version: 66.11
glider: 601
mission: 2
dive: 3
start: 1 14 114 20 26 25
data:
$ID,601
$MISSION,2
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,300
$D_NO_BLEED,200
$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,50
$T_MISSION,65
$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,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0236
$MASS,51614
$MASS_COMP,0
$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,600
$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,-1476.4034
$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,3380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,38
$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,31
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$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,-49.106464
$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,0
$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
$GPS1,140114,202006,4742.925,-12224.917,39,1.0,39,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-77.9
$GPS2,140114,202526,4742.924,-12224.932,5,1.0,5,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,0.234
$KALMAN_X,-143.5,-97.3,-96.1,39.5,-288.3
$KALMAN_Y,-72.9,-48.8,-48.2,400.2,-145.9
$MHEAD_RNG_PITCHd_Wd,353.5,1814,-17.5,-10.000,-21.04,2225
$D_GRID,150
$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,14,begin dive
$GC,15,-0.64,-146.5,207,2211,603,389,0.0,0.0,0,130,0.00,0.00,-112.72,0.000,16386,0.000,0.000,207,2212,3360,3280,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-0.64,-146.5,208,2212,3280,3441,3.1,-7.0,21,152,11.62,2.30,-1.75,0.000,18948,0.241,0.067,3157,777,3436,3355,3517,0,0,0,0,0,0,25.89,26.13,26.38
$GC,379,-0.64,-146.5,3157,777,3356,3517,42.4,-14.6,69,386,0.00,2.20,0.00,0.000,1030,0.000,0.050,3148,2188,3437,3357,3517,0,0,0,0,0,0,28.83,26.30,28.83
$GC,417,-0.64,-146.5,3148,2187,3357,3517,48.3,-15.7,76,425,0.00,2.20,0.00,0.000,516,0.000,0.054,3149,768,3437,3357,3517,0,0,0,0,0,0,28.83,26.32,28.83
$GC,470,-0.64,-146.5,2176,768,3347,3515,56.5,-15.2,86,478,0.10,2.22,0.00,0.000,3078,0.205,0.050,3160,2198,3436,3356,3517,0,0,0,0,0,0,26.21,26.34,28.83
$GC,540,-0.64,-146.5,3159,2199,3356,3517,66.1,-13.8,99,547,0.00,2.17,0.00,0.000,260,0.000,0.059,3150,3597,3437,3357,3517,0,0,0,0,0,0,28.83,26.34,28.83
$GC,583,-0.64,-146.5,3150,3597,3357,3516,72.6,-15.0,107,590,0.00,2.17,0.00,0.000,1030,0.000,0.044,3149,2189,3436,3356,3517,0,0,0,0,0,0,28.83,26.39,28.83
$GC,653,-0.64,-146.5,3150,2189,3357,3517,82.4,-13.4,120,659,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2189,3437,3357,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,721,-0.64,-146.5,3149,2188,3357,3516,92.1,-14.8,133,727,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2189,3437,3357,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,796,-0.64,-146.5,3150,2189,3356,3517,102.9,-14.5,145,797,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2189,3436,3356,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,916,-0.64,-146.5,3150,2179,3357,3517,122.1,-15.6,157,917,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2179,3436,3356,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1036,-0.64,-146.5,3150,2179,3357,3517,140.2,-15.6,169,1045,0.00,2.22,0.00,0.000,260,0.000,0.060,3140,3597,3437,3357,3517,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1110,-0.13,0.0,3139,2188,3357,3517,150.3,-12.3,176,1227,0.60,0.00,108.05,0.705,10246,0.165,0.000,3318,2187,2837,2812,2863,0,0,0,0,0,0,26.34,28.83,24.77
$STATE,1228,end apogee,CONTROL_FINISHED_OK
$STATE,1229,begin climb
$GC,1230,0.64,146.5,3317,2187,2812,2863,154.0,0.0,188,1352,0.77,2.28,114.80,0.679,10756,0.119,0.049,3576,777,2238,2283,2193,0,0,0,0,0,0,25.28,25.03,24.51
