version: 66.13
glider: 124
mission: 26
dive: 735
start: 1 14 119 16 8 47
data:
$ID,124
$MISSION,26
$DIVE,735
$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,24
$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
$GPS1,140119,160338,6049.7593,-2801.2141,34,1.6,40,-19.1,1.3,244.5,5,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-60.2
$GPS2,140119,160757,6049.7969,-2801.1479,11,1.4,15,-19.1,0.5,307.8,7,6.0
$SPEED_LIMITS,0.160,0.182
$TGT_NAME,ICELAND
$TGT_LATLONG,6300.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,88.4,368331,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-0.70,-73.0,110,1766,675,434,0.0,0.0,0,149,0.00,0.00,-136.70,0.005,16386,0.000,0.000,110,1770,3286,3250,3322,0,0,0,0,0,0,14.71,28.83,14.73
$GC,154,-0.70,-73.0,110,1770,3250,3322,4.3,-3.4,7,161,0.00,0.00,-5.12,0.021,20518,0.000,0.000,110,1770,3479,3424,3534,0,0,0,0,0,0,14.75,12.33,14.59
$GC,491,-0.70,-73.0,110,1770,3425,3533,191.0,-54.6,20,493,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,3479,3425,3533,0,0,0,0,0,0,14.88,14.90,14.91
$GC,811,-0.70,-73.0,110,1770,3425,3533,365.8,-54.3,28,812,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,3479,3425,3533,0,0,0,0,0,0,14.90,14.90,14.90
$STATE,1087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1087,begin apogee
$GC,1096,-0.12,0.0,110,1770,3425,3533,518.4,-53.9,35,1177,0.00,0.00,79.03,1.400,12294,0.000,0.000,110,1770,3181,3190,3173,0,0,0,0,0,0,14.75,14.05,13.29
$STATE,1178,end apogee,CONTROL_FINISHED_OK
$STATE,1178,begin loiter
$GC,1492,-0.01,82.6,110,1770,3195,3175,695.8,-42.5,45,1563,0.00,0.00,68.90,1.760,12326,0.000,0.000,110,1770,2845,2912,2779,0,0,0,0,0,0,14.86,13.93,13.14
$GC,1853,0.06,129.3,110,1770,2910,2784,793.8,-24.0,54,1896,0.00,0.00,40.85,1.829,12326,0.000,0.000,110,1770,2654,2757,2551,0,0,0,0,0,0,14.78,14.08,13.26
$GC,2213,0.06,129.3,110,1770,2756,2554,812.6,1.1,63,2214,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2655,2756,2554,0,0,0,0,0,0,14.83,14.84,14.85
$GC,2531,0.06,129.3,110,1770,2756,2555,800.8,3.8,71,2532,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2655,2756,2555,0,0,0,0,0,0,14.88,14.89,14.89
$GC,2851,0.06,129.3,110,1769,2756,2555,790.8,2.9,79,2852,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2655,2756,2555,0,0,0,0,0,0,14.89,14.90,14.89
$GC,3171,0.06,129.3,110,1770,2756,2555,783.4,2.1,87,3172,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2655,2756,2555,0,0,0,0,0,0,14.88,14.91,14.89
$GC,3491,0.06,129.3,110,1770,2755,2555,778.7,1.3,95,3492,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2655,2755,2555,0,0,0,0,0,0,14.90,14.89,14.89
$GC,3811,0.06,129.3,110,1770,2754,2555,776.4,0.5,103,3812,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2655,2755,2555,0,0,0,0,0,0,14.88,14.87,14.89
$GC,4131,0.06,129.3,110,1770,2754,2555,777.2,-0.5,111,4132,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2654,2754,2555,0,0,0,0,0,0,14.88,14.90,14.89
$GC,4453,0.06,129.3,110,1770,2753,2555,780.1,-1.0,119,4454,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2654,2753,2555,0,0,0,0,0,0,14.88,14.88,14.88
$GC,4771,0.06,129.3,110,1770,2753,2555,783.7,-1.1,127,4773,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2654,2753,2555,0,0,0,0,0,0,14.88,14.89,14.89
