version: 66.12
glider: 601
mission: 5
dive: 9
start: 3 29 116 3 7 55
data:
$ID,601
$MISSION,5
$DIVE,9
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,42
$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
$GPS1,290316,025528,4742.3770,-12225.4492,5,0.9,38,16.6,0.0,236.7,8,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.9
$GPS2,290316,030645,4742.2739,-12225.5586,6,0.8,9,16.6,0.5,235.8,10,8.6
$SPEED_LIMITS,0.116,0.204
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.109334,0.171812
$KALMAN_X,-1488.762085,300.195984,-376.641510,90.955673,-600.555420
$KALMAN_Y,-4182.307617,248.168579,-258.419495,3116.083496,-1216.378174
$MHEAD_RNG_PITCHd_Wd,33.3,4328,-22.4,-9.744,-25.57,1378
$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,-1.35,-88.0,200,2163,574,406,0.0,0.0,0,57,0.00,0.00,-35.65,0.000,16386,0.000,0.000,200,2162,1469,1560,1379,0,0,0,0,0,0,14.90,28.83,14.90
$GC,61,-1.35,-88.0,200,2163,1561,1385,2.4,-5.3,6,93,11.15,2.55,-13.30,0.000,18948,0.404,2.228,2588,796,1994,2080,1908,0,0,0,0,0,0,14.50,13.82,14.72
$GC,126,-1.35,-88.0,2587,795,2079,1916,11.8,-15.1,17,134,0.00,2.40,0.00,0.000,1030,0.000,0.070,2579,2200,1997,2079,1916,0,0,0,0,0,0,14.73,14.65,14.75
$GC,199,-1.35,-88.0,2579,2200,2079,1916,24.3,-20.3,30,205,0.00,2.45,0.00,0.000,260,0.000,0.093,2568,3595,1997,2079,1916,0,0,0,0,0,0,14.88,14.69,14.88
$GC,295,-1.35,-88.0,2568,3596,2079,1916,47.6,-23.1,48,301,0.00,2.38,0.00,0.000,1030,0.000,0.060,2569,2193,1997,2079,1916,0,0,0,0,0,0,14.80,14.71,14.81
$GC,369,-1.35,-88.0,2568,2186,2080,1916,65.5,-24.2,56,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2185,1998,2079,1917,0,0,0,0,0,0,14.94,14.95,14.95
$GC,489,-1.35,-88.0,2568,2183,2079,1915,92.8,-24.7,68,494,0.00,2.47,0.00,0.000,260,0.000,0.089,2558,3600,1997,2079,1916,0,0,0,0,0,0,14.97,14.74,14.98
$GC,532,-1.35,-88.0,2561,3601,2079,1915,104.6,-27.4,72,538,0.12,2.38,0.00,0.000,3078,0.279,0.060,2589,2187,1997,2079,1916,0,0,0,0,0,0,14.65,14.77,14.82
$GC,666,-1.35,-88.0,2589,2179,2079,1916,132.7,-19.7,85,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2179,1997,2079,1916,0,0,0,0,0,0,15.01,15.02,15.02
$GC,791,-1.35,-88.0,2589,2179,2079,1916,156.6,-21.1,97,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2179,1997,2079,1916,0,0,0,0,0,0,15.02,15.03,15.02
$GC,916,-1.35,-88.0,2588,2178,2079,1916,182.5,-18.7,110,921,0.00,2.47,0.00,0.000,260,0.000,0.093,2580,3595,1997,2079,1916,0,0,0,0,0,0,15.04,14.80,15.04
$STATE,947,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,947,begin apogee
$GC,956,-0.29,0.0,2580,2109,2079,1916,189.1,-19.2,113,1041,1.25,0.00,78.03,1.121,10246,0.256,0.000,2926,2102,1639,1741,1537,0,0,0,0,0,0,14.69,14.45,13.98
$STATE,1042,end apogee,CONTROL_FINISHED_OK
$STATE,1042,begin climb
$GC,1045,1.35,88.0,2926,2102,1741,1537,195.9,0.0,122,1129,1.67,2.60,74.62,1.095,10756,0.133,0.096,3461,711,1286,1411,1162,0,0,0,0,0,0,14.40,14.19,13.78
$GC,1214,1.35,88.0,3461,711,1410,1162,184.3,10.4,138,1220,0.00,2.45,0.00,0.000,1030,0.000,0.072,3461,2112,1286,1410,1162,0,0,0,0,0,0,14.53,14.43,14.54
