version: 66.11
glider: 166
mission: 7
dive: 7
start: 6 27 112 22 39 29
data:
$ID,166
$MISSION,7
$DIVE,7
$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,-25888.844
$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,47
$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,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,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
$GPS1,270612,223102,4743.962,-12224.720,14,1.7,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.7
$GPS2,270612,223831,4743.906,-12224.694,10,1.7,15,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.234,0.027
$KALMAN_X,-330.2,-87.3,2.3,504.2,-91.0
$KALMAN_Y,-509.7,-550.4,-70.2,3482.2,141.1
$MHEAD_RNG_PITCHd_Wd,65.1,1584,-20.4,-10.000
$D_GRID,174
$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,-117.3,0.0,0.0,0,71,0.00,0.00,-51.20,0.000,2,0.000,0.000,175,2092,1707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.83,-117.3,3.8,-6.2,5,106,7.90,1.50,-16.70,0.000,4,0.246,0.066,2180,1118,2339,0,0,0,0,0,0,25.81,26.08,26.38
$GC,333,-0.83,-117.3,40.3,-15.5,30,340,0.00,1.52,0.00,0.000,6,0.000,0.047,2171,2106,2339,0,0,0,0,0,0,28.83,26.23,28.83
$GC,369,-0.83,-117.3,46.5,-15.6,34,374,0.00,1.50,0.00,0.000,4,0.000,0.044,2167,1087,2337,0,0,0,0,0,0,28.83,26.27,28.83
$GC,603,-0.83,-117.3,81.1,-15.3,57,609,0.12,1.52,0.00,0.000,6,0.200,0.047,2188,2109,2339,0,0,0,0,0,0,26.19,26.34,28.83
$GC,646,-0.83,-117.3,86.8,-13.3,61,651,0.00,1.50,0.00,0.000,4,0.000,0.044,2185,1085,2339,0,0,0,0,0,0,28.83,26.37,28.83
$GC,740,-0.83,-117.3,97.9,-11.6,70,745,0.00,1.52,0.00,0.000,6,0.000,0.047,2180,2109,2339,0,0,0,0,0,0,28.83,26.39,28.83
$GC,783,-0.83,-117.3,103.1,-12.0,74,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2109,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,813,-0.83,-117.3,106.7,-12.2,77,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2109,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,843,-0.83,-117.3,110.3,-12.1,80,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2109,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,873,-0.83,-117.3,114.0,-12.1,83,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2109,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,903,-0.83,-117.3,117.8,-12.7,86,908,0.00,1.50,0.00,0.000,4,0.000,0.043,2179,1080,2339,0,0,0,0,0,0,28.83,26.44,28.83
$GC,965,-0.83,-117.3,126.0,-13.2,92,970,0.00,1.52,0.00,0.000,6,0.000,0.047,2171,2104,2339,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1008,-0.83,-117.3,131.4,-12.6,96,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2104,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1038,-0.83,-117.3,135.3,-12.8,99,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2104,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1068,-0.83,-117.3,139.3,-13.1,102,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2105,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-0.83,-117.3,143.4,-13.7,105,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2104,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1128,-0.83,-117.3,147.4,-13.4,108,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2104,2339,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1156,begin apogee
$GC,1161,-0.19,0.0,151.2,-12.6,111,1274,0.73,0.00,104.55,0.636,6,0.163,0.000,2392,2104,1852,0,0,0,0,0,0,26.31,28.83,24.82
$STATE,1275,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1278,0.83,117.3,155.8,0.0,122,1392,1.00,1.67,104.35,0.604,4,0.112,0.063,2725,3091,1371,0,0,0,0,0,0,25.32,24.98,24.50
$GC,1448,0.83,117.3,141.9,12.3,139,1455,0.00,1.50,0.00,0.000,6,0.000,0.042,2732,2106,1362,0,0,0,0,0,0,28.83,25.47,28.83
