version: 66.11
glider: 166
mission: 7
dive: 4
start: 6 27 112 19 49 24
data:
$ID,166
$MISSION,7
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1030
$D_NO_BLEED,500
$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,50
$T_MISSION,70
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0228
$MASS,52243
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,340
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25885.068
$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,2460
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,1857
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-28.661125
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$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,49
$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
$GPS1,270612,194107,4742.840,-12224.837,8,1.1,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.7
$GPS2,270612,194826,4742.822,-12224.795,16,1.4,16,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.001,0.235
$KALMAN_X,-33.5,-26.4,-7.8,36.1,0.5
$KALMAN_Y,-371.7,-441.6,-340.3,1499.4,-112.8
$MHEAD_RNG_PITCHd_Wd,341.6,1996,-20.4,-10.000
$D_GRID,180
$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,-0.83,-117.3,0.0,0.0,0,91,0.00,0.00,-70.72,0.000,2,0.000,0.000,155,2122,2100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.83,-117.3,3.9,-3.9,7,116,8.07,1.55,-6.03,0.000,4,0.249,0.084,2173,3087,2337,0,0,0,0,0,0,25.80,26.08,26.41
$GC,137,-0.83,-117.3,12.1,-18.8,11,144,0.00,1.50,0.00,0.000,6,0.000,0.041,2178,2068,2338,0,0,0,0,0,0,28.83,26.16,28.83
$GC,174,-0.83,-117.3,18.1,-14.9,15,175,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2068,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,204,-0.83,-117.3,22.2,-13.9,18,209,0.00,1.42,0.00,0.000,4,0.000,0.044,2177,1117,2338,0,0,0,0,0,0,28.83,26.20,28.83
$GC,437,-0.83,-117.3,56.6,-16.2,41,442,0.00,1.50,0.00,0.000,6,0.000,0.048,2171,2124,2338,0,0,0,0,0,0,28.83,26.30,28.83
$GC,480,-0.83,-117.3,62.8,-14.5,45,485,0.00,1.50,0.00,0.000,4,0.000,0.045,2172,1102,2338,0,0,0,0,0,0,28.83,26.34,28.83
$GC,713,-0.83,-117.3,91.2,-11.3,68,718,0.00,1.50,0.00,0.000,6,0.000,0.049,2165,2109,2338,0,0,0,0,0,0,28.83,26.39,28.83
$GC,756,-0.83,-117.3,96.4,-12.4,72,761,0.00,1.50,0.00,0.000,4,0.000,0.044,2164,1081,2338,0,0,0,0,0,0,28.83,26.42,28.83
$GC,838,-0.83,-117.3,107.7,-13.7,80,844,0.15,1.52,0.00,0.000,6,0.200,0.048,2191,2103,2338,0,0,0,0,0,0,26.22,26.42,28.83
$GC,881,-0.83,-117.3,112.8,-12.0,84,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2103,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,911,-0.83,-117.3,116.3,-11.4,87,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2103,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,941,-0.83,-117.3,119.7,-11.2,90,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2103,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,971,-0.83,-117.3,123.0,-11.1,93,977,0.00,1.48,0.00,0.000,4,0.000,0.044,2191,1119,2338,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1024,-0.83,-117.3,129.3,-11.7,98,1030,0.00,1.50,0.00,0.000,6,0.000,0.049,2186,2126,2338,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1067,-0.83,-117.3,134.3,-11.7,102,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2126,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1097,-0.83,-117.3,137.9,-12.0,105,1102,0.00,1.50,0.00,0.000,4,0.000,0.044,2185,1096,2338,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1198,begin apogee
$GC,1205,-0.19,0.0,150.1,-11.4,115,1321,0.68,0.00,105.90,0.633,6,0.164,0.000,2389,2109,1850,0,0,0,0,0,0,26.30,28.83,24.81
$STATE,1323,end apogee,CONTROL_FINISHED_OK
$STATE,1323,begin climb
$GC,1325,0.83,117.3,154.6,0.0,127,1443,1.00,1.65,99.85,1.138,4,0.116,0.064,2718,3082,1381,0,0,0,0,1,0,25.34,24.71,23.85
$GC,1456,0.83,117.3,144.8,10.6,140,1461,0.00,1.52,0.00,0.000,6,0.000,0.041,2726,2093,1384,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1498,0.83,117.3,139.7,12.0,144,1504,0.00,1.52,0.00,0.000,4,0.000,0.045,2733,1117,1385,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1525,0.83,117.3,136.9,12.2,146,1531,0.00,1.52,0.00,0.000,6,0.000,0.048,2734,2101,1384,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1561,0.83,117.3,131.8,12.7,150,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2101,1385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,0.83,117.3,128.1,12.3,153,1596,0.00,1.55,0.00,0.000,4,0.000,0.064,2734,3090,1385,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1628,0.83,117.3,123.7,13.6,156,1634,0.00,1.50,0.00,0.000,6,0.000,0.041,2741,2089,1385,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1664,0.83,117.3,118.5,13.0,160,1669,0.00,1.50,0.00,0.000,4,0.000,0.047,2749,1081,1385,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1680,0.83,117.3,116.9,13.0,161,1688,0.00,1.60,0.93,0.194,6,0.000,0.050,2750,2092,1377,0,0,0,0,0,0,28.83,25.90,25.75
