version: 66.11
glider: 166
mission: 8
dive: 95
start: 8 31 112 21 50 53
data:
$ID,166
$MISSION,8
$DIVE,95
$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,-26586.791
$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,58
$R_STBD_OVSHOOT,40
$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
$GPS1,310812,214200,1833.684,12433.324,42,0.9,42,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-59.1
$GPS2,310812,215025,1833.948,12433.384,13,0.9,13,-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,210.4,81442,-13.1,-8.250
$D_GRID,5455
$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,-70.30,0.000,2,0.000,0.000,155,2167,1980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.2,-4.4,12,161,7.75,1.50,-53.15,0.000,4,0.230,0.056,2137,1177,3597,0,0,0,0,0,0,25.76,26.20,26.53
$GC,332,-0.52,-194.6,55.3,-28.6,46,338,0.15,1.48,0.00,0.000,6,0.175,0.041,2167,2155,3597,0,0,0,0,0,0,26.06,26.29,28.83
$GC,656,-0.51,-194.6,120.6,-16.9,62,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2155,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.50,-194.6,157.9,-10.4,77,963,0.00,1.45,0.00,0.000,4,0.000,0.034,2165,1169,3597,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1025,-0.50,-194.6,163.0,-8.1,80,1030,0.00,1.48,0.00,0.000,6,0.000,0.038,2162,2158,3597,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1343,-0.51,-194.6,191.4,-9.0,96,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2159,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1645,-0.52,-194.6,223.0,-10.3,111,1650,0.00,1.45,0.00,0.000,4,0.000,0.034,2164,1174,3597,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1702,-0.53,-194.6,227.5,-10.0,113,1709,0.00,1.45,0.00,0.000,6,0.000,0.039,2168,2149,3597,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2008,-0.54,-194.6,256.1,-8.6,129,2013,0.00,1.50,0.00,0.000,4,0.000,0.052,2160,3155,3597,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2091,-0.55,-194.6,263.4,-8.6,133,2096,0.00,1.48,0.00,0.000,6,0.000,0.029,2160,2131,3597,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2415,-0.56,-194.6,290.4,-8.5,149,2420,0.00,1.50,0.00,0.000,4,0.000,0.052,2132,3128,3596,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2492,-0.57,-194.6,296.2,-9.0,152,2500,0.00,1.40,0.00,0.000,6,0.000,0.030,2136,2146,3595,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2798,-0.58,-194.6,326.1,-9.4,168,2804,0.00,1.40,0.00,0.000,4,0.000,0.035,2130,1178,3593,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2947,-0.59,-194.6,340.8,-10.3,175,2952,0.00,1.45,0.00,0.000,6,0.000,0.041,2123,2152,3592,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3265,-0.60,-194.6,372.2,-9.2,191,3270,0.00,1.50,0.00,0.000,4,0.000,0.053,2114,3162,3590,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3333,-0.61,-194.6,378.0,-9.1,194,3339,0.00,1.45,0.00,0.000,6,0.000,0.031,2114,2148,3590,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3652,-0.62,-194.6,405.9,-8.2,210,3658,0.00,1.40,0.00,0.000,4,0.000,0.036,2114,1183,3587,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3766,-0.63,-194.6,414.4,-8.3,215,3772,0.00,1.45,0.00,0.000,6,0.000,0.041,2107,2155,3587,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4081,-0.63,-194.6,443.5,-9.8,231,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2155,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4382,-0.64,-194.6,476.6,-11.5,246,4388,0.00,1.50,0.00,0.000,4,0.000,0.055,2101,3161,3581,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4455,-0.65,-194.6,484.4,-12.0,249,4460,0.00,1.45,0.00,0.000,6,0.000,0.032,2102,2149,3581,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4768,-0.66,-194.6,517.2,-9.2,265,4773,0.00,1.40,0.00,0.000,4,0.000,0.038,2101,1187,3579,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4832,-0.66,-194.6,523.0,-9.1,268,4837,0.08,1.45,0.00,0.000,6,0.125,0.044,2131,2150,3578,0,0,0,0,0,0,26.41,26.59,28.83
