version: 66.11
glider: 182
mission: 2
dive: 126
start: 9 2 112 1 1 29
data:
$ID,182
$MISSION,2
$DIVE,126
$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,-2378493.5
$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,42
$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
$GPS1,020912,005235,2251.543,12354.860,31,1.1,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-67.6
$GPS2,020912,010101,2251.679,12354.686,16,1.2,16,-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,156.4,151546,-12.5,-7.857
$D_GRID,6221
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-80.82,0.000,2,0.000,0.000,122,2667,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.47,-194.6,3.4,-6.7,14,136,10.18,1.77,-16.45,0.000,4,0.408,0.090,2329,1604,3514,0,0,0,0,0,0,14.35,14.64,14.83
$GC,179,-0.41,-194.6,24.5,-19.0,27,187,0.12,1.77,0.00,0.000,6,0.245,0.095,2353,2654,3516,0,0,0,0,0,0,14.54,14.62,28.83
$GC,496,-0.39,-194.6,68.0,-12.2,52,501,0.00,1.67,0.00,0.000,4,0.000,0.057,2354,1597,3515,0,0,0,0,0,0,28.83,14.74,28.83
$GC,532,-0.39,-194.6,70.9,-12.5,53,540,0.00,1.77,0.00,0.000,6,0.000,0.096,2352,2656,3515,0,0,0,0,0,0,28.83,14.71,28.83
$GC,841,-0.42,-194.6,106.9,-8.5,69,847,0.00,1.65,0.00,0.000,4,0.000,0.059,2351,1608,3515,0,0,0,0,0,0,28.83,14.79,28.83
$GC,870,-0.45,-194.6,108.6,-7.8,70,875,0.00,1.75,0.00,0.000,6,0.000,0.097,2351,2654,3515,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1188,-0.55,-194.6,134.5,-9.6,86,1194,0.12,1.83,0.00,0.000,4,0.140,0.103,2289,3722,3515,0,0,0,0,0,0,14.78,14.74,28.83
$GC,1276,-0.59,-194.6,144.2,-11.6,90,1281,0.00,1.67,0.00,0.000,6,0.000,0.058,2289,2663,3515,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1594,-0.56,-194.6,190.8,-14.6,106,1600,0.00,1.65,0.00,0.000,4,0.000,0.060,2289,1610,3515,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1697,-0.56,-194.6,202.0,-10.4,111,1704,0.00,1.77,0.00,0.000,6,0.000,0.096,2281,2669,3515,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2021,-0.53,-194.6,233.0,-11.9,127,2027,0.12,1.73,0.00,0.000,4,0.257,0.058,2317,1589,3513,0,0,0,0,0,0,14.69,14.83,28.83
$GC,2059,-0.51,-194.6,235.9,-12.5,128,2066,0.00,1.80,0.00,0.000,6,0.000,0.098,2314,2665,3515,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2365,-0.53,-194.6,277.9,-13.1,144,2370,0.00,1.67,0.00,0.000,4,0.000,0.063,2314,1607,3515,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2392,-0.56,-194.6,280.7,-12.6,145,2397,0.00,1.77,0.00,0.000,6,0.000,0.099,2311,2666,3515,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2710,-0.58,-194.6,311.1,-8.2,161,2716,0.00,1.67,0.00,0.000,4,0.000,0.063,2311,1606,3515,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2748,-0.61,-194.6,313.0,-8.1,162,2755,0.00,1.77,0.00,0.000,6,0.000,0.101,2310,2666,3515,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3054,-0.64,-194.6,334.4,-6.7,178,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2666,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,-0.67,-194.6,355.5,-7.4,193,3357,0.12,0.00,0.00,0.000,6,0.132,0.000,2239,2667,3514,0,0,0,0,0,0,14.93,28.83,28.83
$GC,3654,-0.62,-194.6,390.7,-11.1,208,3656,0.17,0.00,0.00,0.000,6,0.229,0.000,2286,2666,3512,0,0,0,0,0,0,14.78,28.83,28.83
