version: 66.11
glider: 182
mission: 2
dive: 91
start: 8 24 112 8 6 16
data:
$ID,182
$MISSION,2
$DIVE,91
$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,-2378246
$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,32
$R_STBD_OVSHOOT,20
$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
$GPS1,240812,075736,2350.788,12356.020,31,1.2,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-66.3
$GPS2,240812,080549,2350.836,12356.034,16,1.7,16,-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,252.9,2339,-12.5,-7.857
$D_GRID,2788
$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,-194.6,0.0,0.0,0,84,0.00,0.00,-63.78,0.000,2,0.000,0.000,101,2642,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.47,-194.6,3.6,-8.5,11,119,10.12,1.73,-16.65,0.000,4,0.405,0.090,2330,1591,3515,0,0,0,0,0,0,14.44,14.66,14.87
$GC,263,-0.43,-194.6,43.4,-19.1,35,269,0.00,1.80,0.00,0.000,6,0.000,0.094,2324,2669,3516,0,0,0,0,0,0,28.83,14.66,28.83
$GC,576,-0.40,-194.6,108.4,-16.3,52,582,0.12,1.70,0.00,0.000,4,0.259,0.054,2361,1581,3516,0,0,0,0,0,0,14.69,14.82,28.83
$GC,634,-0.39,-194.6,113.6,-14.4,54,641,0.00,1.77,0.00,0.000,6,0.000,0.093,2361,2653,3516,0,0,0,0,0,0,28.83,14.80,28.83
$GC,940,-0.41,-194.6,143.2,-8.8,70,945,0.00,1.80,0.00,0.000,4,0.000,0.104,2354,3722,3516,0,0,0,0,0,0,28.83,14.81,28.83
$GC,966,-0.43,-194.6,145.3,-8.7,71,972,0.00,1.70,0.00,0.000,6,0.000,0.053,2354,2622,3517,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1285,-0.44,-194.6,167.7,-6.9,87,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2622,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-0.46,-194.6,191.6,-8.7,102,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2622,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1886,-0.49,-194.6,215.5,-7.2,117,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2622,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2187,-0.52,-194.6,233.6,-5.9,132,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2622,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2486,-0.55,-194.6,251.7,-6.3,147,2488,0.12,0.00,0.00,0.000,6,0.142,0.000,2276,2622,3516,0,0,0,0,0,0,14.91,28.83,28.83
$GC,2786,-0.53,-194.6,293.0,-14.3,162,2791,0.12,1.55,0.00,0.000,4,0.243,0.054,2315,1608,3516,0,0,0,0,0,0,14.83,14.94,28.83
$GC,2823,-0.51,-194.6,296.1,-13.8,163,2830,0.00,1.73,0.00,0.000,6,0.000,0.094,2311,2657,3516,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3129,-0.52,-194.6,325.4,-9.1,179,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2657,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3431,-0.52,-194.6,351.6,-8.3,194,3436,0.00,1.77,0.00,0.000,4,0.000,0.105,2305,3715,3515,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3477,-0.53,-194.6,355.4,-8.5,196,3483,0.00,1.62,0.00,0.000,6,0.000,0.054,2305,2660,3514,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3795,-0.54,-194.6,383.3,-9.3,212,3801,0.00,1.65,0.00,0.000,4,0.000,0.058,2305,1607,3513,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3883,-0.56,-194.6,390.7,-8.9,216,3889,0.00,1.75,0.00,0.000,6,0.000,0.096,2301,2661,3513,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4201,-0.57,-194.6,419.1,-8.9,232,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2661,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4503,-0.58,-194.6,443.6,-7.9,247,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2661,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4803,-0.59,-194.6,467.8,-8.4,262,4808,0.00,1.62,0.00,0.000,4,0.000,0.060,2301,1612,3509,