version: 66.11
glider: 182
mission: 2
dive: 80
start: 8 21 112 11 56 13
data:
$ID,182
$MISSION,2
$DIVE,80
$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,-9
$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,-2378229.5
$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,38
$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,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
$GPS1,210812,114724,2341.865,12302.007,41,1.2,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-62.6
$GPS2,210812,115530,2341.891,12302.021,10,1.8,10,-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,82.9,90997,-13.4,-8.462
$D_GRID,3330
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-80.55,0.000,2,0.000,0.000,101,2665,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.50,-194.6,3.9,-9.9,14,136,10.25,1.75,-15.07,0.000,4,0.414,0.086,2321,1595,3516,0,0,0,0,0,0,14.41,14.62,14.81
$GC,174,-0.46,-194.6,25.0,-21.3,26,179,0.00,1.80,0.00,0.000,6,0.000,0.090,2315,2663,3517,0,0,0,0,0,0,28.83,14.61,28.83
$GC,487,-0.44,-194.6,89.4,-16.1,47,494,0.12,1.67,0.00,0.000,4,0.261,0.054,2351,1597,3516,0,0,0,0,0,0,14.64,14.74,28.83
$GC,541,-0.43,-194.6,95.2,-14.5,49,546,0.00,1.77,0.00,0.000,6,0.000,0.094,2349,2662,3517,0,0,0,0,0,0,28.83,14.73,28.83
$GC,854,-0.44,-194.6,129.5,-10.1,65,859,0.00,1.80,0.00,0.000,4,0.000,0.109,2341,3723,3517,0,0,0,0,0,0,28.83,14.77,28.83
$GC,880,-0.45,-194.6,131.7,-10.0,66,886,0.00,1.70,0.00,0.000,6,0.000,0.057,2341,2641,3517,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1199,-0.47,-194.6,157.9,-8.2,82,1204,0.00,1.60,0.00,0.000,4,0.000,0.058,2342,1605,3517,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1251,-0.49,-194.6,161.5,-8.3,84,1257,0.00,1.77,0.00,0.000,6,0.000,0.096,2340,2666,3517,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1566,-0.51,-194.6,187.1,-7.6,100,1571,0.00,1.70,0.00,0.000,4,0.000,0.060,2340,1607,3517,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1593,-0.53,-194.6,188.8,-7.3,101,1598,0.00,1.75,0.00,0.000,6,0.000,0.098,2339,2659,3517,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1911,-0.55,-194.6,209.0,-6.4,117,1917,0.00,1.67,0.00,0.000,4,0.000,0.060,2339,1612,3517,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1944,-0.58,-194.6,210.6,-6.6,118,1950,0.12,1.73,0.00,0.000,6,0.138,0.098,2270,2653,3517,0,0,0,0,0,0,14.88,14.84,28.83
$GC,2258,-0.56,-194.6,251.5,-13.6,134,2264,0.12,1.67,0.00,0.000,4,0.243,0.054,2308,1606,3517,0,0,0,0,0,0,14.77,14.85,28.83
$GC,2291,-0.54,-194.6,254.5,-13.3,135,2296,0.00,1.73,0.00,0.000,6,0.000,0.097,2304,2647,3517,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2604,-0.54,-194.6,286.7,-10.7,151,2609,0.00,1.85,0.00,0.000,4,0.000,0.111,2296,3713,3517,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2647,-0.55,-194.6,291.3,-10.9,153,2652,0.00,1.67,0.00,0.000,6,0.000,0.056,2296,2642,3517,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2970,-0.55,-194.6,326.7,-10.6,169,2975,0.00,1.60,0.00,0.000,4,0.000,0.060,2296,1603,3516,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3047,-0.56,-194.6,332.9,-10.1,172,3055,0.00,1.73,0.00,0.000,6,0.000,0.099,2295,2634,3514,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3353,-0.56,-194.6,364.6,-10.0,188,3359,0.00,1.83,0.00,0.000,4,0.000,0.109,2287,3714,3514,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3376,-0.56,-194.6,366.9,-10.0,189,3382,0.00,1.70,0.00,0.000,6,0.000,0.055,2287,2628,3514,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3699,-0.56,-194.6,398.9,-10.0,205,3704,0.00,1.58,0.00,0.000,4,0.000,0.063,2287,1610,3512,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3776,-0.56,-194.6,405.1,