$GC,3955,-0.64,-194.6,412.8,-8.0,223,3960,0.00,1.67,0.00,0.000,4,0.000,0.063,2286,1608,3511,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4012,-0.66,-194.6,416.8,-8.5,225,4020,0.00,1.75,0.00,0.000,6,0.000,0.101,2284,2654,3511,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4318,-0.67,-194.6,447.0,-9.1,241,4324,0.00,1.83,0.00,0.000,4,0.000,0.113,2277,3714,3509,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4346,-0.68,-194.6,449.0,-8.9,242,4351,0.00,1.67,0.00,0.000,6,0.000,0.058,2277,2650,3509,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4664,-0.68,-194.6,474.4,-8.0,258,4669,0.00,1.65,0.00,0.000,4,0.000,0.066,2277,1607,3507,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4716,-0.70,-194.6,477.8,-8.0,260,4721,0.00,1.77,0.00,0.000,6,0.000,0.103,2273,2660,3507,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5028,-0.70,-194.6,509.5,-10.1,276,5034,0.00,1.85,0.00,0.000,4,0.000,0.114,2265,3729,3505,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5060,-0.70,-194.6,511.8,-10.0,277,5066,0.00,1.70,0.00,0.000,6,0.000,0.060,2265,2660,3502,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5373,-0.70,-194.6,540.7,-8.4,293,5379,0.00,1.73,0.00,0.000,4,0.000,0.068,2266,1608,3503,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5478,-0.71,-194.6,549.1,-8.1,298,5483,0.00,1.77,0.00,0.000,6,0.000,0.106,2260,2652,3502,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5801,-0.71,-194.6,575.8,-8.6,314,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2652,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6112,-0.71,-194.6,603.2,-8.7,329,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2652,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6411,-0.71,-194.6,628.1,-8.2,339,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2652,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6712,-0.71,-194.6,654.0,-8.9,349,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2652,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7012,-0.73,-194.6,685.2,-11.0,359,7017,0.00,1.88,0.00,0.000,4,0.000,0.121,2252,3723,3493,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7039,-0.74,-194.6,685.2,-11.0,359,7046,0.00,1.75,0.00,0.000,6,0.000,0.066,2252,2640,3492,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7346,-0.74,-194.6,718.9,-8.9,370,7351,0.00,1.65,0.00,0.000,4,0.000,0.072,2252,1611,3491,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7442,-0.75,-194.6,726.4,-8.1,373,7448,0.00,1.77,0.00,0.000,6,0.000,0.112,2247,2644,3491,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7772,-0.75,-194.6,753.5,-8.4,384,7777,0.00,1.67,0.00,0.000,4,0.000,0.073,2247,1612,3489,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7844,-0.75,-194.6,758.9,-8.4,386,7849,0.00,1.77,0.00,0.000,6,0.000,0.112,2245,2644,3488,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8168,-0.75,-194.6,790.4,-9.8,397,8173,0.00,1.67,0.00,0.000,4,0.000,0.073,2245,1610,3487,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8204,-0.75,-194.6,793.6,-9.7,398,8209,0.00,1.77,0.00,0.000,6,0.000,0.112,2241,2642,3486,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8533,-0.75,-194.6,825.7,-9.6,409,8538,0.00,1.67,0.00,0.000,4,0.000,0.073,2241,1610,3484,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8596,-0.75,-194.6,832.0,-9.7,411,8601,0.00,1.77,0.00,0.000,6,0.000,0.113,2235,2636,3484,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8930,-0.75,-194.6,866.7,-10.7,422,8935,0.00,1.65,0.00,0.000,4,0.000,0.071,2235,1610,3482,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8972,-0.75,-194.6,870.4,-10.8,423,8977,0.00,1.75,0.00,0.000,6,0.000,0.113,2229,2627,3482,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9296,-0.75,-194.6,906.2,-10.5,434,9301,0.00,1.65,0.00,0.000,4,0.000,0.075,2229,1611,3480,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9353,-0.75,-194.6,909.7,-10.3,435,9360,0.00,1.75,0.00,0.000,6,0.000,0.115,2222,2628,3480,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9662,-0.74,-194.6,940.0,-8.7,446,9668,0.12,1.67,0.00,0.000,4,0.261,0.073,2259,1604,3478,0,0,0,0,0,0,14.66,14.80,28.83
