version: 66.11
glider: 166
mission: 8
dive: 99
start: 9 1 112 21 56 29
data:
$ID,166
$MISSION,8
$DIVE,99
$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,1
$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,-26591.834
$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,62
$R_STBD_OVSHOOT,38
$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
$GPS1,010912,214706,1832.551,12430.858,28,1.1,28,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-58.9
$GPS2,010912,215601,1832.751,12430.901,16,1.6,16,-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,197.0,79505,-13.1,-8.250
$D_GRID,5275
$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,-194.6,0.0,0.0,0,90,0.00,0.00,-69.38,0.000,2,0.000,0.000,156,2166,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.58,-194.6,3.1,-4.2,12,166,7.65,1.50,-55.83,0.000,4,0.223,0.056,2155,1181,3597,0,0,0,0,0,0,25.79,26.21,26.52
$GC,390,-0.53,-194.6,67.3,-24.2,48,395,0.00,1.48,0.00,0.000,6,0.000,0.039,2140,2159,3598,0,0,0,0,0,0,28.83,26.33,28.83
$GC,709,-0.50,-194.6,132.7,-17.4,64,714,0.12,1.45,0.00,0.000,4,0.169,0.048,2166,3130,3598,0,0,0,0,0,0,26.29,26.39,28.83
$GC,793,-0.49,-194.6,143.8,-13.1,68,798,0.00,1.42,0.00,0.000,6,0.000,0.028,2166,2142,3598,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1116,-0.49,-194.6,176.0,-9.6,84,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2139,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-0.50,-194.6,206.0,-11.1,99,1423,0.00,1.40,0.00,0.000,4,0.000,0.034,2180,1177,3598,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1495,-0.51,-194.6,212.8,-10.5,102,1502,0.00,1.45,0.00,0.000,6,0.000,0.038,2172,2154,3598,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1801,-0.52,-194.6,245.7,-11.1,118,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2154,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2104,-0.53,-194.6,277.4,-10.7,133,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2154,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2403,-0.55,-194.6,302.4,-6.8,148,2409,0.00,1.42,0.00,0.000,4,0.000,0.034,2161,1187,3594,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2468,-0.57,-194.6,306.4,-6.1,151,2473,0.00,1.42,0.00,0.000,6,0.000,0.040,2145,2148,3595,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2792,-0.58,-194.6,327.8,-7.1,167,2797,0.00,1.50,0.00,0.000,4,0.000,0.053,2135,3156,3592,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2920,-0.60,-194.6,337.2,-7.7,173,2926,0.00,1.45,0.00,0.000,6,0.000,0.030,2135,2144,3589,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3240,-0.62,-194.6,363.2,-7.9,189,3245,0.00,1.40,0.00,0.000,4,0.000,0.036,2135,1178,3589,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3323,-0.63,-194.6,370.0,-8.2,193,3328,0.00,1.45,0.00,0.000,6,0.000,0.041,2128,2146,3588,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3647,-0.65,-194.6,395.4,-7.5,209,3652,0.00,1.50,0.00,0.000,4,0.000,0.054,2121,3154,3586,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3731,-0.66,-194.6,401.9,-7.7,213,3736,0.00,1.45,0.00,0.000,6,0.000,0.031,2125,2142,3585,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4053,-0.68,-194.6,429.4,-9.1,229,4059,0.00,1.40,0.00,0.000,4,0.000,0.036,2120,1182,3584,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4097,-0.69,-194.6,433.7,-9.5,231,4103,0.00,1.45,0.00,0.000,6,0.000,0.041,2114,2153,3582,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4421,-0.70,-194.6,466.3,-10.1,247,4426,0.00,1.50,0.00,0.000,4,0.000,0.054,2108,3160,3580,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4464,-0.71,-194.6,470.5,-9.8,249,4469,0.00,1.45,0.00,0.000,6,