version: 66.11
glider: 601
mission: 1
dive: 2
start: 12 18 113 19 25 34
data:
$ID,601
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,300
$D_NO_BLEED,100
$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,50
$T_MISSION,65
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51614
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,190
$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,-845.67865
$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,3395
$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,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3860
$C_VBD,2837
$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,-48.792126
$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,12
$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
$GPS1,181213,192052,4743.003,-12224.354,3,1.6,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-74.1
$GPS2,181213,192437,4742.993,-12224.313,5,1.6,5,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.166,0.200
$KALMAN_X,135.6,135.6,135.6,129.4,257.1
$KALMAN_Y,45.1,45.1,45.1,279.1,85.4
$MHEAD_RNG_PITCHd_Wd,303.7,1785,-17.5,-10.000,-21.04,2225
$D_GRID,150
$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,-0.64,-146.6,209,2198,1200,1021,0.0,0.0,0,109,0.00,0.00,-92.35,0.000,16386,0.000,0.000,209,2199,3383,3315,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.64,-146.6,209,2199,3315,3452,3.3,-7.3,17,130,11.68,0.00,-1.15,0.000,18694,0.243,0.000,3164,2197,3436,3375,3497,0,0,0,0,0,0,26.00,28.83,26.49
$GC,161,-0.64,-146.6,3164,2197,3376,3497,14.5,-17.8,26,167,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2197,3436,3376,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,198,-0.64,-146.6,3164,2197,3376,3497,20.0,-14.5,33,205,0.00,2.22,0.00,0.000,260,0.000,0.063,3155,3603,3436,3376,3497,0,0,0,0,0,0,28.83,26.28,28.83
$GC,247,-0.64,-146.6,3155,3603,3376,3497,27.1,-14.5,42,254,0.08,2.22,0.00,0.000,3078,0.203,0.053,3168,2183,3437,3377,3497,0,0,0,0,0,0,26.22,26.33,28.83
$GC,286,-0.64,-146.6,3168,2175,3376,3497,32.7,-13.8,49,291,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2175,3436,3376,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,323,-0.64,-146.6,3168,2175,3376,3497,37.9,-13.9,56,328,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2175,3436,3376,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,360,-0.64,-146.6,3168,2175,3376,3497,43.4,-14.9,63,365,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2174,3436,3376,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,397,-0.64,-146.6,3168,2175,3376,3497,49.0,-15.1,70,402,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2175,3436,3376,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,434,-0.64,-146.6,3168,2175,3376,3497,54.3,-14.5,77,439,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2175,3437,3376,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,502,-0.64,-146.6,3168,2175,3376,3496,63.4,-13.5,90,507,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2175,3436,3376,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,569,-0.64,-146.6,3168,2175,3377,3497,72.8,-13.8,103,575,0.00,2.25,0.00,0.000,260,0.000,0.064,3159,3601,3436,3376,3497,0,0,0,0,0,0,28.83,26.41,28.83
$GC,607,-0.64,-146.6,3159,3601,3377,3497,78.2,-14.2,110,613,0.00,2.20,0.00,0.000,1030,0.000,0.052,3159,2185,3436,3376,3497,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,626,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,627,begin apogee
$GC,630,-0.13,0.0,3159,2177,3376,3497,80.7,-14.1,113,797,0.55,0.00,161.30,0.580,10246,0.161,0.000,3328,2176,2837,2817,2857,0,0,0,0,0,0,26.29,28.83,24.68
$STATE,798,end apogee,CONTROL_FINISHED_OK
$STATE,798,begin climb
$GC,799,0.64,146.6,3328,2176,2817,2857,86.4,0.0,144,1040,0.77,0.00,185.32,0.614,10502,0.112,0.000,3580,2176,2238,2292,2184,0,0,0,0,9,0,25.18,28.83,24.63
$GC,1102,0.64,146.6,3580,2176,2292,2180,49.7,14.5,201,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2176,2235,2291,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1139,0.64,146.6,3580,2176,2292,2179,44.4,14.2,208,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2176,2235,2292,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1176,0.64,146.6,3580,2176,2291,2179,38.8,15.1,215,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2176,2235,2291,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1213,0.64,146.6,3580,2176,2291,2179,33.2,15.2,222,1219,0.00,2.28,0.00,0.000,260,0.000,0.057,3580,3601,2234,2291,2178,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1235,0.64,146.6,3580,3601,2289,2178,29.4,16.2,226,1242,0.00,2.22,0.00,0.000,1030,0.000,0.050,3590,2193,2233,2289,2178,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1274,0.64,146.6,3590,2184,2289,2178,23.3,16.5,233,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2184,2233,2288,2178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1310,0.64,146.6,3590,2184,2289,2178,17.1,16.2,240,1317,0.00,2.20,0.00,0.000,516,0.000,0.059,3600,777,2233,2289,2178,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1374,0.64,146.6,3600,777,2289,2178,6.5,15.7,252,1380,0.00,2.20,0.00,0.000,1030,0.000,0.045,3600,2194,2233,2288,2178,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,1395,end climb,SURFACE_DEPTH_REACHED
$STATE,1396,begin surface coast
$FINISH,0.3,1.022980
$STATE,1412,end surface coast,CONTROL_FINISHED_OK
$STATE,1412,begin surface
$SM_CCo,1427,16.58,0.056,0,0,2062,190.11
$SM_GC,2.12,9.10,0.00,16.58,0.050,0.000,0.056,209,2202,2062,-9.91,0.34,190.11,0,0,0,0,0,0,26.17,28.83,26.15
$IRIDIUM_FIX,4751.72,-12340.51,181213,191931
$TT8_MAMPS,0.02996,0.02996
$HUMID,38.38
$INTERNAL_PRESSURE,8.87321
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,6.8
$24V_AH,24.6,0.574
$10V_AH,10.6,0.290
$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,22.175,17.800,346.625,16.575,0.000,0.000,0.000,0.000,0.500,0.000,5.813,459.674,177.108,465.330,385.353,19.261,30.087,773.108,0.000,381.506,0.000,5.453,0.000
$DEVICE_MAMPS,243.270,64.260,613.530,55.845,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,164.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323628
$DATA_FILE_SIZE,10173,259
$CAP_FILE_SIZE,52721,0
$CFSIZE,2097086464,2093481984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,181213,195014,4743.139,-12224.399,3,1.5,3,16.6