version: 66.11
glider: 601
mission: 1
dive: 3
start: 12 18 113 20 6 2
data:
$ID,601
$MISSION,1
$DIVE,3
$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,-900.44098
$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,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,26
$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,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,3
$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
$GPS1,181213,200134,4743.107,-12224.325,3,1.4,23,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.9
$GPS2,181213,200504,4743.099,-12224.303,5,1.4,5,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.181,0.187
$KALMAN_X,388.9,225.7,281.1,-337.7,346.2
$KALMAN_Y,-122.7,-25.1,-50.9,822.9,-89.5
$MHEAD_RNG_PITCHd_Wd,299.3,1608,-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,15,-0.64,-146.6,209,2203,2073,2022,0.0,0.0,0,67,0.00,0.00,-49.60,0.000,16386,0.000,0.000,209,2203,3339,3269,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.64,-146.6,209,2203,3269,3409,3.3,-7.5,9,88,11.68,2.33,-2.17,0.000,18692,0.244,0.079,3140,3609,3435,3372,3499,0,0,0,0,0,0,25.96,26.20,26.47
$GC,100,-0.64,-146.6,3140,3609,3375,3499,10.9,-24.1,14,107,0.08,2.25,0.00,0.000,3078,0.214,0.053,3153,2178,3437,3375,3499,0,0,0,0,0,0,26.10,26.22,28.83
$GC,139,-0.64,-146.6,3152,2171,3375,3499,17.5,-15.9,21,144,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2171,3437,3376,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,176,-0.64,-146.6,3152,2171,3375,3499,23.2,-16.0,28,181,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2171,3437,3375,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,212,-0.64,-146.6,3152,2171,3375,3498,28.7,-14.7,35,219,0.00,2.28,0.00,0.000,260,0.000,0.064,3143,3600,3436,3374,3499,0,0,0,0,0,0,28.83,26.26,28.83
$GC,272,-0.64,-146.6,3143,3601,3376,3499,37.4,-14.2,46,279,0.05,2.20,0.00,0.000,3078,0.229,0.051,3153,2188,3437,3376,3499,0,0,0,0,0,0,26.22,26.32,28.83
$GC,310,-0.64,-146.6,3153,2180,3376,3499,43.4,-14.6,53,316,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2181,3437,3375,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,347,-0.64,-146.6,3153,2180,3376,3499,49.0,-15.3,60,353,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2180,3437,3376,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,384,-0.64,-146.6,3152,2180,3376,3499,54.8,-15.3,67,391,0.00,2.25,0.00,0.000,260,0.000,0.063,3144,3603,3437,3375,3499,0,0,0,0,0,0,28.83,26.34,28.83
$GC,417,-0.64,-146.6,3143,3603,3376,3499,59.9,-16.4,73,424,0.00,2.20,0.00,0.000,1030,0.000,0.050,3144,2188,3437,3376,3499,0,0,0,0,0,0,28.83,26.37,28.83
$GC,485,-0.64,-146.6,3143,2179,3375,3498,71.1,-16.5,86,491,0.05,0.00,0.00,0.000,2054,0.253,0.000,3153,2179,3437,3376,3499,0,0,0,0,0,0,26.40,28.83,28.83
$GC,554,-0.64,-146.6,3153,2179,3376,3499,81.9,-15.5,99,560,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2179,3437,3376,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,621,-0.64,-146.6,3152,2179,3376,3499,91.6,-14.4,112,627,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2179,3437,3376,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,694,-0.64,-146.6,3152,2179,3375,3499,102.1,-14.6,125,698,0.00,2.25,0.00,0.000,260,0.000,0.063,3143,3607,3437,3376,3499,0,0,0,0,0,0,28.83,26.42,28.83
$GC,731,-0.64,-146.6,3143,3607,3376,3499,107.7,-15.1,128,736,0.05,2.20,0.00,0.000,3078,0.223,0.050,3153,2183,3437,3376,3498,0,0,0,0,0,0,26.36,26.46,28.83
$GC,856,-0.64,-146.6,3154,2175,3375,3498,127.4,-15.6,140,860,0.00,2.12,0.00,0.000,516,0.000,0.055,3154,780,3436,3374,3499,0,0,0,0,0,0,28.83,26.46,28.83
$GC,939,-0.64,-146.6,3153,779,3376,3498,140.5,-15.9,147,946,0.00,2.25,0.00,0.000,1030,0.000,0.057,3145,2186,3437,3376,3499,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,1005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1005,begin apogee
