version: 66.11
glider: 182
mission: 2
dive: 124
start: 9 1 112 12 58 46
data:
$ID,182
$MISSION,2
$DIVE,124
$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,4
$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,-2378490.5
$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,0.0099999998
$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,34
$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,48
$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
$GPS1,010912,124900,2255.106,12353.890,39,1.4,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-66.9
$GPS2,010912,125818,2255.192,12353.829,11,1.0,16,-3.2
$SPEED_LIMITS,0.079,0.271
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,147.2,158134,-12.5,-7.857
$D_GRID,6367
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-80.97,0.000,2,0.000,0.000,105,2679,2625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.47,-194.6,3.6,-8.3,14,135,10.62,0.00,-16.50,0.000,6,0.425,0.000,2330,2679,3514,0,0,0,0,0,0,14.36,28.83,14.82
$GC,444,-0.42,-194.6,67.7,-16.0,51,450,0.00,1.70,0.00,0.000,4,0.000,0.057,2330,1602,3515,0,0,0,0,0,0,28.83,14.73,28.83
$GC,548,-0.41,-194.6,80.7,-12.0,56,555,0.12,1.75,0.00,0.000,6,0.233,0.092,2357,2653,3514,0,0,0,0,0,0,14.66,14.72,28.83
$GC,873,-0.46,-194.6,99.1,-5.6,72,878,0.00,1.65,0.00,0.000,4,0.000,0.058,2357,1606,3515,0,0,0,0,0,0,28.83,14.78,28.83
$GC,911,-0.51,-194.6,100.6,-5.7,73,917,0.00,1.77,0.00,0.000,6,0.000,0.096,2357,2666,3515,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1218,-0.56,-194.6,121.0,-6.5,89,1223,0.12,1.80,0.00,0.000,4,0.135,0.109,2274,3713,3515,0,0,0,0,0,0,14.83,14.73,28.83
$GC,1251,-0.60,-194.6,123.3,-7.2,90,1257,0.00,1.65,0.00,0.000,6,0.000,0.052,2274,2649,3515,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1566,-0.55,-194.6,173.3,-15.6,106,1571,0.12,1.62,0.00,0.000,4,0.244,0.056,2311,1610,3515,0,0,0,0,0,0,14.72,14.83,28.83
$GC,1671,-0.57,-194.6,184.2,-9.8,111,1677,0.00,1.75,0.00,0.000,6,0.000,0.096,2307,2655,3515,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1994,-0.57,-194.6,215.9,-10.8,127,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2656,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2295,-0.57,-194.6,251.0,-11.5,142,2300,0.00,1.62,0.00,0.000,4,0.000,0.058,2307,1614,3515,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2338,-0.58,-194.6,255.4,-10.6,144,2343,0.00,1.75,0.00,0.000,6,0.000,0.096,2302,2660,3515,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2661,-0.58,-194.6,278.4,-6.1,160,2666,0.00,1.83,0.00,0.000,4,0.000,0.109,2295,3709,3514,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2714,-0.58,-194.6,281.3,-6.7,162,2720,0.00,1.65,0.00,0.000,6,0.000,0.055,2295,2658,3514,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3028,-0.58,-194.6,313.1,-11.3,178,3033,0.00,1.65,0.00,0.000,4,0.000,0.061,2295,1602,3514,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3111,-0.60,-194.6,322.6,-11.3,182,3116,0.00,1.77,0.00,0.000,6,0.000,0.097,2295,2661,3514,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3434,-0.62,-194.6,354.8,-9.1,198,3440,0.00,1.65,0.00,0.000,4,0.000,0.061,2294,1614,3514,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3487,-0.64,-194.6,358.5,-8.8,200,3492,0.00,1.73,0.00,0.000,6,0.000,0.097,2295,2654,3513,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3800,-0.66,-194.6,381.8,-7.9,216,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2654,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4101,-0.68,-194.6,411.9,-11.0,231,4106,0.00,1.65,0.00,0.000,4,0.000,0.062,2295,1607,3511,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4133,-0.71,-194.6,414.5,-11.1,232,4140,0.10,1.73,0.00,0.000,6,0.154,0.099,2235,2640,3510,0,0,0,0,0,0,14.88,14.82,28.83
