version: 67.01
glider: 1
mission: 3
dive: 166
start: 12 19 123 6 13 27
data:
$ID,1
$MISSION,3
$DIVE,166
$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,1788.6104
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,2.3934379
$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,4393.7959
$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,2210.4028
$FG_AHR_24V,22.548653
$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
$GPS1,191223,060905,4743.110,-12224.296,16,1.7,23,0.0
$_CALLS,1
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-50.0
$GPS2,191223,061201,4743.114,-12224.294,23,2.0,31,0.0
$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,-20.84,2243,0.412
$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,8000225
$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,6.48,16386,-146.63,-8.26,0.00,2184.0,2230.0,2138.0,357.6,1846.0,0.00,0.00,0,71.22,44.35,0.00,0.46,0.005,0.000,0.005,3963.47,4043.56,3883.38,358.06,2204.31,0,0,0,25.57,30.00,25.57
$GC,71.57,21031,-146.63,-8.26,-80.00,3963.7,4044.0,3883.4,357.8,2204.1,1.58,-2.65,11,76.36,0.00,0.00,2.37,0.000,0.000,0.005,3963.94,4044.12,3883.75,358.06,401.38,0,0,0,30.00,30.00,25.57
$GC,251.78,21639,-146.63,-8.32,0.00,3963.8,4044.1,3883.5,357.8,401.8,16.50,-11.36,47,257.20,0.00,0.00,2.46,0.000,0.000,0.005,3963.56,4043.44,3883.69,357.75,2313.50,0,0,0,30.00,30.00,25.57
$GC,291.79,20871,-146.63,-8.39,80.00,3963.9,4044.2,3883.7,357.9,2312.7,20.85,-10.65,55,296.88,0.00,0.00,1.80,0.000,0.000,0.005,3963.16,4043.38,3882.94,357.69,3783.38,0,0,0,30.00,30.00,25.57
$NAV,1702966813,32.7,0,stop
$GC,523.54,21511,-146.63,-8.39,0.00,3963.4,4043.7,3883.1,357.8,3782.9,48.06,-13.83,100,529.18,0.00,0.00,2.61,0.000,0.000,0.005,3963.75,4043.94,3883.56,357.62,1820.75,0,0,0,30.00,30.00,25.57
$GC,593.79,4357,-146.63,-8.39,80.00,3963.7,4044.1,3883.2,357.8,1820.7,59.05,-17.60,114,599.76,0.00,0.00,2.62,0.000,0.000,0.005,3963.78,4044.06,3883.50,357.81,3609.56,0,0,0,30.00,30.00,25.57
$GC,669.62,5253,-146.63,-8.43,0.00,3963.4,4044.0,3882.9,357.5,3609.6,70.59,-14.44,129,675.17,0.00,0.00,2.27,0.000,0.000,0.005,3963.34,4043.50,3883.19,357.56,1959.81,0,0,0,30.00,30.00,25.57
$GC,740.27,4357,-146.63,-8.43,80.00,3963.6,4044.1,3883.0,357.9,1959.5,79.96,-13.09,143,746.11,0.00,0.00,2.29,0.000,0.000,0.005,3963.62,4043.62,3883.62,357.94,3759.88,0,0,0,30.00,30.00,25.57
$GC,896.15,5125,-146.63,-8.43,0.00,3963.5,4043.8,3883.2,357.8,3759.6,98.29,-12.21,174,901.76,0.00,0.00,2.45,0.000,0.000,0.005,3963.56,4043.31,3883.81,358.00,1804.94,0,0,0,30.00,30.00,25.57
$GC,966.97,4357,-146.63,-8.43,80.00,3964.0,4044.5,3883.4,357.7,1805.0,107.86,-13.56,188,972.89,0.00,0.00,2.47,0.000,0.000,0.005,3963.50,4043.81,3883.19,357.75,3759.00,0,0,0,30.00,30.00,25.57
$GC,1202.82,5125,-146.63,-8.43,0.00,3963.4,4043.6,3883.2,357.6,3758.5,138.28,-14.22,235,1208.74,0.00,0.00,2.43,0.000,0.000,0.005,3963.16,4043.12,3883.19,357.50,1812.75,0,0,0,30.00,30.00,25.57
$GC,1333.66,4517,-146.63,-8.45,80.00,3963.8,4043.8,3883.8,357.8,1813.1,149.17,-4.90,261,1339.53,0.00,0.00,2.46,0.000,0.000,0.005,3963.19,4043.69,3882.69,357.62,3809.00,0,0,0,30.00,30.00,25.57
$STATE,1385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1385,begin apogee
$GC,1390.75,18435,0.00,-2.09,0.00,3963.5,4043.9,3883.1,358.0,1833.5,150.18,-3.30,271,1402.79,0.00,3.63,0.64,0.000,0.005,0.005,3963.22,4043.56,3882.88,1373.25,2161.06,0,0,0,30.00,25.57,25.57
