version: 66.11
glider: 601
mission: 2
dive: 7
start: 1 14 114 23 43 39
data:
$ID,601
$MISSION,2
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,300
$D_NO_BLEED,200
$D_BOOST,3
$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,86
$T_MISSION,100
$T_ABORT,180
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,60
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0237
$MASS,51614
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743
$TGT_DEFAULT_LON,-12223.5
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1499.8807
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3948
$C_PITCH,3370
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,38
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,232
$ROLL_MAX,3866
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2837
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,20
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-49.106464
$PRESSURE_SLOPE,0.0001161203
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.25799999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043827128
$SEABIRD_T_H,0.00062866701
$SEABIRD_T_I,2.5612169e-05
$SEABIRD_T_J,3.209283e-06
$SEABIRD_C_G,-9.733285
$SEABIRD_C_H,1.1253656
$SEABIRD_C_I,-0.0011628612
$SEABIRD_C_J,0.00016996283
$GPS1,140114,233623,4743.357,-12224.813,37,1.5,37,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-81.1
$GPS2,140114,234240,4743.335,-12224.803,5,1.5,5,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.033,0.226
$KALMAN_X,-799.1,-367.0,-199.1,1226.1,-166.6
$KALMAN_Y,-1780.6,-402.4,-152.8,3323.7,-746.0
$MHEAD_RNG_PITCHd_Wd,341.0,1047,-12.0,-6.977,-16.98,3164
$D_GRID,180
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.50,-146.5,206,2246,1831,1766,0.0,0.0,0,77,0.00,0.00,-59.85,0.000,16386,0.000,0.000,206,2246,3312,3225,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.50,-146.5,206,2246,3226,3401,3.3,-7.5,11,104,11.82,2.28,-2.80,0.000,18948,0.240,0.067,3187,835,3436,3351,3522,0,0,0,0,0,0,25.77,26.01,26.28
$GC,150,-0.50,-146.5,2224,835,3342,3520,16.2,-14.7,24,158,0.08,2.22,0.00,0.000,3078,0.216,0.048,3191,2250,3437,3353,3522,0,0,0,0,0,0,25.96,26.07,28.83
$GC,190,-0.50,-146.5,3192,2250,3352,3522,21.0,-12.1,31,195,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2250,3437,3353,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,227,-0.50,-146.5,3192,2251,3352,3522,25.6,-11.9,38,233,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2250,3437,3353,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,264,-0.50,-146.5,3192,2250,3353,3521,30.1,-11.6,45,270,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2250,3437,3353,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,301,-0.50,-146.5,2216,2248,3343,3520,34.3,-11.4,52,306,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2250,3437,3353,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,338,-0.50,-146.5,3192,2250,3353,3522,38.7,-11.7,59,344,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2250,3437,3353,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,375,-0.50,-146.5,3192,2250,3353,3522,43.3,-12.2,66,382,0.00,2.22,0.00,0.000,260,0.000,0.059,3183,3668,3437,3353,3522,0,0,0,0,0,0,28.83,26.20,28.83
$GC,418,-0.50,-146.5,2208,3667,3343,3520,48.7,-12.9,74,426,0.00,2.20,0.00,0.000,1030,0.000,0.041,3183,2247,3437,3353,3522,0,0,0,0,0,0,28.83,26.26,28.83
$GC,457,-0.50,-146.5,2184,2245,3343,3520,53.6,-13.4,81,462,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2247,3437,3353,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,523,-0.50,-146.5,3182,2247,3353,3522,62.2,-11.7,94,531,0.00,2.28,0.00,0.000,260,0.000,0.059,3172,3666,3437,3353,3522,0,0,0,0,0,0,28.83,26.27,28.83
$GC,583,-0.50,-146.5,3172,3666,3353,3522,69.6,-12.5,105,591,0.10,2.20,0.00,0.000,3078,0.177,0.041,3194,2237,3437,3353,3522,0,0,0,0,0,0,26.21,26.32,28.83
