version: 66.11
glider: 601
mission: 2
dive: 21
start: 1 15 114 14 40 59
data:
$ID,601
$MISSION,2
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$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,57
$T_MISSION,70
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-1525.3201
$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,3385
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,40.5
$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,50
$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
$GPS1,150114,143252,4743.164,-12224.363,24,1.1,41,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-81.7
$GPS2,150114,143937,4743.111,-12224.314,5,1.1,5,16.6
$SPEED_LIMITS,0.262,0.272
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.075,0.261
$KALMAN_X,-6814.1,-743.0,363.1,7663.2,-300.8
$KALMAN_Y,-5393.2,300.5,287.0,5375.5,-788.9
$MHEAD_RNG_PITCHd_Wd,327.3,1582,-9.0,-7.018,-14.47,4731
$D_GRID,120
$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,-0.46,-195.4,203,2284,1852,1785,0.0,0.0,0,67,0.00,0.00,-49.62,0.000,16386,0.000,0.000,204,2283,3052,2975,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.46,-195.4,203,2284,2975,3130,3.0,-7.6,9,105,11.77,2.25,-15.77,0.000,18948,0.237,0.064,3208,843,3655,3551,3760,0,0,0,0,0,0,25.82,26.05,26.35
$GC,261,-0.46,-195.4,3208,842,3551,3761,30.5,-15.0,46,269,0.10,2.15,0.00,0.000,3078,0.185,0.046,3223,2229,3655,3550,3761,0,0,0,0,0,0,26.07,26.17,28.83
$GC,301,-0.46,-195.4,3223,2230,3550,3761,36.3,-15.1,53,306,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2230,3656,3551,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,338,-0.46,-195.4,3223,2230,3551,3761,41.6,-13.5,60,344,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2230,3656,3551,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,375,-0.46,-195.4,3223,2230,3551,3761,46.5,-12.2,67,381,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2230,3656,3551,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,412,-0.46,-195.4,2272,2229,3546,3760,51.2,-12.4,74,417,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2231,3656,3551,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,479,-0.46,-195.4,3223,2231,3549,3761,59.2,-12.2,87,485,0.00,2.22,0.00,0.000,260,0.000,0.057,3214,3656,3656,3551,3761,0,0,0,0,0,0,28.83,26.25,28.83
$GC,522,-0.46,-195.4,3214,3655,3552,3761,64.7,-13.5,95,528,0.00,2.15,0.00,0.000,1030,0.000,0.037,3214,2252,3655,3550,3761,0,0,0,0,0,0,28.83,26.29,28.83
$GC,590,-0.46,-195.4,3213,2252,3551,3761,74.0,-13.2,108,597,0.00,2.12,0.00,0.000,516,0.000,0.046,3214,834,3656,3551,3761,0,0,0,0,0,0,28.83,26.31,28.83
$GC,663,-0.46,-195.4,2256,834,3546,3760,84.0,-13.0,122,669,0.00,2.17,0.00,0.000,1030,0.000,0.044,3206,2251,3656,3551,3762,0,0,0,0,0,0,28.83,26.34,28.83
$GC,731,-0.46,-195.4,3206,2252,3550,3761,93.3,-13.7,135,737,0.00,2.17,0.00,0.000,260,0.000,0.055,3196,3657,3655,3550,3761,0,0,0,0,0,0,28.83,26.32,28.83
$GC,764,-0.46,-195.4,3196,3657,3551,3761,98.1,-14.3,141,771,0.10,2.15,0.00,0.000,3078,0.168,0.037,3219,2250,3656,3551,3762,0,0,0,0,0,0,26.27,26.37,28.83
$GC,833,-0.46,-195.4,3219,2250,3551,3761,107.2,-12.8,149,842,0.00,2.10,0.00,0.000,516,0.000,0.042,3219,836,3656,3551,3761,0,0,0,0,0,0,28.83,26.36,28.83
$GC,867,-0.46,-195.4,3219,835,3550,3761,111.3,-13.3,152,875,0.00,2.22,0.00,0.000,1030,0.000,0.042,3213,2255,3656,3551,3761,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,942,begin apogee
$GC,946,-0.12,0.0,3213,2137,3551,3761,121.2,-12.2,160,1097,0.35,0.00,144.35,0.689,10246,0.138,0.000,3327,2136,2857,2834,2880,0,0,0,0,0,0,26.29,28.83,24.44
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1098,begin climb
$GC,1100,0.46,195.4,3326,2136,2835,2880,127.0,0.0,175,1266,0.57,2.25,154.90,0.664,10756,0.115,0.050,3516,773,2058,2121,1996,0,0,0,0,0,0,24.93,24.75,24.25
$GC,1297,0.46,195.4,3516,772,2118,1991,112.2,8.2,195,1301,0.00,2.22,0.00,0.000,1030,0.000,0.035,3516,2174,2054,2118,1991,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1422,0.46,195.4,3516,2173,2117,1990,102.0,8.1,207,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2173,2053,2117,1990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1543,0.48,207.3,3516,2173,2116,1990,93.7,6.8,228,1561,0.00,2.28,10.12,0.578,8708,0.000,0.050,3520,778,2012,2077,1947,0,0,0,0,0,0,28.83,25.69,25.18
