version: 66.13
glider: 124
mission: 26
dive: 723
start: 1 12 119 16 55 45
data:
$ID,124
$MISSION,26
$DIVE,723
$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,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,7200
$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,30
$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,56
$R_STBD_OVSHOOT,27
$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
$GPS1,120119,165033,6051.6885,-2757.7700,34,1.7,34,-19.1,0.0,0.0,7,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.2
$GPS2,120119,165433,6051.6758,-2757.6946,9,1.8,13,-19.1,0.3,148.2,6,9.4
$SPEED_LIMITS,0.160,0.170
$TGT_NAME,ICELAND
$TGT_LATLONG,6300.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,34.3,363859,-25.5,-9.259,-28.52,1052
$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,-0.68,-29.2,117,1756,1831,1479,0.0,0.0,0,89,0.00,0.00,-77.05,0.006,16386,0.000,0.000,118,1861,3278,3232,3324,0,0,0,0,0,0,14.78,28.83,14.81
$GC,93,-0.68,-29.2,117,1861,3232,3324,4.7,-5.6,4,96,0.10,0.00,-0.68,0.124,20486,0.154,0.000,51,1861,3302,3251,3353,0,0,0,0,0,0,14.38,12.44,14.43
$GC,411,-0.68,-29.2,51,1861,3251,3353,160.6,-48.3,17,413,0.17,0.00,0.00,0.000,2054,0.106,0.000,143,1861,3301,3250,3353,0,0,0,0,0,0,14.35,14.39,14.37
$GC,731,-0.68,-29.2,143,1861,3251,3353,316.8,-48.8,25,733,0.15,0.00,0.00,0.000,4102,0.117,0.000,61,1861,3302,3251,3353,0,0,0,0,0,0,14.40,14.42,14.41
$GC,1051,-0.68,-29.2,61,1861,3250,3353,472.4,-48.5,33,1053,0.15,0.00,0.00,0.000,2054,0.116,0.000,144,1861,3302,3251,3353,0,0,0,0,0,0,14.40,14.42,14.41
$STATE,1127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1127,begin apogee
$GC,1137,-0.12,0.0,145,1771,3250,3353,510.9,-48.1,35,1174,0.17,0.00,34.33,1.332,12294,0.105,0.000,50,1772,3183,3173,3193,0,0,0,0,0,0,14.29,14.43,13.71
$STATE,1175,end apogee,CONTROL_FINISHED_OK
$STATE,1175,begin loiter
$GC,1493,-0.01,83.4,52,1771,3175,3193,668.3,-42.8,44,1564,0.17,0.00,68.60,1.749,10278,0.106,0.000,143,1771,2842,2907,2777,0,0,0,0,0,0,14.34,14.13,13.35
$GC,1854,0.05,128.0,143,1771,2906,2780,764.7,-22.9,53,1895,0.15,0.00,38.45,1.800,12326,0.114,0.000,62,1771,2658,2757,2560,0,0,0,0,0,0,14.34,14.25,13.45
$GC,2213,0.05,128.0,62,1771,2755,2566,779.7,2.5,62,2215,0.15,0.00,0.00,0.000,2054,0.116,0.000,143,1771,2660,2755,2566,0,0,0,0,0,0,14.36,14.42,14.40
$GC,2532,0.05,128.0,142,1771,2755,2566,767.1,3.7,70,2534,0.15,0.00,0.00,0.000,4102,0.114,0.000,62,1771,2660,2754,2566,0,0,0,0,0,0,14.39,14.43,14.42
$GC,2852,0.05,128.0,61,1771,2752,2566,758.2,2.4,78,2854,0.15,0.00,0.00,0.000,2054,0.116,0.000,142,1771,2660,2754,2566,0,0,0,0,0,0,14.40,14.42,14.41
$GC,3172,0.05,128.0,142,1771,2753,2566,753.3,1.2,86,3174,0.15,0.00,0.00,0.000,4102,0.115,0.000,61,1771,2659,2753,2566,0,0,0,0,0,0,14.39,14.42,14.40
$GC,3492,0.05,128.0,60,1771,2752,2566,751.7,0.2,94,3494,0.15,0.00,0.00,0.000,2054,0.116,0.000,141,1771,2659,2752,2566,0,0,0,0,0,0,14.39,14.40,14.40
$GC,3812,0.05,128.0,141,1771,2751,2566,753.3,-0.8,102,3814,0.15,0.00,0.00,0.000,4102,0.117,0.000,62,1771,2658,2751,2566,0,0,0,0,0,0,14.38,14.40,14.39
