version: 66.11
glider: 182
mission: 2
dive: 93
start: 8 24 112 20 6 53
data:
$ID,182
$MISSION,2
$DIVE,93
$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,-2378249
$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,49
$R_STBD_OVSHOOT,30
$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
$GPS1,240812,195736,2348.073,12355.590,32,1.0,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-69.0
$GPS2,240812,200625,2348.148,12355.636,13,1.5,13,-3.4
$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,226.7,255961,-12.5,-7.857
$D_GRID,2973
$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,-80.93,0.000,2,0.000,0.000,101,2677,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.47,-194.6,3.1,-5.7,14,136,10.32,1.70,-14.38,0.000,4,0.413,0.081,2329,1603,3514,0,0,0,0,0,0,14.38,14.60,14.81
$GC,204,-0.40,-194.6,31.8,-20.1,29,211,0.12,1.77,0.00,0.000,6,0.255,0.093,2356,2657,3515,0,0,0,0,0,0,14.53,14.61,28.83
$GC,529,-0.38,-194.6,86.8,-13.0,50,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2657,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,830,-0.38,-194.6,120.3,-9.7,65,835,0.00,1.62,0.00,0.000,4,0.000,0.054,2356,1608,3514,0,0,0,0,0,0,28.83,14.82,28.83
$GC,908,-0.41,-194.6,125.2,-7.8,68,915,0.00,1.73,0.00,0.000,6,0.000,0.093,2356,2651,3514,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1215,-0.45,-194.6,149.8,-7.2,84,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2652,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1514,-0.49,-194.6,170.9,-6.9,99,1520,0.00,1.62,0.00,0.000,4,0.000,0.054,2360,1602,3515,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1558,-0.55,-194.6,173.9,-6.8,101,1563,0.15,1.75,0.00,0.000,6,0.122,0.093,2271,2654,3514,0,0,0,0,0,0,14.87,14.83,28.83
$GC,1881,-0.50,-194.6,218.2,-14.2,117,1887,0.17,1.80,0.00,0.000,4,0.226,0.097,2318,3726,3514,0,0,0,0,0,0,14.76,14.81,28.83
$GC,1940,-0.47,-194.6,223.1,-12.6,119,1946,0.00,1.70,0.00,0.000,6,0.000,0.052,2318,2639,3514,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2245,-0.48,-194.6,253.8,-9.0,135,2250,0.00,1.58,0.00,0.000,4,0.000,0.057,2318,1611,3514,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2312,-0.51,-194.6,259.4,-9.0,138,2317,0.00,1.75,0.00,0.000,6,0.000,0.096,2314,2642,3515,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2630,-0.52,-194.6,289.5,-9.9,154,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2642,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2931,-0.53,-194.6,317.1,-8.6,169,2936,0.00,1.60,0.00,0.000,4,0.000,0.057,2314,1604,3514,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2974,-0.56,-194.6,321.0,-8.8,171,2979,0.00,1.73,0.00,0.000,6,0.000,0.095,2313,2643,3514,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3297,-0.58,-194.6,347.4,-8.1,187,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2644,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3599,-0.60,-194.6,370.8,-7.4,202,3604,0.00,1.60,0.00,0.000,4,0.000,0.058,2313,1611,3512,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3671,-0.63,-194.6,375.5,-7.3,205,3677,0.00,1.75,0.00,0.000,6,0.000,0.097,2311,2637,3512,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3985,-0.66,-194.6,402.2,-8.8,221,3991,0.00,1.83,0.00,0.000,4,0.000,0.106,2307,3715,3510,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4019,-0.69,-194.6,404.3,-9.1,222,4025,0.12,1.67,0.00,0.000,6,0.134,0.055,2239,2638,3510,0,0,0,0,0,0,14.95,14.95,28.83
$GC,4333,-0.64,-194.6,450.4,-14.3,238,4339,0.12,1.83,0.00,0.000,4,0.244,0.103,2270,3715,3509,0,0,0,0,0,0,14.79,14.88,28.83
