version: 66.11
glider: 601
mission: 2
dive: 17
start: 1 15 114 10 16 21
data:
$ID,601
$MISSION,2
$DIVE,17
$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,-1520.1938
$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,3385
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,40.5
$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,33
$R_STBD_OVSHOOT,40
$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
$GPS1,150114,101100,4742.964,-12224.633,44,1.3,44,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-81.5
$GPS2,150114,101521,4742.933,-12224.661,4,0.9,4,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.163,0.129
$KALMAN_X,-5356.8,128.6,-512.6,5774.4,-785.8
$KALMAN_Y,-2701.5,2394.0,-1366.4,1916.4,-1244.4
$MHEAD_RNG_PITCHd_Wd,22.9,1800,-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,-117.2,204,2253,1852,1789,0.0,0.0,0,77,0.00,0.00,-59.97,0.000,16386,0.000,0.000,204,2254,3301,3213,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.49,-117.2,204,2254,3214,3389,3.0,-6.7,11,99,11.88,2.30,-0.82,0.000,18948,0.242,0.067,3202,839,3336,3257,3415,0,0,0,0,0,0,25.84,26.06,26.27
$GC,326,-0.49,-117.2,3202,839,3262,3414,31.9,-9.5,59,333,0.08,2.17,0.00,0.000,3078,0.220,0.047,3207,2242,3337,3263,3411,0,0,0,0,0,0,26.10,26.22,28.83
$GC,365,-0.49,-117.2,3206,2242,3265,3410,35.5,-8.6,66,372,0.00,2.17,0.00,0.000,516,0.000,0.050,3207,835,3337,3264,3410,0,0,0,0,0,0,28.83,26.23,28.83
$GC,569,-0.49,-117.2,3206,835,3265,3410,54.5,-9.9,106,576,0.00,2.20,0.00,0.000,1030,0.000,0.047,3198,2252,3337,3265,3410,0,0,0,0,0,0,28.83,26.32,28.83
$GC,638,-0.49,-117.2,3198,2252,3264,3410,61.1,-9.6,119,644,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2252,3337,3265,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,705,-0.49,-117.2,2240,2250,3253,3408,67.9,-10.5,132,711,0.00,2.17,0.00,0.000,516,0.000,0.049,3198,837,3337,3264,3410,0,0,0,0,0,0,28.83,26.34,28.83
$GC,737,-0.49,-117.2,3198,837,3265,3410,71.7,-12.5,138,745,0.10,2.20,0.00,0.000,3078,0.197,0.047,3210,2261,3337,3265,3410,0,0,0,0,0,0,26.25,26.35,28.83
$GC,808,-0.49,-117.2,3210,2261,3265,3409,79.4,-10.9,151,814,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2261,3337,3265,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,875,-0.49,-117.2,2248,2259,3254,3407,87.4,-11.8,164,882,0.00,2.17,0.00,0.000,260,0.000,0.057,3200,3662,3337,3266,3408,0,0,0,0,0,0,28.83,26.37,28.83
$GC,959,-0.49,-117.2,3201,3662,3266,3409,97.6,-12.6,180,965,0.00,2.17,0.00,0.000,1030,0.000,0.040,3200,2242,3337,3266,3409,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1033,-0.49,-117.2,3201,2242,3267,3408,106.1,-11.4,189,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2242,3338,3267,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1152,-0.49,-117.2,3200,2241,3267,3409,118.3,-9.8,201,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2242,3338,3267,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1272,-0.49,-117.2,3200,2241,3267,3409,129.1,-8.7,213,1276,0.00,2.10,0.00,0.000,516,0.000,0.048,3201,841,3337,3267,3408,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1307,-0.49,-117.2,3200,840,3267,3408,132.4,-9.2,216,1312,0.10,2.17,0.00,0.000,3078,0.194,0.045,3212,2257,3338,3267,3409,0,0,0,0,0,0,26.36,26.46,28.83
