version: 66.13
glider: 124
mission: 26
dive: 35
start: 5 26 118 9 1 21
data:
$ID,124
$MISSION,26
$DIVE,35
$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,2120
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,5
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,15
$C_ROLL_DIVE,1640
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,550
$VBD_MAX,3990
$C_VBD,2998
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$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,0.80000001
$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,38.0
$CP_NDIVE,1.0
$GPS1,260518,084837,5834.4282,-2230.5776,38,1.8,41,-15.1,1.4,130.4,6,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.0
$GPS2,260518,090056,5834.4736,-2230.2747,14,1.7,23,-15.1,0.3,313.0,6,8.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,Z2
$TGT_LATLONG,5825.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,234.2,17547,-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,-0.68,-146.0,16,1674,1742,1363,0.0,0.0,0,108,0.00,0.00,-93.62,0.006,16390,0.000,0.000,15,1653,3594,3540,3649,0,0,0,0,0,0,14.73,13.85,14.76
$GC,111,-0.68,-146.0,15,1655,3540,3649,2.8,-2.1,4,122,8.90,0.00,0.00,0.000,2566,0.416,0.000,1965,1663,3595,3542,3648,0,0,0,0,0,0,14.40,14.64,14.62
$GC,452,-0.67,-146.0,1966,1664,3571,3618,70.8,-16.5,24,457,0.00,1.00,0.00,0.000,644,0.000,0.071,1966,1099,3594,3571,3618,0,0,0,0,0,0,14.90,14.69,14.90
$GC,642,-0.67,-146.0,1966,1099,3572,3618,98.2,-13.5,62,647,0.00,1.00,0.00,0.000,1030,0.000,0.067,1963,1650,3594,3570,3618,0,0,0,0,0,0,14.76,14.71,14.78
$GC,993,-0.67,-146.0,1963,1650,3573,3617,154.0,-15.9,73,998,0.00,0.85,0.00,0.000,388,0.000,0.067,1959,2173,3594,3572,3616,0,0,0,0,0,0,14.96,14.78,14.97
$GC,1078,-0.67,-146.0,1959,2175,3575,3613,166.7,-13.9,90,1083,0.00,0.90,0.00,0.000,1030,0.000,0.069,1958,1654,3593,3574,3613,0,0,0,0,0,0,14.83,14.79,14.84
$GC,1434,-0.66,-146.0,1959,1653,3575,3613,224.5,-16.7,105,1439,0.00,0.95,0.00,0.000,644,0.000,0.073,1958,1103,3593,3574,3613,0,0,0,0,0,0,15.00,14.81,15.04
$GC,1614,-0.66,-146.0,1958,1103,3576,3613,252.0,-14.4,141,1620,0.00,0.95,0.00,0.000,1030,0.000,0.066,1955,1637,3594,3575,3613,0,0,0,0,0,0,14.87,14.83,14.89
$GC,1956,-0.65,-146.0,1956,1638,3576,3612,307.5,-16.5,153,1961,0.10,0.88,0.00,0.000,2436,0.297,0.062,1974,2177,3594,3575,3613,0,0,0,0,0,0,14.78,14.87,14.91
$GC,2091,-0.65,-146.0,1974,2179,3579,3611,327.1,-14.2,180,2096,0.00,0.90,0.00,0.000,1030,0.000,0.068,1974,1651,3594,3578,3610,0,0,0,0,0,0,14.91,14.86,14.93