$GC,4448,-0.67,-194.6,463.8,-14.6,248,4454,0.12,1.85,0.00,0.000,4,0.240,0.106,2266,3723,3509,0,0,0,0,0,0,14.79,14.85,28.83
$GC,4486,-0.63,-194.6,466.9,-14.0,249,4493,0.00,1.73,0.00,0.000,6,0.000,0.057,2266,2638,3509,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4791,-0.63,-194.6,496.8,-9.1,265,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2638,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5092,-0.63,-194.6,528.2,-11.7,280,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2638,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5393,-0.63,-194.6,560.8,-9.3,295,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2638,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5693,-0.63,-194.6,583.7,-6.9,310,5698,0.00,1.62,0.00,0.000,4,0.000,0.065,2265,1613,3502,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5725,-0.63,-194.6,585.4,-7.0,311,5730,0.00,1.73,0.00,0.000,6,0.000,0.102,2260,2640,3502,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6039,-0.63,-194.6,611.5,-8.2,325,6044,0.00,1.88,0.00,0.000,4,0.000,0.117,2252,3723,3499,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6071,-0.63,-194.6,614.3,-8.2,326,6078,0.12,1.75,0.00,0.000,6,0.220,0.060,2287,2630,3498,0,0,0,0,0,0,14.81,14.92,28.83
$GC,6407,-0.67,-194.6,630.9,-4.3,337,6413,0.00,1.62,0.00,0.000,4,0.000,0.070,2286,1612,3497,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6465,-0.71,-194.6,632.7,-4.5,338,6472,0.00,1.73,0.00,0.000,6,0.000,0.106,2287,2633,3500,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6773,-0.75,-194.6,650.9,-6.3,349,6775,0.12,0.00,0.00,0.000,6,0.135,0.000,2222,2634,3495,0,0,0,0,0,0,14.92,28.83,28.83
$GC,7071,-0.73,-194.6,688.0,-13.3,359,7073,0.12,0.00,0.00,0.000,6,0.241,0.000,2254,2634,3491,0,0,0,0,0,0,14.77,28.83,28.83
$GC,7371,-0.73,-194.6,721.8,-10.9,369,7376,0.00,1.62,0.00,0.000,4,0.000,0.068,2254,1616,3491,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7504,-0.75,-194.6,734.1,-10.0,373,7510,0.00,1.73,0.00,0.000,6,0.000,0.104,2251,2635,3490,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7830,-0.75,-194.6,762.0,-7.7,384,7835,0.00,1.90,0.00,0.000,4,0.000,0.120,2243,3718,3488,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7867,-0.75,-194.6,764.2,-7.4,385,7872,0.00,1.75,0.00,0.000,6,0.000,0.066,2243,2638,3488,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8196,-0.75,-194.6,784.8,-6.1,396,8202,0.00,1.67,0.00,0.000,4,0.000,0.073,2243,1600,3486,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8275,-0.75,-194.6,788.9,-6.1,398,8280,0.00,1.77,0.00,0.000,6,0.000,0.113,2239,2632,3485,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8593,-0.75,-194.6,815.8,-9.1,409,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2633,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8893,-0.75,-194.6,846.5,-10.5,419,8898,0.00,1.67,0.00,0.000,4,0.000,0.074,2239,1601,3482,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8964,-0.75,-194.6,852.8,-10.2,421,8970,0.00,1.77,0.00,0.000,6,0.000,0.115,2233,2628,3481,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9289,-0.75,-194.6,883.3,-8.4,432,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2628,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