version: 66.11
glider: 601
mission: 2
dive: 4
start: 1 14 114 21 29 32
data:
$ID,601
$MISSION,2
$DIVE,4
$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,1.0237
$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,250
$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,-1496.1094
$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,3370
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,140114,212500,4742.929,-12225.009,3,1.1,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-78.7
$GPS2,140114,212831,4742.912,-12225.022,5,1.1,5,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.108,0.236
$KALMAN_X,-429.1,-198.7,-169.6,388.5,-271.0
$KALMAN_Y,-636.7,-172.4,-114.9,1139.3,-357.7
$MHEAD_RNG_PITCHd_Wd,354.3,1850,-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,13,begin dive
$GC,14,-0.64,-146.5,207,2203,606,385,0.0,0.0,0,130,0.00,0.00,-113.28,0.000,16386,0.000,0.000,207,2203,3361,3281,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-0.64,-146.5,207,2203,3281,3441,3.3,-7.1,21,152,11.43,2.30,-1.73,0.000,18948,0.239,0.075,3142,787,3436,3356,3517,0,0,0,0,0,0,26.00,26.23,26.50
$GC,223,-0.64,-146.5,2176,786,3347,3516,20.4,-17.4,38,230,0.00,2.20,0.00,0.000,1030,0.000,0.050,3134,2198,3437,3357,3518,0,0,0,0,0,0,28.83,26.29,28.83
$GC,262,-0.64,-146.5,3133,2198,3357,3517,27.1,-18.0,45,268,0.00,2.17,0.00,0.000,260,0.000,0.059,3124,3594,3437,3357,3518,0,0,0,0,0,0,28.83,26.28,28.83
$GC,294,-0.64,-146.5,3123,3595,3357,3518,33.3,-18.5,51,302,0.10,2.17,0.00,0.000,3078,0.203,0.044,3143,2191,3437,3357,3518,0,0,0,0,0,0,26.17,26.33,28.83
$GC,333,-0.64,-146.5,2176,2189,3348,3516,40.0,-17.5,58,338,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2190,3437,3357,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,370,-0.64,-146.5,3144,2191,3358,3518,46.4,-17.7,65,376,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2191,3437,3357,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,407,-0.64,-146.5,3143,2191,3357,3518,53.0,-18.0,72,414,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2191,3437,3357,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,475,-0.64,-146.5,3143,2191,3358,3518,65.1,-18.4,85,482,0.00,2.22,0.00,0.000,260,0.000,0.058,3134,3597,3437,3358,3517,0,0,0,0,0,0,28.83,26.36,28.83
$GC,513,-0.64,-146.5,3134,3597,3358,3518,71.8,-16.3,92,521,0.00,2.17,0.00,0.000,1030,0.000,0.042,3134,2183,3437,3357,3517,0,0,0,0,0,0,28.83,26.40,28.83
$GC,583,-0.64,-146.5,3134,2183,3358,3518,82.9,-15.8,105,588,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2183,3438,3358,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,650,-0.64,-146.5,2144,2181,3348,3516,93.5,-16.2,118,656,0.00,2.22,0.00,0.000,260,0.000,0.058,3124,3595,3438,3358,3518,0,0,0,0,0,0,28.83,26.41,28.83
$GC,704,-0.64,-146.5,3124,3594,3358,3518,103.3,-17.9,127,709,0.10,2.17,0.00,0.000,3078,0.193,0.044,3145,2183,3438,3358,3518,0,0,0,0,0,0,26.30,26.44,28.83
$GC,830,-0.64,-146.5,3144,2174,3358,3518,123.7,-16.6,139,834,0.00,2.25,0.00,0.000,260,0.000,0.058,3136,3603,3438,3358,3518,0,0,0,0,0,0,28.83,26.44,28.83
$GC,858,-0.64,-146.5,2234,3602,3349,3516,127.7,-16.2,141,866,0.00,2.20,0.00,0.000,1030,0.000,0.042,3136,2192,3438,3358,3518,0,0,0,0,0,0,28.83,26.48,28.83
$GC,985,-0.64,-146.5,3135,2183,3358,3518,148.7,-16.6,154,990,0.00,2.22,0.00,0.000,260,0.000,0.058,3125,3602,3438,3358,3518,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,1000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1000,begin apogee
$GC,1006,-0.13,0.0,3125,2188,3358,3518,151.3,-16.9,155,1122,0.60,0.00,108.35,0.711,10246,0.166,0.000,3306,2182,2838,2811,2865,0,0,0,0,0,0,26.34,28.83,24.71
$STATE,1123,end apogee,CONTROL_FINISHED_OK
$STATE,1123,begin climb
$GC,1124,0.64,146.5,3306,2183,2812,2864,158.4,0.0,167,1252,0.77,2.35,115.32,0.684,10756,0.124,0.048,3560,775,2237,2284,2191,0,0,0,0,0,0,25.20,24.96,24.44
