version: 66.11
glider: 182
mission: 2
dive: 127
start: 9 2 112 6 58 40
data:
$ID,182
$MISSION,2
$DIVE,127
$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,-2378495
$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,41
$R_STBD_OVSHOOT,28
$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
$GPS1,020912,064936,2249.861,12354.439,29,1.0,29,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-66.9
$GPS2,020912,065812,2249.990,12354.346,10,1.2,15,-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,143.1,148461,-12.5,-7.857
$D_GRID,6071
$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,-194.6,0.0,0.0,0,100,0.00,0.00,-79.90,0.000,2,0.000,0.000,114,2669,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.47,-194.6,3.2,-5.3,14,136,10.32,1.77,-16.85,0.000,4,0.412,0.092,2331,1610,3516,0,0,0,0,0,0,14.31,14.62,14.80
$GC,248,-0.42,-194.6,34.2,-15.6,35,255,0.00,1.83,0.00,0.000,6,0.000,0.096,2325,2653,3517,0,0,0,0,0,0,28.83,14.57,28.83
$GC,564,-0.40,-194.6,76.4,-11.9,57,566,0.12,0.00,0.00,0.000,6,0.236,0.000,2358,2654,3517,0,0,0,0,0,0,14.62,28.83,28.83
$GC,866,-0.54,-194.6,101.9,-11.5,72,872,0.12,1.67,0.00,0.000,4,0.145,0.059,2307,1604,3518,0,0,0,0,0,0,14.76,14.78,28.83
$GC,918,-0.67,-194.6,107.6,-12.1,74,924,0.00,1.77,0.00,0.000,6,0.000,0.099,2306,2657,3517,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1232,-0.74,-194.6,140.7,-8.4,90,1238,0.12,1.85,0.00,0.000,4,0.133,0.108,2223,3725,3517,0,0,0,0,0,0,14.83,14.72,28.83
$GC,1380,-0.66,-194.6,159.9,-14.6,97,1387,0.20,1.77,0.00,0.000,6,0.223,0.054,2276,2596,3517,0,0,0,0,0,0,14.66,14.81,28.83
$GC,1699,-0.62,-194.6,201.8,-13.6,113,1705,0.00,1.60,0.00,0.000,4,0.000,0.062,2277,1607,3517,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1752,-0.60,-194.6,207.3,-13.3,115,1758,0.00,1.73,0.00,0.000,6,0.000,0.099,2271,2607,3517,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2066,-0.56,-194.6,249.8,-12.7,131,2068,0.12,0.00,0.00,0.000,6,0.257,0.000,2302,2607,3517,0,0,0,0,0,0,14.71,28.83,28.83
$GC,2367,-0.58,-194.6,278.7,-9.2,146,2373,0.00,1.90,0.00,0.000,4,0.000,0.112,2296,3714,3517,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2397,-0.60,-194.6,280.9,-9.0,147,2402,0.00,1.77,0.00,0.000,6,0.000,0.057,2297,2592,3517,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2714,-0.60,-194.6,306.8,-7.6,163,2719,0.00,1.55,0.00,0.000,4,0.000,0.063,2296,1605,3517,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2746,-0.60,-194.6,308.5,-7.6,164,2751,0.00,1.67,0.00,0.000,6,0.000,0.101,2294,2609,3517,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3059,-0.60,-194.6,334.7,-8.9,180,3064,0.00,1.90,0.00,0.000,4,0.000,0.112,2292,3714,3516,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3121,-0.62,-194.6,339.9,-8.5,183,3127,0.00,1.77,0.00,0.000,6,0.000,0.057,2293,2598,3515,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3445,-0.63,-194.6,363.2,-6.5,199,3450,0.00,1.55,0.00,0.000,4,0.000,0.063,2292,1610,3514,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3478,-0.65,-194.6,364.6,-6.3,200,3483,0.00,1.70,0.00,0.000,6,0.000,0.102,2288,2621,3514,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3790,-0.66,-194.6,388.3,-8.5,216,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2622,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4091,-0.68,-194.6,417.2,-10.0,231,4096,0.00,1.60,0.00,0.000,4,0.000,0.063,2288,1610,3511,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