version: 66.11
glider: 601
mission: 2
dive: 9
start: 1 15 114 1 48 8
data:
$ID,601
$MISSION,2
$DIVE,9
$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,-1502.3944
$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,40
$R_STBD_OVSHOOT,44
$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
$GPS1,150114,013901,4744.061,-12224.886,38,2.0,38,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-81.1
$GPS2,150114,014707,4744.122,-12224.859,14,0.8,14,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.023,-0.207
$KALMAN_X,-1069.4,-413.4,142.5,1132.9,-81.1
$KALMAN_Y,-1667.4,-930.2,20.6,5020.9,-196.9
$MHEAD_RNG_PITCHd_Wd,173.9,2634,-13.9,-6.977,-18.56,2536
$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,15,-0.51,-117.2,208,2261,1848,1787,0.0,0.0,0,72,0.00,0.00,-55.20,0.000,16386,0.000,0.000,208,2261,3179,3096,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.51,-117.2,207,2262,3096,3263,3.1,-7.2,10,99,11.88,2.22,-4.10,0.000,18692,0.241,0.075,3170,3642,3336,3267,3406,0,0,0,0,0,0,25.70,25.91,26.22
$GC,325,-0.51,-117.2,2208,3641,3256,3404,39.4,-13.6,59,332,0.08,2.15,0.00,0.000,3078,0.197,0.041,3184,2258,3337,3268,3406,0,0,0,0,0,0,26.05,26.15,28.83
$GC,364,-0.51,-117.2,3184,2257,3268,3406,44.6,-13.2,66,371,0.00,2.22,0.00,0.000,260,0.000,0.057,3175,3651,3337,3269,3405,0,0,0,0,0,0,28.83,26.14,28.83
$GC,592,-0.51,-117.2,2208,3650,3257,3404,71.7,-10.6,111,598,0.00,2.17,0.00,0.000,1030,0.000,0.042,3176,2250,3337,3269,3406,0,0,0,0,0,0,28.83,26.28,28.83
$GC,660,-0.51,-117.2,3176,2250,3269,3406,79.6,-11.7,124,666,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2250,3337,3269,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,729,-0.51,-117.2,3175,2250,3269,3406,87.4,-10.9,137,735,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2250,3337,3269,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,800,-0.51,-117.2,3175,2250,3269,3406,95.4,-12.4,150,807,0.00,2.15,0.00,0.000,516,0.000,0.048,3176,831,3337,3269,3406,0,0,0,0,0,0,28.83,26.33,28.83
$GC,876,-0.51,-117.2,3175,831,3269,3406,105.8,-13.3,160,884,0.08,2.22,0.00,0.000,3078,0.163,0.044,3189,2244,3337,3269,3405,0,0,0,0,0,0,26.24,26.37,28.83
$GC,1003,-0.51,-117.2,3189,2244,3269,3406,118.6,-8.9,173,1007,0.00,2.20,0.00,0.000,260,0.000,0.056,3180,3664,3337,3269,3406,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1179,-0.51,-117.2,3180,3663,3269,3406,138.6,-12.0,190,1183,0.00,2.17,0.00,0.000,1030,0.000,0.039,3180,2242,3337,3269,3406,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1304,-0.51,-117.2,3180,2236,3270,3405,153.2,-13.4,202,1308,0.00,2.22,0.00,0.000,260,0.000,0.056,3170,3658,3338,3270,3406,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1343,-0.51,-117.2,3169,3658,3270,3405,157.9,-12.8,205,1352,0.05,2.20,0.00,0.000,3078,0.165,0.040,3185,2250,3337,3269,3405,0,0,0,0,0,0,26.34,26.46,28.83
$GC,1470,-0.51,-117.2,3185,2250,3270,3405,172.2,-11.7,218,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2251,3337,3269,3406,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1539,begin apogee
$GC,1542,-0.13,0.0,3185,2162,3270,3405,180.3,-11.1,225,1634,0.38,0.00,87.15,0.729,10246,0.154,0.000,3304,2162,2857,2826,2888,0,0,0,0,0,0,26.36,28.83,24.79
$STATE,1635,end apogee,CONTROL_FINISHED_OK
$STATE,1636,begin climb
$GC,1637,0.51,117.2,3304,2162,2826,2887,184.8,0.0,234,1735,0.68,2.40,91.20,0.705,10500,0.125,0.051,3516,3593,2378,2413,2343,0,0,0,0,0,0,25.25,24.86,24.37
$GC,1749,0.51,117.2,2788,3592,2378,2338,177.2,9.7,245,1759,0.00,2.30,0.00,0.000,1030,0.000,0.037,3524,2205,2375,2409,2342,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1878,0.51,117.2,3523,2205,2409,2338,162.1,11.5,258,1882,0.00,2.22,0.00,0.000,516,0.000,0.048,3530,775,2374,2409,2339,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1936,0.51,117.2,3530,774,2408,2337,155.3,12.4,263,1943,0.00,2.25,0.00,0.000,1030,0.000,0.037,3530,2189,2373,2408,2338,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2063,0.51,117.2,3530,2188,2407,2337,139.2,12.5,276,2067,0.00,2.22,0.00,0.000,260,0.000,0.053,3531,3602,2372,2408,2337,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2089,0.51,117.2,3530,3602,2403,2