version: 66.11
glider: 601
mission: 2
dive: 15
start: 1 15 114 8 3 26
data:
$ID,601
$MISSION,2
$DIVE,15
$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,-1517.6766
$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,3380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,40
$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,38
$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
$GPS1,150114,075536,4743.441,-12224.692,31,1.1,31,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-80.0
$GPS2,150114,080226,4743.410,-12224.729,5,1.0,5,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.205,0.034
$KALMAN_X,-4379.4,161.7,-426.5,4596.2,-1130.1
$KALMAN_Y,-1771.1,1855.4,317.5,736.2,-1206.6
$MHEAD_RNG_PITCHd_Wd,77.3,1709,-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,-0.49,-117.2,198,2269,1852,1785,0.0,0.0,0,82,0.00,0.00,-60.33,0.000,16390,0.000,0.000,198,2269,3333,3246,3421,0,0,0,0,0,0,28.83,28.83,26.41
$GC,84,-0.49,-117.2,198,2269,3247,3421,3.2,-3.3,12,102,12.00,2.20,0.00,0.000,2308,0.245,0.054,3188,3649,3335,3249,3421,0,0,0,0,0,0,25.82,26.03,28.83
$GC,329,-0.49,-117.2,3188,3649,3260,3413,34.1,-10.4,60,337,0.08,2.17,0.00,0.000,3078,0.196,0.044,3201,2256,3336,3261,3412,0,0,0,0,0,0,26.12,26.22,28.83
$GC,367,-0.49,-117.2,2240,2254,3253,3406,38.2,-10.9,67,375,0.00,2.22,0.00,0.000,260,0.000,0.058,3193,3649,3336,3265,3408,0,0,0,0,0,0,28.83,26.20,28.83
$GC,421,-0.49,-117.2,2240,3648,3253,3406,44.2,-11.6,77,428,0.00,2.17,0.00,0.000,1030,0.000,0.041,3193,2248,3336,3265,3408,0,0,0,0,0,0,28.83,26.26,28.83
$GC,460,-0.49,-117.2,3193,2247,3265,3408,48.4,-10.6,84,465,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2247,3337,3266,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,497,-0.49,-117.2,3193,2247,3265,3408,52.7,-11.2,91,503,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2248,3337,3266,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,566,-0.49,-117.2,3193,2248,3266,3408,60.2,-10.4,104,572,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2248,3337,3266,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,633,-0.49,-117.2,2224,2246,3253,3406,67.3,-10.5,117,639,0.00,2.12,0.00,0.000,516,0.000,0.047,3193,834,3337,3266,3408,0,0,0,0,0,0,28.83,26.32,28.83
$GC,645,-0.49,-117.2,3192,834,3265,3408,68.5,-10.2,119,653,0.10,2.17,0.00,0.000,3078,0.198,0.046,3205,2245,3337,3266,3408,0,0,0,0,0,0,26.21,26.33,28.83
$GC,716,-0.49,-117.2,3205,2245,3266,3408,75.5,-10.1,132,723,0.00,2.20,0.00,0.000,260,0.000,0.057,3196,3658,3337,3266,3408,0,0,0,0,0,0,28.83,26.32,28.83
$GC,753,-0.49,-117.2,2224,3657,3255,3406,79.4,-10.8,139,761,0.00,2.17,0.00,0.000,1030,0.000,0.040,3196,2243,3337,3267,3408,0,0,0,0,0,0,28.83,26.36,28.83
$GC,824,-0.49,-117.2,3196,2242,3268,3408,86.4,-9.4,152,831,0.00,2.12,0.00,0.000,516,0.000,0.049,3196,828,3337,3268,3407,0,0,0,0,0,0,28.83,26.36,28.83
$GC,933,-0.49,-117.2,2240,827,3255,3405,97.7,-9.5,173,940,0.08,2.20,0.00,0.000,3078,0.219,0.045,3201,2257,3337,3268,3407,0,0,0,0,0,0,26.28,26.39,28.83
