version: 66.13
glider: 124
mission: 26
dive: 137
start: 6 16 118 21 44 32
data:
$ID,124
$MISSION,26
$DIVE,137
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,2.5
$T_BOOST,0
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55793
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,75
$PITCH_MAX,3750
$C_PITCH,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,15
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,550
$VBD_MAX,3990
$C_VBD,2681
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-165.43451
$PRESSURE_SLOPE,0.00010836
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,71
$LOGGERDEVICE3,134
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043545738
$SEABIRD_T_H,0.00062548259
$SEABIRD_T_I,2.3693661e-05
$SEABIRD_T_J,2.5207949e-06
$SEABIRD_C_G,-9.9945526
$SEABIRD_C_H,1.1183146
$SEABIRD_C_I,-0.0026370776
$SEABIRD_C_J,0.00028069684
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,2.0
$CP_XMITPROFILE,2.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,140.0
$CP_NDIVE,1.0
$GPS1,160618,213206,5833.9048,-2344.0774,40,1.3,43,-15.7,0.3,324.0,8,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-74.4
$GPS2,160618,214404,5834.0322,-2344.0720,9,1.1,15,-15.7,0.4,6.5,8,5.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,Z2
$TGT_LATLONG,5825.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,158.8,73769,-17.6,-10.000,-21.24,2209
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.65,-146.0,19,1688,1380,1104,0.0,0.0,0,115,0.00,0.00,-98.75,0.006,16390,0.000,0.000,17,1688,3277,3243,3311,0,0,0,0,0,0,14.74,13.47,14.77
$GC,118,-0.65,-146.0,18,1688,3244,3312,3.1,-2.1,5,132,9.02,0.00,0.00,0.000,2598,0.414,0.000,1981,1680,3276,3250,3303,0,0,0,0,0,0,14.28,14.59,14.50
$GC,457,-0.65,-146.0,1980,1687,3274,3279,54.5,-14.0,25,462,0.00,0.90,0.00,0.000,516,0.000,0.056,1981,1167,3276,3273,3280,0,0,0,0,0,0,14.88,14.69,14.90
$GC,557,-0.65,-146.0,1981,1167,3275,3280,68.2,-13.4,45,562,0.00,0.90,0.00,0.000,1030,0.000,0.049,1977,1681,3276,3273,3280,0,0,0,0,0,0,14.74,14.71,14.76
$GC,917,-0.65,-146.0,1978,1680,3276,3278,118.1,-13.7,63,922,0.00,0.88,0.00,0.000,260,0.000,0.050,1973,2238,3276,3275,3278,0,0,0,0,0,0,14.95,14.75,14.97
$GC,972,-0.65,-146.0,1973,2241,3277,3277,125.5,-13.2,74,977,0.00,0.90,0.00,0.000,1030,0.000,0.055,1973,1697,3276,3277,3276,0,0,0,0,0,0,14.79,14.76,14.81
$GC,1317,-0.65,-146.0,1973,1697,3278,3276,173.8,-14.0,87,1322,0.00,0.93,0.00,0.000,516,0.000,0.058,1972,1161,3276,3277,3275,0,0,0,0,0,0,15.00,14.77,15.03
$GC,1547,-0.65,-146.0,1973,1160,3278,3276,204.6,-13.3,133,1552,0.00,0.93,0.00,0.000,1030,0.000,0.050,1970,1690,3276,3277,3275,0,0,0,0,0,0,14.85,14.81,14.85
