version: 66.11
glider: 601
mission: 2
dive: 12
start: 1 15 114 4 56 41
data:
$ID,601
$MISSION,2
$DIVE,12
$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,120
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1513.9106
$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,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2857
$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
$GPS1,150114,045059,4744.334,-12224.979,41,0.9,41,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-77.8
$GPS2,150114,045539,4744.369,-12224.987,5,0.9,5,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,-0.173
$KALMAN_X,-2824.2,-93.6,433.1,2117.3,-1074.9
$KALMAN_Y,1329.2,-974.0,564.1,1991.9,1557.4
$MHEAD_RNG_PITCHd_Wd,172.2,3140,-13.9,-6.977,-18.56,2536
$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,13,begin dive
$GC,15,-0.51,-117.2,205,2262,1856,1785,0.0,0.0,0,78,0.00,0.00,-60.50,0.000,16390,0.000,0.000,206,2262,3335,3249,3421,0,0,0,0,0,0,28.83,28.83,26.44
$GC,81,-0.51,-117.2,206,2262,3249,3421,2.5,-0.6,11,99,11.85,2.20,0.00,0.000,2308,0.243,0.053,3171,3653,3335,3250,3421,0,0,0,0,0,0,25.85,26.07,28.83
$GC,182,-0.51,-117.2,3171,3653,3259,3415,18.0,-13.9,30,190,0.08,2.17,0.00,0.000,3078,0.200,0.042,3185,2257,3337,3260,3415,0,0,0,0,0,0,26.05,26.16,28.83
$GC,221,-0.51,-117.2,3185,2256,3262,3413,23.5,-13.0,37,228,0.00,2.22,0.00,0.000,260,0.000,0.057,3177,3650,3337,3262,3412,0,0,0,0,0,0,28.83,26.15,28.83
$GC,315,-0.51,-117.2,3176,3650,3263,3412,34.8,-11.6,55,321,0.00,2.17,0.00,0.000,1030,0.000,0.041,3176,2244,3337,3263,3412,0,0,0,0,0,0,28.83,26.24,28.83
$GC,353,-0.51,-117.2,3176,2244,3263,3412,38.9,-10.7,62,360,0.00,2.22,0.00,0.000,260,0.000,0.055,3166,3651,3337,3263,3411,0,0,0,0,0,0,28.83,26.22,28.83
$GC,371,-0.51,-117.2,3166,3651,3263,3411,41.2,-11.1,65,379,0.10,2.17,0.00,0.000,3078,0.187,0.039,3188,2239,3337,3263,3411,0,0,0,0,0,0,26.13,26.26,28.83
$GC,409,-0.51,-117.2,2224,2237,3252,3408,45.1,-9.9,72,415,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2239,3337,3264,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,447,-0.51,-117.2,3187,2239,3264,3410,49.2,-11.5,79,453,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2238,3337,3265,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,483,-0.51,-117.2,2208,2237,3253,3408,53.7,-12.5,86,490,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2239,3337,3264,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,552,-0.51,-117.2,3188,2239,3264,3410,61.5,-11.1,99,558,0.00,2.22,0.00,0.000,260,0.000,0.055,3179,3649,3337,3264,3410,0,0,0,0,0,0,28.83,26.29,28.83
$GC,610,-0.51,-117.2,3179,3649,3265,3410,69.4,-13.1,110,617,0.00,2.15,0.00,0.000,1030,0.000,0.041,3179,2250,3336,3265,3408,0,0,0,0,0,0,28.83,26.34,28.83
$GC,679,-0.51,-117.2,3179,2251,3265,3409,78.6,-12.7,123,685,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2251,3337,3265,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,746,-0.51,-117.2,2208,2249,3253,3407,87.1,-12.5,136,753,0.00,2.20,0.00,0.000,260,0.000,0.054,3169,3652,3337,3265,3409,0,0,0,0,0,0,28.83,26.35,28.83
$GC,806,-0.51,-117.2,3169,3652,3265,3409,95.2,-14.3,147,813,0.10,2.15,0.00,0.000,3078,0.184,0.037,3191,2246,3337,3266,3409,0,0,0,0,0,0,26.27,26.39,28.83
