version: 67.00
glider: 235
mission: 14
dive: 7
start: 5 20 122 21 2 2
data:
$ID,235
$MISSION,14
$DIVE,7
$N_DIVES,7
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,165
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,20
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,40
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,240
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72383
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,590.98499
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,15
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,230
$PITCH_MAX,3900
$C_PITCH,2030
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,19.949879
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$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,1200
$ROLL_MAX,3900
$ROLL_DEG,80
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,2600
$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,2950
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,2
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,2
$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,400
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,156.97002
$FG_AHR_24V,196.51282
$PHONE_SUPPLY,2
$PRESSURE_YINT,-158.77972
$PRESSURE_SLOPE,0.00022957686
$COMPASS_USE,49156
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$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,-0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,35
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,96
$NAV_DEVICE,6
$NAV2_DEVICE,6
$NETWORK_DEVICE,1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,-1
$SIM_W,0
$SEABIRD_T_G,0.004415411
$SEABIRD_T_H,0.00064200663
$SEABIRD_T_I,2.6329088e-05
$SEABIRD_T_J,3.2522996e-06
$SEABIRD_C_G,-9.8064938
$SEABIRD_C_H,1.0739573
$SEABIRD_C_I,-0.002841271
$SEABIRD_C_J,0.00027081851
$OPTIONS,2
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,200522,205749,4736.774,-12256.719,1,1.8,3,15.5
$_CALLS,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-53.1
$GPS2,200522,210126,4736.730,-12256.759,2,1.7,4,15.5
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,S
$TGT_LATLONG,4736.000,-12257.000
$TGT_RADIUS,300.000
$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,177.1,1385,-17.6,-10.000,-21.21,2209,0.146
$D_GRID,150
$IRON,1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$NAV,1653080543,1.5,start
$GC,9.70,16386,-146.63,-1.06,0.00,540.5,613.0,467.9,216.6,2725.2,0.00,0.00,0,126.88,114.39,0.00,0.00,0.005,0.000,0.000,3136.53,3143.19,3129.88,216.31,2724.12,0,0,0,15.69,30.00,30.00
$GC,127.14,18983,-146.63,-1.06,-80.00,3135.7,3142.1,3129.2,216.5,2723.4,3.38,-1.76,11,158.59,12.19,12.10,3.45,0.006,0.278,0.128,3545.59,3575.88,3515.31,1773.25,1278.81,0,0,0,15.74,15.56,15.65
$GC,386.64,1028,-146.63,-1.06,0.00,3548.4,3583.0,3513.9,1773.1,1279.2,27.33,-10.08,63,391.62,0.00,0.00,3.42,0.000,0.000,0.072,3549.78,3583.19,3516.38,1773.00,2768.56,0,0,0,30.00,30.00,15.74
$GC,716.74,548,-146.63,-1.06,-80.00,3548.7,3582.8,3514.6,1772.9,2767.1,50.55,-6.21,77,721.67,0.00,0.00,3.59,0.000,0.000,0.123,3549.62,3583.50,3515.75,1772.81,1279.25,0,0,0,30.00,30.00,15.77
$GC,760.99,1060,-146.63,-1.06,0.00,3548.9,3583.5,3514.3,1772.2,1279.1,53.75,-6.29,86,766.66,0.00,0.00,3.38,0.000,0.000,0.071,3549.94,3583.56,3516.31,1772.94,2769.25,0,0,0,30.00,30.00,15.80
$NAV,1653081628,77.7,0,stop
$GC,1136.72,292,-146.63,-1.06,80.00,3549.1,3583.5,3514.8,1773.0,2769.5,80.09,-7.79,101,1141.56,0.00,0.00,2.76,0.000,0.000,0.135,3549.00,3583.25,3514.75,1773.06,3912.31,0,0,0,30.00,30.00,15.81
$GC,1166.74,1060,-146.63,-1.06,0.00,3549.4,3584.0,3514.9,1773.3,3910.2,82.70,-7.95,107,1171.57,0.00,0.00,2.70,0.000,0.000,0.071,3548.94,3583.12,3514.75,1773.69,2724.06,0,0,0,30.00,30.00,15.86
