version: 66.13
glider: 124
mission: 26
dive: 732
start: 1 14 119 0 21 41
data:
$ID,124
$MISSION,26
$DIVE,732
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,180
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,14400
$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,75
$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,100
$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,1700
$ROLL_MAX,1800
$ROLL_DEG,15
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,170
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3990
$C_VBD,3181
$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,0
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,200
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,800
$LOITER_N_DIVE,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,140119,001621,6049.9385,-2759.3027,26,1.6,43,-19.1,0.6,63.3,7,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.7
$GPS2,140119,002051,6049.9507,-2759.3186,8,1.8,12,-19.1,0.6,163.5,7,7.9
$SPEED_LIMITS,0.160,0.182
$TGT_NAME,ICELAND
$TGT_LATLONG,6300.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,74.3,366982,-23.8,-9.259,-26.95,1201
$D_GRID,500
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,9,-0.70,-73.0,33,1727,673,437,0.0,0.0,0,147,0.00,0.00,-136.00,0.006,16386,0.000,0.000,33,1728,3360,3304,3417,0,0,0,0,0,0,14.79,28.83,14.81
$GC,152,-0.70,-73.0,33,1728,3304,3417,4.4,-3.5,7,158,0.22,0.00,-3.20,0.031,18470,0.092,0.000,143,1728,3480,3427,3533,0,0,0,0,0,0,14.38,12.39,14.45
$GC,470,-0.70,-73.0,142,1728,3427,3532,172.3,-53.8,20,472,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1728,3479,3427,3532,0,0,0,0,0,0,14.38,14.39,14.39
$GC,790,-0.70,-73.0,60,1728,3425,3532,346.0,-54.4,28,792,0.15,0.00,0.00,0.000,2054,0.116,0.000,143,1728,3479,3427,3532,0,0,0,0,0,0,14.38,14.39,14.39
$STATE,1107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1107,begin apogee
$GC,1115,-0.12,0.0,143,1728,3428,3532,518.5,-54.0,36,1177,0.15,0.00,58.60,1.569,12294,0.115,0.000,62,1728,3182,3190,3174,0,0,0,0,0,0,14.28,14.21,13.46
$STATE,1177,end apogee,CONTROL_FINISHED_OK
$STATE,1178,begin loiter
$GC,1471,-0.01,84.4,61,1728,3195,3175,679.8,-43.3,45,1543,0.15,0.00,69.90,1.750,10278,0.116,0.000,143,1728,2837,2904,2771,0,0,0,0,0,0,14.40,14.04,13.28
$GC,1832,0.06,129.2,143,1728,2902,2775,777.2,-23.1,54,1886,0.15,0.00,50.50,1.597,12326,0.115,0.000,61,1728,2655,2758,2552,0,0,0,0,0,0,14.38,14.17,13.36
$GC,2192,0.06,129.2,61,1728,2756,2555,795.9,1.6,63,2194,0.15,0.00,0.00,0.000,2054,0.115,0.000,142,1728,2655,2756,2555,0,0,0,0,0,0,14.40,14.47,14.45
$GC,2511,0.06,129.2,142,1728,2756,2555,781.9,4.4,71,2513,0.15,0.00,0.00,0.000,4102,0.116,0.000,61,1728,2655,2756,2555,0,0,0,0,0,0,14.42,14.45,14.44
$GC,2831,0.06,129.2,61,1728,2756,2555,769.4,3.7,79,2833,0.15,0.00,0.00,0.000,2054,0.116,0.000,142,1728,2655,2756,2555,0,0,0,0,0,0,14.39,14.43,14.41
$GC,3151,0.06,129.2,142,1728,2755,2555,758.9,3.2,87,3153,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1728,2655,2755,2555,0,0,0,0,0,0,14.38,14.41,14.40
$GC,3471,0.06,129.2,60,1728,2755,2555,751.7,1.7,95,3473,0.15,0.00,0.00,0.000,2054,0.116,0.000,141,1728,2655,2755,2555,0,0,0,0,0,0,14.38,14.40,14.39
$GC,3791,0.06,129.2,141,1728,2754,2556,750.8,-0.1,103,3793,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1728,2654,2754,2555,0,0,0,0,0,0,14.37,14.40,14.38