$GC,1349,1.35,88.0,3461,2112,1410,1159,169.0,11.5,151,1354,0.00,2.50,0.00,0.000,260,0.000,0.097,3461,3521,1286,1410,1162,0,0,0,0,0,0,14.79,14.55,14.80
$GC,1423,1.35,88.0,3461,3520,1410,1162,160.1,11.9,158,1428,0.00,2.42,0.00,0.000,1030,0.000,0.069,3473,2111,1286,1410,1162,0,0,0,0,0,0,14.70,14.62,14.72
$GC,1558,1.35,88.0,3471,2107,1409,1161,145.2,10.2,171,1563,0.00,2.53,0.00,0.000,260,0.000,0.096,3472,3529,1285,1409,1162,0,0,0,0,0,0,14.90,14.66,14.90
$GC,1712,1.35,88.0,3472,3528,1408,1162,125.6,12.7,186,1718,0.00,2.42,0.00,0.000,1030,0.000,0.068,3483,2105,1285,1408,1162,0,0,0,0,0,0,14.81,14.72,14.82
$GC,1847,1.35,88.0,3483,2102,1408,1162,109.0,11.5,199,1852,0.00,2.45,0.00,0.000,516,0.000,0.097,3494,701,1285,1408,1162,0,0,0,0,0,0,14.97,14.72,14.98
$GC,1962,1.35,90.5,3494,701,1406,1162,97.4,9.6,210,1967,0.00,2.40,0.00,0.000,1030,0.000,0.071,3494,2114,1285,1408,1162,0,0,0,0,0,0,14.86,14.78,14.88
$GC,2099,1.36,115.8,3494,2114,1407,1161,86.3,7.9,223,2130,0.00,2.55,22.48,0.988,8708,0.000,0.093,3505,699,1177,1304,1050,0,0,0,0,0,0,15.02,14.66,14.28
$GC,2170,1.37,120.7,3505,699,1304,1049,80.2,9.4,230,2183,0.10,2.42,4.03,0.682,13318,0.271,0.072,3477,2120,1159,1287,1031,0,0,0,0,0,0,14.62,14.70,14.22
$GC,2301,1.37,120.7,3478,2121,1290,1031,66.6,11.2,243,2306,0.00,2.45,0.00,0.000,260,0.000,0.095,3477,3520,1165,1299,1031,0,0,0,0,0,0,14.95,14.71,14.95
$GC,2334,1.37,120.7,3478,3520,1291,1031,62.8,11.7,246,2340,0.00,2.42,0.00,0.000,1030,0.000,0.070,3487,2103,1159,1290,1029,0,0,0,0,0,0,14.84,14.75,14.85
$GC,2470,1.38,149.8,3486,2100,1291,1031,51.2,7.6,259,2520,0.00,2.45,37.22,0.710,8708,0.000,0.094,3498,703,1039,1166,913,0,0,0,0,1,0,14.98,14.57,14.23
$GC,2756,1.38,149.8,3498,703,1169,907,12.1,15.9,312,2763,0.00,2.40,0.00,0.000,1030,0.000,0.070,3498,2115,1038,1169,907,0,0,0,0,0,0,14.80,14.71,14.82
$GC,2827,1.38,149.8,3498,2115,1170,907,4.5,10.7,325,2834,0.00,2.47,0.00,0.000,260,0.000,0.097,3498,3523,1038,1169,907,0,0,0,0,0,0,14.94,14.71,14.96
$STATE,2838,end climb,SURFACE_DEPTH_REACHED
$STATE,2838,begin surface coast
$FINISH,0.1,1.021211
$STATE,2866,end surface coast,CONTROL_FINISHED_OK
$STATE,2866,begin surface
$SM_CCo,2888,109.00,0.051,0,0,525,280.09
$SM_GC,1.22,9.57,2.33,109.00,0.067,0.066,0.051,204,2188,525,-8.77,0.82,280.09,0,0,0,0,0,0,14.76,14.76,14.78
$IRIDIUM_FIX,4748.51,-12337.82,290316,014148
$TT8_MAMPS,0.020972,0.325066
$HUMID,38.89
$INTERNAL_PRESSURE,8.83233
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,156.6,45.6
$SC_FREEKB,3907680
$24V_AH,13.78,2.077
$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,23.875,61.200,216.375,109.000,0.000,28.499,36.016,409.173,3.250,0.000,17.172,911.980,1003.917,412.525,1183.158,186.438,33.459,787.571,0.000,615.616,0.000,25.576,0.000
$DEVICE_MAMPS,403.920,2227.680,1121.490,51.255,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2902.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.429,0.000,0.000,0.000
$MEM,312924
$DATA_FILE_SIZE,10107,332
$CAP_FILE_SIZE,82285,0
$CFSIZE,2097086464,2091909120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.191,216.10,1
$GPS,290316,035853,4742.187,-12225.425,17,1.0,17,16.6,0.0,0.0,9,4.0