version: 66.11
glider: 182
mission: 2
dive: 78
start: 8 21 112 0 21 26
data:
$ID,182
$MISSION,2
$DIVE,78
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,390
$T_MISSION,420
$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,-2378226.5
$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,50
$R_STBD_OVSHOOT,35
$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,2
$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
$GPS1,210812,001236,2341.305,12254.341,36,0.9,36,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-67.7
$GPS2,210812,002100,2341.427,12254.281,10,0.9,16,-3.3
$SPEED_LIMITS,0.085,0.279
$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,103.7,104080,-13.4,-8.462
$D_GRID,2603
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.50,-194.6,0.0,0.0,0,90,0.00,0.00,-68.97,0.000,2,0.000,0.000,102,2678,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.50,-194.6,3.8,-8.5,12,124,10.10,1.67,-14.45,0.000,4,0.408,0.080,2320,1608,3515,0,0,0,0,0,0,14.42,14.66,14.83
$GC,193,-0.47,-194.6,32.3,-17.9,27,199,0.00,1.75,0.00,0.000,6,0.000,0.090,2314,2655,3514,0,0,0,0,0,0,28.83,14.62,28.83
$GC,506,-0.45,-194.6,84.7,-13.2,47,511,0.00,1.62,0.00,0.000,4,0.000,0.054,2314,1608,3515,0,0,0,0,0,0,28.83,14.78,28.83
$GC,569,-0.44,-194.6,92.8,-13.2,50,575,0.15,1.75,0.00,0.000,6,0.226,0.093,2346,2656,3515,0,0,0,0,0,0,14.70,14.76,28.83
$GC,893,-0.45,-194.6,124.1,-9.5,66,898,0.00,1.80,0.00,0.000,4,0.000,0.106,2336,3722,3516,0,0,0,0,0,0,28.83,14.76,28.83
$GC,937,-0.47,-194.6,127.7,-8.6,68,942,0.00,1.67,0.00,0.000,6,0.000,0.056,2341,2657,3515,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1260,-0.49,-194.6,152.4,-8.7,84,1266,0.00,1.62,0.00,0.000,4,0.000,0.058,2341,1604,3516,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1404,-0.52,-194.6,165.3,-8.7,91,1410,0.00,1.77,0.00,0.000,6,0.000,0.096,2339,2651,3515,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1728,-0.54,-194.6,194.9,-9.1,107,1733,0.00,1.62,0.00,0.000,4,0.000,0.057,2339,1607,3516,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1774,-0.56,-194.6,198.8,-9.1,109,1780,0.00,1.73,0.00,0.000,6,0.000,0.096,2339,2651,3516,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2093,-0.59,-194.6,227.1,-8.0,125,2099,0.12,1.83,0.00,0.000,4,0.138,0.106,2261,3723,3516,0,0,0,0,0,0,14.90,14.83,28.83
$GC,2117,-0.61,-194.6,229.5,-8.5,126,2122,0.12,1.70,0.00,0.000,6,0.233,0.055,2293,2635,3515,0,0,0,0,0,0,14.78,14.90,28.83
$GC,2440,-0.61,-194.6,266.4,-11.1,142,2446,0.00,1.62,0.00,0.000,4,0.000,0.060,2294,1609,3516,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2507,-0.61,-194.6,273.1,-10.8,145,2512,0.00,1.70,0.00,0.000,6,0.000,0.097,2294,2642,3515,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2824,-0.61,-194.6,309.7,-11.0,161,2830,0.00,1.60,0.00,0.000,4,0.000,0.060,2293,1609,3516,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2871,-0.61,-194.6,313.8,-10.0,163,2876,0.00,1.73,0.00,0.000,6,0.000,0.098,2290,2652,3515,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3188,-0.61,-194.6,342.3,-9.3,179,3194,0.00,1.65,0.00,0.000,4,0.000,0.060,2290,1615,3514,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3220,-0.61,-194.6,344.4,-9.4,180,3226,0.00,1.67,0.00,0.000,6,0.000,0.096,2284,2635,3514,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3533,-0.61,-194.6,376.6,-10.7,196,3538,0.00,1.83,0.00,0.000,4,0.000,0.107,2276,3715,3513,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3590,-0.61,-194.6,381.0,-10.6,198,3597,0.00,1.67,0.00,0.000,6,0.000,0.055,2276,2637,3512,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3896,-0.61,-194.6,414.6,-10.1,214,3901,0.00,1.60,0.00,0.000,4,0.000,0.062,2276,1603,3511,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3967,-0.61,-194.6,420.6,-9.7,217,3972,0.00,1.73,0.00,0.000,6,0.000,0.098,2270,2645,3511,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4280,-0.61,-194.6,453.0,-9.9,233,4286,0.00,1.85,0.00,0.000,4,0.000,0.112,2262,3725,3509,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4303,-0.61,-194.6,455.2,-9.7,234,4309,0.12,1.70,0.00,0.000,6,0.226,0.060,2296,2643,3509,0,0,0,0,0,0,14.88,14.97,28.83
