version: 66.13
glider: 124
mission: 26
dive: 731
start: 1 13 119 19 22 6
data:
$ID,124
$MISSION,26
$DIVE,731
$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
$GPS1,130119,191704,6050.1880,-2758.1665,37,1.1,37,-19.1,0.0,0.0,8,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.3
$GPS2,130119,192116,6050.1772,-2758.1482,9,1.3,14,-19.1,0.7,138.5,7,6.2
$SPEED_LIMITS,0.160,0.182
$TGT_NAME,ICELAND
$TGT_LATLONG,6300.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,51.3,365965,-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,9,-0.70,-73.0,119,1728,1925,1587,0.0,0.0,0,93,0.00,0.00,-81.10,0.006,16390,0.000,0.000,119,1728,3479,3418,3541,0,0,0,0,0,0,14.82,12.47,14.66
$GC,97,-0.70,-73.0,119,1728,3418,3541,4.2,-4.4,4,99,0.10,0.00,0.00,0.000,4102,0.157,0.000,55,1728,3479,3418,3541,0,0,0,0,0,0,14.42,14.51,14.48
$GC,410,-0.70,-73.0,56,1728,3423,3536,179.8,-57.6,17,412,0.15,0.00,0.00,0.000,2054,0.116,0.000,139,1728,3479,3423,3536,0,0,0,0,0,0,14.40,14.43,14.45
$GC,730,-0.70,-73.0,138,1728,3425,3534,359.1,-56.1,25,734,0.12,0.00,0.00,0.000,4612,0.129,0.000,60,1728,3479,3425,3534,0,0,0,0,0,0,14.40,14.40,14.39
$GC,852,-0.70,-73.0,60,1728,3425,3533,427.3,-56.5,49,855,0.10,0.00,0.00,0.000,3078,0.148,0.000,134,1728,3479,3425,3533,0,0,0,0,0,0,14.38,14.86,14.38
$STATE,1009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1009,begin apogee
$GC,1018,-0.12,0.0,134,1728,3426,3532,518.3,-56.5,60,1079,0.15,0.00,57.83,1.577,12294,0.116,0.000,53,1728,3180,3199,3162,0,0,0,0,0,0,14.30,14.23,13.46
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin loiter
$GC,1374,-0.01,81.9,53,1728,3204,3164,679.5,-42.1,69,1445,0.17,0.00,67.43,1.757,10278,0.106,0.000,144,1728,2847,2925,2770,0,0,0,0,0,0,14.35,14.10,13.32
$GC,1735,0.05,126.8,143,1728,2924,2778,774.7,-23.1,78,1776,0.15,0.00,38.97,1.821,12326,0.114,0.000,62,1728,2662,2771,2554,0,0,0,0,0,0,14.39,14.25,13.44
$GC,2094,0.05,126.8,62,1728,2769,2558,794.5,0.2,87,2096,0.15,0.00,0.00,0.000,2054,0.117,0.000,144,1728,2663,2769,2558,0,0,0,0,0,0,14.41,14.48,14.45
$GC,2413,0.05,126.8,143,1728,2769,2559,787.5,2.1,95,2415,0.17,0.00,0.00,0.000,4102,0.106,0.000,52,1728,2664,2769,2559,0,0,0,0,0,0,14.38,14.43,14.41
$GC,2733,0.05,126.8,51,1728,2769,2559,784.1,0.7,103,2735,0.17,0.00,0.00,0.000,2054,0.106,0.000,142,1728,2664,2769,2559,0,0,0,0,0,0,14.35,14.40,14.38
$GC,3053,0.05,126.8,142,1728,2768,2559,785.7,-0.9,111,3055,0.15,0.00,0.00,0.000,4102,0.116,0.000,62,1728,2663,2768,2559,0,0,0,0,0,0,14.37,14.40,14.38
$GC,3373,0.06,130.8,62,1728,2768,2559,791.5,-2.0,119,3380,0.15,0.00,4.30,1.111,10278,0.118,0.000,142,1728,2646,2750,2543,0,0,0,0,0,0,14.38,14.52,13.48
$GC,3694,0.06,130.8,142,1728,2749,2552,789.9,1.6,127,3696,0.15,0.00,0.00,0.000,4102,0.116,0.000,62,1728,2650,2748,2552,0,0,0,0,0,0,14.35,14.39,14.38
$GC,4013,0.06,130.8,62,1728,2749,2552,782.5,2.2,135,4015,0.15,0.00,0.00,0.000,2054,0.117,0.000,142,1728,2650,2749,2552,0,0,0,0,0,0,14.35,14.38,14.37
$GC,4333,0.06,130.8,142,1728,2749,2552,778.1,1.0,143,4335,0.15,0.00,0.00,0.000,4102,0.116,0.000,62,1728,2650,2749,2552,0,0,0,0,0,0,14.35,14.37,14.35
$GC,4653,0.06,130.8,62,1728,2748,2552,777.5,-0.0,151,4655,0.15,0.00,0.00,0.000,2054,0.117,0.000,142,1728,2650,2748,2552,0,0,0,0,0,0,14.35,14.37,14.34
