version: 67.01
glider: 252
mission: 4
dive: 52
start: 6 27 123 22 44 30
data:
$ID,252
$MISSION,4
$DIVE,52
$N_DIVES,58
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,0
$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,225
$T_TURN_SAMPINT,-5
$T_NO_W,60
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72278
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,699.10498
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$NETBOX,1
$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,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3615
$C_PITCH,1600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,14
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,275
$ROLL_MAX,3885
$ROLL_DEG,80
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3350
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,3.1158173
$FG_AHR_24V,20.348349
$PHONE_SUPPLY,2
$PRESSURE_YINT,-179.75725
$PRESSURE_SLOPE,0.00022626969
$COMPASS_USE,114692
$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,2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$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
$NAV3_DEVICE,-1
$NAV4_DEVICE,-1
$NETWORK_DEVICE,1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,-1
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,270623,224013,4736.171,-12256.613,5,1.1,7,15.4
$_CALLS,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-62.4
$GPS2,270623,224357,4736.183,-12256.572,2,1.0,4,15.4
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,S
$TGT_LATLONG,4735.950,-12256.800
$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,197.9,516,-25.7,-10.000,-28.55,1086,0.154
$D_GRID,168
$IRON,1.000000,0.031484,-0.032928,-0.010108,1.045478,-0.062488,0.002039,-0.013247,0.921834,-196.850296,-1213.832397,-653.799561
$OSC,8000307
$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
$NAV,1687905884,1.4,start
$GC,6.98,16386,-71.48,-1.92,0.00,494.6,517.6,471.5,192.6,2009.6,0.00,0.00,0,52.08,40.69,0.00,0.00,0.005,0.000,0.000,1733.84,1752.00,1715.69,192.81,2009.25,0,0,0,15.91,30.00,30.00
$GC,52.61,18727,-137.18,-2.00,80.00,1734.3,1753.5,1715.2,192.8,2009.7,3.06,-3.81,6,134.34,55.99,6.88,3.68,0.005,0.251,0.125,3909.91,3914.44,3905.38,1115.25,3489.50,0,0,0,15.91,15.77,15.84
$GC,138.05,3205,-137.18,-1.80,0.00,3910.8,3916.2,3905.4,1116.1,3489.6,10.60,-13.04,21,146.49,0.00,0.33,3.48,0.000,0.216,0.073,3910.50,3916.81,3904.19,1163.62,2010.50,0,0,0,30.00,15.82,15.86
$NAV,1687906035,15.7,0,stop
$GC,336.14,2437,-137.18,-1.70,80.00,3911.8,3918.9,3904.6,1163.7,2010.9,47.47,-18.61,59,348.00,0.00,0.17,3.66,0.000,0.211,0.125,3848.97,3792.38,3905.56,1191.06,3490.62,0,0,0,30.00,15.89,15.91
$GC,446.95,3205,-137.18,-1.58,0.00,3912.3,3919.1,3905.6,1191.7,3490.9,71.57,-20.72,81,455.86,0.00,0.17,3.45,0.000,0.218,0.074,3912.03,3919.62,3904.44,1218.38,2009.06,0,0,0,30.00,15.93,15.98
$GC,641.98,388,-137.18,-1.54,80.00,3912.9,3920.5,3905.3,1219.4,2009.6,104.91,-16.58,101,650.77,0.00,0.00,3.65,0.000,0.000,0.127,3912.56,3920.06,3905.06,1220.00,3488.62,0,0,0,30.00,30.00,16.00
$GC,759.63,3205,-137.18,-1.46,0.00,3913.2,3921.0,3905.4,1220.2,3488.9,126.94,-18.44,124,768.53,0.00,0.19,3.44,0.000,0.204,0.075,3912.56,3920.25,3904.88,1247.25,2009.00,0,0,0,30.00,16.00,16.04
$NAV,1687906744,145.3,start
$STATE,909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,909,begin apogee
$GC,911.13,10243,0.00,-0.36,0.00,3913.7,3921.8,3905.7,1247.3,2042.5,150.65,-15.29,139,1033.97,108.23,1.75,0.07,1.312,0.151,0.287,3350.47,3389.12,3311.81,1515.88,2010.81,0,0,0,12.03,16.03,15.62
