version: 66.11
glider: 182
mission: 2
dive: 87
start: 8 23 112 7 36 58
data:
$ID,182
$MISSION,2
$DIVE,87
$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,-2378240
$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,29
$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
$GPS1,230812,072754,2347.071,12335.990,70,1.0,70,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-54.7
$GPS2,230812,073631,2347.204,12335.979,15,1.3,15,-3.4
$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,88.5,32636,-12.5,-7.857
$D_GRID,3215
$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,17,-0.47,-194.6,0.0,0.0,0,90,0.00,0.00,-70.05,0.000,2,0.000,0.000,102,2669,2551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.47,-194.6,3.1,-6.9,12,131,10.20,1.73,-18.30,0.000,4,0.409,0.086,2333,1603,3515,0,0,0,0,0,0,14.42,14.65,14.83
$GC,165,-0.43,-194.6,23.7,-28.1,24,172,0.00,1.75,0.00,0.000,6,0.000,0.087,2327,2654,3516,0,0,0,0,0,0,28.83,14.65,28.83
$GC,470,-0.40,-194.6,91.1,-17.3,45,476,0.12,1.77,0.00,0.000,4,0.267,0.093,2356,3715,3516,0,0,0,0,0,0,14.66,14.73,28.83
$GC,569,-0.40,-194.6,102.0,-12.7,49,576,0.00,1.60,0.00,0.000,6,0.000,0.050,2356,2679,3516,0,0,0,0,0,0,28.83,14.79,28.83
$GC,873,-0.40,-194.6,132.7,-9.5,65,879,0.00,1.65,0.00,0.000,4,0.000,0.054,2355,1604,3516,0,0,0,0,0,0,28.83,14.83,28.83
$GC,956,-0.42,-194.6,139.7,-8.6,69,961,0.00,1.80,0.00,0.000,6,0.000,0.092,2354,2682,3516,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1280,-0.43,-194.6,166.2,-7.8,85,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2683,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1581,-0.45,-194.6,189.1,-7.2,100,1586,0.00,1.70,0.00,0.000,4,0.000,0.056,2354,1618,3516,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1619,-0.47,-194.6,190.8,-7.1,101,1626,0.00,1.77,0.00,0.000,6,0.000,0.093,2353,2686,3516,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1925,-0.49,-194.6,214.3,-7.1,117,1930,0.00,1.75,0.00,0.000,4,0.000,0.107,2352,3725,3516,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1969,-0.52,-194.6,217.1,-6.6,119,1975,0.00,1.62,0.00,0.000,6,0.000,0.057,2351,2687,3516,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2293,-0.54,-194.6,236.6,-6.3,135,2299,0.12,1.73,0.00,0.000,4,0.139,0.055,2268,1603,3516,0,0,0,0,0,0,14.88,14.88,28.83
$GC,2431,-0.53,-194.6,251.8,-13.1,141,2438,0.20,1.77,0.00,0.000,6,0.222,0.093,2316,2677,3516,0,0,0,0,0,0,14.79,14.86,28.83
$GC,2737,-0.53,-194.6,281.8,-8.3,157,2742,0.00,1.75,0.00,0.000,4,0.000,0.103,2310,3726,3516,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2763,-0.53,-194.6,283.8,-8.4,158,2768,0.00,1.62,0.00,0.000,6,0.000,0.053,2310,2666,3515,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3081,-0.53,-194.6,312.7,-9.5,174,3086,0.00,1.62,0.00,0.000,4,0.000,0.057,2310,1607,3519,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3112,-0.53,-194.6,314.8,-9.5,175,3117,0.00,1.77,0.00,0.000,6,0.000,0.096,2307,2682,3515,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3425,-0.53,-194.6,345.7,-10.0,191,3431,0.00,1.65,0.00,0.000,4,0.000,0.057,2307,1614,3513,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3483,-0.54,-194.6,349.9,-9.8,193,3489,0.00,1.75,0.00,0.000,6,0.000,0.094,2303,2676,3514,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3788,-0.54,-194.6,379.1,-9.2,209,3793,0.00,1.65,0.00,0.000,4,0.000,0.055,2303,1608,3511,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3825,-0.54,-194.6,380.9,-9.0,210,3831,0.00,1.77,0.00,0.000,6,0.000,0.096,2300,