version: 66.12
glider: 601
mission: 5
dive: 8
start: 3 29 116 1 49 57
data:
$ID,601
$MISSION,5
$DIVE,8
$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,0
$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,20
$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,3500
$C_ROLL_CLIMB,3500
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,24
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$GPS1,290316,013852,4742.8369,-12224.9688,4,0.9,9,16.6,0.0,196.7,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-67.1
$GPS2,290316,014848,4742.7056,-12225.0195,7,0.7,11,16.6,0.0,199.1,10,9.5
$SPEED_LIMITS,0.268,0.347
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.147425,0.314326
$KALMAN_X,-391.060577,289.429138,-245.567810,-461.853607,-472.324127
$KALMAN_Y,-2031.252563,61.595543,-237.757080,1928.442505,-697.976074
$MHEAD_RNG_PITCHd_Wd,7.4,3386,-11.3,-9.744,-15.68,4529
$D_GRID,190
$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,-0.78,-293.3,189,3505,582,449,0.0,0.0,0,52,0.00,0.00,-29.85,0.000,16386,0.000,0.000,189,3504,1314,1403,1225,0,0,0,0,0,0,14.88,28.83,14.89
$GC,55,-0.78,-293.3,189,3505,1405,1227,2.0,-4.0,5,111,12.20,0.00,-39.38,0.000,18438,0.408,0.000,2773,3505,2809,2802,2816,0,0,0,0,0,0,14.49,13.79,14.71
$GC,175,-0.78,-293.3,2774,3505,2806,2819,13.8,-9.5,26,181,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3505,2812,2807,2818,0,0,0,0,0,0,14.88,14.89,14.89
$GC,243,-0.78,-293.3,2774,3505,2809,2819,21.0,-11.2,39,249,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3505,2813,2808,2819,0,0,0,0,0,0,14.90,14.92,14.92
$GC,312,-0.78,-293.3,2774,3511,2810,2820,28.7,-12.2,52,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3505,2814,2810,2819,0,0,0,0,0,0,14.92,14.95,14.93
$GC,380,-0.78,-293.3,2774,3503,2810,2819,35.9,-9.0,65,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3505,2814,2810,2819,0,0,0,0,0,0,14.95,14.95,14.95
$GC,450,-0.78,-293.3,2774,3505,2810,2820,42.7,-11.2,78,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3505,2815,2810,2820,0,0,0,0,0,0,14.95,14.96,14.96
$GC,519,-0.78,-293.3,2774,3505,2810,2820,51.4,-13.2,90,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3505,2814,2810,2819,0,0,0,0,0,0,14.97,14.97,14.97
$GC,639,-0.78,-293.3,2774,3505,2810,2819,65.6,-11.4,102,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3505,2814,2810,2819,0,0,0,0,0,0,15.00,15.00,15.00
$GC,759,-0.78,-293.3,2774,3505,2810,2820,79.5,-11.3,114,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3505,2814,2810,2819,0,0,0,0,0,0,15.02,15.02,15.02
$GC,879,-0.78,-293.3,2774,3505,2811,2822,92.8,-11.8,126,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,3505,2814,2810,2819,0,0,0,0,0,0,15.03,15.06,15.04
$GC,999,-0.78,-293.3,2774,3505,2810,2819,109.5,-12.8,138,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3505,2814,2810,2819,0,0,0,0,0,0,15.04,15.05,15.05
$GC,1120,-0.78,-293.3,2774,3505,2810,2819,124.1,-12.5,150,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3505,2815,2810,2820,0,0,0,0,0,0,15.05,15.05,15.06
$GC,1252,-0.78,-293.3,2774,3505,2810,2820,140.5,-12.8,163,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,3505,2814,2810,2819,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1380,-0.78,-293.3,2774,3505,2810,2819,157.3,-12.5,176,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,3505,2814,2810,2819,0,0,0,0,0,0,15.07,15.09,15.08
$GC,1510,-0.78,-293.3,2781,3505,2811,2820,172.7,-11.6,189,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3505,2815,2810,2820,0,0,0,0,0,0,15.07,15.08,15.08
$STATE,1586,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1586,begin apogee
$GC,1592,-0.29,0.0,2775,3505,2809,2819,181.8,-10.8,197,1838,0.47,0.00,237.18,1.102,10246,0.167,0.000,2928,3505,1637,1729,1546,0,0,0,0,0,0,14.78,14.09,13.72
