version: 66.11
glider: 601
mission: 2
dive: 16
start: 1 15 114 9 15 3
data:
$ID,601
$MISSION,2
$DIVE,16
$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,-1518.9343
$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,3380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,40
$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,34
$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
$GPS1,150114,090206,4743.046,-12224.413,41,0.8,41,16.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-80.9
$GPS2,150114,091402,4742.976,-12224.520,7,0.8,7,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.039,0.204
$KALMAN_X,-5103.2,213.6,-514.1,5615.8,-948.7
$KALMAN_Y,-2291.8,2269.5,-539.4,885.4,-1405.8
$MHEAD_RNG_PITCHd_Wd,2.9,1746,-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,14,begin dive
$GC,15,-0.49,-117.2,205,2258,1849,1785,0.0,0.0,0,82,0.00,0.00,-61.12,0.000,16390,0.000,0.000,205,2258,3336,3249,3423,0,0,0,0,0,0,28.83,28.83,26.31
$GC,84,-0.49,-117.2,205,2258,3248,3423,2.9,-3.1,12,102,11.98,2.22,0.00,0.000,2308,0.243,0.052,3190,3656,3337,3252,3422,0,0,0,0,0,0,25.72,25.95,28.83
$GC,329,-0.49,-117.2,3189,3656,3262,3414,32.5,-11.8,60,336,0.08,2.17,0.00,0.000,3078,0.194,0.041,3203,2256,3338,3263,3413,0,0,0,0,0,0,26.06,26.16,28.83
$GC,367,-0.49,-117.2,2224,2254,3253,3407,36.8,-10.6,67,375,0.00,2.22,0.00,0.000,260,0.000,0.056,3195,3654,3337,3266,3409,0,0,0,0,0,0,28.83,26.15,28.83
$GC,477,-0.49,-117.2,3195,3654,3266,3409,48.5,-10.3,88,483,0.00,2.17,0.00,0.000,1030,0.000,0.040,3195,2249,3337,3266,3409,0,0,0,0,0,0,28.83,26.23,28.83
$GC,515,-0.49,-117.2,3195,2249,3268,3408,52.8,-11.4,95,522,0.00,2.15,0.00,0.000,516,0.000,0.047,3196,824,3337,3267,3408,0,0,0,0,0,0,28.83,26.23,28.83
$GC,584,-0.49,-117.2,3195,824,3268,3408,60.9,-11.7,108,591,0.10,2.20,0.00,0.000,3078,0.197,0.045,3207,2248,3338,3268,3408,0,0,0,0,0,0,26.15,26.27,28.83
$GC,652,-0.49,-117.2,2240,2246,3256,3406,68.3,-10.1,121,658,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2248,3338,3268,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,719,-0.49,-117.2,3207,2248,3268,3409,75.1,-10.4,134,725,0.00,2.20,0.00,0.000,260,0.000,0.056,3198,3661,3337,3267,3408,0,0,0,0,0,0,28.83,26.29,28.83
$GC,737,-0.49,-117.2,3198,3662,3267,3408,76.9,-10.2,137,743,0.00,2.17,0.00,0.000,1030,0.000,0.037,3198,2236,3338,3268,3408,0,0,0,0,0,0,28.83,26.33,28.83
$GC,805,-0.49,-117.2,3197,2229,3268,3408,84.8,-12.4,150,814,0.00,2.25,0.00,0.000,260,0.000,0.057,3188,3658,3338,3268,3408,0,0,0,0,0,0,28.83,26.31,28.83
$GC,905,-0.49,-117.2,2208,3657,3257,3406,96.9,-10.7,169,912,0.08,2.15,0.00,0.000,3078,0.194,0.039,3201,2255,3338,3268,3408,0,0,0,0,0,0,26.26,26.36,28.83
$GC,974,-0.49,-117.2,3201,2255,3269,3408,104.0,-9.9,178,978,0.00,2.20,0.00,0.000,260,0.000,0.055,3193,3654,3338,3269,3408,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1034,-0.49,-117.2,2304,3653,3258,3406,109.7,-10.0,183,1042,0.00,2.20,0.00,0.000,1030,0.000,0.037,3193,2249,3338,3269,3408,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1162,-0.49,-117.2,3193,2249,3269,3408,122.3,-9.2,196,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2242,3339,3269,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1282,-0.49,-117.2,3192,2242,3269,3408,134.0,-10.6,208,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2242,3338,3269,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1402,-0.49,-117.2,3192,2242,3269,3408,146.4,-10.1,220,1406,0.00,2.15,0.00,0.000,516,0.000,0.047,3193,829,3339,3270,3408,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1440,-0.49,-117.2,2304,827,3258,3406,150.0,-10.1,223,1449,0.05,2.22,0.00,0.000,3078,0.181,0.044,3199,2250,3339,3270,3408,0,0,0,0,0,0,26.34,26.46,28.83
$GC,1568,-0.49,-117.2,3199,2250,3270,3408,161.9,-8.8,236,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2250,3339,3270,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1688,-0.49,-117.2,3199,2249,3269,3407,171.8,-7.9,248,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2250,3338,3269,3408,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1786,begin apogee
$GC,1790,-0.12,0.0,3199,2151,3269,3408,180.3,-8.2,258,1881,0.38,0.00,87.07,0.731,10246,0.150,0.000,3319,2151,2856,2827,2886,0,0,0,0,0,0,26.39,28.83,24.80
$STATE,1882,end apogee,CONTROL_FINISHED_OK
$STATE,1882,begin climb
$GC,1883,0.49,117.2,3318,2150,2827,2886,183.0,0.0,267,1984,0.62,0.00,91.28,0.705,10758,0.118,0.000,3521,2150,2378,2414,2343,0,0,0,0,0,0,25.27,28.83,24.32
