version: 66.12
glider: 601
mission: 5
dive: 11
start: 3 29 116 5 13 57
data:
$ID,601
$MISSION,5
$DIVE,11
$N_DIVES,20
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,190
$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,65
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,3033
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,17
$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,27
$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,1640
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$GPS1,290316,050211,4742.3384,-12225.4141,20,0.9,28,16.6,0.0,0.0,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.0
$GPS2,290316,051256,4742.3330,-12225.4688,6,0.9,35,16.6,0.0,0.0,9,4.8
$SPEED_LIMITS,0.116,0.233
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.101480,0.209723
$KALMAN_X,-1870.405640,-53.352596,-385.668152,932.749756,-325.317413
$KALMAN_Y,-4808.502930,-202.608780,-510.341217,4522.618652,-583.605164
$MHEAD_RNG_PITCHd_Wd,11.0,4190,-19.3,-9.744,-22.70,1830
$D_GRID,190
$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,-1.18,-117.3,202,2176,592,437,0.0,0.0,0,57,0.00,0.00,-35.80,0.000,16386,0.000,0.000,201,2175,1491,1574,1409,0,0,0,0,0,0,14.88,28.83,14.89
$GC,61,-1.18,-117.3,202,2175,1575,1414,2.4,-5.8,6,97,11.38,2.78,-15.55,0.000,18692,0.399,2.236,2638,3595,2110,2177,2044,0,0,0,0,0,0,14.50,13.79,14.71
$GC,212,-1.18,-117.3,2637,3595,2176,2045,29.2,-20.4,34,219,0.00,2.40,0.00,0.000,1030,0.000,0.060,2638,2180,2110,2176,2045,0,0,0,0,0,0,14.74,14.66,14.76
$GC,283,-1.18,-117.3,2637,2177,2176,2045,43.2,-19.6,47,289,0.00,2.53,0.00,0.000,260,0.000,0.095,2627,3600,2110,2176,2045,0,0,0,0,0,0,14.88,14.64,14.89
$GC,337,-1.18,-117.3,2626,3600,2176,2045,54.2,-19.7,55,343,0.00,2.40,0.00,0.000,1030,0.000,0.060,2627,2182,2110,2176,2045,0,0,0,0,0,0,14.78,14.70,14.78
$GC,472,-1.18,-117.3,2626,2179,2176,2045,80.6,-20.1,68,478,0.00,2.40,0.00,0.000,516,0.000,0.085,2627,785,2110,2176,2045,0,0,0,0,0,0,14.94,14.71,14.95
$GC,545,-1.18,-117.3,2625,784,2177,2045,96.9,-21.6,75,552,0.12,2.40,0.00,0.000,3078,0.259,0.068,2648,2203,2110,2176,2045,0,0,0,0,0,0,14.62,14.74,14.78
$GC,681,-1.18,-117.3,2648,2203,2176,2045,121.3,-18.1,88,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2203,2111,2177,2045,0,0,0,0,0,0,14.99,14.99,14.99
$GC,803,-1.18,-117.3,2649,2203,2176,2045,143.0,-17.7,100,808,0.00,2.45,0.00,0.000,260,0.000,0.097,2640,3603,2111,2177,2045,0,0,0,0,0,0,15.04,14.77,15.02
$GC,888,-1.18,-117.3,2639,3604,2176,2045,158.1,-17.1,108,893,0.00,2.38,0.00,0.000,1030,0.000,0.059,2639,2185,2110,2176,2045,0,0,0,0,0,0,14.90,14.82,14.90
$GC,1021,-1.18,-117.3,2639,2182,2176,2045,181.7,-17.6,121,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2182,2111,2177,2045,0,0,0,0,0,0,15.03,15.04,15.04
$STATE,1049,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1049,begin apogee
$GC,1056,-0.29,0.0,2640,2093,2176,2045,187.0,-17.6,124,1162,1.00,0.00,101.80,1.129,10246,0.225,0.000,2928,2092,1639,1733,1546,0,0,0,0,0,0,14.70,14.38,13.88
$STATE,1165,end apogee,CONTROL_FINISHED_OK
$STATE,1165,begin climb
$GC,1167,1.18,117.3,2928,2092,1732,1545,193.4,0.0,135,1277,1.50,2.53,96.82,1.084,10756,0.132,0.093,3404,732,1171,1309,1034,0,0,0,0,0,0,14.31,14.14,13.74
$GC,1397,1.18,117.3,3404,729,1307,1031,174.6,12.5,157,1402,0.00,2.40,0.00,0.000,1030,0.000,0.070,3404,2111,1169,1308,1031,0,0,0,0,0,0,14.55,14.46,14.58