$GC,4132,0.05,128.0,62,1771,2751,2566,756.6,-1.0,110,4134,0.15,0.00,0.00,0.000,2054,0.117,0.000,142,1771,2658,2751,2566,0,0,0,0,0,0,14.38,14.40,14.40
$GC,4453,0.05,128.0,142,1771,2750,2566,761.4,-1.6,118,4455,0.15,0.00,0.00,0.000,4102,0.116,0.000,62,1771,2658,2750,2566,0,0,0,0,0,0,14.37,14.38,14.38
$GC,4772,0.05,128.0,62,1771,2750,2566,765.4,-1.2,126,4774,0.15,0.00,0.00,0.000,2054,0.117,0.000,142,1771,2658,2750,2566,0,0,0,0,0,0,14.38,14.41,14.39
$GC,5092,0.06,132.2,142,1771,2750,2566,771.5,-2.2,134,5098,0.15,0.00,3.45,0.923,12326,0.114,0.000,63,1771,2643,2731,2555,0,0,0,0,0,0,14.38,14.47,13.41
$GC,5413,0.06,132.2,63,1771,2731,2565,773.7,0.1,142,5415,0.15,0.00,0.00,0.000,2054,0.119,0.000,142,1771,2648,2731,2565,0,0,0,0,0,0,14.38,14.39,14.38
$GC,5732,0.06,132.2,142,1771,2731,2566,770.9,0.8,150,5734,0.17,0.00,0.00,0.000,4102,0.106,0.000,53,1771,2648,2731,2566,0,0,0,0,0,0,14.34,14.36,14.35
$GC,6052,0.06,132.2,52,1771,2731,2566,771.7,-0.5,158,6054,0.17,0.00,0.00,0.000,2054,0.106,0.000,140,1771,2648,2731,2565,0,0,0,0,0,0,14.33,14.35,14.34
$GC,6372,0.06,132.2,140,1771,2731,2566,774.4,-0.9,166,6374,0.15,0.00,0.00,0.000,4102,0.115,0.000,60,1771,2648,2730,2566,0,0,0,0,0,0,14.41,14.38,14.38
$GC,6692,0.06,132.2,59,1771,2730,2566,775.8,-0.2,174,6694,0.15,0.00,0.00,0.000,2054,0.117,0.000,139,1771,2648,2730,2566,0,0,0,0,0,0,14.38,14.39,14.38
$GC,7012,0.06,132.2,139,1771,2730,2566,772.6,1.4,182,7015,0.15,0.00,0.25,0.143,12294,0.116,0.000,60,1771,2644,2726,2563,0,0,0,0,0,0,14.38,13.93,13.81
$GC,7333,0.06,132.2,60,1771,2726,2568,767.9,1.4,190,7335,0.15,0.00,0.00,0.000,2054,0.116,0.000,139,1771,2647,2726,2569,0,0,0,0,0,0,14.37,14.38,14.38
$GC,7652,0.06,132.2,139,1771,2726,2569,763.2,1.5,198,7654,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1771,2647,2727,2568,0,0,0,0,0,0,14.38,14.39,14.39
$GC,7972,0.06,132.2,60,1771,2726,2568,760.3,0.7,206,7974,0.15,0.00,0.00,0.000,2054,0.116,0.000,140,1771,2647,2726,2568,0,0,0,0,0,0,14.38,14.39,14.41
$GC,8292,0.06,132.2,140,1771,2726,2568,761.3,-0.6,214,8294,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1771,2647,2726,2568,0,0,0,0,0,0,14.38,14.38,14.38
$STATE,8368,end loiter,LOITER_COMPLETE
$STATE,8368,begin climb
$GC,8372,0.68,29.2,60,1771,2726,2568,762.2,0.0,216,8374,0.15,0.00,0.00,0.000,2054,0.116,0.000,140,1771,2647,2727,2568,0,0,0,0,0,0,14.39,14.40,14.39
$GC,8694,0.83,139.9,140,1771,2726,2568,767.2,-1.6,224,8708,0.15,0.00,11.55,1.410,12326,0.116,0.000,60,1771,2609,2695,2523,0,0,0,0,0,0,14.37,14.48,13.58
$GC,9014,0.87,167.8,60,1771,2695,2531,751.5,6.5,232,9043,0.15,0.00,26.38,1.809,10278,0.116,0.000,140,1771,2497,2599,2396,0,0,0,0,0,0,14.36,14.36,13.50
$GC,9333,0.87,167.8,140,1771,2593,2400,697.6,18.1,240,9335,0.15,0.00,0.00,0.000,4102,0.116,0.000,61,1771,2497,2593,2401,0,0,0,0,0,0,14.33,14.38,14.36
$GC,9652,0.87,167.8,60,1771,2593,2401,641.5,17.0,248,9656,0.12,0.00,0.00,0.000,2308,0.133,0.000,137,1771,2497,2593,2401,0,0,0,0,0,0,14.36,14.36,14.35
$GC,9683,0.87,167.8,136,1771,2593,2400,636.1,16.9,254,9687,0.12,0.00,0.00,0.000,5126,0.130,0.000,59,1771,2496,2593,2400,0,0,0,0,0,0,14.31,14.85,14.32