$GC,4627,-0.63,-194.6,478.0,-6.8,250,4633,0.00,1.60,0.00,0.000,4,0.000,0.063,2296,1611,3512,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4746,-0.65,-194.6,485.5,-7.2,255,4752,0.00,1.70,0.00,0.000,6,0.000,0.101,2296,2638,3506,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5051,-0.67,-194.6,509.1,-7.3,271,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2638,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5353,-0.70,-194.6,528.7,-6.2,286,5358,0.00,1.60,0.00,0.000,4,0.000,0.064,2296,1613,3502,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5380,-0.72,-194.6,530.1,-6.0,287,5386,0.12,1.73,0.00,0.000,6,0.138,0.102,2236,2653,3502,0,0,0,0,0,0,14.94,14.90,28.83
$GC,5698,-0.71,-194.6,563.7,-10.6,303,5704,0.00,1.62,0.00,0.000,4,0.000,0.063,2236,1611,3500,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5731,-0.71,-194.6,566.4,-10.9,304,5737,0.12,1.70,0.00,0.000,6,0.242,0.101,2262,2636,3500,0,0,0,0,0,0,14.84,14.91,28.83
$GC,6044,-0.71,-194.6,598.4,-9.8,320,6049,0.00,1.60,0.00,0.000,4,0.000,0.063,2262,1612,3498,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6067,-0.72,-194.6,600.5,-9.6,321,6072,0.00,1.70,0.00,0.000,6,0.000,0.103,2259,2632,3498,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6382,-0.73,-194.6,627.3,-8.1,332,6387,0.00,1.60,0.00,0.000,4,0.000,0.063,2259,1607,3496,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6424,-0.74,-194.6,629.9,-7.8,333,6430,0.00,1.75,0.00,0.000,6,0.000,0.104,2253,2628,3496,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6750,-0.74,-194.6,656.5,-8.1,344,6755,0.00,1.65,0.00,0.000,4,0.000,0.066,2253,1608,3494,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6817,-0.75,-194.6,661.9,-8.2,346,6822,0.00,1.70,0.00,0.000,6,0.000,0.105,2248,2626,3493,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7146,-0.75,-194.6,689.4,-8.2,357,7151,0.00,1.60,0.00,0.000,4,0.000,0.066,2248,1609,3492,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7203,-0.75,-194.6,692.1,-8.1,358,7211,0.00,1.70,0.00,0.000,6,0.000,0.106,2245,2619,3492,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7508,-0.75,-194.6,719.5,-8.7,369,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2621,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7809,-0.75,-194.6,746.5,-9.1,379,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2621,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8108,-0.75,-194.6,773.7,-8.7,389,8113,0.00,1.60,0.00,0.000,4,0.000,0.070,2244,1611,3485,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8165,-0.75,-194.6,776.5,-8.6,390,8171,0.00,1.70,0.00,0.000,6,0.000,0.108,2239,2622,3485,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8472,-0.75,-194.6,805.9,-9.1,401,8477,0.00,1.60,0.00,0.000,4,0.000,0.070,2239,1612,3483,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8548,-0.75,-194.6,811.7,-9.2,403,8554,0.00,1.70,0.00,0.000,6,0.000,0.109,2234,2619,3483,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8867,-0.75,-194.6,843.9,-9.5,414,8872,0.00,1.60,0.00,0.000,4,0.000,0.070,2233,1612,3480,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8899,-0.75,-194.6,847.1,-9.5,415,8904,0.00,1.70,0.00,0.000,6,0.000,0.109,2227,2612,3480,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9233,-0.75,-194.6,878.8,-9.2,426,9238,0.00,1.92,0.00,0.000,4,0.000,0.122,2219,3725,3479,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9260,-0.75,-194.6,878.8,-9.2,426,9267,0.00,1.77,0.00,0.000,6,0.000,0.068,2218,2617,3479,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9567,-0.75,-194.6,909.9,-9.1,437,9573,0.12,1.60,0.00,0.000,4,0.264,0.068,2256,1610,3478,0,0,0,0,0,0,14.80,14.90,28.83
