version: 66.11
glider: 182
mission: 2
dive: 97
start: 8 25 112 20 53 11
data:
$ID,182
$MISSION,2
$DIVE,97
$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,-2378257
$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,25
$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
$GPS1,250812,204400,2338.445,12353.880,38,1.6,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-60.9
$GPS2,250812,205243,2338.448,12353.784,12,1.3,12,-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,194.4,238128,-12.5,-7.857
$D_GRID,3003
$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,-194.6,0.0,0.0,0,103,0.00,0.00,-82.53,0.000,2,0.000,0.000,102,2672,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.47,-194.6,3.6,-8.7,14,138,10.12,1.77,-14.38,0.000,4,0.404,0.117,2324,3723,3513,0,0,0,0,0,0,14.40,14.63,14.85
$GC,318,-0.40,-194.6,52.6,-20.1,39,324,0.10,1.70,0.00,0.000,6,0.210,0.047,2356,2645,3514,0,0,0,0,0,0,14.63,14.76,28.83
$GC,632,-0.39,-194.6,101.4,-13.0,55,637,0.00,1.58,0.00,0.000,4,0.000,0.054,2356,1618,3514,0,0,0,0,0,0,28.83,14.82,28.83
$GC,775,-0.42,-194.6,113.8,-7.8,62,780,0.00,1.73,0.00,0.000,6,0.000,0.088,2356,2658,3514,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1099,-0.45,-194.6,141.8,-8.6,78,1104,0.00,1.60,0.00,0.000,4,0.000,0.054,2364,1618,3514,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1136,-0.48,-194.6,143.6,-8.4,79,1143,0.00,1.73,0.00,0.000,6,0.000,0.091,2356,2652,3514,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1442,-0.52,-194.6,167.8,-7.3,95,1444,0.12,0.00,0.00,0.000,6,0.130,0.000,2282,2654,3514,0,0,0,0,0,0,14.90,28.83,28.83
$GC,1743,-0.48,-194.6,214.5,-14.9,110,1749,0.17,1.77,0.00,0.000,4,0.224,0.095,2329,3714,3514,0,0,0,0,0,0,14.79,14.82,28.83
$GC,1780,-0.44,-194.6,217.6,-14.1,111,1787,0.00,1.65,0.00,0.000,6,0.000,0.050,2330,2640,3514,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2086,-0.47,-194.6,246.8,-8.6,127,2092,0.00,1.58,0.00,0.000,4,0.000,0.055,2329,1610,3514,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2165,-0.50,-194.6,252.0,-8.4,130,2171,0.00,1.70,0.00,0.000,6,0.000,0.092,2329,2643,3514,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2470,-0.53,-194.6,277.1,-8.2,146,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2644,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2771,-0.57,-194.6,301.6,-7.7,161,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2644,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3071,-0.60,-194.6,321.7,-6.5,176,3076,0.00,1.60,0.00,0.000,4,0.000,0.058,2329,1610,3514,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3114,-0.64,-194.6,324.7,-6.9,178,3120,0.15,1.70,0.00,0.000,6,0.121,0.093,2249,2638,3514,0,0,0,0,0,0,14.96,14.91,28.83
$GC,3438,-0.59,-194.6,369.2,-13.7,194,3443,0.15,1.58,0.00,0.000,4,0.239,0.053,2294,1615,3512,0,0,0,0,0,0,14.83,14.95,28.83
$GC,3470,-0.54,-194.6,371.8,-12.7,195,3477,0.00,1.67,0.00,0.000,6,0.000,0.092,2294,2636,3512,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3784,-0.54,-194.6,402.5,-10.3,211,3789,0.00,1.83,0.00,0.000,4,0.000,0.103,2286,3718,3511,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3836,-0.54,-194.6,406.7,-9.9,213,3841,0.00,1.67,0.00,0.000,6,0.000,0.053,2286,2637,3510,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4148,-0.54,-194.6,436.9,-9.6,229,4155,0.00,1.62,0.00,0.000,4,0.000,0.058,2286,1610,3509,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4208,-0.54,-194.6,440.8,-9.1,231,4215,0.12,1.70,0.00,0.000,6,0.224,0.094,2317,2641,3509,0,0,0,0,0,0,14.86,14.90,28.83
