version: 66.11
glider: 182
mission: 2
dive: 77
start: 8 20 112 18 21 27
data:
$ID,182
$MISSION,2
$DIVE,77
$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,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,-2378225
$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,0.0049999999
$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,41
$R_STBD_OVSHOOT,27
$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
$GPS1,200812,181229,2341.150,12249.894,41,1.1,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-66.5
$GPS2,200812,182101,2341.188,12249.878,12,1.8,12,-3.3
$SPEED_LIMITS,0.085,0.279
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,116.0,111522,-13.4,-8.462
$D_GRID,2953
$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,-0.50,-194.6,0.0,0.0,0,102,0.00,0.00,-81.38,0.000,2,0.000,0.000,102,2669,2682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.50,-194.6,3.6,-7.7,14,137,10.07,1.77,-14.93,0.000,4,0.407,0.125,2313,3713,3515,0,0,0,0,0,0,14.42,14.62,14.83
$GC,161,-0.44,-194.6,21.1,-25.0,23,169,0.12,1.67,0.00,0.000,6,0.259,0.047,2341,2630,3516,0,0,0,0,0,0,14.57,14.69,28.83
$GC,482,-0.43,-194.6,75.6,-15.0,48,488,0.00,1.58,0.00,0.000,4,0.000,0.057,2342,1612,3515,0,0,0,0,0,0,28.83,14.78,28.83
$GC,596,-0.43,-194.6,87.7,-11.0,53,601,0.00,1.70,0.00,0.000,6,0.000,0.091,2338,2644,3515,0,0,0,0,0,0,28.83,14.75,28.83
$GC,908,-0.44,-194.6,122.7,-9.9,69,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2644,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1210,-0.45,-194.6,148.8,-8.1,84,1215,0.00,1.60,0.00,0.000,4,0.000,0.057,2338,1610,3516,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1314,-0.48,-194.6,157.4,-8.2,89,1319,0.00,1.73,0.00,0.000,6,0.000,0.094,2338,2650,3516,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1638,-0.50,-194.6,183.7,-8.0,105,1643,0.00,1.85,0.00,0.000,4,0.000,0.109,2332,3715,3516,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1710,-0.52,-194.6,188.7,-7.9,108,1715,0.00,1.62,0.00,0.000,6,0.000,0.056,2332,2666,3516,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2023,-0.54,-194.6,214.4,-8.3,124,2029,0.00,1.65,0.00,0.000,4,0.000,0.060,2332,1600,3516,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2072,-0.56,-194.6,218.0,-8.3,126,2077,0.00,1.75,0.00,0.000,6,0.000,0.096,2331,2657,3516,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2390,-0.58,-194.6,245.3,-8.0,142,2395,0.00,1.67,0.00,0.000,4,0.000,0.060,2332,1611,3519,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2427,-0.60,-194.6,247.3,-8.1,143,2435,0.12,1.73,0.00,0.000,6,0.136,0.097,2264,2655,3516,0,0,0,0,0,0,14.91,14.87,28.83
$GC,2733,-0.58,-194.6,290.7,-14.7,159,2739,0.12,1.62,0.00,0.000,4,0.246,0.056,2301,1610,3516,0,0,0,0,0,0,14.83,14.92,28.83
$GC,2852,-0.60,-194.6,301.1,-9.3,164,2858,0.00,1.70,0.00,0.000,6,0.000,0.096,2297,2640,3516,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3157,-0.60,-194.6,333.1,-10.2,180,3162,0.00,1.60,0.00,0.000,4,0.000,0.060,2297,1604,3515,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3201,-0.61,-194.6,337.3,-9.9,182,3206,0.00,1.73,0.00,0.000,6,0.000,0.099,2295,2645,3515,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3524,-0.62,-194.6,365.1,-7.9,198,3530,0.00,1.65,0.00,0.000,4,0.000,0.061,2296,1611,3513,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3548,-0.63,-194.6,367.0,-8.0,199,3554,0.00,1.70,0.00,0.000,6,0.000,0.098,2293,2637,3513,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3872,-0.64,-194.6,397.9,-10.0,215,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2637,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4174,-0.66,-194.6,425.9,-8.7,