version: 66.11
glider: 601
mission: 2
dive: 8
start: 1 15 114 0 48 11
data:
$ID,601
$MISSION,2
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,86
$T_MISSION,100
$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,120
$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,-1501.1359
$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,2250
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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,2857
$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
$GPS1,150114,003954,4743.808,-12224.673,42,1.0,42,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-80.9
$GPS2,150114,004708,4743.828,-12224.624,4,0.8,4,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.049,0.110
$KALMAN_X,-748.9,-465.9,-86.0,1383.8,34.7
$KALMAN_Y,-1814.2,-598.8,-155.4,4466.8,-426.9
$MHEAD_RNG_PITCHd_Wd,264.3,257,-26.7,-6.977,-30.00,806
$D_GRID,180
$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,-0.75,-36.9,199,2254,1833,1765,0.0,0.0,0,66,0.00,0.00,-49.83,0.000,16390,0.000,0.000,199,2255,3008,2935,3082,0,0,0,0,0,0,28.83,28.83,26.34
$GC,68,-0.75,-42.3,199,2255,2935,3082,2.7,-6.3,9,86,11.55,0.00,-0.60,0.000,18438,0.241,0.000,3101,2241,3029,2962,3097,0,0,0,0,0,0,25.77,28.83,26.17
$GC,118,-0.77,-56.7,2112,2240,2941,3093,6.0,-5.1,18,125,0.00,2.22,-1.48,0.000,16900,0.000,0.063,3103,825,3088,3029,3147,0,0,0,0,0,0,28.83,26.03,26.27
$GC,131,-0.79,-72.0,3102,826,3029,3146,6.6,-5.0,20,140,0.00,2.25,-1.55,0.000,17414,0.000,0.048,3094,2256,3151,3092,3211,0,0,0,0,0,0,28.83,26.04,26.27
$GC,171,-0.79,-72.0,3093,2256,3093,3211,9.6,-9.0,27,177,0.00,2.20,0.00,0.000,260,0.000,0.057,3083,3658,3152,3092,3212,0,0,0,0,0,0,28.83,26.06,28.83
$GC,259,-0.79,-72.0,3083,3657,3093,3213,20.3,-11.5,44,267,0.08,2.20,0.00,0.000,3078,0.209,0.044,3096,2251,3152,3092,3213,0,0,0,0,0,0,26.03,26.15,28.83
$GC,298,-0.79,-72.0,3095,2251,3093,3213,24.6,-11.0,51,305,0.00,2.25,0.00,0.000,260,0.000,0.057,3087,3663,3152,3092,3212,0,0,0,0,0,0,28.83,26.15,28.83
$GC,341,-0.79,-72.0,3086,3663,3093,3213,29.8,-12.2,59,347,0.00,2.20,0.00,0.000,1030,0.000,0.043,3087,2250,3153,3093,3213,0,0,0,0,0,0,28.83,26.20,28.83
$GC,378,-0.79,-72.0,2112,2248,3074,3210,34.5,-12.4,66,384,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2250,3153,3093,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,416,-0.79,-72.0,3086,2250,3092,3213,39.0,-11.7,73,422,0.00,2.15,0.00,0.000,516,0.000,0.050,3087,837,3153,3093,3213,0,0,0,0,0,0,28.83,26.22,28.83
$GC,443,-0.79,-72.0,2096,836,3074,3210,42.4,-12.2,78,450,0.10,2.20,0.00,0.000,3078,0.228,0.048,3095,2251,3152,3092,3213,0,0,0,0,0,0,26.09,26.25,28.83
$GC,482,-0.79,-72.0,3096,2252,3092,3213,47.4,-13.2,85,489,0.00,2.20,0.00,0.000,516,0.000,0.053,3096,837,3153,3093,3213,0,0,0,0,0,0,28.83,26.25,28.83
$GC,520,-0.79,-72.0,3096,836,3093,3213,52.6,-13.4,92,527,0.00,2.20,0.00,0.000,1030,0.000,0.047,3087,2254,3153,3093,3213,0,0,0,0,0,0,28.83,26.27,28.83
