version: 66.11
glider: 182
mission: 2
dive: 128
start: 9 2 112 13 7 41
data:
$ID,182
$MISSION,2
$DIVE,128
$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,-2378496.5
$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,40
$R_STBD_OVSHOOT,22
$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
$GPS1,020912,125606,2248.906,12354.435,36,1.4,36,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-68.6
$GPS2,020912,130713,2249.027,12354.353,12,1.4,12,-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,142.4,146681,-12.5,-7.857
$D_GRID,5962
$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,-194.6,0.0,0.0,0,97,0.00,0.00,-75.72,0.000,2,0.000,0.000,110,2671,2471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.47,-194.6,3.1,-6.0,13,137,10.20,1.77,-20.65,0.000,4,0.407,0.090,2330,1606,3514,0,0,0,0,0,0,14.33,14.63,14.81
$GC,229,-0.42,-194.6,27.6,-16.8,35,236,0.00,1.83,0.00,0.000,6,0.000,0.096,2323,2667,3515,0,0,0,0,0,0,28.83,14.60,28.83
$GC,536,-0.40,-194.6,72.0,-10.6,57,542,0.12,1.83,0.00,0.000,4,0.243,0.106,2355,3726,3513,0,0,0,0,0,0,14.65,14.64,28.83
$GC,565,-0.40,-194.6,74.1,-9.9,58,570,0.00,1.70,0.00,0.000,6,0.000,0.059,2356,2663,3515,0,0,0,0,0,0,28.83,14.75,28.83
$GC,883,-0.45,-194.6,97.3,-6.7,74,888,0.00,1.67,0.00,0.000,4,0.000,0.062,2356,1603,3515,0,0,0,0,0,0,28.83,14.78,28.83
$GC,920,-0.50,-194.6,98.8,-6.5,75,927,0.00,1.80,0.00,0.000,6,0.000,0.099,2355,2672,3515,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1226,-0.55,-194.6,121.3,-9.3,91,1232,0.12,1.80,0.00,0.000,4,0.133,0.111,2271,3714,3515,0,0,0,0,0,0,14.84,14.77,28.83
$GC,1285,-0.56,-194.6,127.5,-11.8,93,1292,0.12,1.70,0.00,0.000,6,0.226,0.056,2304,2649,3515,0,0,0,0,0,0,14.69,14.81,28.83
$GC,1590,-0.56,-194.6,167.0,-11.2,109,1595,0.00,1.62,0.00,0.000,4,0.000,0.062,2305,1616,3515,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1667,-0.56,-194.6,173.6,-10.6,112,1674,0.00,1.75,0.00,0.000,6,0.000,0.098,2299,2661,3515,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1972,-0.56,-194.6,210.0,-11.1,128,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2662,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2274,-0.56,-194.6,238.4,-8.8,143,2279,0.00,1.65,0.00,0.000,4,0.000,0.060,2299,1617,3515,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2296,-0.56,-194.6,240.4,-8.7,144,2301,0.00,1.75,0.00,0.000,6,0.000,0.098,2295,2659,3515,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2618,-0.56,-194.6,274.0,-11.2,160,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2660,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2920,-0.56,-194.6,307.9,-10.4,175,2925,0.00,1.67,0.00,0.000,4,0.000,0.061,2295,1618,3515,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2966,-0.56,-194.6,312.2,-10.1,177,2971,0.00,1.75,0.00,0.000,6,0.000,0.099,2295,2663,3515,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3283,-0.56,-194.6,342.3,-9.8,193,3290,0.00,1.70,0.00,0.000,4,0.000,0.063,2295,1618,3514,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3311,-0.56,-194.6,344.6,-9.9,194,3316,0.00,1.75,0.00,0.000,6,0.000,0.100,2294,2662,3513,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3629,-0.58,-194.6,377.1,-9.6,210,3634,0.00,1.70,0.00,0.000,4,0.000,0.063,2293,1617,3512,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3655,-0.60,-194.6,379.3,-9.5,211,3662,0.00,1.75,0.00,0.000,6,0.000,0.099,2289,2663,3512,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3974,-0.61,-194.6,407.0,-8