230,4179,0.00,1.60,0.00,0.000,4,0.000,0.060,2293,1601,3510,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4256,-0.67,-194.6,432.4,-7.9,234,4261,0.00,1.70,0.00,0.000,6,0.000,0.099,2289,2626,3510,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4580,-0.69,-194.6,455.5,-7.2,250,4585,0.00,1.85,0.00,0.000,4,0.000,0.113,2281,3714,3508,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4603,-0.70,-194.6,457.2,-7.2,251,4609,0.00,1.73,0.00,0.000,6,0.000,0.058,2281,2617,3507,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4926,-0.71,-194.6,486.4,-9.5,267,4932,0.00,1.58,0.00,0.000,4,0.000,0.063,2282,1601,3506,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4979,-0.73,-194.6,490.6,-9.7,269,4984,0.00,1.70,0.00,0.000,6,0.000,0.101,2277,2627,3505,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5292,-0.74,-194.6,519.2,-8.1,285,5297,0.00,1.90,0.00,0.000,4,0.000,0.116,2271,3713,3500,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5325,-0.75,-194.6,521.1,-8.0,286,5330,0.00,1.73,0.00,0.000,6,0.000,0.059,2270,2615,3503,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5638,-0.76,-194.6,549.1,-9.0,302,5643,0.00,1.60,0.00,0.000,4,0.000,0.063,2270,1610,3500,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5721,-0.77,-194.6,556.7,-9.2,306,5726,0.00,1.67,0.00,0.000,6,0.000,0.101,2266,2614,3500,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6044,-0.78,-194.6,587.6,-9.0,322,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2614,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6355,-0.79,-194.6,612.3,-7.5,335,6360,0.00,1.58,0.00,0.000,4,0.000,0.065,2266,1608,3497,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6418,-0.80,-194.6,617.1,-7.4,337,6424,0.00,1.70,0.00,0.000,6,0.000,0.104,2261,2622,3496,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6753,-0.81,-194.6,645.7,-9.3,348,6758,0.00,1.60,0.00,0.000,4,0.000,0.067,2261,1604,3494,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6835,-0.82,-194.6,651.8,-9.5,350,6840,0.00,1.70,0.00,0.000,6,0.000,0.106,2258,2616,3494,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7150,-0.83,-194.6,681.3,-8.5,361,7156,0.12,1.60,0.00,0.000,4,0.142,0.064,2194,1601,3492,0,0,0,0,0,0,14.95,14.95,28.83
$GC,7232,-0.83,-194.6,688.7,-9.7,363,7238,0.15,1.67,0.00,0.000,6,0.256,0.104,2223,2604,3491,0,0,0,0,0,0,14.84,14.90,28.83
$GC,7547,-0.82,-194.6,724.5,-10.2,374,7552,0.00,1.58,0.00,0.000,4,0.000,0.067,2224,1601,3489,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7589,-0.81,-194.6,728.1,-10.2,375,7594,0.00,1.67,0.00,0.000,6,0.000,0.106,2219,2600,3489,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7913,-0.80,-194.6,763.8,-10.8,386,7918,0.00,1.58,0.00,0.000,4,0.000,0.069,2219,1602,3487,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7955,-0.79,-194.6,767.6,-10.7,387,7961,0.00,1.67,0.00,0.000,6,0.000,0.108,2212,2597,3487,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8280,-0.78,-194.6,805.3,-11.5,398,8285,0.00,1.58,0.00,0.000,4,0.000,0.069,2212,1600,3485,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8303,-0.77,-194.6,805.3,-11.5,398,8308,0.15,1.67,0.00,0.000,6,0.249,0.108,2244,2595,3485,0,0,0,0,0,0,14.84,14.89,28.83
