version: 66.11
glider: 166
mission: 8
dive: 63
start: 8 23 112 20 15 18
data:
$ID,166
$MISSION,8
$DIVE,63
$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,400
$T_MISSION,430
$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,-26445.594
$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,64
$R_STBD_OVSHOOT,53
$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
$GPS1,230812,200436,2004.452,12424.185,28,1.3,28,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-56.1
$GPS2,230812,201451,2004.398,12424.460,14,2.6,33,-2.5
$SPEED_LIMITS,0.143,0.276
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,223.2,249598,-13.1,-8.250
$D_GRID,5173
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.58,-194.6,0.0,0.0,0,91,0.00,0.00,-69.60,0.000,2,0.000,0.000,159,2223,1986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.2,-4.6,12,161,7.70,1.50,-49.53,0.000,4,0.236,0.056,2121,1229,3598,0,0,0,0,0,0,25.84,26.20,26.49
$GC,223,-0.51,-194.6,29.1,-34.6,33,229,0.00,1.45,0.00,0.000,6,0.000,0.042,2117,2186,3598,0,0,0,0,0,0,28.83,26.24,28.83
$GC,530,-0.45,-194.6,106.4,-23.6,52,536,0.12,1.38,0.00,0.000,4,0.182,0.032,2150,1224,3598,0,0,0,0,0,0,26.24,26.40,28.83
$GC,615,-0.42,-194.6,121.5,-17.7,56,620,0.00,1.48,0.00,0.000,6,0.000,0.041,2145,2202,3598,0,0,0,0,0,0,28.83,26.42,28.83
$GC,938,-0.41,-194.6,163.7,-11.3,72,944,0.12,1.45,0.00,0.000,4,0.163,0.050,2184,3181,3598,0,0,0,0,0,0,26.39,26.46,28.83
$GC,1033,-0.42,-194.6,170.8,-8.4,76,1038,0.00,1.40,0.00,0.000,6,0.000,0.029,2177,2198,3598,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1346,-0.44,-194.6,197.8,-9.5,92,1351,0.00,1.40,0.00,0.000,4,0.000,0.034,2186,1238,3598,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1435,-0.45,-194.6,206.2,-10.0,96,1441,0.00,1.45,0.00,0.000,6,0.000,0.040,2178,2209,3598,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1755,-0.47,-194.6,232.1,-7.1,112,1760,0.00,1.50,0.00,0.000,4,0.000,0.053,2172,3179,3598,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1808,-0.48,-194.6,235.4,-7.2,114,1814,0.00,1.40,0.00,0.000,6,0.000,0.029,2169,2204,3597,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2122,-0.50,-194.6,261.6,-9.0,130,2127,0.00,1.50,0.00,0.000,4,0.000,0.054,2142,3195,3596,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2149,-0.51,-194.6,263.6,-8.8,131,2154,0.00,1.42,0.00,0.000,6,0.000,0.031,2149,2201,3596,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2467,-0.52,-194.6,294.4,-9.4,147,2473,0.00,1.42,0.00,0.000,4,0.000,0.035,2141,1225,3593,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2505,-0.54,-194.6,296.6,-9.3,148,2511,0.00,1.45,0.00,0.000,6,0.000,0.041,2136,2198,3593,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2811,-0.55,-194.6,322.6,-8.2,164,2816,0.00,1.50,0.00,0.000,4,0.000,0.054,2125,3209,3591,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2848,-0.56,-194.6,324.6,-8.3,165,2855,0.00,1.45,0.00,0.000,6,0.000,0.031,2125,2194,3591,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3154,-0.57,-194.6,354.5,-9.4,181,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2193,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3457,-0.58,-194.6,380.3,-8.3,196,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2193,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3758,-0.59,-194.6,405.0,-8.6,211,3764,0.00,1.40,0.00,0.000,4,0.000,0.037,2126,1231,3585,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3806,-0.61,-194.6,409.4,-9.0,213,3811,0.00,1.45,0.00,0.000,6,0.000,0.042,2119,2198,3585,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4124,-0.62,-194.6,440.0,-8.5,229,4129,0.00,1.50,0.00,0.000,4,0.000,0.056,2