version: 66.11
glider: 601
mission: 2
dive: 13
start: 1 15 114 5 58 1
data:
$ID,601
$MISSION,2
$DIVE,13
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1515.1659
$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,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,66
$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
$GPS1,150114,055234,4744.257,-12224.920,37,1.0,40,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-80.5
$GPS2,150114,055700,4744.278,-12224.912,5,0.8,5,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.173,-0.115
$KALMAN_X,-2917.0,-84.7,54.2,2668.8,-1041.3
$KALMAN_Y,828.5,-127.4,888.0,1155.5,797.9
$MHEAD_RNG_PITCHd_Wd,171.2,2949,-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,14,-0.51,-117.2,207,2287,1854,1785,0.0,0.0,0,77,0.00,0.00,-59.67,0.000,16390,0.000,0.000,207,2287,3335,3249,3422,0,0,0,0,0,0,28.83,28.83,26.44
$GC,79,-0.51,-117.2,207,2287,3249,3421,3.0,-2.9,11,97,11.90,2.12,0.00,0.000,2308,0.246,0.052,3171,3631,3336,3251,3422,0,0,0,0,0,0,25.86,26.08,28.83
$GC,185,-0.51,-117.2,3170,3631,3259,3415,20.1,-15.7,31,192,0.08,2.15,0.00,0.000,3078,0.196,0.042,3185,2253,3337,3261,3414,0,0,0,0,0,0,26.07,26.17,28.83
$GC,223,-0.51,-117.2,3185,2245,3263,3411,25.5,-13.8,38,230,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2245,3337,3264,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,261,-0.51,-117.2,3185,2244,3264,3411,30.8,-13.9,45,268,0.00,2.15,0.00,0.000,516,0.000,0.047,3185,827,3337,3264,3410,0,0,0,0,0,0,28.83,26.20,28.83
$GC,288,-0.51,-117.2,2208,826,3253,3408,34.5,-13.7,50,296,0.00,2.15,0.00,0.000,1030,0.000,0.044,3176,2220,3337,3264,3410,0,0,0,0,0,0,28.83,26.22,28.83
$GC,327,-0.51,-117.2,3176,2220,3265,3410,39.6,-12.4,57,334,0.00,2.25,0.00,0.000,260,0.000,0.055,3166,3662,3337,3265,3410,0,0,0,0,0,0,28.83,26.21,28.83
$GC,375,-0.51,-117.2,3166,3662,3265,3410,45.9,-12.9,66,383,0.10,2.17,0.00,0.000,3078,0.186,0.039,3187,2250,3337,3265,3410,0,0,0,0,0,0,26.14,26.27,28.83
$GC,415,-0.51,-117.2,3187,2250,3266,3409,50.6,-11.2,73,420,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2250,3337,3266,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,482,-0.51,-117.2,3187,2250,3266,3409,58.5,-11.6,86,489,0.00,2.22,0.00,0.000,260,0.000,0.057,3179,3653,3337,3266,3409,0,0,0,0,0,0,28.83,26.27,28.83
$GC,520,-0.51,-117.2,3178,3654,3266,3409,63.5,-13.3,93,527,0.00,2.17,0.00,0.000,1030,0.000,0.038,3178,2233,3337,3266,3409,0,0,0,0,0,0,28.83,26.30,28.83
$GC,588,-0.51,-117.2,3178,2225,3266,3409,72.1,-12.0,106,595,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2224,3337,3266,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,658,-0.51,-117.2,3178,2225,3267,3408,80.5,-11.8,119,664,0.00,2.25,0.00,0.000,260,0.000,0.057,3168,3654,3338,3267,3409,0,0,0,0,0,0,28.83,26.32,28.83
$GC,781,-0.51,-117.2,3168,3654,3267,3409,96.5,-12.4,143,789,0.10,2.15,0.00,0.000,3078,0.184,0.039,3191,2252,3338,3267,3409,0,0,0,0,0,0,26.27,26.39,28.83
$GC,850,-0.51,-117.2,3190,2252,3268,3408,104.6,-11.2,152,851,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2252,3338,3268,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-0.51,-117.2,3190,2252,3268,3408,117.6,-10.6,164,974,0.00,2.12,0.00,0.000,516,0.000,0.049,3191,837,3338,3268,3408,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1077,-0.51,-117.2,3191,836,3268,3408,129.2,-11.0,174,1086,0.00,2.17,0.00,0.000,1030,0.000,0.045,3182,2251,3338,3268,3408,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1206,-0.51,-117.2,3182,2251,3268,3408,143.3,-11.2,187,1210,0.00,2.17,0.00,0.000,516,0.000,0.049,3182,827,3338,3269,3408,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1264,-0.51,-117.2,2288,826,3257,3406,149.9,-12.0,192,1273,0.03,2.22,0.00,0.000,3078,0.210,0.044,3181,2249,3338,3268,3408,0,0,0,0,0,0,26.37,26.48,28.83
$GC,1392,-0.51,-117.2,3180,2251,3268,3408,164.8,-11.1,205,1396,0.00,2.17,0.00,0.000,260,0.000,0.054,3171,3663,3338,3268,3408,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1518,-0.51,-117.2,3171,3664,3269,3408,179.5,-11.5,217,1523,0.08,2.15,0.00,0.000,3078,0.196,0.037,3186,2246,3338,3268,3408,0,0,0,0,0,0,26.41,26.52,28.83
$STATE,1531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1531,begin apogee
$GC,1535,-0.13,0.0,3186,2131,3269,3408,181.2,-11.1,218,1627,0.38,0.00,87.05,0.731,10246,0.153,0.000,3305,2130,2856,2826,2886,0,0,0,0,0,0,26.39,28.83,24.79
$STATE,1628,end apogee,CONTROL_FINISHED_OK
$STATE,1629,begin climb
$GC,1630,0.51,117.2,3305,2130,2826,2886,184.4,0.0,227,1725,0.65,0.00,91.38,0.703,10246,0.122,0.000,3510,2129,2379,2415,2344,0,0,0,0,0,0,25.28,28.83,24.34
