version: 66.11
glider: 182
mission: 2
dive: 81
start: 8 21 112 17 57 58
data:
$ID,182
$MISSION,2
$DIVE,81
$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,420
$T_MISSION,450
$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,-2378231
$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,41
$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,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
$GPS1,210812,174936,2343.714,12306.852,37,1.4,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-56.1
$GPS2,210812,175731,2343.703,12306.897,13,1.5,13,-3.3
$SPEED_LIMITS,0.079,0.271
$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,105.9,82319,-12.5,-7.857
$D_GRID,4099
$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,16,begin dive
$GC,18,-0.47,-194.6,0.0,0.0,0,102,0.00,0.00,-81.50,0.000,2,0.000,0.000,102,2653,2632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.47,-194.6,3.1,-6.3,14,137,10.27,1.73,-16.08,0.000,4,0.413,0.091,2330,1603,3514,0,0,0,0,0,0,14.41,14.64,14.81
$GC,186,-0.43,-194.6,27.1,-21.8,28,191,0.00,1.80,0.00,0.000,6,0.000,0.093,2324,2668,3515,0,0,0,0,0,0,28.83,14.64,28.83
$GC,509,-0.40,-194.6,92.9,-19.1,49,515,0.12,1.67,0.00,0.000,4,0.262,0.054,2360,1601,3515,0,0,0,0,0,0,14.66,14.77,28.83
$GC,647,-0.42,-194.6,102.9,-6.4,55,654,0.00,1.75,0.00,0.000,6,0.000,0.093,2357,2655,3515,0,0,0,0,0,0,28.83,14.74,28.83
$GC,953,-0.43,-194.6,130.4,-9.3,71,959,0.00,1.80,0.00,0.000,4,0.000,0.104,2350,3723,3516,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1000,-0.45,-194.6,134.4,-9.2,73,1005,0.00,1.70,0.00,0.000,6,0.000,0.056,2350,2637,3516,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1318,-0.47,-194.6,157.1,-5.5,89,1324,0.00,1.62,0.00,0.000,4,0.000,0.060,2350,1613,3515,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1382,-0.49,-194.6,160.4,-5.2,92,1388,0.00,1.73,0.00,0.000,6,0.000,0.093,2350,2652,3515,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1706,-0.51,-194.6,183.2,-7.8,108,1711,0.00,1.80,0.00,0.000,4,0.000,0.108,2349,3714,3516,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1753,-0.54,-194.6,186.4,-7.7,110,1759,0.10,1.65,0.00,0.000,6,0.168,0.056,2287,2656,3515,0,0,0,0,0,0,14.82,14.85,28.83
$GC,2072,-0.52,-194.6,226.3,-12.7,126,2078,0.12,1.67,0.00,0.000,4,0.243,0.058,2325,1607,3515,0,0,0,0,0,0,14.78,14.87,28.83
$GC,2119,-0.52,-194.6,230.9,-11.7,128,2125,0.00,1.77,0.00,0.000,6,0.000,0.096,2323,2651,3516,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2437,-0.53,-194.6,259.0,-9.1,144,2443,0.00,1.80,0.00,0.000,4,0.000,0.109,2316,3715,3518,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2481,-0.54,-194.6,263.2,-9.4,146,2487,0.00,1.67,0.00,0.000,6,0.000,0.056,2316,2643,3516,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2805,-0.55,-194.6,293.5,-8.8,162,2810,0.00,1.60,0.00,0.000,4,0.000,0.061,2316,1609,3515,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2872,-0.56,-194.6,298.6,-8.2,165,2879,0.00,1.75,0.00,0.000,6,0.000,0.097,2314,2639,3515,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3191,-0.57,-194.6,325.7,-8.4,181,3196,0.00,1.83,0.00,0.000,4,0.000,0.111,2307,3714,3515,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3234,-0.58,-194.6,329.5,-8.7,183,3239,0.00,1.67,0.00,0.000,6,0.000,0.057,2307,2645,3514,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3558,-0.59,-194.6,357.0,-8.6,199,3563,0.00,1.60,0.00,0.000,4,0.000,0.061,2306,1611,3513,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3650,-0.60,-194.6,364.0,-8.5,203,3655,0.00,1.73,0.00,0.000,6,0.000,0.099,2302,2652,3513,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3963,-0.61,-194.6,387.4,-6.1,219,3969,0.00,1.62,0.00,0.000