version: 66.12
glider: 601
mission: 5
dive: 14
start: 3 29 116 8 25 6
data:
$ID,601
$MISSION,5
$DIVE,14
$N_DIVES,25
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$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,50
$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,150
$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,3
$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,33
$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,0
$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
$GPS1,290316,081256,4743.2041,-12224.9150,7,0.7,7,16.6,0.0,0.0,11,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.9
$GPS2,290316,082403,4743.1782,-12225.0508,28,0.8,29,16.6,0.4,194.4,10,8.1
$SPEED_LIMITS,0.143,0.276
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.093467,0.259323
$KALMAN_X,-2690.207031,-424.104187,322.656097,1939.165771,-152.978241
$KALMAN_Y,-6508.333496,-354.037781,389.992462,7052.775879,-326.170288
$MHEAD_RNG_PITCHd_Wd,356.9,2542,-20.5,-12.000,-23.52,1860
$D_GRID,178
$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,-1.27,-146.6,209,2202,596,445,0.0,0.0,0,46,0.00,0.00,-24.35,0.000,16386,0.000,0.000,209,2202,1210,1308,1113,0,0,0,0,0,0,14.89,28.83,14.90
$GC,49,-1.27,-146.6,209,2202,1309,1114,2.3,-4.6,4,98,10.95,2.70,-27.95,0.000,18692,0.387,2.236,2612,3588,2225,2276,2175,0,0,0,0,0,0,14.50,13.82,14.71
$GC,133,-1.27,-146.6,2612,3588,2276,2176,11.1,-15.1,18,140,0.00,2.40,0.00,0.000,1030,0.000,0.058,2613,2173,2226,2276,2176,0,0,0,0,0,0,14.71,14.63,14.72
$GC,204,-1.27,-146.6,2612,2171,2276,2176,25.6,-22.5,31,210,0.00,2.55,0.00,0.000,260,0.000,0.096,2602,3588,2226,2276,2176,0,0,0,0,0,0,14.85,14.62,14.86
$GC,318,-1.27,-146.6,2601,3588,2276,2176,55.3,-25.6,51,324,0.00,2.38,0.00,0.000,1030,0.000,0.058,2602,2181,2227,2275,2180,0,0,0,0,0,0,14.78,14.71,14.80
$GC,454,-1.27,-146.6,2601,2180,2276,2176,87.0,-24.2,64,459,0.00,2.40,0.00,0.000,516,0.000,0.085,2602,783,2225,2276,2175,0,0,0,0,0,0,14.94,14.72,14.95
$GC,541,-1.27,-146.6,2601,783,2276,2176,107.3,-22.7,72,548,0.12,2.38,0.00,0.000,3078,0.272,0.067,2623,2189,2226,2276,2176,0,0,0,0,0,0,14.65,14.75,14.81
$GC,670,-1.27,-146.6,2623,2189,2277,2176,134.0,-20.5,85,676,0.00,2.47,0.00,0.000,260,0.000,0.097,2614,3602,2226,2276,2176,0,0,0,0,0,0,14.97,14.75,15.00
$GC,734,-1.27,-146.6,2614,3602,2276,2176,148.4,-21.6,91,740,0.00,2.38,0.00,0.000,1030,0.000,0.058,2614,2185,2226,2276,2176,0,0,0,0,0,0,14.88,14.80,14.89
$GC,870,-1.27,-146.6,2613,2180,2276,2176,177.0,-21.3,104,875,0.00,2.50,0.00,0.000,260,0.000,0.096,2603,3598,2226,2276,2176,0,0,0,0,0,0,15.01,14.78,15.02
$STATE,880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,880,begin apogee
$GC,889,-0.29,0.0,2603,2112,2277,2176,180.1,-21.3,105,1022,1.15,0.00,124.75,1.121,10246,0.235,0.000,2930,2107,1638,1727,1550,0,0,0,0,0,0,14.68,14.18,13.81
$STATE,1026,end apogee,CONTROL_FINISHED_OK
$STATE,1026,begin climb