$GC,1532,1.18,117.3,3404,2111,1308,1031,158.5,11.9,170,1537,0.00,2.53,0.00,0.000,260,0.000,0.099,3404,3527,1169,1307,1031,0,0,0,0,0,0,14.80,14.57,14.81
$GC,1605,1.18,117.3,3404,3528,1307,1031,149.0,12.9,177,1611,0.00,2.40,0.00,0.000,1030,0.000,0.068,3415,2132,1169,1308,1031,0,0,0,0,0,0,14.73,14.64,14.74
$GC,1742,1.18,117.3,3415,2131,1307,1031,132.2,12.1,190,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2131,1168,1306,1030,0,0,0,0,0,0,14.90,14.91,14.91
$GC,1869,1.18,117.3,3415,2131,1306,1031,116.5,12.1,203,1874,0.00,2.50,0.00,0.000,516,0.000,0.096,3425,697,1168,1306,1030,0,0,0,0,0,0,14.95,14.71,14.96
$GC,1932,1.18,117.3,3425,697,1305,1031,108.6,12.4,209,1938,0.00,2.42,0.00,0.000,1030,0.000,0.073,3426,2120,1167,1305,1030,0,0,0,0,0,0,14.84,14.73,14.85
$GC,2069,1.18,117.3,3425,2119,1306,1031,93.0,10.9,222,2074,0.00,2.50,0.00,0.000,516,0.000,0.097,3436,701,1168,1305,1031,0,0,0,0,0,0,14.98,14.75,15.00
$GC,2176,1.18,117.3,3436,702,1306,1030,80.3,12.5,232,2183,0.00,2.40,0.00,0.000,1030,0.000,0.072,3436,2112,1168,1306,1031,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2305,1.18,117.3,3436,2112,1305,1030,66.3,10.5,245,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2112,1168,1306,1030,0,0,0,0,0,0,15.02,15.03,15.03
$GC,2434,1.19,134.7,3436,2112,1305,1030,53.8,8.8,258,2475,0.00,2.53,25.90,0.596,8708,0.000,0.095,3447,704,1101,1236,966,0,0,0,0,1,0,15.04,14.71,14.34
$GC,2574,1.19,134.7,3446,704,1236,965,38.0,14.1,280,2582,0.10,2.40,0.00,0.000,5126,0.267,0.071,3421,2118,1100,1236,965,0,0,0,0,0,0,14.67,14.76,14.81
$GC,2647,1.19,134.7,3420,2118,1236,965,29.3,12.3,293,2654,0.00,2.47,0.00,0.000,260,0.000,0.100,3420,3519,1100,1236,965,0,0,0,0,0,0,14.98,14.73,14.99
$GC,2677,1.19,134.7,3420,3519,1235,965,25.2,12.7,298,2683,0.00,2.40,0.00,0.000,1030,0.000,0.070,3429,2111,1100,1236,965,0,0,0,0,0,0,14.85,14.76,14.85
$GC,2748,1.19,134.7,3429,2110,1236,963,17.0,13.3,311,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2111,1100,1236,964,0,0,0,0,0,0,14.98,15.00,14.99
$GC,2816,1.19,150.7,3429,2110,1236,964,9.4,8.9,324,2835,0.00,0.00,13.10,0.063,8198,0.000,0.000,3430,2111,1040,1174,907,0,0,0,0,0,0,15.00,14.81,14.77
$STATE,2875,end climb,SURFACE_DEPTH_REACHED
$STATE,2875,begin surface coast
$FINISH,0.1,1.021322
$STATE,2903,end surface coast,CONTROL_FINISHED_OK
$STATE,2903,begin surface
$SM_CCo,2923,109.88,0.051,0,0,525,280.09
$SM_GC,1.12,9.32,0.15,109.88,0.065,0.127,0.051,211,2198,525,-8.76,-0.79,280.09,0,0,0,0,0,0,14.82,14.81,14.82
$IRIDIUM_FIX,4748.51,-12337.82,290316,040146
$TT8_MAMPS,0.021721,0.295855
$HUMID,37.95
$INTERNAL_PRESSURE,8.8421
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,171.2,30.8
$SC_FREEKB,3907040
$24V_AH,13.74,2.329
$10V_AH,13.85,0.000
$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,23.425,49.450,237.625,109.875,0.000,29.042,36.765,362.813,3.500,0.000,37.091,921.802,997.718,434.456,1157.113,182.654,33.433,819.443,0.000,631.912,0.000,24.502,0.000
$DEVICE_MAMPS,399.330,2236.095,1129.140,51.255,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2929.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.558,0.000,0.000,0.000
$MEM,312932
$DATA_FILE_SIZE,10117,340
$CAP_FILE_SIZE,81900,0
$CFSIZE,2097086464,2091581440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.046,296.36,1
$GPS,290316,060530,4742.705,-12225.261,17,0.9,17,16.6,0.0,0.0,9,5.1