9588,-0.75,-194.6,906.8,-7.8,442,9594,0.00,1.67,0.00,0.000,4,0.000,0.077,2233,1603,3478,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9636,-0.75,-194.6,909.5,-7.9,443,9641,0.00,1.77,0.00,0.000,6,0.000,0.116,2228,2626,3478,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9955,-0.75,-194.6,937.0,-8.4,454,9960,0.00,1.67,0.00,0.000,4,0.000,0.077,2228,1600,3476,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10018,-0.75,-194.6,942.6,-8.6,456,10023,0.00,1.77,0.00,0.000,6,0.000,0.116,2222,2616,3476,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10352,-0.73,-194.6,973.2,-9.2,467,10354,0.12,0.00,0.00,0.000,6,0.269,0.000,2252,2616,3475,0,0,0,0,0,0,14.68,28.83,28.83
$STATE,10588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10588,begin apogee
$GC,10594,-0.25,0.0,991.2,-7.6,475,10800,0.47,0.00,196.40,1.873,4,0.168,0.000,2409,2506,2709,0,0,0,0,0,0,14.67,28.83,13.37
$STATE,10802,end apogee,CONTROL_FINISHED_OK
$STATE,10802,begin climb
$GC,10804,0.47,194.6,1004.5,0.0,482,11024,0.70,2.03,210.55,1.694,4,0.098,0.128,2644,3564,1924,0,0,0,0,0,0,14.08,14.04,13.19
$GC,11247,0.34,194.6,966.8,13.2,497,11253,0.20,1.85,0.00,0.000,6,0.308,0.073,2608,2496,1898,0,0,0,0,0,0,14.20,14.37,28.83
$GC,11581,0.28,194.6,933.4,10.2,508,11586,0.00,1.77,0.00,0.000,4,0.000,0.085,2619,1444,1895,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11767,0.22,194.6,913.6,10.8,514,11773,0.20,1.88,0.00,0.000,6,0.257,0.110,2564,2507,1894,0,0,0,0,0,0,14.54,14.62,28.83
$GC,12097,0.20,194.6,884.1,8.9,525,12103,0.00,1.88,0.00,0.000,4,0.000,0.125,2564,3557,1893,0,0,0,0,0,0,28.83,14.66,28.83
$GC,12185,0.16,194.6,877.6,9.4,527,12191,0.00,1.75,0.00,0.000,6,0.000,0.072,2568,2510,1891,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12492,0.13,194.6,846.7,9.4,538,12494,0.15,0.00,0.00,0.000,6,0.265,0.000,2533,2508,1891,0,0,0,0,0,0,14.62,28.83,28.83
$GC,12790,0.13,194.6,820.6,8.8,548,12795,0.00,1.90,0.00,0.000,4,0.000,0.127,2533,3564,1890,0,0,0,0,0,0,28.83,14.71,28.83
$GC,12823,0.13,194.6,817.5,9.0,549,12828,0.00,1.75,0.00,0.000,6,0.000,0.069,2537,2510,1889,0,0,0,0,0,0,28.83,14.78,28.83
$GC,13158,0.13,194.6,787.1,9.1,560,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2508,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13456,0.14,213.0,763.5,7.4,570,13479,0.00,1.77,17.73,1.493,4,0.000,0.079,2544,1445,1847,0,0,0,0,0,0,28.83,14.69,14.13
$GC,13502,0.16,236.7,761.3,7.2,571,13548,0.00,1.88,35.90,1.451,6,0.000,0.108,2544,2516,1748,0,0,0,0,0,0,28.83,14.65,13.93
$GC,13848,0.19,285.8,737.4,6.5,583,13926,0.00,1.95,72.12,1.283,4,0.000,0.122,2544,3564,1548,0,0,0,0,0,0,28.83,14.21,13.74
$GC,14003,0.22,311.7,726.5,7.2,588,14043,0.00,1.77,34.25,1.275,6,0.000,0.066,2549,2511,1449,0,0,0,0,0,0,28.83,14.38,13.74
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$STATE,21106,end climb,SURFACE_DEPTH_REACHED
$STATE,21107,begin surface coast
$FINISH,0.0,1.022144
$STATE,21129,end surface coast,CONTROL_FINISHED_OK
$STATE,21129,begin surface
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$TT8_MAMPS,0.02247,0.02247
$HUMID,48.46
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$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,7722528
$24V_AH,13.2,60.114
$10V_AH,13.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,329892
$DATA_FILE_SIZE,36747,960
$CAP_FILE_SIZE,238782,0
$CFSIZE,260165632,237002752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,306.3,1
$GPS,010912,185330,2253.702,12354.550,38,1.3,38,-3.2