version: 66.11
glider: 601
mission: 2
dive: 18
start: 1 15 114 11 19 44
data:
$ID,601
$MISSION,2
$DIVE,18
$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,-1521.45
$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,41
$R_STBD_OVSHOOT,39
$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
$GPS1,150114,111435,4742.846,-12224.699,43,0.9,43,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-79.5
$GPS2,150114,111843,4742.797,-12224.725,4,1.0,4,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.076,0.193
$KALMAN_X,-7041.0,491.1,-121.1,6631.4,-1241.4
$KALMAN_Y,-3026.5,2176.2,-1696.9,2538.5,-870.7
$MHEAD_RNG_PITCHd_Wd,22.3,2045,-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,14,-0.49,-117.2,197,2274,1853,1787,0.0,0.0,0,77,0.00,0.00,-60.75,0.000,16386,0.000,0.000,197,2274,3328,3241,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.49,-117.2,197,2274,3241,3416,3.1,-6.7,11,98,11.77,2.25,0.00,0.000,2564,0.238,0.052,3203,844,3330,3245,3416,0,0,0,0,0,0,25.86,26.07,28.83
$GC,294,-0.49,-117.2,3202,844,3254,3409,28.3,-10.4,53,302,0.08,2.17,0.00,0.000,3078,0.216,0.047,3207,2245,3332,3256,3408,0,0,0,0,0,0,26.10,26.22,28.83
$GC,332,-0.49,-117.2,2240,2244,3245,3404,32.1,-9.6,60,338,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2247,3331,3257,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,370,-0.49,-117.2,3207,2247,3257,3406,35.8,-9.7,67,375,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2247,3332,3258,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,407,-0.49,-117.2,3207,2247,3257,3406,39.4,-9.7,74,413,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2246,3332,3258,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,445,-0.49,-117.2,3207,2246,3258,3406,43.1,-9.7,81,451,0.00,2.20,0.00,0.000,260,0.000,0.055,3198,3660,3332,3258,3406,0,0,0,0,0,0,28.83,26.25,28.83
$GC,478,-0.49,-117.2,3197,3661,3258,3406,46.4,-9.9,87,485,0.00,2.15,0.00,0.000,1030,0.000,0.039,3198,2255,3332,3258,3406,0,0,0,0,0,0,28.83,26.29,28.83
$GC,515,-0.49,-117.2,2216,2251,3245,3404,50.2,-9.4,94,522,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2253,3331,3258,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,584,-0.49,-117.2,3198,2246,3258,3405,57.1,-9.8,107,590,0.00,2.12,0.00,0.000,516,0.000,0.044,3198,831,3331,3258,3405,0,0,0,0,0,0,28.83,26.32,28.83
$GC,701,-0.49,-117.2,3198,831,3258,3405,70.1,-11.8,130,710,0.10,2.20,0.00,0.000,3078,0.192,0.047,3209,2249,3331,3258,3405,0,0,0,0,0,0,26.25,26.35,28.83
$GC,772,-0.49,-117.2,3209,2249,3258,3405,76.7,-7.7,143,778,0.00,2.17,0.00,0.000,260,0.000,0.055,3200,3658,3331,3258,3405,0,0,0,0,0,0,28.83,26.35,28.83
$GC,820,-0.49,-117.2,2208,3657,3246,3403,81.7,-11.2,152,827,0.00,2.15,0.00,0.000,1030,0.000,0.037,3201,2248,3332,3259,3405,0,0,0,0,0,0,28.83,26.40,28.83
$GC,889,-0.49,-117.2,3200,2240,3259,3404,89.3,-10.7,165,895,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2240,3331,3259,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,956,-0.49,-117.2,3200,2239,3259,3404,96.5,-11.5,178,963,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2240,3331,3259,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1024,-0.49,-117.2,3200,2240,3259,3404,103.5,-10.7,188,1028,0.00,2.22,0.00,0.000,260,0.000,0.057,3190,3658,3331,3259,3404,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1090,-0.49,-117.2,3190,3658,3259,3404,110.8,-11.1,194,1100,0.10,2.15,0.00,0.000,3078,0.177,0.036,3212,2243,3331,3259,3404,0,0,0,0,0,0,26.33,26.44,28.83
$GC,1220,-0.49,-117.2,3212,2236,3260,3404,123.1,-9.4,207,1224,0.00,2.10,0.00,0.000,516,0.000,0.046,3212,836,3331,3260,3403,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1278,-0.49,-117.2,3212,837,3260,3403,128.7,-10.2,212,1286,0.00,2.22,0.00,0.000,1030,0.000,0.043,3204,2256,3331,3260,3403,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1405,-0.49,-117.2,3204,2257,3260,3403,142.4,-11.1,225,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2257,3331,3260,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1525,-0.49,-117.2,3204,2257,3261,3403,155.7,-11.0,237,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2257,3331,3260,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1645,-0.49,-117.2,3204,2257,3260,3403,168.1,-10.2,249,1649,0.00,2.17,0.00,0.000,260,0.000,0.054,3194,3658,3331,3260,3403,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,1760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1760,begin apogee
$GC,1766,-0.12,0.0,3194,2159,3260,3403,180.2,-10.4,260,1856,0.43,0.00,85.88,0.731,10246,0.151,0.000,3327,2150,2857,2827,2887,0,0,0,0,0,0,26.40,28.83,24.82
$STATE,1857,end apogee,CONTROL_FINISHED_OK
$STATE,1857,begin climb
$GC,1858,0.49,117.2,3327,2150,2827,2887,184.4,0.0,269,1959,0.60,2.25,90.80,0.705,10756,0.116,0.042,3531,758,2379,2415,2343,0,0,0,0,0,0,25.29,24.85,24.32
