version: 66.12
glider: 601
mission: 5
dive: 15
start: 3 29 116 9 18 29
data:
$ID,601
$MISSION,5
$DIVE,15
$N_DIVES,25
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$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,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,3
$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,33
$R_STBD_OVSHOOT,26
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,290316,090736,4743.5645,-12224.9395,17,1.0,17,16.6,0.3,202.6,9,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.8
$GPS2,290316,091724,4743.4805,-12224.9873,6,1.0,10,16.6,0.0,0.0,9,9.0
$SPEED_LIMITS,0.143,0.276
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.111886,0.251924
$KALMAN_X,-2976.789307,-469.096100,457.858093,2214.770264,-205.969177
$KALMAN_Y,-6902.421875,-353.056244,564.956970,7826.283691,-354.992706
$MHEAD_RNG_PITCHd_Wd,8.8,1983,-20.5,-12.000,-23.52,1860
$D_GRID,178
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.27,-146.6,213,2160,595,443,0.0,0.0,0,45,0.00,0.00,-23.50,0.000,16386,0.000,0.000,213,2161,1180,1279,1082,0,0,0,0,0,0,14.90,28.83,14.90
$GC,48,-1.27,-146.6,214,2161,1281,1083,2.1,-3.6,4,97,10.90,2.55,-30.20,0.000,19204,0.386,2.225,2618,788,2226,2275,2178,0,0,0,0,0,0,14.51,13.83,14.73
$GC,107,-1.27,-146.6,2618,788,2275,2180,6.7,-9.4,13,114,0.00,2.40,0.00,0.000,1030,0.000,0.066,2610,2198,2227,2275,2180,0,0,0,0,0,0,14.72,14.63,14.73
$GC,178,-1.27,-146.6,2610,2199,2275,2180,19.8,-20.8,26,184,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2198,2227,2275,2180,0,0,0,0,0,0,14.87,14.87,14.87
$GC,246,-1.27,-146.6,2610,2199,2275,2180,35.0,-22.8,39,252,0.00,2.45,0.00,0.000,260,0.000,0.095,2599,3594,2227,2275,2180,0,0,0,0,0,0,14.89,14.65,14.90
$GC,354,-1.27,-146.6,2599,3594,2275,2180,60.6,-24.4,55,360,0.00,2.38,0.00,0.000,1030,0.000,0.059,2599,2186,2227,2275,2180,0,0,0,0,0,0,14.80,14.71,14.81
$GC,480,-1.27,-146.6,2599,2185,2275,2180,91.3,-24.4,68,486,0.00,2.40,0.00,0.000,516,0.000,0.083,2599,782,2227,2275,2180,0,0,0,0,0,0,14.96,14.73,14.97
$GC,544,-1.27,-146.6,2599,783,2275,2180,107.2,-24.4,74,551,0.12,2.38,0.00,0.000,3078,0.278,0.067,2621,2189,2227,2275,2180,0,0,0,0,0,0,14.66,14.76,14.82
$GC,681,-1.27,-146.6,2620,2189,2275,2180,134.9,-20.5,87,686,0.00,2.45,0.00,0.000,260,0.000,0.096,2612,3595,2227,2275,2179,0,0,0,0,0,0,15.00,14.76,15.01
$GC,776,-1.27,-146.6,2611,3595,2275,2178,155.1,-20.7,96,782,0.00,2.35,0.00,0.000,1030,0.000,0.060,2611,2191,2226,2275,2178,0,0,0,0,0,0,14.89,14.81,14.90
$STATE,887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,887,begin apogee
$GC,894,-0.29,0.0,2611,2077,2275,2178,178.8,-20.7,107,1028,1.10,0.00,124.75,1.115,10246,0.229,0.000,2928,2079,1638,1727,1550,0,0,0,0,0,0,14.70,14.30,13.83
$STATE,1031,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1034,1.27,146.6,2928,2079,1727,1549,187.2,0.0,121,1168,1.60,2.50,119.20,1.074,10756,0.132,0.092,3433,736,1054,1194,914,0,0,0,0,0,0,14.28,14.10,13.71