$GC,5156,-0.68,-194.6,545.3,-7.2,284,5161,0.00,1.50,0.00,0.000,4,0.000,0.057,2124,3149,3575,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5203,-0.70,-194.6,548.4,-7.0,286,5208,0.00,1.45,0.00,0.000,6,0.000,0.033,2124,2147,3575,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5523,-0.72,-194.6,574.2,-8.2,302,5528,0.00,1.50,0.00,0.000,4,0.000,0.058,2118,3141,3573,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5575,-0.75,-194.6,577.9,-8.5,304,5580,0.00,1.42,0.00,0.000,6,0.000,0.034,2118,2161,3572,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5888,-0.76,-194.6,605.6,-8.2,319,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2160,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6189,-0.78,-194.6,627.6,-7.0,329,6194,0.00,1.50,0.00,0.000,4,0.000,0.060,2110,3150,3568,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6253,-0.80,-194.6,632.3,-7.0,331,6259,0.00,1.48,0.00,0.000,6,0.000,0.034,2110,2144,3567,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6589,-0.81,-194.6,656.9,-7.5,342,6594,0.00,1.50,0.00,0.000,4,0.000,0.059,2103,3130,3565,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6653,-0.83,-194.6,662.0,-7.6,344,6658,0.00,1.45,0.00,0.000,6,0.000,0.035,2102,2141,3563,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6989,-0.84,-194.6,687.8,-7.6,355,6994,0.00,1.42,0.00,0.000,4,0.000,0.042,2102,1177,3562,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7036,-0.86,-194.6,690.7,-7.7,356,7041,0.00,1.48,0.00,0.000,6,0.000,0.049,2096,2144,3562,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7356,-0.87,-194.6,717.3,-8.0,367,7362,0.10,1.55,0.00,0.000,4,0.102,0.059,2035,3135,3560,0,0,0,0,0,0,26.70,26.48,28.83
$GC,7385,-0.88,-194.6,717.3,-8.0,367,7393,0.00,1.45,0.00,0.000,6,0.000,0.035,2035,2142,3559,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7691,-0.86,-194.6,757.3,-12.2,378,7696,0.00,1.42,0.00,0.000,4,0.000,0.043,2036,1183,3558,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7728,-0.85,-194.6,761.6,-12.4,379,7734,0.12,1.48,0.00,0.000,6,0.166,0.050,2062,2148,3558,0,0,0,0,0,0,26.33,26.51,28.83
$GC,8058,-0.85,-194.6,797.2,-10.5,390,8063,0.00,1.55,0.00,0.000,4,0.000,0.062,2055,3135,3555,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8095,-0.85,-194.6,800.9,-10.5,391,8101,0.00,1.45,0.00,0.000,6,0.000,0.036,2055,2148,3555,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8425,-0.85,-194.6,838.3,-11.5,402,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2148,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8724,-0.85,-194.6,872.0,-11.3,412,8729,0.00,1.55,0.00,0.000,4,0.000,0.063,2048,3127,3552,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8787,-0.85,-194.6,879.4,-11.4,414,8793,0.00,1.45,0.00,0.000,6,0.000,0.037,2047,2152,3552,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9122,-0.84,-194.6,916.5,-10.9,425,9127,0.00,1.45,0.00,0.000,4,0.000,0.046,2047,1182,3551,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9175,-0.84,-194.6,920.3,-10.8,426,9180,0.00,1.50,0.00,0.000,6,0.000,0.053,2040,2153,3550,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9490,-0.83,-194.6,954.4,-9.7,437,9492,0.12,0.00,0.00,0.000,6,0.168,0.000,2073,2153,3549,0,0,0,0,0,0,26.42,28.83,28.83