112,3195,3583,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4167,-0.63,-194.6,443.5,-8.3,231,4172,0.00,1.42,0.00,0.000,6,0.000,0.032,2111,2201,3582,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4491,-0.64,-194.6,468.3,-8.1,247,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2199,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4793,-0.65,-194.6,494.2,-8.1,262,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2198,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5092,-0.66,-194.6,515.5,-6.9,277,5098,0.00,1.52,0.00,0.000,4,0.000,0.058,2104,3180,3575,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5161,-0.67,-194.6,520.2,-7.1,280,5166,0.00,1.42,0.00,0.000,6,0.000,0.033,2104,2193,3575,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5479,-0.68,-194.6,546.2,-8.2,296,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2191,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5781,-0.69,-194.6,570.3,-8.1,311,5786,0.00,1.52,0.00,0.000,4,0.000,0.058,2097,3185,3570,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5813,-0.70,-194.6,572.4,-8.1,312,5819,0.00,1.42,0.00,0.000,6,0.000,0.034,2096,2204,3570,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6128,-0.71,-194.6,600.0,-9.1,328,6133,0.00,1.42,0.00,0.000,4,0.000,0.041,2096,1229,3568,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6161,-0.72,-194.6,603.1,-9.1,330,6166,0.00,1.50,0.00,0.000,6,0.000,0.047,2089,2210,3567,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6495,-0.72,-194.6,636.0,-9.9,341,6500,0.00,1.50,0.00,0.000,4,0.000,0.060,2083,3210,3565,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6552,-0.72,-194.6,639.5,-9.9,342,6559,0.00,1.48,0.00,0.000,6,0.000,0.035,2083,2197,3565,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6859,-0.72,-194.6,672.2,-9.8,353,6864,0.00,1.42,0.00,0.000,4,0.000,0.041,2082,1225,3563,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6901,-0.72,-194.6,675.6,-10.0,354,6906,0.00,1.48,0.00,0.000,6,0.000,0.048,2075,2195,3563,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7224,-0.72,-194.6,709.6,-10.3,365,7229,0.00,1.50,0.00,0.000,4,0.000,0.061,2068,3189,3561,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7258,-0.72,-194.6,713.0,-10.3,366,7263,0.00,1.45,0.00,0.000,6,0.000,0.036,2068,2202,3560,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7593,-0.72,-194.6,745.3,-9.3,377,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2200,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7890,-0.72,-194.6,771.9,-8.9,387,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2199,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8191,-0.72,-194.6,799.5,-9.1,397,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2199,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8491,-0.72,-194.6,825.8,-8.6,407,8496,0.00,1.45,0.00,0.000,4,0.000,0.044,2068,1224,3553,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8533,-0.72,-194.6,828.7,-8.7,408,8538,0.00,1.50,0.00,0.000,6,0.000,0.051,2061,2230,3553,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8858,-0.72,-194.6,859.3,-9.3,419,8863,0.00,1.50,0.00,0.000,4,0.000,0.043,2060,1204,3551,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8969,-0.72,-194.6,868.6,-9.7,422,8975,0.00,1.55,0.00,0.000,6,0.000,0.051,2053,2207,3551,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9283,-0.72,-194.6,903.5,-10.6,433,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2207,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9584,-0.71,-194.6,935.3,-10.6,443,9589,0.00,1.50,0.00,0.000,4,0.000,0.065,2052,3184,3549,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9611,-0.71,-194.6,935.3,-10.6,443,9618,0.05,1.45,0.00,0.000,6,0.150,0.038,2076,2204,3548,0,0,0,0,0,0,26.44,26.66,28.83