$GC,874,-0.51,-117.2,3191,2246,3266,3408,103.9,-12.0,157,875,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2246,3337,3266,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,994,-0.51,-117.2,3191,2246,3266,3409,118.0,-12.0,169,998,0.00,2.12,0.00,0.000,516,0.000,0.049,3191,830,3337,3266,3408,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1070,-0.51,-117.2,3191,830,3266,3408,127.4,-12.0,176,1074,0.00,2.17,0.00,0.000,1030,0.000,0.044,3183,2250,3337,3266,3408,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1195,-0.51,-117.2,3183,2250,3267,3408,141.7,-11.2,188,1199,0.00,2.15,0.00,0.000,516,0.000,0.046,3183,836,3337,3266,3408,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1263,-0.51,-117.2,3182,835,3266,3408,149.4,-12.1,194,1272,0.05,2.20,0.00,0.000,3078,0.181,0.044,3188,2241,3337,3266,3408,0,0,0,0,0,0,26.34,26.47,28.83
$GC,1391,-0.51,-117.2,3188,2242,3267,3408,163.3,-11.0,207,1399,0.00,2.20,0.00,0.000,260,0.000,0.056,3179,3665,3337,3266,3408,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1493,-0.51,-117.2,2280,3664,3256,3406,175.6,-12.1,217,1501,0.00,2.20,0.00,0.000,1030,0.000,0.036,3179,2242,3337,3267,3408,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,1530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1530,begin apogee
$GC,1534,-0.13,0.0,3179,2152,3268,3408,180.5,-12.0,221,1625,0.40,0.00,86.97,0.731,10246,0.156,0.000,3304,2151,2857,2826,2888,0,0,0,0,0,0,26.39,28.83,24.80
$STATE,1626,end apogee,CONTROL_FINISHED_OK
$STATE,1626,begin climb
$GC,1627,0.51,117.2,3304,2151,2827,2888,184.7,0.0,230,1728,0.68,0.00,91.50,0.706,10246,0.123,0.000,3513,2151,2378,2414,2342,0,0,0,0,0,0,25.27,28.83,24.33
$GC,1847,0.51,117.2,3513,2151,2410,2338,168.6,8.3,252,1856,0.00,2.30,0.00,0.000,260,0.000,0.054,3513,3572,2373,2409,2338,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1889,0.51,117.2,2808,3571,2378,2334,164.4,10.2,256,1897,0.00,2.25,0.00,0.000,1030,0.000,0.039,3521,2176,2372,2406,2338,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2017,0.51,117.2,3521,2176,2407,2338,150.3,10.8,269,2021,0.00,2.20,0.00,0.000,516,0.000,0.048,3529,748,2372,2407,2338,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2076,0.51,117.2,3529,747,2407,2338,144.4,10.4,274,2083,0.00,2.20,0.00,0.000,1030,0.000,0.036,3529,2179,2372,2407,2338,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2203,0.51,117.2,3530,2180,2407,2337,129.0,12.3,287,2207,0.00,2.22,0.00,0.000,516,0.000,0.049,3536,752,2372,2407,2337,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2228,0.51,117.2,3536,751,2407,2337,126.1,11.8,289,2232,0.00,2.17,0.00,0.000,1030,0.000,0.036,3536,2175,2372,2407,2337,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2353,0.51,117.2,3536,2175,2408,2337,110.6,12.9,301,2357,0.00,2.20,0.00,0.000,516,0.000,0.049,3545,756,2371,2407,2336,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2401,0.51,117.2,2826,755,2377,2331,105.3,11.4,305,2409,0.00,2.20,0.00,0.000,1030,0.000,0.036,3544,2169,2372,2408,2336,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2529,0.51,117.2,3544,2170,2407,2336,89.2,11.5,326,2536,0.00,2.17,0.00,0.000,260,0.000,0.053,3545,3574,2371,2406,2336,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2572,0.51,117.2,3545,3574,2404,2336,83.4,13.0,334,2579,0.00,2.17,0.00,0.000,1030,0.000,0.038,3553,2157,2370,2405,2336,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2642