336,135.8,12.7,278,2093,0.00,2.20,0.00,0.000,1030,0.000,0.038,3539,2178,2370,2405,2336,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2214,0.51,117.2,3538,2178,2405,2336,120.8,11.5,290,2218,0.00,2.15,0.00,0.000,516,0.000,0.049,3548,777,2370,2405,2336,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2253,0.51,117.2,3548,777,2405,2337,116.1,12.8,293,2261,0.00,2.22,0.00,0.000,1030,0.000,0.037,3548,2196,2371,2405,2337,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2379,0.51,117.2,2752,2194,2371,2331,98.3,13.0,307,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2196,2370,2405,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2446,0.51,117.2,3548,2196,2404,2336,89.0,13.8,320,2452,0.00,2.20,0.00,0.000,516,0.000,0.050,3558,782,2370,2405,2336,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2483,0.51,117.2,2752,782,2370,2331,84.1,13.5,327,2490,0.00,2.15,0.00,0.000,1030,0.000,0.037,3558,2191,2370,2405,2336,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2551,0.51,117.2,3557,2192,2405,2336,74.2,14.4,340,2557,0.00,2.20,0.00,0.000,260,0.000,0.053,3558,3602,2370,2404,2336,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2578,0.51,117.2,2784,3601,2368,2331,70.0,15.9,345,2586,0.08,2.17,0.00,0.000,5126,0.200,0.040,3553,2186,2369,2403,2336,0,0,0,0,0,0,26.17,26.27,28.83
$GC,2650,0.51,117.2,3553,2186,2402,2336,60.1,13.9,358,2656,0.00,2.15,0.00,0.000,516,0.000,0.049,3562,770,2369,2403,2336,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2687,0.51,117.2,3562,769,2404,2336,54.9,12.9,365,2695,0.00,2.17,0.00,0.000,1030,0.000,0.037,3562,2201,2370,2404,2336,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2757,0.51,117.2,3562,2202,2404,2335,45.6,13.3,378,2763,0.00,2.17,0.00,0.000,260,0.000,0.053,3562,3600,2369,2402,2336,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2814,0.51,117.2,2784,3599,2367,2331,37.1,15.0,389,2822,0.10,2.15,0.00,0.000,5126,0.186,0.038,3549,2185,2368,2402,2335,0,0,0,0,0,0,26.22,26.33,28.83
$GC,2854,0.51,117.2,3548,2185,2402,2335,31.8,12.6,396,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2185,2369,2402,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2890,0.51,117.2,2752,2183,2368,2331,27.2,13.0,403,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2185,2368,2402,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2928,0.51,117.2,3549,2185,2402,2336,22.6,12.2,410,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2185,2368,2401,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2965,0.51,117.2,3549,2185,2402,2335,18.1,11.8,417,2972,0.00,2.12,0.00,0.000,516,0.000,0.048,3558,780,2369,2402,2336,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3018,0.51,117.2,2768,779,2369,2331,11.7,12.3,427,3024,0.00,2.15,0.00,0.000,1030,0.000,0.037,3558,2199,2369,2404,2335,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3056,0.51,117.2,3558,2199,2403,2336,7.3,11.7,434,3063,0.00,2.20,0.00,0.000,516,0.000,0.048,3567,777,2369,2403,2335,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,3093,end climb,SURFACE_DEPTH_REACHED
$STATE,3093,begin surface coast
$FINISH,0.5,1.022487
$STATE,3114,end surface coast,CONTROL_FINISHED_OK
$STATE,3114,begin surface
$SM_CCo,3131,57.20,0.057,0,0,1835,250.21
$SM_GC,1.24,8.90,2.30,57.20,0.048,0.035,0.057,201,2258,1835,-9.83,-0.90,250.21,0,0,0,0,0,0,26.41,26.42,26.34
$IRIDIUM_FIX,4751.72,-12340.51,150114,000004
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.03
$INTERNAL_PRESSURE,8.9611
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.4,7.4
$24V_AH,24.4,0.750
$10V_AH,10.5,0.296
$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,22.200,66.175,178.350,57.200,0.000,27.488,32.432,342.954,1.250,0.000,15.309,1122.412,988.351,369.157,1176.246,40.088,33.196,830.095,0.000,739.875,0.000,11.309,0.000
$DEVICE_MAMPS,240.975,101.745,729.045,56.610,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.184,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323700
$DATA_FILE_SIZE,16819,445
$CAP_FILE_SIZE,73496,0
$CFSIZE,2097086464,2091614208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.202, 16.4,1
$GPS,150114,024229,4744.150,-12224.894,39,1.4,39,16.6