$GC,4356,-0.60,-194.6,453.6,-14.0,239,4362,0.00,1.73,0.00,0.000,6,0.000,0.053,2271,2633,3508,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4679,-0.60,-194.6,486.1,-9.7,255,4685,0.00,1.85,0.00,0.000,4,0.000,0.108,2263,3723,3507,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4711,-0.60,-194.6,488.2,-9.7,256,4717,0.12,1.67,0.00,0.000,6,0.223,0.056,2298,2641,3506,0,0,0,0,0,0,14.85,14.95,28.83
$GC,5026,-0.64,-194.6,510.3,-6.6,272,5032,0.00,1.60,0.00,0.000,4,0.000,0.058,2298,1605,3505,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5093,-0.68,-194.6,514.7,-6.8,275,5098,0.00,1.70,0.00,0.000,6,0.000,0.099,2297,2633,3504,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5411,-0.71,-194.6,535.5,-6.8,291,5413,0.12,0.00,0.00,0.000,6,0.134,0.000,2234,2633,3502,0,0,0,0,0,0,14.95,28.83,28.83
$GC,5712,-0.68,-194.6,570.2,-11.6,306,5718,0.12,1.60,0.00,0.000,4,0.239,0.058,2272,1609,3498,0,0,0,0,0,0,14.83,14.93,28.83
$GC,5755,-0.68,-194.6,574.8,-11.2,308,5761,0.00,1.70,0.00,0.000,6,0.000,0.101,2269,2626,3500,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6068,-0.68,-194.6,603.1,-8.8,323,6073,0.00,1.88,0.00,0.000,4,0.000,0.113,2260,3722,3498,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6165,-0.69,-194.6,611.2,-8.7,326,6171,0.00,1.70,0.00,0.000,6,0.000,0.058,2261,2636,3497,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6494,-0.69,-194.6,638.5,-8.4,337,6499,0.00,1.60,0.00,0.000,4,0.000,0.063,2260,1610,3495,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6582,-0.71,-194.6,643.9,-8.5,339,6589,0.00,1.70,0.00,0.000,6,0.000,0.102,2254,2630,3493,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6888,-0.71,-194.6,670.6,-7.7,350,6894,0.00,1.65,0.00,0.000,4,0.000,0.065,2254,1609,3492,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6941,-0.71,-194.6,673.3,-7.7,351,6947,0.00,1.75,0.00,0.000,6,0.000,0.104,2250,2618,3492,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7255,-0.71,-194.6,699.3,-7.9,362,7260,0.00,1.92,0.00,0.000,4,0.000,0.116,2242,3724,3490,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7297,-0.71,-194.6,702.1,-8.1,363,7302,0.00,1.75,0.00,0.000,6,0.000,0.061,2242,2617,3490,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7621,-0.71,-194.6,729.6,-8.4,374,7626,0.00,1.58,0.00,0.000,4,0.000,0.066,2242,1610,3488,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7654,-0.71,-194.6,732.4,-8.3,375,7659,0.00,1.73,0.00,0.000,6,0.000,0.106,2239,2630,3488,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7989,-0.71,-194.6,761.2,-8.8,386,7994,0.00,1.62,0.00,0.000,4,0.000,0.067,2239,1602,3485,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8031,-0.71,-194.6,764.3,-8.8,387,8037,0.12,1.73,0.00,0.000,6,0.246,0.108,2264,2620,3485,0,0,0,0,0,0,14.80,14.86,28.83
$GC,8356,-0.73,-194.6,789.0,-7.6,398,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2619,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8656,-0.75,-194.6,812.5,-7.8,408,8661,0.00,1.62,0.00,0.000,4,0.000,0.070,2264,1602,3479,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8733,-0.77,-194.6,817.6,-7.9,410,8739,0.00,1.75,0.00,0.000,6,0.000,0.109,2262,2631,3480,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9053,-0.80,-194.6,844.0,-7.9,421,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2631,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9352,-0.82,-194.6,867.8,-8.0,431,9358,0.12,1.65,0.00,0.000,4,0.144,0.067,2207,1602,3478,0,0,0,0,0,0,14.90,14.88,28.83
