version: 66.11
glider: 166
mission: 8
dive: 64
start: 8 24 112 2 16 59
data:
$ID,166
$MISSION,8
$DIVE,64
$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,-26446.852
$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,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
$GPS1,240812,020730,2000.521,12424.386,42,0.9,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-59.0
$GPS2,240812,021630,2000.555,12424.756,10,1.3,15,-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,216.7,242461,-13.1,-8.250
$D_GRID,5591
$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,-0.58,-194.6,0.0,0.0,0,91,0.00,0.00,-71.00,0.000,2,0.000,0.000,158,2222,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.2,-5.0,12,161,7.60,1.50,-50.70,0.000,4,0.231,0.055,2122,1226,3598,0,0,0,0,0,0,25.87,26.25,26.53
$GC,204,-0.51,-194.6,21.7,-29.3,31,211,0.00,1.45,0.00,0.000,6,0.000,0.039,2117,2189,3599,0,0,0,0,0,0,28.83,26.27,28.83
$GC,529,-0.46,-194.6,114.7,-20.1,52,535,0.12,1.48,0.00,0.000,4,0.180,0.047,2143,3182,3598,0,0,0,0,0,0,26.27,26.39,28.83
$GC,557,-0.42,-194.6,119.2,-19.5,53,564,0.10,1.42,0.00,0.000,6,0.135,0.028,2166,2191,3599,0,0,0,0,0,0,26.28,26.47,28.83
$GC,877,-0.42,-194.6,163.5,-12.2,69,882,0.00,1.50,0.00,0.000,4,0.000,0.050,2159,3194,3599,0,0,0,0,0,0,28.83,26.47,28.83
$GC,954,-0.42,-194.6,170.0,-10.5,72,960,0.00,1.42,0.00,0.000,6,0.000,0.029,2157,2192,3599,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1261,-0.43,-194.6,198.4,-7.4,88,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2191,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1561,-0.44,-194.6,221.9,-9.0,103,1567,0.00,1.40,0.00,0.000,4,0.000,0.034,2174,1225,3599,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1625,-0.45,-194.6,228.6,-9.9,106,1632,0.00,1.45,0.00,0.000,6,0.000,0.039,2169,2199,3599,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1949,-0.46,-194.6,260.6,-9.4,122,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2198,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2251,-0.47,-194.6,288.6,-8.6,137,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2199,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2552,-0.49,-194.6,312.5,-8.1,152,2557,0.00,1.50,0.00,0.000,4,0.000,0.054,2137,3174,3593,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2604,-0.50,-194.6,316.5,-8.6,154,2609,0.00,1.40,0.00,0.000,6,0.000,0.031,2137,2198,3593,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2918,-0.52,-194.6,342.5,-7.3,170,2923,0.00,1.40,0.00,0.000,4,0.000,0.035,2137,1226,3591,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3006,-0.53,-194.6,348.7,-7.3,174,3011,0.00,1.45,0.00,0.000,6,0.000,0.041,2130,2198,3590,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3324,-0.54,-194.6,374.5,-8.4,190,3329,0.00,1.50,0.00,0.000,4,0.000,0.054,2122,3207,3588,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3423,-0.56,-194.6,381.4,-8.2,194,3430,0.00,1.45,0.00,0.000,6,0.000,0.031,2122,2195,3587,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3728,-0.57,-194.6,406.8,-7.8,210,3733,0.00,1.40,0.00,0.000,4,0.000,0.036,2122,1226,3585,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3812,-0.58,-194.6,413.7,-8.2,214,3817,0.00,1.45,0.00,0.000,6,0.000,0.042,2116,2198,3585,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4136,-0.59,-194.6,438.7,-7.3,230,4141,0.00,1.42,0.00,0.000,4,0.000,0.037,2116,1224,3582,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4168,-0.60,-194.6,440.6,-7.5,231,4173,0.00,1.48,0.00,0.000,6,0.000,0.043,2109,2206,3582,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4481,-0.61,-194.6,468.9,-9.2,247,4487,0.00,1.42,0.00,0.000,4,0.000,0.037,2110,1233,3579,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4525,-0.62,-194.6,473.2,-9.7,249,4531,0.00,1.45,0.00,0.000,6,0.000,0.044,2102,2200,3579,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4849,-0.62,-194.6,503.2,-8.9,265,4854,0.00,1.50,0.00,0.000,4,0.000,0.056,2095,3205,3576,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4896,-0.63,-194.6,507.2,-9.1,267,4902,0.00,1.45,0.00,0.000,6,0.000,0.032,2095,2203,3576,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5215,-0.63,-194.6,537.8,-9.8,283,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2201,3574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5517,-0.63,-194.6,566.2,-9.6,298,5522,0.00,1.50,0.00,0.000,4,0.000,0.058,2087,3182,3571,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5544,-0.63,-194.6,568.6,-9.7,299,5549,0.00,1.42,0.00,0.000,6,0.000,0.034,2087,2201,3571,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5871,-0.63,-194.6,603.8,-11.0,315,5877,0.00,1.48,0.00,0.000,4,0.000,0.059,2079,3179,3568,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5905,-0.63,-194.6,607.7,-11.2,316,5910,0.00,1.42,0.00,0.000,6,0.000,0.033,2079,2201,3568,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6239,-0.63,-194.6,645.0,-10.9,327,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2198,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6537,-0.63,-194.6,672.9,-8.8,337,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2198,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6838,-0.63,-194.6,697.1,-8.0,347,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2197,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7139,-0.63,-194.6,721.2,-7.8,357,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2197,