$GC,1432,-0.49,-117.2,3212,2258,3268,3408,143.2,-8.0,228,1436,0.00,2.17,0.00,0.000,260,0.000,0.056,3203,3666,3337,3267,3408,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1478,-0.49,-117.2,3203,3666,3267,3408,147.0,-8.3,232,1482,0.00,2.15,0.00,0.000,1030,0.000,0.037,3203,2246,3338,3268,3408,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1603,-0.49,-117.2,3203,2237,3268,3408,158.1,-8.8,244,1607,0.00,2.22,0.00,0.000,260,0.000,0.057,3193,3659,3338,3268,3408,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1641,-0.49,-117.2,2320,3658,3258,3406,161.3,-9.0,247,1649,0.05,2.17,0.00,0.000,3078,0.158,0.035,3208,2250,3338,3268,3408,0,0,0,0,0,0,26.39,26.52,28.83
$GC,1769,-0.49,-117.2,3208,2242,3268,3408,172.2,-10.1,260,1773,0.00,2.10,0.00,0.000,516,0.000,0.043,3208,835,3338,3268,3408,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1805,-0.49,-117.2,3208,834,3269,3408,175.9,-10.5,263,1809,0.00,2.17,0.00,0.000,1030,0.000,0.045,3201,2255,3338,3268,3408,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,1858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1858,begin apogee
$GC,1862,-0.12,0.0,3201,2154,3268,3408,180.7,-9.1,268,1953,0.40,0.00,87.05,0.731,10246,0.152,0.000,3326,2154,2856,2827,2886,0,0,0,0,0,0,26.40,28.83,24.82
$STATE,1954,end apogee,CONTROL_FINISHED_OK
$STATE,1954,begin climb
$GC,1955,0.49,117.2,3326,2153,2828,2886,183.8,0.0,277,2057,0.60,2.28,91.00,0.712,10756,0.116,0.048,3530,766,2378,2414,2342,0,0,0,0,0,0,25.29,24.84,24.32
$GC,2072,0.49,117.2,3530,766,2412,2341,174.6,11.0,288,2079,0.00,2.30,0.00,0.000,1030,0.000,0.038,3530,2171,2376,2413,2340,0,0,0,0,0,0,28.83,25.09,28.83
$GC,2199,0.49,117.2,3530,2171,2410,2337,159.2,12.1,301,2203,0.00,2.22,0.00,0.000,260,0.000,0.054,3530,3569,2373,2410,2337,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2225,0.49,117.2,3530,3569,2407,2337,155.8,13.2,303,2229,0.00,2.20,0.00,0.000,1030,0.000,0.040,3539,2177,2372,2407,2337,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2350,0.49,117.2,3538,2177,2407,2337,140.7,11.9,315,2354,0.00,2.20,0.00,0.000,516,0.000,0.049,3547,752,2372,2408,2337,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2368,0.49,117.2,3547,751,2407,2337,138.8,11.7,316,2376,0.00,2.25,0.00,0.000,1030,0.000,0.037,3547,2174,2372,2408,2337,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2495,0.49,117.2,3547,2175,2407,2337,122.2,12.3,329,2500,0.00,2.22,0.00,0.000,516,0.000,0.050,3557,751,2372,2408,2337,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2551,0.49,117.2,3557,750,2406,2337,115.5,11.7,334,2555,0.00,2.17,0.00,0.000,1030,0.000,0.037,3556,2170,2372,2407,2337,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2676,0.49,117.2,3556,2172,2407,2336,98.9,13.5,346,2683,0.00,2.17,0.00,0.000,260,0.000,0.051,3557,3568,2370,2405,2336,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2695,0.49,117.2,3557,3568,2404,2336,96.1,14.3,349,2701,0.00,2.17,0.00,0.000,1030,0.000,0.038,3567,2155,2370,2404,2336,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2764,0.49,117.2,3566,2154,2404,2336,85.6,15.6,362,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2154,2370,2404,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2832,0.49,117.2,3566,2154,2404,2336,74.6,16.5,375,2839,0.00,2.12,0.00,0.000,516,0.000,0.047,3576,757,2370,2404,2336,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2910,0.49,117.2,3576,757,2405,2336,62.0,15.2,390,2918,0.08,2.15,0.00,0.000,5126,0.187,0.038,3558,2168,2370,2405,2336,0,0,0,0,0,0,26.15,26.25,28.83