$GC,4111,0.06,129.2,60,1728,2754,2555,755.0,-1.7,111,4113,0.15,0.00,0.00,0.000,2054,0.119,0.000,142,1728,2654,2754,2555,0,0,0,0,0,0,14.37,14.39,14.38
$GC,4432,0.06,129.2,140,1728,2753,2555,761.2,-1.9,119,4434,0.15,0.00,0.00,0.000,4102,0.117,0.000,60,1728,2654,2753,2555,0,0,0,0,0,0,14.35,14.36,14.37
$GC,4751,0.06,129.2,60,1727,2753,2555,766.0,-1.3,127,4753,0.15,0.00,0.00,0.000,2054,0.116,0.000,141,1728,2654,2753,2555,0,0,0,0,0,0,14.36,14.38,14.38
$GC,5071,0.06,129.2,141,1728,2752,2555,768.4,-0.6,135,5073,0.15,0.00,0.00,0.000,4102,0.116,0.000,61,1727,2653,2752,2555,0,0,0,0,0,0,14.36,14.40,14.37
$GC,5391,0.06,129.2,60,1727,2752,2555,770.0,-0.4,143,5393,0.15,0.00,0.00,0.000,2054,0.116,0.000,142,1727,2653,2752,2555,0,0,0,0,0,0,14.36,14.38,14.38
$GC,5711,0.06,129.2,142,1728,2751,2555,771.8,-0.6,151,5713,0.15,0.00,0.00,0.000,4102,0.117,0.000,61,1728,2653,2751,2555,0,0,0,0,0,0,14.37,14.38,14.38
$GC,6031,0.06,129.2,61,1728,2751,2555,775.0,-1.1,159,6033,0.15,0.00,0.00,0.000,2054,0.118,0.000,142,1728,2653,2751,2555,0,0,0,0,0,0,14.36,14.38,14.38
$GC,6351,0.06,129.2,142,1728,2751,2555,779.5,-1.4,167,6353,0.15,0.00,0.00,0.000,4102,0.115,0.000,61,1728,2652,2750,2555,0,0,0,0,0,0,14.37,14.37,14.38
$GC,6672,0.06,129.2,61,1728,2750,2555,784.0,-1.4,175,6674,0.15,0.00,0.00,0.000,2054,0.118,0.000,141,1728,2652,2750,2555,0,0,0,0,0,0,14.35,14.38,14.36
$GC,6991,0.06,129.2,141,1727,2750,2555,788.3,-1.3,183,6993,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1728,2652,2750,2555,0,0,0,0,0,0,14.37,14.38,14.38
$GC,7311,0.06,129.2,60,1728,2750,2555,793.2,-1.6,191,7313,0.15,0.00,0.00,0.000,2054,0.114,0.000,141,1728,2652,2750,2555,0,0,0,0,0,0,14.37,14.38,14.38
$GC,7631,0.06,133.4,140,1728,2750,2555,799.8,-2.2,199,7637,0.15,0.00,3.22,0.790,12326,0.117,0.000,60,1728,2639,2731,2547,0,0,0,0,0,0,14.36,14.40,13.40
$GC,7953,0.06,134.2,60,1728,2731,2558,802.9,-0.4,207,7958,0.15,0.00,2.60,0.567,10278,0.116,0.000,141,1728,2635,2723,2547,0,0,0,0,0,0,14.36,14.32,13.10
$GC,8272,0.06,134.2,140,1728,2723,2558,800.5,1.0,215,8274,0.15,0.00,0.00,0.000,4102,0.115,0.000,60,1728,2641,2724,2558,0,0,0,0,0,0,14.36,14.38,14.37
$GC,8591,0.06,134.2,59,1727,2724,2559,796.0,1.5,223,8593,0.15,0.00,0.00,0.000,2054,0.116,0.000,140,1728,2641,2724,2559,0,0,0,0,0,0,14.37,14.38,14.37
$GC,8911,0.06,134.2,140,1728,2724,2559,789.8,2.0,231,8913,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1728,2641,2724,2559,0,0,0,0,0,0,14.36,14.40,14.36
$GC,9231,0.06,134.2,60,1728,2724,2559,781.9,2.5,239,9233,0.15,0.00,0.00,0.000,2054,0.116,0.000,139,1727,2641,2724,2559,0,0,0,0,0,0,14.37,14.37,14.37
$GC,9551,0.06,134.2,140,1728,2724,2559,774.5,2.2,247,9554,0.17,0.00,0.82,0.111,12294,0.106,0.000,49,1727,2634,2718,2551,0,0,0,0,0,0,14.32,13.85,13.64
$GC,9871,0.06,134.2,49,1728,2719,2561,768.5,1.7,255,9873,0.17,0.00,0.00,0.000,2054,0.107,0.000,138,1728,2639,2718,2561,0,0,0,0,0,0,14.31,14.33,14.31
$GC,10192,0.06,134.2,138,1728,2718,2562,765.4,0.7,263,10194,0.15,0.00,0.00,0.000,4102,0.117,0.000,58,1728,2640,2719,2562,0,0,0,0,0,0,14.36,14.35,14.35
$GC,10511,0.06,134.2,58,1728,2719,2562,764.5,0.1,271,10513,0.15,0.00,0.00,0.000,2054,0.119,0.000,138,1728,2640,2719,2562,0,0,0,0,0,0,14.36,14.36,14.36
$GC,10831,0.06,134.2,137,1728,2719,2562,766.0,-0.7,279,10833,0.15,0.00,0.00,0.000,4102,0.119,0.000,58,1728,2640,2719,2562,0,0,0,0,0,0,14.34,14.35,14.35