$GC,1028,1.27,146.6,2930,2107,1725,1549,189.6,0.0,119,1158,1.58,2.55,119.32,1.078,10756,0.128,0.093,3431,709,1054,1193,915,0,0,0,0,0,0,14.26,14.07,13.71
$GC,1199,1.27,146.6,3431,710,1193,912,176.0,14.3,135,1206,0.00,2.47,0.00,0.000,1030,0.000,0.071,3431,2117,1052,1193,911,0,0,0,0,0,0,14.40,14.31,14.40
$GC,1328,1.27,146.6,3431,2116,1193,911,156.3,15.1,148,1333,0.00,2.50,0.00,0.000,260,0.000,0.099,3431,3513,1052,1193,912,0,0,0,0,0,0,14.72,14.49,14.73
$GC,1371,1.27,146.6,3431,3513,1193,911,148.7,16.7,152,1376,0.00,2.42,0.00,0.000,1030,0.000,0.068,3442,2117,1051,1192,911,0,0,0,0,0,0,14.64,14.54,14.64
$GC,1506,1.27,146.6,3441,2116,1193,911,128.2,15.3,165,1511,0.00,2.50,0.00,0.000,516,0.000,0.096,3453,694,1052,1193,911,0,0,0,0,0,0,14.85,14.61,14.85
$GC,1601,1.27,146.6,3453,694,1191,911,112.1,17.3,174,1606,0.00,2.42,0.00,0.000,1030,0.000,0.071,3453,2115,1056,1201,911,0,0,0,0,0,0,14.76,14.66,14.77
$GC,1736,1.27,146.6,3452,2115,1192,911,90.0,16.3,187,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2115,1052,1193,911,0,0,0,0,0,0,14.93,14.95,14.94
$GC,1864,1.27,146.6,3452,2115,1192,911,69.8,15.0,200,1869,0.00,2.50,0.00,0.000,516,0.000,0.093,3463,693,1051,1192,911,0,0,0,0,0,0,14.97,14.73,14.98
$GC,1942,1.27,146.6,3463,692,1192,911,58.5,16.1,207,1948,0.00,2.42,0.00,0.000,1030,0.000,0.072,3463,2120,1051,1192,911,0,0,0,0,0,0,14.85,14.76,14.87
$GC,2068,1.27,146.6,3463,2120,1192,911,39.2,13.6,227,2075,0.00,2.50,0.00,0.000,516,0.000,0.096,3474,699,1051,1192,911,0,0,0,0,0,0,14.99,14.76,15.00
$GC,2153,1.27,146.6,3474,697,1192,911,27.8,12.8,243,2160,0.12,2.40,0.00,0.000,5126,0.252,0.070,3440,2116,1051,1192,910,0,0,0,0,0,0,14.70,14.77,14.84
$GC,2224,1.27,162.3,3440,2115,1192,911,19.9,11.1,256,2244,0.00,2.53,13.60,0.079,8452,0.000,0.099,3441,3518,993,1129,858,0,0,0,0,0,0,15.01,14.74,14.79
$STATE,2341,end climb,SURFACE_DEPTH_REACHED
$STATE,2341,begin surface coast
$FINISH,1.6,1.020197
$STATE,2367,end surface coast,CONTROL_FINISHED_OK
$STATE,2367,begin surface
$SM_CCo,2390,99.95,0.050,0,0,525,280.09
$SM_GC,1.17,9.80,2.33,99.95,0.106,0.063,0.050,214,2168,525,-8.76,0.40,280.09,0,0,0,0,0,0,14.81,14.81,14.83
$IRIDIUM_FIX,4748.51,-12337.82,290316,071514
$TT8_MAMPS,0.020972,0.288365
$HUMID,37.87
$INTERNAL_PRESSURE,8.8421
$TCM_TEMP,17.30
$XPDR_PINGS,0
$SC_FREEKB,3906080
$24V_AH,13.71,2.727
$10V_AH,13.82,0.000
$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,23.725,54.250,257.675,99.950,0.000,31.076,36.393,389.897,0.000,0.000,30.624,758.044,751.623,432.593,1058.852,170.942,33.466,763.515,0.000,524.580,0.000,0.544,0.000
$DEVICE_MAMPS,387.090,2236.095,1120.725,49.725,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2391.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.757,0.000,0.000,0.000
$MEM,312936
$DATA_FILE_SIZE,10169,283
$CAP_FILE_SIZE,70232,0
$CFSIZE,2097086464,2091089920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.040,311.68,1
$GPS,290316,090736,4743.564,-12224.939,17,1.0,17,16.6,0.3,202.6,9,3.2