$GC,4973,0.06,130.8,142,1728,2748,2552,779.0,-0.6,159,4975,0.15,0.00,0.00,0.000,4102,0.116,0.000,62,1728,2650,2748,2552,0,0,0,0,0,0,14.35,14.36,14.36
$GC,5293,0.06,130.8,62,1728,2748,2552,781.3,-0.7,167,5295,0.15,0.00,0.00,0.000,2054,0.118,0.000,142,1728,2650,2748,2552,0,0,0,0,0,0,14.35,14.37,14.38
$GC,5613,0.06,130.8,142,1728,2748,2551,783.1,-0.5,175,5615,0.15,0.00,0.00,0.000,4102,0.116,0.000,62,1728,2650,2748,2552,0,0,0,0,0,0,14.35,14.35,14.36
$GC,5934,0.06,130.8,62,1728,2748,2552,783.8,-0.2,183,5936,0.15,0.00,0.00,0.000,2054,0.115,0.000,142,1727,2649,2748,2550,0,0,0,0,0,0,14.35,14.36,14.35
$GC,6253,0.06,130.8,142,1728,2747,2552,784.7,-0.4,191,6255,0.15,0.00,0.00,0.000,4102,0.117,0.000,62,1728,2649,2747,2552,0,0,0,0,0,0,14.37,14.35,14.35
$GC,6573,0.06,130.8,62,1728,2747,2552,786.6,-0.7,199,6575,0.15,0.00,0.00,0.000,2054,0.117,0.000,142,1728,2649,2747,2552,0,0,0,0,0,0,14.35,14.36,14.36
$GC,6893,0.06,130.8,141,1728,2747,2552,789.7,-1.1,207,6895,0.15,0.00,0.00,0.000,4102,0.116,0.000,62,1728,2649,2747,2552,0,0,0,0,0,0,14.34,14.36,14.35
$GC,7213,0.06,130.8,62,1728,2747,2552,794.0,-1.4,215,7215,0.15,0.00,0.00,0.000,2054,0.117,0.000,142,1728,2649,2747,2552,0,0,0,0,0,0,14.36,14.37,14.36
$GC,7533,0.06,130.8,142,1728,2747,2552,798.7,-1.5,223,7535,0.15,0.00,0.00,0.000,4102,0.117,0.000,62,1728,2649,2746,2552,0,0,0,0,0,0,14.36,14.35,14.36
$GC,7853,0.06,133.2,62,1728,2746,2552,802.8,-1.2,231,7858,0.15,0.00,2.50,0.555,10278,0.118,0.000,142,1728,2639,2734,2544,0,0,0,0,0,0,14.35,14.30,13.00
$GC,8174,0.06,133.2,142,1728,2734,2554,803.8,0.1,239,8176,0.15,0.00,0.00,0.000,4102,0.115,0.000,62,1728,2644,2734,2555,0,0,0,0,0,0,14.36,14.38,14.36
$GC,8493,0.06,133.2,62,1728,2734,2556,802.0,0.6,247,8495,0.15,0.00,0.00,0.000,2054,0.118,0.000,142,1728,2645,2734,2556,0,0,0,0,0,0,14.36,14.37,14.36
$GC,8813,0.06,133.2,141,1728,2734,2556,800.3,0.5,255,8815,0.15,0.00,0.00,0.000,4102,0.116,0.000,62,1728,2645,2734,2556,0,0,0,0,0,0,14.36,14.37,14.36
$GC,9133,0.06,133.2,62,1728,2734,2556,799.7,0.1,263,9135,0.15,0.00,0.00,0.000,2054,0.116,0.000,141,1728,2645,2734,2556,0,0,0,0,0,0,14.36,14.37,14.36
$GC,9453,0.06,134.1,141,1728,2734,2556,800.7,-0.5,271,9458,0.15,0.00,1.73,0.119,12326,0.116,0.000,61,1728,2636,2725,2548,0,0,0,0,0,0,14.36,13.88,13.65
$GC,9775,0.06,135.4,61,1728,2725,2560,802.8,-0.7,279,9781,0.15,0.00,3.85,0.994,10278,0.116,0.000,141,1728,2629,2716,2543,0,0,0,0,0,0,14.35,14.37,13.14
$GC,10094,0.06,135.4,141,1728,2717,2553,798.1,2.4,287,10096,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1728,2635,2717,2553,0,0,0,0,0,0,14.36,14.40,14.37
$GC,10413,0.06,135.4,60,1728,2717,2554,787.8,3.2,295,10415,0.15,0.00,0.00,0.000,2054,0.116,0.000,140,1728,2635,2717,2554,0,0,0,0,0,0,14.36,14.36,14.36
$GC,10733,0.06,135.4,140,1728,2717,2554,778.5,2.8,303,10735,0.15,0.00,0.00,0.000,4102,0.117,0.000,60,1728,2635,2716,2554,0,0,0,0,0,0,14.36,14.36,14.36
$GC,11053,0.06,135.4,60,1728,2717,2554,772.1,1.9,311,11057,0.15,0.00,1.12,0.114,10246,0.118,0.000,140,1728,2628,2712,2545,0,0,0,0,0,0,14.36,13.81,13.56
$GC,11373,0.06,135.4,140,1728,2713,2557,765.4,2.1,319,11375,0.15,0.00,0.00,0.000,4102,0.117,0.000,61,1728,2634,2712,2557,0,0,0,0,0,0,14.36,14.36,14.35
