version: 66.11
glider: 166
mission: 8
dive: 85
start: 8 29 112 8 56 27
data:
$ID,166
$MISSION,8
$DIVE,85
$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,-26473.355
$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,2340
$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,2150
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,35
$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
$GPS1,290812,084736,1848.945,12430.179,40,1.1,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-58.5
$GPS2,290812,085557,1848.959,12430.029,14,2.4,33,-2.2
$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,167.9,109543,-13.1,-8.250
$D_GRID,5579
$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,-70.80,0.000,2,0.000,0.000,148,2134,1996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.3,-4.5,12,161,7.90,1.52,-51.20,0.000,4,0.237,0.069,2133,3139,3596,0,0,0,0,0,0,25.82,26.16,26.52
$GC,200,-0.52,-194.6,19.4,-28.8,30,208,0.10,1.45,0.00,0.000,6,0.156,0.031,2167,2141,3596,0,0,0,0,0,0,26.03,26.28,28.83
$GC,527,-0.49,-194.6,93.2,-19.9,54,532,0.00,1.40,0.00,0.000,4,0.000,0.034,2171,1182,3596,0,0,0,0,0,0,28.83,26.40,28.83
$GC,584,-0.47,-194.6,100.6,-17.8,56,591,0.00,1.45,0.00,0.000,6,0.000,0.040,2168,2152,3597,0,0,0,0,0,0,28.83,26.40,28.83
$GC,890,-0.45,-194.6,148.7,-15.0,72,896,0.00,1.42,0.00,0.000,4,0.000,0.034,2165,1187,3597,0,0,0,0,0,0,28.83,26.50,28.83
$GC,938,-0.44,-194.6,154.8,-14.5,74,944,0.08,1.45,0.00,0.000,6,0.135,0.039,2196,2153,3597,0,0,0,0,0,0,26.32,26.49,28.83
$GC,1257,-0.46,-194.6,189.5,-8.6,90,1262,0.00,1.50,0.00,0.000,4,0.000,0.051,2203,3162,3597,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1362,-0.48,-194.6,197.5,-7.6,95,1367,0.00,1.45,0.00,0.000,6,0.000,0.029,2189,2145,3597,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1686,-0.51,-194.6,221.4,-7.1,111,1691,0.00,1.40,0.00,0.000,4,0.000,0.035,2197,1178,3596,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1805,-0.53,-194.6,228.7,-6.9,116,1812,0.00,1.45,0.00,0.000,6,0.000,0.040,2188,2154,3597,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2110,-0.55,-194.6,250.3,-7.0,132,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2154,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2411,-0.58,-194.6,270.4,-6.8,147,2417,0.00,1.50,0.00,0.000,4,0.000,0.052,2177,3132,3595,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2440,-0.60,-194.6,272.0,-6.6,148,2445,0.00,1.40,0.00,0.000,6,0.000,0.030,2176,2156,3595,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2758,-0.63,-194.6,292.7,-6.4,164,2764,0.12,1.48,0.00,0.000,4,0.083,0.050,2074,3130,3593,0,0,0,0,0,0,26.70,26.59,28.83
$GC,2796,-0.65,-194.6,295.0,-7.1,165,2803,0.10,1.42,0.00,0.000,6,0.129,0.030,2125,2135,3593,0,0,0,0,0,0,26.46,26.67,28.83
$GC,3102,-0.65,-194.6,327.4,-9.6,181,3107,0.00,1.50,0.00,0.000,4,0.000,0.053,2112,3132,3591,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3153,-0.65,-194.6,331.6,-9.7,183,3159,0.00,1.40,0.00,0.000,6,0.000,0.031,2111,2150,3591,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3468,-0.65,-194.6,361.5,-9.3,199,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2149,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3769,-0.65,-194.6,387.4,-8.3,214,3774,0.00,1.50,0.00,0.000,4,0.000,0.054,2099,3147,3587,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3796,-0.65,-194.6,389.4,-8.2,215,3802,0.08,1.42,0.00,0.000,6,0.117,0.031,2137,2154,3587,0,0,0,0,0,0,26.50,26.69,28.83
