version: 66.13
glider: 124
mission: 26
dive: 153
start: 6 20 118 3 53 57
data:
$ID,124
$MISSION,26
$DIVE,153
$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,5
$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,175
$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,2
$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,33
$R_STBD_OVSHOOT,46
$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,156.0
$CP_NDIVE,1.0
$GPS1,200618,034227,5835.0459,-2254.3818,29,1.4,52,-15.3,0.3,87.9,5,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.7
$GPS2,200618,035332,5834.9917,-2254.2207,12,1.4,21,-15.3,0.7,123.1,5,8.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,Z2
$TGT_LATLONG,5825.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,162.1,29906,-16.2,-10.000,-19.97,2570
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.64,-170.3,15,1715,1395,1088,0.0,0.0,0,116,0.00,0.00,-98.78,0.006,16390,0.000,0.000,15,1719,3377,3322,3432,0,0,0,0,0,0,14.76,13.42,14.78
$GC,119,-0.64,-170.3,16,1720,3322,3433,4.3,-3.3,5,133,9.07,1.00,0.00,0.000,2596,0.413,0.050,1986,1147,3377,3328,3427,0,0,0,0,0,0,14.28,14.60,14.52
$GC,358,-0.64,-170.3,1986,1147,3365,3388,45.8,-15.9,53,363,0.00,0.98,0.00,0.000,1030,0.000,0.048,1983,1702,3377,3365,3390,0,0,0,0,0,0,14.69,14.66,14.71
$GC,698,-0.64,-170.3,1982,1719,3371,3382,94.8,-14.1,73,703,0.00,0.98,0.00,0.000,516,0.000,0.054,1982,1160,3375,3370,3381,0,0,0,0,0,0,14.92,14.72,14.95
$GC,928,-0.64,-170.3,1983,1159,3375,3381,125.4,-13.2,119,933,0.00,0.93,0.00,0.000,1030,0.000,0.047,1979,1682,3376,3372,3381,0,0,0,0,0,0,14.80,14.77,14.81
$GC,1258,-0.64,-170.3,1980,1683,3374,3380,170.4,-13.7,129,1263,0.00,0.93,0.00,0.000,516,0.000,0.048,1980,1152,3376,3374,3379,0,0,0,0,0,0,15.02,14.78,15.03
$GC,1413,-0.64,-170.3,1980,1155,3379,3380,191.1,-13.1,160,1420,0.00,0.95,0.00,0.000,1030,0.000,0.048,1977,1701,3376,3374,3379,0,0,0,0,0,0,14.83,14.80,14.85
$GC,1739,-0.64,-170.3,1976,1704,3377,3379,237.0,-14.4,169,1743,0.00,0.98,0.00,0.000,516,0.000,0.055,1975,1154,3377,3376,3379,0,0,0,0,0,0,15.04,14.81,15.05
$GC,1876,-0.64,-170.3,1976,1151,3377,3379,255.9,-13.6,196,1881,0.00,0.93,0.00,0.000,1030,0.000,0.048,1973,1686,3377,3376,3379,0,0,0,0,0,0,14.85,14.81,14.88
$GC,2222,-0.64,-170.3,1973,1685,3377,3379,307.6,-15.3,209,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1685,3377,3376,3379,0,0,0,0,0,0,15.05,15.07,15.07
$GC,2542,-0.64,-170.3,1973,1686,3377,3379,354.7,-14.6,217,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1685,3377,3376,3378,0,0,0,0,0,0,15.08,15.10,15.10
