version: 66.13
glider: 124
mission: 26
dive: 129
start: 6 15 118 3 1 19
data:
$ID,124
$MISSION,26
$DIVE,129
$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,0.00151323
$HD_B,0.017661201
$HD_C,1.96131e-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,1750
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,550
$VBD_MAX,3990
$C_VBD,2702
$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,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,132.0
$CP_NDIVE,1.0
$GPS1,150618,024659,5827.1543,-2425.1125,30,1.1,55,-16.0,1.2,106.8,5,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.5
$GPS2,150618,030051,5827.1055,-2424.7610,11,1.8,16,-16.0,0.6,79.7,8,6.4
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,Z2
$TGT_LATLONG,5825.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,68.0,111382,-13.0,-10.000,-28.63,1550
$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,-0.55,-146.0,15,1748,1441,1079,0.0,0.0,0,117,0.00,0.00,-100.35,0.006,16390,0.000,0.000,15,1747,3298,3253,3344,0,0,0,0,0,0,14.76,13.52,14.76
$GC,120,-0.55,-146.0,16,1747,3253,3344,3.3,-2.2,5,131,9.02,0.95,0.00,0.000,2596,0.409,0.052,2002,1201,3299,3259,3340,0,0,0,0,0,0,14.32,14.57,14.59
$GC,357,-0.54,-146.0,2002,1200,3280,3318,37.9,-11.5,52,363,0.00,0.93,0.00,0.000,1158,0.000,0.050,1999,1719,3298,3280,3317,0,0,0,0,0,0,14.66,14.62,14.68
$GC,682,-0.53,-146.0,1999,1719,3285,3312,76.9,-12.1,69,688,0.00,0.88,0.00,0.000,388,0.000,0.053,1994,2275,3297,3285,3310,0,0,0,0,0,0,14.90,14.71,14.92
$GC,738,-0.52,-146.0,1994,2276,3287,3310,83.4,-11.4,80,744,0.00,0.88,0.00,0.000,1158,0.000,0.054,1994,1741,3298,3286,3310,0,0,0,0,0,0,14.76,14.71,14.78
$GC,1083,-0.51,-146.0,1994,1741,3288,3309,127.0,-12.7,93,1089,0.00,0.90,0.00,0.000,644,0.000,0.057,1993,1223,3297,3287,3308,0,0,0,0,0,0,14.95,14.76,14.97
$GC,1314,-0.50,-146.0,1994,1223,3289,3308,156.2,-12.4,139,1318,0.00,0.93,0.00,0.000,1158,0.000,0.049,1991,1746,3298,3288,3308,0,0,0,0,0,0,14.83,14.79,14.88
$GC,1644,-0.49,-146.0,1992,1746,3289,3308,201.0,-13.9,149,1650,0.10,0.95,0.00,0.000,2692,0.304,0.046,2013,1212,3297,3288,3307,0,0,0,0,0,0,14.66,14.80,14.83
$GC,1757,-0.49,-146.0,2013,1212,3289,3308,214.0,-10.7,171,1761,0.00,0.93,0.00,0.000,1158,0.000,0.050,2010,1736,3297,3288,3307,0,0,0,0,0,0,14.85,14.80,14.87
$GC,2087,-0.48,-146.0,2010,1736,3291,3306,250.4,-10.8,181,2088,0.00,0.00,0.00,0.000,134,0.000,0.000,2010,1735,3297,3289,3306,0,0,0,0,0,0,15.02,15.04,15.04
$GC,2407,-0.47,-146.0,2011,1736,3291,3306,282.7,-10.0,189,2407,0.00,0.00,0.00,0.000,134,0.000,0.000,2010,1735,3298,3290,3306,0,0,0,0,0,0,15.06,15.08,15.07
