version: 66.11
glider: 166
mission: 8
dive: 98
start: 9 1 112 15 49 11
data:
$ID,166
$MISSION,8
$DIVE,98
$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,-26590.572
$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,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
$GPS1,010912,154006,1833.104,12431.020,35,0.9,35,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-59.1
$GPS2,010912,154843,1833.395,12430.966,12,1.5,12,-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,194.5,80682,-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,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,-70.15,0.000,2,0.000,0.000,157,2136,1980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.2,-4.6,12,161,7.78,1.45,-50.45,0.000,4,0.230,0.057,2150,1172,3597,0,0,0,0,0,0,25.79,26.22,26.53
$GC,211,-0.53,-194.6,21.3,-24.9,32,217,0.00,1.48,0.00,0.000,6,0.000,0.040,2143,2152,3597,0,0,0,0,0,0,28.83,26.27,28.83
$GC,536,-0.49,-194.6,99.4,-18.7,54,541,0.12,1.40,0.00,0.000,4,0.173,0.031,2171,1173,3597,0,0,0,0,0,0,26.22,26.39,28.83
$GC,606,-0.47,-194.6,109.9,-17.1,57,611,0.00,1.48,0.00,0.000,6,0.000,0.040,2167,2158,3597,0,0,0,0,0,0,28.83,26.39,28.83
$GC,924,-0.46,-194.6,151.2,-11.7,73,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2158,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1225,-0.46,-194.6,188.8,-13.7,88,1230,0.00,1.45,0.00,0.000,4,0.000,0.034,2180,1171,3597,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1318,-0.47,-194.6,199.9,-13.0,92,1323,0.00,1.48,0.00,0.000,6,0.000,0.039,2173,2158,3597,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1631,-0.48,-194.6,234.2,-8.8,108,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2158,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1933,-0.49,-194.6,261.9,-10.2,123,1938,0.00,1.45,0.00,0.000,4,0.000,0.034,2168,1173,3597,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1977,-0.50,-194.6,266.0,-9.4,125,1982,0.00,1.45,0.00,0.000,6,0.000,0.039,2164,2152,3596,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2301,-0.51,-194.6,298.5,-11.0,141,2306,0.00,1.50,0.00,0.000,4,0.000,0.051,2137,3162,3594,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2359,-0.52,-194.6,303.4,-10.9,143,2366,0.12,1.48,0.00,0.000,6,0.133,0.030,2172,2131,3594,0,0,0,0,0,0,26.48,26.65,28.83
$GC,2665,-0.55,-194.6,326.6,-5.8,159,2670,0.00,1.50,0.00,0.000,4,0.000,0.053,2166,3126,3592,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2738,-0.58,-194.6,330.3,-5.8,162,2744,0.00,1.40,0.00,0.000,6,0.000,0.030,2166,2143,3591,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3052,-0.61,-194.6,346.2,-4.8,178,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2141,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,-0.64,-194.6,363.2,-6.0,193,3360,0.00,1.50,0.00,0.000,4,0.000,0.053,2158,3145,3587,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3413,-0.67,-194.6,366.0,-6.0,195,3421,0.08,1.42,0.00,0.000,6,0.049,0.030,2072,2146,3586,0,0,0,0,0,0,26.63,26.67,28.83
$GC,3719,-0.66,-194.6,402.4,-11.3,211,3725,0.15,1.48,0.00,0.000,4,0.146,0.050,2115,3130,3584,0,0,0,0,0,0,26.46,26.56,28.83
