version: 66.12
glider: 601
mission: 5
dive: 16
start: 3 29 116 10 12 37
data:
$ID,601
$MISSION,5
$DIVE,16
$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,23
$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,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
$GPS1,290316,100133,4743.7886,-12224.7227,5,0.9,9,16.6,0.0,0.0,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.0
$GPS2,290316,101132,4743.7266,-12224.8330,7,0.9,11,16.6,0.0,0.0,10,8.8
$SPEED_LIMITS,0.143,0.276
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.123633,0.246372
$KALMAN_X,-3148.475830,-498.303680,514.595459,2549.276611,-251.126495
$KALMAN_Y,-7267.055176,-350.193390,633.332214,8576.227539,-341.695068
$MHEAD_RNG_PITCHd_Wd,3.6,1491,-20.5,-12.000,-23.52,1860
$D_GRID,175
$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,-1.27,-146.6,205,2207,595,442,0.0,0.0,0,51,0.00,0.00,-29.67,0.000,16386,0.000,0.000,205,2207,1340,1436,1245,0,0,0,0,0,0,14.89,28.83,14.90
$GC,55,-1.27,-146.6,205,2207,1437,1249,2.4,-5.2,5,92,11.02,0.00,-22.08,0.000,18438,0.392,0.000,2617,2206,2227,2276,2178,0,0,0,0,0,0,14.50,13.87,14.71
$GC,155,-1.27,-146.6,2616,2206,2276,2180,18.6,-19.1,23,162,0.00,2.45,0.00,0.000,260,0.000,0.093,2608,3595,2228,2276,2180,0,0,0,0,0,0,14.88,14.64,14.89
$GC,250,-1.27,-146.6,2608,3595,2276,2180,41.4,-24.8,41,258,0.00,2.40,0.00,0.000,1030,0.000,0.060,2608,2180,2228,2276,2180,0,0,0,0,0,0,14.80,14.71,14.81
$GC,326,-1.27,-146.6,2608,2175,2276,2180,59.4,-22.7,51,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2174,2228,2276,2180,0,0,0,0,0,0,14.94,14.95,14.95
$GC,446,-1.27,-146.6,2606,2173,2276,2180,86.7,-23.5,63,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2174,2228,2276,2180,0,0,0,0,0,0,14.97,14.98,14.98
$GC,566,-1.27,-146.6,2608,2173,2276,2180,116.0,-24.1,75,571,0.00,2.50,0.00,0.000,260,0.000,0.093,2598,3597,2228,2276,2180,0,0,0,0,0,0,15.00,14.76,15.00
$GC,623,-1.27,-146.6,2597,3602,2276,2180,128.6,-23.6,80,630,0.00,2.40,0.00,0.000,1030,0.000,0.059,2597,2176,2228,2276,2180,0,0,0,0,0,0,14.88,14.81,14.89
$GC,749,-1.27,-146.6,2597,2171,2276,2180,157.7,-20.8,93,754,0.00,2.50,0.00,0.000,260,0.000,0.093,2586,3595,2228,2276,2180,0,0,0,0,0,0,15.02,14.78,15.02
$GC,792,-1.27,-146.6,2586,3595,2276,2180,167.4,-22.7,97,798,0.12,2.38,0.00,0.000,3078,0.269,0.060,2619,2177,2228,2276,2180,0,0,0,0,0,0,14.71,14.82,14.86
$STATE,833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,833,begin apogee
$GC,840,-0.29,0.0,2619,2089,2276,2180,176.8,-21.1,101,975,1.08,0.00,124.68,1.112,10246,0.221,0.000,2933,2089,1638,1726,1550,0,0,0,0,0,0,14.70,14.29,13.83
$STATE,978,end apogee,CONTROL_FINISHED_OK
$STATE,978,begin climb
$GC,981,1.27,146.6,2932,2089,1726,1550,184.3,0.0,115,1108,1.55,0.00,119.12,1.069,10758,0.126,0.000,3418,2089,1055,1193,917,0,0,0,0,0,0,14.28,14.16,13.72
$GC,1226,1.27,146.6,3417,2089,1192,913,157.1,17.3,140,1232,0.00,2.45,0.00,0.000,516,0.000,0.093,3428,718,1052,1192,912,0,0,0,0,0,0,14.65,14.42,14.66
$GC,1284,1.27,146.6,3428,718,1192,911,149.3,14.2,145,1290,0.00,2.40,0.00,0.000,1030,0.000,0.070,3428,2111,1051,1192,910,0,0,0,0,0,0,14.60,14.50,14.62