-9.7,208,3783,0.00,1.70,0.00,0.000,6,0.000,0.102,2281,2634,3512,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4082,-0.57,-194.6,437.4,-9.2,224,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2635,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4384,-0.58,-194.6,463.1,-9.1,239,4389,0.00,1.60,0.00,0.000,4,0.000,0.059,2281,1601,3508,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4451,-0.59,-194.6,468.8,-9.1,242,4456,0.00,1.73,0.00,0.000,6,0.000,0.100,2278,2640,3509,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4769,-0.60,-194.6,496.2,-8.6,258,4775,0.00,1.65,0.00,0.000,4,0.000,0.062,2278,1612,3507,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4834,-0.61,-194.6,501.5,-8.3,261,4840,0.00,1.70,0.00,0.000,6,0.000,0.101,2274,2629,3506,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5158,-0.62,-194.6,528.6,-8.4,277,5163,0.00,1.60,0.00,0.000,4,0.000,0.063,2274,1603,3504,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5221,-0.63,-194.6,533.6,-8.0,280,5226,0.00,1.73,0.00,0.000,6,0.000,0.103,2269,2630,3503,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5545,-0.63,-194.6,559.3,-7.8,296,5550,0.00,1.60,0.00,0.000,4,0.000,0.063,2269,1605,3501,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5603,-0.64,-194.6,562.7,-7.8,298,5609,0.00,1.70,0.00,0.000,6,0.000,0.105,2266,2624,3501,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5908,-0.65,-194.6,589.6,-8.5,314,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2624,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6229,-0.66,-194.6,615.9,-8.0,327,6234,0.00,1.60,0.00,0.000,4,0.000,0.065,2266,1604,3497,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6292,-0.67,-194.6,620.5,-7.5,329,6297,0.00,1.70,0.00,0.000,6,0.000,0.106,2262,2612,3497,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6627,-0.68,-194.6,647.4,-8.4,340,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2613,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6925,-0.68,-194.6,671.5,-7.8,350,6931,0.00,1.58,0.00,0.000,4,0.000,0.065,2262,1609,3493,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6993,-0.69,-194.6,676.4,-7.6,352,6998,0.00,1.67,0.00,0.000,6,0.000,0.106,2259,2610,3492,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7323,-0.70,-194.6,702.1,-7.9,363,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2610,3491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7621,-0.71,-194.6,726.0,-8.2,373,7627,0.00,1.90,0.00,0.000,4,0.000,0.117,2251,3716,3488,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7655,-0.72,-194.6,728.9,-8.3,374,7661,0.00,1.77,0.00,0.000,6,0.000,0.063,2251,2608,3488,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7990,-0.72,-194.6,759.0,-9.2,385,7996,0.00,1.58,0.00,0.000,4,0.000,0.072,2251,1611,3486,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8078,-0.73,-194.6,764.9,-9.1,387,8084,0.00,1.70,0.00,0.000,6,0.000,0.109,2246,2614,3486,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8384,-0.73,-194.6,796.1,-9.5,398,8390,0.00,1.60,0.00,0.000,4,0.000,0.070,2246,1604,3484,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8426,-0.73,-194.6,799.1,-9.4,399,8432,0.00,1.70,0.00,0.000,6,0.000,0.110,2242,2608,3484,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8751,-0.73,-194.6,827.7,-8.1,410,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2608,3482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9050,-0.73,-194.6,852.3,-8.3,420,9055,0.00,1.58,0.00,0.000,4,0.000,0.070,2242,1616,3480,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9138,-0.74,-194.6,857.3,-8.1,422,9145,0.00,1.67,0.00,0.000,6,0.000,0.109,2238,2606,3480,