version: 66.11
glider: 166
mission: 8
dive: 53
start: 8 21 112 9 46 28
data:
$ID,166
$MISSION,8
$DIVE,53
$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,-26433.006
$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,48
$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
$GPS1,210812,093654,2002.121,12402.043,38,1.7,38,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-52.8
$GPS2,210812,094601,2002.051,12402.417,15,1.1,15,-2.5
$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,9.4,38840,-13.4,-8.462
$D_GRID,5435
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.59,-194.6,0.0,0.0,0,95,0.00,0.00,-75.57,0.000,2,0.000,0.000,157,2224,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.59,-194.6,3.3,-4.6,13,160,7.70,1.45,-44.78,0.000,4,0.237,0.055,2120,1226,3597,0,0,0,0,0,0,25.89,26.22,26.52
$GC,389,-0.53,-194.6,85.4,-33.7,45,394,0.00,1.45,0.00,0.000,6,0.000,0.040,2115,2194,3597,0,0,0,0,0,0,28.83,26.36,28.83
$GC,713,-0.49,-194.6,163.6,-20.1,61,718,0.12,1.40,0.00,0.000,4,0.178,0.032,2153,1212,3597,0,0,0,0,0,0,26.34,26.48,28.83
$GC,906,-0.48,-194.6,190.5,-12.9,70,911,0.00,1.48,0.00,0.000,6,0.000,0.040,2148,2198,3597,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1219,-0.47,-194.6,233.7,-13.3,86,1225,0.00,1.42,0.00,0.000,4,0.000,0.034,2148,1221,3597,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1352,-0.47,-194.6,249.7,-12.9,92,1357,0.00,1.48,0.00,0.000,6,0.000,0.041,2141,2209,3597,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1665,-0.47,-194.6,291.1,-12.5,108,1670,0.00,1.45,0.00,0.000,4,0.000,0.034,2140,1219,3596,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1742,-0.47,-194.6,299.4,-13.1,111,1748,0.00,1.48,0.00,0.000,6,0.000,0.040,2134,2207,3596,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2048,-0.47,-194.6,339.1,-11.4,127,2053,0.00,1.45,0.00,0.000,4,0.000,0.034,2116,1214,3593,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2131,-0.47,-194.6,348.3,-11.1,131,2137,0.10,1.48,0.00,0.000,6,0.128,0.041,2153,2204,3593,0,0,0,0,0,0,26.53,26.65,28.83
$GC,2455,-0.49,-194.6,377.2,-8.6,147,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2205,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2758,-0.50,-194.6,398.3,-6.6,162,2764,0.00,1.45,0.00,0.000,4,0.000,0.036,2137,1219,3589,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2803,-0.52,-194.6,401.8,-7.1,164,2809,0.00,1.48,0.00,0.000,6,0.000,0.042,2132,2206,3589,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3127,-0.54,-194.6,429.2,-8.7,180,3132,0.00,1.50,0.00,0.000,4,0.000,0.054,2125,3212,3586,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3190,-0.56,-194.6,434.7,-8.8,183,3195,0.00,1.48,0.00,0.000,6,0.000,0.031,2122,2183,3585,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3513,-0.57,-194.6,463.7,-9.6,199,3518,0.00,1.50,0.00,0.000,4,0.000,0.055,2117,3179,3582,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3545,-0.59,-194.6,465.8,-9.6,200,3550,0.00,1.40,0.00,0.000,6,0.000,0.031,2117,2200,3582,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3859,-0.61,-194.6,496.4,-9.2,216,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2197,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4160,-0.62,-194.6,521.4,-8.1,231,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2197,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.64,-194.6,543.9,-7.3,246,4466,0.00,1.42,0.00,0.000,4,0.000,0.039,2117,1225,3574,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4504,-0.65,-194.