version: 66.12
glider: 601
mission: 5
dive: 12
start: 3 29 116 6 17 43
data:
$ID,601
$MISSION,5
$DIVE,12
$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,120
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,290316,060530,4742.7046,-12225.2607,17,0.9,17,16.6,0.0,0.0,9,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.4
$GPS2,290316,061643,4742.6602,-12225.2979,6,1.0,11,16.6,0.0,0.0,8,9.2
$SPEED_LIMITS,0.116,0.233
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.071575,0.221718
$KALMAN_X,-2038.286255,-227.065491,-227.916351,1330.425659,-61.971985
$KALMAN_Y,-5028.587402,-340.851349,-363.047272,5345.551758,-120.806396
$MHEAD_RNG_PITCHd_Wd,10.9,3549,-19.3,-9.744,-22.70,1830
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.18,-117.3,211,2203,588,439,0.0,0.0,0,50,0.00,0.00,-29.08,0.000,16386,0.000,0.000,210,2204,1300,1393,1208,0,0,0,0,0,0,14.88,28.83,14.88
$GC,54,-1.18,-117.3,210,2204,1401,1210,2.1,-4.1,5,92,11.15,0.00,-23.95,0.000,18694,0.391,0.000,2644,2202,2108,2173,2043,0,0,0,0,0,0,14.48,13.82,14.70
$GC,155,-1.18,-117.3,2643,2203,2173,2050,15.2,-18.3,23,162,0.00,2.47,0.00,0.000,516,0.000,0.082,2644,775,2111,2173,2050,0,0,0,0,0,0,14.89,14.64,14.90
$GC,185,-1.18,-117.3,2644,775,2173,2051,20.9,-20.2,28,191,0.00,2.40,0.00,0.000,1030,0.000,0.067,2635,2188,2111,2172,2051,0,0,0,0,0,0,14.77,14.68,14.78
$GC,256,-1.18,-117.3,2635,2188,2173,2051,35.0,-21.1,41,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2188,2112,2173,2051,0,0,0,0,0,0,14.90,14.92,14.91
$GC,326,-1.18,-117.3,2635,2188,2173,2051,49.7,-19.4,54,332,0.00,2.47,0.00,0.000,260,0.000,0.096,2624,3595,2112,2173,2051,0,0,0,0,0,0,14.93,14.69,14.94
$GC,411,-1.18,-117.3,2624,3596,2173,2051,68.4,-22.7,63,416,0.00,2.38,0.00,0.000,1030,0.000,0.060,2624,2188,2111,2172,2051,0,0,0,0,0,0,14.85,14.73,14.84
$GC,545,-1.18,-117.3,2624,2180,2173,2051,97.1,-20.2,76,551,0.00,2.40,0.00,0.000,516,0.000,0.083,2624,783,2112,2173,2051,0,0,0,0,0,0,14.98,14.74,14.99
$GC,651,-1.18,-117.3,2624,783,2173,2051,118.9,-20.0,86,657,0.12,2.38,0.00,0.000,3078,0.253,0.069,2647,2188,2111,2173,2050,0,0,0,0,0,0,14.69,14.78,14.84
$GC,786,-1.18,-117.3,2646,2188,2173,2050,143.0,-17.6,99,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2188,2112,2173,2052,0,0,0,0,0,0,15.02,15.02,15.02
$GC,906,-1.18,-117.3,2647,2188,2173,2058,164.1,-17.3,111,911,0.00,2.45,0.00,0.000,260,0.000,0.097,2638,3595,2110,2172,2049,0,0,0,0,0,0,15.04,14.80,15.04
$GC,959,-1.18,-117.3,2637,3595,2171,2051,173.7,-17.8,116,965,0.00,2.38,0.00,0.000,1030,0.000,0.060,2638,2175,2111,2172,2051,0,0,0,0,0,0,14.91,14.83,14.92
$STATE,1040,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1040,begin apogee
$GC,1047,-0.29,0.0,2637,2085,2172,2050,188.2,-17.0,124,1153,1.00,0.00,101.75,1.129,10246,0.225,0.000,2927,2084,1640,1731,1549,0,0,0,0,0,0,14.71,14.37,13.89
$STATE,1156,end apogee,CONTROL_FINISHED_OK
$STATE,1156,begin climb
$GC,1159,1.18,117.3,2927,2085,1729,1547,194.6,0.0,135,1263,1.50,0.00,96.82,1.085,10758,0.132,0.000,3394,2085,1171,1308,1035,0,0,0,0,0,0,14.32,14.19,13.74
$GC,1384,1.18,117.3,3394,2084,1307,1031,176.7,12.3,158,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2084,1169,1307,1031,0,0,0,0,0,0,14.67,14.68,14.68
