version: 66.13
glider: 124
mission: 26
dive: 677
start: 1 9 119 7 40 10
data:
$ID,124
$MISSION,26
$DIVE,677
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,150
$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,1550
$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,31
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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_TOP,500
$LOITER_D_BOTTOM,-6.8056469e+38
$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,0
$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,785.0
$CP_NDIVE,1.0
$GPS1,090119,073510,6045.2437,-2813.4224,9,2.0,14,-19.2,0.0,337.3,6,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-64.1
$GPS2,090119,073921,6045.2695,-2813.3818,12,1.6,16,-19.2,0.0,293.5,6,7.5
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,ICELAND
$TGT_LATLONG,6300.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,80.4,381596,-16.2,-10.000,-19.97,2570
$D_GRID,360
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-0.64,-170.3,29,1710,1428,1076,0.0,0.0,0,109,0.00,0.00,-96.90,0.006,16386,0.000,0.000,29,1711,3328,3261,3395,0,0,0,0,0,0,14.79,28.83,14.81
$GC,114,-0.64,-170.3,29,1710,3261,3395,4.6,-4.0,5,125,5.43,0.95,-1.10,0.076,19236,0.045,0.097,2024,2261,3375,3310,3441,0,0,0,0,0,0,14.23,13.00,14.32
$GC,353,-0.64,-170.3,2023,2260,3311,3440,122.3,-50.4,53,358,0.10,1.00,0.00,0.000,5126,0.073,0.050,1957,1706,3375,3311,3440,0,0,0,0,0,0,13.90,14.01,13.96
$GC,716,-0.64,-170.3,1957,1705,3311,3440,309.0,-51.8,69,720,0.12,0.98,0.00,0.000,2308,0.133,0.044,2030,2262,3375,3310,3440,0,0,0,0,0,0,14.45,13.93,14.45
$STATE,814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,814,begin apogee
$GC,828,-0.12,0.0,2029,1707,3311,3440,362.0,-51.4,89,963,0.22,0.00,131.77,1.476,10246,0.093,0.000,2132,1706,2680,2780,2581,0,0,0,0,0,0,14.26,14.09,13.37
$STATE,964,end apogee,CONTROL_FINISHED_OK
$STATE,964,begin climb
$GC,968,0.64,170.3,2132,1706,2776,2579,414.1,0.0,92,1121,0.40,1.02,140.65,1.443,11012,0.073,0.052,2298,2280,1982,2151,1814,0,0,0,0,0,0,14.20,13.95,13.23
$GC,1139,0.64,170.3,2298,2280,2149,1817,397.9,31.9,131,1144,0.08,1.00,0.00,0.000,5126,0.087,0.050,2244,1714,1983,2149,1817,0,0,0,0,0,0,14.04,14.09,14.12
$GC,1465,0.64,170.3,2243,1710,2139,1824,292.9,32.2,140,1470,0.10,0.98,0.00,0.000,2308,0.154,0.044,2300,2277,1982,2140,1825,0,0,0,0,0,0,14.41,14.08,14.42
$GC,1477,0.64,170.3,2300,2277,2140,1824,288.7,32.0,142,1481,0.10,0.98,0.00,0.000,5126,0.075,0.050,2237,1716,1982,2139,1825,0,0,0,0,0,0,14.03,14.12,14.07
$GC,1829,0.64,170.3,2237,1713,2137,1826,176.2,31.9,156,1834,0.12,0.30,0.00,0.000,2564,0.131,0.090,2312,1564,1981,2137,1826,0,0,0,0,0,0,14.42,13.93,14.42
$GC,1842,0.64,170.3,2311,1564,2137,1826,172.4,31.5,158,1847,0.12,0.32,0.00,0.000,5126,0.067,0.069,2236,1742,1981,2136,1826,0,0,0,0,0,0,14.06,14.19,14.12
$GC,2174,0.64,170.3,2235,1743,2132,1828,68.5,31.0,174,2179,0.12,0.38,0.00,0.000,2564,0.131,0.048,2309,1562,1980,2132,1828,0,0,0,0,0,0,14.45,14.07,14.44
$GC,2186,0.64,170.3,2309,1562,2132,1828,64.7,30.9,176,2191,0.12,0.28,0.00,0.000,5126,0.066,0.073,2237,1717,1979,2131,1828,0,0,0,0,0,0,14.06,14.21,14.11
$STATE,2375,end climb,SURFACE_DEPTH_REACHED
$STATE,2375,begin surface coast
$STATE,2396,end surface coast,CONTROL_FINISHED_OK
$STATE,2396,begin surface
$SM_CCo,2418,133.80,0.104,0,0,1254,350.04
$SM_GC,1.23,6.07,0.00,133.80,0.044,0.000,0.104,34,1734,1254,-9.43,0.96,350.04,0,0,0,0,0,0,14.20,14.93,14.29
$IRIDIUM_FIX,6046.96,-2814.46,090119,064819
$TT8_MAMPS,0.020223,0.071904
$HUMID,43.54
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,13.00,0.000
$10V_AH,12.21,237.158
$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,13.125,9.275,272.425,133.800,0.000,0.000,0.000,139.450,0.000,0.000,27.142,213.407,1590.663,466.667,425.510,140.769,0.000,816.811,0.000,283.684,0.000,0.536,0.000
$DEVICE_MAMPS,153.765,157.590,1476.450,104.040,0.000,0.000,0.000,123.165,420.000,0.000,20.220,8.670,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333924
$DATA_FILE_SIZE,6847,188
$CAP_FILE_SIZE,32898,0
$CFSIZE,260165632,163962880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,2.45,1
$GPS,090119,082341,6045.366,-2813.396,8,1.1,8,-19.2,0.0,0.0,6,8.8