$GC,1008,-0.13,0.0,3145,2186,3376,3498,151.6,-15.4,154,1187,0.55,0.00,163.95,0.623,10246,0.160,0.000,3313,2186,2837,2821,2853,0,0,0,0,1,0,26.36,28.83,24.62
$STATE,1188,end apogee,CONTROL_FINISHED_OK
$STATE,1188,begin climb
$GC,1189,0.64,146.6,3313,2186,2821,2853,158.4,0.0,172,1452,0.77,2.33,193.02,0.781,11012,0.116,0.056,3573,780,2240,2300,2180,0,0,0,0,12,0,25.19,25.11,24.37
$GC,1533,0.64,146.6,3573,779,2296,2179,116.7,15.1,206,1537,0.00,2.25,0.00,0.000,1030,0.000,0.046,3573,2198,2237,2296,2179,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1658,0.64,146.6,3573,2199,2296,2176,97.7,14.4,219,1665,0.00,2.22,0.00,0.000,260,0.000,0.057,3573,3600,2236,2296,2176,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1691,0.64,146.6,3573,3600,2293,2175,92.3,17.8,225,1698,0.00,2.22,0.00,0.000,1030,0.000,0.050,3583,2197,2234,2293,2175,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1759,0.64,146.6,2816,2188,2257,2171,80.9,16.1,238,1765,0.00,2.22,0.00,0.000,516,0.000,0.060,3593,771,2234,2293,2176,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1796,0.64,146.6,3593,771,2292,2175,74.5,16.4,245,1803,0.00,2.22,0.00,0.000,1030,0.000,0.047,3593,2200,2234,2293,2175,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1865,0.64,146.6,3593,2201,2291,2175,62.8,18.4,258,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2201,2234,2293,2175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1932,0.64,146.6,3593,2201,2292,2175,51.4,16.3,271,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2201,2234,2293,2175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2000,0.64,146.6,3593,2201,2293,2174,39.9,17.4,284,2006,0.00,2.25,0.00,0.000,516,0.000,0.061,3603,774,2234,2293,2176,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2023,0.64,146.6,3603,774,2293,2175,35.4,18.8,288,2029,0.00,2.17,0.00,0.000,1030,0.000,0.045,3603,2191,2234,2293,2175,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2061,0.64,146.6,3603,2191,2292,2175,28.6,18.4,295,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2191,2233,2292,2175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2098,0.64,146.6,3603,2191,2293,2175,21.3,19.0,302,2104,0.00,2.22,0.00,0.000,516,0.000,0.061,3613,776,2233,2292,2175,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2130,0.64,146.6,3613,776,2292,2174,15.3,18.3,308,2137,0.00,2.17,0.00,0.000,1030,0.000,0.045,3614,2189,2233,2292,2175,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2168,0.64,146.6,3613,2189,2292,2175,8.2,19.1,315,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2189,2233,2292,2175,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2194,end climb,SURFACE_DEPTH_REACHED
$STATE,2194,begin surface coast
$FINISH,0.7,1.023102
$STATE,2206,end surface coast,CONTROL_FINISHED_OK
$STATE,2206,begin surface
$SM_CCo,2221,17.10,0.057,0,0,2061,190.11
$SM_GC,2.72,9.18,0.00,17.10,0.057,0.000,0.057,209,2189,2061,-9.87,-0.03,190.11,0,0,0,0,0,0,26.35,28.83,26.31
$IRIDIUM_FIX,4751.72,-12340.51,181213,191948
$TT8_MAMPS,0.030709,0.030709
$HUMID,39.32
$INTERNAL_PRESSURE,8.86344
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.6,50.3
$24V_AH,24.4,0.669
$10V_AH,10.5,0.316
$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,22.400,44.625,356.975,17.100,0.000,0.000,0.000,0.000,3.500,0.000,5.808,721.803,492.996,477.984,580.792,27.055,31.319,888.928,0.000,563.762,0.000,25.524,0.000
$DEVICE_MAMPS,253.215,78.795,781.065,57.375,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,211.369,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323616
$DATA_FILE_SIZE,13484,322
$CAP_FILE_SIZE,66866,0
$CFSIZE,2097086464,2093350912
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,181213,204405,4743.251,-12224.691,12,1.4,12,16.6