$GC,2862,-0.64,-170.3,1973,1686,3377,3379,400.0,-14.0,225,2867,0.00,0.85,0.00,0.000,260,0.000,0.050,1968,2230,3377,3376,3378,0,0,0,0,0,0,15.08,14.85,15.14
$GC,2907,-0.64,-170.3,1966,2235,3380,3376,406.3,-13.6,234,2912,0.05,0.90,0.00,0.000,3078,0.234,0.056,1985,1682,3378,3380,3376,0,0,0,0,0,0,14.67,14.85,14.80
$GC,3263,-0.64,-170.3,1985,1682,3380,3375,453.0,-13.1,249,3267,0.00,0.90,0.00,0.000,516,0.000,0.059,1985,1160,3377,3379,3375,0,0,0,0,0,0,15.09,14.85,15.11
$GC,3492,-0.64,-170.3,1985,1160,3380,3374,481.4,-12.0,295,3497,0.00,0.90,0.00,0.000,1030,0.000,0.048,1983,1675,3376,3379,3374,0,0,0,0,0,0,14.90,14.88,14.92
$GC,3823,-0.64,-170.3,1982,1675,3380,3374,524.1,-13.1,305,3828,0.00,0.90,0.00,0.000,516,0.000,0.054,1981,1164,3376,3379,3374,0,0,0,0,0,0,15.10,14.85,15.11
$GC,3873,-0.64,-170.3,1982,1164,3381,3374,530.9,-13.2,315,3878,0.00,0.90,0.00,0.000,1030,0.000,0.048,1979,1679,3376,3379,3374,0,0,0,0,0,0,14.91,14.88,14.92
$GC,4223,-0.64,-170.3,1979,1679,3380,3374,578.3,-13.4,329,4228,0.00,0.85,0.00,0.000,260,0.000,0.050,1974,2228,3376,3380,3373,0,0,0,0,0,0,15.11,14.88,15.14
$GC,4289,-0.64,-170.3,1973,2229,3380,3372,586.2,-11.9,342,4293,0.00,0.90,0.00,0.000,1030,0.000,0.055,1974,1675,3376,3380,3372,0,0,0,0,0,0,14.91,14.88,14.92
$GC,4623,-0.64,-170.3,1974,1675,3381,3372,629.5,-12.9,353,4628,0.00,0.88,0.00,0.000,516,0.000,0.057,1973,1163,3376,3380,3372,0,0,0,0,0,0,15.12,14.88,15.14
$GC,4853,-0.64,-170.3,1973,1162,3380,3372,658.8,-12.2,399,4858,0.00,0.88,0.00,0.000,1030,0.000,0.049,1970,1670,3375,3379,3371,0,0,0,0,0,0,14.93,14.90,14.95
$GC,5183,-0.64,-170.3,1971,1669,3381,3371,699.6,-12.4,409,5189,0.00,0.88,0.00,0.000,260,0.000,0.050,1967,2231,3375,3380,3370,0,0,0,0,0,0,15.14,14.88,15.19
$GC,5214,-0.64,-170.3,1966,2235,3381,3370,703.3,-12.3,415,5219,0.08,0.93,0.00,0.000,3078,0.220,0.055,1991,1668,3374,3379,3370,0,0,0,0,0,0,14.71,14.88,14.82
$GC,5544,-0.64,-170.3,1991,1667,3381,3370,737.4,-10.2,425,5549,0.00,0.88,0.00,0.000,516,0.000,0.060,1990,1155,3374,3379,3370,0,0,0,0,0,0,15.13,14.88,15.16
$GC,5699,-0.64,-170.3,1991,1155,3381,3369,752.2,-9.4,456,5706,0.00,0.88,0.00,0.000,1030,0.000,0.049,1988,1657,3374,3380,3369,0,0,0,0,0,0,14.95,14.90,14.95
$GC,6024,-0.64,-170.3,1989,1657,3383,3369,784.8,-10.0,465,6029,0.00,0.90,0.00,0.000,260,0.000,0.052,1984,2226,3373,3380,3367,0,0,0,0,0,0,15.14,14.88,15.16
$GC,6140,-0.64,-170.3,1983,2228,3380,3367,795.8,-8.9,488,6146,0.00,0.93,0.00,0.000,1030,0.000,0.054,1983,1665,3373,3380,3367,0,0,0,0,0,0,14.92,14.90,14.95