$GC,1504,1.18,117.3,3393,2084,1306,1030,162.7,11.3,170,1509,0.00,2.58,0.00,0.000,260,0.000,0.099,3394,3522,1167,1306,1029,0,0,0,0,0,0,14.79,14.55,14.80
$GC,1561,1.18,117.3,3393,3522,1306,1030,156.1,12.4,175,1569,0.00,2.40,0.00,0.000,1030,0.000,0.067,3404,2130,1168,1306,1030,0,0,0,0,0,0,14.71,14.62,14.71
$GC,1689,1.18,117.3,3403,2130,1305,1030,141.3,10.8,188,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2130,1167,1305,1030,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1817,1.18,117.3,3404,2129,1305,1030,126.9,12.0,201,1822,0.00,2.50,0.00,0.000,516,0.000,0.096,3415,700,1167,1305,1030,0,0,0,0,0,0,14.95,14.69,14.94
$GC,1931,1.18,117.3,3415,699,1305,1028,112.5,13.0,212,1937,0.00,2.40,0.00,0.000,1030,0.000,0.070,3415,2107,1166,1305,1028,0,0,0,0,0,0,14.84,14.74,14.85
$GC,2067,1.18,117.3,3415,2107,1304,1028,96.7,11.3,225,2072,0.00,2.47,0.00,0.000,260,0.000,0.099,3415,3519,1167,1305,1029,0,0,0,0,0,0,14.99,14.75,15.00
$GC,2100,1.18,117.3,3415,3519,1304,1028,92.7,11.4,228,2106,0.00,2.40,0.00,0.000,1030,0.000,0.070,3426,2110,1166,1304,1028,0,0,0,0,0,0,14.87,14.78,14.88
$GC,2237,1.19,131.1,3426,2109,1305,1028,79.9,9.0,241,2254,0.00,2.53,11.10,0.965,8708,0.000,0.096,3436,697,1117,1253,981,0,0,0,0,0,0,15.01,14.73,14.31
$GC,2508,1.19,131.1,3436,697,1253,979,48.4,13.3,268,2514,0.00,2.40,0.00,0.000,1030,0.000,0.071,3436,2114,1116,1253,980,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2580,1.19,131.1,3436,2114,1253,980,40.0,12.2,281,2588,0.00,2.47,0.00,0.000,260,0.000,0.100,3437,3525,1116,1252,980,0,0,0,0,0,0,15.01,14.76,15.01
$GC,2742,1.19,131.1,3435,3525,1253,980,20.3,13.0,312,2749,0.12,2.40,0.00,0.000,5126,0.261,0.067,3415,2111,1116,1253,980,0,0,0,0,0,0,14.72,14.81,14.87
$GC,2814,1.19,131.1,3414,2109,1247,981,11.8,12.7,325,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2109,1116,1253,979,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2883,1.19,131.1,3415,2109,1253,980,4.6,10.9,338,2890,0.00,2.45,0.00,0.000,516,0.000,0.096,3424,698,1116,1253,980,0,0,0,0,0,0,15.02,14.78,15.03
$STATE,2906,end climb,SURFACE_DEPTH_REACHED
$STATE,2906,begin surface coast
$FINISH,3.5,1.020390
$STATE,2954,end surface coast,CONTROL_FINISHED_OK
$STATE,2954,begin surface
$SM_CCo,2958,134.73,0.060,1,0,500,286.37
$SM_GC,1.94,9.32,2.60,0.00,0.064,0.073,0.000,204,2196,499,-8.77,-0.65,286.62,0,0,0,0,0,0,14.83,14.80,14.88
$IRIDIUM_FIX,4748.51,-12337.82,290316,050510
$TT8_MAMPS,0.020972,0.310086
$HUMID,38.54
$INTERNAL_PRESSURE,8.83233
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,135.9,66.2
$SC_FREEKB,3906720
$24V_AH,13.74,2.460
$10V_AH,13.85,0.000
$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,23.225,49.025,209.675,134.725,0.000,32.662,36.945,412.323,2.000,0.000,12.740,971.533,1093.756,443.990,1202.958,184.622,33.439,827.352,0.000,651.119,0.000,13.530,0.000
$DEVICE_MAMPS,390.915,147.645,1129.140,59.670,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2977.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.542,0.000,0.000,0.000
$MEM,312968
$DATA_FILE_SIZE,10144,351
$CAP_FILE_SIZE,82983,0
$CFSIZE,2097086464,2091417600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.032,285.98,1
$GPS,290316,071216,4743.006,-12225.097,21,0.9,21,16.6,0.4,219.8,9,3.3