version: 66.11
glider: 601
mission: 2
dive: 19
start: 1 15 114 12 23 32
data:
$ID,601
$MISSION,2
$DIVE,19
$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,-1522.7073
$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,46
$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
$GPS1,150114,121806,4742.810,-12224.661,41,0.9,41,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-79.8
$GPS2,150114,122231,4742.771,-12224.694,4,0.9,4,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,0.199
$KALMAN_X,-6975.5,-95.6,150.5,6911.0,-1119.5
$KALMAN_Y,-4504.2,2207.1,-1312.9,3558.0,-1172.5
$MHEAD_RNG_PITCHd_Wd,16.8,2094,-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,-0.49,-117.2,205,2233,1853,1787,0.0,0.0,0,77,0.00,0.00,-60.45,0.000,16386,0.000,0.000,205,2233,3333,3245,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.49,-117.2,205,2233,3246,3421,3.3,-7.5,11,98,11.73,2.15,0.00,0.000,2564,0.236,0.049,3210,846,3335,3250,3421,0,0,0,0,0,0,25.85,26.07,28.83
$GC,154,-0.49,-117.2,3209,847,3257,3416,14.0,-11.6,25,161,0.00,2.20,0.00,0.000,1030,0.000,0.047,3202,2250,3336,3259,3413,0,0,0,0,0,0,28.83,26.13,28.83
$GC,191,-0.49,-117.2,2240,2249,3249,3410,18.4,-11.9,32,197,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2251,3336,3260,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,229,-0.49,-117.2,3202,2251,3261,3411,22.7,-12.3,39,235,0.00,2.17,0.00,0.000,516,0.000,0.050,3202,845,3336,3261,3411,0,0,0,0,0,0,28.83,26.17,28.83
$GC,283,-0.49,-117.2,3202,844,3261,3410,29.2,-11.7,49,290,0.10,2.20,0.00,0.000,3078,0.196,0.045,3212,2259,3336,3261,3411,0,0,0,0,0,0,26.08,26.20,28.83
$GC,321,-0.49,-117.2,2256,2258,3251,3407,33.4,-10.2,56,327,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2260,3336,3263,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,359,-0.49,-117.2,3212,2261,3263,3409,37.0,-9.9,63,365,0.00,2.17,0.00,0.000,260,0.000,0.055,3204,3659,3336,3263,3409,0,0,0,0,0,0,28.83,26.22,28.83
$GC,377,-0.49,-117.2,3203,3659,3263,3409,38.8,-9.3,66,384,0.00,2.15,0.00,0.000,1030,0.000,0.035,3204,2252,3336,3263,3409,0,0,0,0,0,0,28.83,26.26,28.83
$GC,415,-0.49,-117.2,3203,2242,3263,3409,42.8,-10.4,73,421,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2242,3336,3263,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,452,-0.49,-117.2,2240,2240,3251,3407,46.5,-10.9,80,457,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2241,3336,3263,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,489,-0.49,-117.2,3203,2242,3264,3409,50.2,-9.4,87,496,0.00,2.25,0.00,0.000,260,0.000,0.055,3193,3665,3336,3263,3409,0,0,0,0,0,0,28.83,26.26,28.83
$GC,516,-0.49,-117.2,2192,3664,3251,3407,53.0,-9.8,92,524,0.08,2.15,0.00,0.000,3078,0.194,0.034,3208,2250,3336,3263,3409,0,0,0,0,0,0,26.20,26.31,28.83
$GC,585,-0.49,-117.2,3208,2247,3264,3409,60.3,-10.5,105,591,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2248,3336,3264,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,651,-0.49,-117.2,2240,2240,3252,3407,66.7,-9.2,118,659,0.00,2.25,0.00,0.000,260,0.000,0.057,3199,3666,3336,3264,3409,0,0,0,0,0,0,28.83,26.31,28.83
$GC,724,-0.49,-117.2,2240,3666,3252,3407,73.5,-9.6,132,731,0.00,2.15,0.00,0.000,1030,0.000,0.034,3199,2249,3336,3264,3409,0,0,0,0,0,0,28.83,26.37,28.83
$GC,794,-0.49,-117.2,3199,2240,3264,3408,78.2,-6.4,145,800,0.00,2.12,0.00,0.000,516,0.000,0.047,3199,830,3336,3264,3408,0,0,0,0,0,0,28.83,26.36,28.83
$GC,837,-0.49,-117.2,3199,830,3264,3408,82.3,-10.0,153,844,0.10,2.20,0.00,0.000,3078,0.194,0.046,3210,2255,3336,3264,3408,0,0,0,0,0,0,26.27,26.38,28.83
