version: 67.00
glider: 513
mission: 13
dive: 86
start: 8 12 122 9 55 33
data:
$ID,513
$MISSION,13
$DIVE,86
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,20
$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,44
$T_MISSION,300
$T_ABORT,300
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,58045
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2240
$TGT_DEFAULT_LON,-15803
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,0
$RAFOS_HIT_WINDOW,0
$RAFOS_MMODEM,0
$PITCH_MIN,223
$PITCH_MAX,3875
$C_PITCH,2255
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2555
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$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
$SHORTING_PLUG,1
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,26.127506
$FG_AHR_24V,56.518398
$PHONE_SUPPLY,2
$PRESSURE_YINT,-164.30228
$PRESSURE_SLOPE,0.00010883
$COMPASS_USE,0
$ALTIM_PING_FIT,0
$ALTIM_BOTTOM_PING_RANGE,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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.96e-06
$INT_PRESSURE_YINT,2.3699999
$DEEPGLIDER,0
$MOTHERBOARD,6
$DEVICE1,10
$DEVICE2,27
$DEVICE3,38
$DEVICE4,55
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,51
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,18
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,5
$SIM_W,0
$SEABIRD_T_G,0.004325842
$SEABIRD_T_H,0.00062290713
$SEABIRD_T_I,2.3156466e-05
$SEABIRD_T_J,2.4692811e-06
$SEABIRD_C_G,-10.235818
$SEABIRD_C_H,1.1441734
$SEABIRD_C_I,-0.0017975045
$SEABIRD_C_J,0.00022422035
$SEABIRD_C_Z,0
$RS_RECORDABOVE,1100.0
$RS_PROFILE,3.0
$RS_XMITPROFILE,0.0
$RS_UPLOADMAX,1000.0
$RS_STARTS,168.0
$RS_NDIVE,1.0
$GPS1,120822,094601,2306.683,-15459.854,19,0.9,57,10.1
$_CALLS,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-54.9
$GPS2,120822,095504,2306.651,-15459.860,6,0.8,21,10.1
$SPEED_LIMITS,0.525,0.535
$TGT_NAME,ORTHO1
$TGT_LATLONG,2301.200,-15524.000
$TGT_RADIUS,900.000
$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,245.9,42367,-28.3,-30.303,-29.53
$D_GRID,400
$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,72,end surface,CONTROL_FINISHED_OK
$STATE,72,begin dive
$GC,73.92,2,-194.65,-1.18,0.00,588.1,721.9,454.2,173.6,2174.3,0.00,0.00,0,151.98,76.04,0.00,0.00,0.005,0.000,0.000,2553.88,2573.88,2533.88,167.50,2173.69,0,0,0,14.93,30.00,30.00
$GC,152.36,551,-194.65,-1.18,-40.00,2552.1,2572.8,2531.4,167.4,2172.7,3.17,-2.85,15,188.44,19.81,10.10,2.11,0.006,0.297,0.040,3348.09,3385.88,3310.31,1874.81,842.94,0,0,0,15.06,15.06,15.05
$GC,281.08,1189,-194.65,-1.10,0.00,3349.0,3387.2,3310.8,1875.6,843.2,35.48,-26.66,39,285.78,0.00,0.20,2.36,0.000,0.242,0.041,3349.94,3387.69,3312.19,1904.25,2337.00,0,0,0,30.00,15.28,15.53
$GC,411.11,421,-194.65,-0.98,40.00,3349.6,3388.6,3310.6,1904.4,2336.3,72.54,-25.94,52,415.80,0.00,0.19,2.33,0.000,0.224,0.062,3350.97,3389.50,3312.44,1931.75,3738.75,0,0,0,30.00,15.35,15.39
$GC,465.22,1061,-194.65,-0.98,0.00,3349.8,3388.8,3310.8,1932.6,3739.6,85.42,-23.58,57,471.56,0.00,0.05,2.31,0.000,0.287,0.015,3350.25,3389.44,3311.06,1941.62,2220.62,0,0,0,30.00,15.38,15.54
$GC,871.17,548,-194.65,-0.98,-40.00,3351.0,3390.8,3311.2,1941.8,2215.8,177.37,-22.75,98,875.68,0.00,0.00,2.15,0.000,0.000,0.039,3350.50,3390.56,3310.44,1942.31,844.69,0,0,0,30.00,30.00,15.56
$GC,895.28,1060,-194.65,-0.98,0.00,3351.2,3391.4,3311.0,1941.1,844.8,183.34,-23.22,100,901.45,0.00,0.00,2.36,0.000,0.000,0.039,3350.78,3390.94,3310.62,1937.62,2334.25,0,0,0,30.00,30.00,15.55
$GC,1301.23,421,-194.65,-1.04,40.00,3352.6,3393.9,3311.4,1937.5,2335.3,267.74,-17.98,141,1305.90,0.00,0.09,2.31,0.000,0.114,0.055,3353.84,3395.06,3312.62,1886.31,3742.31,0,0,0,30.00,15.46,15.49
$GC,1361.25,1189,-194.65,-1.11,0.00,3352.7,3393.7,3311.6,1886.2,3741.9,279.06,-19.12,147,1365.92,0.00,0.07,2.32,0.000,0.245,0.014,3353.16,3394.12,3312.19,1899.69,2212.50,0,0,0,30.00,15.36,15.55
