version: 66.11
glider: 182
mission: 2
dive: 84
start: 8 22 112 12 46 41
data:
$ID,182
$MISSION,2
$DIVE,84
$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,-2378235.5
$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,43
$R_STBD_OVSHOOT,32
$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
$GPS1,220812,123336,2343.083,12321.248,43,1.4,43,-3.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-56.2
$GPS2,220812,124613,2343.202,12321.184,11,1.5,11,-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,82.7,58654,-12.5,-7.857
$D_GRID,4516
$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,18,-0.47,-194.6,0.0,0.0,0,102,0.00,0.00,-82.12,0.000,2,0.000,0.000,101,2672,2690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.47,-194.6,3.4,-7.1,14,137,10.30,1.70,-14.62,0.000,4,0.414,0.083,2330,1591,3514,0,0,0,0,0,0,14.43,14.66,14.83
$GC,190,-0.42,-194.6,27.9,-20.3,27,198,0.00,1.77,0.00,0.000,6,0.000,0.091,2324,2654,3515,0,0,0,0,0,0,28.83,14.66,28.83
$GC,507,-0.40,-194.6,87.2,-15.4,48,513,0.12,1.80,0.00,0.000,4,0.261,0.096,2354,3726,3515,0,0,0,0,0,0,14.69,14.73,28.83
$GC,584,-0.40,-194.6,94.1,-11.8,51,592,0.00,1.67,0.00,0.000,6,0.000,0.052,2354,2645,3515,0,0,0,0,0,0,28.83,14.80,28.83
$GC,892,-0.41,-194.6,123.9,-9.6,67,897,0.00,1.60,0.00,0.000,4,0.000,0.057,2353,1607,3515,0,0,0,0,0,0,28.83,14.82,28.83
$GC,935,-0.43,-194.6,127.8,-9.2,69,941,0.00,1.75,0.00,0.000,6,0.000,0.093,2353,2666,3515,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1259,-0.44,-194.6,155.0,-8.3,85,1264,0.00,1.67,0.00,0.000,4,0.000,0.057,2353,1616,3515,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1296,-0.46,-194.6,156.9,-8.2,86,1302,0.00,1.73,0.00,0.000,6,0.000,0.094,2353,2660,3514,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1602,-0.48,-194.6,179.6,-6.9,102,1607,0.00,1.62,0.00,0.000,4,0.000,0.057,2353,1605,3515,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1645,-0.51,-194.6,182.4,-6.6,104,1651,0.00,1.75,0.00,0.000,6,0.000,0.095,2353,2656,3515,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1969,-0.53,-194.6,202.1,-6.4,120,1975,0.00,1.65,0.00,0.000,4,0.000,0.057,2353,1616,3515,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2007,-0.55,-194.6,203.7,-6.4,121,2015,0.12,1.70,0.00,0.000,6,0.140,0.095,2281,2649,3515,0,0,0,0,0,0,14.89,14.87,28.83
$GC,2312,-0.53,-194.6,241.9,-12.5,137,2319,0.12,1.60,0.00,0.000,4,0.239,0.054,2318,1613,3515,0,0,0,0,0,0,14.78,14.88,28.83
$GC,2351,-0.52,-194.6,244.9,-12.5,138,2357,0.00,1.70,0.00,0.000,6,0.000,0.094,2314,2644,3515,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2656,-0.52,-194.6,277.7,-9.9,154,2661,0.00,1.60,0.00,0.000,4,0.000,0.057,2314,1608,3515,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2750,-0.53,-194.6,284.1,-7.8,158,2755,0.00,1.70,0.00,0.000,6,0.000,0.096,2311,2638,3514,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3063,-0.53,-194.6,313.0,-10.2,174,3068,0.00,1.83,0.00,0.000,4,0.000,0.107,2303,3722,3512,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3089,-0.53,-194.6,315.4,-10.5,175,3094,0.00,1.70,0.00,0.000,6,0.000,0.055,2303,2625,3512,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3407,-0.53,-194.6,347.8,-9.3,191,3412,0.00,1.55,0.00,0.000,4,0.000,0.060,2303,1613,3511,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3438,-0.53,-194.6,350.0,-9.4,192,3443,0.00,1.67,0.00,0.000,6,0.000,0.097,2300,2633,3514,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3750,-0.53,-194.6,382.7,-10.7,208,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2633,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4052,-0.54,-194