$GC,2437,-0.65,-146.0,1974,1651,3580,3611,377.5,-14.4,193,2442,0.00,0.95,0.00,0.000,516,0.000,0.073,1973,1100,3594,3578,3610,0,0,0,0,0,0,15.05,14.89,15.09
$GC,2564,-0.65,-146.0,1974,1100,3579,3610,393.3,-11.7,218,2569,0.00,0.98,0.00,0.000,1030,0.000,0.067,1970,1651,3594,3579,3610,0,0,0,0,0,0,14.93,14.90,14.95
$GC,2919,-0.65,-146.0,1971,1650,3580,3610,440.9,-13.6,233,2925,0.00,0.82,0.00,0.000,260,0.000,0.068,1966,2164,3594,3579,3610,0,0,0,0,0,0,15.10,14.90,15.11
$GC,3075,-0.65,-146.0,1966,2167,3580,3610,460.8,-12.3,264,3081,0.00,0.88,0.00,0.000,1030,0.000,0.072,1966,1655,3594,3579,3610,0,0,0,0,0,0,14.94,14.90,14.97
$GC,3400,-0.65,-146.0,1966,1655,3581,3610,505.9,-14.0,273,3406,0.00,0.95,0.00,0.000,516,0.000,0.074,1965,1105,3594,3580,3609,0,0,0,0,0,0,15.09,14.90,15.11
$GC,3571,-0.65,-146.0,1966,1105,3581,3610,528.3,-13.1,307,3576,0.00,0.95,0.00,0.000,1030,0.000,0.067,1963,1639,3594,3580,3609,0,0,0,0,0,0,14.95,14.91,15.00
$GC,3921,-0.65,-146.0,1963,1638,3581,3609,576.4,-13.3,321,3927,0.00,0.85,0.00,0.000,260,0.000,0.070,1959,2166,3595,3580,3611,0,0,0,0,0,0,15.11,14.90,15.11
$GC,4042,-0.65,-146.0,1959,2167,3581,3609,592.2,-12.9,345,4048,0.00,0.85,0.00,0.000,1030,0.000,0.070,1959,1661,3594,3580,3608,0,0,0,0,0,0,14.95,14.90,14.97
$GC,4403,-0.65,-146.0,1959,1661,3581,3609,641.0,-13.7,361,4408,0.00,0.98,0.00,0.000,516,0.000,0.074,1958,1099,3594,3580,3608,0,0,0,0,0,0,15.12,14.93,15.14
$GC,4524,-0.65,-146.0,1959,1100,3581,3609,656.9,-12.8,385,4529,0.05,0.98,0.00,0.000,3078,0.252,0.067,1973,1644,3594,3580,3608,0,0,0,0,0,0,14.83,14.91,14.95
$GC,4885,-0.65,-146.0,1973,1643,3581,3608,703.1,-12.9,401,4890,0.00,0.85,0.00,0.000,260,0.000,0.070,1969,2171,3593,3580,3607,0,0,0,0,0,0,15.14,14.94,15.16
$GC,5070,-0.65,-146.0,1970,2172,3582,3606,726.2,-12.5,438,5075,0.00,0.85,0.00,0.000,1030,0.000,0.069,1973,1666,3593,3580,3606,0,0,0,0,0,0,14.99,14.94,15.01
$GC,5406,-0.65,-146.0,1969,1666,3582,3606,769.7,-12.9,449,5411,0.00,0.98,0.00,0.000,516,0.000,0.076,1969,1106,3593,3580,3606,0,0,0,0,0,0,15.14,14.95,15.16
$GC,5566,-0.65,-146.0,1970,1107,3581,3606,788.6,-11.1,481,5572,0.00,0.95,0.00,0.000,1030,0.000,0.068,1966,1643,3592,3580,3605,0,0,0,0,0,0,14.98,14.95,15.00
$GC,5927,-0.65,-146.0,1967,1643,3581,3605,834.0,-12.8,497,5932,0.00,0.85,0.00,0.000,260,0.000,0.071,1963,2168,3592,3580,3605,0,0,0,0,0,0,15.13,14.94,15.15
$GC,6092,-0.65,-146.0,1963,2170,3582,3604,854.6,-12.2,530,6098,0.00,0.85,0.00,0.000,1030,0.000,0.070,1962,1662,3592,3581,3604,0,0,0,0,0,0,14.96,14.95,15.01
