version: 66.11
glider: 182
mission: 2
dive: 104
start: 8 27 112 15 0 22
data:
$ID,182
$MISSION,2
$DIVE,104
$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,-2378272.8
$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,51
$R_STBD_OVSHOOT,31
$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
$GPS1,270812,145106,2319.786,12353.969,41,1.4,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-60.3
$GPS2,270812,145954,2319.817,12353.919,11,1.7,11,-3.3
$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,177.5,203651,-12.5,-7.857
$D_GRID,4452
$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,-194.6,0.0,0.0,0,103,0.00,0.00,-82.88,0.000,2,0.000,0.000,102,2671,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.47,-194.6,3.5,-7.9,14,137,10.15,0.00,-13.95,0.000,6,0.405,0.000,2328,2671,3513,0,0,0,0,0,0,14.40,28.83,14.85
$GC,439,-0.41,-194.6,80.9,-15.6,44,444,0.00,1.65,0.00,0.000,4,0.000,0.052,2328,1607,3513,0,0,0,0,0,0,28.83,14.79,28.83
$GC,526,-0.39,-194.6,92.0,-13.4,48,533,0.15,1.75,0.00,0.000,6,0.216,0.090,2365,2662,3513,0,0,0,0,0,0,14.71,14.77,28.83
$GC,846,-0.43,-194.6,120.7,-6.8,64,851,0.00,1.65,0.00,0.000,4,0.000,0.055,2365,1603,3514,0,0,0,0,0,0,28.83,14.85,28.83
$GC,884,-0.48,-194.6,122.3,-6.6,65,891,0.00,1.75,0.00,0.000,6,0.000,0.093,2365,2655,3514,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1192,-0.54,-194.6,141.8,-6.5,81,1193,0.15,0.00,0.00,0.000,6,0.120,0.000,2280,2656,3514,0,0,0,0,0,0,14.90,28.83,28.83
$GC,1490,-0.49,-194.6,186.0,-15.2,96,1492,0.17,0.00,0.00,0.000,6,0.230,0.000,2328,2656,3514,0,0,0,0,0,0,14.78,28.83,28.83
$GC,1791,-0.51,-194.6,211.2,-7.1,111,1796,0.00,1.62,0.00,0.000,4,0.000,0.052,2328,1599,3514,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1828,-0.53,-194.6,213.1,-7.2,112,1834,0.00,1.75,0.00,0.000,6,0.000,0.092,2327,2660,3514,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2134,-0.56,-194.6,235.6,-7.4,128,2139,0.00,1.77,0.00,0.000,4,0.000,0.106,2319,3714,3514,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2161,-0.59,-194.6,237.5,-7.7,129,2166,0.00,1.65,0.00,0.000,6,0.000,0.052,2320,2645,3514,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2479,-0.61,-194.6,266.3,-9.0,145,2484,0.00,1.60,0.00,0.000,4,0.000,0.057,2320,1604,3514,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2511,-0.64,-194.6,268.3,-8.9,146,2516,0.00,1.75,0.00,0.000,6,0.000,0.095,2315,2660,3514,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2824,-0.66,-194.6,293.3,-7.4,162,2826,0.12,0.00,0.00,0.000,6,0.129,0.000,2248,2660,3514,0,0,0,0,0,0,14.93,28.83,28.83
$GC,3125,-0.60,-194.6,337.3,-15.4,177,3130,0.15,1.62,0.00,0.000,4,0.239,0.053,2292,1612,3513,0,0,0,0,0,0,14.80,14.91,28.83
$GC,3208,-0.60,-194.6,346.6,-10.9,181,3213,0.00,1.75,0.00,0.000,6,0.000,0.092,2288,2665,3513,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3530,-0.60,-194.6,378.2,-8.9,197,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2665,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3832,-0.60,-194.6,405.4,-9.4,212,3837,0.00,1.65,0.00,0.000,4,0.000,0.059,2288,1607,3510,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3858,-0.60,-194.6,407.7,-9.4,213,3863,0.00,1.73,0.00,0.000,6,0.000,0.096,2283,2650,3511,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4175,-0.60,-194.6,437.7,-8.8,229,4181,0.00,1.83,0.00,0.000,4,0.000,0.107,2276,3724,3509,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4207,-0.60,-194.6,439.6,-8.7,230,4213,0.00,1.65,0.00,0.000,6,0.000,0.055,2275,2662,3508,