$GC,1556.76,260,-146.63,-1.06,80.00,3548.8,3583.1,3514.4,1773.1,2725.0,115.26,-8.26,125,1561.62,0.00,0.00,2.85,0.000,0.000,0.130,3548.97,3582.75,3515.19,1772.25,3912.75,0,0,0,30.00,30.00,15.87
$GC,1626.03,1028,-146.63,-1.06,0.00,3549.5,3582.9,3516.2,1773.5,3912.5,121.55,-9.02,139,1631.61,0.00,0.00,2.69,0.000,0.000,0.073,3549.56,3584.88,3514.25,1773.31,2724.00,0,0,0,30.00,30.00,15.92
$STATE,1977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1977,begin apogee
$GC,1977.94,10243,0.00,-0.25,0.00,3548.7,3583.5,3513.8,1772.9,2575.7,150.02,-8.13,154,2084.05,103.17,1.29,0.08,1.378,0.137,0.255,2945.34,3011.25,2879.44,1971.44,2619.56,0,0,0,11.78,15.90,15.46
$STATE,2086,end apogee,CONTROL_FINISHED_OK
$STATE,2086,begin climb
$GC,2087.01,10759,146.63,1.06,-80.00,2947.8,3013.7,2882.0,1972.6,2623.5,151.91,0.00,157,2206.74,110.29,2.06,3.60,1.311,0.089,0.134,2350.50,2430.56,2270.44,2293.62,1189.31,0,0,0,11.62,15.48,15.24
$GC,2224.00,1028,146.63,1.06,0.00,2348.3,2427.3,2269.3,2293.8,1190.4,140.75,12.86,184,2229.68,0.00,0.00,3.32,0.000,0.000,0.065,2350.91,2429.19,2272.62,2292.56,2621.31,0,0,0,30.00,30.00,15.36
$GC,2599.73,16646,146.63,1.06,80.00,2344.0,2419.8,2268.2,2293.5,2622.1,92.28,12.95,199,2604.65,0.00,0.00,3.13,0.000,0.000,0.137,2345.91,2420.31,2271.50,2292.25,3909.12,0,0,0,30.00,30.00,15.69
$GC,2709.03,17414,146.63,1.06,0.00,2342.2,2416.6,2267.8,2294.2,3910.2,78.06,12.78,221,2714.67,0.00,0.00,3.05,0.000,0.000,0.074,2342.22,2417.25,2267.19,2293.88,2577.75,0,0,0,30.00,30.00,15.77
$GC,3079.78,16646,146.63,1.06,80.00,2342.0,2416.8,2267.2,2293.1,2575.2,34.24,11.89,235,3084.70,0.00,0.00,3.20,0.000,0.000,0.130,2344.06,2419.75,2268.38,2293.25,3910.44,0,0,0,30.00,30.00,15.82
$GC,3109.79,17414,146.63,1.06,0.00,2341.9,2415.7,2268.2,2293.2,3911.4,30.59,12.18,241,3114.69,0.00,0.00,3.03,0.000,0.000,0.073,2340.34,2412.94,2267.75,2293.75,2577.12,0,0,0,30.00,30.00,15.86
$FREEZE,9.53,9.543,-1.608,0,1,0
$FREEZE,8.57,9.576,-1.606,0,1,0
$FREEZE,7.71,9.635,-1.601,0,1,0
$FREEZE,6.83,9.699,-1.598,0,1,0
$FREEZE,5.92,9.768,-1.595,0,1,0
$FREEZE,5.07,9.982,-1.587,0,1,0
$FREEZE,4.29,10.155,-1.580,0,1,0
$FREEZE,3.60,10.278,-1.577,0,1,0
$FREEZE,2.98,10.502,-1.570,0,1,0
$FREEZE,2.45,10.697,-1.564,0,1,0
$NAV,1653083942,2.0,start
$FREEZE,1.97,10.798,-1.556,0,1,0
$STATE,3431,end climb,SURFACE_DEPTH_REACHED
$STATE,3431,begin surface coast
$FREEZE,1.44,11.265,-1.544,0,1,0
$FREEZE,1.19,11.739,-1.498,0,1,0
$FREEZE,1.16,11.877,-1.485,0,1,0
$FREEZE,1.24,11.803,-1.492,0,1,0
$FINISH,1.2,1.020710
$STATE,3464,end surface coast,CONTROL_FINISHED_OK
$STATE,3464,begin surface
$SM_CCo,3798.32,306.40,1.150,0,541.6,614.6,468.6,590.78
$SM_GC,1.52,306.40,12.78,0.41,1.150,0.080,0.097,541.6,614.6,468.6,216.5,2774.9,0,0,0,11.68,15.87,15.90
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4738.33,-12256.21,200522,195042
$TCM_TEMP,12.68
$SC_FREEKB,3876448
$PM_FREEKB_00,61960128
$PM_ACTIVECARD,0
$RAFOS_CLK,1
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,48.09
$TEMP,9.79
$INTERNAL_PRESSURE,7.88751
$24V_AH,14.68,131.217
$10V_AH,14.67,0.000
$FG_AHR_24Vo,196.702
$FG_AHR_10Vo,157.012
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,646.440,28.230,45.045,129.324,0.000,12.924,1257.239,1.919,0.000,2430.877,510.013,1095.376,0.000,0.000,4.068
$DEVICE_MAMPS,1378.336,278.224,254.936,202.226,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3474.000,3479.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.818,7139.073,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,942424,25,103964,84
$DATA_FILE_SIZE,6534,279
$CAP_FILE_SIZE,377299,0
$SDSIZE,3918848,3883424
$SDFILEDIR,295,3
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$MAGCAL,1.000000,-0.040656,0.004356,-0.049019,1.105141,-0.007363,0.026163,-0.022949,1.175498,-976.3,-1097.3,-68.4,36,0.0189,0
$GPS,200522,220609,4736.356,-12256.838,17,1.1,18,15.5