version: 66.12
glider: 601
mission: 5
dive: 13
start: 3 29 116 7 24 19
data:
$ID,601
$MISSION,5
$DIVE,13
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,290316,071216,4743.0063,-12225.0967,21,0.9,21,16.6,0.4,219.8,9,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.2
$GPS2,290316,072318,4742.9019,-12225.1895,7,0.9,13,16.6,0.0,0.0,9,9.9
$SPEED_LIMITS,0.116,0.233
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.084705,0.217041
$KALMAN_X,-2385.451172,-324.730316,76.728271,1609.076660,-141.163818
$KALMAN_Y,-5798.110352,-360.414917,20.614769,6208.462402,-194.714325
$MHEAD_RNG_PITCHd_Wd,7.5,3082,-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,-117.3,204,2203,550,432,0.0,0.0,0,45,0.00,0.00,-24.02,0.000,16386,0.000,0.000,204,2202,1152,1245,1059,0,0,0,0,0,0,14.88,28.83,14.89
$GC,48,-1.18,-117.3,204,2203,1246,1060,2.0,-3.8,4,96,11.00,0.00,-29.85,0.000,18438,0.382,0.000,2644,2202,2106,2167,2046,0,0,0,0,0,0,14.50,14.08,14.71
$GC,160,-1.18,-117.3,2643,2202,2169,2049,12.7,-14.9,24,167,0.00,2.47,0.00,0.000,260,0.000,0.094,2635,3599,2108,2169,2048,0,0,0,0,0,0,14.85,14.61,14.85
$GC,256,-1.18,-117.3,2632,3599,2169,2048,30.3,-18.7,42,263,0.00,2.40,0.00,0.000,1030,0.000,0.058,2634,2180,2108,2169,2048,0,0,0,0,0,0,14.78,14.70,14.78
$GC,327,-1.18,-117.3,2634,2175,2169,2049,44.1,-19.5,55,334,0.00,2.53,0.00,0.000,260,0.000,0.096,2624,3596,2108,2169,2048,0,0,0,0,0,0,14.90,14.66,14.90
$GC,445,-1.18,-117.3,2624,3596,2169,2048,68.2,-20.4,69,452,0.00,2.38,0.00,0.000,1030,0.000,0.058,2624,2186,2108,2169,2048,0,0,0,0,0,0,14.83,14.74,14.83
$GC,573,-1.18,-117.3,2623,2190,2169,2048,92.0,-17.8,82,579,0.00,2.40,0.00,0.000,516,0.000,0.083,2624,792,2109,2169,2049,0,0,0,0,0,0,14.97,14.75,14.97
$GC,730,-1.18,-117.3,2623,790,2169,2048,123.7,-20.4,97,737,0.12,2.38,0.00,0.000,3078,0.256,0.067,2646,2200,2107,2167,2048,0,0,0,0,0,0,14.69,14.78,14.84
$GC,864,-1.18,-117.3,2646,2200,2169,2048,148.0,-17.8,110,870,0.00,2.45,0.00,0.000,260,0.000,0.097,2637,3601,2108,2168,2048,0,0,0,0,0,0,15.02,14.78,15.02
$GC,928,-1.18,-117.3,2637,3601,2167,2048,159.7,-18.6,116,933,0.00,2.38,0.00,0.000,1030,0.000,0.060,2637,2182,2108,2168,2048,0,0,0,0,0,0,14.90,14.82,14.92
$GC,1064,-1.18,-117.3,2637,2179,2167,2048,182.2,-17.0,129,1070,0.00,2.50,0.00,0.000,260,0.000,0.095,2626,3597,2107,2166,2048,0,0,0,0,0,0,15.03,14.78,15.04
$STATE,1096,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1096,begin apogee
$GC,1105,-0.29,0.0,2626,2109,2166,2048,188.8,-17.6,132,1210,1.05,0.00,100.55,1.134,10246,0.230,0.000,2927,2104,1639,1729,1549,0,0,0,0,0,0,14.71,14.36,13.88
$STATE,1213,end apogee,CONTROL_FINISHED_OK
$STATE,1213,begin climb
$GC,1215,1.18,117.3,2927,2104,1728,1548,195.8,0.0,143,1325,1.48,2.60,96.55,1.095,10756,0.107,0.095,3410,711,1171,1308,1035,0,0,0,0,0,0,14.33,14.14,13.72
$GC,1364,1.19,144.1,3409,711,1307,1034,189.6,8.2,157,1395,0.00,2.47,22.50,1.061,9222,0.000,0.072,3410,2112,1064,1203,926,0,0,0,0,0,0,14.41,14.32,13.82
