version: 66.12
glider: 601
mission: 5
dive: 21
start: 3 29 116 14 38 36
data:
$ID,601
$MISSION,5
$DIVE,21
$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,40
$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,20
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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
$GPS1,290316,142655,4743.2300,-12224.6816,3,1.1,16,16.6,0.6,186.9,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.4
$GPS2,290316,143733,4743.0615,-12224.7090,3,1.2,30,16.6,0.4,191.2,8,7.0
$SPEED_LIMITS,0.179,0.294
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.103221,0.274843
$KALMAN_X,-3834.249268,-225.670105,-158.816635,3792.322754,-202.623383
$KALMAN_Y,-8540.002930,-8.885019,-196.463104,9115.363281,-229.834930
$MHEAD_RNG_PITCHd_Wd,2.1,2676,-24.6,-15.000,-27.06,1492
$D_GRID,177
$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,-1.29,-146.6,205,2200,596,439,0.0,0.0,0,56,0.00,0.00,-34.85,0.000,16386,0.000,0.000,204,2199,1473,1559,1388,0,0,0,0,0,0,14.89,28.83,14.90
$GC,60,-1.29,-146.6,205,2200,1559,1394,2.5,-6.1,6,96,10.93,0.00,-18.38,0.000,18694,0.388,0.000,2610,2197,2224,2272,2177,0,0,0,0,0,0,14.52,14.10,14.73
$GC,160,-1.29,-146.6,2610,2197,2273,2180,18.2,-19.3,24,166,0.00,2.45,0.00,0.000,516,0.000,0.079,2610,780,2226,2273,2179,0,0,0,0,0,0,14.87,14.63,14.87
$GC,194,-1.29,-146.6,2610,780,2275,2179,25.6,-22.0,30,201,0.00,2.40,0.00,0.000,1030,0.000,0.064,2602,2198,2227,2275,2180,0,0,0,0,0,0,14.76,14.67,14.77
$GC,265,-1.29,-146.6,2601,2198,2274,2180,41.2,-22.2,43,272,0.00,2.47,0.00,0.000,516,0.000,0.080,2602,772,2227,2274,2180,0,0,0,0,0,0,14.90,14.67,14.90
$GC,310,-1.29,-146.6,2601,772,2275,2180,51.7,-23.2,51,315,0.00,2.40,0.00,0.000,1030,0.000,0.066,2591,2189,2227,2274,2180,0,0,0,0,0,0,14.79,14.71,14.81
$GC,444,-1.29,-146.6,2591,2189,2274,2180,82.9,-23.2,64,450,0.00,2.45,0.00,0.000,260,0.000,0.093,2581,3594,2227,2274,2180,0,0,0,0,0,0,14.95,14.72,14.96
$GC,550,-1.29,-146.6,2580,3594,2274,2179,109.2,-24.4,74,556,0.12,2.38,0.00,0.000,3078,0.270,0.059,2611,2175,2226,2274,2179,0,0,0,0,0,0,14.66,14.78,14.82
$GC,686,-1.29,-146.6,2612,2170,2274,2180,137.5,-20.0,87,691,0.00,2.50,0.00,0.000,260,0.000,0.090,2603,3600,2227,2274,2180,0,0,0,0,0,0,15.00,14.77,15.00
$GC,723,-1.29,-146.6,2603,3600,2274,2179,144.5,-20.0,90,730,0.00,2.38,0.00,0.000,1030,0.000,0.059,2603,2187,2226,2274,2179,0,0,0,0,0,0,14.88,14.81,14.90
$GC,850,-1.29,-146.6,2603,2180,2274,2179,170.0,-19.5,103,856,0.00,2.47,0.00,0.000,260,0.000,0.092,2592,3594,2226,2274,2179,0,0,0,0,0,0,15.01,14.79,15.02
$STATE,881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,881,begin apogee
$GC,890,-0.25,0.0,2593,1901,2274,2179,177.0,-20.5,106,1023,1.23,0.00,124.75,1.116,10246,0.236,0.000,2941,1900,1638,1726,1551,0,0,0,0,0,0,14.70,14.20,13.83
$STATE,1026,end apogee,CONTROL_FINISHED_OK
$STATE,1026,begin climb