4124,-0.70,-194.6,419.6,-10.1,232,4130,0.00,1.70,0.00,0.000,6,0.000,0.103,2287,2619,3511,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4438,-0.72,-194.6,448.1,-7.3,248,4443,0.00,1.92,0.00,0.000,4,0.000,0.116,2281,3729,3509,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4490,-0.75,-194.6,451.0,-6.9,250,4496,0.00,1.77,0.00,0.000,6,0.000,0.061,2281,2615,3508,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4805,-0.77,-194.6,472.8,-7.2,266,4811,0.12,1.65,0.00,0.000,4,0.132,0.063,2214,1605,3507,0,0,0,0,0,0,14.90,14.87,28.83
$GC,4932,-0.73,-194.6,487.5,-12.6,272,4938,0.17,1.70,0.00,0.000,6,0.238,0.103,2251,2611,3504,0,0,0,0,0,0,14.75,14.83,28.83
$GC,5250,-0.72,-194.6,520.4,-9.8,288,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2612,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5551,-0.72,-194.6,547.6,-8.9,303,5556,0.00,1.60,0.00,0.000,4,0.000,0.064,2251,1608,3503,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5583,-0.72,-194.6,549.6,-8.9,304,5588,0.00,1.70,0.00,0.000,6,0.000,0.105,2246,2611,3502,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5896,-0.70,-194.6,582.9,-10.8,320,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2612,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6196,-0.70,-194.6,614.1,-10.0,333,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2612,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,-0.70,-194.6,641.4,-8.7,343,6501,0.00,1.60,0.00,0.000,4,0.000,0.067,2252,1612,3496,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6559,-0.70,-194.6,646.7,-8.4,345,6564,0.00,1.70,0.00,0.000,6,0.000,0.109,2241,2605,3496,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6893,-0.70,-194.6,679.8,-10.8,356,6898,0.00,1.98,0.00,0.000,4,0.000,0.125,2233,3723,3493,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6935,-0.70,-194.6,683.7,-11.0,357,6940,0.00,1.83,0.00,0.000,6,0.000,0.067,2233,2598,3493,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7260,-0.69,-194.6,722.2,-11.5,368,7265,0.12,1.60,0.00,0.000,4,0.241,0.069,2271,1605,3491,0,0,0,0,0,0,14.73,14.85,28.83
$GC,7323,-0.69,-194.6,728.0,-10.0,370,7328,0.00,1.73,0.00,0.000,6,0.000,0.111,2270,2602,3491,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7658,-0.72,-194.6,749.6,-6.0,381,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2605,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7956,-0.75,-194.6,768.2,-6.4,391,7961,0.00,1.62,0.00,0.000,4,0.000,0.076,2270,1608,3487,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8021,-0.78,-194.6,772.6,-6.7,393,8026,0.00,1.73,0.00,0.000,6,0.000,0.115,2269,2599,3487,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8355,-0.81,-194.6,794.7,-6.7,404,8357,0.12,0.00,0.00,0.000,6,0.141,0.000,2210,2601,3484,0,0,0,0,0,0,14.87,28.83,28.83
$GC,8654,-0.79,-194.6,827.1,-11.0,414,8659,0.00,1.60,0.00,0.000,4,0.000,0.076,2206,1615,3483,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8731,-0.76,-194.6,833.8,-10.9,416,8736,0.15,1.70,0.00,0.000,6,0.244,0.114,2241,2597,3482,0,0,0,0,0,0,14.69,14.77,28.83