$GC,9791,-0.83,-194.6,974.8,-6.4,447,9796,0.00,1.48,0.00,0.000,4,0.000,0.047,2073,1180,3548,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9824,-0.84,-194.6,977.1,-6.3,448,9829,0.00,1.50,0.00,0.000,6,0.000,0.052,2068,2145,3548,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,10065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10065,begin apogee
$GC,10071,-0.19,0.0,991.5,-5.8,456,10253,0.60,0.00,173.68,1.053,6,0.123,0.000,2269,2145,2797,0,0,0,0,0,0,26.20,28.83,24.35
$STATE,10254,end apogee,CONTROL_FINISHED_OK
$STATE,10254,begin climb
$GC,10256,0.58,194.6,992.7,0.0,462,10448,0.70,1.67,183.10,1.043,4,0.050,0.064,2540,3105,2002,0,0,0,0,0,0,25.09,24.54,23.89
$GC,10492,0.52,194.6,967.5,14.4,470,10498,0.15,1.55,0.00,0.000,6,0.182,0.037,2513,2120,1989,0,0,0,0,0,0,24.90,25.05,28.83
$GC,10826,0.49,194.6,922.8,12.7,481,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2120,1983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11126,0.46,194.6,886.7,11.8,491,11131,0.00,1.60,0.00,0.000,4,0.000,0.063,2513,3103,1981,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11154,0.42,194.6,886.7,11.8,491,11161,0.15,1.50,0.00,0.000,6,0.174,0.038,2479,2083,1982,0,0,0,0,0,0,25.91,26.14,28.83
$GC,11461,0.41,194.6,855.1,8.9,502,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2083,1981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11760,0.39,194.6,828.5,8.9,512,11765,0.00,1.62,0.00,0.000,4,0.000,0.063,2480,3116,1981,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11902,0.37,194.6,815.8,10.3,516,11907,0.00,1.50,0.00,0.000,6,0.000,0.039,2486,2088,1981,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12216,0.34,194.6,782.3,10.2,527,12222,0.12,1.60,0.00,0.000,4,0.169,0.060,2448,3115,1980,0,0,0,0,0,0,26.22,26.30,28.83
$GC,12284,0.33,194.6,776.1,9.6,529,12290,0.00,1.48,0.00,0.000,6,0.000,0.038,2453,2130,1980,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12615,0.33,215.6,749.4,7.7,540,12638,0.00,1.60,18.58,0.987,4,0.000,0.062,2453,3108,1918,0,0,0,0,0,0,28.83,26.09,25.41
$GC,12711,0.33,224.8,741.9,8.0,543,12717,0.00,1.50,2.12,0.291,6,0.000,0.038,2464,2086,1885,0,0,0,0,0,0,28.83,26.17,25.00
$GC,13041,0.32,230.7,714.9,8.1,554,13059,0.00,0.00,15.70,0.893,6,0.000,0.000,2460,2086,1861,0,0,0,0,0,0,28.83,28.83,25.38
$GC,13340,0.34,273.0,692.2,7.0,564,13404,0.00,1.65,58.20,0.782,4,0.000,0.059,2460,3108,1683,0,0,0,0,0,0,28.83,25.44,24.89
$GC,13476,0.34,301.4,683.1,7.4,568,13522,0.00,1.50,37.90,0.741,6,0.000,0.037,2468,2107,1569,0,0,0,0,0,0,28.83,25.74,24.77
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$STATE,20149,end climb,SURFACE_DEPTH_REACHED
$STATE,20149,begin surface coast
$FINISH,1.5,1.009178
$STATE,20182,end surface coast,CONTROL_FINISHED_OK
$STATE,20182,begin surface
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$IRIDIUM_FIX,1825.94,12431.21,310812,161613
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.57
$INTERNAL_PRESSURE,9.55339
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,7733472
$24V_AH,23.9,25.957
$10V_AH,10.1,16.362
$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,17.275,116.725,778.850,0.000,0.000,0.000,0.000,812.424,0.000,0.000,13.837,3017.623,13842.213,870.711,2634.765,388.803,0.000,2475.871,0.000,2230.816,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,64.260,1053.405,0.000,0.000,0.000,0.000,120.105,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20202.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.872,0.000,0.000,0.000
$MEM,329092
$DATA_FILE_SIZE,33287,926
$CAP_FILE_SIZE,228452,0
$CFSIZE,260165632,243650560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.279, 40.9,1
$GPS,010912,032936,1833.628,12433.703,26,1.4,26,-2.2