version: 67.00
glider: 231
mission: 3
dive: 5
start: 7 9 120 19 50 35
data:
$ID,231
$MISSION,3
$DIVE,5
$N_DIVES,5
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,2
$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,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,71877
$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,462.20248
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,471
$PITCH_MAX,3850
$C_PITCH,3430
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,27
$PITCH_TIMEOUT,26
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,345
$ROLL_MAX,3945
$ROLL_DEG,80
$C_ROLL_DIVE,2145
$C_ROLL_CLIMB,2145
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3950
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,20
$LOITER_DBDW,40
$LOITER_D_TOP,100
$LOITER_D_BOTTOM,200
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,4.3531094
$FG_AHR_24V,3.6485882
$PHONE_SUPPLY,2
$PRESSURE_YINT,-151.62212
$PRESSURE_SLOPE,0.00022543591
$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,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,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3.25
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,104
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,5
$SIM_W,0
$SEABIRD_T_G,0.0043565771
$SEABIRD_T_H,0.00062677637
$SEABIRD_T_I,2.4431472e-05
$SEABIRD_T_J,2.7094229e-06
$SEABIRD_C_G,-10.133897
$SEABIRD_C_H,1.1473427
$SEABIRD_C_I,-0.0015492893
$SEABIRD_C_J,0.0002031941
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,090720,194206,4743.289,-12223.650,0,0.7,2,15.4
$_CALLS,3
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.4
$GPS2,090720,195009,4743.338,-12223.616,2,0.7,4,15.4
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$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,195.8,788,-17.6,-10.000,-21.21
$D_GRID,157
$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,6.37,16386,-146.63,-1.09,0.00,1157.8,1193.7,1121.8,448.8,2169.8,0.00,0.00,0,119.41,112.38,0.00,0.00,0.005,0.000,0.000,3487.28,3601.88,3372.69,448.75,2169.75,0,0,0,15.85,30.00,30.00
$GC,119.66,18727,-146.63,-1.09,80.00,3487.0,3600.6,3373.4,448.8,2169.6,4.27,-2.74,11,145.46,3.91,12.52,4.70,0.010,0.417,0.067,3648.00,3774.00,3522.00,3060.81,3852.12,0,0,0,15.87,15.69,15.83
$GC,182.06,3205,-146.63,-0.76,0.00,3649.2,3775.3,3523.2,3059.9,3850.7,18.08,-16.21,24,189.50,0.00,0.44,4.67,0.000,0.228,0.033,3648.22,3775.75,3520.69,3189.38,2118.00,0,0,0,30.00,15.86,15.88
$GC,372.72,4225,-146.63,-0.95,0.00,3648.8,3775.6,3522.1,3188.4,2115.9,35.83,-8.41,44,374.17,0.00,0.19,0.00,0.000,0.079,0.000,3650.31,3776.50,3524.12,3098.88,2116.06,0,0,0,30.00,15.97,30.00
$GC,552.47,2693,-146.63,-0.86,-80.00,3648.7,3775.1,3522.3,3099.2,2116.1,56.43,-12.09,62,559.29,0.00,0.19,4.72,0.000,0.218,0.073,3651.09,3777.19,3525.00,3158.88,436.81,0,0,0,30.00,15.94,15.95
$GC,642.18,1028,-146.63,-0.86,0.00,3648.9,3775.2,3522.6,3159.3,437.0,67.74,-11.94,80,648.44,0.00,0.00,4.66,0.000,0.000,0.031,3650.50,3776.25,3524.75,3138.12,2163.81,0,0,0,30.00,30.00,15.93
$GC,827.50,0,-146.63,-0.86,0.00,3649.2,3776.2,3522.3,3138.1,2165.2,87.78,-10.15,99,828.83,0.00,0.00,0.00,0.000,0.000,0.000,3649.03,3775.38,3522.69,3139.38,2165.62,0,0,0,30.00,30.00,30.00
$GC,1007.54,644,-146.63,-0.97,-80.00,3649.3,3775.1,3523.6,3138.3,2165.5,106.78,-11.04,117,1014.30,0.00,0.00,4.89,0.000,0.000,0.072,3649.06,3774.62,3523.50,3138.06,438.25,0,0,0,30.00,30.00,15.95
$GC,1057.22,1028,-146.63,-0.97,0.00,3649.6,3775.8,3523.4,3138.6,438.2,112.70,-11.87,127,1063.50,0.00,0.00,4.64,0.000,0.000,0.032,3650.03,3776.31,3523.75,3116.00,2166.62,0,0,0,30.00,30.00,15.98
$GC,1242.54,516,-146.63,-0.97,-80.00,3649.4,3775.5,3523.2,3117.2,2171.0,131.16,-9.70,146,1249.34,0.00,0.00,4.88,0.000,0.000,0.071,3649.97,3776.50,3523.44,3116.06,438.12,0,0,0,30.00,30.00,15.95
$GC,1282.26,3205,-146.63,-0.84,0.00,3648.5,3774.4,3522.6,3116.8,437.0,135.85,-11.88,154,1288.62,0.00,0.22,4.65,0.000,0.219,0.032,3649.53,3775.81,3523.25,3162.81,2167.75,0,0,0,30.00,15.91,15.98