$GC,5091,0.06,129.3,110,1770,2752,2555,787.8,-1.3,135,5092,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2653,2752,2555,0,0,0,0,0,0,14.88,14.90,14.89
$GC,5411,0.06,129.3,110,1769,2752,2555,791.7,-1.2,143,5412,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1769,2653,2752,2555,0,0,0,0,0,0,14.89,14.90,14.90
$GC,5731,0.06,129.3,110,1770,2751,2555,794.6,-0.8,151,5732,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2653,2752,2555,0,0,0,0,0,0,14.88,14.90,14.90
$GC,6051,0.06,129.3,110,1770,2751,2555,796.7,-0.7,159,6053,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2653,2751,2555,0,0,0,0,0,0,14.88,14.90,14.89
$GC,6371,0.06,129.3,110,1770,2751,2555,798.5,-0.5,167,6372,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2653,2751,2555,0,0,0,0,0,0,14.89,14.90,14.90
$GC,6693,0.06,130.8,110,1770,2750,2555,800.7,-0.8,175,6694,0.00,0.00,0.00,0.000,4134,0.000,0.000,110,1770,2652,2750,2555,0,0,0,0,0,0,14.88,14.88,14.88
$GC,7012,0.06,132.9,110,1770,2750,2555,804.1,-1.1,183,7017,0.00,0.00,3.40,0.685,12326,0.000,0.000,110,1770,2640,2734,2547,0,0,0,0,0,0,14.88,14.38,13.45
$GC,7333,0.06,133.0,110,1770,2735,2558,805.1,-0.0,191,7334,0.00,0.00,0.00,0.000,4134,0.000,0.000,110,1770,2646,2734,2558,0,0,0,0,0,0,14.88,14.88,14.89
$GC,7651,0.06,133.0,110,1770,2735,2559,804.5,0.2,199,7654,0.00,0.00,0.93,0.109,12294,0.000,0.000,110,1770,2639,2727,2551,0,0,0,0,0,0,14.89,13.87,13.65
$GC,7971,0.06,133.0,110,1770,2727,2562,803.8,0.2,207,7972,0.00,0.00,0.00,0.000,4102,0.000,0.000,110,1770,2645,2727,2563,0,0,0,0,0,0,14.88,14.90,14.90
$GC,8292,0.06,133.2,110,1769,2727,2565,804.0,-0.1,215,8294,0.03,0.00,0.00,0.000,4134,0.377,0.000,75,1769,2646,2727,2565,0,0,0,0,0,0,14.61,14.55,14.55
$GC,8611,0.06,133.7,75,1770,2726,2565,804.7,-0.2,223,8615,0.10,0.00,1.27,0.113,10278,0.154,0.000,136,1769,2637,2722,2553,0,0,0,0,0,0,14.45,13.84,13.62
$GC,8933,0.06,134.4,136,1770,2723,2568,805.7,-0.4,231,8938,0.15,0.00,2.55,0.517,12326,0.119,0.000,56,1770,2635,2719,2552,0,0,0,0,0,0,14.33,14.23,13.03
$GC,9253,0.06,134.4,56,1770,2719,2565,805.7,0.2,239,9257,0.15,0.00,1.67,0.128,10246,0.117,0.000,137,1770,2635,2718,2553,0,0,0,0,0,0,14.34,13.94,13.69
$GC,9571,0.06,134.4,137,1770,2718,2567,805.2,0.1,247,9575,0.15,0.00,1.25,0.121,12294,0.119,0.000,56,1770,2635,2718,2553,0,0,0,0,0,0,14.34,13.83,13.57
$GC,9892,0.06,135.3,56,1770,2718,2567,806.1,-0.4,255,9898,0.15,0.00,3.38,0.835,10278,0.119,0.000,138,1770,2630,2713,2547,0,0,0,0,0,0,14.34,14.29,13.00
$GC,10213,0.06,135.3,138,1770,2713,2558,804.6,0.9,263,10216,0.15,0.00,0.70,0.116,12294,0.117,0.000,57,1770,2629,2712,2547,0,0,0,0,0,0,14.35,13.85,13.64
$GC,10531,0.06,135.3,57,1770,2713,2558,801.1,1.0,271,10533,0.17,0.00,0.00,0.000,2054,0.105,0.000,146,1770,2635,2712,2558,0,0,0,0,0,0,14.31,14.31,14.31
$GC,10851,0.06,135.3,146,1770,2713,2559,798.4,0.7,279,10853,0.17,0.00,0.00,0.000,4102,0.107,0.000,56,1770,2636,2713,2559,0,0,0,0,0,0,14.31,14.31,14.31
$GC,11171,0.06,135.3,56,1770,2713,2559,796.9,0.4,287,11175,0.15,0.00,1.02,0.116,10246,0.117,0.000,137,1770,2629,2711,2548,0,0,0,0,0,0,14.35,13.75,13.50
