version: 66.12
glider: 601
mission: 5
dive: 2
start: 3 28 116 19 1 44
data:
$ID,601
$MISSION,5
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,45
$D_BOOST,60
$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,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,1.023
$MASS,58866
$MASS_COMP,4039.5
$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,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3900
$C_PITCH,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,19
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,265
$ROLL_MAX,3865
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2110
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1742
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.63049
$PRESSURE_SLOPE,0.0001070285
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,280316,185346,4743.1748,-12223.9492,5,0.9,8,16.6,0.0,0.0,9,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.3
$GPS2,280316,190044,4743.1743,-12223.8965,6,0.9,8,16.6,0.0,0.0,9,9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.190427,0.177060
$KALMAN_X,145.878281,145.878281,145.878281,133.015381,352.840881
$KALMAN_Y,82.167465,82.167465,82.167465,315.835693,198.741318
$MHEAD_RNG_PITCHd_Wd,292.6,2568,-17.5,-10.000,-21.04,2225
$D_GRID,164
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.10,-146.6,207,2179,558,440,0.0,0.0,0,50,0.00,0.00,-29.50,0.000,16386,0.000,0.000,207,2180,1302,1390,1215,0,0,0,0,0,0,15.05,28.83,15.06
$GC,54,-1.10,-146.6,206,2180,1393,1220,2.1,-4.4,5,109,10.98,2.70,-35.10,0.000,18692,0.379,2.228,2669,3599,2326,2375,2277,0,0,0,0,0,0,14.60,13.86,14.84
$GC,183,-1.10,-146.6,2668,3599,2374,2278,17.8,-19.0,28,190,0.00,2.38,0.00,0.000,1030,0.000,0.063,2668,2192,2327,2375,2279,0,0,0,0,0,0,14.85,14.76,14.87
$GC,255,-1.10,-146.6,2668,2191,2376,2278,31.4,-19.9,41,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2191,2327,2376,2278,0,0,0,0,0,0,15.00,15.01,15.01
$GC,324,-1.10,-146.6,2669,2191,2376,2278,46.6,-21.9,54,331,0.00,2.50,0.00,0.000,260,0.000,0.095,2657,3604,2327,2376,2278,0,0,0,0,0,0,15.01,14.75,15.02
$GC,363,-1.10,-146.6,2657,3604,2376,2278,54.6,-23.4,59,371,0.00,2.40,0.00,0.000,1030,0.000,0.064,2657,2187,2327,2376,2278,0,0,0,0,0,0,14.89,14.80,14.90
$GC,491,-1.10,-146.6,2657,2182,2376,2278,81.1,-19.4,72,497,0.00,2.40,0.00,0.000,516,0.000,0.088,2657,786,2326,2375,2277,0,0,0,0,0,0,15.04,14.79,15.05
$GC,544,-1.10,-146.6,2657,785,2376,2279,91.7,-19.0,77,551,0.12,2.38,0.00,0.000,3078,0.240,0.071,2681,2194,2328,2375,2282,0,0,0,0,0,0,14.73,14.81,14.88
$GC,680,-1.10,-146.6,2681,2196,2376,2278,116.2,-18.4,90,685,0.00,2.45,0.00,0.000,260,0.000,0.098,2672,3599,2327,2376,2279,0,0,0,0,0,0,15.07,14.81,15.08
$GC,757,-1.10,-146.6,2672,3599,2375,2278,130.4,-19.1,97,764,0.00,2.38,0.00,0.000,1030,0.000,0.063,2672,2187,2326,2375,2278,0,0,0,0,0,0,14.92,14.83,14.94
$STATE,860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,860,begin apogee
$GC,867,-0.26,0.0,2672,2077,2376,2278,150.7,-17.8,108,998,0.93,0.03,123.85,1.079,10246,0.207,0.311,2946,2104,1742,1823,1661,0,0,0,0,0,0,14.74,14.31,13.91