$GC,1877,-0.65,-146.0,1970,1690,3278,3275,249.9,-13.6,143,1882,0.00,0.93,0.00,0.000,516,0.000,0.050,1969,1159,3276,3278,3275,0,0,0,0,0,0,15.03,14.82,15.05
$GC,1942,-0.65,-146.0,1970,1158,3279,3275,258.6,-13.2,156,1948,0.05,0.93,0.00,0.000,3078,0.270,0.050,1984,1693,3276,3278,3275,0,0,0,0,0,0,14.66,14.83,14.77
$GC,2278,-0.65,-146.0,1984,1693,3279,3275,300.4,-12.7,167,2283,0.00,0.85,0.00,0.000,260,0.000,0.050,1980,2243,3276,3278,3274,0,0,0,0,0,0,15.06,14.85,15.06
$GC,2334,-0.65,-146.0,1979,2246,3281,3273,307.1,-11.8,178,2338,0.00,0.90,0.00,0.000,1030,0.000,0.057,1978,1692,3276,3280,3272,0,0,0,0,0,0,14.89,14.85,14.91
$GC,2679,-0.65,-146.0,1979,1692,3282,3272,350.8,-12.7,191,2683,0.00,0.90,0.00,0.000,516,0.000,0.058,1979,1169,3276,3280,3272,0,0,0,0,0,0,15.09,14.85,15.09
$GC,2909,-0.65,-146.0,1979,1168,3283,3272,379.7,-12.1,237,2913,0.00,0.88,0.00,0.000,1030,0.000,0.050,1976,1684,3276,3280,3272,0,0,0,0,0,0,14.91,14.88,14.93
$GC,3239,-0.65,-146.0,1976,1683,3283,3271,421.7,-12.9,247,3244,0.00,0.90,0.00,0.000,516,0.000,0.050,1975,1164,3276,3281,3271,0,0,0,0,0,0,15.09,14.88,15.11
$GC,3304,-0.65,-146.0,1977,1164,3282,3271,429.7,-12.3,260,3310,0.00,0.90,0.00,0.000,1030,0.000,0.050,1973,1687,3275,3280,3271,0,0,0,0,0,0,14.92,14.88,14.94
$GC,3640,-0.65,-146.0,1973,1687,3282,3271,472.5,-12.8,271,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1686,3276,3281,3271,0,0,0,0,0,0,15.09,15.11,15.10
$GC,3960,-0.65,-146.0,1973,1687,3282,3272,512.5,-12.4,279,3965,0.00,0.82,0.00,0.000,260,0.000,0.050,1969,2222,3276,3281,3271,0,0,0,0,0,0,15.09,14.88,15.11
$GC,4020,-0.65,-146.0,1968,2226,3282,3271,519.6,-12.0,291,4025,0.05,0.90,0.00,0.000,3078,0.236,0.056,1984,1678,3275,3281,3270,0,0,0,0,0,0,14.73,14.88,14.83
$GC,4361,-0.65,-146.0,1985,1677,3283,3270,558.0,-11.4,303,4365,0.00,0.88,0.00,0.000,516,0.000,0.060,1986,1167,3276,3282,3270,0,0,0,0,0,0,15.10,14.88,15.11
$GC,4561,-0.65,-146.0,1985,1167,3282,3269,580.6,-11.5,343,4565,0.00,0.88,0.00,0.000,1030,0.000,0.050,1982,1670,3275,3281,3270,0,0,0,0,0,0,14.92,14.90,14.95
$GC,4920,-0.65,-146.0,1982,1669,3283,3270,623.5,-11.8,359,4926,0.00,0.88,0.00,0.000,260,0.000,0.051,1978,2230,3275,3282,3269,0,0,0,0,0,0,15.11,14.88,15.13
$GC,4986,-0.65,-146.0,1977,2234,3280,3268,630.9,-11.4,372,4992,0.00,0.93,0.00,0.000,1030,0.000,0.057,1976,1674,3275,3282,3269,0,0,0,0,0,0,14.90,14.85,14.95
$GC,5322,-0.65,-146.0,1976,1673,3283,3268,670.0,-11.6,383,5327,0.00,0.88,0.00,0.000,516,0.000,0.060,1976,1162,3275,3282,3268,0,0,0,0,0,0,15.11,14.88,15.12
$GC,5552,-0.65,-146.0,1976,1162,3283,3269,695.6,-11.2,429,5557,0.00,0.85,0.00,0.000,1030,0.000,0.051,1973,1660,3274,3282,3267,0,0,0,0,0,0,14.94,14.89,14.94
$GC,5882,-0.65,-146.0,1974,1660,3283,3267,734.7,-12.0,439,5887,0.00,0.90,0.00,0.000,260,0.000,0.050,1969,2232,3274,3282,3266,0,0,0,0,0,0,15.10,14.88,15.11