$GC,3754,-0.65,-194.6,404.8,-10.7,212,3759,0.00,1.40,0.00,0.000,6,0.000,0.030,2115,2148,3584,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4068,-0.66,-194.6,428.5,-7.3,228,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2146,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4370,-0.67,-194.6,452.6,-8.7,243,4375,0.00,1.50,0.00,0.000,4,0.000,0.054,2110,3143,3579,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4417,-0.68,-194.6,456.8,-9.0,245,4422,0.00,1.42,0.00,0.000,6,0.000,0.031,2110,2153,3578,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4735,-0.69,-194.6,490.9,-10.8,261,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2151,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5036,-0.70,-194.6,523.0,-10.2,276,5042,0.00,1.50,0.00,0.000,4,0.000,0.056,2107,3148,3575,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5110,-0.71,-194.6,529.7,-10.1,279,5115,0.00,1.45,0.00,0.000,6,0.000,0.032,2103,2141,3574,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5423,-0.71,-194.6,559.6,-8.5,295,5428,0.00,1.50,0.00,0.000,4,0.000,0.057,2099,3135,3571,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5501,-0.72,-194.6,564.7,-8.0,298,5507,0.00,1.42,0.00,0.000,6,0.000,0.032,2099,2145,3570,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5807,-0.73,-194.6,591.6,-8.5,314,5812,0.00,1.40,0.00,0.000,4,0.000,0.038,2098,1188,3568,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5884,-0.73,-194.6,597.4,-8.9,317,5891,0.00,1.45,0.00,0.000,6,0.000,0.044,2091,2150,3568,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6210,-0.73,-194.6,629.2,-9.5,329,6215,0.00,1.42,0.00,0.000,4,0.000,0.039,2088,1189,3565,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6257,-0.73,-194.6,632.5,-9.6,330,6262,0.00,1.45,0.00,0.000,6,0.000,0.045,2082,2148,3565,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6574,-0.73,-194.6,667.3,-10.5,341,6580,0.00,1.52,0.00,0.000,4,0.000,0.059,2073,3127,3563,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6608,-0.73,-194.6,670.8,-10.5,342,6614,0.08,1.42,0.00,0.000,6,0.125,0.034,2117,2154,3563,0,0,0,0,0,0,26.38,26.64,28.83
$GC,6943,-0.75,-194.6,697.6,-7.7,353,6948,0.00,1.45,0.00,0.000,4,0.000,0.041,2117,1177,3561,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6987,-0.77,-194.6,700.2,-7.8,354,6992,0.00,1.48,0.00,0.000,6,0.000,0.047,2113,2146,3560,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7312,-0.79,-194.6,727.0,-8.0,365,7317,0.00,1.50,0.00,0.000,4,0.000,0.060,2106,3136,3558,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7380,-0.80,-194.6,732.3,-8.1,367,7386,0.00,1.45,0.00,0.000,6,0.000,0.034,2107,2145,3557,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7711,-0.82,-194.6,759.5,-8.0,378,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2145,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8011,-0.83,-194.6,781.1,-6.8,388,8016,0.10,1.52,0.00,0.000,4,0.102,0.059,2043,3140,3553,0,0,0,0,0,0,26.70,26.46,28.83
$GC,8054,-0.85,-194.6,784.0,-7.3,389,8059,0.00,1.45,0.00,0.000,6,0.000,0.036,2043,2151,3553,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8379,-0.84,-194.6,816.7,-9.7,400,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2150,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8678,-0.83,-194.6,846.0,-9.8,410,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2150,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8977,-0.82,-194.6,876.7,-10.2,420,8982,0.00,1.52,0.00,0.000,4,0.000,0.063,2037,3138,3549,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9011,-0.81,-194.6,880.2,-10.3,421,9017,0.10,1.48,0.00,0.000,6,0.134,0.037,2080,2148,3549,0,0,0,0,0,0,26.28,26.58,28.83
$GC,9345,-0.81,-194.6,908.8,-8.3,432,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2147,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9645,-0.82,-194.6,933.5,-8.3,442,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2147,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9946,-0.82,-194.6,957.0,-8.0,452,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2147,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10246,-0.83,-194.6,981.1,-8.0,462,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2147,3544,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10363,begin apogee