$GC,1583,0.50,230.3,3520,778,2076,1947,90.9,6.5,235,1614,0.00,2.15,21.38,0.624,9222,0.000,0.035,3521,2169,1916,1987,1846,0,0,0,0,0,0,28.83,25.76,25.02
$GC,1676,0.51,236.7,3520,2169,1986,1844,85.4,6.9,252,1688,0.00,0.00,6.50,0.507,8198,0.000,0.000,3521,2169,1890,1963,1818,0,0,0,0,0,0,28.83,28.83,25.11
$GC,1750,0.54,260.6,2704,2167,1932,1815,80.7,6.5,266,1780,0.08,2.25,22.23,0.639,10756,0.138,0.048,3560,773,1793,1871,1716,0,0,0,0,0,0,25.80,25.49,25.01
$GC,1806,0.54,260.6,2768,773,1841,1711,75.9,8.4,276,1814,0.00,2.17,0.00,0.000,1030,0.000,0.034,3560,2174,1791,1869,1714,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1876,0.54,260.6,3559,2175,1869,1714,68.8,10.9,289,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2175,1791,1869,1714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1942,0.54,260.6,2768,2173,1840,1711,61.5,10.8,302,1949,0.00,2.20,0.00,0.000,516,0.000,0.046,3567,764,1790,1868,1713,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1985,0.54,260.6,3567,764,1866,1712,57.2,9.7,310,1991,0.00,2.15,0.00,0.000,1030,0.000,0.034,3567,2169,1788,1865,1712,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2053,0.54,260.6,3567,2171,1866,1712,49.8,11.8,323,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2171,1789,1866,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2089,0.54,260.6,2768,2169,1837,1708,45.3,12.8,330,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2170,1789,1866,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2127,0.54,260.6,3567,2170,1866,1712,40.6,12.7,337,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2171,1788,1866,1711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,0.54,260.6,3567,2170,1866,1712,36.0,12.8,344,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2171,1789,1866,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,0.54,260.6,3567,2170,1866,1712,31.4,12.3,351,2208,0.00,2.17,0.00,0.000,516,0.000,0.047,3572,766,1789,1866,1712,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2224,0.54,260.6,3571,766,1864,1712,28.4,13.2,355,2231,0.00,2.12,0.00,0.000,1030,0.000,0.035,3572,2163,1787,1864,1711,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2262,0.54,260.6,3571,2164,1864,1711,23.3,14.1,362,2269,0.00,2.17,0.00,0.000,260,0.000,0.049,3571,3572,1787,1864,1711,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2281,0.54,260.6,3571,3572,1864,1710,20.5,14.9,365,2287,0.00,2.12,0.00,0.000,1030,0.000,0.034,3576,2180,1787,1864,1711,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2319,0.54,260.6,3576,2181,1864,1711,14.7,15.5,372,2326,0.00,2.15,0.00,0.000,516,0.000,0.046,3585,758,1787,1864,1711,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2378,0.54,260.6,3585,757,1863,1709,5.4,14.0,383,2384,0.00,2.15,0.00,0.000,1030,0.000,0.035,3586,2172,1786,1863,1710,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,2399,end climb,SURFACE_DEPTH_REACHED
$STATE,2400,begin surface coast
$FINISH,0.4,1.010225
$STATE,2421,end surface coast,CONTROL_FINISHED_OK
$STATE,2421,begin surface
$SM_CCo,2496,0.00,0.000,0,0,1782,263.70
$SM_GC,1.59,8.95,0.10,0.00,0.044,0.102,0.000,202,2285,1782,-9.87,-1.22,263.70,0,0,0,0,0,0,26.20,26.23,28.83
$IRIDIUM_FIX,4751.72,-12340.51,150114,141452
$TT8_MAMPS,0.02996,0.02996
$HUMID,42.16
$INTERNAL_PRESSURE,8.94157
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.8,7.4
$24V_AH,24.3,1.410
$10V_AH,10.5,0.638
$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,21.925,52.575,359.475,0.000,0.000,50.387,83.377,134.316,2.000,0.000,5.956,931.607,591.930,452.192,930.918,34.506,33.201,895.865,0.000,625.875,0.000,17.245,0.000
$DEVICE_MAMPS,237.150,101.745,689.265,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323568
$DATA_FILE_SIZE,13504,391
$CAP_FILE_SIZE,64198,1
$CFSIZE,2097086464,2090467328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.039, 80.1,1
$GPS,150114,152335,4743.483,-12224.360,28,0.9,28,16.6