL_FINISHED_OK
$STATE,10013,begin climb
$GC,10015,0.58,194.6,999.1,0.0,454,10204,0.70,1.62,179.85,1.056,4,0.051,0.062,2542,3110,2001,0,0,0,0,0,0,25.11,24.57,23.94
$GC,10254,0.52,194.6,981.1,11.8,462,10261,0.12,1.58,0.00,0.000,6,0.164,0.039,2514,2129,1989,0,0,0,0,0,0,24.96,25.12,28.83
$GC,10589,0.49,194.6,940.7,11.9,473,10594,0.00,1.58,0.00,0.000,4,0.000,0.063,2514,3112,1984,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10636,0.46,194.6,936.5,12.0,474,10642,0.12,1.50,0.00,0.000,6,0.181,0.038,2489,2102,1983,0,0,0,0,0,0,25.75,25.95,28.83
$GC,10958,0.44,194.6,901.8,9.9,485,10963,0.00,1.58,0.00,0.000,4,0.000,0.061,2490,3106,1983,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10996,0.41,194.6,898.1,10.1,486,11001,0.00,1.48,0.00,0.000,6,0.000,0.039,2494,2131,1983,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11327,0.39,194.6,864.1,10.1,497,11328,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2131,1981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11624,0.36,194.6,834.3,9.9,507,11630,0.12,1.52,0.00,0.000,4,0.173,0.060,2457,3111,1981,0,0,0,0,0,0,26.18,26.27,28.83
$GC,11758,0.35,202.3,824.3,8.0,511,11764,0.00,1.50,0.00,0.000,6,0.000,0.038,2461,2081,1980,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12083,0.36,241.3,800.0,7.1,522,12135,0.00,1.70,43.67,0.974,4,0.000,0.060,2462,3106,1810,0,0,0,0,0,0,28.83,25.65,25.02
$GC,12190,0.36,273.1,793.2,7.3,525,12238,0.00,1.50,42.05,0.784,6,0.000,0.038,2468,2102,1688,0,0,0,0,0,0,28.83,25.84,24.79
$GC,12566,0.36,275.8,762.0,8.2,538,12571,0.00,1.58,0.00,0.000,4,0.000,0.060,2470,3107,1673,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12632,0.36,275.8,756.2,8.7,540,12638,0.00,1.50,0.00,0.000,6,0.000,0.039,2476,2087,1673,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12963,0.35,275.8,725.0,9.7,551,12968,0.00,1.60,0.00,0.000,4,0.000,0.061,2477,3114,1672,0,0,0,0,0,0,28.83,26.16,28.83
$GC,13000,0.35,275.8,721.4,9.8,552,13006,0.12,1.50,0.00,0.000,6,0.164,0.037,2452,2088,1672,0,0,0,0,0,0,26.06,26.26,28.83
$GC,13331,0.36,285.0,693.9,8.0,563,13347,0.00,0.00,14.00,0.894,6,0.000,0.000,2451,2088,1640,0,0,0,0,0,0,28.83,28.83,25.46
$GC,13631,0.38,328.6,671.9,7.0,573,13698,0.00,1.65,60.20,0.763,4,0.000,0.059,2452,3112,1459,0,0,0,0,0,0,28.83,25.46,24.91
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$GC,14175,0.45,457.6,637.9,6.2,591,14287,0.00,1.73,102.78,0.719,4,0.000,0.060,2456,3113,930,0,0,0,0,0,0,28.83,25.08,24.53
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$STATE,19757,end climb,SURFACE_DEPTH_REACHED
$STATE,19757,begin surface coast
$FINISH,1.5,1.001479
$STATE,19774,end surface coast,CONTROL_FINISHED_OK
$STATE,19774,begin surface
$SM_CCo,19852,0.00,0.000,0,0,445,578.42
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$IRIDIUM_FIX,1828.22,12431.21,310812,101031
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.20
$INTERNAL_PRESSURE,9.53386
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,7733856
$24V_AH,23.9,25.069
$10V_AH,9.9,16.195
$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,17.875,122.275,864.575,0.000,0.000,0.000,0.000,800.847,0.000,0.000,13.462,2904.768,13536.379,928.824,2582.489,389.903,0.000,2544.081,0.000,2187.218,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,63.495,1093.185,0.000,0.000,0.000,0.000,120.870,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19792.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.132,0.000,0.000,0.000
$MEM,329104
$DATA_FILE_SIZE,33332,902
$CAP_FILE_SIZE,224723,0
$CFSIZE,260165632,243761152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.455, 15.7,1
$GPS,310812,214200,1833.684,12433.324,42,0.9,42,-2.2