$GC,905,-0.49,-117.2,2248,2253,3253,3406,87.9,-7.3,166,912,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2255,3336,3265,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,974,-0.49,-117.2,3211,2255,3265,3408,92.9,-7.0,179,980,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2255,3336,3265,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1041,-0.49,-117.2,2240,2253,3253,3406,97.2,-6.2,192,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2255,3336,3265,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1109,-0.49,-117.2,3210,2255,3265,3408,101.6,-6.3,203,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2255,3336,3264,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1230,-0.49,-117.2,3210,2255,3265,3408,110.8,-8.6,215,1238,0.00,2.15,0.00,0.000,260,0.000,0.057,3202,3656,3336,3265,3408,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1280,-0.49,-117.2,3202,3656,3265,3408,115.6,-9.4,220,1284,0.00,2.15,0.00,0.000,1030,0.000,0.038,3202,2250,3336,3265,3408,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1405,-0.49,-117.2,3202,2249,3265,3408,126.9,-8.6,232,1409,0.00,2.10,0.00,0.000,516,0.000,0.045,3202,835,3336,3265,3408,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1481,-0.49,-117.2,3202,834,3266,3408,135.4,-11.3,239,1486,0.10,2.17,0.00,0.000,3078,0.191,0.044,3214,2257,3336,3265,3408,0,0,0,0,0,0,26.38,26.49,28.83
$GC,1606,-0.49,-117.2,3213,2257,3266,3408,146.3,-8.4,251,1610,0.00,2.15,0.00,0.000,260,0.000,0.055,3205,3655,3337,3266,3408,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1724,-0.49,-117.2,3205,3655,3266,3408,156.5,-9.5,262,1733,0.00,2.17,0.00,0.000,1030,0.000,0.037,3205,2249,3337,3266,3408,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1852,-0.49,-117.2,3205,2249,3266,3408,169.6,-10.9,275,1856,0.00,2.22,0.00,0.000,260,0.000,0.057,3195,3664,3336,3266,3407,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1917,-0.49,-117.2,3194,3664,3266,3408,177.3,-11.4,281,1922,0.08,2.15,0.00,0.000,3078,0.195,0.037,3209,2242,3337,3266,3408,0,0,0,0,0,0,26.44,26.55,28.83
$STATE,1942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1942,begin apogee
$GC,1946,-0.12,0.0,3209,2150,3267,3408,180.1,-11.0,283,2036,0.35,0.00,86.80,0.730,10246,0.150,0.000,3322,2149,2856,2827,2886,0,0,0,0,0,0,26.43,28.83,24.82
$STATE,2037,end apogee,CONTROL_FINISHED_OK
$STATE,2037,begin climb
$GC,2039,0.49,117.2,3322,2149,2828,2887,183.8,0.0,292,2138,0.60,0.00,91.12,0.706,10758,0.116,0.000,3517,2149,2378,2414,2343,0,0,0,0,0,0,25.30,28.83,24.32
$GC,2257,0.49,117.2,3517,2149,2410,2338,166.5,9.2,314,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2149,2374,2411,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2377,0.49,117.2,3517,2148,2409,2338,155.0,8.9,326,2382,0.00,2.28,0.00,0.000,260,0.000,0.053,3517,3572,2373,2409,2337,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2413,0.49,117.2,3517,3573,2406,2337,151.6,9.5,329,2417,0.00,2.17,0.00,0.000,1030,0.000,0.038,3525,2176,2371,2406,2337,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2538,0.49,117.2,3524,2176,2406,2337,139.0,9.8,341,2542,0.00,2.17,0.00,0.000,516,0.000,0.048,3534,755,2371,2405,2337,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2616,0.49,117.2,2818,754,2377,2333,131.7,9.8,348,2624,0.00,2.22,0.00,0.000,1030,0.000,0.037,3533,2176,2371,2406,2337,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2744,0.49,117.2,3533,2178,2406,2337,116.7,12.2,361,2748,0.00,2.20,0.00,0.000,516,0.000,0.050,3543,760,2371,2406,2337,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2773,0.49,117.2,3542,759,2406,2336,113.3,12.8,363,2780,0.00,2.15,0.00,0.000,1030,0.000,0.037,3543,2171,2371,2406,2337,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2899,0.49,117.2,3543,2170,2406,2337,96.2,14.6,378,2906,0.00,2.17,0.00,0.000,260,0.000,0.054,