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4520,-0.60,-194.6,468.6,-9.0,246,4525,0.00,1.65,0.00,0.000,4,0.000,0.057,2274,1593,3507,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4587,-0.61,-194.6,474.1,-8.8,249,4593,0.00,1.80,0.00,0.000,6,0.000,0.096,2273,2650,3507,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4905,-0.61,-194.6,503.9,-9.2,265,4910,0.00,1.83,0.00,0.000,4,0.000,0.109,2266,3720,3504,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4928,-0.61,-194.6,506.1,-9.4,266,4933,0.00,1.70,0.00,0.000,6,0.000,0.055,2265,2639,3504,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5251,-0.61,-194.6,535.8,-9.0,282,5256,0.00,1.60,0.00,0.000,4,0.000,0.059,2265,1605,3502,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5375,-0.63,-194.6,545.9,-8.0,288,5380,0.00,1.75,0.00,0.000,6,0.000,0.099,2260,2645,3501,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5698,-0.63,-194.6,574.7,-9.0,304,5704,0.00,1.83,0.00,0.000,4,0.000,0.112,2251,3713,3499,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5726,-0.63,-194.6,576.9,-9.1,305,5732,0.12,1.70,0.00,0.000,6,0.224,0.054,2286,2623,3499,0,0,0,0,0,0,14.82,14.95,28.83
$GC,6045,-0.66,-194.6,601.4,-7.8,321,6050,0.00,1.62,0.00,0.000,4,0.000,0.064,2286,1613,3497,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6097,-0.70,-194.6,604.1,-7.9,322,6103,0.00,1.75,0.00,0.000,6,0.000,0.099,2286,2631,3497,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6413,-0.73,-194.6,631.3,-8.1,333,6414,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2631,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6711,-0.77,-194.6,653.3,-6.9,343,6716,0.12,1.60,0.00,0.000,4,0.135,0.060,2218,1616,3492,0,0,0,0,0,0,14.93,14.90,28.83
$GC,6746,-0.80,-194.6,656.4,-7.5,344,6751,0.00,1.73,0.00,0.000,6,0.000,0.099,2211,2637,3493,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7081,-0.75,-194.6,699.3,-13.3,355,7086,0.12,1.88,0.00,0.000,4,0.273,0.111,2239,3721,3490,0,0,0,0,0,0,14.76,14.84,28.83
$GC,7154,-0.72,-194.6,706.5,-12.1,357,7159,0.00,1.73,0.00,0.000,6,0.000,0.059,2240,2630,3490,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7479,-0.71,-194.6,737.4,-9.2,368,7484,0.00,1.60,0.00,0.000,4,0.000,0.066,2239,1613,3487,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7575,-0.71,-194.6,745.6,-8.8,371,7581,0.00,1.73,0.00,0.000,6,0.000,0.103,2234,2632,3487,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7904,-0.70,-194.6,777.1,-10.2,382,7906,0.12,0.00,0.00,0.000,6,0.256,0.000,2265,2632,3485,0,0,0,0,0,0,14.77,28.83,28.83
$GC,8205,-0.72,-194.6,805.4,-9.7,392,8210,0.00,1.62,0.00,0.000,4,0.000,0.067,2266,1613,3483,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8256,-0.75,-194.6,808.8,-9.8,393,8261,0.00,1.73,0.00,0.000,6,0.000,0.105,2266,2628,3482,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8571,-0.77,-194.6,837.6,-7.9,404,8576,0.00,1.90,0.00,0.000,4,0.000,0.122,2259,3713,3480,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8604,-0.80,-194.6,840.3,-7.9,405,8610,0.00,1.80,0.00,0.000,6,0.000,0.065,2258,2633,3480,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8941,-0.82,-194.6,864.3,-7.0,416,8946,0.00,1.65,0.00,0.000,4,0.000,0.071,2258,1602,3478,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9004,-0.85,-194.6,868.9,-7.0,418,9010,0.12,1.77,0.00,0.000,6,0.143,0.110,2199,2631,3479,0,0,0,0,0,0,14.83,14.78,28.83
$GC,9340,-0.81,-194.6,905.4,-11.3,429,9345,0.00,1.90,0.00,0.000,4,0.000,0.122,2190,3713,3477,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9403,-0.78,-194.6,912.8,-11.2,431,9409,0.17,1.77,0.00,0.000,6,0.235,0.060,2236,2611,3477,0,0,0,0,0,0,14.72,14.88,28.83
