version: 66.11
glider: 601
mission: 1
dive: 4
start: 12 18 113 21 9 5
data:
$ID,601
$MISSION,1
$DIVE,4
$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,-961.49445
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,181213,210429,4743.154,-12224.594,3,1.2,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-77.0
$GPS2,181213,210806,4743.131,-12224.596,5,1.2,6,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.240
$KALMAN_X,528.0,239.2,324.0,-889.9,206.7
$KALMAN_Y,-591.6,-14.0,-70.7,1358.2,-220.5
$MHEAD_RNG_PITCHd_Wd,321.0,1446,-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,-146.6,208,2198,2077,2016,0.0,0.0,0,67,0.00,0.00,-49.97,0.000,16386,0.000,0.000,209,2198,3332,3258,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.64,-146.6,208,2198,3258,3407,3.4,-8.8,9,88,11.55,2.33,-2.30,0.000,18692,0.240,0.080,3137,3603,3436,3371,3502,0,0,0,0,0,0,25.96,26.18,26.46
$GC,114,-0.64,-146.6,2144,3602,3362,3500,14.2,-21.0,17,122,0.10,2.25,0.00,0.000,3078,0.197,0.054,3158,2174,3437,3372,3502,0,0,0,0,0,0,26.09,26.22,28.83
$GC,153,-0.64,-146.6,3158,2167,3372,3502,21.0,-17.1,24,159,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2167,3437,3373,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,190,-0.64,-146.6,3158,2166,3373,3502,27.0,-16.1,31,196,0.00,2.15,0.00,0.000,516,0.000,0.057,3158,776,3437,3373,3502,0,0,0,0,0,0,28.83,26.25,28.83
$GC,228,-0.64,-146.6,3158,775,3373,3501,33.3,-16.6,38,234,0.00,2.22,0.00,0.000,1030,0.000,0.059,3149,2188,3437,3372,3502,0,0,0,0,0,0,28.83,26.28,28.83
$GC,266,-0.64,-146.6,3149,2187,3373,3501,39.5,-16.3,45,272,0.00,2.22,0.00,0.000,260,0.000,0.061,3138,3607,3437,3373,3501,0,0,0,0,0,0,28.83,26.27,28.83
$GC,304,-0.64,-146.6,3138,3607,3373,3501,45.8,-16.9,52,311,0.10,2.22,0.00,0.000,3078,0.192,0.054,3159,2187,3437,3373,3501,0,0,0,0,0,0,26.18,26.31,28.83
$GC,342,-0.64,-146.6,3159,2179,3373,3501,52.0,-15.3,59,348,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2178,3437,3373,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,409,-0.64,-146.6,3158,2179,3373,3501,62.6,-15.4,72,415,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2179,3437,3373,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,477,-0.64,-146.6,3159,2179,3373,3501,72.6,-14.4,85,482,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2178,3437,3373,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,544,-0.64,-146.6,3158,2179,3373,3501,81.8,-13.2,98,550,0.00,2.25,0.00,0.000,260,0.000,0.065,3150,3601,3437,3373,3501,0,0,0,0,0,0,28.83,26.37,28.83
$GC,598,-0.64,-146.6,3149,3602,3374,3501,89.5,-14.0,108,607,0.00,2.20,0.00,0.000,1030,0.000,0.052,3149,2182,3437,3373,3501,0,0,0,0,0,0,28.83,26.41,28.83
$GC,668,-0.64,-146.6,3149,2178,3373,3501,98.9,-13.2,121,674,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2178,3437,3373,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,740,-0.64,-146.6,3149,2178,3373,3501,108.8,-14.3,129,745,0.00,2.25,0.00,0.000,260,0.000,0.064,3139,3602,3437,3373,3501,0,0,0,0,0,0,28.83,26.41,28.83
$GC,780,-0.64,-146.6,3138,3601,3374,3502,114.1,-13.9,132,791,0.05,2.22,0.00,0.000,3078,0.177,0.053,3153,2193,3437,3374,3501,0,0,0,0,0,0,26.32,26.45,28.83
$GC,908,-0.64,-146.6,3153,2193,3373,3501,133.4,-14.9,145,912,0.00,2.17,0.00,0.000,516,0.000,0.057,3154,773,3437,3373,3501,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,1035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1036,begin apogee
$GC,1041,-0.13,0.0,3144,2196,3373,3501,151.5,-15.0,157,1228,0.57,0.00,166.30,0.684,10246,0.158,0.000,3317,2197,2838,2823,2853,0,0,0,0,2,0,26.35,28.83,24.54