$GC,1485,0.83,117.3,137.2,11.7,143,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2106,1364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1515,0.83,117.3,133.7,11.3,146,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2106,1364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1545,0.83,117.3,130.2,12.0,149,1550,0.00,1.55,0.00,0.000,4,0.000,0.063,2734,3083,1363,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1587,0.83,117.3,124.8,12.7,153,1592,0.00,1.50,0.00,0.000,6,0.000,0.043,2739,2083,1363,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1630,0.83,117.3,119.4,12.5,157,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2082,1363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1660,0.83,117.3,115.7,12.3,160,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2083,1363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,0.83,117.3,112.0,12.3,163,1695,0.00,1.58,0.00,0.000,4,0.000,0.064,2741,3084,1363,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1752,0.83,117.3,103.1,14.4,169,1758,0.00,1.50,0.00,0.000,6,0.000,0.042,2746,2105,1363,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1795,0.83,117.3,97.1,14.0,173,1800,0.00,1.50,0.00,0.000,4,0.000,0.047,2753,1094,1363,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1838,0.83,117.3,90.9,14.5,177,1843,0.00,1.52,0.00,0.000,6,0.000,0.049,2755,2099,1362,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1881,0.83,117.3,85.3,13.4,181,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2098,1360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1911,0.83,117.3,81.6,12.6,184,1916,0.00,1.58,0.00,0.000,4,0.000,0.064,2753,3089,1362,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1943,0.83,117.3,77.6,11.8,187,1949,0.12,1.50,0.00,0.000,6,0.223,0.041,2731,2074,1362,0,0,0,0,0,0,25.97,26.18,28.83
$GC,1987,0.83,117.3,72.8,10.9,191,1992,0.00,1.45,0.00,0.000,4,0.000,0.047,2736,1116,1362,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2010,0.83,117.3,70.3,11.1,193,2015,0.00,1.50,0.00,0.000,6,0.000,0.050,2738,2110,1361,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2052,0.83,117.3,65.2,11.7,197,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2110,1362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2082,0.83,117.3,62.2,10.4,200,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2110,1362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2112,0.83,117.3,59.0,10.2,203,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2110,1362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2142,0.83,117.3,55.9,10.7,206,2148,0.00,1.50,0.00,0.000,4,0.000,0.064,2738,3089,1362,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2299,0.83,118.6,39.6,9.9,221,2305,0.00,1.50,0.00,0.000,6,0.000,0.042,2741,2099,1362,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2336,0.84,127.0,35.7,9.5,225,2344,0.00,0.00,3.80,0.161,6,0.000,0.000,2741,2099,1337,0,0,0,0,0,0,28.83,28.83,26.08
$GC,2375,0.85,151.9,32.3,8.6,229,2396,0.00,1.50,11.85,0.207,4,0.000,0.047,2747,1115,1236,0,0,0,0,0,0,28.83,26.29,26.06
$GC,2460,0.85,151.9,23.5,11.0,237,2465,0.00,1.50,0.00,0.000,6,0.000,0.050,2749,2112,1244,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2503,0.85,151.9,18.2,12.2,241,2508,0.00,1.50,0.00,0.000,4,0.000,0.064,2751,3094,1245,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2565,0.85,151.9,11.3,10.5,247,2571,0.00,1.50,1.40,0.197,6,0.000,0.042,2756,2072,1233,0,0,0,0,0,0,28.83,26.36,26.20
$GC,2609,0.85,166.8,7.3,9.1,251,2620,0.00,1.48,7.18,0.159,4,0.000,0.047,2762,1114,1172,0,0,0,0,0,0,28.83,26.34,26.19
$STATE,2713,end climb,SURFACE_DEPTH_REACHED
$STATE,2714,begin surface coast
$FINISH,3.0,1.018702
$STATE,2915,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2915,begin surface
$SM_CCo,2934,72.40,0.140,0,0,466,340.23
$SM_GC,1.36,7.32,1.55,72.40,0.083,0.048,0.140,145,2112,466,-7.15,-0.76,340.23,0,0,0,0,0,0,26.39,26.41,26.09
$IRIDIUM_FIX,4726.11,-12222.38,270612,212138
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,9.18228
$TCM_TEMP,20.10
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,100.7,6.9
$SC_FREEKB,7767296
$24V_AH,24.5,0.686
$10V_AH,10.3,0.467
$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,17.200,42.475,233.125,72.400,0.000,26.356,38.488,224.214,4.250,0.000,16.768,921.327,952.451,373.659,1022.204,198.726,33.224,830.630,0.000,701.379,0.000,7.292,0.000
$DEVICE_MAMPS,245.565,65.790,636.480,139.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2924.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.227,0.000,0.000,0.000
$MEM,323512
$DATA_FILE_SIZE,10146,281
$CAP_FILE_SIZE,85661,0
$CFSIZE,260165632,257568768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270612,233046,4744.141,-12224.274,9,99.0,28,18.2