version: 66.11
glider: 182
mission: 2
dive: 56
start: 8 16 112 17 2 31
data:
$ID,182
$MISSION,2
$DIVE,56
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$D_ABORT,1000
$D_NO_BLEED,44
$D_BOOST,120
$T_BOOST,4
$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,220
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52222
$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,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$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,-2378193.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,133
$PITCH_MAX,3926
$C_PITCH,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,234
$ROLL_MAX,3805
$ROLL_DEG,30
$C_ROLL_DIVE,2660
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2719
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.724201
$PRESSURE_SLOPE,0.0001160742
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$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,0.0043401988
$SEABIRD_T_H,0.00064253842
$SEABIRD_T_I,2.4663836e-05
$SEABIRD_T_J,2.5252084e-06
$SEABIRD_C_G,-10.125161
$SEABIRD_C_H,1.1539913
$SEABIRD_C_I,-0.002350508
$SEABIRD_C_J,0.00024774979
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,160812,165436,2314.949,12145.859,24,1.8,24,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-70.5
$GPS2,160812,170203,2315.128,12145.824,17,2.1,36,-3.1
$SPEED_LIMITS,0.100,0.296
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,121.7,228163,-15.7,-10.000
$D_GRID,2754
$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,17,-0.57,-194.6,0.0,0.0,0,100,0.00,0.00,-80.28,0.000,2,0.000,0.000,102,2668,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.57,-194.6,3.8,-8.6,14,135,10.35,1.77,-13.20,0.000,4,0.428,0.122,2290,3723,3515,0,0,0,0,0,0,14.45,14.64,14.84
$GC,179,-0.51,-194.6,34.6,-32.0,25,184,0.15,1.67,0.00,0.000,6,0.291,0.050,2325,2647,3516,0,0,0,0,0,0,14.53,14.68,28.83
$GC,502,-0.51,-194.6,92.2,-12.8,44,507,0.00,1.60,0.00,0.000,4,0.000,0.059,2324,1614,3516,0,0,0,0,0,0,28.83,14.78,28.83
$GC,579,-0.52,-194.6,99.3,-11.5,47,585,0.00,1.73,0.00,0.000,6,0.000,0.095,2318,2654,3516,0,0,0,0,0,0,28.83,14.77,28.83
$GC,885,-0.53,-194.6,135.2,-10.8,63,890,0.00,1.80,0.00,0.000,4,0.000,0.106,2311,3719,3516,0,0,0,0,0,0,28.83,14.80,28.83
$GC,912,-0.54,-194.6,137.5,-10.4,64,917,0.00,1.65,0.00,0.000,6,0.000,0.056,2311,2662,3516,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1231,-0.56,-194.6,165.7,-9.3,80,1236,0.00,1.62,0.00,0.000,4,0.000,0.060,2310,1608,3516,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1329,-0.58,-194.6,172.7,-8.4,84,1336,0.00,1.75,0.00,0.000,6,0.000,0.098,2306,2662,3516,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1634,-0.60,-194.6,203.3,-10.0,100,1639,0.00,1.65,0.00,0.000,4,0.000,0.060,2306,1603,3516,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1681,-0.62,-194.6,207.9,-10.5,102,1686,0.00,1.75,0.00,0.000,6,0.000,0.099,2300,2654,3516,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1999,-0.63,-194.6,237.9,-9.1,118,2004,0.00,1.80,0.00,0.000,4,0.000,0.111,2293,3715,3516,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2053,-0.65,-194.6,242.2,-9.6,120,2058,0.00,1.65,0.00,0.000,6,0.000,0.056,2293,2656,3516,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2366,-0.67,-194.6,271.4,-8.7,136,2371,0.00,1.62,0.00,0.000,4,0.000,0.063,2293,1608,3516,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2418,-0.69,-194.6,275.1,-8.7,138,2424,0.00,1.75,0.00,0.000,6,0.000,0.101,2288,2662,3516,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2733,-0.71,-194.6,305.2,-9.9,154,2738,0.00,1.65,0.00,0.000,4,0.000,0.061,2288,1603,3516,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2765,-0.73,-194.6,307.5,-10.0,155,2770,0.00,1.75,0.00,0.000,6,0.000,0.103,2281,2654,3516,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3078,-0.75,-194.6,337.7,-9.2,171,3084,0.00,1.62,0.00,0.000,4,0.000,0.060,2281,1607,3514,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3162,-0.77,-194.6,345.3,-9.1,175,3169,0.12,1.75,0.00,0.000,6,0.140,0.103,2219,2654,3514,0,0,0,0,0,0,14.92,14.88,28.83
