version: 66.11
glider: 601
mission: 1
dive: 5
start: 12 18 113 22 11 28
data:
$ID,601
$MISSION,1
$DIVE,5
$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,1.0236
$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,-981.35217
$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,22
$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,110
$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
$GPS1,181213,220701,4743.153,-12224.849,3,1.0,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-75.9
$GPS2,181213,221029,4743.129,-12224.854,5,1.0,5,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.004,0.260
$KALMAN_X,485.2,262.0,339.9,-1205.7,4.7
$KALMAN_Y,-1282.9,-35.5,-40.8,2039.2,-374.2
$MHEAD_RNG_PITCHd_Wd,344.4,1429,-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,-146.5,210,2204,2080,2014,0.0,0.0,0,67,0.00,0.00,-49.70,0.000,16386,0.000,0.000,210,2205,3328,3254,3402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.64,-146.5,210,2205,3254,3402,3.4,-8.1,9,93,11.60,2.35,-2.47,0.000,18948,0.243,0.080,3147,775,3436,3371,3502,0,0,0,0,0,0,25.95,26.17,26.46
$GC,99,-0.64,-146.5,3147,775,3372,3503,10.3,-22.8,14,106,0.10,2.25,0.00,0.000,3078,0.212,0.060,3158,2185,3437,3371,3503,0,0,0,0,0,0,26.06,26.18,28.83
$GC,137,-0.64,-146.5,3158,2185,3372,3503,16.3,-15.4,21,143,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2185,3437,3372,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,174,-0.64,-146.5,3158,2185,3372,3503,22.2,-16.6,28,180,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2185,3437,3372,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,211,-0.64,-146.5,3158,2185,3372,3503,28.4,-16.0,35,217,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2185,3437,3372,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,248,-0.64,-146.5,3157,2185,3372,3503,34.4,-16.5,42,254,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2185,3437,3372,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,285,-0.64,-146.5,3158,2185,3372,3502,40.6,-16.5,49,291,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2185,3437,3372,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,322,-0.64,-146.5,3158,2185,3372,3503,46.3,-14.9,56,328,0.00,2.25,0.00,0.000,260,0.000,0.063,3148,3613,3437,3372,3503,0,0,0,0,0,0,28.83,26.29,28.83
$GC,354,-0.64,-146.5,2176,3612,3363,3500,51.5,-16.4,62,361,0.00,2.25,0.00,0.000,1030,0.000,0.057,3149,2186,3437,3372,3502,0,0,0,0,0,0,28.83,26.32,28.83
$GC,422,-0.64,-146.5,3148,2177,3372,3502,61.9,-14.7,75,428,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2177,3437,3372,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,489,-0.64,-146.5,3148,2177,3373,3502,72.1,-14.6,88,496,0.00,2.28,0.00,0.000,260,0.000,0.065,3138,3609,3437,3372,3502,0,0,0,0,0,0,28.83,26.34,28.83
$GC,538,-0.64,-146.5,3138,3609,3372,3502,79.3,-14.7,97,546,0.10,2.22,0.00,0.000,3078,0.189,0.054,3158,2187,3437,3373,3502,0,0,0,0,0,0,26.25,26.37,28.83
$GC,608,-0.64,-146.5,3157,2179,3373,3502,88.7,-12.1,110,615,0.00,2.28,0.00,0.000,260,0.000,0.067,3150,3608,3437,3373,3502,0,0,0,0,0,0,28.83,26.37,28.83
$GC,650,-0.64,-146.5,2176,3608,3364,3500,95.1,-15.1,118,657,0.00,2.22,0.00,0.000,1030,0.000,0.054,3149,2188,3437,3373,3502,0,0,0,0,0,0,28.83,26.41,28.83
$GC,724,-0.64,-146.5,3149,2178,3373,3502,105.0,-14.4,129,726,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2178,3437,3373,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,843,-0.64,-146.5,3149,2178,3373,3502,124.1,-16.3,141,847,0.00,2.17,0.00,0.000,516,0.000,0.060,3149,774,3436,3371,3502,0,0,0,0,0,0,28.83,26.43,28.83
$GC,902,-0.64,-146.5,3149,773,3373,3503,133.4,-17.1,146,910,0.05,2.28,0.00,0.000,3078,0.188,0.059,3154,2190,3437,3373,3502,0,0,0,0,0,0,26.32,26.45,28.83