$GC,589,-0.79,-72.0,3087,2254,3093,3213,61.2,-11.8,105,595,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2254,3153,3093,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,656,-0.79,-72.0,2112,2253,3074,3210,68.3,-10.0,118,662,0.00,2.20,0.00,0.000,516,0.000,0.052,3087,829,3153,3093,3213,0,0,0,0,0,0,28.83,26.32,28.83
$GC,760,-0.79,-72.0,2048,828,3073,3210,80.3,-12.9,138,767,0.10,2.20,0.00,0.000,3078,0.224,0.046,3097,2256,3153,3093,3213,0,0,0,0,0,0,26.21,26.36,28.83
$GC,829,-0.79,-72.0,3097,2256,3093,3213,88.8,-11.4,151,836,0.00,2.20,0.00,0.000,516,0.000,0.050,3098,826,3153,3093,3213,0,0,0,0,0,0,28.83,26.36,28.83
$GC,923,-0.79,-72.0,3097,826,3092,3213,98.7,-9.9,169,930,0.00,2.20,0.00,0.000,1030,0.000,0.047,3089,2251,3153,3093,3213,0,0,0,0,0,0,28.83,26.40,28.83
$GC,993,-0.79,-72.0,3089,2252,3093,3213,105.1,-9.1,177,1001,0.00,2.17,0.00,0.000,260,0.000,0.055,3077,3659,3153,3093,3213,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1229,-0.79,-72.0,3077,3659,3093,3213,128.7,-9.9,200,1238,0.05,2.22,0.00,0.000,3078,0.181,0.041,3092,2239,3153,3093,3213,0,0,0,0,0,0,26.33,26.48,28.83
$GC,1357,-0.79,-72.0,3091,2239,3093,3213,140.9,-9.1,213,1361,0.00,2.10,0.00,0.000,516,0.000,0.048,3092,837,3153,3093,3213,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1385,-0.79,-72.0,3092,837,3093,3213,143.2,-8.9,215,1394,0.03,2.22,0.00,0.000,3078,0.243,0.048,3090,2249,3153,3093,3213,0,0,0,0,0,0,26.36,26.49,28.83
$GC,1512,-0.79,-72.0,3090,2249,3093,3213,155.3,-9.3,228,1517,0.00,2.15,0.00,0.000,516,0.000,0.050,3090,841,3153,3093,3213,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1598,-0.79,-72.0,3090,840,3093,3213,163.2,-9.6,236,1603,0.08,2.15,0.00,0.000,3078,0.246,0.044,3095,2250,3153,3093,3213,0,0,0,0,0,0,26.37,26.52,28.83
$GC,1723,-0.79,-72.0,3094,2251,3093,3213,173.0,-7.8,248,1727,0.00,2.15,0.00,0.000,260,0.000,0.054,3084,3655,3153,3093,3213,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,1807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1807,begin apogee
$GC,1813,-0.13,0.0,3084,2186,3093,3213,180.6,-8.8,256,1872,0.75,0.00,54.05,0.732,10246,0.184,0.000,3303,2176,2856,2822,2891,0,0,0,0,0,0,26.36,28.83,25.20
$STATE,1873,end apogee,CONTROL_FINISHED_OK
$STATE,1873,begin climb
$GC,1874,0.79,72.0,3303,2176,2823,2891,182.8,0.0,262,1941,0.93,2.28,55.08,0.706,10756,0.125,0.044,3611,781,2562,2567,2558,0,0,0,0,0,0,25.66,25.21,24.68
$GC,1966,0.79,72.0,3611,781,2566,2558,173.2,15.0,271,1973,0.00,2.28,0.00,0.000,1030,0.000,0.038,3611,2187,2561,2566,2557,0,0,0,0,0,0,28.83,25.43,28.83
$GC,2092,0.79,72.0,3611,2188,2566,2556,150.5,15.6,284,2097,0.00,2.25,0.00,0.000,260,0.000,0.054,3611,3607,2561,2566,2556,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2109,0.79,72.0,3610,3606,2566,2556,148.0,15.6,285,2117,0.00,2.22,0.00,0.000,1030,0.000,0.039,3621,2182,2561,2566,2556,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2238,0.79,72.0,3620,2182,2566,2555,122.3,19.0,298,2242,0.00,2.25,0.00,0.000,260,0.000,0.052,3621,3598,2560,2566,2555,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2