$GC,1222,1.27,146.6,3432,736,1193,912,170.6,15.2,139,1227,0.00,2.42,0.00,0.000,1030,0.000,0.070,3433,2108,1052,1193,911,0,0,0,0,0,0,14.42,14.33,14.43
$GC,1357,1.27,146.6,3432,2108,1194,912,149.3,15.9,152,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2108,1052,1194,911,0,0,0,0,0,0,14.73,14.75,14.74
$GC,1485,1.27,146.6,3432,2108,1193,911,129.8,14.9,165,1491,0.00,2.45,0.00,0.000,516,0.000,0.094,3443,729,1052,1193,912,0,0,0,0,0,0,14.83,14.60,14.84
$GC,1519,1.27,146.6,3442,728,1193,911,124.5,15.3,168,1524,0.00,2.38,0.00,0.000,1030,0.000,0.073,3443,2113,1052,1193,911,0,0,0,0,0,0,14.73,14.64,14.75
$GC,1654,1.27,146.6,3442,2113,1193,911,104.1,15.1,181,1660,0.00,2.47,0.00,0.000,260,0.000,0.099,3442,3515,1052,1193,911,0,0,0,0,0,0,14.90,14.67,14.90
$GC,1750,1.27,146.6,3442,3515,1193,911,90.0,14.2,190,1755,0.00,2.35,0.00,0.000,1030,0.000,0.067,3453,2138,1052,1193,911,0,0,0,0,0,0,14.82,14.73,14.83
$GC,1884,1.27,146.6,3453,2137,1193,911,72.1,13.1,203,1890,0.00,2.50,0.00,0.000,516,0.000,0.096,3465,701,1052,1193,911,0,0,0,0,0,0,14.96,14.73,14.97
$GC,2130,1.27,146.6,3464,701,1193,911,37.3,12.8,236,2137,0.00,2.38,0.00,0.000,1030,0.000,0.068,3465,2106,1052,1193,911,0,0,0,0,0,0,14.88,14.79,14.90
$GC,2202,1.27,146.6,3465,2106,1193,911,28.4,12.5,249,2209,0.00,2.47,0.00,0.000,260,0.000,0.098,3465,3518,1052,1193,911,0,0,0,0,0,0,15.00,14.76,15.01
$GC,2292,1.27,146.6,3464,3518,1193,911,16.1,14.1,266,2300,0.12,2.40,0.00,0.000,5126,0.260,0.068,3442,2106,1051,1192,911,0,0,0,0,0,0,14.70,14.78,14.85
$GC,2365,1.27,146.6,3440,2105,1193,911,6.3,15.8,279,2371,0.00,2.45,0.00,0.000,516,0.000,0.096,3451,697,1052,1193,911,0,0,0,0,0,0,15.02,14.77,15.02
$STATE,2382,end climb,SURFACE_DEPTH_REACHED
$STATE,2382,begin surface coast
$FINISH,0.7,1.020515
$STATE,2398,end surface coast,CONTROL_FINISHED_OK
$STATE,2398,begin surface
$SM_CCo,2421,111.18,0.053,0,0,525,280.09
$SM_GC,1.24,9.30,2.60,111.18,0.057,0.070,0.053,205,2200,525,-8.77,-0.54,280.09,0,0,0,0,0,0,14.83,14.80,14.83
$IRIDIUM_FIX,4748.51,-12337.82,290316,081557
$TT8_MAMPS,0.020972,0.290612
$HUMID,38.06
$INTERNAL_PRESSURE,8.8421
$TCM_TEMP,17.40
$XPDR_PINGS,0
$SC_FREEKB,3905760
$24V_AH,13.71,2.859
$10V_AH,13.83,0.000
$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,23.150,48.850,243.950,111.175,0.000,29.070,35.742,340.860,0.000,0.000,11.739,774.245,756.610,438.996,1005.467,166.449,33.455,779.760,0.000,537.985,0.000,0.546,0.000
$DEVICE_MAMPS,386.325,2224.620,1114.605,52.785,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2417.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.595,0.000,0.000,0.000
$MEM,312956
$DATA_FILE_SIZE,10165,285
$CAP_FILE_SIZE,68982,0
$CFSIZE,2097086464,2090926080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021,305.39,1
$GPS,290316,100133,4743.789,-12224.723,5,0.9,9,16.6,0.0,0.0,10,8.4