version: 66.12
glider: 601
mission: 5
dive: 4
start: 3 28 116 21 23 15
data:
$ID,601
$MISSION,5
$DIVE,4
$N_DIVES,20
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,190
$D_ABORT,1050
$D_NO_BLEED,45
$D_BOOST,60
$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,65
$T_MISSION,75
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.023
$MASS,58866
$MASS_COMP,4039.5
$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,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3900
$C_PITCH,3033
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,265
$ROLL_MAX,3865
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2110
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1640
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.63049
$PRESSURE_SLOPE,0.0001070285
$AD7714Ch0Gain,1
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,280316,210702,4744.0522,-12224.4160,14,0.9,25,16.6,0.4,314.5,9,5.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.1
$GPS2,280316,212151,4743.9844,-12224.4570,6,0.9,8,16.6,0.0,0.0,9,9.6
$SPEED_LIMITS,0.364,0.374
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.036129,0.361837
$KALMAN_X,244.854767,265.533569,217.185364,-839.408081,46.954453
$KALMAN_Y,-90.140045,28.431526,63.746716,2073.155273,-67.808846
$MHEAD_RNG_PITCHd_Wd,350.9,956,-10.5,-9.744,-15.00,5057
$D_GRID,174
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.88,-293.3,212,2172,562,410,0.0,0.0,0,52,0.00,0.00,-29.85,0.000,16386,0.000,0.000,212,2167,1304,1397,1211,0,0,0,0,0,0,14.92,28.83,14.93
$GC,55,-0.88,-293.3,212,2167,1400,1215,2.2,-4.5,5,110,11.43,0.00,-38.25,0.000,18438,0.384,0.000,2739,2168,2808,2812,2805,0,0,0,0,0,0,14.52,13.76,14.75
$GC,174,-0.88,-293.3,2739,2167,2813,2806,17.4,-16.3,26,181,0.00,2.55,0.00,0.000,260,0.000,0.100,2730,3600,2809,2813,2806,0,0,0,0,0,0,14.90,14.66,14.91
$GC,223,-0.88,-293.3,2730,3600,2814,2806,25.5,-16.0,35,230,0.00,2.40,0.00,0.000,1030,0.000,0.065,2731,2189,2810,2814,2807,0,0,0,0,0,0,14.80,14.71,14.81
$GC,293,-0.88,-293.3,2730,2187,2814,2810,37.0,-16.7,48,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2188,2810,2814,2807,0,0,0,0,0,0,14.94,14.95,14.95
$GC,361,-0.88,-293.3,2730,2188,2815,2807,48.8,-17.6,61,369,0.00,2.42,0.00,0.000,516,0.000,0.090,2729,784,2811,2815,2807,0,0,0,0,0,0,14.95,14.71,14.96
$GC,400,-0.88,-293.3,2729,785,2814,2807,55.1,-17.6,65,407,0.00,2.40,0.00,0.000,1030,0.000,0.074,2721,2188,2811,2815,2807,0,0,0,0,0,0,14.82,14.70,14.84
$GC,528,-0.88,-293.3,2720,2188,2815,2807,77.2,-17.4,78,534,0.00,2.47,0.00,0.000,260,0.000,0.102,2710,3597,2810,2815,2806,0,0,0,0,0,0,15.00,14.74,15.00
$GC,606,-0.88,-293.3,2707,3597,2812,2806,89.9,-16.3,85,613,0.12,2.40,0.00,0.000,3078,0.214,0.065,2747,2183,2811,2815,2807,0,0,0,0,0,0,14.72,14.79,14.85
$GC,732,-0.88,-293.3,2747,2177,2815,2807,109.6,-15.2,98,738,0.00,2.40,0.00,0.000,516,0.000,0.090,2748,785,2811,2815,2807,0,0,0,0,0,0,15.03,14.78,15.04
$GC,766,-0.88,-293.3,2747,785,2815,2807,114.7,-15.0,101,771,0.00,2.40,0.00,0.000,1030,0.000,0.074,2740,2196,2811,2815,2807,0,0,0,0,0,0,14.90,14.80,14.92
$GC,900,-0.88,-293.3,2739,2195,2815,2807,134.3,-14.3,114,907,0.00,2.47,0.00,0.000,260,0.000,0.101,2729,3596,2811,2815,2807,0,0,0,0,0,0,15.04,14.78,15.05
$GC,955,-0.88,-293.3,2728,3596,2815,2806,142.3,-14.3,119,960,0.00,2.38,0.00,0.000,1030,0.000,0.065,2729,2188,2811,2815,2807,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1090,-0.88,-293.3,2728,2187,2815,2807,162.2,-14.8,132,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2187,2811,2815,2807,0,0,0,0,0,0,15.08,15.07,15.06
$STATE,1165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1165,begin apogee