$GC,1412,1.27,146.6,3427,2111,1192,911,130.6,13.8,158,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2111,1051,1192,911,0,0,0,0,0,0,14.82,14.83,14.83
$GC,1540,1.27,146.6,3428,2111,1192,909,111.8,14.5,171,1546,0.00,2.45,0.00,0.000,516,0.000,0.093,3438,724,1051,1192,911,0,0,0,0,0,0,14.89,14.66,14.90
$GC,1607,1.27,146.6,3438,724,1192,910,102.5,14.6,177,1614,0.00,2.35,0.00,0.000,1030,0.000,0.069,3438,2112,1051,1192,911,0,0,0,0,0,0,14.79,14.69,14.80
$GC,1736,1.27,146.6,3438,2112,1192,911,85.7,13.1,190,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2112,1050,1192,909,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1864,1.27,146.6,3438,2112,1192,911,67.6,13.7,203,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2112,1051,1192,911,0,0,0,0,0,0,14.98,14.99,14.99
$GC,1984,1.27,146.6,3438,2112,1192,911,51.3,13.1,215,1990,0.00,2.45,0.00,0.000,260,0.000,0.096,3438,3513,1051,1192,911,0,0,0,0,0,0,15.00,14.76,15.01
$GC,2037,1.27,146.6,3438,3513,1192,911,44.8,12.2,224,2044,0.00,2.35,0.00,0.000,1030,0.000,0.067,3449,2126,1051,1192,911,0,0,0,0,0,0,14.88,14.78,14.88
$GC,2108,1.27,146.6,3449,2127,1192,910,36.6,12.4,237,2115,0.00,2.47,0.00,0.000,516,0.000,0.094,3459,700,1051,1192,910,0,0,0,0,0,0,15.00,14.78,15.00
$GC,2152,1.27,146.6,3460,700,1192,910,30.5,13.6,245,2159,0.00,2.38,0.00,0.000,1030,0.000,0.070,3460,2103,1051,1192,911,0,0,0,0,0,0,14.89,14.80,14.90
$GC,2224,1.27,146.6,3460,2103,1192,911,21.3,13.8,258,2231,0.00,2.47,0.00,0.000,260,0.000,0.097,3460,3519,1051,1192,911,0,0,0,0,0,0,15.01,14.78,15.02
$GC,2264,1.27,146.6,3460,3519,1192,911,14.9,15.7,265,2272,0.10,2.40,0.00,0.000,5126,0.269,0.069,3444,2111,1051,1192,911,0,0,0,0,0,0,14.72,14.81,14.86
$GC,2336,1.27,146.6,3444,2109,1192,911,5.1,13.9,278,2344,0.00,2.45,0.00,0.000,516,0.000,0.096,3453,699,1051,1192,911,0,0,0,0,0,0,15.01,14.78,15.02
$STATE,2349,end climb,SURFACE_DEPTH_REACHED
$STATE,2349,begin surface coast
$FINISH,0.1,1.020682
$STATE,2370,end surface coast,CONTROL_FINISHED_OK
$STATE,2370,begin surface
$SM_CCo,2393,110.45,0.050,0,0,525,280.09
$SM_GC,1.43,9.38,2.60,110.45,0.063,0.072,0.050,205,2194,525,-8.77,-0.62,280.09,0,0,0,0,0,0,14.83,14.81,14.83
$IRIDIUM_FIX,4748.51,-12337.82,290316,091025
$TT8_MAMPS,0.020223,0.2996
$HUMID,37.59
$INTERNAL_PRESSURE,8.85186
$TCM_TEMP,17.40
$XPDR_PINGS,0
$SC_FREEKB,3905440
$24V_AH,13.72,2.988
$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,23.250,43.950,243.800,110.450,0.000,30.356,38.010,348.891,0.000,0.000,11.962,732.200,827.482,438.577,964.369,160.635,33.455,755.642,0.000,489.099,0.000,0.546,0.000
$DEVICE_MAMPS,391.680,146.115,1111.545,50.490,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2389.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.635,0.000,0.000,0.000
$MEM,312916
$DATA_FILE_SIZE,10119,284
$CAP_FILE_SIZE,69082,0
$CFSIZE,2097086464,2090762240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,227.50,1
$GPS,290316,105513,4744.038,-12224.626,4,0.8,10,16.6,0.0,0.0,10,10.0