$GC,2727,-0.47,-146.0,2011,1736,3291,3306,314.3,-9.9,197,2732,0.00,0.82,0.00,0.000,388,0.000,0.052,2007,2274,3298,3290,3306,0,0,0,0,0,0,15.07,14.87,15.09
$GC,2797,-0.47,-146.0,2006,2277,3292,3303,320.8,-8.9,211,2802,0.00,0.85,0.00,0.000,1030,0.000,0.058,2005,1748,3297,3292,3303,0,0,0,0,0,0,14.90,14.86,14.92
$GC,3128,-0.46,-146.0,2006,1748,3293,3301,354.2,-10.3,221,3133,0.00,0.93,0.00,0.000,644,0.000,0.060,2005,1216,3297,3292,3302,0,0,0,0,0,0,15.08,14.87,15.09
$GC,3358,-0.45,-146.0,2006,1216,3293,3302,376.9,-9.8,267,3363,0.00,0.90,0.00,0.000,1158,0.000,0.050,2003,1721,3297,3292,3302,0,0,0,0,0,0,14.91,14.88,14.93
$GC,3688,-0.45,-146.0,2003,1721,3293,3302,410.7,-10.4,277,3689,0.00,0.00,0.00,0.000,134,0.000,0.000,2003,1720,3297,3292,3302,0,0,0,0,0,0,15.09,15.11,15.10
$GC,4008,-0.44,-146.0,2003,1720,3293,3302,445.7,-10.9,285,4009,0.00,0.00,0.00,0.000,134,0.000,0.000,2003,1720,3296,3292,3300,0,0,0,0,0,0,15.09,15.09,15.11
$GC,4328,-0.43,-146.0,2003,1720,3293,3301,479.7,-10.5,293,4334,0.10,0.88,0.00,0.000,2436,0.291,0.047,2022,2285,3296,3292,3301,0,0,0,0,0,0,14.76,14.89,14.91
$GC,4389,-0.43,-146.0,2022,2285,3294,3301,484.9,-7.8,305,4394,0.00,0.90,0.00,0.000,1062,0.000,0.056,2022,1725,3296,3292,3300,0,0,0,0,0,0,14.92,14.88,14.95
$GC,4730,-0.43,-146.0,2022,1726,3293,3300,514.0,-8.6,317,4735,0.00,0.88,0.00,0.000,516,0.000,0.060,2022,1221,3296,3293,3299,0,0,0,0,0,0,15.11,14.87,15.13
$GC,4961,-0.43,-146.0,2022,1220,3293,3300,532.6,-7.7,363,4965,0.00,0.88,0.00,0.000,1062,0.000,0.050,2019,1720,3296,3293,3299,0,0,0,0,0,0,14.95,14.91,14.97
$GC,5290,-0.43,-146.0,2019,1720,3294,3298,560.8,-8.8,373,5296,0.00,0.88,0.00,0.000,260,0.000,0.054,2014,2284,3295,3292,3298,0,0,0,0,0,0,15.11,14.87,15.13
$GC,5342,-0.43,-146.0,2015,2284,3294,3298,565.0,-8.1,383,5346,0.00,0.90,0.00,0.000,1030,0.000,0.055,2014,1723,3295,3293,3298,0,0,0,0,0,0,14.95,14.90,14.97
$GC,5692,-0.43,-146.0,2015,1722,3294,3298,594.8,-8.5,397,5697,0.00,0.88,0.00,0.000,516,0.000,0.061,2014,1221,3295,3293,3297,0,0,0,0,0,0,15.11,14.86,15.12
$GC,5922,-0.43,-146.0,2015,1220,3294,3297,614.6,-8.3,443,5927,0.00,0.88,0.00,0.000,1030,0.000,0.050,2012,1717,3295,3293,3297,0,0,0,0,0,0,14.94,14.92,14.97
$GC,6253,-0.43,-146.0,2012,1718,3293,3297,643.2,-8.7,453,6258,0.00,0.88,0.00,0.000,260,0.000,0.053,2008,2282,3294,3292,3296,0,0,0,0,0,0,15.12,14.90,15.14
$GC,6313,-0.43,-146.0,2008,2284,3294,3296,648.4,-8.4,465,6319,0.00,0.93,0.00,0.000,1030,0.000,0.057,2008,1713,3294,3293,3296,0,0,0,0,0,0,14.94,14.90,14.97
