version: 66.11
glider: 166
mission: 8
dive: 45
start: 8 19 112 10 33 6
data:
$ID,166
$MISSION,8
$DIVE,45
$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,390
$T_MISSION,420
$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,9
$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,-26421.426
$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,2310
$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,2200
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,49
$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,3
$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
$GPS1,190812,102406,1946.598,12337.923,30,1.0,30,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-54.4
$GPS2,190812,103237,1946.673,12337.990,13,1.1,13,-2.4
$SPEED_LIMITS,0.147,0.279
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,64.6,89890,-13.4,-8.462
$D_GRID,5186
$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,17,-0.59,-194.6,0.0,0.0,0,90,0.00,0.00,-69.95,0.000,2,0.000,0.000,178,2223,2081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.59,-194.6,3.2,-3.9,12,154,7.60,1.50,-47.00,0.000,4,0.237,0.056,2118,1223,3597,0,0,0,0,0,0,25.93,26.23,26.51
$GC,203,-0.52,-194.6,24.4,-32.3,31,209,0.00,1.45,0.00,0.000,6,0.000,0.040,2114,2189,3598,0,0,0,0,0,0,28.83,26.26,28.83
$GC,518,-0.47,-194.6,119.3,-23.7,51,524,0.15,1.48,0.00,0.000,4,0.178,0.047,2151,3183,3598,0,0,0,0,0,0,26.27,26.39,28.83
$GC,652,-0.45,-194.6,141.2,-16.2,57,658,0.08,1.42,0.00,0.000,6,0.138,0.030,2168,2192,3598,0,0,0,0,0,0,26.34,26.49,28.83
$GC,967,-0.45,-194.6,177.9,-10.1,73,972,0.00,1.40,0.00,0.000,4,0.000,0.034,2166,1222,3598,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1104,-0.47,-194.6,191.9,-11.8,79,1112,0.00,1.45,0.00,0.000,6,0.000,0.041,2162,2197,3598,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1410,-0.48,-194.6,223.5,-9.1,95,1416,0.00,1.50,0.00,0.000,4,0.000,0.054,2169,3205,3598,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1468,-0.49,-194.6,227.6,-9.1,97,1475,0.00,1.45,0.00,0.000,6,0.000,0.031,2162,2194,3597,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1774,-0.51,-194.6,255.9,-8.1,113,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2192,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2076,-0.52,-194.6,276.6,-6.7,128,2081,0.00,1.50,0.00,0.000,4,0.000,0.053,2143,3197,3598,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2134,-0.54,-194.6,279.8,-6.8,130,2141,0.00,1.42,0.00,0.000,6,0.000,0.030,2143,2200,3597,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2440,-0.56,-194.6,304.8,-8.2,146,2445,0.00,1.40,0.00,0.000,4,0.000,0.036,2142,1230,3595,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2584,-0.58,-194.6,317.1,-8.4,153,2589,0.00,1.45,0.00,0.000,6,0.000,0.041,2135,2207,3595,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2907,-0.59,-194.6,340.8,-7.0,169,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2207,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3208,-0.61,-194.6,366.9,-10.0,184,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2207,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3510,-0.63,-194.6,393.1,-8.2,199,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2207,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3809,-0.65,-194.6,414.0,-6.8,214,3814,0.00,1.45,0.00,0.000,4,0.000,0.037,2135,1221,3587,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3867,-0.67,-194.6,417.0,-6.7,216,3874,0.00,1.48,0.00,0.000,6,0.000,0.044,2128,2205,3586,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4173,-0.68,-194.6,438.4,-6.8,232,4179,0.12,1.45,0.00,0.000,4,0.082,0.052,2048,3180,3584,0,0,0,0,0,0,26.77,26.67,28.83
$GC,4204,-0.70,-194.6,440.7,-7.4,233,4210,0.08,1.40,0.00,0.000,6,0.138,0.031,2090,2206,3583,0,0,0,0,0,0,26.58,26.74,28.83