$GC,4513,-0.59,-194.6,462.0,-6.5,247,4518,0.00,1.83,0.00,0.000,4,0.000,0.109,2313,3715,3507,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4560,-0.65,-194.6,464.9,-6.5,249,4567,0.00,1.67,0.00,0.000,6,0.000,0.056,2313,2641,3506,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4880,-0.70,-194.6,485.1,-6.2,265,4885,0.12,1.60,0.00,0.000,4,0.135,0.056,2236,1606,3507,0,0,0,0,0,0,14.96,14.94,28.83
$GC,4967,-0.70,-194.6,493.7,-10.5,269,4973,0.12,1.70,0.00,0.000,6,0.237,0.095,2261,2633,3505,0,0,0,0,0,0,14.84,14.90,28.83
$GC,5286,-0.70,-194.6,526.7,-9.3,285,5291,0.00,1.60,0.00,0.000,4,0.000,0.058,2261,1602,3502,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5337,-0.70,-194.6,530.7,-9.2,287,5342,0.00,1.70,0.00,0.000,6,0.000,0.096,2257,2631,3502,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5650,-0.68,-194.6,561.2,-10.0,303,5657,0.00,1.88,0.00,0.000,4,0.000,0.106,2249,3710,3500,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5694,-0.68,-194.6,565.7,-10.1,305,5700,0.00,1.70,0.00,0.000,6,0.000,0.054,2249,2618,3499,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6019,-0.67,-194.6,599.1,-10.4,321,6024,0.00,1.55,0.00,0.000,4,0.000,0.060,2249,1616,3500,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6075,-0.67,-194.6,602.6,-10.4,323,6082,0.00,1.70,0.00,0.000,6,0.000,0.096,2244,2639,3498,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6384,-0.65,-194.6,638.3,-11.5,334,6389,0.12,1.85,0.00,0.000,4,0.252,0.109,2276,3720,3499,0,0,0,0,0,0,14.82,14.88,28.83
$GC,6436,-0.65,-194.6,642.0,-11.1,335,6441,0.00,1.70,0.00,0.000,6,0.000,0.060,2276,2641,3495,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6751,-0.68,-194.6,669.2,-8.1,346,6756,0.00,1.62,0.00,0.000,4,0.000,0.064,2276,1603,3493,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6844,-0.71,-194.6,677.0,-8.2,349,6849,0.00,1.73,0.00,0.000,6,0.000,0.103,2274,2631,3492,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7180,-0.73,-194.6,703.3,-7.5,360,7185,0.00,1.60,0.00,0.000,4,0.000,0.063,2278,1612,3491,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7247,-0.76,-194.6,708.3,-7.4,362,7252,0.00,1.75,0.00,0.000,6,0.000,0.102,2273,2627,3490,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7578,-0.79,-194.6,731.5,-6.9,373,7583,0.12,1.62,0.00,0.000,4,0.140,0.063,2208,1603,3487,0,0,0,0,0,0,14.92,14.92,28.83
$GC,7612,-0.80,-194.6,734.7,-7.4,374,7618,0.12,1.73,0.00,0.000,6,0.259,0.103,2231,2622,3487,0,0,0,0,0,0,14.79,14.87,28.83
$GC,7946,-0.79,-194.6,767.8,-9.8,385,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2622,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8246,-0.77,-194.6,796.1,-9.3,395,8251,0.00,1.60,0.00,0.000,4,0.000,0.067,2231,1613,3483,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8303,-0.76,-194.6,799.0,-9.1,396,8311,0.00,1.70,0.00,0.000,6,0.000,0.104,2226,2624,3483,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8611,-0.75,-194.6,828.9,-9.2,407,8616,0.00,1.60,0.00,0.000,4,0.000,0.067,2227,1613,3481,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8653,-0.73,-194.6,832.0,-9.2,408,8659,0.12,1.70,0.00,0.000,6,0.246,0.106,2252,2614,3480,0,0,0,0,0,0,14.79,14.85,28.83
