version: 67.01
glider: 242
mission: 9
dive: 150
start: 9 20 123 14 48 38
data:
$ID,242
$MISSION,9
$DIVE,150
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,840
$D_ABORT,900
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,6
$SURFACE_URGENCY_TRY,6
$SURFACE_URGENCY_FORCE,12
$T_DIVE,280
$T_MISSION,560
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.07
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72651
$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,129
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$NETBOX,3
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,10800
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3610
$C_PITCH,1700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,13.240061
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$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,195
$ROLL_MAX,3800
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1997
$HEAD_ERRBAND,20
$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,3350
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,400
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$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,59.824501
$FG_AHR_24V,89.802643
$PHONE_SUPPLY,2
$PRESSURE_YINT,-182.09355
$PRESSURE_SLOPE,0.00022512203
$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,-3.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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
$GPS1,200923,060245,7415.000,-15413.985,2,0.6,3,12.0
$_CALLS,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-17.7
$GPS2,200923,060245,7415.000,-15413.985,2,0.6,3,12.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,LISTEN
$TGT_LATLONG,7350.000,-15815.000
$TGT_RADIUS,5000.000
$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,206.6,132625,-17.6,-10.000,-21.24,2209,0.183
$D_GRID,840
$IRON,1.000000,-0.007310,-0.029849,0.018912,1.040709,-0.047248,0.025302,-0.047706,0.938033,742.188416,-941.817322,-685.902893
$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
$STATE,5,begin dive
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$NAV,1695225562,397.6,start
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$NAV,1695228317,612.6,0,stop
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$GC,8717.75,420,-145.99,-1.73,80.00,3966.0,3940.6,3991.4,1282.1,2070.8,745.17,-7.33,706,8726.18,0.00,0.00,3.74,0.000,0.000,0.115,3965.09,3938.62,3991.56,1282.25,3567.62,0,0,0,30.00,30.00,15.89
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$GC,9277.15,1060,-145.99,-1.74,0.00,3966.4,3941.0,3991.8,1282.3,3566.7,787.88,-8.63,752,9284.48,0.00,0.00,3.44,0.000,0.000,0.040,3967.53,3941.88,3993.19,1282.56,2070.31,0,0,0,30.00,30.00,15.98
