version: 66.11
glider: 601
mission: 2
dive: 20
start: 1 15 114 13 31 38
data:
$ID,601
$MISSION,2
$DIVE,20
$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,-1523.9685
$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,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
$GPS1,150114,132607,4742.914,-12224.523,35,1.1,35,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-81.1
$GPS2,150114,133037,4742.875,-12224.482,4,1.1,4,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,0.174
$KALMAN_X,-6133.8,-916.0,207.7,7094.7,-531.6
$KALMAN_Y,-5323.1,1521.7,-604.6,4542.8,-1157.4
$MHEAD_RNG_PITCHd_Wd,354.3,1938,-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,-117.2,196,2264,1852,1787,0.0,0.0,0,72,0.00,0.00,-54.83,0.000,16386,0.000,0.000,197,2264,3194,3109,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.49,-117.2,196,2264,3109,3280,3.2,-7.1,10,99,11.85,2.30,-3.58,0.000,18948,0.240,0.069,3204,843,3336,3264,3408,0,0,0,0,0,0,25.85,26.06,26.34
$GC,196,-0.49,-117.2,3204,843,3265,3408,17.0,-10.6,33,204,0.08,2.20,0.00,0.000,3078,0.222,0.047,3208,2251,3336,3265,3408,0,0,0,0,0,0,26.04,26.15,28.83
$GC,236,-0.49,-117.2,3208,2252,3266,3408,21.4,-11.1,40,241,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2252,3337,3266,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,272,-0.49,-117.2,2240,2250,3255,3406,25.0,-10.1,47,278,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2252,3337,3266,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,309,-0.49,-117.2,3208,2253,3266,3408,28.8,-10.3,54,316,0.00,2.20,0.00,0.000,516,0.000,0.050,3209,830,3337,3266,3408,0,0,0,0,0,0,28.83,26.21,28.83
$GC,342,-0.49,-117.2,3208,829,3266,3408,33.2,-13.3,60,349,0.00,2.22,0.00,0.000,1030,0.000,0.047,3200,2260,3337,3267,3408,0,0,0,0,0,0,28.83,26.22,28.83
$GC,380,-0.49,-117.2,2224,2258,3255,3406,37.9,-12.0,67,386,0.00,2.17,0.00,0.000,260,0.000,0.056,3190,3658,3337,3267,3408,0,0,0,0,0,0,28.83,26.22,28.83
$GC,408,-0.49,-117.2,3190,3657,3267,3408,41.5,-12.4,72,415,0.10,2.17,0.00,0.000,3078,0.181,0.041,3211,2250,3338,3268,3408,0,0,0,0,0,0,26.14,26.25,28.83
$GC,446,-0.49,-117.2,3210,2250,3268,3408,45.9,-10.9,79,452,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2250,3338,3268,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,484,-0.49,-117.2,3210,2251,3268,3408,49.8,-10.3,86,489,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2250,3338,3268,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,520,-0.49,-117.2,3211,2250,3268,3408,53.9,-11.0,93,527,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2250,3338,3268,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,589,-0.49,-117.2,3210,2242,3268,3408,61.8,-11.8,106,595,0.00,2.25,0.00,0.000,260,0.000,0.057,3202,3664,3337,3266,3408,0,0,0,0,0,0,28.83,26.29,28.83
$GC,707,-0.49,-117.2,3202,3665,3268,3408,75.0,-9.8,129,714,0.00,2.17,0.00,0.000,1030,0.000,0.040,3202,2249,3338,3268,3408,0,0,0,0,0,0,28.83,26.36,28.83
$GC,776,-0.49,-117.2,2208,2247,3256,3406,81.9,-9.8,142,783,0.00,2.12,0.00,0.000,516,0.000,0.048,3202,839,3338,3269,3407,0,0,0,0,0,0,28.83,26.36,28.83
$GC,824,-0.49,-117.2,2240,838,3257,3405,86.4,-8.5,151,831,0.10,2.17,0.00,0.000,3078,0.199,0.046,3213,2252,3337,3268,3407,0,0,0,0,0,0,26.26,26.38,28.83
