version: 66.11
glider: 182
mission: 2
dive: 111
start: 8 29 112 9 59 7
data:
$ID,182
$MISSION,2
$DIVE,111
$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,-2378350
$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,26
$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
$GPS1,290812,094505,2305.175,12352.734,30,1.0,30,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-62.5
$GPS2,290812,095838,2305.469,12352.511,16,1.4,17,-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,159.4,177278,-12.5,-7.857
$D_GRID,6009
$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,16,begin dive
$GC,18,-0.47,-194.6,0.0,0.0,0,103,0.00,0.00,-82.22,0.000,2,0.000,0.000,100,2674,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.47,-194.6,3.4,-7.1,14,137,10.15,1.77,-13.82,0.000,4,0.405,0.122,2322,3714,3514,0,0,0,0,0,0,14.40,14.62,14.85
$GC,217,-0.40,-194.6,35.2,-19.6,30,223,0.15,1.67,0.00,0.000,6,0.240,0.048,2360,2638,3514,0,0,0,0,0,0,14.56,14.73,28.83
$GC,531,-0.42,-194.6,74.3,-9.1,50,537,0.00,1.62,0.00,0.000,4,0.000,0.057,2360,1617,3515,0,0,0,0,0,0,28.83,14.77,28.83
$GC,598,-0.45,-194.6,79.9,-9.2,53,603,0.00,1.73,0.00,0.000,6,0.000,0.093,2360,2652,3515,0,0,0,0,0,0,28.83,14.73,28.83
$GC,916,-0.50,-194.6,104.4,-8.0,69,921,0.00,1.62,0.00,0.000,4,0.000,0.057,2360,1607,3515,0,0,0,0,0,0,28.83,14.82,28.83
$GC,980,-0.55,-194.6,109.5,-7.8,72,986,0.15,1.75,0.00,0.000,6,0.118,0.094,2273,2652,3515,0,0,0,0,0,0,14.82,14.76,28.83
$GC,1303,-0.49,-194.6,161.5,-17.4,88,1310,0.17,1.83,0.00,0.000,4,0.227,0.099,2319,3728,3514,0,0,0,0,0,0,14.71,14.80,28.83
$GC,1382,-0.47,-194.6,170.2,-14.2,91,1388,0.00,1.67,0.00,0.000,6,0.000,0.054,2319,2650,3514,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1687,-0.47,-194.6,201.2,-9.0,107,1692,0.00,1.62,0.00,0.000,4,0.000,0.059,2319,1601,3515,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1780,-0.49,-194.6,207.8,-8.0,111,1785,0.00,1.75,0.00,0.000,6,0.000,0.096,2313,2649,3515,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2092,-0.49,-194.6,234.5,-7.4,127,2097,0.00,1.83,0.00,0.000,4,0.000,0.106,2306,3720,3515,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2144,-0.49,-194.6,237.9,-7.7,129,2150,0.00,1.70,0.00,0.000,6,0.000,0.055,2306,2638,3515,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2458,-0.49,-194.6,265.3,-9.3,145,2463,0.00,1.62,0.00,0.000,4,0.000,0.058,2306,1613,3515,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2524,-0.51,-194.6,271.2,-9.3,148,2529,0.00,1.70,0.00,0.000,6,0.000,0.096,2301,2637,3515,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2842,-0.51,-194.6,305.4,-11.3,164,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2638,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3143,-0.51,-194.6,339.3,-10.3,179,3148,0.00,1.85,0.00,0.000,4,0.000,0.108,2294,3723,3513,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3169,-0.51,-194.6,341.9,-10.1,180,3176,0.12,1.70,0.00,0.000,6,0.213,0.057,2330,2637,3513,0,0,0,0,0,0,14.83,14.92,28.83
$GC,3490,-0.56,-194.6,361.8,-5.8,196,3495,0.00,1.60,0.00,0.000,4,0.000,0.061,2330,1604,3512,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3557,-0.62,-194.6,365.7,-6.1,199,3563,0.10,1.75,0.00,0.000,6,0.079,0.097,2257,2630,3512,0,0,0,0,0,0,14.92,14.88,28.83
$GC,3876,-0.59,-194.6,406.9,-14.6,215,3882,0.12,1.85,0.00,0.000,4,0.236,0.105,2288,3714,3510,0,0,0,0,0,0,14.82,14.88,28.83