,4,0.000,0.060,2301,1607,3512,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4007,-0.62,-194.6,389.7,-5.6,221,4014,0.00,1.73,0.00,0.000,6,0.000,0.099,2300,2643,3512,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4332,-0.63,-194.6,411.9,-8.0,237,4337,0.00,1.83,0.00,0.000,4,0.000,0.112,2295,3716,3510,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4365,-0.64,-194.6,413.9,-8.1,238,4370,0.00,1.73,0.00,0.000,6,0.000,0.058,2295,2644,3509,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4678,-0.65,-194.6,441.6,-8.3,254,4683,0.00,1.60,0.00,0.000,4,0.000,0.062,2295,1606,3508,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4705,-0.67,-194.6,443.4,-8.4,255,4710,0.00,1.70,0.00,0.000,6,0.000,0.100,2295,2635,3509,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5024,-0.68,-194.6,467.4,-6.7,271,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2635,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5325,-0.69,-194.6,488.7,-7.5,286,5330,0.00,1.60,0.00,0.000,4,0.000,0.060,2295,1605,3508,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5409,-0.71,-194.6,495.3,-7.8,290,5415,0.10,1.73,0.00,0.000,6,0.161,0.101,2241,2638,3504,0,0,0,0,0,0,14.93,14.90,28.83
$GC,5733,-0.70,-194.6,531.0,-11.5,306,5738,0.00,1.83,0.00,0.000,4,0.000,0.110,2233,3714,3502,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5756,-0.68,-194.6,533.7,-11.5,307,5762,0.12,1.73,0.00,0.000,6,0.233,0.055,2266,2614,3501,0,0,0,0,0,0,14.86,14.97,28.83
$GC,6080,-0.68,-194.6,563.9,-8.8,323,6085,0.00,1.58,0.00,0.000,4,0.000,0.064,2266,1601,3500,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6222,-0.69,-194.6,576.5,-8.8,330,6227,0.00,1.73,0.00,0.000,6,0.000,0.103,2262,2629,3499,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6545,-0.69,-194.6,606.2,-9.1,345,6551,0.00,1.60,0.00,0.000,4,0.000,0.064,2261,1606,3497,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6597,-0.69,-194.6,609.1,-9.0,346,6602,0.00,1.70,0.00,0.000,6,0.000,0.104,2256,2624,3497,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6910,-0.69,-194.6,640.8,-9.6,357,6915,0.00,1.60,0.00,0.000,4,0.000,0.066,2256,1604,3495,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6943,-0.69,-194.6,643.9,-9.5,358,6949,0.00,1.70,0.00,0.000,6,0.000,0.106,2251,2612,3495,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7277,-0.69,-194.6,674.3,-8.8,369,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2613,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7577,-0.69,-194.6,698.9,-8.1,379,7582,0.00,1.58,0.00,0.000,4,0.000,0.065,2251,1612,3491,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7614,-0.69,-194.6,701.7,-8.3,380,7619,0.00,1.67,0.00,0.000,6,0.000,0.106,2245,2613,3491,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7943,-0.69,-194.6,731.1,-8.9,391,7949,0.00,1.90,0.00,0.000,4,0.000,0.119,2237,3715,3489,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8031,-0.69,-194.6,737.5,-9.5,393,8037,0.00,1.75,0.00,0.000,6,0.000,0.063,2237,2614,3488,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8338,-0.68,-194.6,770.7,-9.9,404,8340,0.12,0.00,0.00,0.000,6,0.252,0.000,2269,2613,3487,0,0,0,0,0,0,14.84,28.83,28.83
