version: 66.11
glider: 182
mission: 2
dive: 109
start: 8 28 112 21 38 53
data:
$ID,182
$MISSION,2
$DIVE,109
$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,-2378345.8
$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,52
$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
$GPS1,280812,212935,2309.144,12354.223,40,0.9,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-57.1
$GPS2,280812,213825,2309.071,12354.090,11,1.9,11,-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,177.9,183762,-12.5,-7.857
$D_GRID,5862
$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,-194.6,0.0,0.0,0,102,0.00,0.00,-80.97,0.000,2,0.000,0.000,102,2672,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.47,-194.6,3.3,-7.9,14,137,10.12,1.88,-15.73,0.000,4,0.404,0.129,2323,3717,3515,0,0,0,0,0,0,14.38,14.61,14.83
$GC,154,-0.32,-194.6,21.2,-31.8,22,161,0.20,1.67,0.00,0.000,6,0.223,0.047,2379,2642,3516,0,0,0,0,0,0,14.52,14.66,28.83
$GC,470,-0.31,-194.6,67.2,-13.0,49,475,0.00,1.60,0.00,0.000,4,0.000,0.056,2378,1612,3516,0,0,0,0,0,0,28.83,14.73,28.83
$GC,622,-0.36,-194.6,79.3,-7.9,56,628,0.00,1.75,0.00,0.000,6,0.000,0.093,2378,2636,3516,0,0,0,0,0,0,28.83,14.75,28.83
$GC,936,-0.53,-194.6,106.3,-7.8,72,938,0.20,0.00,0.00,0.000,6,0.140,0.000,2309,2638,3516,0,0,0,0,0,0,14.79,28.83,28.83
$GC,1237,-0.60,-194.6,130.9,-7.6,87,1242,0.00,1.58,0.00,0.000,4,0.000,0.057,2308,1617,3516,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1249,-0.67,-194.6,130.9,-7.6,87,1255,0.10,1.73,0.00,0.000,6,0.152,0.096,2242,2654,3516,0,0,0,0,0,0,14.85,14.82,28.83
$GC,1563,-0.58,-194.6,182.4,-18.2,103,1569,0.17,1.65,0.00,0.000,4,0.234,0.054,2294,1622,3516,0,0,0,0,0,0,14.72,14.83,28.83
$GC,1616,-0.52,-194.6,188.5,-16.2,105,1622,0.00,1.73,0.00,0.000,6,0.000,0.093,2291,2636,3516,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1930,-0.50,-194.6,227.9,-12.3,121,1932,0.12,0.00,0.00,0.000,6,0.247,0.000,2324,2638,3516,0,0,0,0,0,0,14.78,28.83,28.83
$GC,2232,-0.53,-194.6,253.2,-7.8,136,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2638,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2531,-0.57,-194.6,273.1,-6.2,151,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2638,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2831,-0.61,-194.6,294.3,-7.9,166,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2638,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3131,-0.65,-194.6,322.1,-9.8,181,3133,0.12,0.00,0.00,0.000,6,0.128,0.000,2251,2638,3516,0,0,0,0,0,0,14.95,28.83,28.83
$GC,3431,-0.60,-194.6,364.3,-13.2,196,3433,0.15,0.00,0.00,0.000,6,0.229,0.000,2291,2637,3515,0,0,0,0,0,0,14.83,28.83,28.83
$GC,3731,-0.60,-194.6,387.6,-7.5,211,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2634,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4031,-0.61,-194.6,415.8,-10.2,226,4036,0.00,1.58,0.00,0.000,4,0.000,0.058,2292,1622,3513,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4063,-0.63,-194.6,418.1,-10.1,227,4070,0.00,1.75,0.00,0.000,6,0.000,0.096,2289,2644,3512,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4378,-0.64,-194.6,447.7,-7.8,243,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2644,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4680,-0.66,-194.6,468.2,-7.0,258,4686,0.00,1.60,0.00,0.000,4,0.000,0.060,2288,1621,3509,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4758,-0.69,-194.6,473.1,-7.5,261,4765,0.00,1.70,0.00,0.000,6,0.000,0.099,2287,2642,3508,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5063,-0.71,-194.6,503.6,-10.5,277,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2642,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5364,-0.73,-194.6,531.4,-7.9,292,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2642,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5666,-0.76,-194.6,551.6,-6.8,307,5671,0.12,1.85,0.00,0.000,4,0.132,0.109,2212,3714,3503,0,0,0,0,0,0,14.95,14.87,28.83
