version: 66.11
glider: 182
mission: 2
dive: 83
start: 8 22 112 6 33 10
data:
$ID,182
$MISSION,2
$DIVE,83
$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,-2378234
$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,44
$R_STBD_OVSHOOT,33
$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
$GPS1,220812,062400,2344.080,12316.432,42,1.4,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-61.1
$GPS2,220812,063243,2344.149,12316.363,14,1.8,14,-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,122.2,66344,-12.5,-7.857
$D_GRID,4569
$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,-0.47,-194.6,0.0,0.0,0,96,0.00,0.00,-75.10,0.000,2,0.000,0.000,102,2677,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.47,-194.6,3.2,-6.2,13,130,10.23,1.77,-15.40,0.000,4,0.412,0.092,2328,1610,3515,0,0,0,0,0,0,14.45,14.63,14.83
$GC,238,-0.43,-194.6,37.8,-19.6,32,245,0.00,1.75,0.00,0.000,6,0.000,0.090,2322,2661,3516,0,0,0,0,0,0,28.83,14.65,28.83
$GC,554,-0.41,-194.6,100.8,-17.5,51,560,0.12,1.65,0.00,0.000,4,0.263,0.054,2358,1606,3516,0,0,0,0,0,0,14.70,14.77,28.83
$GC,591,-0.39,-194.6,104.7,-17.6,52,598,0.00,1.77,0.00,0.000,6,0.000,0.093,2356,2648,3516,0,0,0,0,0,0,28.83,14.77,28.83
$GC,898,-0.39,-194.6,137.0,-9.4,68,903,0.00,1.62,0.00,0.000,4,0.000,0.056,2355,1601,3517,0,0,0,0,0,0,28.83,14.81,28.83
$GC,929,-0.41,-194.6,139.1,-9.2,69,936,0.00,1.77,0.00,0.000,6,0.000,0.094,2354,2646,3517,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1244,-0.42,-194.6,165.3,-8.0,85,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2646,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1545,-0.44,-194.6,189.7,-7.6,100,1550,0.00,1.62,0.00,0.000,4,0.000,0.057,2354,1598,3517,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1584,-0.46,-194.6,191.5,-7.5,101,1591,0.00,1.75,0.00,0.000,6,0.000,0.094,2353,2655,3517,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1888,-0.49,-194.6,213.2,-6.4,117,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2655,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2190,-0.51,-194.6,231.7,-6.1,132,2195,0.00,1.62,0.00,0.000,4,0.000,0.056,2353,1604,3517,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2253,-0.54,-194.6,235.4,-5.9,135,2259,0.12,1.73,0.00,0.000,6,0.142,0.095,2282,2644,3516,0,0,0,0,0,0,14.87,14.85,28.83
$GC,2577,-0.52,-194.6,275.7,-13.2,151,2583,0.12,1.83,0.00,0.000,4,0.238,0.103,2312,3723,3517,0,0,0,0,0,0,14.80,14.87,28.83
$GC,2610,-0.51,-194.6,278.8,-13.1,152,2615,0.00,1.70,0.00,0.000,6,0.000,0.054,2312,2624,3517,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2922,-0.51,-194.6,311.1,-10.1,168,2929,0.00,1.60,0.00,0.000,4,0.000,0.059,2312,1613,3516,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2970,-0.52,-194.6,315.2,-10.0,170,2975,0.00,1.70,0.00,0.000,6,0.000,0.096,2311,2644,3516,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3288,-0.52,-194.6,344.1,-8.3,186,3293,0.00,1.65,0.00,0.000,4,0.000,0.060,2311,1612,3514,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3331,-0.53,-194.6,347.9,-8.5,188,3336,0.00,1.70,0.00,0.000,6,0.000,0.096,2310,2640,3514,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3654,-0.54,-194.6,378.2,-9.4,204,3659,0.00,1.83,0.00,0.000,4,0.000,0.109,2302,3717,3512,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3681,-0.55,-194.6,380.5,-9.6,205,3686,0.00,1.67,0.00,0.000,6,0.000,0.057,2302,2639,3512,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3999,-0.56,-194.6,411.0,-9.5,221,4005,0.00,1.62,0.00,0.000,4,0.000,0.060,2302,1613,3510,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4066,-0.57,-194