$GC,2980,0.49,117.2,3559,2169,2405,2336,51.2,15.9,403,2987,0.00,2.17,0.00,0.000,260,0.000,0.051,3559,3571,2370,2404,2336,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3013,0.49,117.2,3559,3571,2403,2335,46.0,15.3,409,3020,0.00,2.15,0.00,0.000,1030,0.000,0.039,3567,2163,2369,2404,2335,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3050,0.49,117.2,2752,2161,2369,2331,40.2,15.4,416,3057,0.00,2.12,0.00,0.000,516,0.000,0.045,3576,753,2370,2404,2336,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3103,0.49,117.2,3576,753,2405,2336,32.2,14.6,426,3112,0.08,2.15,0.00,0.000,5126,0.185,0.036,3559,2175,2370,2405,2336,0,0,0,0,0,0,26.21,26.31,28.83
$GC,3143,0.49,117.2,3559,2175,2405,2335,26.4,14.2,433,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2175,2370,2405,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3180,0.49,117.2,3559,2175,2405,2335,21.3,13.5,440,3187,0.00,2.17,0.00,0.000,516,0.000,0.045,3568,755,2370,2405,2336,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3208,0.49,117.2,3568,755,2405,2335,17.5,13.9,445,3215,0.00,2.12,0.00,0.000,1030,0.000,0.036,3569,2165,2370,2405,2335,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3245,0.49,117.2,2784,2163,2372,2331,12.2,13.9,452,3252,0.00,2.15,0.00,0.000,260,0.000,0.050,3568,3564,2369,2404,2335,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3269,0.49,117.2,2752,3564,2368,2331,8.8,15.3,456,3276,0.10,2.12,0.00,0.000,5126,0.184,0.034,3554,2157,2369,2404,2335,0,0,0,0,0,0,26.23,26.36,28.83
$GC,3308,0.49,117.2,2720,2155,2369,2330,3.3,12.8,463,3314,0.00,2.12,0.00,0.000,516,0.000,0.044,3564,748,2369,2404,2335,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,3319,end climb,SURFACE_DEPTH_REACHED
$STATE,3319,begin surface coast
$FINISH,0.5,1.008771
$STATE,3341,end surface coast,CONTROL_FINISHED_OK
$STATE,3341,begin surface
$SM_CCo,3358,58.12,0.056,0,0,1835,250.21
$SM_GC,1.76,8.93,2.35,58.12,0.049,0.037,0.056,197,2258,1835,-9.88,-0.96,250.21,0,0,0,0,0,0,26.36,26.37,26.28
$IRIDIUM_FIX,4751.72,-12340.51,150114,070759
$TT8_MAMPS,0.030709,0.030709
$HUMID,41.80
$INTERNAL_PRESSURE,8.95134
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.3,7.4
$24V_AH,24.3,1.182
$10V_AH,10.5,0.525
$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,22.375,83.125,178.050,58.125,0.000,29.435,30.261,130.923,2.250,0.000,5.835,1197.008,1100.295,377.303,984.390,39.324,33.225,862.577,0.000,759.727,0.000,17.522,0.000
$DEVICE_MAMPS,241.740,74.970,730.575,55.845,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,314.461,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323600
$DATA_FILE_SIZE,16800,469
$CAP_FILE_SIZE,77195,0
$CFSIZE,2097086464,2090827776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.235,213.3,1
$GPS,150114,111435,4742.846,-12224.699,43,0.9,43,16.6