version: 67.00
glider: 180
mission: 6
dive: 369
start: 10 5 122 5 43 28
data:
$ID,180
$MISSION,6
$DIVE,369
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,220
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,3
$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,70
$T_MISSION,100
$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,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55693
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00281838
$HD_B,0.0139236
$HD_C,5.7000002e-06
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$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,185
$PITCH_MAX,3625
$C_PITCH,2100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,45
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,360
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,3230
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3960
$C_VBD,2390
$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,3
$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,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,15.726454
$FG_AHR_24V,63.714554
$PHONE_SUPPLY,2
$PRESSURE_YINT,-154.46213
$PRESSURE_SLOPE,0.00022299301
$COMPASS_USE,16388
$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,6
$XPDR_INHIBIT,90
$XPDR_INT,13
$XPDR_REP,11.5
$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,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,19
$LOGGERDEVICE3,72
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,41
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0042874566
$SEABIRD_T_H,0.00062267116
$SEABIRD_T_I,2.1947648e-05
$SEABIRD_T_J,2.2037441e-06
$SEABIRD_C_G,-9.9419231
$SEABIRD_C_H,1.1375728
$SEABIRD_C_I,-0.0016241658
$SEABIRD_C_J,0.0002088599
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,051022,053605,3755.910,-12452.288,10,1.8,13,13.6
$_CALLS,2
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.6
$GPS2,051022,054309,3755.905,-12452.236,3,1.7,5,13.6
$SPEED_LIMITS,0.105,0.211
$TGT_NAME,East
$TGT_LATLONG,3742.000,-12400.000
$TGT_RADIUS,4000.000
$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,96.9,80760,-22.0,-10.476,-26.38,1850,0.174
$D_GRID,1000
$IRON,1.000000,-0.027323,0.018337,-0.100663,1.127919,0.016774,-0.036559,0.020363,1.057578,-61.700001,-1219.199951,-586.900024
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,7.69,16386,-126.52,-0.64,0.00,956.5,953.9,959.1,176.6,3102.9,0.00,0.00,0,69.60,61.33,0.00,0.00,0.005,0.000,0.000,2188.09,2230.88,2145.31,176.69,3100.69,0,0,0,15.57,30.00,30.00
$GC,69.86,18983,-126.52,-0.64,-40.00,2187.7,2229.6,2145.9,176.4,3100.9,3.65,-4.23,12,105.08,18.68,9.37,2.10,0.006,0.469,0.026,2905.28,2970.06,2840.50,1893.12,1728.88,0,0,0,15.66,15.39,15.53
$GC,163.25,1028,-126.52,-0.64,0.00,2907.8,2970.2,2845.5,1893.3,1716.1,18.18,-9.87,31,168.90,0.00,0.00,2.63,0.000,0.000,0.077,2908.22,2970.50,2845.94,1892.88,3251.75,0,0,0,30.00,30.00,15.83
$GC,353.33,260,-126.52,-0.64,40.00,2907.9,2970.0,2845.8,1893.0,3252.1,40.53,-9.68,69,358.08,0.00,0.00,1.09,0.000,0.000,0.092,2908.09,2970.25,2845.94,1890.06,3901.56,0,0,0,30.00,30.00,15.89