6,547.4,-7.4,248,4510,0.00,1.48,0.00,0.000,6,0.000,0.045,2111,2204,3574,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4828,-0.67,-194.6,572.9,-7.9,264,4833,0.00,1.50,0.00,0.000,4,0.000,0.057,2104,3205,3571,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4855,-0.68,-194.6,574.6,-7.9,265,4860,0.00,1.45,0.00,0.000,6,0.000,0.033,2104,2206,3570,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5174,-0.69,-194.6,598.0,-6.7,281,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2205,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5484,-0.71,-194.6,618.7,-6.5,292,5490,0.00,1.45,0.00,0.000,4,0.000,0.040,2103,1216,3566,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5567,-0.72,-194.6,623.2,-6.8,294,5573,0.00,1.50,0.00,0.000,6,0.000,0.047,2097,2204,3565,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5884,-0.73,-194.6,647.5,-7.5,305,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2205,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6181,-0.74,-194.6,672.8,-8.8,315,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2205,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6481,-0.75,-194.6,702.5,-10.1,325,6487,0.00,1.45,0.00,0.000,4,0.000,0.041,2097,1227,3559,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6540,-0.76,-194.6,706.0,-10.2,326,6547,0.00,1.48,0.00,0.000,6,0.000,0.048,2090,2198,3559,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6845,-0.77,-194.6,737.1,-9.0,337,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2198,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7146,-0.77,-194.6,762.6,-8.4,347,7152,0.00,1.45,0.00,0.000,4,0.000,0.043,2090,1226,3554,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7204,-0.78,-194.6,765.6,-8.5,348,7211,0.00,1.48,0.00,0.000,6,0.000,0.050,2084,2194,3553,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7510,-0.79,-194.6,794.6,-8.9,359,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2194,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7810,-0.80,-194.6,820.9,-8.5,369,7812,0.10,0.00,0.00,0.000,6,0.106,0.000,2040,2194,3551,0,0,0,0,0,0,26.73,28.83,28.83
$GC,8110,-0.79,-194.6,853.7,-11.2,379,8115,0.00,1.45,0.00,0.000,4,0.000,0.045,2040,1230,3549,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8217,-0.77,-194.6,864.5,-11.5,382,8223,0.00,1.50,0.00,0.000,6,0.000,0.050,2033,2233,3548,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8537,-0.76,-194.6,905.8,-12.8,393,8544,0.12,1.52,0.00,0.000,4,0.176,0.042,2071,1223,3548,0,0,0,0,0,0,26.51,26.66,28.83
$GC,8596,-0.75,-194.6,910.1,-12.7,394,8603,0.00,1.50,0.00,0.000,6,0.000,0.053,2065,2225,3547,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8902,-0.75,-194.6,946.5,-11.1,405,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2225,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9202,-0.75,-194.6,978.7,-10.4,415,9208,0.00,1.50,0.00,0.000,4,0.000,0.044,2064,1201,3544,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9299,-0.75,-194.6,988.5,-10.5,418,9304,0.00,1.50,0.00,0.000,6,0.000,0.052,2058,2205,3543,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,9325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9325,begin apogee
$GC,9332,-0.19,0.0,991.6,-10.4,419,9551,0.55,0.00,211.60,0.933,6,0.130,0.000,2239,2068,2798,0,0,0,0,0,0,26.48,28.83,24.37
$STATE,9553,end apogee,CONTROL_FINISHED_OK
$STATE,9553,begin climb
$GC,9555,0.59,194.6,999.7,0.0,426,9750,0.75,0.00,183.80,1.039,6,0.086,0.000,2498,2068,1999,0,0,0,0,0,0,25.03,28.83,24.01