$GC,653,-0.50,-146.5,2184,2235,3342,3520,78.2,-12.0,118,660,0.00,2.12,0.00,0.000,516,0.000,0.051,3194,833,3437,3353,3522,0,0,0,0,0,0,28.83,26.32,28.83
$GC,682,-0.50,-146.5,3194,833,3353,3522,82.0,-13.3,123,689,0.00,2.20,0.00,0.000,1030,0.000,0.047,3186,2252,3438,3354,3522,0,0,0,0,0,0,28.83,26.34,28.83
$GC,751,-0.50,-146.5,2192,2251,3344,3520,90.5,-13.8,136,757,0.00,2.20,0.00,0.000,260,0.000,0.057,3175,3668,3437,3353,3522,0,0,0,0,0,0,28.83,26.34,28.83
$GC,794,-0.50,-146.5,3175,3668,3353,3522,96.9,-15.0,144,801,0.08,2.17,0.00,0.000,3078,0.193,0.041,3190,2250,3437,3353,3522,0,0,0,0,0,0,26.28,26.39,28.83
$GC,867,-0.50,-146.5,3190,2250,3354,3522,107.0,-13.4,153,871,0.00,2.25,0.00,0.000,260,0.000,0.058,3181,3669,3437,3353,3522,0,0,0,0,0,0,28.83,26.37,28.83
$GC,898,-0.50,-146.5,3181,3670,3353,3522,110.3,-12.5,155,906,0.00,2.22,0.00,0.000,1030,0.000,0.038,3181,2245,3437,3353,3521,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1025,-0.50,-146.5,3181,2244,3354,3522,127.1,-11.4,168,1029,0.00,2.12,0.00,0.000,516,0.000,0.051,3181,839,3438,3354,3522,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1103,-0.50,-146.5,2320,838,3345,3520,136.7,-12.5,175,1112,0.05,2.22,0.00,0.000,3078,0.173,0.047,3188,2249,3438,3354,3522,0,0,0,0,0,0,26.32,26.44,28.83
$GC,1231,-0.50,-146.5,3188,2249,3354,3522,151.8,-10.8,188,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2249,3438,3354,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1351,-0.50,-146.5,3188,2249,3354,3522,165.0,-11.4,200,1355,0.00,2.20,0.00,0.000,260,0.000,0.057,3178,3662,3437,3353,3521,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1428,-0.50,-146.5,3178,3662,3354,3521,173.8,-11.9,207,1438,0.08,2.15,0.00,0.000,3078,0.191,0.039,3193,2250,3438,3354,3522,0,0,0,0,0,0,26.40,26.51,28.83
$STATE,1485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1485,begin apogee
$GC,1489,-0.13,0.0,3193,2174,3353,3522,180.5,-11.2,213,1607,0.35,0.00,108.65,0.727,10246,0.151,0.000,3305,2173,2837,2813,2862,0,0,0,0,0,0,26.39,28.83,24.65
$STATE,1608,end apogee,CONTROL_FINISHED_OK
$STATE,1608,begin climb
$GC,1609,0.50,146.5,3305,2173,2813,2863,184.8,0.0,225,1729,0.65,0.00,115.78,0.701,10502,0.125,0.000,3510,2173,2238,2287,2190,0,0,0,0,0,0,25.17,28.83,24.34
$GC,1846,0.50,146.5,3510,2173,2282,2183,164.2,8.6,249,1850,0.00,2.17,0.00,0.000,516,0.000,0.048,3518,794,2232,2282,2183,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1884,0.50,146.5,2776,792,2250,2178,161.5,7.7,252,1892,0.00,2.22,0.00,0.000,1030,0.000,0.037,3518,2186,2232,2281,2183,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2012,0.50,146.5,3517,2187,2281,2183,149.2,9.1,265,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2188,2232,2281,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2132,0.50,146.5,3518,2188,2281,2182,136.9,10.4,277,2136,0.00,2.20,0.00,0.000,516,0.000,0.051,3526,787,2231,2281,2182,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2198,0.50,146.5,3526,786,2279,2181,130.1,9.9,283,2207,0.00,2.17,0.00,0.000,1030,0.000,0.041,3526,2193,2230,2279,2181,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2329,0.50,146.5,3526,2193,2279,2181,114.9,11.4,296,2337,0.00,2.20,0.00,0.000,260,0.000,0.054,3526,3594,2229,2278,2181,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2351,0.50,146.5,2792,3593,2246,2176,112.5,11.0,298,2360,0.00,2.20,0.00,0.000,1030,0.000,0.040,3531,2206,2229,2277,2181,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2479,0.50,146.5,3531,2205,2277,2181,97.2,10.5,313,2485,0.00,2.17,0.00,0.000,516,0.000,0.049,3540,775,2228,2277,2180,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2536,0.50,146.5,2752,775,2243,2176,90.8,10.2,324,2543,0.00,2.17,0.00,0.000,1030,0.000,0.039,3540,2200,2229,2277,2181,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2604,