.2,227,3980,0.00,1.70,0.00,0.000,4,0.000,0.063,2289,1619,3510,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4034,-0.63,-194.6,410.7,-8.5,229,4040,0.00,1.75,0.00,0.000,6,0.000,0.100,2284,2652,3510,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4338,-0.65,-194.6,438.9,-9.0,245,4343,0.00,1.65,0.00,0.000,4,0.000,0.063,2284,1610,3508,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4364,-0.66,-194.6,441.1,-9.1,246,4370,0.00,1.80,0.00,0.000,6,0.000,0.102,2282,2653,3508,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4682,-0.68,-194.6,471.0,-8.8,262,4688,0.00,1.85,0.00,0.000,4,0.000,0.113,2276,3728,3506,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4735,-0.70,-194.6,474.8,-8.5,264,4740,0.00,1.70,0.00,0.000,6,0.000,0.060,2276,2660,3506,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5048,-0.71,-194.6,497.4,-6.8,280,5053,0.00,1.67,0.00,0.000,4,0.000,0.066,2276,1605,3504,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5115,-0.73,-194.6,502.1,-7.2,283,5122,0.00,1.80,0.00,0.000,6,0.000,0.103,2273,2644,3504,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5434,-0.74,-194.6,531.4,-9.6,299,5440,0.00,1.65,0.00,0.000,4,0.000,0.066,2273,1610,3502,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5472,-0.76,-194.6,533.6,-9.7,300,5479,0.00,1.75,0.00,0.000,6,0.000,0.105,2269,2644,3502,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5778,-0.77,-194.6,561.3,-8.1,316,5783,0.00,1.88,0.00,0.000,4,0.000,0.118,2261,3725,3500,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5824,-0.78,-194.6,564.9,-8.3,318,5830,0.00,1.75,0.00,0.000,6,0.000,0.063,2261,2632,3499,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6142,-0.78,-194.6,594.5,-9.9,334,6148,0.00,1.67,0.00,0.000,4,0.000,0.069,2261,1616,3497,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6252,-0.79,-194.6,603.7,-9.8,338,6257,0.00,1.75,0.00,0.000,6,0.000,0.105,2260,2649,3497,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6570,-0.79,-194.6,633.6,-8.4,349,6575,0.00,1.67,0.00,0.000,4,0.000,0.069,2260,1608,3495,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6638,-0.81,-194.6,638.5,-7.8,351,6643,0.00,1.75,0.00,0.000,6,0.000,0.109,2254,2634,3495,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6967,-0.81,-194.6,662.5,-7.3,362,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2634,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7266,-0.81,-194.6,689.1,-9.6,372,7272,0.00,1.65,0.00,0.000,4,0.000,0.067,2254,1607,3491,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7349,-0.82,-194.6,695.2,-9.5,374,7354,0.00,1.75,0.00,0.000,6,0.000,0.108,2253,2631,3487,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7662,-0.82,-194.6,726.9,-9.0,385,7668,0.00,1.65,0.00,0.000,4,0.000,0.071,2253,1611,3489,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7720,-0.83,-194.6,729.7,-8.6,386,7726,0.00,1.73,0.00,0.000,6,0.000,0.110,2248,2615,3488,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8027,-0.83,-194.6,754.3,-7.2,397,8032,0.00,1.62,0.00,0.000,4,0.000,0.071,2247,1610,3485,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8099,-0.83,-194.6,758.7,-7.0,399,8105,0.00,1.73,0.00,0.000,6,0.000,0.112,2246,2613,3485,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8424,-0.83,-194.6,783.2,-7.7,410,8429,0.00,1.62,0.00,0.000,4,0.000,0.072,2246,1611,3483,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8476,-0.83,-194.6,785.7,-7.6,411,8482,0.00,1.73,0.00,0.000,6,0.000,0.