$WARN,HSCICON missed fuel gauge read
$STATE,1043,end apogee,CONTROL_FINISHED_OK
$STATE,1043,begin climb
$GC,1043.57,10759,137.18,2.00,-80.00,3348.2,3385.9,3310.6,1515.6,2011.3,157.76,0.00,150,1186.00,114.25,3.69,3.99,1.280,0.100,0.177,2789.91,2834.94,2744.88,2089.56,561.00,0,0,0,12.05,15.67,15.41
$GC,1323.40,1028,137.18,2.00,0.00,2783.8,2823.7,2743.9,2088.7,560.1,130.50,14.07,201,1331.92,0.00,0.00,3.53,0.000,0.000,0.071,2784.31,2823.38,2745.25,2089.12,2042.19,0,0,0,30.00,30.00,15.71
$GC,1519.36,16774,137.18,2.09,80.00,2781.2,2823.9,2738.6,2089.1,2041.5,107.88,11.68,221,1528.36,0.00,0.00,3.67,0.000,0.000,0.138,2780.31,2822.44,2738.19,2088.56,3489.50,0,0,0,30.00,30.00,15.81
$GC,1717.30,19591,137.18,2.13,0.00,2779.7,2820.6,2738.8,2089.3,3488.9,83.26,12.05,260,1726.40,0.00,0.17,3.49,0.000,0.084,0.074,2778.25,2818.56,2737.94,2134.69,2008.94,0,0,0,30.00,15.91,15.90
$GC,1912.32,16514,137.18,2.19,0.00,2779.5,2820.4,2738.6,2135.4,2008.4,61.10,11.01,280,1914.23,0.00,0.00,0.00,0.000,0.000,0.000,2776.44,2817.00,2735.88,2135.50,2009.06,0,0,0,30.00,30.00,30.00
$GC,2097.33,16774,137.18,2.24,80.00,2779.3,2820.1,2738.6,2135.6,2008.0,41.81,10.37,306,2106.19,0.00,0.00,3.71,0.000,0.000,0.133,2777.97,2818.50,2737.44,2135.38,3490.81,0,0,0,30.00,30.00,15.96
$GC,2219.15,17414,137.18,2.24,0.00,2778.6,2818.9,2738.2,2135.4,3490.5,28.51,10.19,329,2227.90,0.00,0.00,3.44,0.000,0.000,0.073,2778.00,2819.19,2736.81,2135.19,2008.56,0,0,0,30.00,30.00,15.99
$GC,2411.84,10919,175.73,2.36,-80.00,2778.4,2818.3,2738.4,2135.6,2008.2,14.15,6.37,367,2459.52,33.99,0.20,3.79,1.173,0.078,0.170,2630.62,2675.75,2585.50,2189.19,560.94,0,0,0,12.01,16.02,15.84
$GC,2463.33,9254,203.02,2.39,0.00,2632.3,2676.2,2588.4,2189.5,560.9,10.51,7.43,376,2502.98,26.12,0.00,3.49,1.127,0.000,0.068,2520.72,2569.94,2471.50,2189.06,2044.56,0,0,0,12.01,30.00,15.90
$GC,2686.91,10663,313.93,2.61,80.00,2516.4,2567.9,2464.9,2189.4,2043.9,6.12,-0.45,420,2724.72,33.01,0.26,0.00,1.154,0.070,0.000,2374.28,2431.81,2316.75,2247.94,2044.06,0,0,0,11.89,15.91,30.00
$FREEZE,6.03,12.543,-1.574,0,1,0
$STATE,2725,end climb,NO_VERTICAL_VELOCITY
$STATE,2725,begin surface
$SURF,forcing
$SM_CCo,3136.58,372.87,1.127,0,500.8,526.9,474.6,698.92
$SM_GC,1.28,0.00,12.86,0.09,0.000,0.049,0.191,497.2,522.9,471.6,190.9,2005.9,0,0,0,30.00,15.56,15.54
$NAV,1687909127,0.0,0,stop
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4736.40,-12251.79,270623,213834
$TCM_TEMP,-86.26
$SC_FREEKB,3862144
$RAFOS_CLK,0
$RAFOS_FIX,4736.670410,-12257.472656,270623,222200,3,255,0.49
$HUMID,52.08
$TEMP,11.57
$INTERNAL_PRESSURE,8.00166
$24V_AH,14.90,22.051
$10V_AH,14.96,0.000
$FG_AHR_24Vo,20.586
$FG_AHR_10Vo,3.154
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,785.155,26.685,50.795,153.700,0.000,13.274,1883.912,2.089,0.000,1157.536,904.111,2538.956,0.000,0.000,74.797
$DEVICE_MAMPS,1312.408,250.672,287.408,136.826,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2732.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.867,0.000,0.000,0.000
$MEM0,59804,1,0,0
$MEM1,65508,1,0,0
$MEM2,945348,30,101140,74
$DATA_FILE_SIZE,9722,427
$CAP_FILE_SIZE,165984,0
$SDSIZE,3887104,3855968
$SDFILEDIR,465,53
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.010, 18.6,1
$MAGCAL,1.000000,0.018810,-0.055874,-0.002239,1.069546,-0.178758,-0.003581,0.129021,1.146803,-184.1,-1160.1,-843.3,36,0.0350,0
$IMPLIED_C_PITCH,1730,14.13,188,0.0,0.00
$IMPLIED_C_VBD,3223,19.881573,188,0
$GPS,270623,233931,4735.977,-12256.845,4,1.0,25,15.4