version: 67.01
glider: 1
mission: 3
dive: 136
start: 12 18 123 7 15 55
data:
$ID,1
$MISSION,3
$DIVE,136
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,86400
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0070000002
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,566.45502
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$NETBOX,10
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,10800
$RAFOS_MMODEM,0
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,1787.2656
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,2.4159136
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0080000004
$PITCH_ADJ_DBAND,3
$C_PITCH_AUTO_DELTA,0.5
$C_PITCH_AUTO_MAX,200
$PITCH_GAIN_AUTO_DELTA,0.5
$PITCH_GAIN_AUTO_MAX,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,80
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,30
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,4390.0757
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,400
$VBD_MAXERRORS,2
$C_VBD_AUTO_DELTA,0.5
$C_VBD_AUTO_MAX,100
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,5
$FG_AHR_10V,2186.7341
$FG_AHR_24V,22.304815
$PHONE_SUPPLY,2
$PRESSURE_YINT,-31.439199
$PRESSURE_SLOPE,9.9999997e-05
$COMPASS_USE,4
$ALTIM_PING_FIT,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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,120
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,2
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,96
$NAV_DEVICE,6
$NAV2_DEVICE,6
$NAV3_DEVICE,-1
$NAV4_DEVICE,-1
$NETWORK_DEVICE,1
$PRESSURE_DEVICE,0
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0044421619
$SEABIRD_T_H,0.0006586102
$SEABIRD_T_I,2.6926198e-05
$SEABIRD_T_J,3.3427477e-06
$SEABIRD_C_G,-9.9959793
$SEABIRD_C_H,1.1392462
$SEABIRD_C_I,-0.0021947562
$SEABIRD_C_J,0.00024419418
$OPTIONS,2
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,181223,071149,4743.110,-12224.296,18,1.6,28,0.0
$_CALLS,1
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-50.0
$GPS2,181223,071429,4743.114,-12224.294,10,1.7,18,0.0
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,run_912
$TGT_LATLONG,4737.714,-12238.171
$TGT_RADIUS,0.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,240.0,20000,-19.3,-10.000,-20.84,2243,0.421
$D_GRID,176
$IRON,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000
$OSC,8000266
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.45,16386,-146.63,-8.18,0.00,2167.8,2213.6,2122.0,377.2,1887.9,0.00,0.00,0,71.12,44.86,0.00,0.44,0.005,0.000,0.005,3963.62,4043.94,3883.31,378.06,2246.81,0,0,0,25.57,30.00,25.57
$GC,71.46,21031,-146.63,-8.18,-80.00,3963.8,4044.2,3883.2,377.6,2246.9,1.55,-2.43,11,76.53,0.00,0.00,2.49,0.000,0.000,0.005,3963.25,4043.75,3882.75,377.75,299.38,0,0,0,30.00,30.00,25.57
$GC,251.75,21639,-146.63,-8.25,0.00,3963.9,4044.5,3883.2,377.7,299.8,16.57,-11.28,47,256.68,0.00,0.00,2.46,0.000,0.000,0.005,3963.22,4043.06,3883.38,377.56,2227.88,0,0,0,30.00,30.00,25.57
$GC,291.74,20871,-146.63,-8.32,80.00,3963.8,4044.1,3883.4,377.8,2227.5,20.91,-10.65,55,296.98,0.00,0.00,1.89,0.000,0.000,0.005,3964.25,4044.69,3883.81,377.75,3743.88,0,0,0,30.00,30.00,25.57
$GC,526.77,21511,-146.63,-8.32,0.00,3963.3,4043.5,3883.2,377.6,3743.8,48.54,-13.23,102,532.46,0.00,0.00,2.66,0.000,0.000,0.005,3963.66,4043.62,3883.69,377.56,1766.69,0,0,0,30.00,30.00,25.57
$GC,597.48,4485,-146.63,-8.34,80.00,3963.6,4043.8,3883.4,377.8,1766.5,59.66,-17.57,116,602.93,0.00,0.00,2.53,0.000,0.000,0.005,3963.50,4043.75,3883.25,377.81,3717.81,0,0,0,30.00,30.00,25.57
$GC,832.79,5125,-146.63,-8.34,0.00,3963.5,4043.8,3883.1,377.6,3717.9,90.80,-11.51,163,838.38,0.00,0.00,2.62,0.000,0.000,0.005,3963.66,4043.75,3883.56,377.69,1914.00,0,0,0,30.00,30.00,25.57
$GC,903.19,4357,-146.63,-8.34,80.00,3963.4,4043.6,3883.2,377.8,1725.1,99.19,-11.82,177,908.93,0.00,0.00,2.69,0.000,0.000,0.005,3962.31,4041.75,3882.88,377.75,3596.50,0,0,0,30.00,30.00,25.57
$GC,918.76,5125,-146.63,-8.34,0.00,3963.5,4043.8,3883.1,377.4,3772.1,101.24,-12.65,180,924.54,0.00,0.00,2.58,0.000,0.000,0.005,3963.41,4043.75,3883.06,377.44,1812.25,0,0,0,30.00,30.00,25.57