$GC,6654,-0.43,-146.0,2008,1713,3293,3296,681.6,-10.0,477,6660,0.00,0.85,0.00,0.000,516,0.000,0.061,2007,1224,3294,3293,3295,0,0,0,0,0,0,15.13,14.90,15.14
$GC,6885,-0.43,-146.0,2008,1224,3292,3295,704.8,-10.3,523,6890,0.00,0.85,0.00,0.000,1030,0.000,0.050,2005,1709,3292,3291,3294,0,0,0,0,0,0,14.92,14.90,14.97
$GC,7216,-0.43,-146.0,2005,1709,3293,3295,740.6,-11.0,533,7221,0.00,0.88,0.00,0.000,260,0.000,0.054,2001,2273,3293,3292,3294,0,0,0,0,0,0,15.12,14.90,15.14
$GC,7291,-0.43,-146.0,2001,2274,3295,3294,748.4,-10.1,548,7297,0.08,0.93,0.00,0.000,3078,0.209,0.054,2027,1704,3293,3293,3294,0,0,0,0,0,0,14.73,14.90,14.87
$GC,7616,-0.43,-146.0,2027,1704,3294,3294,776.0,-8.2,557,7621,0.00,0.82,0.00,0.000,516,0.000,0.063,2027,1227,3293,3293,3293,0,0,0,0,0,0,15.11,14.89,15.14
$GC,7796,-0.43,-146.0,2027,1226,3294,3294,790.8,-8.4,593,7802,0.00,0.82,0.00,0.000,1030,0.000,0.050,2024,1704,3293,3293,3294,0,0,0,0,0,0,14.97,14.92,14.97
$GC,8137,-0.43,-146.0,2025,1704,3294,3293,818.3,-8.1,605,8142,0.00,0.90,0.00,0.000,260,0.000,0.054,2020,2278,3292,3293,3292,0,0,0,0,0,0,15.11,14.89,15.12
$GC,8228,-0.43,-146.0,2021,2279,3294,3292,825.2,-7.7,623,8232,0.00,0.93,0.00,0.000,1062,0.000,0.055,2020,1706,3292,3293,3292,0,0,0,0,0,0,14.93,14.90,14.95
$GC,8578,-0.43,-146.0,2020,1706,3294,3292,853.3,-7.8,637,8583,0.00,0.82,0.00,0.000,548,0.000,0.061,2019,1227,3292,3293,3292,0,0,0,0,0,0,15.11,14.89,15.13
$GC,8788,-0.43,-146.0,2020,1227,3294,3292,869.4,-7.6,679,8793,0.00,0.85,0.00,0.000,1062,0.000,0.051,2017,1707,3291,3292,3291,0,0,0,0,0,0,14.92,14.90,14.95
$GC,9139,-0.43,-146.0,2018,1707,3293,3291,896.9,-7.8,693,9144,0.00,0.90,0.00,0.000,292,0.000,0.054,2013,2281,3292,3293,3291,0,0,0,0,0,0,15.11,14.90,15.12
$GC,9224,-0.43,-146.0,2014,2281,3294,3291,903.0,-6.8,710,9229,0.00,0.93,0.00,0.000,1062,0.000,0.054,2013,1708,3292,3293,3291,0,0,0,0,0,0,14.89,14.86,14.92
$GC,9579,-0.43,-146.0,2013,1707,3294,3290,928.1,-6.9,725,9585,0.00,0.85,0.00,0.000,548,0.000,0.060,2013,1215,3291,3293,3290,0,0,0,0,0,0,15.11,14.88,15.13
$GC,9805,-0.43,-146.0,2013,1215,3293,3291,943.0,-6.6,770,9809,0.00,0.85,0.00,0.000,1062,0.000,0.053,2010,1694,3291,3293,3289,0,0,0,0,0,0,14.95,14.90,14.93
$GC,10140,-0.43,-146.0,2012,1693,3294,3289,966.3,-7.1,781,10146,0.00,0.93,0.00,0.000,292,0.000,0.054,2006,2281,3291,3293,3289,0,0,0,0,0,0,15.12,14.88,15.14
$GC,10231,-0.43,-146.0,2007,2282,3294,3288,972.7,-6.9,799,10236,0.00,0.95,0.00,0.000,1062,0.000,0.056,2006,1701,3290,3293,3288,0,0,0,0,0,0,14.92,14.88,14.95
$STATE,10499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10499,begin apogee