$GC,433.34,1028,-126.52,-0.64,0.00,2908.2,2969.6,2846.7,1889.9,3901.2,47.85,-8.43,85,438.10,0.00,0.00,1.12,0.000,0.000,0.037,2908.62,2969.06,2848.19,1889.62,3162.94,0,0,0,30.00,30.00,15.94
$GC,618.38,0,-126.52,-0.64,0.00,2908.4,2969.5,2847.4,1889.9,3161.9,66.01,-10.37,122,619.72,0.00,0.00,0.00,0.000,0.000,0.000,2908.72,2969.44,2848.00,1889.94,3161.88,0,0,0,30.00,30.00,30.00
$GC,803.46,0,-126.52,-0.64,0.00,2908.5,2969.5,2847.6,1889.9,3162.3,86.80,-12.10,159,804.79,0.00,0.00,0.00,0.000,0.000,0.000,2908.16,2967.88,2848.44,1889.50,3161.94,0,0,0,30.00,30.00,30.00
$GC,988.51,516,-126.52,-0.64,-40.00,2908.9,2969.1,2848.8,1890.0,3162.2,106.83,-11.60,196,994.07,0.00,0.00,2.17,0.000,0.000,0.020,2909.28,2969.56,2849.00,1889.81,1712.81,0,0,0,30.00,30.00,16.02
$GC,1013.52,1028,-126.52,-0.64,0.00,2909.2,2969.1,2849.2,1889.8,1710.2,109.58,-11.30,201,1019.15,0.00,0.00,2.63,0.000,0.000,0.078,2909.69,2969.81,2849.56,1889.38,3250.25,0,0,0,30.00,30.00,16.01
$GC,1323.62,260,-126.52,-0.64,40.00,2909.3,2968.8,2849.9,1890.2,3249.9,141.92,-9.08,263,1328.37,0.00,0.00,1.09,0.000,0.000,0.092,2908.97,2969.06,2848.88,1885.62,3902.44,0,0,0,30.00,30.00,15.99
$GC,1368.61,1028,-126.52,-0.64,0.00,2908.8,2968.7,2848.8,1885.1,3902.2,145.91,-8.85,272,1373.38,0.00,0.00,1.12,0.000,0.000,0.038,2911.62,2971.81,2851.44,1884.56,3166.38,0,0,0,30.00,30.00,16.03
$GC,1673.70,516,-126.52,-0.64,-40.00,2909.0,2968.6,2849.4,1884.9,3166.7,170.20,-7.89,333,1679.25,0.00,0.00,2.17,0.000,0.000,0.021,2909.34,2967.88,2850.81,1885.31,1713.19,0,0,0,30.00,30.00,16.06
$GC,1693.70,1028,-126.52,-0.64,0.00,2908.3,2967.4,2849.3,1885.7,1711.0,171.79,-7.88,337,1699.34,0.00,0.00,2.62,0.000,0.000,0.078,2908.19,2967.44,2848.94,1885.12,3250.62,0,0,0,30.00,30.00,16.05
$GC,2003.80,0,-126.52,-0.64,0.00,2908.1,2966.8,2849.4,1885.3,3250.2,197.04,-8.12,399,2005.14,0.00,0.00,0.00,0.000,0.000,0.000,2907.09,2965.06,2849.12,1884.69,3250.25,0,0,0,30.00,30.00,30.00
$STATE,2303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2303,begin apogee
$GC,2305.21,10243,0.00,-0.11,0.00,2907.1,2965.2,2848.9,1885.0,2917.6,220.00,-7.34,459,2411.30,103.32,0.61,0.18,1.237,0.200,0.128,2390.38,2429.88,2350.88,2067.31,3029.06,0,0,0,12.02,15.96,15.48
$STATE,2412,end apogee,CONTROL_FINISHED_OK
$STATE,2412,begin climb
$GC,2413.70,10759,126.52,0.64,-40.00,2386.9,2427.9,2346.0,2067.5,3028.6,223.94,0.00,480,2519.73,99.65,0.73,2.43,1.206,0.108,0.018,1873.41,1879.44,1867.38,2324.69,1475.12,0,0,0,12.34,15.60,15.37
$GC,2627.14,9254,180.89,0.71,0.00,1869.1,1875.2,1863.1,2325.4,1475.5,221.37,7.46,523,2673.60,42.52,0.00,2.64,1.169,0.000,0.063,1651.62,1658.62,1644.62,2325.44,3023.19,0,0,0,12.31,30.00,15.73
$GC,2977.16,516,180.89,0.71,-40.00,1644.9,1658.9,1630.9,2325.2,3022.9,173.09,13.99,593,2982.75,0.00,0.00,2.36,0.000,0.000,0.018,1646.28,1660.31,1632.25,2335.44,1519.06,0,0,0,30.00,30.00,15.91