$GC,1991,0.49,117.2,3530,758,2413,2341,174.4,10.1,282,1995,0.00,2.25,0.00,0.000,1030,0.000,0.036,3530,2175,2377,2413,2341,0,0,0,0,0,0,28.83,25.20,28.83
$GC,2116,0.49,117.2,3530,2175,2411,2338,160.7,10.9,294,2120,0.00,2.20,0.00,0.000,260,0.000,0.050,3530,3568,2374,2411,2338,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2171,0.49,117.2,3530,3568,2407,2338,154.0,12.4,299,2176,0.00,2.20,0.00,0.000,1030,0.000,0.038,3539,2163,2372,2407,2338,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2297,0.49,117.2,3539,2163,2408,2337,139.0,11.6,311,2301,0.00,2.15,0.00,0.000,516,0.000,0.047,3546,756,2372,2407,2338,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2355,0.49,117.2,3546,755,2408,2338,132.9,10.7,316,2362,0.00,2.20,0.00,0.000,1030,0.000,0.038,3546,2181,2373,2408,2338,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2482,0.49,117.2,3546,2181,2408,2337,116.5,13.0,329,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2181,2372,2408,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2602,0.49,117.2,3546,2180,2408,2337,101.6,12.3,341,2606,0.00,2.22,0.00,0.000,516,0.000,0.048,3556,753,2372,2407,2337,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2623,0.49,117.2,3556,753,2407,2337,99.1,12.6,343,2630,0.00,2.17,0.00,0.000,1030,0.000,0.037,3556,2176,2372,2408,2337,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2690,0.49,117.2,2784,2175,2374,2332,89.9,13.1,356,2697,0.00,2.15,0.00,0.000,260,0.000,0.052,3556,3569,2372,2407,2337,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2718,0.49,117.2,3556,3569,2404,2337,85.9,14.5,361,2725,0.00,2.17,0.00,0.000,1030,0.000,0.039,3565,2151,2371,2405,2337,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2785,0.49,117.2,2784,2150,2371,2332,75.7,15.1,374,2793,0.00,2.10,0.00,0.000,516,0.000,0.047,3575,758,2371,2406,2337,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2829,0.49,117.2,3575,758,2407,2337,68.7,16.0,382,2837,0.08,2.15,0.00,0.000,5126,0.188,0.037,3558,2172,2371,2406,2337,0,0,0,0,0,0,26.15,26.25,28.83
$GC,2899,0.49,117.2,3558,2174,2406,2337,57.9,15.3,395,2906,0.00,2.20,0.00,0.000,516,0.000,0.050,3568,749,2371,2406,2337,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2972,0.49,117.2,3567,749,2407,2337,48.7,12.5,409,2979,0.00,2.15,0.00,0.000,1030,0.000,0.037,3568,2168,2372,2407,2337,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3009,0.49,117.2,2816,2166,2374,2332,43.6,14.0,416,3016,0.00,2.15,0.00,0.000,260,0.000,0.050,3568,3567,2372,2406,2338,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3032,0.49,117.2,2816,3566,2372,2332,40.0,16.7,420,3039,0.10,2.15,0.00,0.000,5126,0.188,0.037,3554,2154,2370,2404,2337,0,0,0,0,0,0,26.20,26.32,28.83
$GC,3071,0.49,117.2,3554,2154,2405,2337,34.7,12.4,427,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2154,2371,2405,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3107,0.49,117.2,2752,2152,2372,2332,30.0,12.1,434,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2154,2370,2404,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3145,0.49,117.2,3554,2154,2405,2337,25.4,11.9,441,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2154,2371,2405,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3181,0.49,117.2,2752,2152,2371,2332,20.8,12.0,448,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2154,2371,2405,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3219,0.49,117.2,3554,2154,2405,2337,16.3,12.4,455,3225,0.00,2.10,0.00,0.000,516,0.000,0.046,3564,755,2371,2405,2337,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3262,0.49,117.2,3563,753,2406,2337,11.2,12.2,463,3269,0.00,2.12,0.00,0.000,1030,0.000,0.037,3564,2165,2371,2405,2337,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3299,0.49,117.2,2768,2165,2373,2332,6.7,12.2,470,3307,0.00,2.15,0.00,0.000,260,0.000,0.050,3564,3568,2371,2406,2337,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,3328,end climb,SURFACE_DEPTH_REACHED
$STATE,3328,begin surface coast
$FINISH,0.4,1.013330
$STATE,3351,end surface coast,CONTROL_FINISHED_OK
$STATE,3351,begin surface
$SM_CCo,3367,58.25,0.056,0,0,1835,250.21
$SM_GC,1.72,8.93,2.08,58.25,0.050,0.035,0.056,205,2233,1835,-9.86,0.93,250.21,0,0,0,0,0,0,26.39,26.41,26.31
$IRIDIUM_FIX,4751.72,-12340.51,150114,101002
$TT8_MAMPS,0.030709,0.030709
$HUMID,41.69
$INTERNAL_PRESSURE,8.95134
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.7,7.4
$24V_AH,24.3,1.230
$10V_AH,10.5,0.553
$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,22.175,73.950,176.675,58.250,0.000,23.386,30.894,122.646,2.250,0.000,5.867,1210.658,1060.661,389.952,997.998,35.874,33.196,889.910,0.000,787.953,0.000,17.532,0.000
$DEVICE_MAMPS,237.915,56.610,731.340,55.845,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20097,479
$CAP_FILE_SIZE,77304,0
$CFSIZE,2097086464,2090729472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.188,218.0,1
$GPS,150114,121806,4742.810,-12224.661,41,0.9,41,16.6