version: 66.11
glider: 601
mission: 1
dive: 1
start: 12 18 113 18 47 19
data:
$ID,601
$MISSION,1
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,300
$D_NO_BLEED,100
$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,15
$T_MISSION,25
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.022
$MASS,51614
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,420
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-811.82593
$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,3423
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,35
$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,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3860
$C_VBD,2837
$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,-48.792126
$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,12
$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
$GPS1,181213,183757,4742.767,-12224.755,9,1.2,9,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-72.3
$GPS2,181213,183757,4742.767,-12224.755,301,99.0,301,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.007,0.260
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,341.9,2099,-17.5,-10.000,-21.03,2226
$D_GRID,45
$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,-0.68,-146.8,212,2201,638,366,0.0,0.0,0,135,0.00,0.00,-118.05,0.000,16390,0.000,0.000,212,2202,3437,3366,3508,0,0,0,0,0,0,28.83,28.83,26.81
$GC,138,-0.68,-146.8,212,2202,3366,3507,3.4,-7.7,22,156,11.77,2.25,0.00,0.000,2564,0.248,0.061,3176,775,3437,3367,3508,0,0,0,0,0,0,26.13,26.40,28.83
$GC,167,-0.68,-146.8,3177,775,3369,3507,11.3,-26.0,27,175,0.10,2.17,0.00,0.000,3078,0.210,0.050,3189,2185,3438,3370,3506,0,0,0,0,0,0,26.27,26.41,28.83
$GC,206,-0.68,-146.8,3188,2185,3372,3504,16.8,-12.2,34,213,0.00,2.17,0.00,0.000,260,0.000,0.057,3179,3601,3438,3372,3504,0,0,0,0,0,0,28.83,26.41,28.83
$GC,279,-0.68,-146.8,3179,3601,3373,3504,26.2,-12.5,48,286,0.00,2.17,0.00,0.000,1030,0.000,0.046,3179,2183,3438,3372,3504,0,0,0,0,0,0,28.83,26.46,28.83
$GC,317,-0.68,-146.8,3179,2175,3373,3503,31.1,-13.0,55,323,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2175,3438,3373,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,354,-0.68,-146.8,3179,2175,3373,3503,35.9,-13.3,62,360,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2175,3438,3373,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,391,-0.68,-146.8,3179,2175,3373,3503,40.6,-12.3,69,397,0.00,2.22,0.00,0.000,260,0.000,0.058,3169,3604,3438,3373,3503,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,422,begin apogee
$GC,428,-0.14,0.0,3168,2187,3373,3503,45.1,-14.9,75,590,0.60,0.00,156.27,0.600,10246,0.160,0.000,3353,2179,2837,2819,2856,0,0,0,0,0,0,26.30,28.83,24.75
$STATE,592,end apogee,CONTROL_FINISHED_OK
$STATE,592,begin climb
$GC,593,0.68,146.8,3352,2179,2819,2855,50.1,0.0,105,744,0.80,0.00,145.18,0.627,10758,0.105,0.000,3619,2178,2237,2289,2186,0,0,0,0,0,0,25.25,28.83,24.67
$GC,776,0.68,146.8,3619,2178,2288,2180,25.5,20.2,139,782,0.00,2.33,0.00,0.000,260,0.000,0.057,3619,3604,2234,2288,2180,0,0,0,0,0,0,28.83,25.46,28.83
$GC,804,0.68,146.8,3619,3604,2283,2180,19.5,22.0,144,810,0.00,2.28,0.00,0.000,1030,0.000,0.051,3629,2194,2231,2283,2180,0,0,0,0,0,0,28.83,25.60,28.83
$GC,842,0.68,146.8,3629,2189,2283,2179,11.4,20.7,151,848,0.00,2.25,0.00,0.000,516,0.000,0.061,3640,774,2230,2282,2179,0,0,0,0,0,0,28.83,25.73,28.83
$GC,860,0.68,146.8,3640,774,2282,2178,7.9,19.7,154,866,0.00,2.22,0.00,0.000,1030,0.000,0.045,3640,2188,2230,2282,2178,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,886,end climb,SURFACE_DEPTH_REACHED
$STATE,886,begin surface coast
$FINISH,0.2,1.022865
$STATE,898,end surface coast,CONTROL_FINISHED_OK
$STATE,898,begin surface
$SM_CCo,913,109.82,0.054,0,0,1123,420.20
$SM_GC,1.04,9.27,0.00,109.82,0.050,0.000,0.054,210,2196,1123,-9.98,0.08,420.20,0,0,0,0,0,0,25.93,28.83,25.99
$IRIDIUM_FIX,4751.72,-12340.51,181213,181830
$TT8_MAMPS,0.029211,0.029211
$HUMID,37.43
$INTERNAL_PRESSURE,8.80485
$TCM_TEMP,17.70
$XPDR_PINGS,2
$24V_AH,24.7,0.488
$10V_AH,10.6,0.267
$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,22.550,22.300,301.450,109.825,0.000,0.000,0.000,0.000,0.500,0.000,301.062,264.255,81.288,481.733,534.837,15.054,29.125,697.890,0.000,243.083,0.000,1.014,0.000
$DEVICE_MAMPS,247.860,61.200,627.300,53.550,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,99.723,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,6826,161
$CAP_FILE_SIZE,48344,0
$CFSIZE,2097086464,2093580288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181213,190501,4742.971,-12224.524,6,1.7,7,16.6