$GC,3487,-0.76,-194.6,390.6,-14.0,191,3492,0.00,1.80,0.00,0.000,4,0.000,0.112,2211,3715,3511,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3503,-0.75,-194.6,390.6,-14.0,191,3511,0.15,1.67,0.00,0.000,6,0.244,0.056,2249,2637,3511,0,0,0,0,0,0,14.84,14.96,28.83
$GC,3809,-0.75,-194.6,429.7,-11.5,207,3814,0.00,1.60,0.00,0.000,4,0.000,0.063,2249,1605,3509,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3887,-0.76,-194.6,436.5,-10.9,210,3893,0.00,1.73,0.00,0.000,6,0.000,0.103,2244,2643,3510,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4192,-0.76,-194.6,470.8,-10.4,226,4197,0.00,1.83,0.00,0.000,4,0.000,0.117,2236,3715,3505,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4224,-0.77,-194.6,473.3,-10.5,227,4229,0.00,1.67,0.00,0.000,6,0.000,0.059,2236,2638,3506,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4536,-0.77,-194.6,508.1,-10.8,243,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2640,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4837,-0.77,-194.6,541.0,-10.8,258,4842,0.00,1.60,0.00,0.000,4,0.000,0.067,2236,1614,3502,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4889,-0.78,-194.6,545.5,-10.8,260,4894,0.00,1.73,0.00,0.000,6,0.000,0.103,2229,2651,3504,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5201,-0.78,-194.6,581.7,-11.4,276,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2651,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5502,-0.78,-194.6,615.2,-11.1,289,5507,0.00,1.65,0.00,0.000,4,0.000,0.067,2229,1606,3497,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5538,-0.78,-194.6,618.8,-11.1,290,5543,0.00,1.75,0.00,0.000,6,0.000,0.107,2222,2648,3497,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5867,-0.78,-194.6,657.4,-12.2,301,5872,0.00,1.65,0.00,0.000,4,0.000,0.069,2222,1605,3495,0,0,0,0,0,0,28.83,14.94,28.83
$STATE,5897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5897,begin apogee
$GC,5904,-0.25,0.0,661.4,-12.2,302,6094,0.60,0.00,184.80,1.548,4,0.209,0.000,2402,2499,2719,0,0,0,0,0,0,14.84,28.83,13.50
$STATE,6095,end apogee,CONTROL_FINISHED_OK
$STATE,6096,begin climb
$GC,6097,0.57,194.6,671.3,0.0,308,6304,0.77,0.00,200.30,1.548,6,0.099,0.000,2674,2499,1924,0,0,0,0,0,0,14.12,28.83,13.49
$GC,6616,0.53,194.6,619.7,13.9,326,6621,0.00,1.85,0.00,0.000,4,0.000,0.112,2674,3560,1900,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6669,0.50,194.6,614.9,13.8,327,6675,0.12,1.73,0.00,0.000,6,0.323,0.067,2656,2508,1898,0,0,0,0,0,0,14.52,14.65,28.83
$GC,6993,0.47,194.6,573.0,11.7,342,6999,0.00,1.85,0.00,0.000,4,0.000,0.119,2656,3563,1896,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7037,0.44,194.6,567.4,12.3,344,7043,0.12,1.73,0.00,0.000,6,0.317,0.067,2636,2506,1895,0,0,0,0,0,0,14.64,14.78,28.83
$GC,7361,0.42,194.6,532.8,10.2,360,7366,0.00,1.88,0.00,0.000,4,0.000,0.118,2636,3579,1895,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7408,0.39,194.6,527.6,11.3,362,7414,0.00,1.77,0.00,0.000,6,0.000,0.063,2642,2506,1893,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7727,0.37,194.6,490.0,12.2,378,7733,0.12,1.70,0.00,0.000,4,0.298,0.071,2614,1444,1892,0,0,0,0,0,0,14.78,14.85,28.83
$GC,7760,0.36,194.6,487.4,11.9,379,7766,0.00,1.80,0.00,0.000,6,0.000,0.103,2614,2511,1892,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8075,0.36,212.5,456.3,9.4,395,8095,0.00,1.90,14.23,1.331,4,0.000,0.119,2614,3558,1847,0,0,0,0,0,0,28.83,14.69,14.21
$GC,8164,0.34,212.5,447.8,10.1,399,8169,0.00,1.70,0.00,0.000,6,0.000,0.066,2621,2506,1840,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8482,0.34,229.0,417.7,9.4,415,8507,0.00,1.85,19.35,1.274,4,0.000,0.118,2622,3554,1779,0,0,0,0,0,0,28.83,14.64,14.18