.6,416.3,-8.6,224,4071,0.00,1.67,0.00,0.000,6,0.000,0.098,2301,2629,3510,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4384,-0.58,-194.6,442.4,-8.9,240,4390,0.00,1.58,0.00,0.000,4,0.000,0.060,2301,1609,3509,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4503,-0.60,-194.6,452.1,-9.4,245,4510,0.00,1.67,0.00,0.000,6,0.000,0.100,2298,2619,3508,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4808,-0.61,-194.6,477.9,-6.7,261,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2620,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5109,-0.62,-194.6,494.4,-6.1,276,5114,0.00,1.58,0.00,0.000,4,0.000,0.062,2297,1608,3504,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5141,-0.64,-194.6,496.1,-6.3,277,5147,0.00,1.67,0.00,0.000,6,0.000,0.100,2296,2618,3504,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5456,-0.65,-194.6,520.5,-7.7,293,5461,0.00,1.88,0.00,0.000,4,0.000,0.114,2295,3715,3502,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5502,-0.67,-194.6,524.1,-8.0,295,5507,0.00,1.73,0.00,0.000,6,0.000,0.060,2295,2620,3501,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5820,-0.68,-194.6,547.6,-7.6,311,5827,0.00,1.62,0.00,0.000,4,0.000,0.064,2295,1607,3500,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5869,-0.70,-194.6,551.3,-8.0,313,5874,0.00,1.67,0.00,0.000,6,0.000,0.102,2295,2617,3500,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6187,-0.72,-194.6,578.2,-8.5,329,6193,0.12,1.62,0.00,0.000,4,0.141,0.061,2227,1606,3498,0,0,0,0,0,0,14.95,14.94,28.83
$GC,6220,-0.73,-194.6,580.7,-8.9,330,6226,0.12,1.67,0.00,0.000,6,0.256,0.101,2251,2617,3498,0,0,0,0,0,0,14.85,14.91,28.83
$GC,6543,-0.73,-194.6,616.4,-10.2,344,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2617,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6843,-0.73,-194.6,645.8,-9.6,354,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2617,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7144,-0.73,-194.6,673.5,-9.0,364,7149,0.00,1.60,0.00,0.000,4,0.000,0.065,2251,1597,3493,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7226,-0.73,-194.6,679.3,-9.2,366,7231,0.00,1.70,0.00,0.000,6,0.000,0.105,2247,2611,3492,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7540,-0.73,-194.6,711.0,-9.3,377,7545,0.00,1.58,0.00,0.000,4,0.000,0.064,2247,1608,3490,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7652,-0.73,-194.6,719.1,-8.7,380,7657,0.00,1.65,0.00,0.000,6,0.000,0.106,2245,2592,3492,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7965,-0.73,-194.6,747.7,-8.7,391,7970,0.00,1.60,0.00,0.000,4,0.000,0.067,2244,1608,3487,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8023,-0.73,-194.6,750.6,-8.9,392,8030,0.00,1.65,0.00,0.000,6,0.000,0.106,2240,2588,3486,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8328,-0.73,-194.6,782.5,-10.2,403,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2588,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8628,-0.73,-194.6,814.0,-10.4,413,8633,0.00,1.95,0.00,0.000,4,0.000,0.116,2232,3722,3483,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8674,-0.73,-194.6,817.3,-10.2,414,8679,0.00,1.80,0.00,0.000,6,0.000,0.063,2232,2592,3482,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8994,-0.72,-194.6,852.1,-10.5,425,8999,0.00,1.55,0.00,0.000,4,0.000,0.070,2232,1612,3480,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9141,-0.72,-194.6,864.2,-9.7,429,9148,0.12,1.67,0.00,0.000,6,0.252,0.109,2257,2589,3480,0,0,0,0,0,0,14.81,14.87,28.83