$GC,1172,-0.25,0.0,2729,2079,2815,2807,174.2,-15.0,140,1419,0.70,0.03,236.82,1.084,10246,0.174,0.143,2946,2106,1638,1728,1548,0,0,0,0,0,0,14.76,14.10,13.75
$STATE,1420,end apogee,CONTROL_FINISHED_OK
$STATE,1420,begin climb
$GC,1423,0.88,293.3,2946,2106,1727,1547,184.5,0.0,165,1666,1.10,0.00,232.00,1.036,10502,0.103,0.000,3302,2106,500,565,435,0,0,0,0,0,0,14.21,14.19,13.76
$GC,1788,0.88,293.3,3300,2106,563,429,157.5,11.5,202,1793,0.00,2.45,0.00,0.000,516,0.000,0.096,3311,733,495,563,428,0,0,0,0,0,0,14.69,14.47,14.71
$GC,1861,0.88,293.3,3311,732,563,427,149.1,11.3,209,1867,0.00,2.38,0.00,0.000,1030,0.000,0.073,3311,2104,495,563,427,0,0,0,0,0,0,14.66,14.55,14.67
$GC,1998,0.88,293.3,3311,2104,563,424,133.6,11.6,222,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2105,493,562,424,0,0,0,0,0,0,14.87,14.88,14.89
$GC,2125,0.88,293.3,3311,2105,563,422,118.5,11.1,235,2130,0.00,2.42,0.00,0.000,516,0.000,0.098,3321,729,493,563,423,0,0,0,0,0,0,14.92,14.69,14.93
$GC,2199,0.88,293.3,3320,729,564,422,109.8,11.0,242,2204,0.00,2.38,0.00,0.000,1030,0.000,0.073,3320,2121,492,563,422,0,0,0,0,0,0,14.83,14.71,14.84
$GC,2334,0.88,293.3,3320,2121,563,421,92.1,13.2,255,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2121,492,563,421,0,0,0,0,0,0,14.99,15.00,15.00
$GC,2462,0.88,293.3,3320,2121,562,419,76.3,11.1,268,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2121,491,563,419,0,0,0,0,0,0,15.01,15.02,15.02
$GC,2582,0.88,293.3,3320,2121,564,417,62.0,12.0,280,2588,0.00,2.45,0.00,0.000,516,0.000,0.098,3331,722,490,563,417,0,0,0,0,0,0,15.03,14.78,15.03
$GC,2660,0.88,293.3,3330,723,563,417,52.6,12.8,287,2666,0.00,2.35,0.00,0.000,1030,0.000,0.073,3330,2110,490,563,417,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2786,0.88,293.3,3330,2110,563,416,36.4,12.5,310,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2109,489,563,415,0,0,0,0,0,0,15.04,15.05,15.04
$GC,2855,0.88,293.3,3330,2110,563,415,28.0,12.1,323,2861,0.00,2.42,0.00,0.000,516,0.000,0.098,3340,724,489,563,415,0,0,0,0,0,0,15.04,14.80,15.04
$GC,2910,0.88,293.3,3340,724,563,415,21.2,12.8,333,2916,0.00,2.38,0.00,0.000,1030,0.000,0.073,3340,2118,489,563,415,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2980,0.88,293.3,3340,2118,563,414,12.4,12.7,346,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2118,488,563,414,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3049,0.88,293.3,3340,2118,563,414,4.1,11.5,359,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2118,488,563,413,0,0,0,0,0,0,15.04,15.05,15.05
$STATE,3060,end climb,SURFACE_DEPTH_REACHED
$STATE,3060,begin surface coast
$FINISH,0.2,1.013583
$STATE,3082,end surface coast,CONTROL_FINISHED_OK
$STATE,3082,begin surface
$SM_CCo,3163,0.00,0.000,0,0,488,289.38
$SM_GC,0.94,8.98,0.12,0.00,0.054,0.141,0.000,186,2221,488,-8.81,-0.57,289.38,0,0,0,0,0,0,14.87,14.83,14.92
$IRIDIUM_FIX,4748.51,-12337.82,280316,211017
$TT8_MAMPS,0.020223,0.318325
$HUMID,40.98
$INTERNAL_PRESSURE,8.85186
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,116.5,69.5
$SC_FREEKB,3909280
$24V_AH,13.75,1.277
$10V_AH,13.80,0.000
$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,22.325,43.800,468.825,0.000,0.000,56.458,82.938,484.552,1.250,0.000,9.933,913.545,1108.287,533.997,1341.380,189.935,32.434,960.164,0.000,645.176,0.000,10.343,0.000
$DEVICE_MAMPS,384.030,143.055,1084.005,0.000,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3114.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.477,0.000,0.000,0.000
$MEM,312952
$DATA_FILE_SIZE,13410,365
$CAP_FILE_SIZE,85632,0
$CFSIZE,2097086464,2092728320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$CURRENT,0.046,280.60,1
$GPS,280316,221645,4744.598,-12224.371,5,0.8,8,16.6,0.0,0.0,11,9.5