$GC,10504,-0.14,0.0,2006,1700,3294,3289,992.9,-7.5,811,10633,0.28,0.00,126.88,2.300,10244,0.204,0.000,2087,1700,2704,2870,2538,0,0,0,0,0,0,14.76,14.05,13.30
$STATE,10634,end apogee,CONTROL_FINISHED_OK
$STATE,10634,begin climb
$GC,10637,0.55,146.0,2087,1700,2870,2538,995.5,0.0,814,10781,0.47,0.95,134.70,2.232,10500,0.148,0.045,2238,2264,2107,2335,1880,0,0,0,0,0,0,14.03,14.10,13.07
$GC,10931,0.54,146.0,2238,2264,2321,1879,970.4,10.1,872,10936,0.00,0.93,0.00,0.000,1158,0.000,0.063,2240,1732,2100,2320,1880,0,0,0,0,0,0,14.30,14.26,14.32
$GC,11282,0.54,146.0,2241,1732,2319,1873,935.6,9.9,886,11287,0.00,0.85,0.00,0.000,388,0.000,0.045,2241,2251,2095,2318,1873,0,0,0,0,0,0,14.76,14.54,14.81
$GC,11432,0.53,146.0,2241,2254,2318,1873,920.4,9.6,916,11436,0.00,0.93,0.00,0.000,1158,0.000,0.066,2244,1712,2095,2317,1873,0,0,0,0,0,0,14.63,14.62,14.66
$GC,11762,0.52,146.0,2245,1712,2316,1873,886.4,10.2,926,11767,0.00,0.95,0.00,0.000,644,0.000,0.067,2248,1187,2093,2315,1872,0,0,0,0,0,0,14.90,14.68,14.92
$GC,11792,0.52,146.0,2249,1187,2317,1869,883.2,10.1,932,11797,0.00,0.93,0.00,0.000,1158,0.000,0.050,2249,1719,2092,2316,1869,0,0,0,0,0,0,14.76,14.73,14.78
$GC,12123,0.51,146.0,2249,1736,2316,1869,847.9,10.6,942,12127,0.00,0.80,0.00,0.000,388,0.000,0.046,2249,2246,2091,2315,1867,0,0,0,0,0,0,14.95,14.77,14.97
$GC,12183,0.51,146.0,2249,2249,2315,1869,841.4,10.9,954,12188,0.08,0.90,0.00,0.000,5254,0.236,0.064,2228,1714,2092,2315,1869,0,0,0,0,0,0,14.60,14.73,14.72
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$STATE,21559,end climb,SURFACE_DEPTH_REACHED
$STATE,21559,begin surface coast
$FINISH,0.9,1.027043
$STATE,21579,end surface coast,CONTROL_FINISHED_OK
$STATE,21579,begin surface
$SM_CCo,21657,0.00,0.000,0,0,1253,355.44
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$IRIDIUM_FIX,5831.04,-2430.39,140618,204556
$TT8_MAMPS,0.038948,0.780458
$HUMID,40.66
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,18.40
$XPDR_PINGS,30
$SC_FREEKB,3946112
$CP_FREE,15878782976.000000
$24V_AH,13.07,0.000
$10V_AH,13.08,45.017
$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
$DEVICE_SECS,16.825,77.125,434.725,0.000,0.000,0.000,0.000,578.075,7.500,0.000,19.183,0.000,17974.371,700.696,3379.530,425.786,0.000,2428.361,0.000,2093.519,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.756,0.000,25.000,0.000
$MEM,333872
$DATA_FILE_SIZE,53241,1470
$CAP_FILE_SIZE,182838,0
$CFSIZE,260165632,241160192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218,117.22,1
$GPS,150618,090327,5827.781,-2416.652,38,1.2,43,-15.9,0.4,150.8,7,6.4