version: 66.11
glider: 166
mission: 8
dive: 50
start: 8 20 112 16 4 43
data:
$ID,166
$MISSION,8
$DIVE,50
$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,-26429.234
$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,57
$R_STBD_OVSHOOT,39
$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
$GPS1,200812,155506,1956.272,12352.417,30,1.2,30,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-46.6
$GPS2,200812,160415,1956.275,12352.479,13,2.6,32,-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,29.6,59070,-13.4,-8.462
$D_GRID,5340
$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,-0.59,-194.6,0.0,0.0,0,108,0.00,0.00,-88.00,0.000,2,0.000,0.000,157,2207,2398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.59,-194.6,3.2,-2.1,15,161,7.57,1.52,-32.88,0.000,4,0.233,0.072,2107,3181,3598,0,0,0,0,0,0,25.96,26.18,26.50
$GC,279,-0.51,-194.6,50.7,-36.4,38,285,0.08,1.45,0.00,0.000,6,0.173,0.033,2138,2192,3598,0,0,0,0,0,0,26.13,26.33,28.83
$GC,597,-0.47,-194.6,130.9,-21.5,54,602,0.00,1.40,0.00,0.000,4,0.000,0.034,2124,1225,3599,0,0,0,0,0,0,28.83,26.45,28.83
$GC,821,-0.45,-194.6,169.4,-15.4,65,827,0.10,1.45,0.00,0.000,6,0.135,0.041,2160,2195,3598,0,0,0,0,0,0,26.36,26.50,28.83
$GC,1144,-0.46,-194.6,207.0,-9.5,81,1149,0.00,1.42,0.00,0.000,4,0.000,0.034,2161,1225,3599,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1191,-0.47,-194.6,211.0,-9.3,83,1196,0.00,1.45,0.00,0.000,6,0.000,0.040,2174,2198,3598,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1510,-0.48,-194.6,238.8,-8.5,99,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2198,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1810,-0.50,-194.6,266.4,-9.8,114,1816,0.00,1.42,0.00,0.000,4,0.000,0.035,2166,1226,3597,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1864,-0.51,-194.6,271.1,-10.1,116,1869,0.00,1.45,0.00,0.000,6,0.000,0.040,2152,2202,3597,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2177,-0.52,-194.6,301.4,-8.7,132,2182,0.00,1.42,0.00,0.000,4,0.000,0.035,2142,1225,3595,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2240,-0.54,-194.6,307.2,-9.1,135,2245,0.00,1.45,0.00,0.000,6,0.000,0.040,2135,2198,3594,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2563,-0.56,-194.6,337.5,-9.0,151,2568,0.00,1.50,0.00,0.000,4,0.000,0.054,2126,3203,3592,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2606,-0.57,-194.6,341.1,-8.6,153,2611,0.00,1.45,0.00,0.000,6,0.000,0.030,2126,2194,3592,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2930,-0.58,-194.6,367.5,-8.1,169,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2191,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3231,-0.60,-194.6,390.3,-7.3,184,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2191,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3531,-0.62,-194.6,411.9,-7.8,199,3536,0.00,1.50,0.00,0.000,4,0.000,0.054,2120,3184,3584,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3579,-0.63,-194.6,415.5,-7.8,201,3585,0.00,1.42,0.00,0.000,6,0.000,0.032,2120,2202,3583,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3898,-0.65,-194.6,442.5,-7.8,217,3903,0.00,1.42,0.00,0.000,4,0.000,0.037,2119,1225,3581,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3976,-0.67,-194.6,447.4,-7.6,220,3983,0.00,1.45,0.00,0.000,6,0.000,0.044,2113,2194,3581,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