0.000,0.031,2108,2151,3580,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4787,-0.72,-194.6,501.2,-9.0,265,4792,0.00,1.42,0.00,0.000,4,0.000,0.037,2109,1176,3577,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4834,-0.73,-194.6,505.0,-8.8,267,4839,0.00,1.48,0.00,0.000,6,0.000,0.044,2102,2156,3577,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5153,-0.74,-194.6,532.3,-8.9,283,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2156,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5454,-0.75,-194.6,560.2,-9.8,298,5460,0.00,1.45,0.00,0.000,4,0.000,0.038,2100,1178,3572,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5512,-0.75,-194.6,564.8,-9.9,300,5519,0.00,1.48,0.00,0.000,6,0.000,0.045,2096,2153,3572,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5818,-0.76,-194.6,595.4,-9.1,316,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2153,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6118,-0.77,-194.6,621.4,-8.6,327,6123,0.00,1.50,0.00,0.000,4,0.000,0.058,2086,3150,3567,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6160,-0.77,-194.6,624.1,-8.4,328,6166,0.00,1.45,0.00,0.000,6,0.000,0.034,2085,2152,3567,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6485,-0.77,-194.6,651.2,-8.2,339,6491,0.00,1.50,0.00,0.000,4,0.000,0.058,2081,3129,3565,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6513,-0.77,-194.6,651.2,-8.2,339,6519,0.00,1.42,0.00,0.000,6,0.000,0.034,2080,2151,3565,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6819,-0.77,-194.6,681.4,-9.3,350,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2150,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7118,-0.77,-194.6,712.0,-10.6,360,7123,0.00,1.50,0.00,0.000,4,0.000,0.060,2072,3133,3560,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7165,-0.77,-194.6,715.5,-10.6,361,7170,0.00,1.42,0.00,0.000,6,0.000,0.034,2071,2156,3560,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7483,-0.77,-194.6,753.1,-11.5,372,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2155,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7783,-0.77,-194.6,787.8,-11.5,382,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2153,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8083,-0.77,-194.6,821.2,-10.8,392,8089,0.00,1.50,0.00,0.000,4,0.000,0.063,2063,3132,3554,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8126,-0.77,-194.6,824.9,-10.7,393,8132,0.00,1.45,0.00,0.000,6,0.000,0.037,2063,2146,3554,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8449,-0.77,-194.6,859.4,-10.1,404,8455,0.00,1.52,0.00,0.000,4,0.000,0.063,2056,3138,3553,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8482,-0.77,-194.6,862.6,-10.0,405,8489,0.08,1.48,0.00,0.000,6,0.131,0.037,2093,2144,3552,0,0,0,0,0,0,26.33,26.60,28.83
$GC,8818,-0.78,-194.6,887.8,-7.0,416,8823,0.00,1.52,0.00,0.000,4,0.000,0.064,2087,3133,3551,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8852,-0.80,-194.6,890.2,-6.9,417,8857,0.00,1.48,0.00,0.000,6,0.000,0.037,2086,2143,3553,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9187,-0.81,-194.6,912.2,-6.4,428,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2143,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9486,-0.82,-194.6,930.1,-5.9,438,9492,0.00,1.52,0.00,0.000,4,0.000,0.063,2079,3134,3548,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9539,-0.83,-194.6,932.1,-5.9,439,9544,0.00,1.45,0.00,0.000,6,0.000,0.037,2078,2149,3548,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9854,-0.83,-194.6,951.7,-5.8,450,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2149,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10153,-0.84,-194.6,970.5,-6.5,460,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2149,3546,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10450,begin apogee
