version: 66.12
glider: 601
mission: 5
dive: 6
start: 3 28 116 23 53 6
data:
$ID,601
$MISSION,5
$DIVE,6
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,17
$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,21
$R_STBD_OVSHOOT,22
$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,0.00039999999
$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
$GPS1,280316,233456,4743.8408,-12224.6650,5,1.2,30,16.6,0.2,158.3,9,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-64.1
$GPS2,280316,235203,4743.6987,-12224.6973,7,1.3,29,16.6,0.5,161.2,9,8.1
$SPEED_LIMITS,0.097,0.204
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.076665,-0.188507
$KALMAN_X,258.871155,306.931061,59.143013,-1032.407837,-115.945023
$KALMAN_Y,-431.280914,-20.458933,6.017640,1987.955811,-174.886169
$MHEAD_RNG_PITCHd_Wd,135.8,1317,-22.4,-9.744,-25.59,1376
$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,-1.35,-88.0,213,2202,563,406,0.0,0.0,0,56,0.00,0.00,-34.70,0.000,16386,0.000,0.000,213,2203,1437,1529,1345,0,0,0,0,0,0,14.88,28.83,14.89
$GC,60,-1.35,-88.0,214,2204,1531,1350,2.4,-5.9,6,92,10.90,2.75,-14.52,0.000,18948,0.392,2.221,2588,776,1995,2082,1909,0,0,0,0,0,0,14.48,13.76,14.72
$GC,326,-1.35,-88.0,2587,776,2082,1918,58.0,-20.2,53,333,0.00,2.42,0.00,0.000,1030,0.000,0.067,2578,2205,2000,2082,1918,0,0,0,0,0,0,14.81,14.72,14.82
$GC,454,-1.35,-88.0,2579,2205,2082,1918,84.9,-20.3,66,460,0.00,2.45,0.00,0.000,260,0.000,0.096,2566,3602,2000,2082,1918,0,0,0,0,0,0,14.97,14.71,14.97
$GC,481,-1.35,-88.0,2568,3601,2081,1918,90.3,-21.0,68,488,0.00,2.40,0.00,0.000,1030,0.000,0.061,2568,2178,2000,2082,1918,0,0,0,0,0,0,14.85,14.78,14.86
$GC,612,-1.35,-88.0,2568,2178,2082,1918,117.0,-20.4,81,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2178,2000,2082,1918,0,0,0,0,0,0,15.00,15.01,15.01
$GC,738,-1.35,-88.0,2567,2171,2082,1918,146.1,-22.5,94,744,0.00,2.50,0.00,0.000,260,0.000,0.095,2557,3595,1999,2081,1918,0,0,0,0,0,0,15.02,14.78,15.02
$STATE,860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,860,begin apogee
$GC,869,-0.29,0.0,2557,2110,2082,1918,176.3,-25.1,106,953,1.35,0.00,78.65,1.106,10246,0.255,0.000,2929,2107,1640,1740,1541,0,0,0,0,0,0,14.67,14.45,13.97
$STATE,955,end apogee,CONTROL_FINISHED_OK
$STATE,955,begin climb
$GC,957,1.35,88.0,2929,2107,1739,1541,183.8,0.0,115,1043,1.65,2.62,73.95,1.074,11012,0.129,0.096,3445,3508,1288,1406,1171,0,0,0,0,0,0,14.40,14.21,13.80
$GC,1068,1.37,135.3,3445,3508,1405,1170,178.9,6.2,126,1114,0.00,2.47,37.80,1.047,9222,0.000,0.070,3456,2101,1101,1230,972,0,0,0,0,0,0,14.43,14.34,13.83
$GC,1241,1.37,135.3,3455,2102,1230,970,159.0,13.2,143,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2101,1100,1230,970,0,0,0,0,0,0,14.71,14.73,14.72
$GC,1361,1.37,135.3,3456,2100,1230,970,143.7,12.8,155,1367,0.00,2.55,0.00,0.000,260,0.000,0.096,3456,3521,1100,1230,970,0,0,0,0,0,0,14.82,14.59,14.83