$GC,1716,0.83,117.3,111.9,12.3,165,1721,0.00,1.55,0.00,0.000,4,0.000,0.065,2750,3088,1383,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1782,0.83,117.3,104.6,11.8,171,1789,0.00,1.50,0.00,0.000,6,0.000,0.043,2754,2080,1384,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1819,0.83,117.3,99.2,13.3,175,1825,0.00,1.48,0.00,0.000,4,0.000,0.047,2761,1109,1384,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1886,0.83,117.3,89.9,14.4,181,1893,0.12,1.52,0.00,0.000,6,0.209,0.050,2733,2112,1384,0,0,0,0,0,0,25.95,26.11,28.83
$GC,1922,0.83,117.3,83.8,15.1,185,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2113,1384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1952,0.83,117.3,80.0,12.9,188,1957,0.00,1.50,0.00,0.000,4,0.000,0.063,2735,3090,1384,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2005,0.83,117.3,73.6,12.2,193,2010,0.00,1.50,0.00,0.000,6,0.000,0.042,2740,2101,1384,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2047,0.83,117.3,68.3,12.2,197,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2101,1384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2077,0.83,117.3,64.4,13.1,200,2082,0.00,1.52,0.00,0.000,4,0.000,0.063,2741,3085,1384,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2100,0.83,117.3,61.8,12.3,202,2105,0.00,1.50,0.00,0.000,6,0.000,0.042,2747,2098,1384,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2143,0.83,117.3,57.0,11.2,206,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2097,1384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2173,0.83,117.3,53.6,11.2,209,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2097,1385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2203,0.83,117.3,50.1,11.6,212,2208,0.00,1.48,0.00,0.000,4,0.000,0.047,2754,1115,1384,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2235,0.83,117.3,46.3,11.5,215,2240,0.00,1.52,0.00,0.000,6,0.000,0.050,2754,2124,1384,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2278,0.83,117.3,41.8,10.8,219,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2124,1384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2308,0.83,117.3,38.8,10.0,222,2313,0.00,1.50,0.00,0.000,4,0.000,0.047,2761,1108,1384,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2454,0.83,117.3,24.2,10.1,236,2462,0.10,1.52,0.00,0.000,6,0.190,0.050,2731,2097,1384,0,0,0,0,0,0,26.20,26.38,28.83
$GC,2491,0.83,117.3,20.2,10.2,240,2496,0.00,1.50,0.00,0.000,4,0.000,0.064,2732,3083,1384,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2605,0.85,149.6,9.9,8.2,251,2625,0.00,1.48,13.77,0.161,6,0.000,0.041,2738,2100,1243,0,0,0,0,0,0,28.83,26.44,26.22
$GC,2655,0.86,198.6,6.2,7.2,256,2679,0.00,1.55,19.98,0.151,4,0.000,0.060,2736,3095,1041,0,0,0,0,0,0,28.83,26.29,26.19
$STATE,2695,end climb,SURFACE_DEPTH_REACHED
$STATE,2695,begin surface coast
$FINISH,1.3,1.017832
$STATE,2728,end surface coast,CONTROL_FINISHED_OK
$STATE,2728,begin surface
$SM_CCo,2746,58.17,0.141,0,0,469,340.23
$SM_GC,1.33,7.07,1.52,58.17,0.070,0.041,0.141,152,2096,469,-7.16,1.33,340.23,0,0,0,0,0,0,26.34,26.38,26.07
$IRIDIUM_FIX,4722.92,-12223.37,270612,181804
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.25
$INTERNAL_PRESSURE,9.16275
$TCM_TEMP,15.30
$XPDR_PINGS,15
$SC_FREEKB,7768448
$24V_AH,23.9,0.486
$10V_AH,9.8,0.300
$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,17.200,54.575,240.425,58.175,0.000,27.416,32.147,203.932,5.500,0.000,16.887,859.328,835.124,393.215,976.757,169.030,32.220,849.156,0.000,666.583,0.000,12.202,0.000
$DEVICE_MAMPS,248.625,84.150,1137.555,140.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2732.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.796,0.000,0.000,0.000
$MEM,323376
$DATA_FILE_SIZE,10157,263
$CAP_FILE_SIZE,85917,0
$CFSIZE,260165632,257703936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270612,203707,4743.161,-12224.938,13,1.5,18,18.2