$GC,9663.16,420,-145.99,-1.76,80.00,3966.4,3941.2,3991.6,1282.2,2069.6,815.87,-7.13,769,9671.58,0.00,0.00,3.70,0.000,0.000,0.116,3964.88,3940.19,3989.56,1282.38,3565.12,0,0,0,30.00,30.00,15.89
$GC,9724.44,1060,-145.99,-1.76,0.00,3966.5,3941.1,3991.8,1282.1,3564.5,820.92,-8.29,781,9732.55,0.00,0.00,3.44,0.000,0.000,0.040,3966.69,3941.19,3992.19,1282.62,2070.06,0,0,0,30.00,30.00,15.97
$STATE,10016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10016,begin apogee
$GC,10017.82,10243,0.00,-0.38,0.00,3966.4,3941.1,3991.8,1282.5,1964.8,841.18,-6.88,794,10157.93,124.62,2.31,0.10,2.237,0.117,0.200,3351.12,3268.56,3433.69,1611.81,2035.62,0,0,0,10.62,15.80,15.29
$WARN,HSCICON missed fuel gauge read
$STATE,10167,end apogee,CONTROL_FINISHED_OK
$STATE,10167,begin climb
$GC,10167.76,10759,145.99,1.51,-80.00,3350.3,3267.9,3432.7,1612.2,2036.0,841.47,0.00,798,10317.92,124.39,2.98,4.11,2.171,0.050,0.124,2752.81,2648.19,2857.44,2079.62,531.56,0,0,0,11.25,15.39,14.99
$GC,10400.84,21639,145.99,1.39,0.00,2743.5,2644.8,2842.1,2079.7,531.8,807.59,21.59,842,10409.46,0.00,0.41,3.56,0.000,0.177,0.040,2744.25,2643.81,2844.69,2030.00,2019.69,0,0,0,30.00,15.25,15.37
$GC,10778.15,17030,145.99,1.34,-80.00,2741.8,2641.8,2841.8,2030.4,2020.1,749.06,15.05,857,10786.66,0.00,0.00,3.89,0.000,0.000,0.119,2742.66,2641.81,2843.50,2029.75,529.19,0,0,0,30.00,30.00,15.60
$GC,10849.58,21639,145.99,1.24,0.00,2739.8,2641.9,2837.6,2030.6,529.3,736.32,18.23,871,10857.94,0.00,0.23,3.46,0.000,0.181,0.040,2738.72,2641.62,2835.81,1995.00,2021.81,0,0,0,30.00,15.59,15.72
$GC,11221.55,16514,145.99,1.21,0.00,2739.6,2642.1,2837.1,1995.1,2022.2,685.40,13.46,885,11223.34,0.00,0.00,0.00,0.000,0.000,0.000,2738.25,2640.62,2835.88,1995.69,2021.56,0,0,0,30.00,30.00,30.00
$NAV,1695232749,657.5,start
$GC,11611.55,17030,145.99,1.18,-80.00,2739.1,2641.3,2836.9,1995.9,2022.5,633.80,13.14,898,11620.15,0.00,0.00,3.88,0.000,0.000,0.119,2740.72,2644.50,2836.94,1994.62,530.12,0,0,0,30.00,30.00,15.73
$GC,11713.09,21639,145.99,1.11,0.00,2739.3,2642.0,2836.6,1995.6,530.1,617.82,16.00,918,11721.37,0.00,0.20,3.44,0.000,0.176,0.039,2739.69,2642.00,2837.38,1963.19,2023.31,0,0,0,30.00,15.71,15.82
$GC,12084.98,16514,145.99,1.10,0.00,2740.2,2643.2,2837.1,1963.7,2023.7,573.36,11.76,932,12086.78,0.00,0.00,0.00,0.000,0.000,0.000,2738.50,2641.81,2835.19,1964.12,2022.81,0,0,0,30.00,30.00,30.00
$GC,12474.99,17030,145.99,1.08,-80.00,2740.5,2644.0,2837.0,1963.9,2023.1,528.04,11.53,945,12483.57,0.00,0.00,3.90,0.000,0.000,0.118,2742.91,2647.31,2838.50,1963.25,530.00,0,0,0,30.00,30.00,15.75
$GC,12551.51,17542,145.99,1.03,0.00,2740.4,2644.0,2836.8,1964.2,530.1,517.51,14.10,960,12559.55,0.00,0.00,3.42,0.000,0.000,0.038,2739.62,2642.50,2836.75,1963.81,2024.75,0,0,0,30.00,30.00,15.84
$NAV,1695234025,499.5,0,stop
$GC,12947.27,17030,145.99,1.02,-80.00,2740.6,2644.5,2836.8,1963.8,2025.6,471.93,11.46,974,12955.87,0.00,0.00,3.87,0.000,0.000,0.118,2741.88,2643.88,2839.88,1962.12,531.56,0,0,0,30.00,30.00,15.81