$GC,3969,-0.59,-194.6,416.5,-11.4,219,3974,0.00,1.70,0.00,0.000,6,0.000,0.055,2288,2627,3508,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4282,-0.60,-194.6,443.3,-7.6,235,4288,0.00,1.58,0.00,0.000,4,0.000,0.062,2289,1612,3508,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4360,-0.62,-194.6,448.2,-7.7,238,4367,0.00,1.70,0.00,0.000,6,0.000,0.099,2284,2626,3508,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4666,-0.64,-194.6,473.6,-8.7,254,4671,0.00,1.88,0.00,0.000,4,0.000,0.112,2277,3720,3506,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4708,-0.65,-194.6,477.4,-8.7,256,4714,0.00,1.73,0.00,0.000,6,0.000,0.057,2278,2628,3504,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5031,-0.65,-194.6,509.1,-10.2,272,5036,0.00,1.65,0.00,0.000,4,0.000,0.063,2277,1604,3503,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5094,-0.67,-194.6,515.1,-9.7,275,5099,0.00,1.73,0.00,0.000,6,0.000,0.102,2274,2622,3503,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5417,-0.67,-194.6,544.8,-8.4,291,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2623,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5719,-0.68,-194.6,567.5,-7.5,306,5725,0.00,1.60,0.00,0.000,4,0.000,0.063,2275,1607,3499,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5777,-0.70,-194.6,570.8,-7.5,308,5783,0.00,1.73,0.00,0.000,6,0.000,0.103,2274,2629,3499,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6083,-0.71,-194.6,596.9,-8.5,324,6088,0.00,1.88,0.00,0.000,4,0.000,0.114,2267,3715,3497,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6156,-0.73,-194.6,602.9,-9.3,327,6162,0.00,1.73,0.00,0.000,6,0.000,0.060,2266,2621,3496,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6481,-0.74,-194.6,635.1,-9.6,338,6486,0.00,1.60,0.00,0.000,4,0.000,0.065,2266,1605,3494,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6599,-0.76,-194.6,643.8,-9.3,341,6605,0.00,1.70,0.00,0.000,6,0.000,0.106,2262,2608,3493,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6905,-0.76,-194.6,673.1,-8.4,352,6910,0.00,1.92,0.00,0.000,4,0.000,0.115,2255,3716,3491,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6947,-0.76,-194.6,676.0,-8.4,353,6953,0.00,1.77,0.00,0.000,6,0.000,0.060,2255,2604,3491,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7272,-0.76,-194.6,703.4,-7.7,364,7277,0.00,1.58,0.00,0.000,4,0.000,0.068,2255,1607,3489,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7299,-0.76,-194.6,703.4,-7.7,364,7306,0.00,1.70,0.00,0.000,6,0.000,0.106,2250,2607,3489,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7604,-0.76,-194.6,730.1,-8.3,375,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2607,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7906,-0.76,-194.6,754.3,-7.8,385,7911,0.00,1.60,0.00,0.000,4,0.000,0.066,2250,1602,3485,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7952,-0.76,-194.6,756.8,-7.7,386,7957,0.00,1.73,0.00,0.000,6,0.000,0.107,2245,2609,3485,0,0,0,0,0,0,28.83,14.84,28.83
$GC,8270,-0.76,-194.6,782.4,-8.0,397,8275,0.00,1.60,0.00,0.000,4,0.000,0.066,2246,1605,3487,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8322,-0.76,-194.6,785.1,-8.0,398,8327,0.00,1.70,0.00,0.000,6,0.000,0.107,2241,2601,3482,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8635,-0.76,-194.6,813.1,-8.7,409,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2601,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8934,-0.76,-194.6,841.1,-9.6,419,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2600,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9234,-0.76,-194.6,870.3,-9.6,429,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2600,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9534,-0.76,-194.6,897.0,-8.5,439,9539,0.00,1.60,0.00,0.000,4,0.000,0.073,2241,1610,3477,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9576,-0.76,-194.6,899.7,-8.4,440,9581,0.00,1.70,0.00,0.000,6,0.000,0.112,2237,2594,3477,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9900,-0.76,-194.6,925.2,-7.2,451,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2595,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10199,-0.76,-194.6,944.9,-6.4,461,10204,0.00,1.60,0.00,0.000,4,0.000,0.073,2243,1609,3473,0,0,0,0,0,0,28.83,14.82,28.83
