version: 66.11
glider: 182
mission: 2
dive: 76
start: 8 20 112 13 2 45
data:
$ID,182
$MISSION,2
$DIVE,76
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1030
$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,330
$T_MISSION,360
$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,-2378223.5
$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,52
$R_STBD_OVSHOOT,27
$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,900
$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
$GPS1,200812,125206,2339.758,12246.003,43,0.9,43,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-67.1
$GPS2,200812,130218,2339.812,12245.997,10,1.1,21,-3.3
$SPEED_LIMITS,0.096,0.292
$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,105.6,118409,-15.1,-9.596
$D_GRID,3079
$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,-0.55,-194.6,0.0,0.0,0,101,0.00,0.00,-81.50,0.000,2,0.000,0.000,102,2676,2690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.55,-194.6,3.7,-7.6,14,135,10.00,0.00,-14.55,0.000,6,0.407,0.000,2303,2676,3514,0,0,0,0,0,0,14.45,28.83,14.85
$GC,454,-0.53,-194.6,80.4,-15.9,46,459,0.00,1.65,0.00,0.000,4,0.000,0.055,2303,1612,3514,0,0,0,0,0,0,28.83,14.78,28.83
$GC,620,-0.53,-194.6,104.0,-13.8,54,625,0.00,1.73,0.00,0.000,6,0.000,0.090,2297,2656,3515,0,0,0,0,0,0,28.83,14.78,28.83
$GC,938,-0.52,-194.6,145.5,-12.3,70,943,0.00,1.62,0.00,0.000,4,0.000,0.054,2297,1606,3515,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1029,-0.52,-194.6,155.7,-12.3,74,1035,0.00,1.75,0.00,0.000,6,0.000,0.094,2293,2663,3515,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1342,-0.52,-194.6,195.0,-12.2,90,1348,0.00,1.62,0.00,0.000,4,0.000,0.057,2293,1612,3515,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1374,-0.52,-194.6,197.8,-12.0,91,1380,0.12,1.70,0.00,0.000,6,0.236,0.094,2318,2642,3515,0,0,0,0,0,0,14.80,14.82,28.83
$GC,1688,-0.54,-194.6,224.4,-7.7,107,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2643,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1989,-0.57,-194.6,249.4,-8.5,122,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2643,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-0.59,-194.6,275.6,-8.8,137,2295,0.00,1.60,0.00,0.000,4,0.000,0.059,2318,1609,3515,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2356,-0.62,-194.6,281.3,-8.7,140,2362,0.00,1.75,0.00,0.000,6,0.000,0.097,2317,2642,3515,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2675,-0.64,-194.6,308.8,-8.1,156,2681,0.12,1.83,0.00,0.000,4,0.134,0.108,2240,3722,3514,0,0,0,0,0,0,14.95,14.90,28.83
$GC,2699,-0.66,-194.6,311.4,-8.6,157,2706,0.12,1.70,0.00,0.000,6,0.239,0.056,2272,2630,3515,0,0,0,0,0,0,14.85,14.96,28.83
$GC,3024,-0.66,-194.6,349.9,-11.8,173,3029,0.00,1.58,0.00,0.000,4,0.000,0.060,2272,1608,3512,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3142,-0.67,-194.6,361.2,-10.7,178,3148,0.00,1.70,0.00,0.000,6,0.000,0.098,2267,2638,3512,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3446,-0.67,-194.6,397.2,-11.9,194,3451,0.00,1.60,0.00,0.000,4,0.000,0.060,2268,1604,3511,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3524,-0.68,-194.6,403.9,-11.0,197,3530,0.00,1.70,0.00,0.000,6,0.000,0.097,2260,2636,3511,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3829,-0.68,-194.6,442.3,-11.1,213,3834,0.00,1.83,0.00,0.000,4,0.000,0.107,2252,3724,3509,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3872,-0.68,-194.6,447.3,-11.3,215,3877,0.00,1.70,0.00,0.000,6,0.000,0.055,2252,2629,3508,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4195,-0.68,-194.6,479.7,-9.3,231,