$GC,1334,0.64,146.5,3560,775,2281,2184,136.9,12.8,188,1338,0.00,2.22,0.00,0.000,1030,0.000,0.038,3560,2190,2232,2281,2184,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1459,0.64,146.5,3560,2191,2278,2184,118.9,15.9,200,1463,0.00,2.22,0.00,0.000,260,0.000,0.055,3560,3593,2231,2279,2184,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1495,0.64,146.5,3560,3593,2275,2184,112.4,18.5,203,1499,0.00,2.20,0.00,0.000,1030,0.000,0.039,3570,2177,2230,2276,2185,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1621,0.64,146.5,3570,2177,2275,2184,90.4,18.5,220,1628,0.00,2.15,0.00,0.000,516,0.000,0.049,3580,774,2229,2275,2184,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1660,0.64,146.5,3580,774,2275,2184,83.6,16.8,227,1666,0.00,2.17,0.00,0.000,1030,0.000,0.037,3580,2193,2229,2275,2184,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1728,0.64,146.5,3579,2194,2275,2184,72.2,17.0,240,1735,0.00,2.20,0.00,0.000,260,0.000,0.054,3580,3595,2229,2275,2184,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1761,0.64,146.5,2816,3595,2240,2179,66.4,18.3,246,1768,0.00,2.17,0.00,0.000,1030,0.000,0.041,3589,2188,2229,2274,2184,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1830,0.64,146.5,3589,2188,2275,2183,55.3,16.0,259,1837,0.00,2.15,0.00,0.000,516,0.000,0.050,3599,778,2229,2274,2184,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1867,0.64,146.5,3599,778,2274,2183,48.9,16.6,266,1874,0.00,2.15,0.00,0.000,1030,0.000,0.039,3600,2190,2229,2274,2184,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1906,0.64,146.5,3599,2190,2274,2184,42.3,17.2,273,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2190,2229,2274,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1943,0.64,146.5,2832,2188,2239,2179,35.5,18.6,280,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2190,2229,2274,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1980,0.64,146.5,3599,2190,2274,2183,28.6,18.8,287,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2190,2228,2274,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2017,0.64,146.5,2832,2188,2239,2179,21.7,19.7,294,2023,0.00,2.20,0.00,0.000,516,0.000,0.050,3608,772,2228,2273,2184,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2039,0.64,146.5,2864,772,2240,2179,17.5,18.2,298,2046,0.08,2.15,0.00,0.000,5126,0.194,0.038,3593,2190,2229,2274,2184,0,0,0,0,0,0,26.22,26.33,28.83
$GC,2078,0.64,146.5,3593,2190,2274,2184,10.3,18.5,305,2085,0.00,2.20,0.00,0.000,260,0.000,0.054,3593,3603,2229,2274,2184,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2102,0.64,146.5,2784,3602,2236,2178,6.4,17.1,309,2109,0.00,2.17,0.00,0.000,1030,0.000,0.039,3602,2182,2228,2273,2183,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,2119,end climb,SURFACE_DEPTH_REACHED
$STATE,2119,begin surface coast
$FINISH,0.6,1.022581
$STATE,2136,end surface coast,CONTROL_FINISHED_OK
$STATE,2136,begin surface
$SM_CCo,2150,43.15,0.056,0,0,1816,250.21
$SM_GC,1.52,8.98,0.00,43.15,0.046,0.000,0.056,202,2183,1816,-9.83,-0.23,250.21,0,0,0,0,0,0,26.36,28.83,26.30
$IRIDIUM_FIX,4751.72,-12340.51,140114,212140
$TT8_MAMPS,0.030709,0.030709
$HUMID,44.84
$INTERNAL_PRESSURE,8.98064
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,131.1,7.1
$24V_AH,24.4,0.451
$10V_AH,10.5,0.166
$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,22.050,57.275,223.675,43.150,0.000,0.000,0.000,0.000,3.000,0.000,5.819,762.514,514.563,414.069,540.940,26.722,32.224,790.065,0.000,526.712,0.000,20.969,0.000
$DEVICE_MAMPS,238.680,74.970,711.450,55.845,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,207.574,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323596
$DATA_FILE_SIZE,13498,315
$CAP_FILE_SIZE,72168,0
$CFSIZE,2097086464,2092105728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.162,190.4,1
$GPS,140114,220707,4743.013,-12224.942,28,1.2,28,16.6