version: 66.11
glider: 601
mission: 2
dive: 6
start: 1 14 114 22 59 28
data:
$ID,601
$MISSION,2
$DIVE,6
$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,-1498.6267
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,140114,225200,4743.144,-12224.867,37,1.3,37,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-81.4
$GPS2,140114,225827,4743.136,-12224.908,21,1.3,21,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.076,0.249
$KALMAN_X,-752.6,-309.5,-200.7,992.8,-208.8
$KALMAN_Y,-1527.5,-322.0,-100.2,2571.3,-539.6
$MHEAD_RNG_PITCHd_Wd,348.4,1422,-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,-146.5,202,2177,1829,1769,0.0,0.0,0,77,0.00,0.00,-59.95,0.000,16386,0.000,0.000,201,2177,3306,3218,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.64,-146.5,202,2177,3219,3394,3.3,-6.9,11,105,11.68,2.33,-2.97,0.000,18692,0.242,0.073,3132,3589,3436,3352,3520,0,0,0,0,0,0,25.81,26.03,26.32
$GC,201,-0.64,-146.5,2144,3588,3343,3519,26.2,-16.4,34,209,0.08,2.17,0.00,0.000,3078,0.207,0.043,3145,2189,3437,3353,3521,0,0,0,0,0,0,26.04,26.15,28.83
$GC,240,-0.64,-146.5,3145,2189,3353,3521,32.8,-16.0,41,247,0.00,2.15,0.00,0.000,516,0.000,0.050,3146,777,3437,3353,3521,0,0,0,0,0,0,28.83,26.17,28.83
$GC,268,-0.64,-146.5,3145,776,3353,3521,37.5,-16.6,46,276,0.00,2.20,0.00,0.000,1030,0.000,0.046,3137,2190,3437,3353,3521,0,0,0,0,0,0,28.83,26.19,28.83
$GC,307,-0.64,-146.5,3137,2190,3353,3521,44.4,-18.1,53,313,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2190,3437,3353,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,343,-0.64,-146.5,2176,2188,3343,3519,51.1,-18.5,60,350,0.00,2.20,0.00,0.000,260,0.000,0.057,3126,3599,3437,3353,3521,0,0,0,0,0,0,28.83,26.21,28.83
$GC,411,-0.64,-146.5,3126,3599,3353,3521,62.9,-16.5,73,418,0.10,2.17,0.00,0.000,3078,0.200,0.041,3146,2185,3437,3353,3521,0,0,0,0,0,0,26.13,26.27,28.83
$GC,479,-0.64,-146.5,2176,2183,3343,3519,73.5,-14.9,86,486,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2185,3436,3353,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,548,-0.64,-146.5,3146,2178,3353,3521,84.1,-15.4,99,555,0.00,2.25,0.00,0.000,260,0.000,0.056,3137,3604,3437,3353,3521,0,0,0,0,0,0,28.83,26.30,28.83
$GC,576,-0.64,-146.5,3137,3605,3353,3521,88.7,-16.2,104,582,0.00,2.17,0.00,0.000,1030,0.000,0.040,3137,2186,3437,3353,3521,0,0,0,0,0,0,28.83,26.34,28.83
$GC,646,-0.64,-146.5,3137,2186,3353,3521,99.3,-15.0,117,655,0.00,2.22,0.00,0.000,260,0.000,0.055,3127,3599,3437,3353,3521,0,0,0,0,0,0,28.83,26.33,28.83
$GC,727,-0.64,-146.5,3126,3599,3354,3521,111.4,-16.1,125,736,0.05,2.12,0.00,0.000,3078,0.187,0.040,3142,2195,3437,3353,3521,0,0,0,0,0,0,26.25,26.39,28.83
$GC,854,-0.64,-146.5,3142,2195,3353,3521,133.0,-15.9,138,855,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2195,3437,3354,3521,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,963,begin apogee
$GC,966,-0.13,0.0,3142,2196,3353,3521,150.3,-15.0,149,1079,0.52,0.00,108.47,0.708,10246,0.167,0.000,3302,2184,2837,2811,2863,0,0,0,0,0,0,26.30,28.83,24.67
$STATE,1080,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin climb
$GC,1081,0.64,146.5,3302,2185,2812,2862,155.2,0.0,160,1204,0.82,2.38,115.10,0.679,10500,0.124,0.055,3556,3593,2238,2285,2191,0,0,0,0,0,0,25.13,24.89,24.39