$GC,1364,0.64,146.5,3576,776,2282,2190,137.2,16.8,201,1368,0.00,2.28,0.00,0.000,1030,0.000,0.037,3576,2203,2236,2282,2190,0,0,0,0,0,0,28.83,25.23,28.83
$GC,1489,0.64,146.5,3576,2203,2279,2186,117.7,15.7,213,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2204,2232,2279,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1610,0.64,146.5,2752,2202,2240,2179,95.7,17.2,227,1616,0.00,2.25,0.00,0.000,516,0.000,0.052,3586,778,2231,2278,2185,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1632,0.64,146.5,2816,778,2242,2179,91.6,17.0,231,1639,0.00,2.17,0.00,0.000,1030,0.000,0.039,3586,2190,2230,2277,2184,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1700,0.64,146.5,3585,2190,2277,2184,79.3,18.3,244,1706,0.00,2.22,0.00,0.000,260,0.000,0.056,3586,3602,2230,2277,2184,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1733,0.64,146.5,3585,3602,2275,2184,72.9,19.4,250,1740,0.00,2.20,0.00,0.000,1030,0.000,0.041,3595,2178,2229,2275,2184,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1801,0.64,146.5,2832,2177,2240,2179,60.6,17.0,263,1807,0.00,2.15,0.00,0.000,516,0.000,0.050,3604,772,2229,2275,2184,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1843,0.64,146.5,2848,772,2240,2179,53.4,17.2,271,1850,0.00,2.17,0.00,0.000,1030,0.000,0.039,3604,2194,2229,2275,2184,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1911,0.64,146.5,3604,2195,2275,2184,42.0,16.6,284,1918,0.00,2.20,0.00,0.000,260,0.000,0.055,3604,3600,2229,2275,2184,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1928,0.64,146.5,2848,3599,2239,2179,38.9,18.2,287,1935,0.00,2.17,0.00,0.000,1030,0.000,0.040,3614,2186,2229,2274,2184,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1967,0.64,146.5,3614,2186,2274,2184,31.6,19.5,294,1973,0.00,2.15,0.00,0.000,516,0.000,0.050,3624,772,2229,2274,2184,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2000,0.64,146.5,3624,772,2273,2184,25.1,19.3,300,2007,0.10,2.17,0.00,0.000,5126,0.184,0.039,3601,2200,2229,2274,2184,0,0,0,0,0,0,26.19,26.31,28.83
$GC,2038,0.64,146.5,2848,2199,2239,2179,18.3,17.1,307,2044,0.00,2.17,0.00,0.000,260,0.000,0.054,3601,3599,2229,2274,2184,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2071,0.64,146.5,3601,3600,2273,2184,12.3,18.3,313,2078,0.00,2.15,0.00,0.000,1030,0.000,0.038,3610,2191,2228,2273,2184,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2110,0.64,146.5,3610,2191,2273,2184,5.2,17.8,320,2116,0.00,2.12,0.00,0.000,516,0.000,0.047,3620,781,2228,2273,2184,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,2121,end climb,SURFACE_DEPTH_REACHED
$STATE,2122,begin surface coast
$FINISH,0.4,1.022558
$STATE,2138,end surface coast,CONTROL_FINISHED_OK
$STATE,2138,begin surface
$SM_CCo,2154,181.48,0.057,0,0,499,573.27
$SM_CCo,2338,-0.12,0.000,0,0,501,573.27
$SM_CCo,2341,0.08,0.064,0,0,499,573.27
$SM_GC,1.05,9.00,2.20,0.08,0.047,0.037,0.064,207,2189,499,-9.84,-1.13,573.27,0,0,0,0,0,0,26.35,26.36,26.22
$IRIDIUM_FIX,4751.72,-12340.51,140114,191929
$TT8_MAMPS,0.030709,0.030709
$HUMID,42.95
$INTERNAL_PRESSURE,8.87321
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,8.0
$24V_AH,24.5,0.374
$10V_AH,10.6,0.139
$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,22.200,52.800,222.850,181.550,0.000,26.206,39.090,185.612,1.750,0.000,5.884,781.753,534.827,534.925,805.189,31.383,31.302,898.447,0.000,524.146,0.000,15.642,0.000
$DEVICE_MAMPS,240.975,67.320,704.565,64.260,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.834,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323612
$DATA_FILE_SIZE,13521,325
$CAP_FILE_SIZE,55760,0
$CFSIZE,2097086464,2092236800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.130,193.2,1
$GPS,140114,210636,4743.020,-12224.933,36,1.0,36,16.6