version: 66.11
glider: 166
mission: 7
dive: 5
start: 6 27 112 20 45 14
data:
$ID,166
$MISSION,7
$DIVE,5
$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,-25886.326
$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,46
$R_STBD_OVSHOOT,30
$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
$GPS1,270612,203707,4743.161,-12224.938,13,1.5,18,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-64.4
$GPS2,270612,204416,4743.167,-12224.951,15,2.3,34,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.049,0.230
$KALMAN_X,-168.0,-83.6,19.5,6.9,-52.5
$KALMAN_Y,-418.7,-503.5,-306.0,2211.2,6.6
$MHEAD_RNG_PITCHd_Wd,353.9,1371,-20.4,-10.000
$D_GRID,177
$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,-0.83,-117.3,0.0,0.0,0,101,0.00,0.00,-81.28,0.000,2,0.000,0.000,158,2092,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.83,-117.3,3.5,-3.3,8,121,7.93,1.60,-0.40,0.000,4,0.247,0.077,2190,3088,2338,0,0,0,0,0,0,25.84,26.09,26.27
$GC,259,-0.83,-117.3,31.2,-14.2,23,265,0.00,1.50,0.00,0.000,6,0.000,0.039,2181,2060,2339,0,0,0,0,0,0,28.83,26.25,28.83
$GC,302,-0.83,-117.3,37.7,-15.4,27,307,0.00,1.40,0.00,0.000,4,0.000,0.046,2178,1126,2338,0,0,0,0,0,0,28.83,26.25,28.83
$GC,535,-0.83,-117.3,70.9,-13.2,50,540,0.00,1.50,0.00,0.000,6,0.000,0.048,2179,2133,2338,0,0,0,0,0,0,28.83,26.34,28.83
$GC,578,-0.83,-117.3,76.0,-12.2,54,583,0.00,1.50,0.00,0.000,4,0.000,0.044,2171,1108,2337,0,0,0,0,0,0,28.83,26.37,28.83
$GC,814,-0.83,-117.3,106.1,-11.0,77,820,0.12,1.52,0.00,0.000,6,0.203,0.048,2191,2118,2338,0,0,0,0,0,0,26.25,26.41,28.83
$GC,859,-0.83,-117.3,110.1,-8.9,81,864,0.00,1.50,0.00,0.000,4,0.000,0.044,2193,1121,2338,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1014,-0.83,-117.3,126.7,-11.0,96,1019,0.00,1.50,0.00,0.000,6,0.000,0.049,2185,2130,2338,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1057,-0.83,-117.3,131.4,-11.1,100,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2130,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1087,-0.83,-117.3,134.9,-11.4,103,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2130,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1117,-0.83,-117.3,138.3,-11.2,106,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2130,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1147,-0.83,-117.3,141.8,-11.8,109,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2130,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1177,-0.83,-117.3,145.3,-11.6,112,1182,0.00,1.50,0.00,0.000,4,0.000,0.044,2182,1100,2338,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1227,-0.19,0.0,150.3,-12.1,116,1342,0.70,0.00,105.28,0.634,6,0.168,0.000,2388,2100,1851,0,0,0,0,0,0,26.31,28.83,24.82
$STATE,1343,end apogee,CONTROL_FINISHED_OK
$STATE,1344,begin climb
$GC,1346,0.83,117.3,154.6,0.0,128,1462,1.00,1.67,105.88,0.604,4,0.117,0.063,2717,3088,1370,0,0,0,0,0,0,25.33,25.01,24.51
$GC,1488,0.83,117.3,143.0,11.6,142,1495,0.00,1.50,0.00,0.000,6,0.000,0.041,2724,2108,1364,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1524,0.83,117.3,137.8,12.9,146,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2107,1361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1554,0.83,117.3,134.1,12.4,149,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2107,1362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1584,0.83,117.3,130.5,12.1,152,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2107,1362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1614,0.83,117.3,126.8,12.1,155,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2107,1362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1644,0.83,117.3,123.3,11.9,158,1649,0.00,1.55,0.00,0.000,4,0.000,0.064,2725,3081,1362,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1687,0.83,117.3,117.9,13.0,162,1692,0.00,1.50,0.00,0.000,6,0.000,0.042,2731,2075,1361,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1730,0.83,117.3,112.4,12.8,166,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2075,1363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1760,0.83,117.3,108.8,11.9,169,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2075,1362