112,2243,2611,3483,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8789,-0.83,-194.6,812.1,-8.2,422,8795,0.00,1.62,0.00,0.000,4,0.000,0.073,2243,1612,3481,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8857,-0.83,-194.6,817.3,-8.3,424,8862,0.00,1.75,0.00,0.000,6,0.000,0.112,2239,2612,3481,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9185,-0.83,-194.6,844.7,-8.1,435,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2612,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9485,-0.83,-194.6,867.0,-7.2,445,9490,0.00,1.62,0.00,0.000,4,0.000,0.073,2239,1613,3477,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9552,-0.83,-194.6,871.8,-7.6,447,9557,0.00,1.70,0.00,0.000,6,0.000,0.112,2234,2605,3477,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9880,-0.83,-194.6,898.9,-8.5,458,9885,0.00,1.62,0.00,0.000,4,0.000,0.077,2235,1612,3475,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9938,-0.83,-194.6,901.8,-8.5,459,9944,0.00,1.73,0.00,0.000,6,0.000,0.116,2228,2608,3475,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10243,-0.83,-194.6,932.1,-9.6,470,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2608,3474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10543,-0.83,-194.6,962.7,-10.2,480,10548,0.00,1.62,0.00,0.000,4,0.000,0.078,2228,1616,3473,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10621,-0.83,-194.6,968.9,-10.0,482,10626,0.00,1.70,0.00,0.000,6,0.000,0.114,2222,2592,3473,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,10816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10816,begin apogee
$GC,10822,-0.25,0.0,990.4,-10.2,489,11028,0.57,0.00,198.60,1.868,4,0.186,0.000,2402,2500,2714,0,0,0,0,0,0,14.63,28.83,13.34
$STATE,11030,end apogee,CONTROL_FINISHED_OK
$STATE,11030,begin climb
$GC,11032,0.47,194.6,1001.6,0.0,496,11257,0.73,1.90,214.98,1.786,4,0.091,0.082,2651,1455,1921,0,0,0,0,0,0,14.08,14.05,13.10
$GC,11452,0.38,194.6,965.8,13.5,510,11458,0.15,1.90,0.00,0.000,6,0.282,0.109,2619,2503,1900,0,0,0,0,0,0,14.16,14.27,28.83
$GC,11786,0.31,194.6,925.5,11.6,521,11792,0.00,1.80,0.00,0.000,4,0.000,0.084,2624,1444,1895,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11943,0.24,194.6,908.9,10.8,526,11949,0.22,1.88,0.00,0.000,6,0.266,0.112,2568,2503,1895,0,0,0,0,0,0,14.48,14.59,28.83
$GC,12272,0.21,194.6,880.4,8.5,537,12277,0.00,1.90,0.00,0.000,4,0.000,0.127,2568,3562,1892,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12349,0.17,194.6,874.4,9.0,539,12354,0.00,1.80,0.00,0.000,6,0.000,0.072,2574,2511,1890,0,0,0,0,0,0,28.83,14.70,28.83
$GC,12669,0.14,194.6,844.2,8.8,550,12674,0.12,1.80,0.00,0.000,4,0.285,0.084,2546,1441,1890,0,0,0,0,0,0,14.59,14.72,28.83
$GC,12686,0.11,194.6,844.2,8.8,550,12691,0.00,1.88,0.00,0.000,6,0.000,0.112,2546,2508,1890,0,0,0,0,0,0,28.83,14.70,28.83
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$STATE,21538,end climb,SURFACE_DEPTH_REACHED
$STATE,21538,begin surface coast
$FINISH,0.0,1.021925
$STATE,21566,end surface coast,CONTROL_FINISHED_OK
$STATE,21566,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,46.53
$INTERNAL_PRESSURE,9.14728
$TCM_TEMP,23.80
$XPDR_PINGS,0
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$10V_AH,13.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,329688
$DATA_FILE_SIZE,36732,996
$CAP_FILE_SIZE,246928,0
$CFSIZE,260165632,236539904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,320.8,1
$GPS,020912,190936,2247.763,12355.714,32,1.0,32,-3.2