version: 66.11
glider: 166
mission: 8
dive: 100
start: 9 2 112 4 6 41
data:
$ID,166
$MISSION,8
$DIVE,100
$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,-26593.094
$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,60
$R_STBD_OVSHOOT,42
$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
$GPS1,020912,035306,1831.956,12430.755,40,1.0,40,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-58.5
$GPS2,020912,040613,1832.180,12430.713,15,1.6,15,-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,192.7,78481,-13.1,-8.250
$D_GRID,5229
$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,-70.35,0.000,2,0.000,0.000,154,2140,1987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.2,-4.8,12,161,7.72,1.40,-52.33,0.000,4,0.227,0.053,2136,1178,3593,0,0,0,0,0,0,25.74,26.17,26.51
$GC,345,-0.53,-194.6,51.3,-23.1,46,353,0.10,1.45,0.00,0.000,6,0.151,0.040,2161,2143,3593,0,0,0,0,0,0,26.07,26.29,28.83
$GC,651,-0.51,-194.6,113.0,-16.8,62,656,0.00,1.50,0.00,0.000,4,0.000,0.051,2158,3147,3593,0,0,0,0,0,0,28.83,26.36,28.83
$GC,714,-0.49,-194.6,124.2,-17.4,65,720,0.00,1.45,0.00,0.000,6,0.000,0.030,2168,2138,3593,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1038,-0.48,-194.6,180.2,-15.0,81,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2133,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1340,-0.48,-194.6,211.8,-10.0,96,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2136,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1639,-0.49,-194.6,241.7,-10.0,111,1644,0.00,1.50,0.00,0.000,4,0.000,0.051,2161,3133,3593,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1748,-0.49,-194.6,252.2,-9.8,116,1754,0.00,1.40,0.00,0.000,6,0.000,0.031,2158,2155,3593,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2067,-0.50,-194.6,282.1,-8.6,132,2072,0.00,1.42,0.00,0.000,4,0.000,0.036,2152,1175,3591,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2119,-0.51,-194.6,285.9,-8.8,134,2125,0.00,1.45,0.00,0.000,6,0.000,0.040,2150,2151,3590,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2434,-0.52,-194.6,314.1,-8.7,150,2436,0.10,0.00,0.00,0.000,6,0.161,0.000,2170,2156,3589,0,0,0,0,0,0,26.56,28.83,28.83
$GC,2735,-0.54,-194.6,336.4,-7.6,165,2741,0.00,1.45,0.00,0.000,4,0.000,0.037,2158,1178,3587,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2773,-0.56,-194.6,338.8,-8.0,166,2780,0.00,1.45,0.00,0.000,6,0.000,0.041,2154,2146,3587,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3079,-0.59,-194.6,365.6,-7.7,182,3084,0.00,1.42,0.00,0.000,4,0.000,0.037,2153,1180,3584,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3152,-0.61,-194.6,370.3,-7.4,185,3158,0.00,1.45,0.00,0.000,6,0.000,0.041,2146,2152,3584,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3466,-0.63,-194.6,392.6,-7.5,201,3471,0.00,1.50,0.00,0.000,4,0.000,0.054,2139,3158,3582,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3514,-0.66,-194.6,396.1,-7.7,203,3519,0.00,1.45,0.00,0.000,6,0.000,0.031,2140,2154,3581,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3832,-0.68,-194.6,425.5,-9.2,219,3837,0.00,1.42,0.00,0.000,4,0.000,0.038,2139,1177,3579,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3879,-0.70,-194.6,429.4,-9.0,221,3884,0.00,1.45,0.00,0.000,6,0.000,0.041,2133,2150,3578,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4197,-0.72,-194.6,454.9,-7.5,237,4203,0.00,1.50,0.00,0.000,4,0.000,0.054,2127,3157,3575,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4236,-0.74,-194.6,456.5,-7.5,238,4243,0.00,1.45,0.00,0.000,6,0.000,0.032,2126,2154,3575,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4542,-0.76,-194.6,480.9,-7.6,254,4547,0.00,1.50,0.00,0.000,4,0.000,0.057,2121,3148,3573,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4580,-0.77,-194.6,482.7,-7.7,255,4587,0.00,1.45,0.00,0.000,6,0.000,0.034,2120,2144,3572,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4885,-0.79,-194.6,509.7,-8.7,271,4887,0.10,0.00,0.00,0.000,6,0.099,0.000,2063,2142,3569,0,0,0,0,0,0,26.72,28.83,28.83