$GC,8979,-0.74,-194.6,855.8,-7.1,419,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2614,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9277,-0.76,-194.6,876.3,-7.0,429,9282,0.00,1.65,0.00,0.000,4,0.000,0.068,2252,1610,3478,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9330,-0.78,-194.6,878.7,-6.9,430,9335,0.00,1.75,0.00,0.000,6,0.000,0.106,2252,2609,3478,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9645,-0.79,-194.6,901.6,-6.8,441,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2609,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9944,-0.81,-194.6,922.7,-7.2,451,9949,0.00,1.60,0.00,0.000,4,0.000,0.067,2252,1609,3475,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9991,-0.82,-194.6,925.3,-7.4,452,9997,0.00,1.70,0.00,0.000,6,0.000,0.106,2249,2608,3475,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10312,-0.83,-194.6,951.8,-8.0,463,10317,0.00,1.60,0.00,0.000,4,0.000,0.068,2249,1610,3473,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10364,-0.85,-194.6,954.4,-7.9,464,10369,0.00,1.70,0.00,0.000,6,0.000,0.106,2246,2607,3473,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10678,-0.86,-194.6,983.6,-9.0,475,10683,0.00,1.95,0.00,0.000,4,0.000,0.120,2239,3720,3471,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10712,-0.88,-194.6,986.9,-8.9,476,10717,0.00,1.80,0.00,0.000,6,0.000,0.067,2239,2610,3471,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,10742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10742,begin apogee
$GC,10748,-0.25,0.0,990.0,-9.0,477,10954,0.52,0.00,197.65,1.958,4,0.177,0.000,2407,2511,2711,0,0,0,0,0,0,14.73,28.83,13.32
$STATE,10956,end apogee,CONTROL_FINISHED_OK
$STATE,10956,begin climb
$GC,10958,0.47,194.6,1001.0,0.0,484,11183,0.68,0.00,216.90,1.958,6,0.095,0.000,2646,2510,1919,0,0,0,0,0,0,14.07,28.83,13.16
$GC,11496,0.37,194.6,949.4,13.3,502,11502,0.12,1.88,0.00,0.000,4,0.306,0.112,2616,3555,1898,0,0,0,0,0,0,14.34,14.45,28.83
$GC,11729,0.29,194.6,921.6,12.9,509,11735,0.15,1.75,0.00,0.000,6,0.307,0.067,2589,2501,1894,0,0,0,0,0,0,14.47,14.63,28.83
$GC,12045,0.24,194.6,890.3,8.7,520,12050,0.00,1.88,0.00,0.000,4,0.000,0.118,2589,3556,1893,0,0,0,0,0,0,28.83,14.67,28.83
$GC,12141,0.18,194.6,880.9,9.7,523,12148,0.17,1.70,0.00,0.000,6,0.283,0.065,2554,2516,1892,0,0,0,0,0,0,14.58,14.75,28.83
$GC,12471,0.19,250.3,858.6,6.3,534,12551,0.00,0.00,78.12,1.575,6,0.000,0.000,2553,2515,1699,0,0,0,0,0,0,28.83,28.83,13.64
$GC,12832,0.22,318.2,836.5,6.0,546,12940,0.00,0.00,102.93,1.574,6,0.000,0.000,2554,2516,1418,0,0,0,0,0,0,28.83,28.83,13.50
$GC,13253,0.27,384.3,812.6,6.1,560,13361,0.00,1.92,99.95,1.456,4,0.000,0.083,2555,1443,1144,0,0,0,0,0,0,28.83,14.10,13.61
$GC,13384,0.33,436.1,804.7,6.4,564,13466,0.12,1.92,72.32,1.303,6,0.144,0.102,2608,2516,935,0,0,0,0,0,0,14.24,14.21,13.58
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$STATE,20725,end climb,SURFACE_DEPTH_REACHED
$STATE,20725,begin surface coast
$FINISH,0.6,1.021831
$STATE,20737,end surface coast,CONTROL_FINISHED_OK
$STATE,20737,begin surface
$SM_CCo,20814,0.00,0.000,0,0,424,563.21
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$IRIDIUM_FIX,2330.93,12357.07,250812,141455
$TT8_MAMPS,0.02247,0.02247
$HUMID,47.48
$INTERNAL_PRESSURE,9.18635
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.2,40.971
$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
$DEVICE_SECS,21.900,141.775,915.850,0.000,0.000,26.270,42.070,246.848,0.000,0.000,14.685,3028.322,14292.234,986.734,2696.110,327.736,0.000,2324.767,0.000,2255.917,0.000,0.543,0.000
$DEVICE_MAMPS,403.920,122.400,1957.635,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20767.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.375,0.000,0.000,0.000
$MEM,329752
$DATA_FILE_SIZE,33332,923
$CAP_FILE_SIZE,234642,0
$CFSIZE,260165632,239992832
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 24.8,1
$GPS,260812,024129,2335.946,12353.778,37,1.0,42,-3.3