$STATE,1840,end apogee,CONTROL_FINISHED_OK
$STATE,1840,begin climb
$GC,1842,0.78,293.3,2928,3505,1728,1546,194.6,0.0,222,2080,1.10,0.00,232.07,1.051,10246,0.141,0.000,3263,3505,502,581,424,0,0,0,0,0,0,14.16,14.15,13.72
$GC,2199,0.78,293.3,3262,3505,575,416,167.8,11.9,258,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,3505,496,575,418,0,0,0,0,0,0,14.64,14.66,14.66
$GC,2319,0.78,293.3,3262,3504,575,415,153.6,11.2,270,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,3505,495,575,415,0,0,0,0,0,0,14.78,14.78,14.78
$GC,2439,0.78,293.3,3262,3505,575,414,140.1,11.2,282,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,3505,494,575,414,0,0,0,0,0,0,14.85,14.86,14.86
$GC,2559,0.78,294.1,3262,3505,575,411,128.1,9.7,294,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,3505,493,575,412,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2679,0.80,332.5,3262,3504,574,411,116.7,8.9,306,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,3505,493,575,411,0,0,0,0,0,0,14.95,14.96,14.95
$GC,2799,0.83,424.7,3262,3503,575,410,106.7,7.7,318,2801,0.05,0.00,0.00,0.000,2054,0.207,0.000,3307,3505,492,575,410,0,0,0,0,0,0,14.78,14.87,14.85
$GC,2922,0.84,446.5,3306,3504,575,409,95.7,9.3,330,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,3504,492,575,409,0,0,0,0,0,0,15.00,15.01,15.01
$GC,3049,0.86,493.4,3310,3504,575,409,84.5,8.7,343,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,3504,492,575,409,0,0,0,0,0,0,15.02,15.03,15.03
$GC,3169,0.86,493.4,3307,3505,575,408,72.1,10.8,355,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,3504,491,575,408,0,0,0,0,0,0,15.04,15.04,15.05
$GC,3289,0.86,493.4,3307,3505,575,408,57.5,10.3,367,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,3504,491,575,408,0,0,0,0,0,0,15.04,15.05,15.05
$GC,3411,0.86,493.4,3307,3504,575,407,43.5,10.8,384,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,3505,491,575,407,0,0,0,0,0,0,15.04,15.06,15.06
$GC,3479,0.86,493.4,3307,3504,575,407,35.3,11.8,397,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,3504,491,575,407,0,0,0,0,0,0,15.05,15.06,15.06
$GC,3549,0.86,493.4,3307,3505,575,407,26.5,13.3,410,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,3504,491,575,407,0,0,0,0,0,0,15.05,15.06,15.06
$GC,3617,0.86,493.4,3307,3504,575,407,17.6,12.1,423,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,3504,491,575,407,0,0,0,0,0,0,15.04,15.06,15.06
$GC,3686,0.86,493.4,3307,3504,575,406,9.7,11.7,436,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,3505,490,575,406,0,0,0,0,0,0,15.04,15.05,15.06
$STATE,3752,end climb,SURFACE_DEPTH_REACHED
$STATE,3752,begin surface coast
$FINISH,0.1,1.021209
$STATE,3784,end surface coast,CONTROL_FINISHED_OK
$STATE,3784,begin surface
$SM_CCo,3863,0.00,0.000,0,0,490,288.88
$SM_GC,1.01,8.82,0.00,0.00,0.054,0.000,0.000,200,3505,490,-8.77,0.14,288.88,0,0,0,0,0,0,14.88,15.07,14.93
$IRIDIUM_FIX,4748.51,-12337.82,290316,003852
$TT8_MAMPS,0.020223,0.313831
$HUMID,40.35
$INTERNAL_PRESSURE,8.83233
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.9,35.2
$SC_FREEKB,3908000
$24V_AH,13.72,1.948
$10V_AH,13.83,0.000
$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,22.650,5.225,469.250,0.000,0.000,24.322,40.966,341.229,3.250,0.000,11.978,1044.939,1528.078,540.043,1175.572,180.551,33.440,961.460,0.000,691.847,0.000,24.229,0.000
$DEVICE_MAMPS,407.745,63.495,1101.600,0.000,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3812.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.528,0.000,0.000,0.000
$MEM,312960
$DATA_FILE_SIZE,16793,455
$CAP_FILE_SIZE,86779,0
$CFSIZE,2097086464,2092072960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.299,218.96,1
$GPS,290316,025528,4742.377,-12225.449,5,0.9,38,16.6,0.0,236.7,8,8.2