$GC,4522,-0.70,-194.6,471.4,-8.7,249,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2206,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4824,-0.70,-194.6,496.8,-8.7,264,4829,0.00,1.42,0.00,0.000,4,0.000,0.039,2090,1227,3578,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4910,-0.70,-194.6,504.4,-9.1,268,4915,0.00,1.45,0.00,0.000,6,0.000,0.044,2084,2197,3578,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5228,-0.70,-194.6,536.2,-9.9,284,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2197,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5529,-0.70,-194.6,562.1,-7.7,299,5535,0.00,1.42,0.00,0.000,4,0.000,0.038,2085,1227,3573,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5582,-0.70,-194.6,565.6,-7.6,301,5587,0.00,1.48,0.00,0.000,6,0.000,0.045,2078,2204,3573,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5895,-0.70,-194.6,593.4,-9.3,317,5900,0.00,1.45,0.00,0.000,4,0.000,0.038,2078,1224,3571,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5997,-0.70,-194.6,602.1,-9.4,322,6002,0.00,1.48,0.00,0.000,6,0.000,0.047,2079,2198,3570,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6320,-0.70,-194.6,631.5,-8.7,333,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2198,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6619,-0.70,-194.6,659.7,-9.8,343,6624,0.00,1.45,0.00,0.000,4,0.000,0.041,2076,1222,3565,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6653,-0.70,-194.6,663.2,-10.0,344,6658,0.00,1.50,0.00,0.000,6,0.000,0.047,2069,2201,3566,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6989,-0.70,-194.6,700.9,-11.6,355,6994,0.00,1.45,0.00,0.000,4,0.000,0.041,2068,1224,3563,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7027,-0.70,-194.6,705.0,-11.6,356,7033,0.00,1.50,0.00,0.000,6,0.000,0.049,2060,2239,3562,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7357,-0.70,-194.6,743.4,-11.3,367,7362,0.00,1.50,0.00,0.000,4,0.000,0.042,2060,1204,3561,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7429,-0.70,-194.6,750.6,-11.3,369,7435,0.12,1.50,0.00,0.000,6,0.162,0.050,2087,2216,3560,0,0,0,0,0,0,26.56,26.67,28.83
$GC,7755,-0.70,-194.6,780.2,-8.4,380,7760,0.00,1.48,0.00,0.000,4,0.000,0.041,2087,1226,3558,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7798,-0.71,-194.6,783.3,-8.4,381,7803,0.00,1.48,0.00,0.000,6,0.000,0.049,2082,2192,3558,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8123,-0.72,-194.6,811.2,-8.2,392,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2192,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8422,-0.72,-194.6,835.7,-8.4,402,8427,0.00,1.45,0.00,0.000,4,0.000,0.044,2082,1222,3554,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8485,-0.73,-194.6,841.2,-8.5,404,8490,0.00,1.50,0.00,0.000,6,0.000,0.050,2075,2196,3554,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8819,-0.73,-194.6,870.5,-9.0,415,8824,0.00,1.50,0.00,0.000,4,0.000,0.064,2068,3183,3555,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8855,-0.73,-194.6,873.7,-9.1,416,8860,0.00,1.42,0.00,0.000,6,0.000,0.036,2068,2209,3552,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9183,-0.73,-194.6,903.2,-8.9,427,9189,0.00,1.45,0.00,0.000,4,0.000,0.042,2067,1229,3551,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9232,-0.73,-194.6,906.0,-8.7,428,9237,0.00,1.48,0.00,0.000,6,0.000,0.050,2061,2197,3551,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9549,-0.73,-194.6,936.0,-8.8,439,9554,0.00,1.45,0.00,0.000,4,0.000,0.042,2060,1225,3549,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9583,-0.73,-194.6,938.8,-8.8,440,9588,0.00,1.50,0.00,0.000,6,0.000,0.050,2053,2200,3549,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9918,-0.73,-194.6,967.4,-8.6,451,9923,0.00,1.50,0.00,0.000,4,0.000,0.063,2046,3188,3548,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9965,-0.73,-194.6,970.4,-8.5,452,9970,0.00,1.45,0.00,0.000,6,0.000,0.039,2046,2205,3548,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,10190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10190,begin apogee