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7437,-0.63,-194.6,745.1,-8.0,367,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2197,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7737,-0.63,-194.6,771.5,-9.1,377,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2197,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8037,-0.63,-194.6,799.8,-9.5,387,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2197,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8337,-0.63,-194.6,826.8,-8.6,397,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2197,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8638,-0.64,-194.6,852.7,-8.7,407,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2197,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8938,-0.64,-194.6,878.7,-8.7,417,8944,0.00,1.45,0.00,0.000,4,0.000,0.044,2079,1230,3550,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9006,-0.65,-194.6,884.4,-8.8,419,9012,0.00,1.50,0.00,0.000,6,0.000,0.051,2072,2230,3550,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9336,-0.65,-194.6,914.6,-8.9,430,9341,0.00,1.50,0.00,0.000,4,0.000,0.044,2073,1202,3549,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9413,-0.65,-194.6,920.3,-8.8,432,9419,0.12,1.50,0.00,0.000,6,0.159,0.051,2100,2206,3548,0,0,0,0,0,0,26.45,26.60,28.83
$GC,9734,-0.66,-194.6,942.3,-6.1,443,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2205,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10033,-0.68,-194.6,960.8,-6.3,453,10038,0.00,1.50,0.00,0.000,4,0.000,0.064,2094,3187,3546,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10075,-0.70,-194.6,963.0,-6.4,454,10081,0.00,1.45,0.00,0.000,6,0.000,0.038,2094,2208,3546,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10401,-0.71,-194.6,986.5,-7.4,465,10407,0.00,1.48,0.00,0.000,4,0.000,0.044,2094,1217,3545,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10450,-0.72,-194.6,989.4,-7.7,466,10455,0.00,1.50,0.00,0.000,6,0.000,0.052,2088,2219,3545,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,10465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10465,begin apogee
$GC,10471,-0.19,0.0,992.1,-8.0,467,10666,0.45,0.00,189.88,1.004,6,0.121,0.000,2238,2071,2803,0,0,0,0,0,0,26.42,28.83,24.40
$STATE,10668,end apogee,CONTROL_FINISHED_OK
$STATE,10668,begin climb
$GC,10670,0.58,194.6,999.5,0.0,473,10868,0.73,1.62,188.27,1.027,4,0.083,0.047,2500,1104,2000,0,0,0,0,0,0,25.02,24.63,23.99
$GC,10885,0.55,241.0,990.9,6.9,480,10952,0.00,1.58,56.10,0.879,6,0.000,0.050,2501,2084,1813,0,0,0,0,0,0,28.83,24.91,24.10
$GC,11251,0.53,241.0,944.2,12.7,493,11256,0.00,1.55,0.00,0.000,4,0.000,0.062,2501,3063,1801,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11376,0.50,241.0,926.5,14.4,497,11382,0.12,1.52,0.00,0.000,6,0.178,0.038,2478,2041,1800,0,0,0,0,0,0,25.77,25.95,28.83
$GC,11710,0.49,241.0,886.5,11.5,508,11715,0.00,1.65,0.00,0.000,4,0.000,0.063,2483,3057,1799,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11737,0.48,241.0,886.5,11.5,508,11745,0.00,1.50,0.00,0.000,6,0.000,0.039,2488,2036,1799,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12045,0.46,241.0,849.5,10.5,519,12050,0.00,1.60,0.00,0.000,4,0.000,0.062,2490,3058,1798,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12087,0.45,241.0,845.7,10.6,520,12093,0.15,1.48,0.00,0.000,6,0.168,0.039,2455,2074,1798,0,0,0,0,0,0,26.11,26.32,28.83
$GC,12413,0.45,243.2,818.0,8.2,531,12418,0.00,1.52,0.00,0.000,4,0.000,0.059,2457,3059,1797,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12450,0.45,243.2,814.9,8.3,532,12456,0.00,1.48,0.00,0.000,6,0.000,0.037,2460,2069,1797,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12780,0.45,243.2,784.8,9.0,543,12785,0.00,1.55,0.00,0.000,4,0.000,0.060,2462,3072,1796,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12837,0.45,243.2,781.5,9.2,544,12843,0.00,1.48,0.00,0.000,6,0.000,0.037,2469,2078,1797,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13144,0.44,243.2,753.0,8.3,555,13149,0.00,1.55,0.00,0.000,4,0.000,0.059,2471,3056,1796,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13202,0.44,244.7,750.1,8.2,556,13209,0.00,1.45,0.00,0.000,6,0.000,0.038,2477,2077,1796,0,0,0,0,0,0,28.83,26.49,28.83
$GC,13509,0.44,266.9,724.4,7.6,567,13546,0.00,1.62,32.42,0.838,4,0.000,0.059,2479,3069,1712,0,0,0,0,0,0,28.83,25.96,25.40
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$STATE,21377,end climb,SURFACE_DEPTH_REACHED
$STATE,21377,begin surface coast
$FINISH,1.4,1.008092
$STATE,21406,end surface coast,CONTROL_FINISHED_OK
$STATE,21406,begin surface
$SM_CCo,21483,0.00,0.000,0,0,467,573.02
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$IRIDIUM_FIX,1957.29,12335.68,230812,202026
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.69
$INTERNAL_PRESSURE,9.54363
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,7745376
$24V_AH,24.0,16.026
$10V_AH,9.6,10.896
$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,16.250,125.925,779.225,0.000,0.000,30.869,19.731,259.325,0.000,0.000,17.280,3071.322,14963.344,878.706,2706.209,394.486,0.000,2218.926,0.000,2281.101,0.000,0.541,0.000
$DEVICE_MAMPS,231.030,71.910,1027.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.293,0.000,0.000,0.000
$MEM,329140
$DATA_FILE_SIZE,36735,970
$CAP_FILE_SIZE,239199,0
$CFSIZE,260165632,247050240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.248, 91.3,1
$GPS,240812,081623,1956.916,12425.828,24,1.1,42,-2.5