0.50,146.5,3541,2201,2277,2180,83.2,12.1,337,2611,0.00,2.17,0.00,0.000,260,0.000,0.054,3540,3594,2228,2277,2180,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2627,0.50,146.5,3540,3594,2276,2181,80.1,13.3,341,2634,0.00,2.17,0.00,0.000,1030,0.000,0.039,3548,2172,2228,2277,2180,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2695,0.50,146.5,3548,2172,2277,2180,71.2,12.8,354,2702,0.00,2.10,0.00,0.000,516,0.000,0.049,3558,785,2228,2276,2180,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2718,0.50,146.5,2768,785,2242,2176,68.1,13.5,358,2726,0.00,2.15,0.00,0.000,1030,0.000,0.038,3558,2198,2228,2276,2181,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2788,0.50,146.5,3558,2199,2276,2180,59.3,13.4,371,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2199,2228,2276,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2854,0.50,146.5,2784,2197,2242,2176,50.4,13.9,384,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2199,2228,2277,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2923,0.50,146.5,3558,2199,2276,2180,41.2,13.6,397,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2199,2228,2276,2181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2959,0.50,146.5,2784,2197,2242,2175,36.3,13.3,404,2966,0.00,2.17,0.00,0.000,260,0.000,0.056,3558,3594,2228,2277,2180,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2981,0.50,146.5,2784,3593,2241,2175,33.2,14.6,408,2989,0.10,2.15,0.00,0.000,5126,0.180,0.038,3543,2183,2228,2276,2180,0,0,0,0,0,0,26.29,26.40,28.83
$GC,3021,0.50,146.5,3543,2183,2276,2180,28.3,12.0,415,3027,0.00,2.12,0.00,0.000,516,0.000,0.049,3552,779,2228,2276,2180,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3054,0.50,146.5,3551,778,2276,2180,24.6,11.0,421,3060,0.00,2.15,0.00,0.000,1030,0.000,0.038,3551,2197,2228,2276,2180,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3091,0.50,146.5,2752,2195,2242,2176,20.2,11.6,428,3097,0.00,2.17,0.00,0.000,260,0.000,0.054,3552,3599,2228,2276,2180,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3109,0.50,146.5,3551,3599,2275,2180,18.0,12.4,431,3116,0.00,2.15,0.00,0.000,1030,0.000,0.039,3558,2183,2227,2275,2180,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3147,0.50,146.5,3558,2183,2275,2180,12.8,13.4,438,3154,0.00,2.10,0.00,0.000,516,0.000,0.048,3569,788,2227,2275,2180,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3180,0.50,146.5,2784,786,2242,2176,8.8,12.6,444,3188,0.10,2.12,0.00,0.000,5126,0.166,0.038,3543,2188,2227,2275,2179,0,0,0,0,0,0,26.34,26.44,28.83
$GC,3220,0.50,146.5,3543,2189,2275,2180,4.2,12.0,451,3226,0.00,2.17,0.00,0.000,260,0.000,0.055,3543,3593,2227,2275,2180,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,3232,end climb,SURFACE_DEPTH_REACHED
$STATE,3232,begin surface coast
$FINISH,2.1,1.022704
$STATE,3237,end surface coast,CONTROL_FINISHED_OK
$STATE,3238,begin surface
$SM_CCo,3255,44.42,0.057,0,0,1816,250.21
$SM_GC,1.57,9.15,2.10,44.42,0.069,0.037,0.057,199,2255,1816,-9.84,1.19,250.21,0,0,0,0,0,0,26.44,26.45,26.37
$IRIDIUM_FIX,4751.72,-12340.51,140114,222209
$TT8_MAMPS,0.030709,0.030709
$HUMID,44.25
$INTERNAL_PRESSURE,8.9611
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.3,7.3
$24V_AH,24.3,0.642
$10V_AH,10.5,0.239
$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,22.550,83.025,224.425,44.425,0.000,26.711,34.659,242.243,2.000,0.000,6.826,1140.151,988.294,458.616,1069.229,42.127,33.203,946.067,0.000,730.127,0.000,15.980,0.000
$DEVICE_MAMPS,240.210,119.340,726.750,57.375,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,302.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323596
$DATA_FILE_SIZE,16817,454
$CAP_FILE_SIZE,82184,0
$CFSIZE,2097086464,2091810816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051, 65.0,1
$GPS,150114,003954,4743.808,-12224.673,42,1.0,42,16.6