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4869,-0.61,-194.6,473.4,-8.7,265,4875,0.00,1.77,0.00,0.000,6,0.000,0.097,2299,2654,3509,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5188,-0.63,-194.6,499.2,-7.5,281,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2655,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5489,-0.65,-194.6,518.8,-6.5,296,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2655,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5790,-0.67,-194.6,538.4,-6.6,311,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2655,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6090,-0.69,-194.6,558.8,-6.9,326,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2655,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6390,-0.71,-194.6,579.6,-6.7,341,6396,0.12,1.62,0.00,0.000,4,0.138,0.055,2229,1612,3499,0,0,0,0,0,0,14.96,14.93,28.83
$GC,6468,-0.71,-194.6,586.1,-9.1,344,6475,0.15,1.75,0.00,0.000,6,0.234,0.098,2257,2665,3498,0,0,0,0,0,0,14.84,14.91,28.83
$GC,6794,-0.71,-194.6,617.6,-9.2,358,6799,0.00,1.65,0.00,0.000,4,0.000,0.065,2262,1616,3497,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6836,-0.71,-194.6,620.6,-9.3,359,6841,0.00,1.75,0.00,0.000,6,0.000,0.102,2258,2661,3496,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7160,-0.71,-194.6,652.3,-9.5,370,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2662,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7459,-0.71,-194.6,681.5,-9.9,380,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2662,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7759,-0.71,-194.6,710.3,-9.2,390,7764,0.00,1.65,0.00,0.000,4,0.000,0.066,2258,1616,3491,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7800,-0.71,-194.6,713.2,-9.0,391,7805,0.00,1.75,0.00,0.000,6,0.000,0.103,2252,2657,3490,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8125,-0.71,-194.6,739.3,-7.7,402,8130,0.00,1.65,0.00,0.000,4,0.000,0.067,2252,1614,3488,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8208,-0.71,-194.6,744.3,-7.6,404,8213,0.00,1.75,0.00,0.000,6,0.000,0.105,2246,2654,3488,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8522,-0.71,-194.6,773.5,-9.2,415,8527,0.00,1.70,0.00,0.000,4,0.000,0.067,2245,1612,3486,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8599,-0.71,-194.6,779.3,-9.2,417,8604,0.00,1.75,0.00,0.000,6,0.000,0.106,2240,2650,3486,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8917,-0.71,-194.6,811.5,-9.6,428,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2650,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9217,-0.71,-194.6,839.3,-8.9,438,9222,0.00,1.85,0.00,0.000,4,0.000,0.122,2232,3714,3481,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9243,-0.71,-194.6,839.3,-8.9,438,9251,0.00,1.70,0.00,0.000,6,0.000,0.066,2232,2651,3481,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9552,-0.71,-194.6,871.1,-9.5,449,9557,0.00,1.67,0.00,0.000,4,0.000,0.074,2232,1604,3480,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9679,-0.71,-194.6,883.0,-9.4,453,9686,0.12,1.77,0.00,0.000,6,0.250,0.112,2264,2643,3479,0,0,0,0,0,0,14.77,14.83,28.83
$GC,10011,-0.72,-194.6,909.6,-8.3,464,10016,0.00,1.67,0.00,0.000,4,0.000,0.076,2257,1604,3478,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10048,-0.73,-194.6,912.4,-8.3,465,10053,0.00,1.75,0.00,0.000,6,0.000,0.112,2253,2632,3478,0,0,0,0,0,0,28.83,14.82,28.83