$GC,4116,-0.67,-194.6,412.0,-7.4,231,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2153,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4417,-0.69,-194.6,435.8,-7.7,246,4422,0.00,1.50,0.00,0.000,4,0.000,0.057,2132,3149,3582,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4475,-0.71,-194.6,439.2,-7.8,248,4482,0.00,1.45,0.00,0.000,6,0.000,0.031,2132,2140,3581,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4781,-0.73,-194.6,465.3,-8.0,264,4786,0.00,1.50,0.00,0.000,4,0.000,0.055,2125,3136,3579,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4829,-0.75,-194.6,468.8,-8.0,266,4834,0.00,1.42,0.00,0.000,6,0.000,0.032,2125,2146,3578,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5147,-0.76,-194.6,491.6,-6.6,282,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2144,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5449,-0.78,-194.6,510.4,-6.0,297,5451,0.12,0.00,0.00,0.000,6,0.083,0.000,2053,2144,3575,0,0,0,0,0,0,26.73,28.83,28.83
$GC,5748,-0.77,-194.6,541.8,-11.1,312,5750,0.15,0.00,0.00,0.000,6,0.151,0.000,2094,2143,3571,0,0,0,0,0,0,26.48,28.83,28.83
$GC,6049,-0.77,-194.6,567.7,-8.4,327,6054,0.00,1.50,0.00,0.000,4,0.000,0.057,2093,3130,3569,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6082,-0.78,-194.6,569.8,-8.2,328,6087,0.00,1.42,0.00,0.000,6,0.000,0.033,2090,2149,3569,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6395,-0.78,-194.6,597.6,-8.5,344,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2147,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6704,-0.78,-194.6,625.6,-9.4,355,6710,0.00,1.55,0.00,0.000,4,0.000,0.060,2084,3133,3565,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6758,-0.78,-194.6,628.9,-9.5,356,6763,0.00,1.42,0.00,0.000,6,0.000,0.034,2083,2161,3564,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7071,-0.78,-194.6,662.4,-9.9,367,7076,0.00,1.45,0.00,0.000,4,0.000,0.041,2082,1178,3562,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7123,-0.78,-194.6,665.6,-9.9,368,7128,0.00,1.48,0.00,0.000,6,0.000,0.047,2075,2150,3561,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7436,-0.78,-194.6,698.4,-9.8,379,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2150,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7737,-0.78,-194.6,726.3,-9.3,389,7742,0.00,1.50,0.00,0.000,4,0.000,0.060,2067,3149,3558,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7779,-0.78,-194.6,729.3,-9.2,390,7784,0.00,1.48,0.00,0.000,6,0.000,0.035,2067,2137,3558,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8104,-0.78,-194.6,760.0,-9.2,401,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2136,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8403,-0.78,-194.6,787.3,-9.2,411,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2135,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8702,-0.78,-194.6,814.4,-9.2,421,8707,0.00,1.52,0.00,0.000,4,0.000,0.063,2059,3128,3552,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8779,-0.78,-194.6,820.5,-9.3,423,8784,0.00,1.45,0.00,0.000,6,0.000,0.037,2059,2148,3552,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9097,-0.78,-194.6,852.9,-9.8,434,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2147,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9397,-0.78,-194.6,883.2,-10.3,444,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2146,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9697,-0.78,-194.6,915.3,-10.9,454,9702,0.00,1.45,0.00,0.000,4,0.000,0.046,2059,1180,3548,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9749,-0.78,-194.6,918.9,-11.0,455,9755,0.12,1.50,0.00,0.000,6,0.162,0.053,2085,2179,3547,0,0,0,0,0,0,26.35,26.52,28.83