$GC,1216,0.64,146.5,3555,3593,2282,2190,141.1,13.8,173,1220,0.00,2.28,0.00,0.000,1030,0.000,0.040,3565,2192,2236,2282,2190,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1341,0.64,146.5,3565,2192,2281,2186,121.1,16.8,185,1345,0.00,2.20,0.00,0.000,516,0.000,0.049,3575,776,2233,2281,2186,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1409,0.64,146.5,2916,775,2248,2180,111.0,15.1,191,1416,0.00,2.25,0.00,0.000,1030,0.000,0.038,3575,2191,2231,2278,2184,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1536,0.64,146.5,2784,2190,2243,2179,89.1,16.4,210,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2192,2231,2278,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1604,0.64,146.5,3575,2192,2278,2184,78.4,14.6,223,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2192,2231,2278,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1671,0.64,146.5,2784,2190,2243,2179,68.4,15.2,236,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2192,2230,2278,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1738,0.64,146.5,3575,2192,2278,2184,58.1,15.3,249,1744,0.00,2.20,0.00,0.000,260,0.000,0.054,3575,3596,2230,2277,2184,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1756,0.64,146.5,3575,3596,2276,2184,55.1,16.4,252,1762,0.00,2.17,0.00,0.000,1030,0.000,0.037,3584,2182,2230,2276,2184,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1824,0.64,146.5,3584,2181,2276,2184,43.9,16.5,265,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2182,2230,2276,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1861,0.64,146.5,3584,2181,2276,2184,38.0,16.2,272,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2182,2230,2276,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,0.64,146.5,3584,2181,2276,2184,32.2,16.0,279,1905,0.00,2.12,0.00,0.000,516,0.000,0.047,3594,781,2230,2276,2184,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1936,0.64,146.5,3594,780,2276,2184,26.0,16.3,286,1944,0.00,2.15,0.00,0.000,1030,0.000,0.037,3594,2195,2230,2276,2184,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1975,0.64,146.5,3594,2196,2276,2184,19.2,17.3,293,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,2196,2229,2276,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2012,0.64,146.5,2832,2194,2241,2179,12.6,17.8,300,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,2196,2230,2276,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2049,0.64,146.5,3594,2196,2276,2184,6.2,17.2,307,2056,0.00,2.17,0.00,0.000,260,0.000,0.055,3594,3592,2229,2276,2183,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,2072,end climb,SURFACE_DEPTH_REACHED
$STATE,2072,begin surface coast
$FINISH,0.3,1.022604
$STATE,2083,end surface coast,CONTROL_FINISHED_OK
$STATE,2083,begin surface
$SM_CCo,2099,44.35,0.057,0,0,1815,250.21
$SM_GC,1.29,8.98,2.22,44.35,0.047,0.037,0.057,207,2183,1815,-9.81,0.79,250.21,0,0,0,0,0,0,26.32,26.32,26.27
$IRIDIUM_FIX,4751.72,-12340.51,140114,222209
$TT8_MAMPS,0.030709,0.030709
$HUMID,43.89
$INTERNAL_PRESSURE,8.9611
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,111.4,7.1
$24V_AH,24.4,0.577
$10V_AH,10.5,0.210
$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,22.225,44.150,223.575,44.350,0.000,29.469,33.511,235.067,2.500,0.000,22.798,769.954,515.562,385.653,852.661,31.230,33.209,733.096,0.000,505.481,0.000,21.330,0.000
$DEVICE_MAMPS,241.740,72.675,708.390,56.610,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,207.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323584
$DATA_FILE_SIZE,10169,313
$CAP_FILE_SIZE,55862,0
$CFSIZE,2097086464,2091941888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.063,170.6,1
$GPS,140114,233623,4743.357,-12224.813,37,1.5,37,16.6