$GC,11693,0.06,135.4,61,1728,2713,2557,758.3,2.3,327,11695,0.15,0.00,0.00,0.000,2054,0.118,0.000,141,1728,2634,2712,2557,0,0,0,0,0,0,14.35,14.35,14.34
$GC,12014,0.06,135.4,140,1728,2713,2557,750.9,2.4,335,12016,0.15,0.00,0.00,0.000,4102,0.116,0.000,61,1728,2634,2712,2557,0,0,0,0,0,0,14.35,14.35,14.35
$GC,12333,0.06,135.4,60,1728,2712,2557,743.5,2.2,343,12335,0.15,0.00,0.00,0.000,2054,0.116,0.000,140,1728,2634,2712,2557,0,0,0,0,0,0,14.36,14.36,14.36
$GC,12653,0.06,135.4,140,1728,2713,2557,737.8,1.6,351,12655,0.15,0.00,0.00,0.000,4102,0.117,0.000,61,1728,2634,2712,2557,0,0,0,0,0,0,14.35,14.36,14.36
$GC,12973,0.06,135.4,60,1728,2713,2557,734.8,0.6,359,12975,0.15,0.00,0.00,0.000,2054,0.117,0.000,139,1728,2634,2711,2557,0,0,0,0,0,0,14.36,14.36,14.36
$GC,13293,0.06,135.4,139,1728,2712,2557,735.6,-0.4,367,13295,0.15,0.00,0.00,0.000,4102,0.116,0.000,61,1728,2634,2712,2557,0,0,0,0,0,0,14.36,14.35,14.35
$GC,13613,0.06,135.4,60,1728,2713,2557,738.0,-0.8,375,13615,0.15,0.00,0.00,0.000,2054,0.118,0.000,140,1728,2634,2712,2557,0,0,0,0,0,0,14.36,14.36,14.36
$GC,13933,0.06,135.4,139,1728,2713,2557,740.2,-0.7,383,13935,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1728,2634,2712,2557,0,0,0,0,0,0,14.38,14.36,14.36
$GC,14255,0.06,135.4,60,1728,2712,2557,740.2,0.4,391,14257,0.15,0.00,0.00,0.000,2054,0.118,0.000,139,1728,2634,2712,2557,0,0,0,0,0,0,14.35,14.36,14.35
$GC,14573,0.06,135.4,140,1728,2712,2557,738.2,0.5,399,14575,0.15,0.00,0.00,0.000,4102,0.116,0.000,60,1728,2634,2712,2557,0,0,0,0,0,0,14.37,14.35,14.37
$GC,14893,0.06,135.4,60,1728,2712,2557,736.4,0.6,407,14895,0.15,0.00,0.00,0.000,2054,0.118,0.000,140,1728,2634,2712,2556,0,0,0,0,0,0,14.36,14.36,14.35
$GC,15213,0.06,135.4,140,1728,2712,2557,734.2,0.7,415,15215,0.15,0.00,0.00,0.000,4102,0.116,0.000,61,1728,2634,2712,2557,0,0,0,0,0,0,14.37,14.36,14.36
$STATE,15449,end loiter,LOITER_COMPLETE
$STATE,15449,begin climb
$GC,15453,0.70,73.0,61,1728,2712,2557,731.5,0.0,421,15455,0.12,0.00,0.00,0.000,2054,0.133,0.000,134,1728,2634,2712,2557,0,0,0,0,0,0,14.40,14.40,14.39
$FREEZE,730.43,0.000,0.000,0,1,0
$STATE,15769,end climb,NO_VERTICAL_VELOCITY
$STATE,15770,begin surface
$SM_CCo,15774,477.98,1.712,0,0,551,645.38
$SM_GC,1.31,0.20,0.00,0.00,0.094,0.000,0.000,34,1727,553,-9.41,-0.65,643.67,0,0,0,0,0,0,14.18,14.85,14.22
$IRIDIUM_FIX,6053.48,-2754.99,130119,154409
$TT8_MAMPS,0.019474,0.065912
$HUMID,46.18
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,12.04,0.000
$10V_AH,12.31,246.324
$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,7.625,0.000,177.725,477.975,0.000,0.000,0.000,139.700,0.000,0.000,25.084,485.464,15561.838,757.248,774.140,264.608,0.000,1283.219,0.000,624.634,0.000,0.535,0.000
$DEVICE_MAMPS,156.825,0.000,1821.465,1712.070,0.000,0.000,0.000,121.635,420.000,0.000,20.220,8.670,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$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,13449,429
$CAP_FILE_SIZE,88135,0
$CFSIZE,260165632,166334464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,247.01,1
$GPS,140119,001621,6049.938,-2759.303,26,1.6,43,-19.1,0.6,63.3,7,7.8