version: 66.11
glider: 601
mission: 2
dive: 10
start: 1 15 114 2 51 17
data:
$ID,601
$MISSION,2
$DIVE,10
$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,-1503.6536
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,150114,024229,4744.150,-12224.894,39,1.4,39,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-81.0
$GPS2,150114,025016,4744.217,-12224.836,4,1.2,5,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.051,-0.201
$KALMAN_X,-1417.9,-356.5,345.8,1249.6,-268.1
$KALMAN_Y,951.2,-2048.6,-164.8,3873.6,1260.4
$MHEAD_RNG_PITCHd_Wd,179.3,2809,-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,-117.2,202,2260,1851,1785,0.0,0.0,0,72,0.00,0.00,-55.15,0.000,16386,0.000,0.000,202,2259,3200,3115,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.51,-117.2,202,2260,3116,3285,3.2,-7.7,10,99,11.85,2.28,-3.30,0.000,18692,0.241,0.074,3168,3646,3336,3264,3409,0,0,0,0,0,0,25.72,25.94,26.22
$GC,275,-0.51,-117.2,3168,3646,3266,3409,32.6,-14.3,49,284,0.10,2.15,0.00,0.000,3078,0.181,0.041,3190,2260,3337,3266,3408,0,0,0,0,0,0,26.01,26.14,28.83
$GC,315,-0.51,-117.2,3189,2260,3268,3408,38.0,-13.2,56,321,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2259,3338,3268,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,351,-0.51,-117.2,2216,2257,3256,3406,42.8,-13.1,63,357,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2260,3338,3268,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,389,-0.51,-117.2,3190,2260,3268,3408,47.8,-13.5,70,395,0.00,2.22,0.00,0.000,260,0.000,0.057,3181,3656,3338,3268,3408,0,0,0,0,0,0,28.83,26.17,28.83
$GC,486,-0.51,-117.2,3181,3656,3269,3408,60.7,-12.8,89,494,0.00,2.17,0.00,0.000,1030,0.000,0.038,3181,2243,3338,3269,3408,0,0,0,0,0,0,28.83,26.26,28.83
$GC,557,-0.51,-117.2,3181,2243,3269,3408,68.9,-12.2,102,563,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2243,3338,3269,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,623,-0.51,-117.2,2208,2241,3257,3406,77.2,-12.3,115,629,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2243,3338,3269,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,690,-0.51,-117.2,3181,2243,3268,3408,84.4,-10.4,128,699,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2243,3338,3269,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,761,-0.51,-117.2,3181,2243,3269,3408,91.8,-10.5,141,767,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2243,3338,3269,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,829,-0.51,-117.2,3181,2243,3269,3407,99.2,-10.5,154,835,0.00,2.12,0.00,0.000,516,0.000,0.048,3181,832,3338,3269,3408,0,0,0,0,0,0,28.83,26.35,28.83
$GC,895,-0.51,-117.2,3181,832,3269,3408,106.9,-12.1,161,904,0.05,2.22,0.00,0.000,3078,0.183,0.045,3187,2247,3338,3269,3408,0,0,0,0,0,0,26.25,26.38,28.83
$GC,1023,-0.51,-117.2,3186,2248,3269,3408,121.3,-10.8,174,1031,0.00,2.17,0.00,0.000,516,0.000,0.049,3186,828,3338,3269,3408,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1072,-0.51,-117.2,3187,828,3269,3408,127.3,-11.9,179,1076,0.00,2.17,0.00,0.000,1030,0.000,0.044,3178,2250,3338,3268,3408,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1198,-0.51,-117.2,3178,2250,3269,3408,143.1,-12.8,191,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2250,3338,3269,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1318,-0.51,-117.2,3178,2250,3269,3407,157.2,-10.7,203,1322,0.00,2.17,0.00,0.000,260,0.000,0.054,3168,3665,3338,3269,3408,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,1502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1502,begin apogee
$GC,1508,-0.13,0.0,3167,2181,3270,3407,180.2,-11.7,221,1604,0.45,0.00,87.18,0.731,10246,0.157,0.000,3306,2181,2857,2827,2887,0,0,0,0,0,0,26.36,28.83,24.79
$STATE,1604,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1606,0.51,117.2,3306,2181,2827,2887,183.7,0.0,231,1704,0.68,0.00,91.05,0.703,10246,0.122,0.000,3515,2171,2380,2416,2345,0,0,0,0,0,0,25.28,28.83,24.34