$GC,9737,-0.78,-194.6,940.0,-7.7,442,9742,0.00,1.60,0.00,0.000,4,0.000,0.070,2237,1612,3475,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9789,-0.78,-194.6,942.4,-7.7,443,9794,0.00,1.73,0.00,0.000,6,0.000,0.109,2233,2616,3475,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10101,-0.78,-194.6,968.8,-8.2,454,10106,0.00,1.95,0.00,0.000,4,0.000,0.126,2226,3716,3473,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10134,-0.78,-194.6,971.5,-8.3,455,10140,0.00,1.77,0.00,0.000,6,0.000,0.066,2225,2623,3473,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,10375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10376,begin apogee
$GC,10381,-0.25,0.0,992.6,-8.7,463,10661,0.55,0.00,273.58,1.638,4,0.184,0.000,2401,2510,2719,0,0,0,0,0,0,14.71,28.83,13.42
$STATE,10664,end apogee,CONTROL_FINISHED_OK
$STATE,10664,begin climb
$GC,10666,0.47,194.6,1006.8,0.0,472,10891,0.73,2.00,216.73,1.892,4,0.099,0.124,2644,3557,1925,0,0,0,0,0,0,14.06,14.02,13.12
$GC,11120,0.35,194.6,963.8,15.2,487,11128,0.20,1.80,0.00,0.000,6,0.309,0.067,2607,2495,1899,0,0,0,0,0,0,14.21,14.38,28.83
$GC,11429,0.28,194.6,926.3,10.7,498,11434,0.00,1.75,0.00,0.000,4,0.000,0.076,2613,1441,1896,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11585,0.23,194.6,911.1,9.7,503,11592,0.20,1.85,0.00,0.000,6,0.266,0.099,2565,2510,1895,0,0,0,0,0,0,14.51,14.62,28.83
$GC,11915,0.20,198.5,884.9,7.8,514,11921,0.00,1.88,0.00,0.000,4,0.000,0.116,2565,3564,1893,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12003,0.17,198.5,879.4,8.2,516,12010,0.00,1.73,0.00,0.000,6,0.000,0.066,2569,2510,1892,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12310,0.14,198.5,851.1,8.6,527,12312,0.15,0.00,0.00,0.000,6,0.270,0.000,2534,2509,1892,0,0,0,0,0,0,14.64,28.83,28.83
$GC,12609,0.18,303.6,834.5,5.0,537,12783,0.00,2.05,162.35,1.421,4,0.000,0.121,2534,3562,1473,0,0,0,0,0,0,28.83,14.07,13.57
$GC,12815,0.25,426.1,826.3,4.5,543,13005,0.12,1.77,181.18,1.274,6,0.145,0.067,2582,2521,975,0,0,0,0,0,0,14.27,14.28,13.52
$GC,13334,0.27,426.1,782.6,8.6,561,13339,0.00,1.80,0.00,0.000,4,0.000,0.076,2589,1445,960,0,0,0,0,0,0,28.83,14.52,28.83
$GC,13411,0.29,426.1,777.4,8.3,563,13416,0.00,1.88,0.00,0.000,6,0.000,0.099,2589,2521,959,0,0,0,0,0,0,28.83,14.54,28.83
$GC,13730,0.31,426.1,748.5,8.6,574,13735,0.00,1.83,0.00,0.000,4,0.000,0.112,2589,3557,958,0,0,0,0,0,0,28.83,14.62,28.83
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$STATE,21097,end climb,SURFACE_DEPTH_REACHED
$STATE,21098,begin surface coast
$FINISH,-0.3,1.021887
$STATE,21129,end surface coast,CONTROL_FINISHED_OK
$STATE,21129,begin surface
$SM_CCo,21206,0.00,0.000,0,0,466,552.66
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$IRIDIUM_FIX,2314.48,12351.82,270812,080810
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.94
$INTERNAL_PRESSURE,9.19611
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,13.1,44.603
$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
$DEVICE_SECS,21.925,162.025,1007.350,0.000,0.000,24.834,41.707,251.772,0.000,0.000,13.217,3110.085,14424.611,1062.200,2800.296,331.163,0.000,2474.020,0.000,2350.545,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.932,0.000,0.000,0.000
$MEM,329668
$DATA_FILE_SIZE,36709,960
$CAP_FILE_SIZE,242560,0
$CFSIZE,260165632,239173632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,328.0,1
$GPS,270812,205506,2317.038,12354.138,36,1.3,36,-3.3