$GC,8638,-0.70,-194.6,792.1,-7.0,414,8643,0.00,1.60,0.00,0.000,4,0.000,0.070,2269,1603,3485,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8720,-0.71,-194.6,796.7,-7.0,416,8726,0.00,1.75,0.00,0.000,6,0.000,0.109,2269,2609,3485,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9036,-0.72,-194.6,820.1,-7.0,427,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2610,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9334,-0.73,-194.6,840.1,-6.5,437,9340,0.00,1.60,0.00,0.000,4,0.000,0.070,2269,1605,3481,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9412,-0.75,-194.6,844.6,-6.7,439,9417,0.00,1.73,0.00,0.000,6,0.000,0.110,2267,2622,3480,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9732,-0.76,-194.6,867.3,-6.9,450,9737,0.00,1.62,0.00,0.000,4,0.000,0.073,2264,1606,3479,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9766,-0.77,-194.6,869.7,-6.8,451,9771,0.00,1.73,0.00,0.000,6,0.000,0.111,2265,2616,3479,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10100,-0.79,-194.6,891.5,-6.6,462,10105,0.00,1.92,0.00,0.000,4,0.000,0.126,2258,3716,3480,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10134,-0.80,-194.6,893.8,-6.7,463,10140,0.00,1.80,0.00,0.000,6,0.000,0.069,2258,2609,3478,0,0,0,0,0,0,28.83,14.92,28.83
$GC,10469,-0.81,-194.6,916.2,-6.4,474,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2608,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10769,-0.82,-194.6,934.6,-6.2,484,10774,0.00,1.60,0.00,0.000,4,0.000,0.076,2258,1611,3476,0,0,0,0,0,0,28.83,14.89,28.83
$GC,10832,-0.83,-194.6,938.8,-6.4,486,10837,0.00,1.70,0.00,0.000,6,0.000,0.114,2254,2603,3476,0,0,0,0,0,0,28.83,14.85,28.83
$GC,11167,-0.84,-194.6,961.8,-7.2,497,11173,0.10,1.60,0.00,0.000,4,0.168,0.073,2209,1610,3471,0,0,0,0,0,0,14.89,14.88,28.83
$GC,11225,-0.84,-194.6,965.0,-7.7,498,11231,0.00,1.67,0.00,0.000,6,0.000,0.113,2202,2595,3473,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,11439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11439,begin apogee
$GC,11444,-0.25,0.0,991.2,-11.1,506,11651,0.65,0.00,195.35,1.855,4,0.201,0.000,2404,2504,2709,0,0,0,0,0,0,14.77,28.83,13.34
$STATE,11652,end apogee,CONTROL_FINISHED_OK
$STATE,11652,begin climb
$GC,11654,0.47,194.6,1002.3,0.0,513,11875,0.65,1.90,211.38,1.804,4,0.086,0.075,2649,1434,1922,0,0,0,0,0,0,14.09,14.08,13.24
$GC,12068,0.43,194.6,970.7,12.5,526,12075,0.00,1.88,0.00,0.000,6,0.000,0.104,2649,2499,1899,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12374,0.38,194.6,926.6,13.3,537,12380,0.12,1.77,0.00,0.000,4,0.306,0.071,2624,1440,1894,0,0,0,0,0,0,14.47,14.60,28.83
$GC,12528,0.35,194.6,909.2,10.9,542,12533,0.00,1.88,0.00,0.000,6,0.000,0.104,2623,2516,1892,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12863,0.32,194.6,872.1,11.1,553,12869,0.12,1.83,0.00,0.000,4,0.300,0.113,2592,3557,1891,0,0,0,0,0,0,14.60,14.70,28.83
$GC,12967,0.29,194.6,861.3,11.2,556,12972,0.00,1.73,0.00,0.000,6,0.000,0.068,2597,2509,1889,0,0,0,0,0,0,28.83,14.76,28.83
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$STATE,22013,end climb,SURFACE_DEPTH_REACHED
$STATE,22013,begin surface coast
$FINISH,-0.3,1.017360
$STATE,22034,end surface coast,CONTROL_FINISHED_OK
$STATE,22034,begin surface
$SM_CCo,22112,0.00,0.000,0,0,628,512.92
$SM_GC,0.41,7.28,2.10,0.00,0.066,0.088,0.000,121,2662,628,-7.33,-0.68,512.92,0,0,0,0,0,0,14.73,14.71,28.83
$IRIDIUM_FIX,2333.28,12257.68,210812,111132
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.85
$INTERNAL_PRESSURE,9.20588
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,13.2,32.430
$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,21.175,167.700,803.000,0.000,0.000,23.127,18.913,225.008,0.000,0.000,14.433,3371.433,15041.605,927.416,2900.042,341.080,0.000,2358.385,0.000,2478.031,0.000,0.542,0.000
$DEVICE_MAMPS,413.100,126.225,1855.125,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22065.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.409,0.000,0.000,0.000
$MEM,329592
$DATA_FILE_SIZE,36632,1003
$CAP_FILE_SIZE,254059,0
$CFSIZE,260165632,241913856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,  9.3,1
$GPS,220812,000754,2343.781,12311.427,40,1.4,40,-3.3