$GC,1002,-0.49,-117.2,3201,2257,3268,3407,103.6,-8.3,182,1006,0.00,2.17,0.00,0.000,260,0.000,0.055,3192,3664,3337,3268,3407,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1061,-0.49,-117.2,3192,3663,3268,3407,109.1,-9.7,187,1065,0.00,2.17,0.00,0.000,1030,0.000,0.038,3192,2235,3337,3268,3407,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1186,-0.49,-117.2,3192,2235,3268,3407,121.5,-9.6,199,1190,0.00,2.25,0.00,0.000,260,0.000,0.056,3182,3664,3337,3268,3406,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1224,-0.49,-117.2,2280,3663,3257,3405,125.3,-10.6,202,1233,0.05,2.20,0.00,0.000,3078,0.166,0.037,3198,2252,3337,3268,3406,0,0,0,0,0,0,26.35,26.46,28.83
$GC,1352,-0.49,-117.2,3197,2253,3269,3407,137.9,-9.2,215,1356,0.00,2.20,0.00,0.000,260,0.000,0.056,3189,3656,3337,3269,3406,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1438,-0.49,-117.2,3189,3656,3268,3407,145.8,-8.7,223,1442,0.08,2.15,0.00,0.000,3078,0.195,0.038,3203,2247,3338,3269,3407,0,0,0,0,0,0,26.39,26.48,28.83
$GC,1563,-0.49,-117.2,3203,2247,3269,3406,156.6,-9.2,235,1567,0.00,2.10,0.00,0.000,516,0.000,0.044,3204,834,3337,3269,3406,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1668,-0.49,-117.2,3204,833,3269,3406,166.9,-10.0,245,1672,0.00,2.17,0.00,0.000,1030,0.000,0.044,3195,2257,3337,3269,3406,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1793,-0.49,-117.2,3195,2258,3269,3406,178.6,-9.2,257,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2258,3337,3269,3406,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1812,begin apogee
$GC,1816,-0.12,0.0,3195,2146,3269,3406,180.6,-9.1,259,1908,0.40,0.00,86.80,0.731,10246,0.150,0.000,3321,2146,2857,2828,2887,0,0,0,0,0,0,26.41,28.83,24.82
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1910,0.49,117.2,3321,2145,2828,2887,183.1,0.0,268,2009,0.62,2.38,91.28,0.705,10500,0.117,0.050,3520,3568,2377,2413,2342,0,0,0,0,0,0,25.29,24.84,24.32
$GC,2032,0.49,117.2,3520,3568,2409,2341,173.0,11.3,280,2036,0.00,2.25,0.00,0.000,1030,0.000,0.037,3529,2166,2375,2409,2341,0,0,0,0,0,0,28.83,25.10,28.83
$GC,2157,0.49,117.2,3528,2165,2407,2338,158.9,11.3,292,2161,0.00,2.20,0.00,0.000,516,0.000,0.047,3538,752,2373,2407,2339,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2243,0.49,117.2,3538,752,2407,2338,149.0,11.4,300,2252,0.00,2.20,0.00,0.000,1030,0.000,0.037,3538,2171,2372,2407,2337,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2372,0.49,117.2,3538,2172,2407,2336,132.6,12.7,313,2376,0.00,2.17,0.00,0.000,260,0.000,0.051,3539,3565,2371,2407,2336,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2410,0.49,117.2,2866,3564,2374,2331,127.9,12.7,316,2418,0.00,2.22,0.00,0.000,1030,0.000,0.040,3547,2168,2369,2403,2336,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2538,0.49,117.2,3547,2167,2404,2336,111.5,13.0,329,2542,0.00,2.17,0.00,0.000,516,0.000,0.048,3558,750,2370,2404,2336,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2593,0.49,117.2,3557,749,2405,2336,104.2,13.0,334,2597,0.00,2.17,0.00,0.000,1030,0.000,0.038,3557,2170,2370,2405,2336,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2718,0.49,117.2,3557,2171,2405,2335,87.5,13.4,355,2725,0.00,2.17,0.00,0.000,260,0.000,0.052,3557,3567,2369,2404,2335,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2781,0.49,117.2,2768,3566,2367,2330,78.3,14.4,367,2789,0.00,2.17,0.00,0.000,1030,0.000,0.041,3567,2156,2369,2403,2335,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2851,0.49,117.2,3567,2155,2403,2335,68.7,13.2,380,2857,0.00,2.12,0.00,0.000,516,0.000,0.047,3577,752,2369,2403,2335,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2903,0.49,117.2,3576,752,2404,2335,61.5,13.5,390,2911,0.10,2.15,0.00,0.000,5126,0.174,0.036,3552,2172,2369,2404,2335,0,0,0,0,0,0,26.17,26.27,28.83