$GC,5188,-0.78,-194.6,545.6,-11.6,286,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2142,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5487,-0.77,-194.6,580.0,-11.1,301,5489,0.10,0.00,0.00,0.000,6,0.166,0.000,2087,2141,3565,0,0,0,0,0,0,26.55,28.83,28.83
$GC,5797,-0.77,-194.6,610.7,-9.8,315,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2141,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6095,-0.77,-194.6,640.8,-10.4,325,6101,0.00,1.52,0.00,0.000,4,0.000,0.060,2083,3134,3560,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6148,-0.77,-194.6,644.4,-10.6,326,6153,0.00,1.45,0.00,0.000,6,0.000,0.036,2082,2146,3559,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6461,-0.77,-194.6,676.8,-9.1,337,6466,0.00,1.55,0.00,0.000,4,0.000,0.060,2074,3127,3558,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6503,-0.77,-194.6,679.7,-8.8,338,6508,0.00,1.42,0.00,0.000,6,0.000,0.037,2073,2155,3557,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6828,-0.77,-194.6,707.9,-8.1,349,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2155,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7126,-0.77,-194.6,733.4,-8.4,359,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2154,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7426,-0.77,-194.6,759.9,-8.8,369,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2153,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7726,-0.77,-194.6,784.5,-7.9,379,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2153,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8026,-0.77,-194.6,806.4,-7.2,389,8032,0.00,1.50,0.00,0.000,4,0.000,0.063,2065,3128,3548,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8074,-0.77,-194.6,808.8,-7.2,390,8080,0.00,1.45,0.00,0.000,6,0.000,0.037,2065,2150,3547,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8394,-0.77,-194.6,832.3,-6.8,401,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2150,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8693,-0.77,-194.6,853.8,-7.3,411,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2150,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8992,-0.77,-194.6,878.0,-8.3,421,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2149,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9292,-0.77,-194.6,905.2,-9.3,431,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2148,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9592,-0.77,-194.6,934.5,-9.9,441,9597,0.00,1.52,0.00,0.000,4,0.000,0.066,2058,3132,3540,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9644,-0.77,-194.6,937.9,-9.9,442,9650,0.08,1.45,0.00,0.000,6,0.132,0.038,2094,2153,3540,0,0,0,0,0,0,26.30,26.56,28.83
$GC,9960,-0.79,-194.6,966.4,-8.4,453,9966,0.00,1.48,0.00,0.000,4,0.000,0.047,2094,1174,3539,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10013,-0.80,-194.6,969.5,-8.3,454,10019,0.00,1.50,0.00,0.000,6,0.000,0.052,2089,2144,3538,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,10264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10264,begin apogee
$GC,10270,-0.19,0.0,991.6,-8.0,463,10437,0.55,0.00,160.30,1.122,6,0.116,0.000,2275,2144,2804,0,0,0,0,0,0,26.23,28.83,24.20
$STATE,10438,end apogee,CONTROL_FINISHED_OK
$STATE,10438,begin climb
$GC,10441,0.58,194.6,998.8,0.0,468,10633,0.68,1.65,180.98,1.068,4,0.052,0.064,2536,3101,1999,0,0,0,0,0,0,25.06,24.55,23.87