$GC,1029,1.29,146.6,2940,1900,1725,1551,183.9,0.0,120,1163,1.55,2.62,119.35,1.070,10756,0.119,0.096,3437,496,1053,1193,914,0,0,0,0,0,0,14.28,14.10,13.72
$GC,1220,1.29,146.6,3437,497,1192,908,166.7,15.4,138,1226,0.00,2.47,0.00,0.000,1030,0.000,0.069,3437,1905,1052,1192,912,0,0,0,0,0,0,14.44,14.36,14.45
$GC,1348,1.29,146.6,3437,1906,1192,911,145.3,16.4,151,1353,0.00,2.47,0.00,0.000,260,0.000,0.090,3437,3306,1051,1192,911,0,0,0,0,0,0,14.73,14.51,14.74
$GC,1492,1.29,146.6,3437,3306,1190,911,121.0,15.7,165,1497,0.00,2.40,0.00,0.000,1030,0.000,0.069,3448,1905,1052,1193,911,0,0,0,0,0,0,14.71,14.62,14.73
$GC,1627,1.29,146.6,3448,1905,1192,911,101.0,15.3,178,1632,0.00,2.50,0.00,0.000,516,0.000,0.098,3459,488,1051,1192,910,0,0,0,0,0,0,14.90,14.64,14.90
$GC,1644,1.29,146.6,3458,488,1192,910,98.8,15.0,179,1652,0.00,2.42,0.00,0.000,1030,0.000,0.072,3459,1901,1051,1192,910,0,0,0,0,0,0,14.78,14.70,14.80
$GC,1772,1.29,146.6,3458,1902,1192,910,78.4,15.2,192,1778,0.00,2.50,0.00,0.000,516,0.000,0.098,3470,493,1050,1191,910,0,0,0,0,0,0,14.94,14.70,14.95
$GC,1867,1.29,146.6,3469,492,1191,910,63.0,16.9,201,1872,0.00,2.42,0.00,0.000,1030,0.000,0.069,3470,1910,1051,1191,912,0,0,0,0,0,0,14.83,14.76,14.85
$GC,1996,1.30,165.4,3469,1911,1191,910,45.0,13.7,217,2033,0.00,2.50,26.55,0.596,8452,0.000,0.089,3470,3315,981,1115,847,0,0,0,0,1,0,14.98,14.67,14.30
$GC,2062,1.30,165.4,3469,3315,1115,846,35.0,17.2,228,2069,0.00,2.42,0.00,0.000,1030,0.000,0.072,3479,1895,980,1115,846,0,0,0,0,0,0,14.77,14.69,14.78
$GC,2133,1.30,165.4,3480,1895,1116,846,23.7,16.1,241,2140,0.00,2.47,0.00,0.000,516,0.000,0.100,3491,492,980,1115,845,0,0,0,0,0,0,14.92,14.68,14.92
$GC,2224,1.30,165.4,3491,492,1115,844,7.5,17.7,258,2231,0.15,2.40,0.00,0.000,5126,0.247,0.069,3450,1901,979,1115,844,0,0,0,0,0,0,14.65,14.72,14.78
$STATE,2247,end climb,SURFACE_DEPTH_REACHED
$STATE,2247,begin surface coast
$FINISH,0.2,1.019870
$STATE,2258,end surface coast,CONTROL_FINISHED_OK
$STATE,2258,begin surface
$SM_CCo,2279,97.78,0.052,0,0,525,280.09
$SM_GC,1.31,9.32,0.50,97.78,0.058,0.084,0.052,213,2208,525,-8.75,-0.59,280.09,0,0,0,0,0,0,14.78,14.76,14.78
$IRIDIUM_FIX,4748.51,-12337.82,290316,133838
$TT8_MAMPS,0.020972,0.298102
$HUMID,37.91
$INTERNAL_PRESSURE,8.8421
$TCM_TEMP,17.40
$XPDR_PINGS,0
$SC_FREEKB,3903840
$24V_AH,13.72,3.654
$10V_AH,13.56,0.000
$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,23.300,54.925,270.650,97.775,0.000,32.111,38.645,363.652,0.000,0.000,31.717,709.615,694.414,446.458,1006.055,177.227,33.466,777.503,0.000,502.344,0.000,0.546,0.000
$DEVICE_MAMPS,387.855,100.215,1116.135,52.020,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.623,0.000,0.000,0.000
$MEM,312996
$DATA_FILE_SIZE,10166,264
$CAP_FILE_SIZE,68143,0
$CFSIZE,2097086464,2089910272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.122,208.79,1
$GPS,290316,151903,4743.247,-12224.637,4,1.0,9,16.6,0.6,190.6,10,9.5