$GC,5943,-0.65,-146.0,1969,2235,3283,3266,741.6,-11.2,451,5947,0.00,0.95,0.00,0.000,1030,0.000,0.057,1968,1662,3274,3282,3266,0,0,0,0,0,0,14.91,14.88,14.95
$GC,6283,-0.65,-146.0,1968,1662,3283,3265,782.8,-11.9,463,6288,0.10,0.85,0.00,0.000,2564,0.295,0.054,1991,1162,3273,3282,3265,0,0,0,0,0,0,14.73,14.88,14.90
$GC,6493,-0.65,-146.0,1991,1162,3283,3265,803.6,-9.8,505,6498,0.00,0.85,0.00,0.000,1030,0.000,0.051,1988,1656,3273,3282,3264,0,0,0,0,0,0,14.93,14.90,14.95
$GC,6843,-0.65,-146.0,1989,1656,3283,3265,840.8,-10.6,519,6848,0.00,0.90,0.00,0.000,260,0.000,0.052,1983,2225,3273,3282,3264,0,0,0,0,0,0,15.12,14.89,15.14
$GC,6958,-0.65,-146.0,1984,2227,3283,3264,852.8,-10.2,542,6964,0.00,0.95,0.00,0.000,1030,0.000,0.054,1983,1659,3273,3282,3264,0,0,0,0,0,0,14.90,14.89,14.97
$GC,7284,-0.65,-146.0,1983,1659,3283,3264,889.4,-11.3,551,7288,0.00,0.85,0.00,0.000,516,0.000,0.060,1983,1157,3272,3282,3263,0,0,0,0,0,0,15.13,14.88,15.13
$GC,7478,-0.65,-146.0,1983,1157,3283,3264,910.6,-10.8,590,7484,0.00,0.85,0.00,0.000,1030,0.000,0.052,1981,1651,3272,3282,3263,0,0,0,0,0,0,14.93,14.90,14.95
$GC,7804,-0.65,-146.0,1981,1651,3283,3261,946.8,-11.2,599,7809,0.00,0.93,0.00,0.000,260,0.000,0.054,1976,2235,3271,3282,3261,0,0,0,0,0,0,15.11,14.89,15.13
$GC,7884,-0.65,-146.0,1975,2238,3283,3261,955.4,-10.4,615,7888,0.00,0.98,0.00,0.000,1030,0.000,0.057,1975,1658,3271,3282,3260,0,0,0,0,0,0,14.92,14.88,14.95
$STATE,8201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8201,begin apogee
$GC,8208,-0.12,0.0,1975,1738,3283,3261,991.5,-11.3,630,8335,0.43,0.00,125.82,2.272,10244,0.218,0.000,2100,1754,2682,2843,2521,0,0,0,0,0,0,14.73,14.12,13.35
$STATE,8336,end apogee,CONTROL_FINISHED_OK
$STATE,8336,begin climb
$GC,8339,0.65,146.0,2100,1754,2843,2519,995.4,0.0,633,8481,0.52,0.82,133.50,2.206,10500,0.135,0.046,2270,2246,2084,2304,1864,0,0,0,0,0,0,14.04,14.14,13.11
$GC,8497,0.65,146.0,2270,2246,2303,1864,982.8,11.3,663,8502,0.00,0.93,0.00,0.000,1030,0.000,0.062,2274,1722,2083,2302,1864,0,0,0,0,0,0,13.99,13.95,14.01
$GC,8827,0.65,146.0,2274,1723,2297,1854,942.3,12.2,673,8831,0.00,0.82,0.00,0.000,260,0.000,0.045,2273,2233,2075,2297,1854,0,0,0,0,0,0,14.69,14.52,14.71
$GC,8861,0.65,146.0,2274,2236,2297,1853,938.0,12.4,680,8869,0.00,0.88,0.00,0.000,1030,0.000,0.063,2277,1723,2074,2296,1853,0,0,0,0,0,0,14.56,14.52,14.58
$GC,9187,0.65,146.0,2277,1725,2295,1851,897.0,12.8,689,9192,0.00,0.85,0.00,0.000,260,0.000,0.045,2277,2245,2072,2294,1851,0,0,0,0,0,0,14.85,14.69,14.88
$GC,9237,0.65,146.0,2277,2247,2295,1851,890.4,13.0,699,9242,0.00,0.88,0.00,0.000,1030,0.000,0.063,2280,1726,2072,2294,1851,0,0,0,0,0,0,14.70,14.66,14.73