$GC,2972,0.49,117.2,3552,2172,2404,2335,52.1,13.6,403,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2172,2369,2404,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3041,0.49,117.2,3552,2172,2404,2335,43.7,13.2,416,3047,0.00,2.20,0.00,0.000,516,0.000,0.050,3561,753,2369,2404,2335,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3068,0.49,117.2,2768,752,2370,2330,40.1,13.3,421,3075,0.00,2.15,0.00,0.000,1030,0.000,0.036,3561,2172,2369,2404,2335,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3107,0.49,117.2,3561,2173,2404,2335,35.1,13.5,428,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2173,2369,2404,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3144,0.49,117.2,3561,2173,2404,2335,30.1,13.5,435,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2173,2369,2404,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3182,0.49,117.2,3561,2173,2404,2334,25.2,13.1,442,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2173,2369,2404,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3218,0.49,117.2,2784,2171,2371,2330,20.3,13.6,449,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2173,2369,2404,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3256,0.49,117.2,3561,2173,2404,2335,15.4,13.0,456,3262,0.00,2.15,0.00,0.000,260,0.000,0.051,3561,3566,2369,2404,2335,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3283,0.49,117.2,2784,3565,2368,2330,11.7,13.7,461,3290,0.08,2.15,0.00,0.000,5126,0.200,0.039,3556,2161,2368,2402,2335,0,0,0,0,0,0,26.27,26.38,28.83
$GC,3322,0.49,117.2,3556,2161,2403,2335,6.2,13.7,468,3329,0.00,2.12,0.00,0.000,516,0.000,0.047,3566,754,2369,2403,2335,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,3349,end climb,SURFACE_DEPTH_REACHED
$STATE,3349,begin surface coast
$FINISH,0.7,1.022243
$STATE,3369,end surface coast,CONTROL_FINISHED_OK
$STATE,3370,begin surface
$SM_CCo,3387,57.95,0.057,0,0,1836,250.21
$SM_GC,1.48,8.88,2.33,57.95,0.047,0.036,0.057,205,2250,1836,-9.84,-1.22,250.21,0,0,0,0,0,0,26.39,26.39,26.31
$IRIDIUM_FIX,4751.72,-12340.51,150114,070740
$TT8_MAMPS,0.030709,0.030709
$HUMID,41.61
$INTERNAL_PRESSURE,8.95134
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.9,7.3
$24V_AH,24.3,1.071
$10V_AH,10.5,0.467
$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,22.450,78.875,178.075,57.950,0.000,58.575,81.132,135.090,1.750,0.000,5.855,1215.916,1119.156,387.231,1113.114,39.738,33.198,892.765,0.000,800.785,0.000,14.426,0.000
$DEVICE_MAMPS,244.800,72.675,731.340,56.610,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323580
$DATA_FILE_SIZE,20098,477
$CAP_FILE_SIZE,78890,0
$CFSIZE,2097086464,2091024384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.180,205.1,1
$GPS,150114,090206,4743.046,-12224.413,41,0.8,41,16.6