$GC,8617,-0.77,-194.6,836.7,-9.1,409,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2595,3482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8917,-0.78,-194.6,863.5,-8.9,419,8922,0.00,1.58,0.00,0.000,4,0.000,0.070,2244,1601,3481,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8965,-0.79,-194.6,866.5,-8.9,420,8970,0.00,1.65,0.00,0.000,6,0.000,0.109,2240,2584,3481,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9282,-0.79,-194.6,895.6,-8.8,431,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2584,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9583,-0.79,-194.6,922.3,-9.2,441,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2585,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9882,-0.80,-194.6,950.9,-9.5,451,9887,0.00,1.55,0.00,0.000,4,0.000,0.072,2239,1611,3477,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9916,-0.81,-194.6,954.0,-9.5,452,9922,0.00,1.65,0.00,0.000,6,0.000,0.111,2238,2580,3477,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10250,-0.81,-194.6,985.7,-9.4,463,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2581,3475,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10307,begin apogee
$GC,10313,-0.25,0.0,991.4,-9.4,465,10513,0.52,0.00,192.62,1.827,4,0.184,0.000,2407,2503,2713,0,0,0,0,0,0,14.83,28.83,13.38
$STATE,10514,end apogee,CONTROL_FINISHED_OK
$STATE,10514,begin climb
$GC,10516,0.50,194.6,1002.5,0.0,471,10739,0.73,1.88,212.65,1.795,4,0.095,0.077,2656,1441,1920,0,0,0,0,0,0,14.10,14.09,13.30
$GC,10826,0.46,194.6,982.4,11.8,482,10832,0.00,1.88,0.00,0.000,6,0.000,0.106,2656,2496,1901,0,0,0,0,0,0,28.83,14.24,28.83
$GC,11156,0.41,194.6,935.2,14.4,493,11162,0.12,1.75,0.00,0.000,4,0.314,0.073,2631,1441,1896,0,0,0,0,0,0,14.47,14.59,28.83
$GC,11329,0.38,194.6,916.6,11.7,498,11334,0.00,1.85,0.00,0.000,6,0.000,0.105,2631,2509,1896,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11644,0.34,194.6,876.3,11.6,509,11649,0.00,1.83,0.00,0.000,4,0.000,0.118,2631,3556,1893,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11746,0.30,194.6,864.3,12.4,512,11752,0.20,1.73,0.00,0.000,6,0.302,0.069,2590,2506,1890,0,0,0,0,0,0,14.62,14.77,28.83
$GC,12072,0.28,204.1,835.8,8.2,523,12077,0.00,1.85,0.00,0.000,4,0.000,0.120,2592,3555,1890,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12105,0.27,208.9,832.7,8.3,524,12115,0.00,1.70,4.03,1.211,6,0.000,0.067,2597,2515,1866,0,0,0,0,0,0,28.83,14.82,13.99
$GC,12438,0.24,208.9,802.0,9.4,535,12443,0.00,1.85,0.00,0.000,4,0.000,0.123,2597,3561,1871,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12474,0.22,208.9,798.6,9.5,536,12481,0.17,1.70,0.00,0.000,6,0.281,0.067,2564,2515,1871,0,0,0,0,0,0,14.69,14.82,28.83
$GC,12805,0.23,242.6,773.0,7.5,547,12858,0.00,1.95,45.42,1.580,4,0.000,0.127,2564,3550,1721,0,0,0,0,0,0,28.83,14.39,13.84
$GC,12880,0.25,270.3,768.2,7.6,549,12920,0.00,1.70,32.15,1.560,6,0.000,0.067,2568,2528,1606,0,0,0,0,0,0,28.83,14.50,13.67
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$STATE,20889,end climb,SURFACE_DEPTH_REACHED
$STATE,20889,begin surface coast
$FINISH,0.2,1.021566
$STATE,20915,end surface coast,CONTROL_FINISHED_OK
$STATE,20915,begin surface
$SM_CCo,20991,0.00,0.000,0,0,794,472.20
$SM_GC,0.63,6.88,0.28,0.00,0.055,0.101,0.000,116,2675,794,-7.33,-0.68,472.20,0,0,0,0,0,0,14.75,14.74,28.83
$IRIDIUM_FIX,2330.93,12247.22,200812,121222
$TT8_MAMPS,0.02247,0.02247
$HUMID,44.99
$INTERNAL_PRESSURE,9.20588
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.3,30.283
$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,19.750,149.175,681.600,0.000,0.000,25.261,46.723,232.372,0.000,0.000,13.379,3147.674,14503.535,801.403,2733.896,313.529,0.000,2122.084,0.000,2299.946,0.000,0.543,0.000
$DEVICE_MAMPS,406.980,132.345,1826.820,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20968.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.044,0.000,0.000,0.000
$MEM,323784
$DATA_FILE_SIZE,36741,968
$CAP_FILE_SIZE,241578,0
$CFSIZE,260165632,242401280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127, 35.1,1
$GPS,210812,001236,2341.305,12254.341,36,0.9,36,-3.3