$GC,1513,1.19,144.1,3410,2112,1203,925,171.8,12.8,172,1518,0.00,2.55,0.00,0.000,260,0.000,0.100,3410,3529,1064,1203,925,0,0,0,0,0,0,14.70,14.46,14.70
$GC,1580,1.19,144.1,3410,3529,1203,925,162.7,14.8,178,1587,0.00,2.45,0.00,0.000,1030,0.000,0.068,3420,2117,1063,1201,925,0,0,0,0,0,0,14.64,14.55,14.65
$GC,1710,1.19,144.1,3420,2115,1203,924,143.3,15.4,191,1715,0.00,2.50,0.00,0.000,516,0.000,0.097,3431,697,1063,1203,924,0,0,0,0,0,0,14.85,14.61,14.85
$GC,1754,1.19,144.1,3431,697,1202,923,136.2,15.2,195,1759,0.00,2.45,0.00,0.000,1030,0.000,0.073,3432,2121,1063,1203,923,0,0,0,0,0,0,14.74,14.64,14.76
$GC,1888,1.19,144.1,3431,2121,1203,923,115.9,15.4,208,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2121,1063,1203,923,0,0,0,0,0,0,14.92,14.93,14.93
$GC,2017,1.19,144.1,3431,2121,1203,923,95.5,15.9,221,2023,0.00,2.50,0.00,0.000,516,0.000,0.095,3442,702,1063,1203,923,0,0,0,0,0,0,14.95,14.72,14.97
$GC,2116,1.19,144.1,3442,701,1203,923,81.1,14.0,230,2123,0.00,2.40,0.00,0.000,1030,0.000,0.069,3442,2115,1063,1203,923,0,0,0,0,0,0,14.85,14.76,14.87
$GC,2243,1.19,144.1,3441,2115,1200,923,63.5,13.5,243,2249,0.00,2.47,0.00,0.000,516,0.000,0.094,3452,701,1062,1203,922,0,0,0,0,0,0,15.00,14.76,15.00
$GC,2417,1.19,144.1,3452,701,1203,923,39.3,13.4,268,2425,0.12,2.40,0.00,0.000,5126,0.252,0.069,3419,2127,1062,1203,922,0,0,0,0,0,0,14.70,14.78,14.86
$GC,2489,1.19,144.1,3419,2126,1203,923,30.8,11.9,281,2496,0.00,2.42,0.00,0.000,260,0.000,0.099,3419,3510,1063,1203,923,0,0,0,0,0,0,15.02,14.78,15.02
$GC,2570,1.19,144.1,3419,3510,1203,923,20.4,12.6,296,2577,0.00,2.38,0.00,0.000,1030,0.000,0.067,3428,2107,1063,1203,923,0,0,0,0,0,0,14.90,14.81,14.91
$GC,2642,1.19,144.1,3427,2106,1203,923,11.3,13.1,309,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2107,1063,1203,923,0,0,0,0,0,0,15.01,15.02,15.02
$STATE,2708,end climb,SURFACE_DEPTH_REACHED
$STATE,2708,begin surface coast
$FINISH,2.0,1.020393
$STATE,2736,end surface coast,CONTROL_FINISHED_OK
$STATE,2736,begin surface
$SM_CCo,2757,113.20,0.051,0,0,526,280.09
$SM_GC,1.87,9.70,0.15,113.20,0.103,0.119,0.051,209,2197,526,-8.77,-0.85,280.09,0,0,0,0,0,0,14.83,14.84,14.83
$IRIDIUM_FIX,4748.51,-12337.82,290316,060831
$TT8_MAMPS,0.020972,0.311584
$HUMID,38.22
$INTERNAL_PRESSURE,8.8421
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,72.5
$SC_FREEKB,3906400
$24V_AH,13.72,2.591
$10V_AH,13.18,0.000
$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,23.475,54.175,219.600,113.200,0.000,26.911,38.468,402.960,1.750,0.000,13.742,903.873,871.142,423.371,1164.747,184.314,33.457,800.111,0.000,630.232,0.000,14.881,0.000
$DEVICE_MAMPS,381.735,118.575,1134.495,51.255,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2762.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.717,0.000,0.000,0.000
$MEM,312936
$DATA_FILE_SIZE,10152,327
$CAP_FILE_SIZE,79229,0
$CFSIZE,2097086464,2091253760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.022,168.10,1
$GPS,290316,081256,4743.204,-12224.915,7,0.7,7,16.6,0.0,0.0,11,0.0