2678,3511,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4130,-0.54,-194.6,409.8,-9.1,226,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2678,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4433,-0.55,-194.6,439.3,-9.3,241,4438,0.00,1.65,0.00,0.000,4,0.000,0.057,2300,1613,3508,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4476,-0.56,-194.6,443.2,-8.9,243,4481,0.00,1.77,0.00,0.000,6,0.000,0.096,2299,2678,3508,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4799,-0.57,-194.6,467.2,-7.2,259,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2679,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5101,-0.58,-194.6,489.6,-7.8,274,5106,0.00,1.65,0.00,0.000,4,0.000,0.059,2298,1615,3508,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5138,-0.60,-194.6,491.5,-7.8,275,5145,0.00,1.75,0.00,0.000,6,0.000,0.096,2296,2671,3509,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5444,-0.61,-194.6,515.1,-7.2,291,5450,0.00,1.65,0.00,0.000,4,0.000,0.060,2296,1613,3505,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5482,-0.63,-194.6,516.7,-7.0,292,5489,0.00,1.75,0.00,0.000,6,0.000,0.099,2295,2668,3503,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5788,-0.65,-194.6,540.5,-7.9,308,5793,0.00,1.65,0.00,0.000,4,0.000,0.060,2295,1611,3501,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5834,-0.66,-194.6,544.0,-8.1,310,5840,0.00,1.75,0.00,0.000,6,0.000,0.100,2295,2660,3500,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6153,-0.68,-194.6,568.2,-7.0,326,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2661,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6454,-0.70,-194.6,587.0,-6.2,341,6459,0.00,1.62,0.00,0.000,4,0.000,0.063,2295,1617,3496,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6532,-0.72,-194.6,591.1,-6.3,344,6539,0.12,1.77,0.00,0.000,6,0.140,0.102,2233,2665,3497,0,0,0,0,0,0,14.95,14.90,28.83
$GC,6858,-0.71,-194.6,625.8,-10.4,357,6863,0.00,1.65,0.00,0.000,4,0.000,0.061,2233,1610,3494,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6952,-0.70,-194.6,635.3,-10.2,360,6958,0.08,1.80,0.00,0.000,6,0.207,0.101,2266,2651,3494,0,0,0,0,0,0,14.85,14.90,28.83
$GC,7287,-0.71,-194.6,659.7,-7.3,371,7292,0.00,1.83,0.00,0.000,4,0.000,0.112,2260,3725,3492,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7315,-0.71,-194.6,659.7,-7.3,371,7322,0.00,1.67,0.00,0.000,6,0.000,0.058,2260,2652,3491,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7620,-0.71,-194.6,688.8,-9.5,382,7625,0.00,1.62,0.00,0.000,4,0.000,0.064,2260,1611,3490,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7703,-0.71,-194.6,695.1,-9.8,384,7708,0.00,1.75,0.00,0.000,6,0.000,0.102,2254,2655,3489,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8016,-0.71,-194.6,728.3,-9.7,395,8021,0.00,1.65,0.00,0.000,4,0.000,0.062,2254,1605,3487,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8058,-0.71,-194.6,731.5,-9.6,396,8063,0.00,1.75,0.00,0.000,6,0.000,0.103,2252,2646,3487,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8380,-0.71,-194.6,759.7,-8.0,407,8386,0.00,1.65,0.00,0.000,4,0.000,0.066,2251,1603,3485,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8427,-0.71,-194.6,762.3,-7.9,408,8433,0.00,1.75,0.00,0.000,6,0.000,0.106,2246,2639,3484,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8747,-0.71,-194.6,790.0,-8.6,419,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2638,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9046,-0.71,-194.6,814.3,-7.8,429,9051,0.00,1.62