$GC,2103,0.49,117.2,3520,2150,2410,2339,160.5,12.0,289,2107,0.00,2.17,0.00,0.000,516,0.000,0.048,3529,768,2374,2410,2339,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2131,0.49,117.2,2794,767,2379,2334,157.3,12.3,291,2138,0.00,2.22,0.00,0.000,1030,0.000,0.036,3530,2160,2373,2410,2337,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2258,0.49,117.2,3530,2161,2409,2336,139.0,14.2,304,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,2161,2373,2409,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2378,0.49,117.2,3530,2162,2409,2337,120.6,16.0,316,2382,0.00,2.22,0.00,0.000,260,0.000,0.054,3530,3572,2372,2408,2337,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2394,0.49,117.2,3530,3572,2406,2337,117.9,16.8,317,2398,0.00,2.17,0.00,0.000,1030,0.000,0.039,3538,2169,2371,2406,2336,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2519,0.49,117.2,3538,2169,2406,2336,99.3,13.2,329,2526,0.00,2.17,0.00,0.000,516,0.000,0.051,3547,757,2372,2407,2337,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2547,0.49,117.2,3547,757,2407,2337,95.6,13.2,334,2554,0.00,2.17,0.00,0.000,1030,0.000,0.037,3547,2178,2372,2407,2337,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2615,0.49,117.2,3547,2177,2407,2336,87.4,11.3,347,2622,0.00,2.15,0.00,0.000,260,0.000,0.053,3547,3565,2371,2406,2336,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2634,0.49,117.2,3547,3565,2405,2336,85.3,11.6,350,2641,0.00,2.15,0.00,0.000,1030,0.000,0.038,3556,2164,2370,2405,2336,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2702,0.49,117.2,3556,2164,2405,2336,76.2,13.9,363,2709,0.00,2.15,0.00,0.000,516,0.000,0.047,3567,754,2370,2405,2336,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2751,0.49,117.2,3566,754,2407,2336,69.2,14.6,372,2759,0.00,2.15,0.00,0.000,1030,0.000,0.037,3567,2165,2371,2406,2336,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2821,0.49,117.2,3566,2166,2406,2336,57.7,16.3,385,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,2166,2371,2406,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2887,0.49,117.2,2784,2164,2373,2331,46.8,16.6,398,2894,0.00,2.17,0.00,0.000,516,0.000,0.050,3576,756,2371,2406,2336,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2926,0.49,117.2,3575,756,2406,2336,40.8,15.9,405,2933,0.10,2.15,0.00,0.000,5126,0.168,0.037,3551,2173,2371,2406,2336,0,0,0,0,0,0,26.18,26.28,28.83
$GC,2965,0.49,117.2,3551,2174,2406,2336,35.1,13.9,412,2972,0.00,2.15,0.00,0.000,260,0.000,0.052,3551,3567,2370,2405,2336,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2989,0.49,117.2,3550,3566,2404,2335,31.5,15.2,416,2996,0.00,2.15,0.00,0.000,1030,0.000,0.040,3558,2163,2370,2404,2336,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3027,0.49,117.2,3558,2163,2404,2335,25.7,14.7,423,3034,0.00,2.15,0.00,0.000,516,0.000,0.048,3569,746,2370,2405,2336,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3085,0.49,117.2,3568,746,2406,2336,17.1,14.0,434,3092,0.00,2.15,0.00,0.000,1030,0.000,0.037,3568,2168,2371,2406,2336,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3124,0.49,117.2,3568,2168,2406,2335,11.6,14.6,441,3130,0.00,2.15,0.00,0.000,260,0.000,0.052,3569,3562,2370,2405,2335,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3157,0.49,117.2,3569,3562,2404,2335,6.5,15.7,447,3164,0.10,2.15,0.00,0.000,5126,0.182,0.039,3554,2158,2369,2404,2335,0,0,0,0,0,0,26.22,26.34,28.83
$STATE,3185,end climb,SURFACE_DEPTH_REACHED
$STATE,3185,begin surface coast
$FINISH,0.4,1.022474
$STATE,3206,end surface coast,CONTROL_FINISHED_OK
$STATE,3206,begin surface
$SM_CCo,3221,58.00,0.056,0,0,1835,250.21
$SM_GC,1.72,8.85,0.15,58.00,0.047,0.071,0.056,204,2252,1835,-9.84,-1.27,250.21,0,0,0,0,0,0,26.35,26.39,26.27
$IRIDIUM_FIX,4751.72,-12340.51,150114,070759
$TT8_MAMPS,0.030709,0.030709
$HUMID,41.77
$INTERNAL_PRESSURE,8.95134
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.5,7.3
$24V_AH,24.3,1.133
$10V_AH,10.5,0.497
$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,22.325,69.975,178.350,58.000,0.000,84.908,114.165,253.357,1.750,0.000,7.952,1144.581,1186.542,386.864,1254.476,43.592,33.193,834.485,0.000,707.319,0.000,16.841,0.000
$DEVICE_MAMPS,242.505,76.500,731.340,55.845,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,16811,456
$CAP_FILE_SIZE,76124,0
$CFSIZE,2097086464,2090926080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.235,213.9,1
$GPS,150114,101100,4742.964,-12224.633,44,1.3,44,16.6