$GC,11491,0.06,135.3,136,1770,2711,2561,795.7,0.4,295,11493,0.15,0.00,0.00,0.000,4102,0.117,0.000,56,1770,2635,2711,2560,0,0,0,0,0,0,14.35,14.34,14.34
$GC,11813,0.06,135.3,56,1769,2711,2560,795.4,-0.0,303,11815,0.15,0.00,0.00,0.000,2054,0.117,0.000,137,1770,2636,2712,2560,0,0,0,0,0,0,14.33,14.33,14.33
$GC,12131,0.06,135.3,137,1770,2711,2560,795.7,-0.0,311,12133,0.15,0.00,0.00,0.000,4102,0.121,0.000,57,1769,2635,2711,2560,0,0,0,0,0,0,14.35,14.34,14.32
$GC,12451,0.06,135.3,57,1770,2711,2560,793.8,0.8,319,12453,0.15,0.00,0.00,0.000,2054,0.117,0.000,137,1770,2635,2711,2560,0,0,0,0,0,0,14.35,14.35,14.35
$GC,12771,0.06,135.3,137,1770,2711,2560,789.6,1.5,327,12773,0.15,0.00,0.00,0.000,4102,0.119,0.000,57,1770,2636,2711,2561,0,0,0,0,0,0,14.34,14.33,14.33
$GC,13091,0.06,135.3,57,1770,2711,2560,783.7,2.0,335,13093,0.15,0.00,0.00,0.000,2054,0.116,0.000,137,1770,2635,2711,2560,0,0,0,0,0,0,14.35,14.36,14.35
$GC,13411,0.06,135.3,137,1770,2711,2560,777.7,1.8,343,13413,0.15,0.00,0.00,0.000,4102,0.121,0.000,57,1770,2635,2711,2560,0,0,0,0,0,0,14.34,14.34,14.33
$GC,13731,0.06,135.3,56,1770,2712,2560,773.9,1.0,351,13733,0.15,0.00,0.00,0.000,2054,0.118,0.000,136,1769,2635,2711,2560,0,0,0,0,0,0,14.34,14.34,14.34
$GC,14053,0.06,135.3,136,1770,2711,2561,773.4,-0.2,359,14054,0.15,0.00,0.00,0.000,4102,0.118,0.000,56,1769,2635,2711,2560,0,0,0,0,0,0,14.33,14.33,14.33
$GC,14371,0.06,135.3,57,1770,2711,2560,774.0,-0.1,367,14373,0.15,0.00,0.00,0.000,2054,0.117,0.000,136,1770,2635,2711,2560,0,0,0,0,0,0,14.34,14.34,14.34
$GC,14691,0.06,135.3,136,1770,2712,2560,775.3,-0.6,375,14693,0.15,0.00,0.00,0.000,4102,0.118,0.000,57,1770,2635,2711,2560,0,0,0,0,0,0,14.35,14.34,14.34
$GC,15011,0.06,135.3,57,1770,2711,2560,779.0,-1.3,383,15013,0.15,0.00,0.00,0.000,2054,0.118,0.000,137,1770,2635,2711,2560,0,0,0,0,0,0,14.36,14.35,14.33
$GC,15331,0.06,135.3,136,1770,2711,2560,783.8,-1.5,391,15333,0.15,0.00,0.00,0.000,4102,0.118,0.000,57,1770,2635,2711,2560,0,0,0,0,0,0,14.35,14.35,14.34
$STATE,15567,end loiter,LOITER_COMPLETE
$STATE,15567,begin climb
$GC,15571,0.70,73.0,57,1770,2711,2560,786.7,0.0,397,15574,0.15,0.00,0.00,0.000,2054,0.118,0.000,137,1770,2636,2712,2560,0,0,0,0,0,0,14.34,14.35,14.35
$FREEZE,789.12,0.000,0.000,0,1,0
$STATE,15888,end climb,NO_VERTICAL_VELOCITY
$STATE,15888,begin surface
$SM_CCo,15892,491.02,1.776,0,0,549,645.63
$SM_GC,0.86,0.22,0.00,0.00,0.091,0.000,0.000,26,1769,553,-9.43,0.54,644.40,0,0,0,0,0,0,14.00,14.71,14.06
$IRIDIUM_FIX,6051.32,-2818.64,140119,110334
$TT8_MAMPS,0.020223,0.065163
$HUMID,46.57
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,11.97,0.000
$10V_AH,12.19,247.612
$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,3.700,0.000,204.950,491.025,0.000,0.000,0.000,142.925,0.000,0.000,26.389,459.590,15797.004,847.121,744.046,260.234,0.000,1365.073,0.000,590.710,0.000,0.536,0.000
$DEVICE_MAMPS,377.145,0.000,1829.115,1775.565,0.000,0.000,0.000,131.580,420.000,0.000,20.220,8.670,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$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,13464,405
$CAP_FILE_SIZE,83449,0
$CFSIZE,260165632,166170624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,37.58,1
$GPS,140119,210714,6049.967,-2800.885,26,1.6,36,-19.1,1.7,47.9,6,7.9