$GC,1611.26,548,-194.65,-1.11,-40.00,3353.6,3394.6,3312.6,1900.2,2207.9,324.85,-17.96,172,1615.77,0.00,0.00,2.14,0.000,0.000,0.039,3354.41,3395.62,3313.19,1900.38,845.75,0,0,0,30.00,30.00,15.55
$GC,1645.39,1189,-194.65,-1.17,0.00,3354.3,3395.2,3313.4,1900.6,845.9,331.10,-18.18,175,1651.71,0.00,0.12,2.35,0.000,0.098,0.033,3355.41,3395.62,3315.19,1850.81,2339.75,0,0,0,30.00,15.39,15.55
$GC,1891.31,421,-194.65,-1.13,40.00,3354.0,3394.6,3313.4,1851.6,2340.1,381.69,-21.54,200,1896.01,0.00,0.24,2.32,0.000,0.230,0.060,3354.47,3396.38,3312.56,1891.88,3738.94,0,0,0,30.00,15.34,15.37
$GC,1955.42,1189,-194.65,-1.20,0.00,3354.0,3394.9,3313.1,1892.2,3738.6,394.55,-19.64,206,1961.76,0.00,0.12,2.31,0.000,0.102,0.014,3354.69,3396.62,3312.75,1846.31,2219.81,0,0,0,30.00,15.41,15.54
$STATE,1991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1991,begin apogee
$GC,1992.60,3,0.00,-0.17,0.00,3354.2,3395.4,3313.1,1846.6,1826.2,401.56,-19.43,210,2188.98,190.54,1.88,0.14,1.448,0.186,0.105,2552.97,2634.56,2471.38,2201.25,1986.44,0,0,0,11.42,15.36,15.06
$STATE,2191,end apogee,CONTROL_FINISHED_OK
$STATE,2191,begin climb
$GC,2191.61,519,194.65,1.18,-40.00,2553.9,2635.5,2472.4,2201.8,1987.8,409.29,0.00,214,2387.07,185.62,2.07,2.59,1.432,0.068,0.047,1759.78,1869.19,1650.38,2655.19,457.81,0,0,0,11.86,15.19,15.04
$GC,2489.71,1191,398.46,1.36,0.00,1755.2,1866.3,1644.2,2655.3,458.0,371.17,18.29,231,2688.51,189.80,0.15,2.36,1.390,0.094,0.020,931.75,1069.44,794.06,2707.50,1938.88,0,0,0,11.81,15.32,15.43
$GC,2931.16,645,398.46,1.16,-40.00,926.5,1063.8,789.1,2708.3,1938.6,249.34,30.37,275,2935.93,0.00,0.50,2.42,0.000,0.223,0.044,926.59,1064.00,789.19,2627.94,456.94,0,0,0,30.00,15.38,15.44
$GC,2961.18,1191,445.69,1.14,0.00,926.3,1063.4,789.1,2627.3,457.4,241.58,27.52,278,3012.07,43.97,0.08,2.37,1.264,0.215,0.023,738.09,887.38,588.81,2611.12,1946.56,0,0,0,11.75,15.38,15.53
$GC,3251.21,423,517.60,1.17,40.00,731.1,874.9,587.2,2611.6,1946.8,166.91,26.06,307,3287.60,31.62,0.09,2.34,1.172,0.123,0.046,600.03,752.00,448.06,2646.31,3341.56,0,0,0,11.65,15.45,15.32
$GC,3336.22,1191,539.86,1.17,0.00,597.6,747.1,448.1,2647.6,3341.8,142.79,28.99,315,3340.91,0.00,0.20,2.38,0.000,0.209,0.024,597.22,746.62,447.81,2619.69,1862.56,0,0,0,30.00,15.28,15.46
$GC,3746.26,423,634.96,1.24,40.00,594.2,740.2,448.1,2620.5,1862.5,33.10,24.70,356,3750.98,0.00,0.15,2.48,0.000,0.092,0.043,594.16,740.19,448.12,2668.75,3341.69,0,0,0,30.00,15.47,15.52
$GC,3796.26,1063,709.97,1.34,0.00,593.2,738.3,448.1,2669.6,3341.0,19.67,25.88,364,3801.92,0.00,0.03,2.37,0.000,0.291,0.025,593.38,738.44,448.31,2699.69,1857.31,0,0,0,30.00,15.34,15.47
$STATE,3861,end climb,SURFACE_DEPTH_REACHED
$STATE,3861,begin surface coast
$FINISH,0.1,1.023362
$STATE,3871,end surface coast,CONTROL_FINISHED_OK
$STATE,3871,begin surface
$SM_CCo,3949.95,0.00,0.000,0,592.7,737.4,447.9,481.36
$SM_GC,0.94,0.00,11.23,0.69,0.000,0.031,0.034,592.7,737.4,447.9,204.9,2362.0,0,0,0,30.00,13.96,14.04
$SUPER,51,70,254,0,0,0
$IRIDIUM_FIX,2309.33,-15459.41,120822,083137
$TCM_TEMP,23.00
$XPDR_PINGS,2
$HUMID,58.89
$TEMP,19.73
$INTERNAL_PRESSURE,9.41181
$24V_AH,14.52,131.422
$10V_AH,15.00,0.000
$FG_AHR_24Vo,56.671
$FG_AHR_10Vo,26.210
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,737.400,27.520,48.100,214.840,0.500,30.102,2294.508,2195.455,995.856,0.000,0.000,0.000
$DEVICE_MAMPS,1447.544,296.592,105.368,198.890,420.000,11.740,7.270,2.190,16.310,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,nil,nil,RSIMT,nil,nil,nil
$SENSOR_SECS,710.267,741.918,466.482,811.599,0.000,0.000,4069.583,0.000,0.000,0.000
$SENSOR_MAMPS,24.280,3.510,24.790,40.780,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,1168296,35,14632,84
$DATA_FILE_SIZE,32070,379
$CAP_FILE_SIZE,156727,0
$SDSIZE,3931136,3898880
$SDFILEDIR,470,2
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,241.5,1
$GPS,120822,110226,2306.489,-15500.332,15,1.2,56,10.1