$GC,10065,-0.79,-194.6,950.7,-9.3,466,10071,0.00,1.50,0.00,0.000,4,0.000,0.064,2081,3161,3544,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10093,-0.80,-194.6,950.7,-9.3,466,10099,0.00,1.50,0.00,0.000,6,0.000,0.038,2080,2118,3546,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10401,-0.81,-194.6,981.4,-9.1,477,10406,0.00,1.58,0.00,0.000,4,0.000,0.065,2070,3137,3544,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10443,-0.82,-194.6,984.6,-9.1,478,10449,0.00,1.48,0.00,0.000,6,0.000,0.038,2073,2144,3544,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,10494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10494,begin apogee
$GC,10499,-0.19,0.0,990.4,-9.3,480,10737,0.60,0.00,226.20,0.894,6,0.123,0.000,2271,2141,2797,0,0,0,0,0,0,26.28,28.83,24.37
$STATE,10738,end apogee,CONTROL_FINISHED_OK
$STATE,10738,begin climb
$GC,10741,0.58,194.6,1002.5,0.0,488,10929,0.70,0.00,184.80,1.050,6,0.050,0.000,2540,2141,2008,0,0,0,0,0,0,25.11,28.83,23.92
$GC,11217,0.54,194.6,955.5,12.4,504,11222,0.00,1.55,0.00,0.000,4,0.000,0.064,2543,3107,1984,0,0,0,0,0,0,28.83,25.71,28.83
$GC,11284,0.49,194.6,947.1,12.6,506,11290,0.20,1.50,0.00,0.000,6,0.174,0.039,2498,2102,1983,0,0,0,0,0,0,25.65,25.86,28.83
$GC,11613,0.47,194.6,914.9,9.5,517,11618,0.00,1.60,0.00,0.000,4,0.000,0.063,2499,3113,1982,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11660,0.44,194.6,911.4,9.7,518,11666,0.00,1.50,0.00,0.000,6,0.000,0.039,2504,2095,1982,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11980,0.41,194.6,877.5,10.3,529,11982,0.12,0.00,0.00,0.000,6,0.173,0.000,2472,2093,1980,0,0,0,0,0,0,26.14,28.83,28.83
$GC,12279,0.40,194.6,850.6,8.7,539,12284,0.00,1.58,0.00,0.000,4,0.000,0.060,2472,3109,1980,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12336,0.38,194.6,847.4,8.9,540,12344,0.00,1.48,0.00,0.000,6,0.000,0.037,2478,2125,1980,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12643,0.36,194.6,817.3,8.9,551,12649,0.00,1.55,0.00,0.000,4,0.000,0.060,2479,3107,1979,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12707,0.35,194.6,811.2,9.1,553,12713,0.08,1.48,0.00,0.000,6,0.154,0.037,2452,2124,1979,0,0,0,0,0,0,26.18,26.44,28.83
$GC,13041,0.36,234.3,786.2,7.1,564,13084,0.00,1.55,37.47,0.961,4,0.000,0.057,2453,3108,1840,0,0,0,0,0,0,28.83,25.77,25.13
$GC,13144,0.36,262.4,779.3,7.4,567,13185,0.00,1.50,35.88,0.787,6,0.000,0.036,2458,2090,1730,0,0,0,0,0,0,28.83,25.94,24.91
$GC,13493,0.36,262.4,748.6,8.8,579,13498,0.00,1.62,0.00,0.000,4,0.000,0.059,2458,3118,1717,0,0,0,0,0,0,28.83,25.99,28.83
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$STATE,19943,end climb,SURFACE_DEPTH_REACHED
$STATE,19943,begin surface coast
$FINISH,1.5,1.021449
$STATE,19971,end surface coast,CONTROL_FINISHED_OK
$STATE,19971,begin surface
$SM_CCo,20050,0.00,0.000,0,0,455,575.96
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$TT8_MAMPS,0.026215,0.026215
$HUMID,39.68
$INTERNAL_PRESSURE,9.54363
$TCM_TEMP,25.60
$XPDR_PINGS,0
$SC_FREEKB,7737312
$24V_AH,23.9,20.794
$10V_AH,9.8,14.621
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.125,116.225,872.300,0.000,0.000,22.206,18.472,229.077,0.000,0.000,35.225,2955.295,13661.006,1011.729,2528.921,387.319,0.000,2244.188,0.000,2144.812,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,68.850,1050.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.533,0.000,0.000,0.000
$MEM,329044
$DATA_FILE_SIZE,33367,938
$CAP_FILE_SIZE,224581,0
$CFSIZE,260165632,244727808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.230,343.4,1
$GPS,290812,143159,1846.945,12429.940,38,1.2,43,-2.2