$GC,9919,-0.71,-194.6,966.5,-9.4,454,9924,0.00,1.48,0.00,0.000,4,0.000,0.044,2075,1211,3547,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10022,-0.71,-194.6,976.1,-10.0,457,10027,0.00,1.50,0.00,0.000,6,0.000,0.052,2070,2214,3547,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,10163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10163,begin apogee
$GC,10169,-0.19,0.0,991.8,-10.3,462,10346,0.52,0.00,167.90,1.103,6,0.124,0.000,2244,2067,2796,0,0,0,0,0,0,26.42,28.83,24.36
$STATE,10347,end apogee,CONTROL_FINISHED_OK
$STATE,10348,begin climb
$GC,10350,0.58,194.6,1000.1,0.0,468,10541,0.70,1.65,181.32,1.050,4,0.080,0.064,2494,3049,2000,0,0,0,0,0,0,25.06,24.63,23.98
$GC,10589,0.55,194.6,986.6,8.6,476,10596,0.00,1.55,0.00,0.000,6,0.000,0.038,2501,2078,1990,0,0,0,0,0,0,28.83,25.17,28.83
$GC,10925,0.52,194.6,952.1,10.6,487,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2078,1984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11224,0.49,194.6,920.3,10.5,497,11230,0.12,1.52,0.00,0.000,4,0.174,0.059,2470,3055,1982,0,0,0,0,0,0,26.00,26.10,28.83
$GC,11338,0.47,194.6,911.8,9.5,500,11344,0.00,1.50,0.00,0.000,6,0.000,0.039,2475,2033,1982,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11654,0.47,217.9,885.0,7.6,511,11682,0.00,1.62,20.92,1.060,4,0.000,0.060,2477,3060,1903,0,0,0,0,0,0,28.83,25.86,25.12
$GC,11751,0.46,230.9,877.4,7.9,514,11775,0.00,1.50,15.07,0.899,6,0.000,0.038,2481,2049,1851,0,0,0,0,0,0,28.83,26.01,25.15
$GC,12075,0.44,230.9,850.2,8.3,525,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2049,1842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12376,0.43,230.9,825.3,8.3,535,12382,0.12,1.58,0.00,0.000,4,0.174,0.059,2444,3060,1839,0,0,0,0,0,0,26.13,26.22,28.83
$GC,12441,0.43,249.1,820.6,7.7,537,12470,0.00,1.50,21.12,0.890,6,0.000,0.039,2447,2072,1781,0,0,0,0,0,0,28.83,26.31,25.32
$GC,12770,0.45,310.2,799.0,6.5,548,12864,0.00,1.60,88.35,0.792,4,0.000,0.056,2448,3058,1533,0,0,0,0,0,0,28.83,25.17,24.59
$GC,12926,0.47,356.3,788.3,6.9,553,12997,0.00,1.50,64.10,0.788,6,0.000,0.036,2453,2061,1345,0,0,0,0,0,0,28.83,25.58,24.46
$GC,13315,0.52,439.6,763.3,5.9,566,13445,0.00,1.62,121.55,0.767,4,0.000,0.054,2457,3056,1006,0,0,0,0,0,0,28.83,24.96,24.43
$GC,13503,0.58,543.2,753.3,5.3,572,13655,0.12,1.50,135.60,0.856,6,0.090,0.037,2521,2062,589,0,0,0,0,1,0,25.41,25.46,23.84
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$STATE,20951,end climb,SURFACE_DEPTH_REACHED
$STATE,20951,begin surface coast
$FINISH,1.5,1.021182
$STATE,20974,end surface coast,CONTROL_FINISHED_OK
$STATE,20974,begin surface
$SM_CCo,21051,0.00,0.000,0,0,456,575.47
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$IRIDIUM_FIX,2001.88,12424.72,230812,141409
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.28
$INTERNAL_PRESSURE,9.55339
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,7745760
$24V_AH,23.8,15.819
$10V_AH,9.8,10.708
$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,16.475,121.900,863.450,0.000,0.000,32.367,54.380,273.272,0.000,0.000,35.433,2984.722,14605.155,937.549,2737.115,390.192,0.000,2272.070,0.000,2222.989,0.000,0.541,0.000
$DEVICE_MAMPS,235.620,68.085,1764.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21005.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.220,0.000,0.000,0.000
$MEM,329092
$DATA_FILE_SIZE,33360,949
$CAP_FILE_SIZE,234333,0
$CFSIZE,260165632,247169024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.200,116.3,1
$GPS,240812,020730,2000.521,12424.386,42,0.9,42,-2.5