$GC,1379,1.37,135.3,3456,3521,1230,970,141.9,13.3,156,1386,0.00,2.45,0.00,0.000,1030,0.000,0.073,3468,2110,1100,1230,970,0,0,0,0,0,0,14.72,14.62,14.72
$GC,1507,1.37,135.3,3467,2106,1231,968,125.1,13.0,169,1512,0.00,2.53,0.00,0.000,260,0.000,0.097,3467,3522,1099,1230,969,0,0,0,0,0,0,14.90,14.66,14.90
$GC,1560,1.37,135.3,3467,3522,1230,968,117.5,14.4,174,1566,0.00,2.45,0.00,0.000,1030,0.000,0.072,3478,2099,1099,1230,968,0,0,0,0,0,0,14.78,14.69,14.79
$GC,1695,1.37,135.3,3478,2098,1230,968,96.6,15.6,187,1701,0.00,2.45,0.00,0.000,516,0.000,0.099,3490,699,1099,1230,968,0,0,0,0,0,0,14.95,14.71,14.97
$GC,1722,1.37,135.3,3489,699,1230,967,92.7,15.6,189,1729,0.00,2.42,0.00,0.000,1030,0.000,0.076,3490,2116,1098,1230,967,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1850,1.37,135.3,3489,2116,1230,967,72.5,15.3,202,1856,0.00,2.50,0.00,0.000,516,0.000,0.098,3500,698,1098,1230,967,0,0,0,0,0,0,14.99,14.75,15.00
$GC,1919,1.37,135.3,3499,698,1230,967,62.0,16.3,208,1926,0.00,2.40,0.00,0.000,1030,0.000,0.073,3500,2111,1098,1230,966,0,0,0,0,0,0,14.88,14.78,14.89
$GC,2045,1.37,135.3,3499,2110,1230,966,40.3,15.2,226,2051,0.00,2.50,0.00,0.000,516,0.000,0.098,3511,691,1098,1230,966,0,0,0,0,0,0,15.01,14.76,15.02
$GC,2103,1.37,135.3,3511,691,1230,966,32.0,14.0,237,2111,0.12,2.42,0.00,0.000,5126,0.261,0.073,3477,2120,1098,1230,966,0,0,0,0,0,0,14.71,14.80,14.85
$GC,2175,1.37,135.3,3477,2120,1230,966,23.1,12.4,250,2182,0.00,2.45,0.00,0.000,260,0.000,0.099,3477,3522,1098,1229,967,0,0,0,0,0,0,15.02,14.76,15.02
$GC,2301,1.37,135.3,3476,3521,1230,966,7.7,10.6,274,2308,0.00,2.42,0.00,0.000,1030,0.000,0.070,3487,2092,1098,1230,966,0,0,0,0,0,0,14.91,14.81,14.92
$STATE,2347,end climb,SURFACE_DEPTH_REACHED
$STATE,2347,begin surface coast
$FINISH,0.8,1.021123
$STATE,2380,end surface coast,CONTROL_FINISHED_OK
$STATE,2380,begin surface
$SM_CCo,2401,120.50,0.054,0,0,525,280.09
$SM_GC,1.44,9.77,0.17,120.50,0.095,0.114,0.054,209,2195,525,-8.76,-0.76,280.09,0,0,0,0,0,0,14.84,14.85,14.83
$IRIDIUM_FIX,4748.51,-12337.82,280316,233816
$TT8_MAMPS,0.020972,0.235186
$HUMID,38.73
$INTERNAL_PRESSURE,8.85186
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,117.0,72.1
$SC_FREEKB,3908640
$24V_AH,13.76,1.625
$10V_AH,13.90,0.000
$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,23.800,49.900,190.400,120.500,0.000,52.603,86.178,585.346,1.250,0.000,30.612,778.651,862.053,395.874,1343.719,183.566,33.433,715.580,0.000,523.519,0.000,10.351,0.000
$DEVICE_MAMPS,391.680,2220.795,1106.190,53.550,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2415.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.659,0.000,0.000,0.000
$MEM,312960
$DATA_FILE_SIZE,10156,289
$CAP_FILE_SIZE,76941,0
$CFSIZE,2097086464,2092400640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.194,212.80,1
$GPS,290316,003557,4743.215,-12224.779,5,1.0,8,16.6,0.0,191.0,8,9.4