$GC,6448,-0.65,-146.0,1963,1661,3581,3603,901.7,-13.3,545,6454,0.00,0.98,0.00,0.000,516,0.000,0.077,1962,1103,3591,3580,3603,0,0,0,0,0,0,15.13,14.94,15.14
$GC,6590,-0.65,-146.0,1962,1103,3581,3603,919.1,-12.1,573,6596,0.00,0.98,0.00,0.000,1030,0.000,0.070,1959,1652,3591,3580,3602,0,0,0,0,0,0,15.01,14.95,15.01
$GC,6931,-0.65,-146.0,1960,1652,3581,3602,963.4,-12.9,585,6936,0.00,0.82,0.00,0.000,260,0.000,0.072,1956,2166,3591,3581,3601,0,0,0,0,0,0,15.14,14.95,15.16
$GC,7076,-0.65,-146.0,1956,2170,3581,3601,981.5,-12.2,614,7081,0.00,0.85,0.00,0.000,1030,0.000,0.073,1955,1662,3590,3581,3600,0,0,0,0,0,0,14.99,14.95,15.01
$STATE,7169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7169,begin apogee
$GC,7175,-0.14,0.0,1956,1734,3582,3600,993.9,-13.0,619,7300,0.45,0.00,122.45,2.332,10244,0.216,0.000,2090,1749,2999,3131,2867,0,0,0,0,0,0,14.85,14.05,13.25
$STATE,7301,end apogee,CONTROL_FINISHED_OK
$STATE,7301,begin climb
$GC,7303,0.68,146.0,2090,1749,3128,2867,998.5,0.0,622,7442,0.52,0.85,130.52,2.276,10500,0.108,0.066,2272,2234,2400,2590,2211,0,0,0,0,0,0,14.03,14.05,13.14
$GC,7498,0.67,146.0,2272,2234,2579,2211,989.4,10.7,658,7503,0.00,0.90,0.00,0.000,1158,0.000,0.078,2274,1726,2394,2578,2211,0,0,0,0,0,0,14.21,14.16,14.23
$GC,7838,0.66,146.0,2275,1726,2568,2211,951.2,11.2,670,7843,0.00,0.88,0.00,0.000,388,0.000,0.065,2273,2244,2388,2567,2210,0,0,0,0,0,0,14.76,14.57,14.77
$GC,7943,0.65,146.0,2274,2243,2567,2211,939.4,11.0,691,7948,0.00,0.88,0.00,0.000,1158,0.000,0.077,2277,1730,2388,2567,2210,0,0,0,0,0,0,14.66,14.60,14.71
$GC,8278,0.64,146.0,2277,1730,2564,2211,903.8,10.3,702,8283,0.00,0.85,0.00,0.000,388,0.000,0.065,2276,2240,2387,2564,2211,0,0,0,0,0,0,14.90,14.71,14.92
$GC,8400,0.64,146.0,2276,2242,2561,2211,891.5,10.0,726,8405,0.00,0.85,0.00,0.000,1158,0.000,0.077,2279,1743,2385,2561,2210,0,0,0,0,0,0,14.77,14.73,14.78
$GC,8761,0.63,146.0,2279,1743,2560,2210,852.8,10.9,742,8766,0.10,0.82,0.00,0.000,4484,0.293,0.060,2256,2246,2384,2559,2210,0,0,0,0,0,0,14.69,14.77,14.80
$GC,8878,0.64,163.8,2257,2248,2560,2211,841.7,9.2,765,8894,0.00,0.82,13.50,1.958,9382,0.000,0.080,2260,1756,2332,2518,2147,0,0,0,0,0,0,14.82,14.78,13.91
$GC,9246,0.65,174.4,2260,1756,2512,2147,806.5,9.5,782,9258,0.00,0.00,11.02,1.850,8358,0.000,0.000,2260,1756,2287,2480,2094,0,0,0,0,0,0,14.93,14.66,13.91
$GC,9565,0.66,184.2,2260,1756,2476,2093,776.3,9.5,790,9579,0.00,0.75,10.45,1.796,8484,0.000,0.060,2259,2242,2245,2445,2046,0,0,0,0,0,0,14.92,14.54,13.92
