version: 67.01
glider: 253
mission: 4
dive: 17
start: 6 20 123 9 49 31
data:
$ID,253
$MISSION,4
$DIVE,17
$N_DIVES,30
$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,120
$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,72374
$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,686.83997
$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,205
$PITCH_MAX,3610
$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,240
$ROLL_MAX,3850
$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,3300
$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,0.85732871
$FG_AHR_24V,6.2079482
$PHONE_SUPPLY,2
$PRESSURE_YINT,-186.595
$PRESSURE_SLOPE,0.00022830076
$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,1.7
$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
$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
$GPS1,200623,094548,4736.595,-12256.611,1,0.9,3,15.4
$_CALLS,1
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-59.2
$GPS2,200623,094859,4736.603,-12256.598,2,0.8,4,15.4
$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,178.4,1234,-17.6,-10.000,-21.21,2209,0.177
$D_GRID,167
$IRON,1.000000,-0.001627,-0.023006,0.012487,1.064874,0.086938,0.023498,0.031618,1.070633,-815.191162,-1919.098877,522.196289
$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,6.78,16386,-146.63,-1.44,0.00,494.4,568.8,420.1,191.4,2049.4,0.00,0.00,0,51.33,40.19,0.00,0.00,0.005,0.000,0.000,1597.94,1659.38,1536.50,191.44,2050.19,0,0,0,15.89,30.00,30.00
$GC,51.85,18727,-146.63,-1.44,80.00,1605.6,1673.8,1537.4,191.4,2050.1,3.02,-3.74,8,145.36,62.76,8.35,3.57,0.005,0.278,0.135,3899.56,3794.94,4004.19,1250.12,3489.69,0,0,0,15.91,15.76,15.85
$GC,268.23,3205,-146.63,-1.32,0.00,3901.3,3801.0,4001.6,1250.6,3489.2,30.61,-15.45,48,276.44,0.00,0.20,3.42,0.000,0.222,0.074,3900.91,3800.44,4001.38,1279.81,2007.06,0,0,0,30.00,15.87,15.93
$GC,460.58,644,-146.63,-1.29,-80.00,3902.3,3805.2,3999.4,1279.1,2007.5,53.92,-11.60,83,469.23,0.00,0.00,3.57,0.000,0.000,0.144,3902.72,3805.25,4000.19,1279.56,556.81,0,0,0,30.00,30.00,15.94
$GC,528.41,3205,-146.63,-1.22,0.00,3902.6,3806.4,3998.8,1279.1,557.1,63.12,-14.11,96,537.25,0.00,0.17,3.41,0.000,0.213,0.065,3901.78,3805.12,3998.44,1305.56,2048.44,0,0,0,30.00,15.95,16.00
$NAV,1687255144,68.5,start
$NAV,1687255163,68.5,start
$GC,726.48,516,-146.63,-1.22,-80.00,3903.2,3808.1,3998.3,1305.1,2049.2,85.41,-10.85,114,735.41,0.00,0.00,3.68,0.000,0.000,0.142,3862.59,3727.06,3998.12,1305.00,560.12,0,0,0,30.00,30.00,15.96
$GC,754.43,1028,-146.63,-1.22,0.00,3903.3,3808.0,3998.7,1305.1,559.5,88.96,-12.72,119,762.04,0.00,0.00,3.40,0.000,0.000,0.065,3889.19,3779.94,3998.44,1304.88,2049.69,0,0,0,30.00,30.00,16.01
$NAV,1687255460,103.7,0,stop
$GC,949.45,0,-146.63,-1.22,0.00,3903.7,3808.6,3998.7,1305.6,2050.6,109.99,-10.53,139,951.31,0.00,0.00,0.00,0.000,0.000,0.000,3903.12,3808.31,3997.94,1306.06,2050.56,0,0,0,30.00,30.00,30.00
$GC,1139.48,0,-146.63,-1.22,0.00,3903.8,3809.1,3998.5,1305.9,2049.9,129.82,-10.62,158,1141.35,0.00,0.00,0.00,0.000,0.000,0.000,3903.19,3808.81,3997.56,1305.38,2050.50,0,0,0,30.00,30.00,30.00
$STATE,1330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1330,begin apogee
$GC,1331.33,10243,0.00,-0.36,0.00,3903.7,3809.5,3997.8,1305.9,2000.6,150.32,-10.57,177,1443.79,99.75,1.42,0.09,1.200,0.159,0.228,3298.97,3327.88,3270.06,1514.50,2054.69,0,0,0,11.84,16.05,15.69