$GC,1823,0.51,117.2,3515,2172,2414,2341,164.1,10.7,253,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2172,2377,2414,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1943,0.51,117.2,3515,2171,2412,2340,152.3,9.7,265,1947,0.00,2.28,0.00,0.000,260,0.000,0.053,3515,3593,2376,2412,2340,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1982,0.51,117.2,3515,3593,2409,2339,148.8,9.5,268,1989,0.00,2.22,0.00,0.000,1030,0.000,0.037,3524,2196,2374,2409,2340,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2109,0.51,117.2,3523,2196,2409,2340,135.7,9.0,281,2113,0.00,2.17,0.00,0.000,516,0.000,0.050,3532,780,2374,2409,2339,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2134,0.51,117.2,3532,779,2409,2340,133.2,9.2,283,2138,0.00,2.17,0.00,0.000,1030,0.000,0.037,3532,2194,2374,2409,2340,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2259,0.51,117.2,3532,2195,2409,2339,118.5,12.9,295,2263,0.00,2.20,0.00,0.000,516,0.000,0.049,3542,777,2374,2409,2339,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2308,0.51,117.2,3542,776,2409,2339,112.8,12.4,299,2315,0.00,2.20,0.00,0.000,1030,0.000,0.037,3542,2185,2374,2410,2339,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2435,0.51,117.2,3542,2186,2409,2338,96.6,12.5,314,2442,0.00,2.17,0.00,0.000,516,0.000,0.047,3550,772,2374,2410,2339,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2473,0.51,117.2,3549,772,2409,2339,91.7,13.2,321,2481,0.00,2.17,0.00,0.000,1030,0.000,0.037,3550,2199,2374,2409,2339,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2543,0.51,117.2,3550,2200,2410,2339,82.5,13.4,334,2549,0.00,2.15,0.00,0.000,260,0.000,0.052,3550,3590,2374,2409,2339,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2570,0.51,117.2,2768,3589,2373,2333,78.8,14.1,339,2576,0.00,2.15,0.00,0.000,1030,0.000,0.037,3559,2183,2372,2407,2338,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2638,0.51,117.2,3559,2181,2407,2339,69.8,13.4,352,2644,0.00,2.12,0.00,0.000,516,0.000,0.047,3569,772,2373,2407,2339,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2666,0.51,117.2,3569,772,2408,2339,65.9,14.0,357,2674,0.10,2.15,0.00,0.000,5126,0.174,0.035,3545,2193,2373,2408,2339,0,0,0,0,0,0,26.20,26.31,28.83
$GC,2737,0.51,117.2,3545,2194,2408,2338,57.4,10.6,370,2743,0.00,2.15,0.00,0.000,260,0.000,0.048,3545,3598,2373,2408,2338,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2789,0.51,117.2,3545,3598,2406,2338,50.4,14.2,380,2796,0.00,2.15,0.00,0.000,1030,0.000,0.035,3553,2177,2372,2406,2338,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2858,0.51,117.2,3553,2177,2406,2338,40.9,14.7,393,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2177,2372,2406,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2895,0.51,117.2,3553,2177,2406,2338,35.4,13.5,400,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2177,2372,2406,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2932,0.51,117.2,2752,2175,2373,2333,31.0,11.9,407,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2177,2372,2406,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2969,0.51,117.2,3553,2177,2407,2338,26.5,11.7,414,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2177,2372,2406,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3006,0.51,117.2,3553,2177,2406,2338,22.1,11.9,421,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2177,2372,2406,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3044,0.51,117.2,3553,2177,2406,2338,17.2,13.0,428,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2177,2372,2406,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3080,0.51,117.2,2752,2175,2373,2333,12.7,12.2,435,3087,0.00,2.10,0.00,0.000,516,0.000,0.047,3563,775,2372,2407,2338,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3148,0.51,117.2,3563,775,2408,2338,4.9,11.7,448,3155,0.00,2.15,0.00,0.000,1030,0.000,0.037,3563,2201,2373,2408,2338,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,3165,end climb,SURFACE_DEPTH_REACHED
$STATE,3165,begin surface coast
$FINISH,0.6,1.022535
$STATE,3186,end surface coast,CONTROL_FINISHED_OK
$STATE,3186,begin surface
$SM_CCo,3201,57.85,0.057,0,0,1835,250.21
$SM_GC,1.47,8.80,0.05,57.85,0.044,0.160,0.057,204,2253,1835,-9.82,-1.19,250.21,0,0,0,0,0,0,26.43,26.51,26.35
$IRIDIUM_FIX,4751.72,-12340.51,150114,010106
$TT8_MAMPS,0.02996,0.02996
$HUMID,42.43
$INTERNAL_PRESSURE,8.95134
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,116.0,7.1
$24V_AH,24.3,0.811
$10V_AH,10.5,0.325
$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,22.025,56.800,178.225,57.850,0.000,24.688,33.936,333.086,2.500,0.000,5.925,1140.681,1006.930,398.807,1158.870,41.540,33.198,860.183,0.000,738.526,0.000,20.072,0.000
$DEVICE_MAMPS,240.975,159.885,730.575,56.610,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,304.455,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323728
$DATA_FILE_SIZE,16768,455
$CAP_FILE_SIZE,75009,0
$CFSIZE,2097086464,2091515904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.218, 16.2,1
$GPS,150114,034635,4744.222,-12224.876,25,1.1,25,16.6