$GC,10251,-0.76,-194.6,947.1,-6.5,462,10256,0.00,1.73,0.00,0.000,6,0.000,0.113,2230,2604,3473,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10565,-0.76,-194.6,972.7,-8.1,473,10570,0.00,1.98,0.00,0.000,4,0.000,0.127,2223,3713,3472,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10597,-0.76,-194.6,975.6,-8.2,474,10603,0.00,1.85,0.00,0.000,6,0.000,0.067,2223,2610,3472,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,10778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10778,begin apogee
$GC,10784,-0.25,0.0,991.9,-9.0,480,10991,0.57,0.00,196.65,1.909,4,0.185,0.000,2404,2503,2710,0,0,0,0,0,0,14.66,28.83,13.31
$STATE,10992,end apogee,CONTROL_FINISHED_OK
$STATE,10992,begin climb
$GC,10994,0.47,194.6,1003.1,0.0,487,11223,0.73,1.90,218.32,1.912,4,0.097,0.075,2650,1437,1920,0,0,0,0,0,0,14.09,14.07,13.13
$GC,11232,0.36,194.6,995.5,7.9,495,11238,0.17,1.98,0.00,0.000,6,0.275,0.105,2613,2493,1909,0,0,0,0,0,0,13.76,13.85,28.83
$GC,11566,0.29,194.6,964.0,9.1,506,11571,0.00,1.92,0.00,0.000,4,0.000,0.118,2612,3558,1897,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11733,0.20,194.6,946.8,11.4,511,11739,0.25,1.77,0.00,0.000,6,0.285,0.070,2558,2503,1893,0,0,0,0,0,0,14.40,14.57,28.83
$GC,12053,0.19,208.8,921.5,7.5,522,12064,0.00,1.90,4.10,1.258,4,0.000,0.121,2558,3560,1865,0,0,0,0,0,0,28.83,14.65,13.89
$GC,12088,0.17,215.1,918.6,7.7,523,12110,0.00,1.75,15.60,1.727,6,0.000,0.070,2562,2512,1837,0,0,0,0,0,0,28.83,14.69,13.89
$GC,12418,0.15,215.1,890.5,8.8,534,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2512,1828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12719,0.13,215.1,863.2,9.3,544,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2512,1827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13018,0.12,215.1,835.5,9.1,554,13020,0.12,0.00,0.00,0.000,6,0.275,0.000,2534,2511,1826,0,0,0,0,0,0,14.65,28.83,28.83
$GC,13320,0.14,246.4,813.4,7.0,564,13372,0.00,1.92,46.42,1.561,4,0.000,0.125,2540,3558,1709,0,0,0,0,0,0,28.83,14.40,13.83
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$STATE,22125,end climb,SURFACE_DEPTH_REACHED
$STATE,22125,begin surface coast
$FINISH,-0.0,1.021868
$STATE,22163,end surface coast,CONTROL_FINISHED_OK
$STATE,22163,begin surface
$SM_CCo,22240,0.00,0.000,0,0,658,505.56
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$IRIDIUM_FIX,2258.07,12353.10,290812,090931
$TT8_MAMPS,0.02247,0.02247
$HUMID,45.74
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.1,48.371
$10V_AH,13.4,0.000
$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,21.050,159.225,780.025,0.000,0.000,63.848,47.637,367.808,0.000,0.000,19.608,3214.777,15600.992,870.210,3000.857,359.506,0.000,2253.384,0.000,2345.612,0.000,0.543,0.000
$DEVICE_MAMPS,404.685,126.990,1911.735,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22184.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.501,0.000,0.000,0.000
$MEM,329844
$DATA_FILE_SIZE,36660,1017
$CAP_FILE_SIZE,250443,0
$CFSIZE,260165632,238370816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.165,333.9,1
$GPS,290812,161106,2303.831,12353.172,37,1.0,37,-3.2