$GC,989.58,4357,-146.63,-8.34,80.00,3963.8,4044.2,3883.2,377.5,1811.9,110.94,-13.89,194,995.35,0.00,0.00,2.57,0.000,0.000,0.005,3962.91,4042.50,3883.31,377.56,3633.06,0,0,0,30.00,30.00,25.57
$GC,1140.41,5125,-146.63,-8.34,0.00,3964.1,4044.5,3883.6,377.6,3632.7,129.97,-12.33,224,1146.08,0.00,0.00,2.33,0.000,0.000,0.005,3963.12,4043.50,3882.75,377.94,1850.62,0,0,0,30.00,30.00,25.57
$GC,1270.81,4357,-146.63,-8.34,80.00,3963.2,4043.5,3882.9,377.9,1850.5,147.79,-13.74,250,1276.54,0.00,0.00,2.51,0.000,0.000,0.005,3963.59,4043.94,3883.25,377.62,3775.06,0,0,0,30.00,30.00,25.57
$STATE,1376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1376,begin apogee
$GC,1382.11,18435,0.00,-2.07,0.00,3963.4,4043.8,3883.0,377.6,1861.5,150.03,-3.21,271,1393.87,0.00,3.62,0.61,0.000,0.005,0.005,3963.59,4043.88,3883.31,1390.56,2327.38,0,0,0,30.00,25.57,25.57
$STATE,1394,end apogee,CONTROL_FINISHED_OK
$STATE,1394,begin climb
$GC,1395.06,10759,146.63,8.18,-80.00,3964.0,4044.1,3883.9,1391.0,2327.2,150.22,0.00,273,1457.59,28.26,7.22,2.84,0.005,0.005,0.005,3792.59,3869.25,3715.94,3363.81,269.12,0,0,0,25.57,25.57,25.57
$GC,1687.82,11431,160.18,8.27,0.00,3792.8,3869.8,3715.9,3363.2,269.2,133.19,9.38,330,1709.17,11.02,0.00,2.54,0.005,0.000,0.005,3738.47,3814.38,3662.56,3363.81,2183.75,0,0,0,25.57,30.00,25.57
$GC,1834.03,10791,200.43,8.32,-80.00,3738.2,3814.2,3662.1,3363.3,2183.8,120.03,8.16,359,1880.81,27.51,0.00,2.38,0.005,0.000,0.005,3572.22,3644.44,3500.00,3363.88,391.06,0,0,0,25.57,30.00,25.57
$GC,2110.82,3077,200.43,8.32,0.00,3573.0,3645.7,3500.3,3363.7,391.2,90.13,14.60,414,2116.63,0.00,0.00,2.42,0.000,0.000,0.005,3572.91,3645.44,3500.38,3364.00,2174.38,0,0,0,30.00,30.00,25.57
$GC,2181.37,2565,200.43,8.32,-80.00,3572.8,3645.4,3500.2,3364.1,2173.7,79.06,15.83,428,2187.02,0.00,0.00,2.46,0.000,0.000,0.005,3573.25,3645.94,3500.56,3363.69,418.12,0,0,0,30.00,30.00,25.57
$GC,2401.93,3077,200.43,8.32,0.00,3572.8,3645.7,3500.0,3363.4,418.2,50.55,10.42,472,2407.73,0.00,0.00,2.57,0.000,0.000,0.005,3572.62,3645.31,3499.94,3363.62,2305.06,0,0,0,30.00,30.00,25.57
$GC,2472.70,10919,205.50,8.35,-80.00,3572.9,3645.6,3500.1,3363.8,2305.3,43.95,9.77,486,2488.97,6.04,0.00,2.41,0.005,0.000,0.005,3553.34,3625.56,3481.12,3363.94,319.88,0,0,0,25.57,30.00,25.57
$NAV,1702886343,29.4,start
$GC,2676.79,3077,205.50,8.35,0.00,3553.2,3625.6,3480.9,3363.5,319.9,18.09,12.05,517,2682.53,0.00,0.00,2.53,0.000,0.000,0.005,3553.41,3625.44,3481.38,3364.19,2229.06,0,0,0,30.00,30.00,25.57
$GC,2717.65,2693,205.50,8.42,-80.00,3553.5,3626.0,3480.9,3363.9,2229.3,13.52,11.17,525,2723.24,0.00,0.00,2.30,0.000,0.000,0.005,3552.72,3624.69,3480.75,3364.25,403.94,0,0,0,30.00,30.00,25.57
$STATE,2828,end climb,SURFACE_DEPTH_REACHED
$STATE,2828,begin surface coast
$FINISH,0.0,1.030129
$STATE,2858,end surface coast,CONTROL_FINISHED_OK
$STATE,2858,begin surface
$SURF,forcing
$SM_CCo,3035.34,109.33,0.005,0,2081.7,2125.8,2037.6,566.24
$SM_GC,0.03,109.33,10.91,2.36,0.005,0.005,0.005,2081.7,2125.8,2037.6,370.2,2296.1,0,0,0,25.57,25.57,25.57
$SUPER,19,70,255,1,0,0
$IRIDIUM_FIX,0.00,0.00,,
$TCM_TEMP,15.00
$XPDR_PINGS,-1,-1.0,-1.0
$SC_FREEKB,3865760
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,50.42
$TEMP,22.00
$INTERNAL_PRESSURE,13.9928
$24V_AH,24.07,13.689
$10V_AH,11.08,0.000
$FG_AHR_24Vo,22.314
$FG_AHR_10Vo,2187.616
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,227.025,21.745,56.405,19.704,0.000,28.183,2747.124,6.299,0.000,260.840,837.229,0.000,0.000,0.000,13.035
$DEVICE_MAX_MAMPS,5.000,5.000,5.000,10.540,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,5.000,5.000,5.000,10.540,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2863.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.569,0.000,0.000,0.000
$MEM0,58972,1,0,0
$MEM1,65508,1,0,0
$MEM2,991592,27,54156,114
$DATA_FILE_SIZE,19362,553
$CAP_FILE_SIZE,253723,0
$SDSIZE,3887104,3838624
$SDFILEDIR,929,138
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.0
$IMPLIED_C_PITCH,1955,2.89,395,1871.3,2.65
$IMPLIED_C_VBD,4751,174.268906,205,4490.1
$GPS,181223,080756,4743.501,-12224.189,30,1.8,37,0.0