4282,-0.68,-194.6,470.3,-7.2,236,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2194,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4583,-0.69,-194.6,495.1,-8.6,251,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2194,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4885,-0.70,-194.6,520.6,-8.1,266,4890,0.00,1.45,0.00,0.000,4,0.000,0.039,2113,1224,3573,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4952,-0.72,-194.6,526.2,-8.3,269,4958,0.00,1.48,0.00,0.000,6,0.000,0.046,2106,2198,3572,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5272,-0.73,-194.6,552.1,-8.2,285,5277,0.00,1.50,0.00,0.000,4,0.000,0.059,2099,3186,3569,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5344,-0.74,-194.6,557.8,-9.0,288,5350,0.00,1.45,0.00,0.000,6,0.000,0.034,2099,2189,3569,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5658,-0.75,-194.6,590.1,-10.4,304,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2188,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5968,-0.77,-194.6,619.6,-9.0,316,5970,0.10,0.00,0.00,0.000,6,0.105,0.000,2046,2187,3564,0,0,0,0,0,0,26.75,28.83,28.83
$GC,6268,-0.76,-194.6,654.0,-11.4,326,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2187,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6568,-0.75,-194.6,686.9,-11.0,336,6573,0.00,1.42,0.00,0.000,4,0.000,0.041,2045,1223,3560,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6615,-0.74,-194.6,690.7,-11.1,337,6621,0.12,1.48,0.00,0.000,6,0.164,0.047,2072,2193,3560,0,0,0,0,0,0,26.55,26.67,28.83
$GC,6937,-0.74,-194.6,725.9,-10.9,348,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2194,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7235,-0.74,-194.6,759.7,-11.4,358,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2194,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7534,-0.74,-194.6,792.3,-10.4,368,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2194,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7835,-0.74,-194.6,821.5,-9.7,378,7840,0.00,1.45,0.00,0.000,4,0.000,0.043,2076,1222,3551,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7917,-0.74,-194.6,827.9,-9.9,380,7922,0.00,1.50,0.00,0.000,6,0.000,0.050,2071,2231,3552,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8230,-0.74,-194.6,861.2,-9.9,391,8235,0.00,1.50,0.00,0.000,4,0.000,0.042,2070,1195,3548,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8312,-0.74,-194.6,867.6,-10.1,393,8317,0.00,1.50,0.00,0.000,6,0.000,0.050,2063,2206,3550,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8625,-0.74,-194.6,901.4,-10.2,404,8630,0.00,1.50,0.00,0.000,4,0.000,0.062,2059,3188,3548,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8658,-0.74,-194.6,904.9,-10.3,405,8663,0.00,1.45,0.00,0.000,6,0.000,0.037,2058,2198,3548,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8992,-0.74,-194.6,939.4,-10.2,416,8997,0.00,1.45,0.00,0.000,4,0.000,0.044,2058,1217,3548,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9044,-0.74,-194.6,942.8,-10.1,417,9049,0.00,1.50,0.00,0.000,6,0.000,0.050,2050,2199,3547,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9358,-0.73,-194.6,977.5,-10.4,428,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2199,3546,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9475,begin apogee
$GC,9481,-0.19,0.0,990.2,-10.6,432,9711,0.57,0.00,223.07,0.896,6,0.130,0.000,2238,2064,2802,0,0,0,0,0,0,26.51,28.83,24.37
