version: 66.11
glider: 166
mission: 7
dive: 2
start: 6 27 112 17 15 56
data:
$ID,166
$MISSION,7
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1030
$D_NO_BLEED,500
$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,50
$T_MISSION,70
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0228
$MASS,52243
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,338
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25757.912
$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,2487
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,1857
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-28.661125
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$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,49
$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
$GPS1,270612,171055,4742.564,-12224.882,9,1.1,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.1
$GPS2,270612,171501,4742.525,-12224.865,10,1.1,16,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.036,0.233
$KALMAN_X,-28.8,-28.8,-28.8,-32.4,-96.2
$KALMAN_Y,-101.5,-101.5,-101.5,110.2,-339.6
$MHEAD_RNG_PITCHd_Wd,350.5,2547,-20.4,-10.000
$D_GRID,176
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.80,-117.3,0.0,0.0,0,80,0.00,0.00,-60.85,0.000,2,0.000,0.000,139,2066,1876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.80,-117.3,3.9,-6.2,6,110,8.32,1.55,-12.57,0.000,4,0.252,0.063,2218,1056,2337,0,0,0,0,0,0,25.96,26.32,26.63
$GC,149,-0.80,-117.3,10.5,-8.3,12,154,0.00,1.50,0.00,0.000,6,0.000,0.046,2217,2069,2339,0,0,0,0,0,0,28.83,26.32,28.83
$GC,192,-0.80,-117.3,15.1,-10.2,16,197,0.00,1.50,0.00,0.000,4,0.000,0.060,2200,3060,2339,0,0,0,0,0,0,28.83,26.32,28.83
$GC,234,-0.80,-117.3,20.7,-13.3,20,240,0.10,1.50,0.00,0.000,6,0.190,0.038,2221,2016,2339,0,0,0,0,0,0,26.19,26.39,28.83
$GC,277,-0.80,-117.3,26.8,-13.9,24,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2016,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,307,-0.80,-117.3,30.9,-13.7,27,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2015,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,337,-0.80,-117.3,34.8,-13.2,30,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2015,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,367,-0.80,-117.3,38.5,-12.4,33,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2014,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,397,-0.80,-117.3,42.3,-12.4,36,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2018,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,427,-0.80,-117.3,46.2,-13.2,39,432,0.00,1.40,0.00,0.000,4,0.000,0.043,2218,1069,2339,0,0,0,0,0,0,28.83,26.45,28.83
$GC,581,-0.80,-117.3,64.5,-11.5,54,586,0.00,1.50,0.00,0.000,6,0.000,0.046,2214,2057,2339,0,0,0,0,0,0,28.83,26.46,28.83
$GC,624,-0.80,-117.3,69.0,-10.6,58,629,0.00,1.50,0.00,0.000,4,0.000,0.061,2207,3052,2340,0,0,0,0,0,0,28.83,26.45,28.83
$GC,710,-0.80,-117.3,77.8,-10.6,66,716,0.00,1.48,0.00,0.000,6,0.000,0.041,2210,2058,2337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,746,-0.80,-117.3,82.0,-10.3,70,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2058,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,776,-0.80,-117.3,85.1,-10.2,73,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2058,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,807,-0.80,-117.3,87.9,-9.7,76,812,0.00,1.45,0.00,0.000,4,0.000,0.043,2207,1071,2339,0,0,0,0,0,0,28.83,26.52,28.83
$GC,906,-0.80,-117.3,97.8,-10.1,85,913,0.00,1.50,0.00,0.000,6,0.000,0.048,2200,2085,2339,0,0,0,0,0,0,28.83,26.51,28.83
$GC,941,-0.80,-117.3,101.5,-9.4,89,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2085,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,972,-0.80,-117.3,104.5,-9.8,92,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2085,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1001,-0.80,-117.3,107.4,-9.6,95,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2085,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1032,-0.80,-117.3,110.4,-10.1,98,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2085,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1061,-0.80,-117.3,113.4,-9.9,101,1066,0.00,1.50,0.00,0.000,4,0.000,0.043,2197,1049,2339,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1104,-0.80,-117.3,118.0,-10.9,105,1110,0.12,1.50,0.00,0.000,6,0.187,0.047,2225,2067,2339,0,0,0,0,0,0,26.34,26.53,28.83