$GC,10016,0.87,167.8,59,1771,2594,2400,579.4,17.2,264,10018,0.15,0.00,0.00,0.000,2054,0.118,0.000,139,1771,2496,2592,2401,0,0,0,0,0,0,14.38,14.38,14.36
$GC,10335,0.87,167.8,138,1772,2592,2401,525.3,16.7,272,10337,0.15,0.00,0.00,0.000,4102,0.119,0.000,60,1771,2496,2592,2401,0,0,0,0,0,0,14.36,14.36,14.36
$GC,10655,0.87,167.8,60,1771,2592,2401,478.0,14.5,280,10656,0.15,0.00,0.00,0.000,2054,0.115,0.000,140,1771,2496,2592,2401,0,0,0,0,0,0,14.38,14.38,14.38
$GC,10975,0.87,167.8,140,1771,2592,2400,433.6,13.8,288,10976,0.15,0.00,0.00,0.000,4102,0.116,0.000,61,1771,2496,2591,2401,0,0,0,0,0,0,14.37,14.38,14.37
$GC,11295,0.87,167.8,60,1771,2591,2401,388.5,14.2,296,11297,0.15,0.00,0.00,0.000,2054,0.119,0.000,140,1771,2495,2591,2400,0,0,0,0,0,0,14.37,14.37,14.37
$GC,11615,0.87,167.8,140,1771,2591,2401,341.2,15.0,304,11616,0.15,0.00,0.00,0.000,4102,0.115,0.000,60,1771,2496,2591,2401,0,0,0,0,0,0,14.38,14.35,14.38
$GC,11935,0.87,167.8,60,1771,2591,2401,292.3,15.2,312,11937,0.15,0.00,0.00,0.000,2054,0.115,0.000,140,1771,2496,2591,2401,0,0,0,0,0,0,14.38,14.38,14.38
$GC,12256,0.87,167.8,138,1772,2591,2401,243.8,15.0,320,12258,0.15,0.00,0.00,0.000,4102,0.115,0.000,60,1771,2496,2591,2401,0,0,0,0,0,0,14.37,14.36,14.36
$GC,12575,0.87,167.8,60,1771,2591,2401,197.3,14.3,328,12576,0.15,0.00,0.00,0.000,2054,0.116,0.000,140,1771,2496,2591,2401,0,0,0,0,0,0,14.38,14.38,14.38
$GC,12895,0.87,167.8,140,1771,2592,2402,153.8,13.3,336,12897,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1771,2496,2591,2402,0,0,0,0,0,0,14.38,14.38,14.38
$GC,13215,0.87,167.8,60,1771,2591,2401,107.1,15.6,344,13217,0.15,0.00,0.00,0.000,2054,0.116,0.000,141,1771,2496,2591,2401,0,0,0,0,0,0,14.38,14.38,14.38
$GC,13536,0.87,167.8,141,1770,2591,2402,47.5,19.7,358,13538,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1770,2496,2591,2402,0,0,0,0,0,0,14.37,14.37,14.37
$STATE,13811,end climb,SURFACE_DEPTH_REACHED
$STATE,13811,begin surface coast
$STATE,13831,end surface coast,CONTROL_FINISHED_OK
$STATE,13831,begin surface
$SM_CCo,13846,127.22,0.102,0,0,1754,350.04
$SM_GC,1.52,0.08,0.00,127.22,0.184,0.000,0.102,119,1770,1754,-9.49,0.57,350.04,0,0,0,0,0,0,14.32,14.89,14.31
$IRIDIUM_FIX,6049.89,-2756.82,120119,142231
$TT8_MAMPS,0.020223,0.062167
$HUMID,45.19
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,18.30
$XPDR_PINGS,1
$24V_AH,12.44,0.000
$10V_AH,13.73,244.020
$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,6.850,0.400,183.000,127.225,0.000,0.000,0.000,132.100,0.250,0.000,24.345,459.070,12477.985,412.049,683.666,235.271,0.000,860.047,0.000,545.175,0.000,0.535,0.000
$DEVICE_MAMPS,184.365,132.345,1809.225,101.745,0.000,0.000,0.000,130.815,420.000,0.000,20.220,8.670,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$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,13411,373
$CAP_FILE_SIZE,73202,0
$CFSIZE,260165632,166584320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,149.81,1
$GPS,120119,205040,6051.438,-2757.593,65,1.0,72,-19.1,0.5,176.8,7,6.9