$GC,10196,-0.19,0.0,990.8,-8.4,460,10363,0.60,0.00,160.27,1.124,6,0.130,0.000,2243,2061,2800,0,0,0,0,0,0,26.53,28.83,24.21
$STATE,10365,end apogee,CONTROL_FINISHED_OK
$STATE,10365,begin climb
$GC,10368,0.59,194.6,993.8,0.0,465,10555,0.73,1.75,179.70,1.050,4,0.082,0.062,2497,3064,2003,0,0,0,0,0,0,24.98,24.67,24.03
$GC,10602,0.56,194.6,976.5,10.1,473,10609,0.00,1.55,0.00,0.000,6,0.000,0.037,2504,2081,1990,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10924,0.53,194.6,940.5,10.2,484,10929,0.00,1.55,0.00,0.000,4,0.000,0.060,2504,3060,1985,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10971,0.51,194.6,936.8,10.3,485,10977,0.15,1.50,0.00,0.000,6,0.171,0.038,2474,2044,1985,0,0,0,0,0,0,25.84,26.00,28.83
$GC,11292,0.51,251.4,912.5,6.8,496,11350,0.00,1.73,52.75,1.043,4,0.000,0.060,2473,3060,1770,0,0,0,0,0,0,28.83,25.25,24.60
$GC,11428,0.51,272.8,902.8,7.8,500,11457,0.00,1.50,24.85,0.858,6,0.000,0.037,2478,2061,1690,0,0,0,0,0,0,28.83,25.67,24.74
$GC,11770,0.50,272.8,871.2,9.2,512,11776,0.00,1.62,0.00,0.000,4,0.000,0.061,2479,3060,1675,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11828,0.49,272.8,867.7,9.5,513,11835,0.00,1.50,0.00,0.000,6,0.000,0.039,2486,2047,1675,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12135,0.48,272.8,831.5,11.2,524,12140,0.00,1.60,0.00,0.000,4,0.000,0.061,2484,3061,1674,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12217,0.47,272.8,824.0,11.5,526,12223,0.12,1.50,0.00,0.000,6,0.170,0.039,2462,2034,1674,0,0,0,0,0,0,26.13,26.29,28.83
$GC,12532,0.47,272.8,792.5,9.0,537,12537,0.00,1.60,0.00,0.000,4,0.000,0.057,2462,3070,1673,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12584,0.47,272.8,789.4,9.0,538,12589,0.00,1.50,0.00,0.000,6,0.000,0.037,2468,2037,1672,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12897,0.47,272.8,759.4,8.9,549,12903,0.00,1.58,0.00,0.000,4,0.000,0.058,2469,3059,1672,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12974,0.47,272.8,753.5,9.1,551,12980,0.00,1.48,0.00,0.000,6,0.000,0.037,2476,2066,1672,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13294,0.48,279.5,724.5,8.3,562,13301,0.00,1.52,1.33,0.208,4,0.000,0.056,2476,3065,1659,0,0,0,0,0,0,28.83,26.44,26.29
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$STATE,20959,end climb,SURFACE_DEPTH_REACHED
$STATE,20959,begin surface coast
$FINISH,1.4,0.997580
$STATE,20976,end surface coast,CONTROL_FINISHED_OK
$STATE,20976,begin surface
$SM_CCo,21053,0.00,0.000,0,0,444,578.66
$SM_GC,1.82,6.53,0.17,0.00,0.029,0.080,0.000,130,2216,444,-6.67,-0.99,578.66,0,0,0,0,0,0,26.58,26.55,28.83
$IRIDIUM_FIX,1936.66,12335.69,190812,040427
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.95
$INTERNAL_PRESSURE,9.56316
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,7752672
$24V_AH,24.0,11.750
$10V_AH,10.0,7.459
$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,17.150,138.150,775.200,0.000,0.000,22.937,40.192,231.308,0.000,0.000,14.393,3116.561,14409.621,906.845,2735.767,390.693,0.000,2263.370,0.000,2325.005,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,80.325,1123.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21017.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.302,0.000,0.000,0.000
$MEM,329196
$DATA_FILE_SIZE,36724,961
$CAP_FILE_SIZE,239209,0
$CFSIZE,260165632,249225216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.065, 92.1,1
$GPS,190812,162523,1948.593,12341.763,27,1.1,45,-2.4