$GC,12988.77,21639,145.99,0.97,0.00,2740.6,2644.7,2836.4,1963.8,531.4,466.32,13.81,982,12997.06,0.00,0.21,3.40,0.000,0.164,0.038,2739.50,2642.94,2836.06,1929.62,2024.81,0,0,0,30.00,15.76,15.91
$GC,13360.52,16386,145.99,0.97,0.00,2741.0,2645.6,2836.4,1930.0,2024.9,427.83,10.27,996,13362.32,0.00,0.00,0.00,0.000,0.000,0.000,2739.69,2644.44,2834.94,1930.38,2024.56,0,0,0,30.00,30.00,30.00
$GC,13750.52,16902,145.99,0.97,-80.00,2741.5,2646.5,2836.4,1929.2,2024.9,388.15,10.16,1009,13759.35,0.00,0.00,3.88,0.000,0.000,0.118,2741.34,2645.94,2836.75,1929.94,529.69,0,0,0,30.00,30.00,15.87
$GC,13838.03,17542,145.99,0.94,0.00,2741.1,2646.1,2836.1,1929.8,530.1,377.72,12.21,1026,13845.31,0.00,0.00,3.42,0.000,0.000,0.038,2740.53,2645.50,2835.56,1929.56,2023.56,0,0,0,30.00,30.00,15.95
$GC,14223.86,8226,156.29,0.95,0.00,2741.4,2646.6,2836.2,1929.8,2024.2,340.06,9.52,1043,14235.58,9.15,0.00,0.00,1.411,0.000,0.000,2712.81,2616.00,2809.62,1929.19,2024.19,0,0,0,10.64,30.00,30.00
$GC,14613.86,8742,175.44,0.98,-80.00,2714.0,2616.9,2811.1,1930.3,2023.8,303.29,9.11,1056,14643.16,18.96,0.00,3.90,1.533,0.000,0.120,2633.66,2536.62,2730.69,1929.88,530.00,0,0,0,10.82,30.00,15.82
$GC,14701.83,1156,175.44,0.96,0.00,2631.2,2535.9,2726.5,1929.4,530.2,293.95,11.48,1073,14709.14,0.00,0.00,3.46,0.000,0.000,0.038,2632.38,2535.25,2729.50,1928.75,2027.75,0,0,0,30.00,30.00,15.90
$GC,15087.85,8870,200.12,1.01,-80.00,2630.5,2534.2,2726.7,1929.8,2028.8,258.03,8.85,1090,15122.11,22.62,0.00,3.91,1.495,0.000,0.118,2530.84,2432.38,2629.31,1929.88,531.50,0,0,0,10.97,30.00,15.77
$GC,15174.89,1028,200.12,1.01,0.00,2528.5,2431.3,2625.6,1929.8,531.2,249.31,10.93,1107,15182.88,0.00,0.00,3.45,0.000,0.000,0.038,2528.59,2431.94,2625.25,1929.69,2027.69,0,0,0,30.00,30.00,15.85
$GC,15550.92,10663,273.55,1.14,80.00,2527.4,2429.3,2625.4,1930.1,2028.8,220.89,6.58,1145,15624.57,60.01,0.31,3.65,1.473,0.052,0.121,2232.44,2129.94,2334.94,1996.56,3458.94,0,0,0,10.97,15.85,15.58
$GC,15633.08,1028,273.55,1.14,0.00,2231.6,2130.1,2333.1,1997.6,3460.7,213.42,10.16,1156,15640.59,0.00,0.00,3.55,0.000,0.000,0.042,2232.78,2131.06,2334.50,1997.81,1970.69,0,0,0,30.00,30.00,15.65
$GC,16008.33,8870,303.55,1.19,-80.00,2223.8,2122.2,2325.5,1998.4,1970.1,179.35,8.60,1194,16042.71,24.32,0.00,3.81,1.390,0.000,0.124,2112.09,2007.31,2216.88,1996.50,530.06,0,0,0,10.86,30.00,15.64
$GC,16111.25,1028,303.55,1.19,0.00,2106.9,2004.1,2209.8,1997.9,530.2,169.37,10.48,1214,16118.67,0.00,0.00,3.48,0.000,0.000,0.038,2105.84,2003.00,2208.69,1997.00,2024.75,0,0,0,30.00,30.00,15.73
$GC,16486.49,8354,342.50,1.27,0.00,2103.1,2000.0,2206.1,1997.8,2024.8,137.95,8.19,1252,16522.28,32.27,0.00,0.00,1.362,0.000,0.000,1953.03,1845.19,2060.88,1997.88,2023.75,0,0,0,10.89,30.00,30.00