$GC,11151,0.06,134.2,58,1727,2718,2561,768.5,-0.9,287,11154,0.15,0.00,0.77,0.108,10246,0.119,0.000,138,1728,2634,2716,2552,0,0,0,0,0,0,14.35,13.83,13.64
$GC,11471,0.06,134.2,137,1728,2716,2562,771.4,-0.9,295,11473,0.15,0.00,0.00,0.000,4102,0.117,0.000,58,1728,2639,2716,2562,0,0,0,0,0,0,14.36,14.36,14.35
$GC,11791,0.06,134.2,57,1728,2716,2564,775.1,-1.2,303,11793,0.15,0.00,0.00,0.000,2054,0.117,0.000,138,1728,2640,2716,2564,0,0,0,0,0,0,14.36,14.36,14.36
$GC,12112,0.06,134.2,138,1728,2716,2564,778.7,-1.0,311,12114,0.15,0.00,0.00,0.000,4102,0.117,0.000,57,1728,2640,2716,2564,0,0,0,0,0,0,14.35,14.35,14.35
$GC,12431,0.06,134.2,58,1728,2716,2564,781.1,-0.7,319,12433,0.15,0.00,0.00,0.000,2054,0.118,0.000,137,1727,2640,2716,2564,0,0,0,0,0,0,14.37,14.37,14.37
$GC,12751,0.06,134.2,137,1728,2716,2564,782.8,-0.5,327,12753,0.15,0.00,0.00,0.000,4102,0.117,0.000,57,1728,2640,2716,2564,0,0,0,0,0,0,14.36,14.36,14.35
$GC,13071,0.06,134.2,57,1728,2716,2564,784.3,-0.5,335,13073,0.15,0.00,0.00,0.000,2054,0.116,0.000,137,1728,2639,2715,2564,0,0,0,0,0,0,14.37,14.37,14.36
$GC,13391,0.06,134.2,137,1728,2715,2564,785.7,-0.5,343,13393,0.15,0.00,0.00,0.000,4102,0.119,0.000,57,1728,2640,2716,2564,0,0,0,0,0,0,14.36,14.35,14.35
$GC,13711,0.06,134.2,57,1728,2716,2564,786.8,-0.3,351,13713,0.15,0.00,0.00,0.000,2054,0.118,0.000,137,1727,2640,2716,2564,0,0,0,0,0,0,14.34,14.36,14.36
$GC,14031,0.06,134.2,137,1727,2716,2563,787.3,-0.1,359,14033,0.15,0.00,0.00,0.000,4102,0.118,0.000,56,1727,2640,2716,2564,0,0,0,0,0,0,14.36,14.37,14.36
$GC,14352,0.06,134.2,56,1728,2716,2564,786.6,0.4,367,14354,0.15,0.00,0.00,0.000,2054,0.119,0.000,135,1728,2640,2716,2564,0,0,0,0,0,0,14.35,14.35,14.35
$GC,14671,0.06,134.2,136,1728,2716,2564,784.9,0.5,375,14673,0.15,0.00,0.00,0.000,4102,0.119,0.000,56,1728,2639,2716,2563,0,0,0,0,0,0,14.35,14.35,14.35
$GC,14991,0.06,134.2,56,1725,2716,2564,782.5,0.8,383,14993,0.15,0.00,0.00,0.000,2054,0.117,0.000,136,1728,2640,2716,2564,0,0,0,0,0,0,14.36,14.39,14.36
$GC,15311,0.06,134.2,136,1727,2716,2563,779.1,1.1,391,15313,0.15,0.00,0.00,0.000,4102,0.118,0.000,56,1728,2640,2716,2564,0,0,0,0,0,0,14.36,14.36,14.34
$STATE,15547,end loiter,LOITER_COMPLETE
$STATE,15547,begin climb
$GC,15551,0.70,73.0,56,1727,2716,2564,776.8,0.0,397,15553,0.15,0.00,0.00,0.000,2054,0.116,0.000,136,1727,2640,2716,2564,0,0,0,0,0,0,14.36,14.36,14.36
$FREEZE,774.94,0.000,0.000,0,1,0
$STATE,15867,end climb,NO_VERTICAL_VELOCITY
$STATE,15867,begin surface
$SM_CCo,15872,487.40,1.760,0,0,549,645.38
$SM_GC,0.93,0.20,0.00,0.00,0.099,0.000,0.000,39,1728,552,-9.40,-0.65,644.89,0,0,0,0,0,0,14.12,14.83,14.18
$IRIDIUM_FIX,6051.55,-2758.89,130119,191851
$TT8_MAMPS,0.020223,0.065912
$HUMID,46.53
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,12.00,0.000
$10V_AH,12.25,246.678
$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,7.675,0.000,186.425,487.400,0.000,0.000,0.000,157.175,0.000,0.000,26.608,467.897,15728.873,827.562,755.474,259.357,0.000,1357.634,0.000,590.675,0.000,0.536,0.000
$DEVICE_MAMPS,118.575,0.000,1750.320,1760.265,0.000,0.000,0.000,125.460,420.000,0.000,20.220,8.670,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$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,333920
$DATA_FILE_SIZE,13470,405
$CAP_FILE_SIZE,86627,0
$CFSIZE,260165632,166293504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,231.89,1
$GPS,140119,051927,6049.634,-2800.146,37,1.1,74,-19.1,1.2,298.7,9,5.7