$GC,1843,0.51,117.2,3510,2130,2411,2339,166.9,9.1,249,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2130,2374,2411,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1962,0.51,117.2,3510,2130,2410,2338,156.5,9.2,261,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2130,2373,2409,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2082,0.51,117.2,3510,2130,2409,2338,145.6,9.3,273,2087,0.00,2.28,0.00,0.000,260,0.000,0.052,3510,3569,2373,2408,2338,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2108,0.51,117.2,3510,3570,2405,2337,142.9,10.3,275,2113,0.00,2.15,0.00,0.000,1030,0.000,0.037,3516,2180,2370,2405,2336,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2234,0.51,117.2,3516,2180,2406,2337,129.6,10.3,287,2238,0.00,2.15,0.00,0.000,516,0.000,0.045,3526,756,2371,2406,2337,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2322,0.51,117.2,2842,755,2378,2333,120.4,11.0,295,2330,0.00,2.20,0.00,0.000,1030,0.000,0.036,3526,2168,2372,2407,2337,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2449,0.51,117.2,3526,2169,2406,2337,105.7,11.3,308,2453,0.00,2.17,0.00,0.000,516,0.000,0.047,3533,755,2372,2407,2337,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2478,0.51,117.2,3533,755,2407,2337,102.9,11.5,310,2486,0.00,2.17,0.00,0.000,1030,0.000,0.036,3533,2155,2371,2406,2337,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2605,0.51,117.2,3533,2155,2407,2337,87.7,11.4,333,2611,0.00,2.17,0.00,0.000,260,0.000,0.051,3533,3565,2370,2406,2335,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2658,0.51,117.2,3533,3565,2404,2336,80.9,13.5,343,2665,0.00,2.15,0.00,0.000,1030,0.000,0.037,3542,2161,2370,2404,2336,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2727,0.51,117.2,2720,2159,2369,2331,72.1,13.6,356,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2160,2370,2404,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2794,0.51,117.2,3542,2161,2404,2335,63.3,12.8,369,2801,0.00,2.12,0.00,0.000,516,0.000,0.045,3551,751,2370,2405,2336,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2832,0.51,117.2,3551,751,2406,2336,58.7,11.9,376,2839,0.00,2.15,0.00,0.000,1030,0.000,0.037,3551,2169,2371,2406,2336,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2900,0.51,117.2,3551,2171,2405,2336,49.9,13.6,389,2907,0.00,2.17,0.00,0.000,260,0.000,0.051,3551,3575,2370,2405,2336,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2943,0.51,117.2,3551,3575,2404,2335,43.5,14.9,397,2950,0.00,2.15,0.00,0.000,1030,0.000,0.039,3559,2165,2370,2404,2336,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2981,0.51,117.2,3559,2164,2404,2336,38.2,13.6,404,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2164,2370,2404,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3019,0.51,117.2,3559,2164,2404,2336,33.3,12.9,411,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2164,2370,2404,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,0.51,117.2,2768,2162,2370,2331,28.8,11.6,418,3063,0.00,2.12,0.00,0.000,516,0.000,0.047,3570,754,2369,2403,2336,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3089,0.51,117.2,2784,753,2372,2331,24.4,13.3,424,3096,0.10,2.15,0.00,0.000,5126,0.174,0.037,3546,2177,2370,2405,2336,0,0,0,0,0,0,26.29,26.40,28.83
$GC,3128,0.51,117.2,3545,2178,2405,2335,19.5,12.3,431,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,2178,2370,2405,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3164,0.51,117.2,2720,2177,2371,2331,14.9,12.4,438,3172,0.00,2.20,0.00,0.000,516,0.000,0.048,3554,750,2370,2405,2336,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3215,0.51,117.2,3554,749,2405,2336,9.0,12.1,447,3222,0.00,2.15,0.00,0.000,1030,0.000,0.037,3554,2173,2370,2405,2336,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3252,0.51,117.2,2752,2172,2371,2331,4.4,11.4,454,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2173,2370,2405,2335,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3264,end climb,SURFACE_DEPTH_REACHED
$STATE,3264,begin surface coast
$FINISH,0.4,1.022117
$STATE,3286,end surface coast,CONTROL_FINISHED_OK
$STATE,3286,begin surface
$SM_CCo,3301,57.92,0.057,0,0,1836,250.21
$SM_GC,1.54,8.82,0.10,57.92,0.047,0.108,0.057,207,2274,1836,-9.81,-1.19,250.21,0,0,0,0,0,0,26.43,26.46,26.35
$IRIDIUM_FIX,4751.72,-12340.51,150114,040457
$TT8_MAMPS,0.030709,0.030709
$HUMID,42.00
$INTERNAL_PRESSURE,8.95134
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.6,7.3
$24V_AH,24.3,0.970
$10V_AH,10.6,0.410
$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,22.225,69.725,178.425,57.925,0.000,27.698,31.076,136.126,1.750,0.000,5.922,1174.840,1055.234,397.976,979.478,39.266,33.202,872.276,0.000,752.653,0.000,14.424,0.000
$DEVICE_MAMPS,245.565,107.865,730.575,56.610,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.846,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323604
$DATA_FILE_SIZE,16787,460
$CAP_FILE_SIZE,76039,0
$CFSIZE,2097086464,2091220992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055, 60.0,1
$GPS,150114,065506,4743.928,-12224.884,31,1.1,31,16.6