$GC,1147,-0.80,-117.3,122.5,-10.5,109,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2067,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1178,-0.80,-117.3,125.4,-9.6,112,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2067,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1207,-0.80,-117.3,128.3,-9.8,115,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2067,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1237,-0.80,-117.3,131.1,-9.2,118,1242,0.00,1.50,0.00,0.000,4,0.000,0.063,2216,3060,2339,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1290,-0.80,-117.3,136.2,-9.9,123,1296,0.00,1.50,0.00,0.000,6,0.000,0.040,2214,2013,2339,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1334,-0.80,-117.3,140.4,-9.9,127,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2013,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-0.80,-117.3,143.3,-9.7,130,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2013,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1393,-0.80,-117.3,146.1,-9.3,133,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2013,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1423,-0.80,-117.3,148.9,-9.4,136,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2013,2339,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1442,begin apogee
$GC,1447,-0.19,0.0,150.9,-9.6,138,1565,0.65,0.00,105.70,1.214,6,0.145,0.000,2422,2009,1856,0,0,0,0,1,0,26.37,28.83,23.99
$STATE,1566,end apogee,CONTROL_FINISHED_OK
$STATE,1566,begin climb
$GC,1569,0.80,117.3,153.3,0.0,150,1695,0.93,1.75,107.95,1.189,4,0.098,0.062,2737,3031,1379,0,0,0,0,1,0,25.05,24.82,23.95
$GC,1823,0.80,117.3,125.2,14.5,175,1829,0.00,1.50,0.00,0.000,6,0.000,0.042,2743,2023,1381,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1859,0.80,117.3,120.0,13.2,179,1864,0.00,1.58,0.00,0.000,4,0.000,0.063,2744,3032,1381,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1906,0.80,117.3,114.3,13.2,183,1912,0.00,1.50,0.00,0.000,6,0.000,0.043,2751,2019,1380,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1942,0.80,117.3,108.8,13.9,187,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2018,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1972,0.80,117.3,104.8,13.4,190,1977,0.00,1.58,0.00,0.000,4,0.000,0.063,2752,3029,1381,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2058,0.80,117.3,92.9,14.8,198,2064,0.00,1.50,0.00,0.000,6,0.000,0.043,2759,2014,1381,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2094,0.80,117.3,87.1,14.4,202,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2014,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2124,0.80,117.3,83.0,13.7,205,2129,0.00,1.58,0.00,0.000,4,0.000,0.063,2762,3034,1380,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2187,0.80,117.3,74.0,14.8,211,2192,0.00,1.48,0.00,0.000,6,0.000,0.042,2767,2055,1380,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2230,0.80,117.3,68.3,13.2,215,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2055,1380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2260,0.80,117.3,64.7,11.9,218,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2055,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,0.80,117.3,61.4,11.1,221,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2055,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2320,0.80,117.3,58.2,10.9,224,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2055,1380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,0.80,117.3,54.6,11.6,227,2355,0.00,1.48,0.00,0.000,4,0.000,0.045,2774,1067,1380,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2522,0.80,117.3,33.9,12.3,244,2527,0.00,1.50,0.00,0.000,6,0.000,0.050,2774,2074,1380,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2565,0.80,117.3,28.9,11.5,248,2570,0.00,1.50,0.00,0.000,4,0.000,0.064,2775,3060,1380,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2591,0.80,117.3,26.3,11.6,250,2599,0.10,1.52,0.00,0.000,6,0.203,0.042,2753,2049,1380,0,0,0,0,0,0,26.25,26.45,28.83
$GC,2627,0.80,117.3,21.8,11.0,254,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2049,1380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2657,0.80,117.3,18.8,10.3,257,2662,0.00,1.48,0.00,0.000,4,0.000,0.047,2758,1062,1380,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2693,0.80,117.3,15.5,10.1,260,2700,0.00,1.50,0.00,0.000,6,0.000,0.050,2754,2069,1380,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2730,0.80,117.3,11.4,10.3,264,2735,0.00,1.50,0.00,0.000,4,0.000,0.063,2756,3033,1379,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,2832,end climb,SURFACE_DEPTH_REACHED
$STATE,2832,begin surface coast
$FINISH,1.7,1.019560
$STATE,2843,end surface coast,CONTROL_FINISHED_OK
$STATE,2843,begin surface
$SM_CCo,2862,88.68,0.141,0,0,474,338.02
$SM_GC,1.74,7.20,1.50,88.68,0.082,0.041,0.141,155,2042,474,-7.23,1.19,338.02,0,0,0,0,0,0,26.46,26.51,26.11
$IRIDIUM_FIX,4722.92,-12226.07,270612,171721
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.69
$INTERNAL_PRESSURE,9.19205
$TCM_TEMP,20.00
$XPDR_PINGS,20
$SC_FREEKB,7769216
$24V_AH,24.0,0.318
$10V_AH,10.0,0.174
$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,17.425,45.300,213.650,88.675,0.000,0.000,0.000,0.000,6.750,0.000,16.895,889.333,940.219,404.549,679.993,116.508,30.072,841.603,0.000,644.091,0.000,11.909,0.000
$DEVICE_MAMPS,251.685,64.260,1214.055,140.760,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2826.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.264,0.000,0.000,0.000
$MEM,323404
$DATA_FILE_SIZE,10150,275
$CAP_FILE_SIZE,101560,0
$CFSIZE,260165632,257794048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270612,180616,4742.724,-12224.961,9,99.0,28,18.2