.6,408.4,-7.4,223,4057,0.00,1.58,0.00,0.000,4,0.000,0.057,2300,1610,3507,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4116,-0.55,-194.6,412.9,-7.1,226,4121,0.00,1.67,0.00,0.000,6,0.000,0.096,2298,2624,3507,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4439,-0.56,-194.6,439.4,-8.7,242,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2625,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4741,-0.57,-194.6,464.9,-7.8,257,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2625,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5041,-0.59,-194.6,484.9,-6.4,272,5046,0.00,1.58,0.00,0.000,4,0.000,0.060,2297,1609,3501,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5078,-0.60,-194.6,486.5,-6.3,273,5085,0.00,1.67,0.00,0.000,6,0.000,0.100,2297,2620,3498,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5385,-0.62,-194.6,508.7,-7.0,289,5390,0.00,1.58,0.00,0.000,4,0.000,0.062,2297,1608,3499,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5498,-0.64,-194.6,515.7,-6.7,294,5503,0.00,1.67,0.00,0.000,6,0.000,0.100,2297,2615,3499,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5811,-0.65,-194.6,539.3,-7.9,310,5817,0.00,1.92,0.00,0.000,4,0.000,0.113,2295,3735,3497,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5849,-0.67,-194.6,541.3,-8.1,311,5855,0.00,1.75,0.00,0.000,6,0.000,0.059,2295,2621,3496,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6155,-0.69,-194.6,564.9,-7.4,327,6160,0.00,1.58,0.00,0.000,4,0.000,0.066,2295,1610,3494,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6187,-0.71,-194.6,566.6,-7.2,328,6193,0.10,1.67,0.00,0.000,6,0.162,0.103,2242,2614,3494,0,0,0,0,0,0,14.94,14.91,28.83
$GC,6501,-0.70,-194.6,596.6,-8.7,344,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2614,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6801,-0.69,-194.6,622.1,-8.8,355,6806,0.00,1.58,0.00,0.000,4,0.000,0.063,2242,1606,3491,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6874,-0.69,-194.6,628.1,-9.2,357,6880,0.12,1.67,0.00,0.000,6,0.241,0.105,2268,2609,3490,0,0,0,0,0,0,14.86,14.90,28.83
$GC,7199,-0.69,-194.6,654.6,-7.8,368,7205,0.00,1.58,0.00,0.000,4,0.000,0.064,2268,1604,3489,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7252,-0.70,-194.6,657.4,-7.9,369,7257,0.00,1.67,0.00,0.000,6,0.000,0.105,2267,2607,3488,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7567,-0.71,-194.6,686.8,-9.1,380,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2607,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,-0.72,-194.6,710.8,-7.3,390,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2607,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8166,-0.73,-194.6,731.1,-6.9,400,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2607,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8466,-0.74,-194.6,752.7,-7.2,410,8471,0.00,1.62,0.00,0.000,4,0.000,0.068,2267,1615,3480,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8508,-0.75,-194.6,755.2,-7.2,411,8513,0.00,1.67,0.00,0.000,6,0.000,0.106,2264,2604,3480,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8833,-0.75,-194.6,779.1,-7.4,422,8838,0.00,1.58,0.00,0.000,4,0.000,0.070,2264,1609,3479,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8885,-0.76,-194.6,781.9,-7.7,423,8891,0.00,1.67,0.00,0.000,6,0.000,0.109,2260,2601,3478,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9200,-0.77,-194.6,808.0,-7.7,434,9205,0.00,1.95,0.00,0.000,4,0.000,0.124,2252,3725,3476,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9234,-0.78,-194.6,810.7,-7.6,435,9239,0.00,1.80,0.00,0.000,6,0.000,0.067,2252,2604,3477,0,0,0,0,0,0,28.83,14.93,28.83