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9443,-0.74,-194.6,885.5,-8.7,433,9449,0.00,1.58,0.00,0.000,4,0.000,0.073,2238,1615,3479,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9470,-0.74,-194.6,885.5,-8.7,433,9477,0.00,1.67,0.00,0.000,6,0.000,0.109,2232,2606,3479,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9777,-0.74,-194.6,913.5,-8.1,444,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2606,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10077,-0.74,-194.6,938.2,-8.1,454,10082,0.00,1.58,0.00,0.000,4,0.000,0.073,2232,1615,3476,0,0,0,0,0,0,28.83,14.90,28.83
$GC,10119,-0.74,-194.6,940.8,-8.1,455,10124,0.00,1.67,0.00,0.000,6,0.000,0.111,2226,2600,3477,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10442,-0.74,-194.6,972.8,-10.0,466,10448,0.00,1.58,0.00,0.000,4,0.000,0.075,2226,1616,3474,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10475,-0.74,-194.6,976.4,-10.2,467,10481,0.12,1.67,0.00,0.000,6,0.259,0.113,2250,2595,3474,0,0,0,0,0,0,14.79,14.85,28.83
$STATE,10626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10626,begin apogee
$GC,10632,-0.25,0.0,990.1,-8.9,472,10913,0.47,0.00,270.38,1.534,4,0.180,0.000,2405,2515,2714,0,0,0,0,0,0,14.80,28.83,13.47
$STATE,10916,end apogee,CONTROL_FINISHED_OK
$STATE,10916,begin climb
$GC,10917,0.50,194.6,1009.0,0.0,481,11141,0.73,1.90,214.88,1.840,4,0.091,0.084,2656,1437,1924,0,0,0,0,0,0,14.10,14.09,13.21
$GC,11278,0.46,194.6,987.2,11.6,493,11283,0.00,1.90,0.00,0.000,6,0.000,0.104,2656,2499,1899,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11592,0.41,194.6,943.0,13.4,504,11598,0.12,1.75,0.00,0.000,4,0.313,0.073,2632,1443,1894,0,0,0,0,0,0,14.43,14.57,28.83
$GC,11747,0.38,194.6,925.7,10.9,509,11752,0.00,1.88,0.00,0.000,6,0.000,0.105,2632,2516,1893,0,0,0,0,0,0,28.83,14.61,28.83
$GC,12081,0.35,194.6,885.1,12.3,520,12086,0.00,1.83,0.00,0.000,4,0.000,0.117,2631,3559,1890,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12209,0.30,194.6,867.9,13.9,524,12214,0.20,1.70,0.00,0.000,6,0.296,0.070,2592,2523,1888,0,0,0,0,0,0,14.60,14.75,28.83
$GC,12539,0.29,194.6,835.7,9.1,535,12544,0.00,1.77,0.00,0.000,4,0.000,0.083,2598,1442,1887,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12581,0.27,194.6,832.4,9.2,536,12587,0.00,1.85,0.00,0.000,6,0.000,0.106,2601,2518,1887,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12905,0.25,194.6,801.3,9.3,547,12910,0.00,1.83,0.00,0.000,4,0.000,0.119,2598,3565,1887,0,0,0,0,0,0,28.83,14.77,28.83
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$STATE,21024,end climb,SURFACE_DEPTH_REACHED
$STATE,21025,begin surface coast
$FINISH,-0.3,1.021716
$STATE,21046,end surface coast,CONTROL_FINISHED_OK
$STATE,21046,begin surface
$SM_CCo,21124,0.00,0.000,0,0,429,561.74
$SM_GC,0.41,7.12,1.50,0.00,0.058,0.061,0.000,125,2655,429,-7.33,1.16,561.74,0,0,0,0,0,0,14.74,14.76,28.83
$IRIDIUM_FIX,2333.28,12218.53,210812,060614
$TT8_MAMPS,0.02247,0.02247
$HUMID,47.55
$INTERNAL_PRESSURE,9.17658
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.2,31.910
$10V_AH,13.4,0.000
$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,20.400,167.250,943.050,0.000,0.000,25.653,37.313,219.013,0.000,0.000,11.005,3121.519,14361.056,994.954,2818.912,326.230,0.000,2429.536,0.000,2397.244,0.000,0.542,0.000
$DEVICE_MAMPS,413.865,131.580,1839.825,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21090.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.960,0.000,0.000,0.000
$MEM,329852
$DATA_FILE_SIZE,36708,953
$CAP_FILE_SIZE,243910,0
$CFSIZE,260165632,242044928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171, 47.5,1
$GPS,210812,174936,2343.714,12306.852,37,1.4,37,-3.3