$STATE,999,end apogee,CONTROL_FINISHED_OK
$STATE,999,begin climb
$GC,1002,1.10,146.6,2946,2104,1822,1659,157.5,0.0,121,1133,1.35,2.55,117.85,1.039,10756,0.122,0.094,3384,733,1157,1283,1031,0,0,0,0,0,0,14.35,14.23,13.82
$GC,1172,1.17,204.6,3383,734,1282,1027,151.7,7.3,137,1226,0.00,2.42,46.22,1.016,9222,0.000,0.076,3383,2114,925,1049,801,0,0,0,0,0,0,14.52,14.42,13.88
$GC,1355,1.17,204.6,3384,2114,1049,798,128.4,14.2,155,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2114,923,1049,797,0,0,0,0,0,0,14.79,14.81,14.80
$GC,1475,1.17,204.6,3384,2114,1049,796,112.9,12.6,167,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2114,922,1049,796,0,0,0,0,0,0,14.89,14.90,14.90
$GC,1595,1.17,204.6,3384,2114,1049,796,96.7,13.6,179,1600,0.00,2.45,0.00,0.000,516,0.000,0.099,3394,733,922,1049,796,0,0,0,0,0,0,14.95,14.70,14.96
$GC,1661,1.17,204.6,3394,733,1049,794,87.9,13.7,185,1668,0.00,2.38,0.00,0.000,1030,0.000,0.076,3394,2114,922,1049,795,0,0,0,0,0,0,14.85,14.74,14.86
$GC,1790,1.17,204.6,3393,2115,1050,794,72.4,10.9,198,1795,0.00,2.45,0.00,0.000,516,0.000,0.099,3404,724,921,1049,794,0,0,0,0,0,0,15.01,14.76,15.02
$GC,1958,1.17,204.6,3404,726,1049,793,51.4,11.2,214,1965,0.00,2.38,0.00,0.000,1030,0.000,0.075,3404,2119,921,1049,794,0,0,0,0,0,0,14.93,14.81,14.92
$GC,2085,1.17,204.6,3403,2119,1049,793,35.7,12.5,238,2092,0.00,2.45,0.00,0.000,516,0.000,0.099,3414,728,921,1049,793,0,0,0,0,0,0,15.04,14.78,15.05
$GC,2170,1.17,204.6,3414,728,1047,793,23.8,14.4,254,2178,0.00,2.35,0.00,0.000,1030,0.000,0.076,3414,2112,921,1049,794,0,0,0,0,0,0,14.92,14.82,14.92
$GC,2244,1.17,204.6,3414,2115,1049,794,13.8,13.9,267,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2112,921,1049,793,0,0,0,0,0,0,15.06,15.07,15.07
$GC,2312,1.22,241.5,3414,2112,1049,794,6.1,8.3,280,2348,0.00,2.53,29.50,0.055,8452,0.000,0.100,3414,3519,779,884,675,0,0,0,0,0,0,15.06,14.80,14.85
$STATE,2354,end climb,SURFACE_DEPTH_REACHED
$STATE,2354,begin surface coast
$FINISH,0.0,1.010323
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2408,33.85,0.054,0,0,627,280.09
$SM_GC,3.17,9.25,2.28,33.85,0.064,0.067,0.054,209,2197,627,-8.78,1.33,280.09,0,0,0,0,0,0,14.86,14.85,14.86
$IRIDIUM_FIX,4748.51,-12337.82,280316,185430
$TT8_MAMPS,0.020223,0.268891
$HUMID,40.66
$INTERNAL_PRESSURE,8.89093
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,110.7,69.8
$SC_FREEKB,3909920
$24V_AH,13.82,0.834
$10V_AH,13.15,0.000
$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,22.625,43.950,317.425,33.850,0.000,0.000,0.000,0.000,1.250,0.000,9.948,751.421,703.787,415.410,566.337,82.558,30.285,761.296,0.000,537.807,0.000,10.404,0.000
$DEVICE_MAMPS,378.675,2228.445,1078.650,54.315,0.000,0.000,0.000,0.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2364.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.945,0.000,0.000,0.000
$MEM,313016
$DATA_FILE_SIZE,10128,293
$CAP_FILE_SIZE,89879,0
$CFSIZE,2097086464,2093056000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,264.49,1
$GPS,280316,194320,4743.439,-12224.293,5,0.9,13,16.6,0.0,112.6,10,8.7