$STATE,1403,end apogee,CONTROL_FINISHED_OK
$STATE,1403,begin climb
$GC,1403.98,10759,146.63,8.26,-80.00,3963.3,4043.7,3883.0,1373.3,2161.2,150.37,0.00,273,1461.11,27.88,7.41,2.15,0.005,0.005,0.005,3796.06,3873.12,3719.00,3374.62,384.44,0,0,0,25.57,25.57,25.57
$GC,1691.18,11431,166.06,8.35,0.00,3796.5,3873.6,3719.4,3374.4,384.6,132.92,9.11,329,1717.74,14.90,0.00,2.24,0.005,0.000,0.005,3716.88,3792.56,3641.19,3374.12,2036.75,0,0,0,25.57,30.00,25.57
$GC,1842.87,10791,210.88,8.40,-80.00,3715.9,3791.4,3640.4,3373.8,2037.1,119.49,7.96,359,1890.32,30.52,0.00,2.02,0.005,0.000,0.005,3533.53,3605.19,3461.88,3374.31,397.44,0,0,0,25.57,30.00,25.57
$GC,2120.60,3077,210.88,8.40,0.00,3533.7,3605.8,3461.6,3374.4,397.2,88.58,15.00,414,2126.33,0.00,0.00,2.52,0.000,0.000,0.005,3534.22,3606.00,3462.44,3374.75,2312.81,0,0,0,30.00,30.00,25.57
$GC,2191.22,2565,210.88,8.40,-80.00,3534.1,3606.1,3462.1,3374.4,2312.6,77.53,16.30,428,2197.23,0.00,0.00,2.64,0.000,0.000,0.005,3534.00,3605.88,3462.12,3373.88,296.69,0,0,0,30.00,30.00,25.57
$GC,2401.96,3077,210.88,8.40,0.00,3533.8,3605.8,3461.8,3374.4,296.1,50.54,10.43,470,2407.87,0.00,0.00,2.48,0.000,0.000,0.005,3533.75,3605.38,3462.12,3375.44,2238.81,0,0,0,30.00,30.00,25.57
$GC,2473.16,10919,221.20,8.44,-80.00,3533.5,3605.4,3461.6,3374.2,2238.8,43.97,9.53,484,2494.89,9.04,0.00,2.51,0.005,0.000,0.005,3492.28,3563.56,3421.00,3374.56,411.44,0,0,0,25.57,30.00,25.57
$GC,2684.80,3077,221.20,8.44,0.00,3491.4,3562.6,3420.2,3374.6,411.6,17.23,11.89,526,2690.66,0.00,0.00,2.52,0.000,0.000,0.005,3491.56,3562.38,3420.75,3374.75,2286.88,0,0,0,30.00,30.00,25.57
$GC,2725.72,2693,221.20,8.50,-80.00,3491.2,3562.4,3419.9,3374.4,2286.6,12.61,11.44,534,2731.77,0.00,0.00,2.70,0.000,0.000,0.005,3491.56,3562.81,3420.31,3374.25,262.62,0,0,0,30.00,30.00,25.57
$STATE,2831,end climb,SURFACE_DEPTH_REACHED
$STATE,2831,begin surface coast
$FINISH,0.1,1.022036
$STATE,2857,end surface coast,CONTROL_FINISHED_OK
$STATE,2857,begin surface
$SURF,forcing
$SM_CCo,3027.70,104.73,0.005,0,2084.3,2128.7,2039.9,566.33
$SM_GC,0.02,104.73,10.91,2.62,0.005,0.005,0.005,2084.3,2128.7,2039.9,345.9,2129.2,0,0,0,25.57,25.57,25.57
$SUPER,27,70,255,1,0,0
$IRIDIUM_FIX,0.00,0.00,,
$TCM_TEMP,15.00
$XPDR_PINGS,-1,-1.0,-1.0
$SC_FREEKB,3856160
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,50.61
$TEMP,22.18
$INTERNAL_PRESSURE,13.8165
$24V_AH,24.11,14.799
$10V_AH,11.07,0.000
$FG_AHR_24Vo,22.558
$FG_AHR_10Vo,2211.282
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,231.410,21.960,54.710,20.230,0.000,41.006,2761.502,7.831,0.000,264.096,851.625,664.679,0.000,0.000,13.042
$DEVICE_MAX_MAMPS,5.000,5.000,5.000,10.523,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000
$DEVICE_MAMPS,5.000,5.000,5.000,10.523,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2862.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.993,0.000,0.000,0.000
$MEM0,58972,1,0,0
$MEM1,65508,1,0,0
$MEM2,991592,27,54156,114
$DATA_FILE_SIZE,19433,560
$CAP_FILE_SIZE,255688,0
$SDSIZE,3887104,3830944
$SDFILEDIR,1109,168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.2
$IMPLIED_C_PITCH,1947,2.86,391,1868.0,2.63
$IMPLIED_C_VBD,4567,195.387070,228,4480.3
$GPS,191223,070502,4743.501,-12224.189,13,2.0,18,0.0