264,0.79,72.0,3620,3599,2566,2555,117.0,20.0,300,2268,0.00,2.20,0.00,0.000,1030,0.000,0.038,3630,2184,2561,2566,2556,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2389,0.79,72.0,3630,2184,2566,2556,92.3,18.9,316,2396,0.00,2.25,0.00,0.000,260,0.000,0.051,3631,3605,2561,2566,2556,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2413,0.79,72.0,3630,3604,2565,2556,87.9,18.4,320,2421,0.00,2.17,0.00,0.000,1030,0.000,0.038,3641,2189,2560,2566,2555,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2483,0.79,72.0,3640,2189,2565,2555,74.6,19.0,333,2489,0.00,2.12,0.00,0.000,516,0.000,0.046,3651,780,2560,2566,2555,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2557,0.79,72.0,3651,779,2565,2556,60.7,18.6,347,2563,0.00,2.17,0.00,0.000,1030,0.000,0.037,3651,2206,2560,2565,2555,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2625,0.79,72.0,3651,2206,2565,2556,48.1,17.3,360,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,3651,2206,2560,2565,2555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2662,0.79,72.0,3651,2206,2565,2555,41.3,18.0,367,2669,0.00,2.20,0.00,0.000,516,0.000,0.047,3661,775,2560,2565,2555,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2730,0.79,72.0,3661,775,2565,2556,27.7,20.8,380,2738,0.10,2.15,0.00,0.000,5126,0.196,0.037,3641,2190,2560,2565,2555,0,0,0,0,0,0,26.15,26.29,28.83
$GC,2770,0.79,72.0,3640,2191,2565,2555,20.6,17.3,387,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2191,2560,2565,2555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2806,0.79,72.0,3640,2191,2565,2555,13.9,18.4,394,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2191,2560,2565,2556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2843,0.79,72.0,3640,2191,2565,2555,6.8,18.9,401,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,3640,2191,2560,2565,2555,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2869,end climb,SURFACE_DEPTH_REACHED
$STATE,2869,begin surface coast
$FINISH,0.3,1.022767
$STATE,2886,end surface coast,CONTROL_FINISHED_OK
$STATE,2886,begin surface
$SM_CCo,2902,75.75,0.056,0,0,1837,250.21
$SM_GC,1.47,9.15,0.08,75.75,0.051,0.122,0.056,208,2258,1837,-9.81,-1.13,250.21,0,0,0,0,0,0,26.34,26.40,26.25
$IRIDIUM_FIX,4751.72,-12340.51,140114,232324
$TT8_MAMPS,0.030709,0.030709
$HUMID,43.69
$INTERNAL_PRESSURE,8.9611
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.2,7.2
$24V_AH,24.7,0.688
$10V_AH,10.5,0.266
$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,22.900,74.975,109.125,75.750,0.000,28.700,35.828,294.466,2.500,0.000,5.883,1072.478,891.333,349.689,1084.929,36.016,33.204,787.896,0.000,693.560,0.000,20.089,0.000
$DEVICE_MAMPS,246.330,121.635,732.105,55.845,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.815,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323608
$DATA_FILE_SIZE,16855,409
$CAP_FILE_SIZE,75767,0
$CFSIZE,2097086464,2091712512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116, 20.5,1
$GPS,150114,013901,4744.061,-12224.886,38,2.0,38,16.6