$GC,6465,-0.64,-170.3,1983,1665,3381,3367,829.3,-10.4,497,6470,0.00,0.85,0.00,0.000,516,0.000,0.059,1981,1167,3373,3380,3366,0,0,0,0,0,0,15.14,14.87,15.16
$GC,6650,-0.64,-170.3,1983,1167,3381,3367,848.8,-10.4,534,6655,0.00,0.85,0.00,0.000,1030,0.000,0.049,1980,1658,3374,3380,3368,0,0,0,0,0,0,14.92,14.89,14.93
$GC,6986,-0.64,-170.3,1981,1658,3381,3366,886.7,-11.6,545,6990,0.00,0.90,0.00,0.000,260,0.000,0.050,1976,2228,3372,3380,3365,0,0,0,0,0,0,15.12,14.88,15.15
$GC,7075,-0.64,-170.3,1975,2230,3381,3365,897.1,-11.0,563,7081,0.00,0.95,0.00,0.000,1030,0.000,0.056,1975,1663,3372,3380,3365,0,0,0,0,0,0,14.84,14.81,14.87
$GC,7426,-0.64,-170.3,1975,1663,3381,3365,939.7,-12.1,577,7431,0.00,0.85,0.00,0.000,516,0.000,0.060,1975,1165,3372,3380,3364,0,0,0,0,0,0,15.11,14.88,15.15
$GC,7656,-0.64,-170.3,1975,1165,3381,3364,966.4,-11.3,623,7661,0.00,0.85,0.00,0.000,1030,0.000,0.050,1972,1651,3372,3380,3364,0,0,0,0,0,0,14.92,14.89,14.95
$STATE,7864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7864,begin apogee
$GC,7870,-0.12,0.0,1972,1747,3381,3363,991.4,-12.0,630,8126,0.45,0.00,253.35,1.533,10244,0.210,0.000,2105,1754,2682,2860,2504,0,0,0,0,0,0,14.69,14.09,13.54
$STATE,8127,end apogee,CONTROL_FINISHED_OK
$STATE,8127,begin climb
$GC,8130,0.64,170.3,2106,1754,2860,2502,1000.7,0.0,636,8399,0.50,0.00,260.12,1.543,11270,0.103,0.000,2280,1755,1983,2237,1730,0,0,0,0,0,0,14.09,14.28,13.31
$GC,8706,0.64,170.3,2281,1755,2217,1729,934.9,13.5,700,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1756,1971,2214,1728,0,0,0,0,0,0,14.66,14.69,14.67
$GC,9026,0.64,170.3,2281,1755,2213,1729,891.8,13.4,708,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1755,1970,2213,1728,0,0,0,0,0,0,14.85,14.88,14.88
$GC,9346,0.64,170.3,2280,1753,2210,1729,847.2,14.1,716,9351,0.00,0.77,0.00,0.000,260,0.000,0.045,2280,2245,1969,2210,1729,0,0,0,0,0,0,14.92,14.72,14.95
$GC,9411,0.64,170.3,2281,2246,2210,1729,838.0,14.3,729,9417,0.00,0.88,0.00,0.000,1030,0.000,0.063,2284,1721,1968,2209,1728,0,0,0,0,0,0,14.76,14.72,14.79
$GC,9747,0.64,170.3,2285,1721,2208,1728,790.3,14.2,740,9748,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1721,1967,2207,1728,0,0,0,0,0,0,14.98,14.99,15.00
$GC,10067,0.64,170.3,2284,1721,2207,1729,745.8,14.0,748,10071,0.00,0.82,0.00,0.000,260,0.000,0.044,2284,2246,1967,2206,1728,0,0,0,0,0,0,15.00,14.78,15.02
$GC,10107,0.64,170.3,2285,2248,2207,1729,740.2,14.1,756,10112,0.00,0.88,0.00,0.000,1030,0.000,0.063,2288,1724,1967,2206,1728,0,0,0,0,0,0,14.83,14.78,14.85
$GC,10467,0.64,170.3,2288,1723,2206,1729,689.6,13.9,772,10472,0.00,0.82,0.00,0.000,260,0.000,0.044,2286,2241,1966,2205,1727,0,0,0,0,0,0,15.02,14.82,15.04