3543,3569,2370,2405,2336,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2918,0.49,117.2,3542,3569,2404,2336,93.5,13.7,381,2924,0.00,2.15,0.00,0.000,1030,0.000,0.038,3551,2164,2370,2404,2336,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2986,0.49,117.2,3551,2163,2404,2337,83.8,13.6,394,2993,0.00,2.15,0.00,0.000,516,0.000,0.050,3561,753,2370,2405,2336,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3019,0.49,117.2,2784,753,2372,2332,79.0,14.6,400,3026,0.00,2.15,0.00,0.000,1030,0.000,0.037,3560,2171,2370,2405,2336,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3087,0.49,117.2,3560,2170,2405,2336,69.0,15.1,413,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2171,2370,2405,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3153,0.49,117.2,2784,2169,2372,2331,59.9,13.7,426,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2170,2370,2405,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3223,0.49,117.2,3560,2171,2405,2336,50.6,13.3,439,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2171,2370,2405,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3290,0.49,117.2,2784,2169,2372,2332,41.9,12.4,452,3296,0.00,2.17,0.00,0.000,260,0.000,0.054,3561,3570,2370,2405,2336,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3317,0.49,117.2,3560,3570,2403,2336,38.0,14.3,457,3324,0.00,2.15,0.00,0.000,1030,0.000,0.038,3570,2164,2369,2403,2336,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3355,0.49,117.2,2784,2162,2370,2331,32.8,13.4,464,3361,0.00,2.15,0.00,0.000,516,0.000,0.050,3579,752,2370,2404,2336,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3387,0.49,117.2,2816,752,2371,2332,28.4,13.0,470,3396,0.10,2.15,0.00,0.000,5126,0.168,0.037,3554,2174,2370,2404,2336,0,0,0,0,0,0,26.27,26.35,28.83
$GC,3427,0.49,117.2,3553,2175,2404,2336,23.4,11.7,477,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2175,2370,2404,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3464,0.49,117.2,2752,2173,2371,2332,19.1,11.9,484,3470,0.00,2.20,0.00,0.000,516,0.000,0.049,3563,751,2370,2404,2336,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3513,0.49,117.2,3562,751,2405,2336,13.4,12.2,493,3520,0.00,2.15,0.00,0.000,1030,0.000,0.037,3562,2173,2370,2405,2336,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3550,0.49,117.2,2752,2172,2370,2331,8.5,13.1,500,3557,0.00,2.15,0.00,0.000,260,0.000,0.053,3563,3566,2370,2404,2336,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3569,0.49,117.2,3562,3565,2403,2336,5.9,14.5,503,3575,0.00,2.15,0.00,0.000,1030,0.000,0.038,3572,2158,2369,2403,2336,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,3591,end climb,SURFACE_DEPTH_REACHED
$STATE,3591,begin surface coast
$FINISH,0.4,1.022471
$STATE,3613,end surface coast,CONTROL_FINISHED_OK
$STATE,3613,begin surface
$SM_CCo,3628,58.22,0.057,0,0,1836,250.21
$SM_GC,1.46,8.93,0.17,58.22,0.049,0.069,0.057,196,2262,1836,-9.88,-0.85,250.21,0,0,0,0,0,0,26.41,26.44,26.32
$IRIDIUM_FIX,4751.72,-12340.51,150114,111132
$TT8_MAMPS,0.030709,0.030709
$HUMID,41.61
$INTERNAL_PRESSURE,8.95134
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.2,7.3
$24V_AH,24.3,1.279
$10V_AH,10.5,0.584
$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,22.150,82.825,177.925,58.225,0.000,26.379,33.593,133.256,1.750,0.000,5.885,1300.025,1143.082,418.888,1062.196,47.556,33.194,955.842,0.000,837.120,0.000,14.428,0.000
$DEVICE_MAMPS,236.385,99.450,729.810,56.610,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323632
$DATA_FILE_SIZE,20121,511
$CAP_FILE_SIZE,85813,0
$CFSIZE,2097086464,2090631168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113,213.2,1
$GPS,150114,132607,4742.914,-12224.523,35,1.1,35,16.6