$STATE,1228,end apogee,CONTROL_FINISHED_OK
$STATE,1229,begin climb
$GC,1230,0.64,146.6,3317,2197,2823,2853,156.6,0.0,176,1479,0.77,2.42,188.25,0.662,11012,0.116,0.063,3576,783,2239,2302,2177,0,0,1,0,10,0,25.11,25.05,24.43
$GC,1553,0.64,146.6,2864,782,2266,2172,113.7,16.0,208,1561,0.00,2.30,0.00,0.000,1030,0.000,0.044,3576,2196,2236,2297,2175,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1681,0.64,146.6,3576,2197,2297,2173,92.2,16.5,225,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2197,2235,2297,2173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1748,0.64,146.6,3576,2196,2298,2173,81.0,16.2,238,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2196,2235,2298,2173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1815,0.64,146.6,3576,2197,2297,2173,70.1,16.4,251,1821,0.00,2.20,0.00,0.000,260,0.000,0.058,3577,3599,2234,2297,2172,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1853,0.64,146.6,3576,3598,2294,2172,63.5,17.9,258,1859,0.00,2.22,0.00,0.000,1030,0.000,0.050,3586,2194,2233,2295,2172,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1921,0.64,146.6,3585,2187,2295,2172,52.3,16.2,271,1927,0.00,2.22,0.00,0.000,516,0.000,0.064,3596,776,2234,2295,2173,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1974,0.64,146.6,2816,776,2259,2167,43.6,16.6,281,1981,0.00,2.20,0.00,0.000,1030,0.000,0.047,3597,2191,2233,2295,2172,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2012,0.64,146.6,3596,2190,2295,2172,36.9,17.8,288,2019,0.00,2.20,0.00,0.000,260,0.000,0.057,3597,3600,2234,2295,2173,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2035,0.64,146.6,3596,3600,2293,2173,32.8,18.0,292,2042,0.00,2.22,0.00,0.000,1030,0.000,0.052,3607,2190,2232,2293,2172,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2073,0.64,146.6,3607,2181,2293,2172,25.9,18.4,299,2080,0.00,2.20,0.00,0.000,516,0.000,0.060,3617,771,2233,2293,2173,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2116,0.64,146.6,3617,771,2293,2173,18.0,18.4,307,2123,0.08,2.20,0.00,0.000,5126,0.197,0.047,3603,2195,2232,2293,2172,0,0,0,0,0,0,26.15,26.26,28.83
$GC,2155,0.64,146.6,3603,2196,2293,2172,11.7,16.3,314,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2196,2232,2293,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2192,0.64,146.6,3603,2197,2292,2173,5.1,18.9,321,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2196,2232,2293,2172,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2202,end climb,SURFACE_DEPTH_REACHED
$STATE,2202,begin surface coast
$FINISH,0.5,1.023105
$STATE,2214,end surface coast,CONTROL_FINISHED_OK
$STATE,2214,begin surface
$SM_CCo,2228,17.05,0.057,0,0,2062,190.11
$SM_GC,2.57,9.00,0.00,17.05,0.048,0.000,0.057,211,2197,2062,-9.85,0.20,190.11,0,0,0,0,0,0,26.32,28.83,26.28
$IRIDIUM_FIX,4751.72,-12340.51,181213,202048
$TT8_MAMPS,0.030709,0.030709
$HUMID,38.62
$INTERNAL_PRESSURE,8.85368
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.6,55.2
$24V_AH,24.4,0.772
$10V_AH,10.5,0.346
$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,22.225,49.200,354.550,17.050,0.000,0.000,0.000,0.000,3.250,0.000,6.806,725.977,487.941,477.662,591.262,26.687,32.245,895.248,0.000,573.276,0.000,22.625,0.000
$DEVICE_MAMPS,240.210,79.560,683.910,56.610,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13492,325
$CAP_FILE_SIZE,72081,0
$CFSIZE,2097086464,2093187072
$ERRORS,0,7,0,0,0,0,0,0,0,0,0,0,1,12,1,0
$GPS,181213,214736,4743.279,-12224.836,32,1.5,32,16.6