$GC,10378,-0.74,-194.6,940.1,-8.2,476,10383,0.00,1.65,0.00,0.000,4,0.000,0.072,2253,1603,3476,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10449,-0.75,-194.6,945.5,-8.3,478,10455,0.00,1.75,0.00,0.000,6,0.000,0.114,2252,2627,3476,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10775,-0.76,-194.6,971.2,-7.4,489,10776,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2628,3474,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11040,begin apogee
$GC,11046,-0.25,0.0,990.5,-7.0,498,11246,0.47,0.00,192.45,1.832,4,0.175,0.000,2404,2507,2711,0,0,0,0,0,0,14.71,28.83,13.39
$STATE,11248,end apogee,CONTROL_FINISHED_OK
$STATE,11248,begin climb
$GC,11250,0.47,194.6,999.0,0.0,504,11468,0.68,0.00,211.55,1.793,6,0.097,0.000,2641,2506,1923,0,0,0,0,0,0,14.09,28.83,13.22
$GC,11796,0.42,194.6,947.3,12.6,523,11801,0.00,1.90,0.00,0.000,4,0.000,0.116,2641,3563,1900,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11893,0.37,194.6,933.9,14.1,526,11900,0.17,1.77,0.00,0.000,6,0.307,0.070,2610,2499,1898,0,0,0,0,0,0,14.42,14.59,28.83
$GC,12223,0.34,194.6,897.9,10.6,537,12224,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2499,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12524,0.31,194.6,868.3,9.8,547,12529,0.00,1.88,0.00,0.000,4,0.000,0.119,2610,3554,1896,0,0,0,0,0,0,28.83,14.71,28.83
$GC,12590,0.27,194.6,861.4,10.3,549,12596,0.15,1.73,0.00,0.000,6,0.285,0.067,2582,2502,1894,0,0,0,0,0,0,14.62,14.78,28.83
$GC,12919,0.25,194.6,831.7,9.2,560,12924,0.00,1.85,0.00,0.000,4,0.000,0.119,2582,3554,1894,0,0,0,0,0,0,28.83,14.75,28.83
$GC,12976,0.23,194.6,828.2,9.5,561,12984,0.00,1.73,0.00,0.000,6,0.000,0.067,2587,2508,1893,0,0,0,0,0,0,28.83,14.81,28.83
$GC,13284,0.21,194.6,793.3,10.6,572,13285,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2507,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13583,0.19,194.6,761.4,10.5,582,13584,0.15,0.00,0.00,0.000,6,0.272,0.000,2552,2508,1892,0,0,0,0,0,0,14.69,28.83,28.83
$GC,13882,0.20,222.9,738.3,7.1,592,13912,0.00,0.00,27.85,1.573,6,0.000,0.000,2552,2507,1809,0,0,0,0,0,0,28.83,28.83,14.00
$GC,14212,0.22,278.6,716.8,6.3,603,14281,0.00,1.92,62.42,1.561,4,0.000,0.113,2552,3557,1575,0,0,0,0,0,0,28.83,14.23,13.61
$GC,14324,0.25,335.4,711.1,6.3,606,14409,0.00,1.75,79.15,1.543,6,0.000,0.063,2553,2514,1350,0,0,0,0,0,0,28.83,14.39,13.52
$GC,14727,0.29,402.6,685.1,6.0,620,14834,0.00,1.92,97.90,1.467,4,0.000,0.080,2554,1446,1072,0,0,0,0,0,0,28.83,14.09,13.53
$GC,14882,0.36,494.7,676.6,5.3,625,15031,0.15,1.90,136.52,1.292,6,0.133,0.100,2615,2508,696,0,0,0,0,0,0,14.29,14.26,13.54
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$STATE,20608,end climb,SURFACE_DEPTH_REACHED
$STATE,20608,begin surface coast
$FINISH,0.8,1.021874
$STATE,20630,end surface coast,CONTROL_FINISHED_OK
$STATE,20630,begin surface
$SM_CCo,20708,0.00,0.000,0,0,462,553.64
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$IRIDIUM_FIX,2342.70,12351.20,240812,020205
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.55
$INTERNAL_PRESSURE,9.20588
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,37.681
$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,20.600,112.650,877.850,0.000,0.000,24.519,51.070,211.190,0.000,0.000,17.642,2991.607,14372.035,871.432,2662.086,299.916,0.000,2172.464,0.000,2237.136,0.000,0.546,0.000
$DEVICE_MAMPS,404.685,122.400,1832.175,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20675.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.686,0.000,0.000,0.000
$MEM,329592
$DATA_FILE_SIZE,33352,942
$CAP_FILE_SIZE,220401,0
$CFSIZE,260165632,240721920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.400, 90.8,1
$GPS,240812,135236,2349.982,12355.767,28,1.2,28,-3.4