$GC,9699,-0.74,-194.6,942.6,-8.2,447,9705,0.00,1.77,0.00,0.000,6,0.000,0.115,2259,2630,3478,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10030,-0.77,-194.6,961.8,-5.9,458,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2630,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10329,-0.80,-194.6,980.0,-6.3,468,10334,0.00,1.70,0.00,0.000,4,0.000,0.077,2259,1619,3476,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10363,-0.83,-194.6,982.3,-6.5,469,10368,0.12,1.75,0.00,0.000,6,0.143,0.116,2203,2624,3476,0,0,0,0,0,0,14.81,14.75,28.83
$STATE,10454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10454,begin apogee
$GC,10459,-0.25,0.0,991.0,-8.6,472,10740,0.65,0.00,272.42,1.471,4,0.190,0.000,2406,2503,2715,0,0,0,0,0,0,14.65,28.83,13.50
$STATE,10743,end apogee,CONTROL_FINISHED_OK
$STATE,10743,begin climb
$GC,10745,0.47,194.6,1006.5,0.0,481,10969,0.70,1.90,215.00,1.671,4,0.093,0.077,2644,1424,1922,0,0,0,0,0,0,14.11,14.09,13.19
$GC,11057,0.38,194.6,989.1,10.8,492,11063,0.12,1.98,0.00,0.000,6,0.277,0.112,2618,2494,1901,0,0,0,0,0,0,14.04,14.12,28.83
$GC,11391,0.30,194.6,950.6,11.9,503,11396,0.00,1.80,0.00,0.000,4,0.000,0.086,2623,1445,1893,0,0,0,0,0,0,28.83,14.53,28.83
$GC,11547,0.24,194.6,933.7,11.0,508,11554,0.22,1.90,0.00,0.000,6,0.264,0.115,2568,2514,1894,0,0,0,0,0,0,14.47,14.57,28.83
$GC,11877,0.21,194.6,905.1,8.6,519,11882,0.00,1.88,0.00,0.000,4,0.000,0.127,2568,3562,1891,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12030,0.16,194.6,889.6,10.2,524,12036,0.00,1.75,0.00,0.000,6,0.000,0.070,2572,2513,1888,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12365,0.13,194.6,859.8,8.8,535,12371,0.12,1.77,0.00,0.000,4,0.276,0.079,2545,1445,1888,0,0,0,0,0,0,14.61,14.74,28.83
$GC,12388,0.10,194.6,859.8,8.8,535,12393,0.00,1.90,0.00,0.000,6,0.000,0.110,2545,2531,1888,0,0,0,0,0,0,28.83,14.71,28.83
$GC,12702,0.12,238.4,836.5,6.7,546,12766,0.00,1.95,58.67,1.440,4,0.000,0.123,2545,3557,1741,0,0,0,0,0,0,28.83,14.35,13.85
$GC,12794,0.13,268.4,829.8,7.0,549,12842,0.00,1.77,41.83,1.331,6,0.000,0.066,2552,2508,1620,0,0,0,0,0,0,28.83,14.45,13.74
$GC,13155,0.14,268.4,799.2,9.0,561,13157,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2508,1604,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,17899,0.43,467.8,278.4,11.3,759,17903,0.00,0.00,1.85,0.192,6,0.000,0.000,2646,2461,810,0,0,0,0,0,0,28.83,28.83,14.66
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$STATE,20707,end climb,SURFACE_DEPTH_REACHED
$STATE,20708,begin surface coast
$FINISH,-0.1,1.021530
$STATE,20741,end surface coast,CONTROL_FINISHED_OK
$STATE,20741,begin surface
$SM_CCo,20818,0.00,0.000,0,0,421,563.94
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$IRIDIUM_FIX,2244.02,12352.43,010912,181836
$TT8_MAMPS,0.02247,0.02247
$HUMID,47.12
$INTERNAL_PRESSURE,9.13752
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,7721760
$24V_AH,13.2,63.034
$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,21.775,156.900,990.300,0.000,0.000,0.000,0.000,814.072,0.000,0.000,17.081,3103.190,14059.405,1019.648,2794.737,337.208,0.000,2754.302,0.000,2375.066,0.000,0.541,0.000
$DEVICE_MAMPS,407.745,126.990,1670.760,0.000,0.000,0.000,0.000,162.945,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20775.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.760,0.000,0.000,0.000
$MEM,329728
$DATA_FILE_SIZE,36690,948
$CAP_FILE_SIZE,240775,0
$CFSIZE,260165632,236777472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,297.3,1
$GPS,020912,064936,2249.861,12354.439,29,1.0,29,-3.2