$GC,10048,0.57,194.6,954.4,10.9,443,10053,0.00,1.58,0.00,0.000,4,0.000,0.061,2499,3058,1984,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10114,0.55,194.6,947.0,11.3,445,10120,0.00,1.50,0.00,0.000,6,0.000,0.037,2506,2046,1983,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10445,0.52,194.6,911.7,10.2,456,10450,0.00,1.60,0.00,0.000,4,0.000,0.060,2506,3066,1981,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10548,0.49,194.6,901.1,10.9,459,10554,0.12,1.50,0.00,0.000,6,0.151,0.037,2474,2070,1981,0,0,0,0,0,0,26.05,26.23,28.83
$GC,10875,0.48,194.6,870.8,9.2,470,10880,0.00,1.55,0.00,0.000,4,0.000,0.060,2473,3066,1980,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10908,0.46,194.6,867.5,9.3,471,10913,0.00,1.48,0.00,0.000,6,0.000,0.037,2478,2077,1980,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11242,0.45,194.6,836.4,9.2,482,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2078,1982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11541,0.44,204.6,810.9,8.2,492,11551,0.00,1.58,3.35,0.669,4,0.000,0.060,2479,3060,1967,0,0,0,0,0,0,28.83,26.38,25.39
$GC,11698,0.42,204.6,797.6,8.6,497,11705,0.10,1.48,0.00,0.000,6,0.153,0.037,2452,2074,1968,0,0,0,0,0,0,26.26,26.45,28.83
$GC,12028,0.45,281.8,776.2,6.2,508,12154,0.00,1.67,118.38,0.778,4,0.000,0.057,2452,3062,1650,0,0,0,0,0,0,28.83,25.15,24.62
$GC,12206,0.47,357.4,766.5,6.2,513,12321,0.00,1.52,105.15,0.761,6,0.000,0.037,2457,2075,1339,0,0,0,0,0,0,28.83,25.55,24.40
$GC,12636,0.50,384.0,732.6,7.7,528,12679,0.00,1.62,35.78,0.768,4,0.000,0.058,2457,3058,1231,0,0,0,0,0,0,28.83,25.43,24.90
$GC,12732,0.53,420.1,725.8,7.4,531,12790,0.00,1.52,52.20,0.733,6,0.000,0.037,2462,2069,1087,0,0,0,0,0,0,28.83,25.66,24.61
$GC,13119,0.55,436.5,695.9,8.0,544,13147,0.00,0.00,21.30,0.783,6,0.000,0.000,2462,2068,1017,0,0,0,0,0,0,28.83,28.83,25.10
$GC,13450,0.58,440.3,669.2,8.4,555,13456,0.10,1.55,0.00,0.000,4,0.104,0.057,2513,3058,1010,0,0,0,0,0,0,26.09,26.01,28.83
$GC,13498,0.60,440.3,665.3,9.0,556,13503,0.00,1.50,0.00,0.000,6,0.000,0.037,2520,2039,1010,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13816,0.60,440.3,623.4,12.4,567,13822,0.00,1.62,0.00,0.000,4,0.000,0.057,2521,3060,1010,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13889,0.60,440.3,615.2,12.6,569,13894,0.00,1.48,0.00,0.000,6,0.000,0.037,2527,2078,1010,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14212,0.60,440.3,579.5,10.0,583,14217,0.00,1.50,0.00,0.000,4,0.000,0.058,2529,3060,1010,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14235,0.59,440.3,577.0,10.2,584,14241,0.08,1.48,0.00,0.000,6,0.145,0.037,2500,2076,1010,0,0,0,0,0,0,26.18,26.36,28.83
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$STATE,19657,end climb,SURFACE_DEPTH_REACHED
$STATE,19657,begin surface coast
$FINISH,1.4,1.021679
$STATE,19679,end surface coast,CONTROL_FINISHED_OK
$STATE,19679,begin surface
$SM_CCo,19756,0.00,0.000,0,0,443,578.66
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$IRIDIUM_FIX,1950.41,12401.11,210812,030333
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.66
$INTERNAL_PRESSURE,9.53386
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,7749600
$24V_AH,24.0,13.589
$10V_AH,9.8,8.902
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.496,0.000,0.000,0.000
$MEM,329180
$DATA_FILE_SIZE,33382,892
$CAP_FILE_SIZE,222902,0
$CFSIZE,260165632,248328192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.326,141.2,1
$GPS,210812,151706,2004.117,12404.924,43,1.3,43,-2.5