$GC,5693,-0.78,-194.6,554.0,-7.6,308,5698,0.00,1.67,0.00,0.000,6,0.000,0.056,2212,2642,3502,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6011,-0.72,-194.6,601.1,-15.2,324,6017,0.12,1.60,0.00,0.000,4,0.252,0.058,2251,1616,3501,0,0,0,0,0,0,14.81,14.92,28.83
$GC,6060,-0.69,-194.6,605.6,-14.6,325,6065,0.00,1.70,0.00,0.000,6,0.000,0.099,2246,2634,3500,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6378,-0.69,-194.6,643.0,-10.4,336,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2634,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6678,-0.69,-194.6,668.0,-7.8,346,6684,0.00,1.60,0.00,0.000,4,0.000,0.061,2246,1615,3497,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6736,-0.69,-194.6,670.8,-7.8,347,6742,0.00,1.73,0.00,0.000,6,0.000,0.098,2241,2642,3497,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7041,-0.69,-194.6,698.7,-9.0,358,7046,0.00,1.62,0.00,0.000,4,0.000,0.064,2241,1616,3494,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7077,-0.69,-194.6,701.7,-9.1,359,7083,0.12,1.70,0.00,0.000,6,0.237,0.102,2270,2625,3494,0,0,0,0,0,0,14.82,14.87,28.83
$GC,7408,-0.71,-194.6,727.6,-7.9,370,7413,0.00,1.90,0.00,0.000,4,0.000,0.119,2265,3715,3492,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7460,-0.74,-194.6,730.7,-8.2,371,7465,0.00,1.73,0.00,0.000,6,0.000,0.063,2265,2637,3491,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7775,-0.76,-194.6,757.2,-7.7,382,7780,0.00,1.62,0.00,0.000,4,0.000,0.067,2265,1609,3489,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7889,-0.79,-194.6,764.6,-7.8,385,7895,0.00,1.73,0.00,0.000,6,0.000,0.108,2260,2620,3488,0,0,0,0,0,0,28.83,14.84,28.83
$GC,8205,-0.81,-194.6,790.7,-7.9,396,8210,0.00,1.62,0.00,0.000,4,0.000,0.069,2260,1607,3486,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8243,-0.83,-194.6,793.4,-7.8,397,8248,0.12,1.75,0.00,0.000,6,0.143,0.109,2199,2631,3486,0,0,0,0,0,0,14.89,14.83,28.83
$GC,8573,-0.79,-194.6,831.9,-11.6,408,8578,0.12,1.65,0.00,0.000,4,0.256,0.066,2235,1604,3484,0,0,0,0,0,0,14.74,14.87,28.83
$GC,8687,-0.78,-194.6,840.7,-9.8,411,8693,0.00,1.73,0.00,0.000,6,0.000,0.110,2230,2607,3483,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9000,-0.78,-194.6,868.8,-8.6,422,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2607,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9300,-0.78,-194.6,896.6,-9.7,432,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2607,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9600,-0.78,-194.6,925.6,-9.7,442,9606,0.00,1.62,0.00,0.000,4,0.000,0.070,2230,1601,3479,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9642,-0.78,-194.6,928.7,-9.7,443,9648,0.00,1.73,0.00,0.000,6,0.000,0.112,2224,2605,3478,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9967,-0.78,-194.6,960.2,-9.4,454,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2611,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10266,-0.78,-194.6,988.7,-9.4,464,10271,0.00,1.62,0.00,0.000,4,0.000,0.073,2224,1605,3476,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,10297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10297,begin apogee