4200,0.00,1.58,0.00,0.000,4,0.000,0.061,2252,1613,3506,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4279,-0.69,-194.6,486.9,-8.6,235,4285,0.00,1.70,0.00,0.000,6,0.000,0.098,2245,2636,3503,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4602,-0.69,-194.6,518.5,-9.9,251,4607,0.00,1.60,0.00,0.000,4,0.000,0.060,2245,1604,3504,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4676,-0.69,-194.6,524.8,-10.1,254,4681,0.00,1.70,0.00,0.000,6,0.000,0.101,2239,2630,3503,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4988,-0.69,-194.6,558.5,-10.8,270,4993,0.00,1.88,0.00,0.000,4,0.000,0.111,2230,3723,3500,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5011,-0.69,-194.6,561.0,-11.0,271,5017,0.12,1.73,0.00,0.000,6,0.235,0.059,2263,2625,3501,0,0,0,0,0,0,14.87,14.97,28.83
$GC,5335,-0.71,-194.6,590.8,-9.5,287,5341,0.00,1.58,0.00,0.000,4,0.000,0.065,2263,1612,3499,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5483,-0.73,-194.6,602.2,-9.1,293,5489,0.00,1.67,0.00,0.000,6,0.000,0.103,2258,2617,3498,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5791,-0.75,-194.6,629.6,-7.7,304,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2617,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6089,-0.76,-194.6,649.0,-6.2,314,6094,0.00,1.58,0.00,0.000,4,0.000,0.065,2258,1611,3491,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6172,-0.78,-194.6,652.8,-6.1,316,6177,0.00,1.67,0.00,0.000,6,0.000,0.105,2252,2612,3491,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6486,-0.79,-194.6,675.4,-7.0,327,6491,0.00,1.90,0.00,0.000,4,0.000,0.117,2244,3722,3491,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6523,-0.81,-194.6,678.0,-7.2,328,6528,0.00,1.75,0.00,0.000,6,0.000,0.062,2244,2614,3490,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6853,-0.82,-194.6,704.5,-8.3,339,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2614,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7152,-0.83,-194.6,730.6,-8.8,349,7157,0.00,1.58,0.00,0.000,4,0.000,0.067,2244,1608,3486,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7224,-0.85,-194.6,736.3,-8.9,351,7229,0.00,1.70,0.00,0.000,6,0.000,0.106,2238,2620,3487,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7549,-0.85,-194.6,767.6,-9.4,362,7554,0.00,1.60,0.00,0.000,4,0.000,0.069,2238,1610,3484,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7583,-0.86,-194.6,770.8,-9.2,363,7588,0.00,1.70,0.00,0.000,6,0.000,0.108,2232,2612,3484,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7917,-0.87,-194.6,803.9,-10.7,374,7922,0.00,1.60,0.00,0.000,4,0.000,0.068,2231,1601,3481,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7969,-0.88,-194.6,807.6,-10.8,375,7974,0.00,1.70,0.00,0.000,6,0.000,0.110,2224,2608,3481,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8283,-0.88,-194.6,843.6,-11.6,386,8288,0.00,1.92,0.00,0.000,4,0.000,0.122,2216,3718,3479,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8340,-0.89,-194.6,847.0,-11.1,387,8347,0.00,1.77,0.00,0.000,6,0.000,0.064,2216,2604,3478,0,0,0,0,0,0,28.83,14.94,28.83
$GC,8647,-0.89,-194.6,877.2,-8.6,398,8652,0.00,1.58,0.00,0.000,4,0.000,0.073,2216,1611,3477,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8743,-0.89,-194.6,885.4,-8.7,401,8749,0.00,1.67,0.00,0.000,6,0.000,0.110,2210,2604,3477,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9071,-0.89,-194.6,920.1,-11.2,412,9076,0.00,1.58,0.00,0.000,4,0.000,0.073,2210,1612,3476,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9113,-0.89,-194.6,923.6,-11.3,413,9118,0.00,1.67,0.00,0.000,6,0.000,0.110,2202,2603,3476,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,9343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9343,begin apogee