$STATE,1018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1018,begin apogee
$GC,1021,-0.13,0.0,3153,2191,3373,3502,151.5,-14.8,158,1210,0.52,0.00,168.10,0.653,10246,0.158,0.000,3316,2190,2837,2823,2852,0,0,0,0,3,0,26.34,28.83,24.55
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1212,0.64,146.5,3316,2190,2823,2852,154.0,0.0,177,1450,0.77,2.38,184.98,0.647,10756,0.117,0.063,3575,778,2239,2304,2174,0,0,0,0,8,0,25.06,25.08,24.44
$GC,1503,0.64,146.5,3575,777,2301,2174,115.3,16.4,206,1512,0.00,2.28,0.00,0.000,1030,0.000,0.047,3575,2199,2237,2301,2173,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1632,0.64,146.5,3574,2199,2300,2171,94.5,15.6,222,1639,0.00,2.30,0.00,0.000,516,0.000,0.063,3584,775,2236,2300,2172,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1681,0.64,146.5,3583,775,2300,2171,87.1,15.2,231,1688,0.00,2.22,0.00,0.000,1030,0.000,0.049,3584,2187,2235,2299,2171,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1749,0.64,146.5,3583,2187,2299,2171,75.8,17.0,244,1756,0.00,2.25,0.00,0.000,260,0.000,0.058,3584,3609,2234,2298,2171,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1777,0.64,146.5,3584,3609,2296,2171,70.8,18.9,249,1784,0.00,2.25,0.00,0.000,1030,0.000,0.050,3594,2190,2233,2296,2171,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1845,0.64,146.5,3593,2181,2296,2171,58.9,16.5,262,1852,0.00,2.20,0.00,0.000,516,0.000,0.060,3604,778,2233,2296,2171,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1887,0.64,146.5,2848,776,2261,2166,51.9,16.2,270,1894,0.00,2.20,0.00,0.000,1030,0.000,0.047,3604,2195,2233,2296,2171,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1955,0.64,146.5,3604,2195,2296,2171,39.6,18.7,283,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2195,2233,2296,2171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1992,0.64,146.5,3604,2195,2296,2171,33.0,17.9,290,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2195,2233,2296,2171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2029,0.64,146.5,3604,2195,2296,2171,26.2,18.1,297,2036,0.00,2.25,0.00,0.000,516,0.000,0.063,3614,778,2233,2296,2171,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2047,0.64,146.5,3614,777,2296,2171,22.6,19.8,300,2053,0.00,2.20,0.00,0.000,1030,0.000,0.046,3614,2199,2233,2295,2171,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2085,0.64,146.5,3614,2199,2296,2171,14.9,20.3,307,2091,0.00,2.17,0.00,0.000,260,0.000,0.056,3614,3599,2233,2296,2171,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,2142,end climb,SURFACE_DEPTH_REACHED
$STATE,2142,begin surface coast
$FINISH,0.6,1.023089
$STATE,2153,end surface coast,CONTROL_FINISHED_OK
$STATE,2153,begin surface
$SM_CCo,2171,17.15,0.056,0,0,2061,190.11
$SM_GC,1.99,9.10,2.28,17.15,0.050,0.048,0.056,213,2180,2061,-9.86,0.65,190.11,0,0,0,0,0,0,26.29,26.27,26.25
$IRIDIUM_FIX,4751.72,-12340.51,181213,222244
$TT8_MAMPS,0.030709,0.030709
$HUMID,38.02
$INTERNAL_PRESSURE,8.85368
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.9,75.3
$24V_AH,24.4,0.871
$10V_AH,10.6,0.374
$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,22.250,49.525,353.075,17.150,0.000,0.000,0.000,0.000,1.000,0.000,5.890,708.615,490.225,473.986,555.059,23.043,33.228,875.501,0.000,546.409,0.000,8.806,0.000
$DEVICE_MAMPS,242.505,79.560,653.310,55.845,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,209.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323624
$DATA_FILE_SIZE,13527,320
$CAP_FILE_SIZE,71338,0
$CFSIZE,2097086464,2093088768
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,181213,224905,4743.271,-12224.896,34,0.8,34,16.6