,0.00,0.000,4,0.000,0.067,2246,1613,3481,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9108,-0.71,-194.6,819.0,-7.5,431,9114,0.00,1.73,0.00,0.000,6,0.000,0.105,2245,2631,3481,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9443,-0.71,-194.6,842.7,-7.0,442,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2631,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9742,-0.71,-194.6,866.3,-8.2,452,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2632,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10041,-0.71,-194.6,890.8,-8.0,462,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2632,3476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10341,-0.71,-194.6,914.3,-7.9,472,10346,0.00,1.62,0.00,0.000,4,0.000,0.067,2245,1611,3475,0,0,0,0,0,0,28.83,14.90,28.83
$GC,10384,-0.71,-194.6,916.9,-7.9,473,10389,0.00,1.75,0.00,0.000,6,0.000,0.109,2242,2637,3474,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10707,-0.71,-194.6,943.9,-8.2,484,10712,0.00,1.65,0.00,0.000,4,0.000,0.071,2242,1609,3473,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10779,-0.71,-194.6,949.0,-8.0,486,10784,0.00,1.75,0.00,0.000,6,0.000,0.110,2240,2634,3472,0,0,0,0,0,0,28.83,14.83,28.83
$GC,11104,-0.71,-194.6,974.1,-7.4,497,11109,0.00,1.62,0.00,0.000,4,0.000,0.069,2240,1615,3471,0,0,0,0,0,0,28.83,14.88,28.83
$GC,11199,-0.72,-194.6,980.8,-7.1,500,11204,0.00,1.73,0.00,0.000,6,0.000,0.108,2239,2619,3471,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,11349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11350,begin apogee
$GC,11355,-0.25,0.0,991.4,-6.8,505,11630,0.52,0.00,268.02,1.512,4,0.187,0.000,2406,2515,2716,0,0,0,0,0,0,14.76,28.83,13.49
$STATE,11633,end apogee,CONTROL_FINISHED_OK
$STATE,11633,begin climb
$GC,11635,0.47,194.6,1001.3,0.0,514,11864,0.65,1.92,216.15,1.893,4,0.083,0.083,2650,1446,1916,0,0,0,0,0,0,14.09,14.09,13.16
$GC,11940,0.42,194.6,980.8,11.6,524,11947,0.00,1.90,0.00,0.000,6,0.000,0.108,2650,2499,1902,0,0,0,0,0,0,28.83,14.15,28.83
$GC,12261,0.37,194.6,939.9,11.9,535,12267,0.12,1.77,0.00,0.000,4,0.308,0.073,2624,1440,1895,0,0,0,0,0,0,14.40,14.54,28.83
$GC,12404,0.34,194.6,927.6,9.7,539,12410,0.00,1.88,0.00,0.000,6,0.000,0.106,2624,2513,1895,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12719,0.31,194.6,894.4,10.0,550,12724,0.12,1.85,0.00,0.000,4,0.304,0.117,2593,3557,1892,0,0,0,0,0,0,14.56,14.66,28.83
$GC,12861,0.27,194.6,882.8,9.3,554,12867,0.00,1.73,0.00,0.000,6,0.000,0.068,2598,2509,1889,0,0,0,0,0,0,28.83,14.74,28.83
$GC,13176,0.25,201.4,856.8,7.7,565,13182,0.00,1.88,0.00,0.000,4,0.000,0.124,2598,3558,1889,0,0,0,0,0,0,28.83,14.72,28.83
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$STATE,22390,end climb,SURFACE_DEPTH_REACHED
$STATE,22390,begin surface coast
$FINISH,1.0,1.021862
$STATE,22417,end surface coast,CONTROL_FINISHED_OK
$STATE,22417,begin surface
$SM_CCo,22495,0.00,0.000,0,0,430,561.74
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$IRIDIUM_FIX,2335.63,12329.65,230812,010136
$TT8_MAMPS,0.02247,0.02247
$HUMID,45.07
$INTERNAL_PRESSURE,9.18635
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,13.2,35.761
$10V_AH,13.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22458.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.116,0.000,0.000,0.000
$MEM,329568
$DATA_FILE_SIZE,36710,1012
$CAP_FILE_SIZE,254307,0
$CFSIZE,260165632,241172480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.174, 88.1,1
$GPS,230812,135305,2347.845,12342.033,30,1.2,30,-3.4