$GC,9349,-0.25,0.0,950.6,-11.3,421,9549,0.65,0.00,192.57,1.797,4,0.206,0.000,2404,2510,2713,0,0,0,0,0,0,14.80,28.83,13.40
$STATE,9550,end apogee,CONTROL_FINISHED_OK
$STATE,9550,begin climb
$GC,9552,0.55,194.6,959.8,0.0,427,9775,0.80,1.98,211.70,1.795,4,0.109,0.121,2670,3555,1918,0,0,0,0,0,0,14.09,14.06,13.24
$GC,9873,0.48,194.6,928.2,17.6,438,9879,0.15,1.80,0.00,0.000,6,0.329,0.069,2647,2502,1902,0,0,0,0,0,0,14.16,14.29,28.83
$GC,10193,0.45,194.6,877.3,14.9,449,10198,0.00,1.77,0.00,0.000,4,0.000,0.078,2654,1439,1899,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10426,0.42,194.6,846.2,14.9,456,10431,0.00,1.85,0.00,0.000,6,0.000,0.102,2654,2514,1896,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10740,0.38,194.6,798.6,14.0,467,10746,0.12,1.83,0.00,0.000,4,0.311,0.112,2621,3559,1895,0,0,0,0,0,0,14.64,14.73,28.83
$GC,10798,0.34,194.6,794.1,13.3,468,10805,0.00,1.73,0.00,0.000,6,0.000,0.067,2627,2506,1893,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11105,0.32,194.6,755.1,12.2,479,11111,0.12,1.85,0.00,0.000,4,0.308,0.114,2594,3556,1893,0,0,0,0,0,0,14.69,14.77,28.83
$GC,11163,0.29,194.6,751.0,12.0,480,11169,0.00,1.73,0.00,0.000,6,0.000,0.066,2600,2510,1892,0,0,0,0,0,0,28.83,14.82,28.83
$GC,11471,0.28,194.6,716.7,10.3,491,11476,0.00,1.73,0.00,0.000,4,0.000,0.076,2607,1443,1892,0,0,0,0,0,0,28.83,14.83,28.83
$GC,11543,0.27,194.6,710.3,10.2,493,11548,0.00,1.83,0.00,0.000,6,0.000,0.104,2607,2514,1892,0,0,0,0,0,0,28.83,14.80,28.83
$GC,11868,0.25,194.6,676.9,9.9,504,11873,0.12,1.83,0.00,0.000,4,0.290,0.113,2574,3566,1891,0,0,0,0,0,0,14.72,14.80,28.83
$GC,11963,0.24,202.7,668.1,9.3,507,11968,0.00,1.73,0.00,0.000,6,0.000,0.066,2579,2508,1890,0,0,0,0,0,0,28.83,14.85,28.83
$GC,12296,0.27,274.2,643.0,7.2,518,12385,0.00,0.00,80.35,1.677,6,0.000,0.000,2579,2506,1603,0,0,0,0,1,0,28.83,28.83,13.38
$GC,12687,0.30,333.2,615.0,7.6,531,12764,0.00,1.83,64.90,2.011,4,0.000,0.076,2587,1446,1363,0,0,0,0,1,0,28.83,14.12,13.27
$GC,12795,0.34,385.7,607.8,7.9,534,12867,0.00,1.90,57.60,1.918,6,0.000,0.101,2586,2516,1151,0,0,0,0,1,0,28.83,14.22,13.20
$GC,13177,0.37,413.9,573.8,8.7,552,13217,0.00,0.00,37.55,1.437,6,0.000,0.000,2587,2515,1027,0,0,0,0,0,0,28.83,28.83,13.72
$GC,13517,0.41,453.1,545.8,8.3,569,13564,0.12,1.90,39.65,1.486,4,0.143,0.073,2655,1440,865,0,0,0,0,0,0,14.63,14.31,13.71
$GC,13575,0.43,453.1,541.4,9.6,571,13582,0.00,1.90,0.00,0.000,6,0.000,0.096,2655,2521,860,0,0,0,0,0,0,28.83,14.31,28.83
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$GC,17739,0.69,584.8,47.5,7.7,779,17770,0.00,1.77,23.02,0.266,6,0.000,0.089,2714,2502,442,0,0,0,0,0,0,28.83,14.72,14.54
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$STATE,18367,end climb,SURFACE_DEPTH_REACHED
$STATE,18367,begin surface coast
$FINISH,-0.3,1.021873
$STATE,18424,end surface coast,CONTROL_FINISHED_OK
$STATE,18424,begin surface
$SM_CCo,18501,0.00,0.000,0,0,456,555.11
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$TT8_MAMPS,0.02247,0.02247
$HUMID,45.74
$INTERNAL_PRESSURE,9.19611
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,13.2,29.814
$10V_AH,13.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18476.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.216,0.000,0.000,0.000
$MEM,323796
$DATA_FILE_SIZE,33344,887
$CAP_FILE_SIZE,214434,0
$CFSIZE,260165632,242544640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.180, 28.6,1
$GPS,200812,181229,2341.150,12249.894,41,1.1,41,-3.3