$GC,9050,-0.76,-194.6,863.2,-8.9,427,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2598,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9350,-0.76,-194.6,890.3,-9.1,437,9355,0.00,1.60,0.00,0.000,4,0.000,0.077,2241,1616,3480,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9397,-0.76,-194.6,893.2,-8.9,438,9402,0.00,1.70,0.00,0.000,6,0.000,0.114,2239,2596,3479,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9716,-0.76,-194.6,919.0,-6.9,449,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2597,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10015,-0.76,-194.6,938.1,-6.3,459,10020,0.00,1.60,0.00,0.000,4,0.000,0.077,2239,1616,3477,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10102,-0.76,-194.6,942.0,-6.2,461,10109,0.00,1.70,0.00,0.000,6,0.000,0.114,2234,2592,3477,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10408,-0.76,-194.6,966.3,-8.0,472,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2592,3475,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10676,begin apogee
$GC,10681,-0.25,0.0,990.1,-9.1,481,10888,0.55,0.00,199.55,1.832,4,0.177,0.000,2408,2500,2713,0,0,0,0,0,0,14.66,28.83,13.38
$STATE,10891,end apogee,CONTROL_FINISHED_OK
$STATE,10891,begin climb
$GC,10893,0.47,194.6,1003.2,0.0,488,11111,0.70,2.03,209.52,1.694,4,0.100,0.125,2642,3554,1926,0,0,0,0,0,0,14.07,14.03,13.16
$GC,11299,0.35,194.6,971.8,14.1,501,11307,0.20,1.83,0.00,0.000,6,0.299,0.073,2605,2503,1899,0,0,0,0,0,0,14.14,14.31,28.83
$GC,11606,0.28,194.6,934.3,11.2,512,11612,0.00,1.80,0.00,0.000,4,0.000,0.083,2611,1441,1895,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11784,0.22,194.6,917.7,10.8,517,11792,0.20,1.90,0.00,0.000,6,0.260,0.109,2563,2516,1894,0,0,0,0,0,0,14.47,14.58,28.83
$GC,12090,0.19,194.6,887.9,8.8,528,12096,0.00,1.88,0.00,0.000,4,0.000,0.124,2563,3566,1893,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12227,0.15,194.6,875.4,10.1,532,12232,0.00,1.75,0.00,0.000,6,0.000,0.073,2566,2522,1891,0,0,0,0,0,0,28.83,14.71,28.83
$GC,12546,0.12,194.6,843.4,9.7,543,12548,0.15,0.00,0.00,0.000,6,0.275,0.000,2531,2519,1891,0,0,0,0,0,0,14.59,28.83,28.83
$GC,12846,0.13,194.6,819.3,7.9,553,12851,0.00,1.90,0.00,0.000,4,0.000,0.130,2531,3562,1890,0,0,0,0,0,0,28.83,14.68,28.83
$GC,12909,0.13,194.6,813.8,8.3,555,12914,0.00,1.75,0.00,0.000,6,0.000,0.072,2535,2516,1889,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13244,0.15,241.6,790.6,6.6,566,13309,0.00,0.00,57.47,1.323,6,0.000,0.000,2535,2516,1734,0,0,0,0,1,0,28.83,28.83,13.64
$GC,13602,0.19,291.3,767.2,6.5,578,13674,0.00,0.00,64.40,1.893,6,0.000,0.000,2541,2515,1531,0,0,0,0,1,0,28.83,28.83,13.28
$GC,13962,0.25,355.9,744.8,6.1,590,14052,0.10,0.00,85.97,1.547,6,0.161,0.000,2582,2514,1263,0,0,0,0,0,0,14.55,28.83,13.50
$GC,14352,0.25,355.9,711.0,8.8,603,14353,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2514,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14651,0.25,355.9,684.4,9.1,613,14657,0.00,1.90,0.00,0.000,4,0.000,0.129,2582,3555,1242,0,0,0,0,0,0,28.83,14.59,28.83
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$STATE,21276,end climb,SURFACE_DEPTH_REACHED
$STATE,21276,begin surface coast
$FINISH,1.2,1.021831
$STATE,21292,end surface coast,CONTROL_FINISHED_OK
$STATE,21292,begin surface
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$TT8_MAMPS,0.02247,0.02247
$HUMID,47.63
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$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,7721376
$24V_AH,13.2,64.555
$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,329772
$DATA_FILE_SIZE,36666,984
$CAP_FILE_SIZE,237231,0
$CFSIZE,260165632,236666880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.213,306.1,1
$GPS,020912,125606,2248.906,12354.435,36,1.4,36,-3.2