$GC,9429,-0.82,-194.6,874.7,-9.4,433,9435,0.00,1.75,0.00,0.000,6,0.000,0.109,2199,2614,3477,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9749,-0.78,-194.6,912.2,-10.8,444,9751,0.15,0.00,0.00,0.000,6,0.267,0.000,2236,2615,3477,0,0,0,0,0,0,14.75,28.83,28.83
$GC,10048,-0.78,-194.6,936.3,-8.0,454,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2615,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10347,-0.78,-194.6,960.3,-7.8,464,10352,0.00,1.95,0.00,0.000,4,0.000,0.122,2231,3715,3473,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10384,-0.78,-194.6,963.1,-7.9,465,10389,0.00,1.75,0.00,0.000,6,0.000,0.067,2231,2621,3473,0,0,0,0,0,0,28.83,14.90,28.83
$GC,10713,-0.78,-194.6,989.2,-7.8,476,10718,0.00,1.62,0.00,0.000,4,0.000,0.073,2230,1606,3472,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,10744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10744,begin apogee
$GC,10751,-0.25,0.0,992.0,-7.8,477,10956,0.55,0.00,195.00,1.829,4,0.184,0.000,2400,2507,2710,0,0,0,0,0,0,14.74,28.83,13.38
$STATE,10957,end apogee,CONTROL_FINISHED_OK
$STATE,10957,begin climb
$GC,10960,0.47,194.6,1000.0,0.0,484,11180,0.65,1.88,210.90,1.776,4,0.090,0.080,2643,1460,1924,0,0,0,0,0,0,14.11,14.10,13.26
$GC,11308,0.39,194.6,973.1,13.1,495,11314,0.00,1.85,0.00,0.000,6,0.000,0.104,2643,2499,1903,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11623,0.30,194.6,928.6,12.9,506,11629,0.17,1.75,0.00,0.000,4,0.286,0.074,2602,1459,1897,0,0,0,0,0,0,14.43,14.58,28.83
$GC,11840,0.26,194.6,907.6,9.4,513,11845,0.00,1.83,0.00,0.000,6,0.000,0.105,2602,2507,1897,0,0,0,0,0,0,28.83,14.63,28.83
$GC,12170,0.21,194.6,876.2,9.5,524,12176,0.15,1.85,0.00,0.000,4,0.276,0.116,2562,3559,1893,0,0,0,0,0,0,14.61,14.66,28.83
$GC,12265,0.16,194.6,868.1,8.7,527,12270,0.00,1.73,0.00,0.000,6,0.000,0.067,2566,2513,1892,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12599,0.15,208.5,843.6,7.5,538,12609,0.00,1.83,3.45,1.093,4,0.000,0.086,2572,1413,1868,0,0,0,0,0,0,28.83,14.77,13.90
$GC,12647,0.13,218.8,840.9,7.6,539,12677,0.15,1.90,23.58,1.533,6,0.255,0.104,2536,2517,1826,0,0,0,0,0,0,14.66,14.74,14.05
$GC,12995,0.18,289.0,818.5,5.9,551,13108,0.00,1.98,104.88,1.387,4,0.000,0.117,2535,3554,1535,0,0,0,0,0,0,28.83,14.12,13.62
$GC,13151,0.23,355.0,809.1,6.1,556,13256,0.00,1.77,98.05,1.366,6,0.000,0.062,2536,2512,1268,0,0,0,0,0,0,28.83,14.33,13.54
$GC,13571,0.33,462.9,786.7,4.9,570,13742,0.15,1.95,162.68,1.450,4,0.127,0.082,2610,1442,826,0,0,0,0,0,0,14.57,14.00,13.45
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$STATE,21261,end climb,SURFACE_DEPTH_REACHED
$STATE,21262,begin surface coast
$FINISH,-0.1,1.021651
$STATE,21298,end surface coast,CONTROL_FINISHED_OK
$STATE,21298,begin surface
$SM_CCo,21375,0.00,0.000,0,0,460,554.13
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$IRIDIUM_FIX,2340.34,12356.43,240812,131344
$TT8_MAMPS,0.02247,0.02247
$HUMID,45.03
$INTERNAL_PRESSURE,9.20588
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,13.3,38.776
$10V_AH,13.2,0.000
$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
$DEVICE_SECS,21.350,147.550,909.900,0.000,0.000,24.117,45.577,248.668,0.000,0.000,15.831,3133.956,14705.416,948.291,2778.578,333.289,0.000,2326.089,0.000,2329.111,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21329.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.121,0.000,0.000,0.000
$MEM,329688
$DATA_FILE_SIZE,36783,968
$CAP_FILE_SIZE,239650,0
$CFSIZE,260165632,240472064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176, 79.1,1
$GPS,250812,020429,2346.159,12355.223,38,1.8,38,-3.4