$GC,892,-0.49,-117.2,3213,2252,3269,3407,92.0,-7.4,164,898,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2252,3338,3269,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,959,-0.49,-117.2,3213,2252,3269,3407,96.9,-7.8,177,966,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2252,3338,3269,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1027,-0.49,-117.2,3213,2252,3268,3407,102.0,-8.0,188,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2252,3338,3269,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1147,-0.49,-117.2,3213,2252,3269,3407,111.1,-7.9,200,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2252,3338,3269,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1267,-0.49,-117.2,3213,2253,3269,3407,120.0,-7.4,212,1271,0.00,2.17,0.00,0.000,516,0.000,0.050,3213,833,3338,3269,3407,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1286,-0.49,-117.2,3213,831,3269,3406,121.3,-7.8,213,1294,0.00,2.22,0.00,0.000,1030,0.000,0.044,3205,2254,3338,3269,3407,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1413,-0.49,-117.2,3205,2254,3269,3406,131.3,-7.7,226,1422,0.00,2.17,0.00,0.000,260,0.000,0.055,3195,3665,3338,3269,3407,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1464,-0.49,-117.2,3195,3665,3270,3406,135.5,-8.5,231,1468,0.08,2.17,0.00,0.000,3078,0.197,0.039,3209,2237,3338,3270,3406,0,0,0,0,0,0,26.39,26.50,28.83
$GC,1589,-0.49,-117.2,3209,2237,3270,3406,146.3,-9.3,243,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2237,3338,3270,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1709,-0.49,-117.2,3209,2237,3269,3406,158.7,-10.3,255,1713,0.00,2.10,0.00,0.000,516,0.000,0.048,3209,831,3338,3270,3406,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1767,-0.49,-117.2,2328,830,3259,3404,164.5,-10.4,260,1774,0.00,2.22,0.00,0.000,1030,0.000,0.044,3201,2260,3338,3270,3406,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1894,-0.49,-117.2,3201,2261,3270,3405,175.8,-7.4,273,1898,0.00,2.15,0.00,0.000,260,0.000,0.054,3189,3661,3337,3269,3406,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1930,-0.49,-117.2,3190,3661,3270,3405,179.0,-8.6,276,1934,0.10,2.15,0.00,0.000,3078,0.181,0.039,3212,2250,3338,3270,3406,0,0,0,0,0,0,26.43,26.55,28.83
$STATE,1944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1944,begin apogee
$GC,1948,-0.12,0.0,3212,2147,3270,3405,180.4,-9.2,277,2040,0.35,0.00,86.95,0.731,10246,0.148,0.000,3325,2146,2857,2828,2886,0,0,0,0,0,0,26.42,28.83,24.82
$STATE,2041,end apogee,CONTROL_FINISHED_OK
$STATE,2041,begin climb
$GC,2042,0.49,117.2,3324,2146,2828,2886,182.9,0.0,286,2140,0.60,2.38,91.32,0.703,10500,0.117,0.050,3517,3565,2380,2416,2344,0,0,0,0,0,0,25.31,24.84,24.33
$GC,2155,0.49,117.2,2756,3564,2379,2339,174.5,9.3,297,2163,0.00,2.30,0.00,0.000,1030,0.000,0.039,3525,2175,2377,2411,2343,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2283,0.49,117.2,3525,2175,2410,2341,159.8,10.8,310,2287,0.00,2.22,0.00,0.000,516,0.000,0.048,3534,748,2375,2410,2340,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2351,0.49,117.2,2784,748,2378,2336,152.6,11.4,316,2358,0.00,2.25,0.00,0.000,1030,0.000,0.037,3534,2168,2374,2410,2339,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2478,0.49,117.2,3534,2168,2410,2338,136.9,12.0,329,2482,0.00,2.22,0.00,0.000,516,0.000,0.050,3543,755,2373,2409,2338,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2507,0.49,117.2,3543,755,2410,2338,133.8,11.7,331,2514,0.00,2.22,0.00,0.000,1030,0.000,0.036,3543,2167,2373,2409,2338,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2634,0.49,117.2,3543,2167,2409,2338,118.4,11.9,344,2638,0.00,2.17,0.00,0.000,260,0.000,0.050,3543,3565,2373,2409,2338,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2660,0.49,117.2,3543,3565,2406,2337,115.0,12.9,346,2664,0.00,2.17,0.00,0.000,1030,0.000,0.039,3552,2157,2371,2406,2337,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2785,0.49,117.2,3551,2157,2407,2337,100.2,11.7,358