,0.51,117.2,3553,2157,2404,2336,73.9,14.1,347,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2157,2369,2404,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2710,0.51,117.2,3553,2157,2404,2336,64.6,13.3,360,2717,0.00,2.12,0.00,0.000,516,0.000,0.048,3563,754,2370,2405,2336,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2737,0.51,117.2,2752,754,2370,2331,60.7,14.6,365,2744,0.00,2.15,0.00,0.000,1030,0.000,0.037,3563,2171,2370,2405,2336,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2805,0.51,117.2,3563,2171,2404,2336,50.8,14.6,378,2812,0.00,2.17,0.00,0.000,260,0.000,0.054,3563,3568,2370,2405,2336,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2833,0.51,117.2,3563,3569,2403,2335,46.3,16.4,383,2841,0.10,2.15,0.00,0.000,5126,0.187,0.039,3549,2163,2370,2404,2336,0,0,0,0,0,0,26.22,26.34,28.83
$GC,2873,0.51,117.2,3549,2163,2404,2336,40.7,13.9,390,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2163,2370,2404,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2910,0.51,117.2,3549,2163,2404,2334,35.9,12.0,397,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2163,2370,2404,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2948,0.51,117.2,3549,2163,2404,2336,31.4,12.1,404,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2163,2369,2404,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2984,0.51,117.2,2736,2161,2370,2331,27.0,12.3,411,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2163,2369,2404,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3022,0.51,117.2,3549,2163,2403,2336,22.1,13.4,418,3029,0.00,2.12,0.00,0.000,516,0.000,0.048,3559,756,2370,2404,2336,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3065,0.51,117.2,3558,756,2405,2335,17.0,10.9,426,3072,0.00,2.12,0.00,0.000,1030,0.000,0.035,3559,2171,2370,2405,2335,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3103,0.51,117.2,3558,2170,2405,2336,11.9,13.2,433,3110,0.00,2.20,0.00,0.000,516,0.000,0.051,3568,751,2370,2405,2336,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3146,0.51,117.2,2816,751,2372,2331,6.7,12.8,441,3153,0.08,2.12,0.00,0.000,5126,0.187,0.036,3552,2162,2370,2405,2336,0,0,0,0,0,0,26.31,26.41,28.83
$STATE,3178,end climb,SURFACE_DEPTH_REACHED
$STATE,3178,begin surface coast
$FINISH,0.4,1.021677
$STATE,3206,end surface coast,CONTROL_FINISHED_OK
$STATE,3206,begin surface
$SM_CCo,3221,57.85,0.057,0,0,1836,250.21
$SM_GC,1.23,8.82,0.12,57.85,0.047,0.090,0.057,207,2285,1836,-9.81,-1.02,250.21,0,0,0,0,0,0,26.41,26.45,26.34
$IRIDIUM_FIX,4751.72,-12340.51,150114,030336
$TT8_MAMPS,0.030709,0.030709
$HUMID,42.12
$INTERNAL_PRESSURE,8.95134
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,106.0,7.4
$24V_AH,24.3,0.921
$10V_AH,10.5,0.382
$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,22.250,74.450,178.475,57.850,0.000,25.480,30.341,153.413,1.750,0.000,8.369,1147.911,994.715,416.126,979.446,43.627,33.194,890.653,0.000,739.921,0.000,14.425,0.000
$DEVICE_MAMPS,243.270,97.920,730.575,57.375,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.945,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323696
$DATA_FILE_SIZE,16816,452
$CAP_FILE_SIZE,77099,0
$CFSIZE,2097086464,2091319296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.171, 21.8,1
$GPS,150114,055234,4744.257,-12224.920,37,1.0,40,16.6