$GC,9449,-0.73,-194.6,886.5,-6.1,440,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2589,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9748,-0.74,-194.6,905.2,-6.5,450,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2589,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10048,-0.74,-194.6,926.3,-7.5,460,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2590,3476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10348,-0.75,-194.6,948.3,-7.0,470,10353,0.00,1.60,0.00,0.000,4,0.000,0.073,2257,1615,3472,0,0,0,0,0,0,28.83,14.89,28.83
$GC,10447,-0.77,-194.6,954.3,-6.5,473,10452,0.00,1.62,0.00,0.000,6,0.000,0.108,2257,2578,3474,0,0,0,0,0,0,28.83,14.86,28.83
$GC,10776,-0.78,-194.6,973.4,-5.6,484,10778,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2578,3472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11076,-0.79,-194.6,990.0,-5.7,494,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2578,3471,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11103,begin apogee
$GC,11108,-0.25,0.0,991.8,-5.8,495,11316,0.45,0.00,201.30,1.821,4,0.177,0.000,2404,2509,2715,0,0,0,0,0,0,14.81,28.83,13.36
$STATE,11317,end apogee,CONTROL_FINISHED_OK
$STATE,11317,begin climb
$GC,11319,0.47,194.6,1000.4,0.0,502,11543,0.73,1.92,212.35,1.809,4,0.099,0.086,2650,1427,1917,0,0,0,0,0,0,14.07,14.07,13.25
$GC,11571,0.41,194.6,986.7,10.3,510,11577,0.00,1.95,0.00,0.000,6,0.000,0.106,2650,2501,1906,0,0,0,0,0,0,28.83,14.04,28.83
$GC,11892,0.37,194.6,940.0,14.2,521,11898,0.15,1.77,0.00,0.000,4,0.295,0.074,2618,1441,1896,0,0,0,0,0,0,14.40,14.53,28.83
$GC,12125,0.34,194.6,914.4,11.6,528,12130,0.00,1.85,0.00,0.000,6,0.000,0.106,2618,2509,1895,0,0,0,0,0,0,28.83,14.61,28.83
$GC,12439,0.31,194.6,871.9,12.9,539,12444,0.00,1.85,0.00,0.000,4,0.000,0.125,2618,3556,1893,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12557,0.27,194.6,858.7,13.8,542,12564,0.20,1.75,0.00,0.000,6,0.298,0.070,2578,2506,1890,0,0,0,0,0,0,14.61,14.76,28.83
$GC,12863,0.25,194.6,826.0,9.0,553,12869,0.00,1.75,0.00,0.000,4,0.000,0.083,2584,1444,1890,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12900,0.24,194.6,823.0,8.8,554,12906,0.00,1.85,0.00,0.000,6,0.000,0.112,2584,2514,1890,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13230,0.23,203.8,796.1,7.6,565,13235,0.00,1.85,0.00,0.000,4,0.000,0.124,2584,3564,1889,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13317,0.20,203.8,790.2,8.4,567,13326,0.15,1.73,0.00,0.000,6,0.286,0.069,2558,2506,1887,0,0,0,0,0,0,14.68,14.81,28.83
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$STATE,21444,end climb,SURFACE_DEPTH_REACHED
$STATE,21444,begin surface coast
$FINISH,0.0,1.021646
$STATE,21465,end surface coast,CONTROL_FINISHED_OK
$STATE,21465,begin surface
$SM_CCo,21541,0.00,0.000,0,0,460,554.13
$SM_GC,0.46,6.90,0.35,0.00,0.051,0.092,0.000,107,2671,460,-7.34,-0.71,554.13,0,0,0,0,0,0,14.78,14.74,28.83
$IRIDIUM_FIX,2335.63,12312.68,220812,000016
$TT8_MAMPS,0.02247,0.02247
$HUMID,45.86
$INTERNAL_PRESSURE,9.19611
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.2,33.549
$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,20.050,150.700,879.550,0.000,0.000,33.614,17.319,254.015,0.000,0.000,14.995,3144.844,14843.850,950.095,2795.111,323.186,0.000,2332.310,0.000,2340.123,0.000,0.543,0.000
$DEVICE_MAMPS,411.570,150.705,1821.465,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21501.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.165,0.000,0.000,0.000
$MEM,329512
$DATA_FILE_SIZE,36732,970
$CAP_FILE_SIZE,241521,0
$CFSIZE,260165632,241676288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131, 74.0,1
$GPS,220812,123336,2343.083,12321.248,43,1.4,43,-3.3