$STATE,9712,end apogee,CONTROL_FINISHED_OK
$STATE,9712,begin climb
$GC,9715,0.59,194.6,999.9,0.0,439,9904,0.75,0.00,182.62,1.041,6,0.084,0.000,2500,2064,2008,0,0,0,0,0,0,25.02,28.83,24.01
$GC,10198,0.58,206.4,969.3,8.1,456,10213,0.00,1.67,10.15,1.019,4,0.000,0.063,2500,3067,1955,0,0,0,0,0,0,28.83,25.61,24.90
$GC,10297,0.55,206.4,961.2,8.5,459,10302,0.00,1.50,0.00,0.000,6,0.000,0.037,2507,2061,1944,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10627,0.53,206.4,930.7,9.6,470,10632,0.00,1.58,0.00,0.000,4,0.000,0.061,2509,3059,1941,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10691,0.51,206.4,923.8,10.2,472,10697,0.15,1.50,0.00,0.000,6,0.167,0.039,2475,2074,1941,0,0,0,0,0,0,26.03,26.19,28.83
$GC,11026,0.49,206.4,894.0,9.0,483,11031,0.00,1.55,0.00,0.000,4,0.000,0.061,2475,3071,1940,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11103,0.48,206.4,887.7,9.3,485,11109,0.00,1.50,0.00,0.000,6,0.000,0.038,2480,2071,1940,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11424,0.47,206.4,857.2,9.0,496,11429,0.00,1.52,0.00,0.000,4,0.000,0.061,2480,3059,1939,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11461,0.45,206.4,853.7,9.2,497,11467,0.12,1.48,0.00,0.000,6,0.170,0.037,2455,2070,1939,0,0,0,0,0,0,26.26,26.43,28.83
$GC,11792,0.47,254.0,829.2,7.1,508,11858,0.00,0.00,63.45,0.822,6,0.000,0.000,2455,2068,1766,0,0,0,0,0,0,28.83,28.83,24.95
$GC,12151,0.50,314.1,804.5,6.7,520,12240,0.00,1.60,82.18,0.790,4,0.000,0.058,2455,3055,1515,0,0,0,0,0,0,28.83,25.15,24.60
$GC,12294,0.52,378.2,796.3,6.6,524,12394,0.00,1.50,90.10,0.769,6,0.000,0.039,2460,2060,1254,0,0,0,0,0,0,28.83,25.54,24.44
$GC,12694,0.56,441.3,769.3,6.6,538,12792,0.00,1.67,90.32,0.761,4,0.000,0.060,2461,3051,998,0,0,0,0,0,0,28.83,25.05,24.51
$GC,12829,0.60,508.5,761.4,6.5,542,12937,0.12,1.50,100.12,0.742,6,0.088,0.037,2530,2061,729,0,0,0,0,0,0,25.37,25.39,24.37
$GC,13235,0.60,508.5,714.3,11.6,556,13240,0.00,1.58,0.00,0.000,4,0.000,0.060,2531,3063,718,0,0,0,0,0,0,28.83,25.83,28.83
$GC,13272,0.60,508.5,710.4,11.7,557,13278,0.12,1.50,0.00,0.000,6,0.157,0.038,2505,2051,717,0,0,0,0,0,0,25.79,25.92,28.83
$GC,13603,0.62,516.7,682.3,8.2,568,13622,0.00,1.60,13.52,0.878,4,0.000,0.059,2505,3068,693,0,0,0,0,0,0,28.83,25.89,25.28
$GC,13644,0.64,521.2,679.5,8.3,569,13650,0.00,1.50,1.77,0.187,6,0.000,0.038,2509,2053,676,0,0,0,0,0,0,28.83,25.97,25.80
$GC,13970,0.66,521.2,649.7,9.2,580,13971,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2053,679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14268,0.67,521.2,621.4,9.5,590,14273,0.00,1.55,0.00,0.000,4,0.000,0.060,2511,3060,679,0,0,0,0,0,0,28.83,26.26,28.83
$GC,14315,0.69,521.2,617.9,9.8,591,14321,0.00,1.48,0.00,0.000,6,0.000,0.038,2516,2077,679,0,0,0,0,0,0,28.83,26.35,28.83
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$STATE,19741,end climb,SURFACE_DEPTH_REACHED
$STATE,19741,begin surface coast
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$10V_AH,10.0,8.365
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$FG_AHR_10Vo,0.000
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$MEM,329212
$DATA_FILE_SIZE,33424,906
$CAP_FILE_SIZE,211567,0
$CFSIZE,260165632,248676352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.361,120.2,1
$GPS,200812,213635,1957.900,12356.385,32,1.0,32,-2.5