$GC,10368,-0.19,0.0,990.9,-8.2,466,10614,0.57,0.00,237.27,0.883,6,0.122,0.000,2273,2146,2798,0,0,0,0,0,0,26.20,28.83,24.34
$STATE,10615,end apogee,CONTROL_FINISHED_OK
$STATE,10615,begin climb
$GC,10618,0.58,194.6,1002.4,0.0,474,10809,0.68,1.60,182.15,1.050,4,0.052,0.046,2540,1154,2000,0,0,0,0,0,0,25.06,24.51,23.84
$GC,10868,0.53,194.6,988.2,9.9,482,10873,0.00,1.55,0.00,0.000,6,0.000,0.053,2540,2120,1987,0,0,0,0,0,0,28.83,25.06,28.83
$GC,11184,0.48,194.6,945.9,13.0,493,11189,0.12,1.58,0.00,0.000,4,0.178,0.062,2504,3115,1982,0,0,0,0,0,0,25.68,25.79,28.83
$GC,11273,0.45,194.6,937.5,13.0,495,11280,0.00,1.50,0.00,0.000,6,0.000,0.039,2510,2105,1982,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11580,0.42,194.6,896.5,12.4,506,11582,0.12,0.00,0.00,0.000,6,0.174,0.000,2478,2105,1982,0,0,0,0,0,0,26.01,28.83,28.83
$GC,11878,0.40,194.6,865.3,10.1,516,11883,0.00,1.60,0.00,0.000,4,0.000,0.063,2480,3116,1980,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11982,0.38,194.6,855.5,10.4,519,11987,0.00,1.50,0.00,0.000,6,0.000,0.039,2486,2093,1980,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12307,0.36,194.6,824.4,9.1,530,12312,0.00,1.62,0.00,0.000,4,0.000,0.060,2486,3105,1979,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12380,0.34,194.6,818.2,9.2,532,12386,0.15,1.48,0.00,0.000,6,0.166,0.037,2453,2120,1979,0,0,0,0,0,0,26.13,26.39,28.83
$GC,12706,0.34,219.2,793.3,7.5,543,12734,0.00,1.62,22.77,0.979,4,0.000,0.060,2454,3110,1902,0,0,0,0,0,0,28.83,25.99,25.29
$GC,12768,0.33,231.6,788.1,7.9,545,12786,0.00,1.50,12.90,0.888,6,0.000,0.037,2458,2127,1855,0,0,0,0,0,0,28.83,26.08,25.26
$GC,13099,0.33,231.6,757.3,9.8,556,13105,0.00,1.58,0.00,0.000,4,0.000,0.059,2460,3105,1841,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13137,0.33,231.6,753.9,9.9,557,13143,0.00,1.48,0.00,0.000,6,0.000,0.037,2467,2124,1841,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13468,0.32,231.6,721.3,9.3,568,13473,0.00,1.52,0.00,0.000,4,0.000,0.060,2468,3110,1840,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13521,0.31,231.6,718.0,9.3,569,13527,0.12,1.48,0.00,0.000,6,0.166,0.037,2442,2125,1840,0,0,0,0,0,0,26.10,26.32,28.83
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$STATE,21309,end climb,SURFACE_DEPTH_REACHED
$STATE,21309,begin surface coast
$FINISH,1.5,1.020901
$STATE,21330,end surface coast,CONTROL_FINISHED_OK
$STATE,21330,begin surface
$SM_CCo,21408,0.00,0.000,0,0,465,573.51
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$IRIDIUM_FIX,1828.22,12434.38,010912,090951
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.01
$INTERNAL_PRESSURE,9.56316
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,7732320
$24V_AH,23.8,28.752
$10V_AH,9.8,16.863
$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,17.625,113.375,910.675,0.000,0.000,0.000,0.000,833.610,0.000,0.000,12.844,3040.156,14880.829,939.056,2650.291,404.475,0.000,2585.949,0.000,2240.268,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,63.495,1050.345,0.000,0.000,0.000,0.000,120.870,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.203,0.000,0.000,0.000
$MEM,329080
$DATA_FILE_SIZE,36587,978
$CAP_FILE_SIZE,236745,0
$CFSIZE,260165632,243326976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.252, 16.8,1
$GPS,010912,214706,1832.551,12430.858,28,1.1,28,-2.2