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1790,0.83,117.3,104.8,12.7,172,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2075,1362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1820,0.83,117.3,101.0,13.0,175,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2075,1362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1850,0.83,117.3,97.2,12.7,178,1855,0.00,1.58,0.00,0.000,4,0.000,0.064,2733,3081,1361,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1922,0.83,117.3,86.8,14.9,185,1928,0.00,1.50,0.00,0.000,6,0.000,0.042,2739,2066,1361,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1965,0.83,117.3,80.7,14.6,189,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2066,1360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1995,0.83,117.3,76.6,13.8,192,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2066,1361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,0.83,117.3,72.4,13.7,195,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2066,1361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2055,0.83,117.3,68.5,13.3,198,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2071,1361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2085,0.83,117.3,64.9,12.1,201,2090,0.00,1.45,0.00,0.000,4,0.000,0.048,2746,1116,1361,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2151,0.83,117.3,57.4,11.7,207,2158,0.00,1.52,0.00,0.000,6,0.000,0.050,2746,2096,1361,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2187,0.83,117.3,53.0,11.3,211,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2097,1361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,0.83,117.3,49.6,11.0,214,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2097,1361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,0.83,117.3,46.2,11.4,217,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2097,1361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2278,0.83,117.3,42.5,11.9,220,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2097,1360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2307,0.83,117.3,38.6,13.0,223,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2096,1361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2338,0.83,117.3,34.6,13.3,226,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2096,1361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2367,0.83,117.3,31.2,11.6,229,2373,0.00,1.52,0.00,0.000,4,0.000,0.065,2747,3093,1361,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2403,0.83,117.3,27.8,10.8,232,2410,0.00,1.50,0.00,0.000,6,0.000,0.043,2754,2071,1361,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2440,0.84,136.4,24.2,8.9,236,2452,0.00,1.48,7.72,0.175,4,0.000,0.047,2760,1112,1298,0,0,0,0,0,0,28.83,26.33,26.12
$GC,2515,0.85,163.0,17.9,8.5,243,2535,0.00,1.50,12.55,0.176,6,0.000,0.052,2761,2107,1188,0,0,0,0,0,0,28.83,26.34,26.13
$GC,2564,0.85,163.0,10.5,15.9,248,2569,0.00,1.50,0.00,0.000,4,0.000,0.065,2762,3088,1194,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,2635,end climb,SURFACE_DEPTH_REACHED
$STATE,2635,begin surface coast
$FINISH,2.3,1.018193
$STATE,2666,end surface coast,CONTROL_FINISHED_OK
$STATE,2666,begin surface
$SM_CCo,2685,73.70,0.143,0,0,469,340.23
$SM_GC,2.24,7.22,1.52,73.70,0.078,0.041,0.143,156,2090,469,-7.15,1.13,340.23,0,0,0,0,0,0,26.34,26.38,26.03
$IRIDIUM_FIX,4722.92,-12223.37,270612,191942
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.18
$INTERNAL_PRESSURE,9.15299
$TCM_TEMP,20.00
$XPDR_PINGS,17
$SC_FREEKB,7768064
$24V_AH,24.5,0.542
$10V_AH,10.1,0.353
$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,16.975,36.375,231.425,73.700,0.000,30.611,31.269,195.130,6.250,0.000,36.210,833.922,870.655,375.527,952.867,167.049,33.200,797.947,0.000,630.001,0.000,15.082,0.000
$DEVICE_MAMPS,247.095,77.265,634.185,143.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2668.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.325,0.000,0.000,0.000
$MEM,323368
$DATA_FILE_SIZE,6819,258
$CAP_FILE_SIZE,80963,0
$CFSIZE,260165632,257671168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270612,213228,4743.534,-12224.965,15,99.0,34,18.2