,2789,0.00,2.12,0.00,0.000,516,0.000,0.046,3561,752,2371,2406,2337,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2856,0.49,117.2,3561,752,2408,2338,91.4,12.7,370,2862,0.00,2.15,0.00,0.000,1030,0.000,0.036,3561,2166,2373,2408,2338,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2923,0.49,117.2,2784,2166,2375,2333,82.5,13.3,383,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2168,2372,2408,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2991,0.49,117.2,3561,2167,2407,2337,73.4,14.3,396,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2168,2372,2407,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3059,0.49,117.2,3561,2168,2407,2338,64.1,14.0,409,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2168,2372,2407,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3127,0.49,117.2,3561,2168,2407,2337,55.3,13.2,422,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2167,2372,2407,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,0.49,117.2,3561,2168,2407,2338,46.3,13.4,435,3201,0.00,2.15,0.00,0.000,260,0.000,0.051,3561,3566,2372,2407,2337,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3218,0.49,117.2,2752,3566,2370,2332,43.1,14.4,439,3225,0.00,2.15,0.00,0.000,1030,0.000,0.037,3571,2154,2371,2405,2337,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3256,0.49,117.2,3571,2154,2405,2337,36.7,16.1,446,3263,0.00,2.10,0.00,0.000,516,0.000,0.045,3580,752,2371,2405,2337,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3300,0.49,117.2,3580,750,2406,2337,29.7,16.5,454,3307,0.10,2.15,0.00,0.000,5126,0.169,0.037,3556,2173,2371,2406,2337,0,0,0,0,0,0,26.25,26.34,28.83
$GC,3339,0.49,117.2,3555,2175,2406,2337,24.0,14.0,461,3346,0.00,2.15,0.00,0.000,260,0.000,0.052,3555,3572,2371,2405,2337,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3362,0.49,117.2,3555,3572,2405,2337,20.5,15.5,465,3370,0.00,2.15,0.00,0.000,1030,0.000,0.038,3563,2163,2371,2405,2337,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3401,0.49,117.2,3563,2163,2405,2337,15.2,13.1,472,3408,0.00,2.12,0.00,0.000,516,0.000,0.047,3573,755,2371,2405,2337,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3444,0.49,117.2,3573,755,2406,2337,10.1,11.2,480,3451,0.08,2.12,0.00,0.000,5126,0.181,0.035,3555,2166,2371,2406,2337,0,0,0,0,0,0,26.28,26.37,28.83
$GC,3483,0.49,117.2,3555,2168,2406,2337,5.5,11.8,487,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2168,2371,2406,2337,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3503,end climb,SURFACE_DEPTH_REACHED
$STATE,3503,begin surface coast
$FINISH,0.3,1.022040
$STATE,3525,end surface coast,CONTROL_FINISHED_OK
$STATE,3525,begin surface
$SM_CCo,3540,58.50,0.057,0,0,1836,250.21
$SM_GC,1.52,8.82,0.12,58.50,0.046,0.097,0.057,204,2273,1836,-9.86,-0.90,250.21,0,0,0,0,0,0,26.39,26.40,26.31
$IRIDIUM_FIX,4751.72,-12340.51,150114,121209
$TT8_MAMPS,0.02996,0.02996
$HUMID,42.43
$INTERNAL_PRESSURE,8.9611
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.7,7.4
$24V_AH,24.3,1.329
$10V_AH,10.5,0.613
$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,22.250,78.950,178.275,58.500,0.000,28.573,30.875,137.613,1.750,0.000,5.883,1256.658,1148.569,420.534,1018.994,43.449,33.201,926.588,0.000,789.170,0.000,14.428,0.000
$DEVICE_MAMPS,240.210,97.155,731.340,56.610,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.273,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323572
$DATA_FILE_SIZE,20133,495
$CAP_FILE_SIZE,83105,0
$CFSIZE,2097086464,2090532864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050,194.2,1
$GPS,150114,143252,4743.164,-12224.363,24,1.1,41,16.6