$GC,10685,0.52,194.6,985.0,10.4,476,10692,0.10,1.55,0.00,0.000,6,0.164,0.041,2515,2130,1989,0,0,0,0,0,0,24.97,25.12,28.83
$GC,10995,0.49,194.6,949.9,10.2,487,10996,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2130,1984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11291,0.46,194.6,920.8,9.7,497,11296,0.00,1.60,0.00,0.000,4,0.000,0.064,2515,3110,1983,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11374,0.42,194.6,914.3,9.8,499,11379,0.15,1.50,0.00,0.000,6,0.175,0.038,2481,2089,1983,0,0,0,0,0,0,25.93,26.17,28.83
$GC,11690,0.41,208.8,887.3,7.8,510,11708,0.00,1.65,11.82,1.024,4,0.000,0.063,2481,3105,1944,0,0,0,0,0,0,28.83,26.05,25.26
$GC,11741,0.39,219.5,884.5,7.9,511,11752,0.00,1.50,3.08,0.640,6,0.000,0.038,2487,2085,1908,0,0,0,0,0,0,28.83,26.11,25.12
$GC,12054,0.37,219.5,855.9,8.8,522,12060,0.00,1.67,1.65,0.197,4,0.000,0.062,2487,3108,1905,0,0,0,0,0,0,28.83,26.15,25.95
$GC,12088,0.35,219.5,852.4,9.0,523,12094,0.15,1.50,0.00,0.000,6,0.164,0.038,2454,2122,1912,0,0,0,0,0,0,26.03,26.25,28.83
$GC,12422,0.36,253.5,828.1,7.3,534,12486,0.00,1.60,56.72,0.848,4,0.000,0.060,2455,3115,1763,0,0,0,0,0,0,28.83,25.49,24.93
$GC,12529,0.35,279.6,821.1,7.5,537,12574,0.00,1.50,34.78,0.809,6,0.000,0.038,2460,2117,1657,0,0,0,0,0,0,28.83,25.72,24.74
$GC,12873,0.36,303.1,793.5,7.6,549,12908,0.00,1.60,29.45,0.851,4,0.000,0.058,2460,3112,1563,0,0,0,0,0,0,28.83,25.55,24.94
$GC,12955,0.37,332.7,788.9,7.4,551,13005,0.00,1.52,41.22,0.784,6,0.000,0.037,2467,2125,1441,0,0,0,0,0,0,28.83,25.75,24.70
$GC,13328,0.37,332.7,756.9,8.8,564,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2124,1435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13629,0.37,332.7,728.8,9.4,574,13634,0.00,1.60,0.00,0.000,4,0.000,0.062,2468,3112,1432,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13666,0.37,332.7,725.4,9.6,575,13672,0.00,1.50,0.00,0.000,6,0.000,0.038,2475,2089,1433,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13996,0.37,332.7,693.6,9.4,586,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2088,1433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14295,0.37,332.7,666.4,9.0,596,14301,0.00,1.65,0.00,0.000,4,0.000,0.061,2475,3113,1433,0,0,0,0,0,0,28.83,26.29,28.83
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$GC,15720,0.41,404.5,538.3,6.2,655,15825,0.00,0.00,102.90,0.714,6,0.000,0.000,2462,2121,1152,0,0,0,0,0,0,28.83,28.83,24.82
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$STATE,20913,end climb,SURFACE_DEPTH_REACHED
$STATE,20914,begin surface coast
$FINISH,1.5,1.008984
$STATE,20935,end surface coast,CONTROL_FINISHED_OK
$STATE,20935,begin surface
$SM_CCo,21013,0.00,0.000,0,0,442,579.15
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$IRIDIUM_FIX,1828.22,12429.34,020912,030318
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.27
$INTERNAL_PRESSURE,9.55339
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,7731552
$24V_AH,23.9,30.682
$10V_AH,9.9,17.199
$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,17.225,104.725,838.775,0.000,0.000,0.000,0.000,1311.439,0.000,0.000,15.913,2960.723,14741.260,956.138,2747.399,384.522,0.000,2711.106,0.000,2158.453,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,65.790,1122.255,0.000,0.000,0.000,0.000,116.280,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20968.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.749,0.000,0.000,0.000
$MEM,329084
$DATA_FILE_SIZE,33324,952
$CAP_FILE_SIZE,225287,0
$CFSIZE,260165632,243122176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.256, 23.8,1
$GPS,020912,095806,1831.269,12431.091,33,1.0,33,-2.1