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1445.24,10503,146.63,1.44,80.00,3297.6,3328.4,3266.9,1514.6,2054.2,153.95,0.00,187,1576.63,105.44,2.92,3.66,1.177,0.116,0.136,2702.12,2788.12,2616.12,1950.62,3488.50,0,0,0,11.66,15.70,15.46
$GC,1610.07,1156,146.63,1.36,0.00,2698.1,2783.2,2612.9,1951.5,3488.8,142.78,10.45,216,1618.30,0.00,0.00,3.50,0.000,0.000,0.070,2698.09,2783.56,2612.62,1951.44,2000.88,0,0,0,30.00,30.00,15.62
$GC,1805.90,20871,146.63,1.31,80.00,2693.2,2781.2,2605.1,1951.2,2000.8,121.48,11.30,236,1815.42,0.00,0.35,3.72,0.000,0.188,0.132,2692.16,2779.94,2604.38,1911.50,3490.56,0,0,0,30.00,15.76,15.78
$GC,1864.66,17542,146.63,1.28,0.00,2693.6,2781.6,2605.7,1911.3,3490.5,115.04,10.79,247,1873.40,0.00,0.00,3.46,0.000,0.000,0.075,2691.28,2778.50,2604.06,1911.38,1999.38,0,0,0,30.00,30.00,15.84
$GC,2059.61,8226,179.69,1.32,0.00,2691.4,2779.5,2603.4,1911.3,1999.7,97.74,8.47,267,2090.74,24.80,0.00,0.00,1.104,0.000,0.000,2565.28,2656.31,2474.25,1911.12,1999.81,0,0,0,11.82,30.00,30.00
$GC,2279.63,8226,186.19,1.33,0.00,2560.7,2652.5,2468.9,1911.5,1999.0,77.97,9.70,289,2289.41,6.84,0.00,0.00,0.823,0.000,0.000,2540.59,2631.19,2450.00,1911.00,1999.62,0,0,0,11.73,30.00,30.00
$NAV,1687257020,62.9,0,stop
$GC,2480.25,10403,215.10,1.40,0.00,2536.4,2629.3,2443.4,1911.5,1999.2,60.26,8.66,309,2512.10,25.26,0.22,0.00,1.067,0.083,0.000,2424.22,2520.94,2327.50,1949.50,2000.12,0,0,0,11.83,15.98,30.00
$GC,2693.36,0,215.10,1.40,0.00,2417.5,2516.4,2318.5,1948.8,1999.4,37.09,10.63,341,2697.44,0.00,0.00,0.00,0.000,0.000,0.000,2417.12,2517.50,2316.75,1948.94,1999.25,0,0,0,30.00,30.00,30.00
$GC,2878.50,8486,234.40,1.42,80.00,2416.6,2516.2,2317.1,1948.9,1999.1,19.32,9.11,378,2908.20,17.69,0.00,3.71,1.009,0.000,0.138,2342.72,2445.94,2239.50,1948.88,3490.94,0,0,0,11.78,30.00,15.90
$GC,2942.26,1028,234.40,1.42,0.00,2342.3,2444.4,2240.2,1948.8,3491.4,12.93,10.35,390,2950.98,0.00,0.00,3.43,0.000,0.000,0.076,2339.59,2442.62,2236.56,1949.62,2000.19,0,0,0,30.00,30.00,15.95
$GC,3135.24,10919,399.30,1.70,-80.00,2339.8,2444.2,2235.3,1949.0,1999.6,5.93,2.36,428,3284.15,125.77,0.38,3.65,1.044,0.076,0.150,1670.06,1782.94,1557.19,2021.38,558.00,0,0,0,11.77,16.00,15.59
$FREEZE,4.78,15.086,-1.453,0,1,0
$STATE,3298,end climb,NO_VERTICAL_VELOCITY
$STATE,3298,begin surface
$SURF,forcing
$SM_CCo,3534.49,213.05,1.011,0,500.0,587.4,412.6,686.84
$SM_GC,1.93,0.00,11.70,3.50,0.000,0.067,0.066,497.0,581.3,412.8,190.4,2052.7,0,0,0,30.00,15.58,15.57
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4735.53,-12254.47,200623,085413
$TCM_TEMP,15.68
$SC_FREEKB,3873216
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,44.33
$TEMP,10.64
$INTERNAL_PRESSURE,7.92812
$24V_AH,14.99,5.951
$10V_AH,15.00,0.000
$FG_AHR_24Vo,6.411
$FG_AHR_10Vo,0.877
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,721.570,25.720,50.000,119.321,0.000,13.754,2193.045,0.668,0.000,1390.245,1153.020,317.058,0.000,0.000,166.624
$DEVICE_MAMPS,1199.576,277.568,228.368,152.550,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3304.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.872,0.000,0.000,0.000
$MEM0,60020,1,0,0
$MEM1,65508,1,0,0
$MEM2,945720,32,100848,68
$DATA_FILE_SIZE,12920,457
$CAP_FILE_SIZE,164600,0
$SDSIZE,3887104,3869344
$SDFILEDIR,154,18
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.011,187.0,1
$MAGCAL,1.000000,0.006622,-0.017852,0.018967,1.069923,0.080378,0.024268,0.039154,1.059991,-849.9,-1897.3,669.6,31,0.0099,0
$IMPLIED_C_PITCH,1621,13.76,242,0.0,0.00
$IMPLIED_C_VBD,3094,22.047600,242,0
$GPS,200623,105104,4736.180,-12256.743,10,1.5,13,15.4