$GC,10512,0.64,170.3,2288,2243,2206,1729,683.2,13.9,781,10518,0.08,0.88,0.00,0.000,5126,0.237,0.062,2267,1716,1966,2205,1728,0,0,0,0,0,0,14.63,14.79,14.76
$GC,10868,0.64,170.3,2267,1716,2205,1729,642.5,11.4,796,10873,0.00,0.95,0.00,0.000,516,0.000,0.064,2271,1185,1966,2204,1728,0,0,0,0,0,0,15.02,14.78,15.04
$GC,10908,0.64,170.3,2271,1187,2205,1728,638.1,11.0,804,10913,0.00,0.93,0.00,0.000,1030,0.000,0.046,2271,1722,1966,2204,1728,0,0,0,0,0,0,14.85,14.84,14.87
$GC,11269,0.64,170.3,2272,1738,2204,1729,596.3,11.7,820,11273,0.00,0.80,0.00,0.000,260,0.000,0.044,2271,2242,1965,2203,1727,0,0,0,0,0,0,15.03,14.83,15.04
$GC,11334,0.64,170.3,2272,2245,2204,1728,588.4,12.3,833,11340,0.00,0.88,0.00,0.000,1030,0.000,0.064,2275,1717,1965,2203,1728,0,0,0,0,0,0,14.84,14.80,14.86
$GC,11670,0.64,170.3,2275,1717,2204,1728,549.0,11.8,844,11674,0.00,0.82,0.00,0.000,260,0.000,0.044,2275,2242,1965,2203,1728,0,0,0,0,0,0,15.03,14.79,15.05
$GC,11710,0.64,170.3,2276,2245,2204,1729,544.2,12.0,852,11715,0.00,0.85,0.00,0.000,1030,0.000,0.064,2279,1733,1965,2202,1728,0,0,0,0,0,0,14.85,14.80,14.87
$GC,12070,0.64,170.3,2279,1732,2203,1729,503.0,11.3,868,12075,0.00,1.00,0.00,0.000,516,0.000,0.064,2283,1177,1965,2203,1728,0,0,0,0,0,0,15.04,14.79,15.05
$GC,12090,0.64,170.3,2284,1177,2205,1728,500.7,11.5,872,12095,0.00,0.95,0.00,0.000,1030,0.000,0.044,2282,1734,1965,2203,1728,0,0,0,0,0,0,14.85,14.82,14.88
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$STATE,16594,end climb,SURFACE_DEPTH_REACHED
$STATE,16594,begin surface coast
$FINISH,0.5,1.020077
$STATE,16614,end surface coast,CONTROL_FINISHED_OK
$STATE,16616,begin surface
$SM_CCo,16634,108.30,0.114,0,0,1254,350.29
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$IRIDIUM_FIX,5834.90,-2005.34,190618,225842
$TT8_MAMPS,0.038948,0.790944
$HUMID,39.84
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,17.80
$XPDR_PINGS,18
$SC_FREEKB,3932224
$CP_FREE,15870099456.000000
$24V_AH,13.31,0.000
$10V_AH,13.24,52.424
$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
$DEVICE_SECS,16.450,57.250,513.475,108.300,0.000,0.000,0.000,434.125,4.500,0.000,23.535,0.000,13613.619,817.170,2622.996,350.496,0.000,2159.880,0.000,1622.767,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.353,0.000,25.000,0.000
$MEM,333712
$DATA_FILE_SIZE,39979,1135
$CAP_FILE_SIZE,137975,0
$CFSIZE,260165632,238022656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,67.41,1
$GPS,200618,083404,5834.138,-2249.453,34,1.0,34,-15.2,0.0,0.0,9,7.0