$GC,8571,0.33,229.0,408.9,10.6,419,8577,0.10,1.75,0.00,0.000,6,0.247,0.063,2589,2509,1770,0,0,0,0,0,0,14.58,14.69,28.83
$GC,8890,0.36,280.5,382.0,8.2,435,8950,0.00,1.95,54.03,1.245,4,0.000,0.117,2589,3553,1567,0,0,0,0,0,0,28.83,14.40,13.93
$GC,8994,0.40,333.5,373.5,8.2,440,9053,0.00,1.73,53.88,1.206,6,0.000,0.063,2592,2510,1357,0,0,0,0,0,0,28.83,14.51,13.76
$GC,9353,0.45,408.1,346.6,7.4,458,9434,0.12,1.77,72.32,1.187,4,0.147,0.073,2664,1456,1044,0,0,0,0,0,0,14.65,14.26,13.75
$GC,9500,0.45,408.1,327.3,14.1,465,9506,0.00,1.85,0.00,0.000,6,0.000,0.103,2664,2512,1035,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9819,0.44,408.1,277.7,15.2,481,9824,0.12,1.75,0.00,0.000,4,0.275,0.076,2631,1450,1034,0,0,0,0,0,0,14.57,14.66,28.83
$GC,9842,0.44,408.1,274.6,14.7,482,9848,0.00,1.83,0.00,0.000,6,0.000,0.101,2636,2512,1031,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10166,0.45,408.1,238.0,10.5,498,10171,0.00,1.83,0.00,0.000,4,0.000,0.116,2636,3564,1030,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10198,0.46,408.1,235.4,10.6,499,10203,0.00,1.70,0.00,0.000,6,0.000,0.063,2643,2509,1028,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10511,0.47,408.1,199.1,11.2,515,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2507,1028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10812,0.48,408.1,167.8,10.0,530,10817,0.00,1.70,0.00,0.000,4,0.000,0.070,2651,1442,1028,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10855,0.50,414.0,163.5,9.8,532,10860,0.00,1.83,0.00,0.000,6,0.000,0.097,2651,2516,1032,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11178,0.53,427.8,130.8,9.5,548,11202,0.00,1.85,17.75,0.921,4,0.000,0.111,2651,3554,968,0,0,0,0,0,0,28.83,14.65,14.31
$GC,11256,0.55,431.9,124.6,9.9,551,11263,0.00,1.67,0.00,0.000,6,0.000,0.058,2657,2507,962,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11561,0.59,482.2,95.9,8.3,567,11602,0.00,1.77,33.80,0.402,4,0.000,0.066,2663,1441,760,0,0,0,0,0,0,28.83,14.67,14.47
$GC,11670,0.66,566.1,88.1,7.1,572,11732,0.12,1.83,56.35,0.386,6,0.141,0.091,2726,2525,438,0,0,0,0,0,0,14.71,14.67,14.40
$GC,12041,0.67,566.1,38.0,11.6,595,12054,0.00,1.83,3.17,0.168,4,0.000,0.109,2726,3551,446,0,0,0,0,0,0,28.83,14.64,14.61
$GC,12071,0.69,566.1,34.9,11.1,597,12079,0.00,1.67,2.42,0.181,6,0.000,0.056,2732,2513,440,0,0,0,0,0,0,28.83,14.71,14.61
$GC,12379,0.76,662.5,9.4,6.7,648,12388,0.00,1.77,2.83,0.168,4,0.000,0.067,2733,1449,442,0,0,0,0,0,0,28.83,14.71,14.62
$GC,12442,0.85,771.5,5.3,6.2,659,12450,0.00,1.83,2.53,0.154,6,0.000,0.088,2732,2505,439,0,0,0,0,0,0,28.83,14.69,14.62
$STATE,12476,end climb,SURFACE_DEPTH_REACHED
$STATE,12476,begin surface coast
$FINISH,-0.0,1.021197
$STATE,12522,end surface coast,CONTROL_FINISHED_OK
$STATE,12522,begin surface
$SM_CCo,12598,0.00,0.000,0,0,454,555.60
$SM_GC,0.45,7.07,0.28,0.00,0.057,0.113,0.000,118,2668,454,-7.33,-0.62,555.60,0,0,0,0,0,0,14.74,14.73,28.83
$IRIDIUM_FIX,2305.10,12143.67,160812,131347
$TT8_MAMPS,0.02247,0.02247
$HUMID,47.75
$INTERNAL_PRESSURE,9.17658
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.5,20.505
$10V_AH,13.7,0.000
$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,20.075,104.750,717.750,0.000,0.000,23.987,15.157,190.453,0.000,0.000,38.362,2062.612,8095.737,739.073,1928.494,222.871,0.000,1698.083,0.000,1560.497,0.000,0.542,0.000
$DEVICE_MAMPS,428.400,121.635,1547.595,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12556.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.419,0.000,0.000,0.000
$MEM,323852
$DATA_FILE_SIZE,23490,674
$CAP_FILE_SIZE,163652,0
$CFSIZE,260165632,244752384
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.315,  7.0,1
$GPS,160812,203354,2316.483,12148.151,43,0.9,43,-3.1