$GC,10456,-0.19,0.0,991.9,-7.5,470,10692,0.57,0.00,230.35,0.902,6,0.115,0.000,2272,2147,2802,0,0,0,0,0,0,26.22,28.83,24.32
$STATE,10694,end apogee,CONTROL_FINISHED_OK
$STATE,10694,begin climb
$GC,10697,0.58,194.6,1003.0,0.0,478,10885,0.70,0.00,182.52,1.058,6,0.050,0.000,2538,2145,2008,0,0,0,0,0,0,25.05,28.83,23.82
$GC,11173,0.54,194.6,962.7,10.8,494,11174,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2146,1986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11472,0.50,194.6,929.8,11.1,504,11474,0.15,0.00,0.00,0.000,6,0.174,0.000,2501,2146,1985,0,0,0,0,0,0,25.85,28.83,28.83
$GC,11773,0.47,194.6,902.1,9.1,514,11778,0.00,1.52,0.00,0.000,4,0.000,0.064,2503,3111,1983,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11892,0.44,194.6,892.4,10.0,517,11900,0.00,1.48,0.00,0.000,6,0.000,0.039,2508,2137,1983,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12198,0.41,194.6,858.1,10.6,528,12204,0.12,1.55,0.00,0.000,4,0.175,0.061,2469,3101,1981,0,0,0,0,0,0,26.14,26.23,28.83
$GC,12256,0.38,194.6,854.5,10.4,529,12263,0.00,1.48,0.00,0.000,6,0.000,0.039,2474,2123,1981,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12563,0.37,194.6,823.2,9.9,540,12568,0.00,1.55,0.00,0.000,4,0.000,0.063,2475,3112,1981,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12656,0.35,194.6,813.1,10.6,543,12661,0.00,1.50,0.00,0.000,6,0.000,0.039,2481,2122,1981,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12992,0.33,194.6,779.3,10.1,554,12998,0.12,1.52,0.00,0.000,4,0.174,0.057,2444,3109,1981,0,0,0,0,0,0,26.24,26.33,28.83
$GC,13088,0.32,194.6,770.7,9.2,557,13093,0.00,1.48,0.00,0.000,6,0.000,0.037,2449,2125,1981,0,0,0,0,0,0,28.83,26.45,28.83
$GC,13424,0.32,200.5,743.3,8.1,568,13429,0.00,1.50,0.00,0.000,4,0.000,0.058,2449,3109,1980,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13467,0.31,203.9,740.3,8.2,569,13476,0.00,1.48,3.00,0.593,6,0.000,0.037,2456,2120,1966,0,0,0,0,0,0,28.83,26.47,25.25
$GC,13793,0.31,219.2,713.5,7.8,580,13822,0.00,1.62,23.60,0.874,4,0.000,0.058,2457,3113,1905,0,0,0,0,0,0,28.83,26.07,25.43
$GC,13871,0.31,234.8,708.2,7.8,582,13895,0.00,1.50,18.00,0.912,6,0.000,0.037,2464,2121,1838,0,0,0,0,0,0,28.83,26.16,25.20
$GC,14219,0.33,280.9,681.7,6.9,594,14283,0.00,1.65,59.95,0.789,4,0.000,0.057,2464,3106,1653,0,0,0,0,0,0,28.83,25.37,24.82
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$STATE,21209,end climb,SURFACE_DEPTH_REACHED
$STATE,21209,begin surface coast
$FINISH,1.4,1.008916
$STATE,21241,end surface coast,CONTROL_FINISHED_OK
$STATE,21241,begin surface
$SM_CCo,21318,0.00,0.000,0,0,448,577.68
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$IRIDIUM_FIX,1825.94,12433.09,010912,151519
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.56
$INTERNAL_PRESSURE,9.56316
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,7731936
$24V_AH,23.8,29.723
$10V_AH,10.0,17.033
$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,17.300,122.200,917.825,0.000,0.000,0.000,0.000,864.500,0.000,0.000,17.726,3092.253,14602.474,1010.155,2735.365,402.568,0.000,2693.599,0.000,2310.113,0.000,0.540,0.000
$DEVICE_MAMPS,223.380,64.260,1057.995,0.000,0.000,0.000,0.000,120.105,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.029,0.000,0.000,0.000
$MEM,329108
$DATA_FILE_SIZE,36704,974
$CAP_FILE_SIZE,236990,0
$CFSIZE,260165632,243220480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.236, 13.3,1
$GPS,020912,035306,1831.956,12430.755,40,1.0,40,-2.2