$GC,9683,-0.75,-194.6,915.9,-6.8,440,9688,0.00,1.70,0.00,0.000,6,0.000,0.113,2252,2607,3477,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9998,-0.77,-194.6,934.8,-5.4,451,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2608,3476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10296,-0.78,-194.6,951.3,-5.8,461,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2608,3474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10597,-0.79,-194.6,970.8,-6.9,471,10598,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2608,3473,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10863,begin apogee
$GC,10869,-0.25,0.0,991.4,-8.0,480,11069,0.47,0.00,193.27,1.842,4,0.177,0.000,2407,2512,2715,0,0,0,0,0,0,14.81,28.83,13.35
$STATE,11070,end apogee,CONTROL_FINISHED_OK
$STATE,11071,begin climb
$GC,11072,0.50,194.6,1001.8,0.0,486,11295,0.73,1.92,214.00,1.862,4,0.096,0.084,2655,1423,1924,0,0,0,0,0,0,14.07,14.07,13.17
$GC,11457,0.46,194.6,974.5,12.4,499,11463,0.00,1.92,0.00,0.000,6,0.000,0.107,2656,2505,1901,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11772,0.41,194.6,927.0,15.3,510,11778,0.12,1.77,0.00,0.000,4,0.308,0.076,2631,1442,1896,0,0,0,0,0,0,14.46,14.59,28.83
$GC,12005,0.39,194.6,898.3,13.1,517,12010,0.00,1.85,0.00,0.000,6,0.000,0.107,2631,2507,1895,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12320,0.35,194.6,853.4,13.5,528,12325,0.00,1.85,0.00,0.000,4,0.000,0.120,2631,3561,1893,0,0,0,0,0,0,28.83,14.70,28.83
$GC,12387,0.31,194.6,844.1,13.8,530,12393,0.17,1.73,0.00,0.000,6,0.301,0.070,2599,2509,1891,0,0,0,0,0,0,14.59,14.77,28.83
$GC,12716,0.29,194.6,810.8,8.7,541,12721,0.00,1.85,0.00,0.000,4,0.000,0.123,2599,3556,1890,0,0,0,0,0,0,28.83,14.75,28.83
$GC,12768,0.27,194.6,807.7,8.8,542,12773,0.00,1.70,0.00,0.000,6,0.000,0.069,2604,2515,1887,0,0,0,0,0,0,28.83,14.80,28.83
$GC,13082,0.25,194.6,775.4,10.0,553,13088,0.12,1.75,0.00,0.000,4,0.291,0.080,2576,1446,1890,0,0,0,0,0,0,14.70,14.81,28.83
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$STATE,20442,end climb,SURFACE_DEPTH_REACHED
$STATE,20442,begin surface coast
$FINISH,0.2,1.021647
$STATE,20463,end surface coast,CONTROL_FINISHED_OK
$STATE,20463,begin surface
$SM_CCo,20540,0.00,0.000,0,0,418,564.44
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$IRIDIUM_FIX,2333.28,12245.95,200812,181848
$TT8_MAMPS,0.021721,0.021721
$HUMID,47.36
$INTERNAL_PRESSURE,9.16681
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.2,30.848
$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
$DEVICE_SECS,20.600,159.600,906.125,0.000,0.000,23.071,15.616,243.962,0.000,0.000,16.892,3114.983,13846.176,962.171,2803.198,310.455,0.000,2356.252,0.000,2373.860,0.000,0.541,0.000
$DEVICE_MAMPS,407.745,123.930,1862.010,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20521.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.021,0.000,0.000,0.000
$MEM,323824
$DATA_FILE_SIZE,33410,922
$CAP_FILE_SIZE,235855,0
$CFSIZE,260165632,242282496
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127, 48.2,1
$GPS,210812,060506,2341.952,12258.467,36,0.8,36,-3.3