$GC,3027.18,1028,180.89,0.71,0.00,1644.6,1658.6,1630.6,2337.2,1507.6,166.88,12.20,603,3032.81,0.00,0.00,2.55,0.000,0.000,0.063,1644.97,1659.62,1630.31,2336.81,3022.56,0,0,0,30.00,30.00,15.92
$GC,3337.20,16902,180.89,0.71,-40.00,1643.8,1660.2,1627.3,2336.8,3023.8,125.02,12.70,665,3342.78,0.00,0.00,2.35,0.000,0.000,0.017,1643.94,1660.56,1627.31,2347.44,1513.00,0,0,0,30.00,30.00,15.93
$GC,3377.19,17414,180.89,0.71,0.00,1643.4,1659.8,1627.1,2348.6,1501.5,120.27,11.75,673,3382.82,0.00,0.00,2.56,0.000,0.000,0.065,1644.50,1660.19,1628.81,2347.44,3022.62,0,0,0,30.00,30.00,15.91
$GC,3687.32,16966,180.89,0.72,-40.00,1642.9,1661.0,1624.9,2348.8,3022.8,85.65,9.89,735,3692.89,0.00,0.00,2.35,0.000,0.000,0.018,1643.00,1661.19,1624.81,2359.81,1499.44,0,0,0,30.00,30.00,15.94
$GC,3707.32,17478,180.89,0.76,0.00,1642.9,1661.0,1624.9,2360.8,1494.6,84.16,8.57,739,3712.93,0.00,0.00,2.55,0.000,0.000,0.061,1642.84,1661.19,1624.50,2360.69,3025.69,0,0,0,30.00,30.00,15.94
$GC,3897.38,8226,254.90,0.85,0.00,1642.7,1661.2,1624.1,2361.1,3025.8,71.01,6.37,777,3953.57,55.62,0.00,0.00,1.057,0.000,0.000,1351.31,1360.12,1342.50,2360.88,3025.62,0,0,0,12.17,30.00,30.00
$GC,4137.48,0,254.90,0.85,-40.00,1344.3,1359.1,1329.6,2360.5,3025.8,41.94,15.15,825,4138.82,0.00,0.00,0.00,0.000,0.000,0.000,1344.97,1359.44,1330.50,2359.69,3025.69,0,0,0,30.00,30.00,30.00
$GC,4322.51,64,254.90,0.89,-40.00,1342.8,1359.9,1325.6,2360.4,3025.9,19.28,8.74,862,4323.85,0.00,0.00,0.00,0.000,0.000,0.000,1342.97,1360.06,1325.88,2360.69,3026.12,0,0,0,30.00,30.00,30.00
$GC,4507.56,10791,332.01,0.98,-40.00,1341.2,1359.9,1322.6,2361.0,3025.6,6.29,6.19,899,4558.77,50.40,0.15,0.00,0.965,0.077,0.000,1070.94,1080.25,1061.62,2437.12,3026.00,0,0,0,12.20,15.88,30.00
$STATE,4558,end climb,SURFACE_DEPTH_REACHED
$STATE,4558,begin surface coast
$FINISH,-0.0,1.023198
$STATE,4577,end surface coast,CONTROL_FINISHED_OK
$STATE,4577,begin surface
$SM_CCo,4609.49,19.22,0.965,0,964.3,953.6,975.1,349.71
$SM_GC,4.11,19.22,6.89,0.37,0.965,0.128,0.085,964.3,953.6,975.1,174.9,3253.4,0,0,0,12.40,15.74,15.77
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,3758.13,-12451.91,051022,053804
$TCM_TEMP,17.60
$XPDR_PINGS,1,13.0,11.5
$SC_FREEKB,3756096
$HUMID,53.22
$TEMP,11.78
$INTERNAL_PRESSURE,8.80213
$24V_AH,15.01,75.945
$10V_AH,15.00,0.000
$FG_AHR_24Vo,63.834
$FG_AHR_10Vo,15.763
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,450.750,17.740,39.630,255.535,0.250,14.143,1156.493,31.149,0.000,2398.071,1228.828,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1236.640,469.448,128.328,169.939,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4610.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.572,0.000,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,908444,112,136024,93
$DATA_FILE_SIZE,25708,913
$CAP_FILE_SIZE,338607,0
$SDSIZE,3887104,3783712
$SDFILEDIR,2158,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,250.6,1
$IMPLIED_C_PITCH,2013,32.35,684,0.0,0.00
$IMPLIED_C_VBD,2286,51.446682,551,0
$GPS,051022,070109,3755.602,-12451.936,20,1.0,43,13.6