$STATE,1467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1467,begin apogee
$GC,1468.77,10243,0.00,-0.19,0.00,3649.0,3774.5,3523.4,3162.6,2108.2,150.69,-7.84,173,1581.12,110.43,0.65,0.14,1.192,0.167,0.104,3046.97,3148.44,2945.50,3375.19,2186.94,0,0,0,12.76,15.95,15.60
$STATE,1582,end apogee,CONTROL_FINISHED_OK
$STATE,1582,begin climb
$GC,1582.35,10503,146.63,1.09,80.00,3047.8,3149.2,2946.4,3375.2,2186.9,153.61,0.00,184,1703.67,111.12,1.21,4.86,1.160,0.108,0.073,2450.47,2535.88,2365.06,3786.69,3850.62,0,0,0,12.58,15.61,15.45
$GC,1725.25,21639,146.63,0.67,0.00,2444.1,2528.1,2360.1,3787.8,3851.4,143.75,11.00,212,1732.86,0.00,0.61,4.78,0.000,0.255,0.030,2446.69,2532.38,2361.00,3640.19,2120.44,0,0,0,30.00,15.46,15.55
$GC,1915.67,10919,232.96,1.19,-80.00,2439.2,2529.3,2349.1,3639.9,2120.4,131.39,6.00,232,1989.20,66.09,0.46,4.82,1.147,0.043,0.069,2096.06,2189.94,2002.19,3857.38,437.12,0,0,0,12.66,15.78,15.55
$GC,2031.32,5253,232.96,0.91,0.00,2094.9,2187.7,2002.2,3857.8,437.1,116.44,15.05,255,2039.00,0.00,0.52,4.74,0.000,0.254,0.030,2092.56,2184.94,2000.19,3715.25,2169.69,0,0,0,30.00,15.59,15.68
$GC,2216.21,10919,283.55,1.23,-80.00,2091.0,2188.1,1993.9,3716.4,2176.5,100.86,7.66,274,2262.80,39.03,0.30,4.99,1.091,0.050,0.069,1892.44,1989.75,1795.12,3873.69,436.88,0,0,0,12.66,15.79,15.65
$GC,2280.85,5253,283.55,1.04,0.00,1889.3,1984.8,1793.9,3873.4,436.9,92.19,14.83,287,2288.29,0.00,0.41,4.74,0.000,0.237,0.031,1890.75,1986.50,1795.00,3757.44,2172.81,0,0,0,30.00,15.64,15.71
$GC,2471.29,18823,283.55,1.21,80.00,1885.6,1985.4,1785.8,3757.1,2181.8,72.94,9.89,307,2477.93,0.00,0.17,4.78,0.000,0.070,0.075,1884.25,1983.69,1784.81,3841.44,3849.62,0,0,0,30.00,15.82,15.81
$GC,2490.83,17414,283.55,1.21,0.00,1885.1,1984.9,1785.3,3840.6,3848.9,70.61,10.25,311,2497.17,0.00,0.00,4.70,0.000,0.000,0.033,1885.81,1985.88,1785.75,3862.62,2122.81,0,0,0,30.00,30.00,15.83
$GC,2676.25,21127,283.55,0.99,-80.00,1884.7,1985.2,1784.1,3863.1,2122.6,47.23,12.88,330,2682.97,0.00,0.44,4.76,0.000,0.239,0.071,1886.06,1986.81,1785.31,3758.81,437.25,0,0,0,30.00,15.81,15.85
$GC,2715.89,19591,283.55,1.21,0.00,1884.2,1984.5,1784.0,3758.6,437.1,42.78,10.78,338,2722.27,0.00,0.17,4.68,0.000,0.069,0.032,1886.31,1987.12,1785.50,3843.75,2167.12,0,0,0,30.00,15.87,15.88
$GC,2901.28,20611,283.55,1.10,0.00,1884.2,1984.8,1783.8,3843.8,2177.2,19.22,12.32,357,2902.75,0.00,0.24,0.00,0.000,0.218,0.000,1884.38,1984.88,1783.88,3772.81,2178.38,0,0,0,30.00,15.88,30.00
$GC,3081.31,19079,283.55,1.28,-80.00,1883.8,1985.2,1782.4,3772.6,2178.2,3.55,9.12,375,3087.99,0.00,0.19,4.89,0.000,0.066,0.071,1883.38,1984.44,1782.31,3895.56,438.38,0,0,0,30.00,15.97,15.94
$STATE,3096,end climb,SURFACE_DEPTH_REACHED
$STATE,3096,begin surface coast
$FINISH,0.2,1.020138
$STATE,3116,end surface coast,CONTROL_FINISHED_OK
$STATE,3116,begin surface
$SM_CCo,3261.42,124.36,1.006,0,1165.8,1192.6,1139.1,462.18
$SM_CCo,3262.56,0.00,2.747,0,1165.6,1192.8,1138.4,462.24
$SM_GC,1.63,0.00,9.44,4.61,2.747,0.057,0.032,1165.6,1192.8,1138.4,450.8,2168.0,0,0,0,30.36,15.99,16.02
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4745.33,-12219.67,090720,194546
$TCM_TEMP,15.17
$XPDR_PINGS,2,14.0,10.5
$SC_FREEKB,3876512
$RAFOS_CLK,0
$RAFOS_FIX,4742.977051,-12224.075195,090720,202054,0,1,0.28
$HUMID,56.38
$TEMP,12.24
$INTERNAL_PRESSURE,8.70989
$24V_AH,14.75,1.488
$10V_AH,15.00,0.000
$FG_AHR_24Vo,3.796
$FG_AHR_10Vo,4.416
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,567.325,28.365,95.600,289.664,0.500,13.516,1474.397,2124.066,356.445,2213.000,0.000,0.000
$DEVICE_MAMPS,2747.408,416.968,104.056,176.844,420.000,15.000,11.920,2.920,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3131.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,39.583,0.000,0.000,0.000
$MEM,1130400,30,47028,82
$DATA_FILE_SIZE,9736,382
$CAP_FILE_SIZE,177412,0
$SDSIZE,3918848,3908000
$SDFILEDIR,61,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.078, 35.7,1
$GPS,090720,204517,4743.089,-12223.803,1,1.1,4,15.4