$GC,16886.52,10919,381.17,1.36,-80.00,1944.8,1838.8,2050.9,1998.1,2024.8,104.58,8.20,1292,16931.89,31.97,0.20,3.97,1.330,0.067,0.122,1793.94,1684.38,1903.50,2051.38,531.19,0,0,0,10.99,15.80,15.63
$GC,16994.66,1028,381.17,1.36,0.00,1790.2,1682.1,1898.2,2051.8,531.3,92.28,12.35,1313,17002.60,0.00,0.00,3.52,0.000,0.000,0.039,1790.00,1681.38,1898.62,2051.69,2023.00,0,0,0,30.00,30.00,15.74
$GC,17370.67,8870,422.68,1.45,-80.00,1785.2,1675.6,1894.8,2052.1,2023.6,58.70,8.07,1351,17415.99,33.83,0.00,3.98,1.290,0.000,0.121,1626.97,1517.56,1736.38,2050.69,532.31,0,0,0,10.93,30.00,15.63
$GC,17448.97,9382,452.28,1.52,0.00,1623.1,1517.1,1729.1,2051.5,532.5,52.25,8.62,1366,17484.23,25.44,0.00,3.51,1.241,0.000,0.038,1508.25,1400.62,1615.88,2051.75,2024.00,0,0,0,11.19,30.00,15.73
$GC,17849.77,10919,597.38,1.78,-80.00,1497.5,1396.2,1598.8,2051.3,2024.0,31.46,3.25,1445,17987.61,119.54,0.50,4.07,1.243,0.056,0.120,914.22,820.88,1007.56,2140.81,531.56,0,0,0,10.97,15.77,15.37
$GC,18216.38,11431,814.07,2.17,0.00,907.0,815.2,998.8,2140.9,530.9,25.85,-0.08,1516,18240.32,14.35,0.53,3.51,1.168,0.058,0.035,852.00,762.31,941.69,2236.50,2027.44,0,0,0,10.97,15.66,15.66
$STATE,18241,end climb,NO_VERTICAL_VELOCITY
$STATE,18241,begin subsurface finish
$SM_CCo,18323.46,74.89,1.200,0,500.8,437.6,564.1,698.90
$FINISH1,1.6,1.0206,478
$NAV,1695239988,1.3,start
$GC,18666.36,32423,477.50,0.59,-80.00,488.2,425.6,550.8,2236.3,1966.8,1.64,7.49,1520,18734.15,50.60,2.72,3.79,0.005,0.112,0.115,1403.06,1343.56,1462.56,1834.00,530.31,0,0,0,15.77,15.62,15.63
$FINISH2,2.3
$STATE,18735,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18735,begin surface
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7415.06,-15401.54,190923,192815
$TCM_TEMP,4.46
$SC_FREEKB,3831104
$RAFOS_CLK,1
$RAFOS_FIX,7408.044434,-15359.618164,200923,000047,2,510,0.59
$HUMID,50.10
$TEMP,0.85
$INTERNAL_PRESSURE,7.73717
$24V_AH,14.36,108.966
$10V_AH,15.00,0.000
$FG_AHR_24Vo,90.143
$FG_AHR_10Vo,59.917
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,837.565,14.550,245.145,0.000,0.000,0.000,5123.597,2.983,0.000,13530.796,2894.848,4046.378,0.000,0.000,0.000
$DEVICE_MAMPS,2237.040,181.136,199.832,0.000,0.000,0.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18744.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.440,0.000,0.000,0.000
$MEM0,59796,1,0,0
$MEM1,65508,1,0,0
$MEM2,1026648,30,19940,69
$DATA_FILE_SIZE,44877,1530
$CAP_FILE_SIZE,414289,0
$SDSIZE,3887104,3815200
$SDFILEDIR,1093,151
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.122,232.8,1
$MAGCAL,1.000000,-0.012248,-0.000646,0.025288,1.021635,-0.070353,-0.000840,-0.029408,0.879946,735.6,-922.0,-613.2,34,0.0958,1
$IMPLIED_C_PITCH,1661,12.02,858,0.0,0.00
$IMPLIED_C_VBD,3341,55.765232,858,0
$GPS,200923,060245,7415.000,-15413.985,2,0.6,3,12.0