$GC,9568,-0.78,-194.6,835.7,-7.5,446,9573,0.00,1.58,0.00,0.000,4,0.000,0.073,2252,1613,3474,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9641,-0.78,-194.6,840.7,-7.6,448,9646,0.00,1.67,0.00,0.000,6,0.000,0.110,2245,2601,3475,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9964,-0.78,-194.6,869.6,-9.2,459,9969,0.00,1.58,0.00,0.000,4,0.000,0.073,2246,1613,3472,0,0,0,0,0,0,28.83,14.89,28.83
$GC,10037,-0.78,-194.6,875.8,-9.6,461,10042,0.00,1.65,0.00,0.000,6,0.000,0.110,2246,2589,3472,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10361,-0.78,-194.6,909.2,-10.3,472,10366,0.00,1.58,0.00,0.000,4,0.000,0.072,2246,1602,3471,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10408,-0.78,-194.6,912.7,-10.3,473,10414,0.00,1.67,0.00,0.000,6,0.000,0.112,2245,2585,3471,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10727,-0.78,-194.6,945.4,-9.7,484,10733,0.00,1.98,0.00,0.000,4,0.000,0.123,2237,3718,3469,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10790,-0.78,-194.6,951.6,-9.4,486,10795,0.00,1.83,0.00,0.000,6,0.000,0.067,2237,2593,3469,0,0,0,0,0,0,28.83,14.86,28.83
$GC,11124,-0.78,-194.6,981.7,-8.8,497,11129,0.00,1.58,0.00,0.000,4,0.000,0.073,2237,1603,3468,0,0,0,0,0,0,28.83,14.88,28.83
$GC,11175,-0.78,-194.6,984.8,-8.8,498,11181,0.00,1.67,0.00,0.000,6,0.000,0.115,2232,2585,3468,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,11246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11246,begin apogee
$GC,11252,-0.25,0.0,992.6,-8.6,501,11452,0.52,0.00,194.00,1.835,4,0.190,0.000,2399,2506,2717,0,0,0,0,0,0,14.78,28.83,13.37
$STATE,11453,end apogee,CONTROL_FINISHED_OK
$STATE,11454,begin climb
$GC,11456,0.47,194.6,1002.6,0.0,507,11674,0.70,0.00,210.62,1.795,6,0.102,0.000,2642,2506,1921,0,0,0,0,0,0,14.06,28.83,13.24
$GC,11998,0.42,194.6,957.9,11.3,526,12003,0.00,1.90,0.00,0.000,4,0.000,0.120,2641,3564,1898,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12135,0.37,194.6,941.7,13.2,530,12141,0.17,1.75,0.00,0.000,6,0.311,0.071,2610,2510,1895,0,0,0,0,0,0,14.44,14.59,28.83
$GC,12455,0.34,194.6,907.3,10.6,541,12457,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2509,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12754,0.31,194.6,872.7,11.6,551,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2505,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13054,0.28,194.6,839.6,10.6,561,13055,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2509,1896,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22433,end climb,SURFACE_DEPTH_REACHED
$STATE,22433,begin surface coast
$FINISH,-0.1,1.021719
$STATE,22449,end surface coast,CONTROL_FINISHED_OK
$STATE,22449,begin surface
$SM_CCo,22526,0.00,0.000,0,0,460,554.13
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$IRIDIUM_FIX,2335.63,12323.13,220812,121245
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.89
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,13.2,34.105
$10V_AH,13.5,0.000
$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,20.850,170.100,871.950,0.000,0.000,79.808,105.036,231.972,0.000,0.000,12.854,3330.519,15596.200,942.202,3063.198,346.977,0.000,2419.949,0.000,2489.477,0.000,0.543,0.000
$DEVICE_MAMPS,413.865,132.345,1835.235,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22500.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.696,0.000,0.000,0.000
$MEM,329568
$DATA_FILE_SIZE,40041,1030
$CAP_FILE_SIZE,259096,0
$CFSIZE,260165632,241532928
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.095, 71.7,1
$GPS,220812,190330,2344.277,12325.956,41,1.4,41,-3.3