$GC,9614,0.66,184.2,2260,2244,2444,2046,771.2,10.6,800,9619,0.00,0.80,0.00,0.000,1030,0.000,0.081,2262,1768,2243,2443,2044,0,0,0,0,0,0,14.68,14.65,14.70
$GC,9965,0.66,184.2,2261,1768,2442,2046,734.4,10.7,814,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1768,2242,2440,2045,0,0,0,0,0,0,14.93,14.95,14.95
$GC,10284,0.66,184.2,2263,1768,2440,2045,701.1,10.3,822,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1768,2242,2440,2045,0,0,0,0,0,0,14.98,15.00,15.00
$GC,10605,0.67,188.9,2263,1768,2440,2045,669.4,9.8,830,10615,0.00,0.77,5.32,1.366,8484,0.000,0.060,2262,2246,2225,2425,2026,0,0,0,0,0,0,15.00,14.67,14.06
$GC,10680,0.68,203.5,2263,2247,2424,2026,662.3,9.3,845,10697,0.00,0.80,14.40,1.766,9254,0.000,0.081,2266,1770,2168,2383,1954,0,0,0,0,0,0,14.81,14.76,13.96
$GC,11047,0.68,203.5,2266,1770,2373,1953,625.1,10.3,862,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1770,2162,2372,1953,0,0,0,0,0,0,14.93,14.95,14.95
$GC,11367,0.68,203.5,2266,1770,2371,1953,591.7,10.3,870,11371,0.00,1.08,0.00,0.000,516,0.000,0.082,2271,1179,2162,2371,1953,0,0,0,0,0,0,14.98,14.77,15.00
$GC,11381,0.68,203.5,2271,1179,2372,1952,590.1,10.2,873,11387,0.00,1.08,0.00,0.000,1030,0.000,0.063,2270,1773,2161,2371,1951,0,0,0,0,0,0,14.83,14.79,14.85
$GC,11728,0.70,213.6,2271,1785,2372,1951,556.1,9.5,886,11743,0.00,0.75,9.15,1.522,8484,0.000,0.066,2270,2248,2127,2342,1912,0,0,0,0,0,0,14.99,14.76,14.09
$STATE,11750,end climb,POWER_ERROR_DETECTED
$SM_CCo,11763,316.88,1.714,0,0,549,600.49
$SM_GC,1.18,5.95,0.90,0.00,0.068,0.080,0.000,48,1713,545,-9.36,0.82,601.72,0,0,0,0,0,0,15.03,15.02,15.09
$IRIDIUM_FIX,5835.12,-2231.79,260518,035458
$TT8_MAMPS,0.038199,0.767725
$HUMID,40.82
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.90
$XPDR_PINGS,28
$SC_FREEKB,4000224
$24V_AH,13.14,0.000
$10V_AH,13.06,14.278
$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,16.075,39.450,316.825,316.875,0.000,0.000,0.000,507.625,7.000,0.000,25.680,0.000,13329.474,801.703,2323.312,312.654,0.000,2086.950,0.000,1274.304,0.000,0.825,0.000
$DEVICE_MAMPS,416.160,117.810,2331.720,1714.365,0.000,0.000,0.000,179.010,420.000,0.000,20.220,0.000,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11785.000,0.000,4471.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.547,0.000,25.000,0.000
$MEM,334108
$DATA_FILE_SIZE,30064,891
$CAP_FILE_SIZE,120753,1
$CFSIZE,260165632,253665280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$EOP_CODE,POWER_ERROR_DETECTED
$RECOV_CODE,CURRENT_CUTOFF_10V
$GPS,260518,132933,5833.246,-2225.685,30,0.8,30,-15.0,0.0,0.0,9,6.5