$GC,10304,-0.25,0.0,991.8,-9.5,465,10510,0.57,0.00,199.02,1.858,4,0.185,0.000,2401,2496,2715,0,0,0,0,0,0,14.71,28.83,13.33
$STATE,10511,end apogee,CONTROL_FINISHED_OK
$STATE,10511,begin climb
$GC,10513,0.47,194.6,1003.1,0.0,472,10733,0.68,0.00,213.68,1.828,6,0.093,0.000,2641,2497,1924,0,0,0,0,0,0,14.07,28.83,13.23
$GC,11046,0.37,194.6,951.4,13.5,490,11047,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2497,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11346,0.28,194.6,909.7,13.9,500,11353,0.20,1.90,0.00,0.000,4,0.290,0.112,2589,3563,1894,0,0,0,0,0,0,14.48,14.60,28.83
$GC,11436,0.20,194.6,901.3,13.5,502,11444,0.10,1.77,0.00,0.000,6,0.256,0.065,2557,2513,1892,0,0,0,0,0,0,14.52,14.68,28.83
$GC,11742,0.19,194.6,870.1,9.0,513,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2512,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12041,0.17,194.6,844.5,8.3,523,12046,0.00,1.88,0.00,0.000,4,0.000,0.125,2556,3565,1890,0,0,0,0,0,0,28.83,14.72,28.83
$GC,12108,0.15,194.6,838.9,8.7,525,12113,0.00,1.75,0.00,0.000,6,0.000,0.068,2561,2503,1889,0,0,0,0,0,0,28.83,14.79,28.83
$GC,12437,0.14,211.6,813.8,7.4,536,12456,0.00,1.77,13.57,1.584,4,0.000,0.081,2564,1440,1853,0,0,0,0,0,0,28.83,14.69,14.15
$GC,12503,0.14,228.6,809.0,7.4,538,12534,0.00,1.85,25.30,1.525,6,0.000,0.105,2564,2503,1785,0,0,0,0,0,0,28.83,14.67,13.92
$GC,12862,0.13,228.6,779.2,8.5,550,12864,0.12,0.00,0.00,0.000,6,0.266,0.000,2535,2503,1770,0,0,0,0,0,0,14.57,28.83,28.83
$GC,13163,0.18,311.1,761.2,5.6,560,13298,0.00,1.98,124.68,1.323,4,0.000,0.119,2535,3563,1443,0,0,0,0,0,0,28.83,14.13,13.65
$GC,13330,0.26,410.3,753.1,5.2,565,13486,0.12,1.80,145.00,1.232,6,0.145,0.065,2582,2499,1041,0,0,0,0,0,0,14.31,14.31,13.57
$GC,13800,0.28,412.9,716.6,7.8,581,13805,0.00,1.77,0.00,0.000,4,0.000,0.077,2589,1440,1026,0,0,0,0,0,0,28.83,14.53,28.83
$GC,13843,0.31,416.7,713.9,7.8,582,13848,0.00,1.88,0.00,0.000,6,0.000,0.103,2589,2504,1025,0,0,0,0,0,0,28.83,14.52,28.83
$GC,14167,0.33,416.7,685.8,8.7,593,14173,0.00,1.88,0.00,0.000,4,0.000,0.117,2584,3561,1024,0,0,0,0,0,0,28.83,14.62,28.83
$GC,14215,0.35,416.7,682.2,9.0,594,14220,0.00,1.75,0.00,0.000,6,0.000,0.063,2590,2497,1023,0,0,0,0,0,0,28.83,14.69,28.83
$GC,14535,0.37,425.0,654.4,7.6,605,14557,0.00,1.80,15.68,1.409,4,0.000,0.078,2597,1442,981,0,0,0,0,0,0,28.83,14.62,14.07
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$STATE,20566,end climb,SURFACE_DEPTH_REACHED
$STATE,20566,begin surface coast
$FINISH,-0.1,1.021915
$STATE,20583,end surface coast,CONTROL_FINISHED_OK
$STATE,20583,begin surface
$SM_CCo,20660,0.00,0.000,0,0,442,558.55
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$IRIDIUM_FIX,2302.75,12359.61,280812,151547
$TT8_MAMPS,0.02247,0.02247
$HUMID,46.92
$INTERNAL_PRESSURE,9.15705
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.2,47.306
$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,22.175,122.525,906.500,0.000,0.000,23.513,41.244,266.079,0.000,0.000,13.911,2885.660,14470.119,911.562,2587.890,329.552,0.000,2204.224,0.000,2154.872,0.000,0.542,0.000
$DEVICE_MAMPS,403.920,129.285,1858.185,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20600.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.159,0.000,0.000,0.000
$MEM,329848
$DATA_FILE_SIZE,33418,935
$CAP_FILE_SIZE,227266,0
$CFSIZE,260165632,238620672
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,312.7,1
$GPS,290812,032459,2306.571,12352.745,62,1.0,62,-3.2