$GC,9587,0.65,146.0,2281,1726,2294,1850,845.5,12.7,713,9592,0.00,0.82,0.00,0.000,260,0.000,0.046,2281,2238,2070,2292,1849,0,0,0,0,0,0,14.94,14.78,14.95
$GC,9637,0.65,146.0,2280,2241,2293,1850,839.1,13.0,723,9642,0.00,0.85,0.00,0.000,1030,0.000,0.063,2284,1728,2070,2292,1848,0,0,0,0,0,0,14.78,14.75,14.79
$GC,9987,0.65,146.0,2284,1728,2292,1850,793.7,12.9,737,9992,0.00,0.82,0.00,0.000,260,0.000,0.046,2283,2239,2070,2292,1849,0,0,0,0,0,0,14.99,14.64,15.01
$GC,10057,0.65,146.0,2284,2242,2291,1849,784.3,13.4,751,10062,0.00,0.85,0.00,0.000,1030,0.000,0.064,2287,1735,2070,2291,1849,0,0,0,0,0,0,14.82,14.76,14.84
$GC,10387,0.65,146.0,2288,1735,2291,1849,739.3,13.6,761,10392,0.00,0.80,0.00,0.000,260,0.000,0.046,2286,2243,2069,2290,1849,0,0,0,0,0,0,15.00,14.83,15.02
$GC,10467,0.65,146.0,2288,2244,2291,1849,728.2,13.7,777,10472,0.00,0.85,0.00,0.000,1030,0.000,0.063,2291,1738,2069,2290,1849,0,0,0,0,0,0,14.82,14.78,14.84
$GC,10828,0.65,146.0,2291,1738,2290,1849,678.3,13.8,793,10832,0.00,0.80,0.00,0.000,260,0.000,0.046,2290,2242,2068,2289,1848,0,0,0,0,0,0,15.02,14.79,15.05
$GC,10862,0.65,146.0,2291,2245,2290,1848,673.5,13.7,800,10870,0.08,0.82,0.00,0.000,5126,0.238,0.063,2270,1746,2069,2289,1849,0,0,0,0,0,0,14.66,14.81,14.78
$GC,11188,0.65,146.0,2271,1746,2290,1848,636.2,11.2,809,11189,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1746,2068,2289,1848,0,0,0,0,0,0,15.02,15.05,15.04
$GC,11508,0.65,146.0,2270,1746,2289,1848,599.3,11.4,817,11509,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1746,2068,2289,1848,0,0,0,0,0,0,15.03,15.04,15.04
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$STATE,16974,end climb,SURFACE_DEPTH_REACHED
$STATE,16976,begin surface coast
$FINISH,0.3,1.027032
$STATE,16994,end surface coast,CONTROL_FINISHED_OK
$STATE,16994,begin surface
$SM_CCo,17011,90.68,0.112,0,0,1252,350.04
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$IRIDIUM_FIX,5833.71,-2342.25,160618,164454
$TT8_MAMPS,0.038948,0.904043
$HUMID,39.32
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,18.70
$XPDR_PINGS,26
$SC_FREEKB,3941472
$CP_FREE,15875964928.000000
$24V_AH,13.11,0.000
$10V_AH,13.13,47.456
$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,16.475,61.650,296.800,90.675,0.000,0.000,0.000,485.400,6.500,0.000,19.999,0.000,14181.973,634.480,2640.315,364.653,0.000,1999.828,0.000,1588.602,0.000,0.538,0.000
$DEVICE_MAMPS,413.865,130.815,2272.050,112.455,0.000,0.000,0.000,175.185,420.000,0.000,20.220,0.000,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.492,0.000,25.000,0.000
$MEM,333848
$DATA_FILE_SIZE,39985,1113
$CAP_FILE_SIZE,142720,0
$CFSIZE,260165632,240128000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,2.58,1
$GPS,170618,023102,5834.042,-2341.112,29,1.7,58,-15.7,0.4,56.3,7,6.7