version: 67.00
glider: 169
mission: 14
dive: 8
start: 9 6 117 22 56 51
data:
$ID,169
$MISSION,14
$DIVE,8
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,135
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,3
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$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,51902
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0087000001
$HD_C,4.3999999e-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,613.06201
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,300
$PITCH_MAX,3945
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$PITCH_GAIN,30
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,280
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2640
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3780
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10.5
$MINV_10V,10.5
$MAXI_24V,5
$MAXI_10V,1.2
$FG_AHR_10V,1.3833402
$FG_AHR_24V,3.9173319
$PHONE_SUPPLY,2
$PRESSURE_YINT,-153.73686
$PRESSURE_SLOPE,0.0001078585
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,140
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,0
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,49
$PHONE_DEVICE,33
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043759886
$SEABIRD_T_H,0.00062558794
$SEABIRD_T_I,2.3929e-05
$SEABIRD_T_J,2.6210178e-06
$SEABIRD_C_G,-9.9089918
$SEABIRD_C_H,1.1354597
$SEABIRD_C_I,-0.0011636069
$SEABIRD_C_J,0.00016142646
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,060917,225225,4807.740,-12223.553,20,0.8,44,16.4
$_CALLS,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.6
$GPS2,060917,225640,4807.754,-12223.564,9,0.8,18,16.4
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$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,127.5,1562,-16.5,-10.000,-19.70
$D_GRID,105
$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,6.07,2,-146.63,-0.70,0.00,484.0,312.6,655.4,289.2,2602.5,0.00,0.00,0,114.66,106.28,0.00,0.00,0.006,0.000,0.000,2732.84,2867.00,2598.69,289.19,2602.31,0,0,0,15.27,30.00,30.00
$GC,115.03,295,-146.63,-0.70,40.00,2732.2,2866.1,2598.4,289.3,2602.2,3.72,-2.73,21,153.32,17.65,13.28,2.66,0.007,0.382,0.098,3496.38,3718.50,3274.25,2864.25,3810.94,0,0,0,15.28,15.09,15.62
$GC,191.15,1188,-146.63,-0.73,0.00,3497.0,3719.3,3274.6,2864.2,3810.8,12.78,-8.59,36,195.77,0.00,0.00,2.22,0.000,0.000,0.055,3499.31,3721.25,3277.38,2864.25,2610.50,0,0,0,30.00,30.00,15.86
$GC,375.21,676,-146.63,-0.77,-40.00,3497.0,3719.4,3274.5,2864.3,2610.9,28.82,-8.90,73,381.17,0.00,0.00,3.59,0.000,0.000,0.074,3497.19,3719.75,3274.62,2864.62,1218.00,0,0,0,30.00,30.00,15.84
$GC,461.06,1188,-146.63,-0.82,0.00,3497.0,3719.3,3274.6,2864.4,1218.2,36.85,-9.30,90,466.23,0.00,0.00,3.61,0.000,0.000,0.070,3499.50,3721.19,3277.81,2850.12,2650.44,0,0,0,30.00,30.00,15.74
$GC,645.59,676,-146.63,-0.86,-40.00,3496.6,3719.0,3274.1,2850.8,2649.6,53.36,-8.90,127,651.08,0.00,0.00,3.68,0.000,0.000,0.074,3497.09,3719.56,3274.62,2850.75,1218.94,0,0,0,30.00,30.00,15.89
$GC,750.13,1157,-146.63,-0.90,0.00,3496.9,3719.4,3274.4,2850.7,1219.1,63.41,-10.17,148,756.21,0.00,0.11,3.60,0.000,0.092,0.071,3496.97,3719.50,3274.44,2773.25,2648.56,0,0,0,30.00,15.96,15.96
$GC,935.15,517,-146.63,-0.90,-40.00,3495.2,3715.9,3274.4,2772.6,2647.2,87.69,-13.32,185,941.28,0.00,0.17,3.73,0.000,0.171,0.077,3495.81,3716.75,3274.88,2808.69,1217.94,0,0,0,30.00,15.84,15.89
$GC,1020.50,1156,-146.63,-0.93,0.00,3495.5,3716.8,3274.2,2809.0,1218.1,97.64,-11.53,202,1026.28,0.00,0.00,3.60,0.000,0.000,0.069,3496.09,3717.19,3275.00,2795.06,2650.12,0,0,0,30.00,30.00,15.80
$STATE,1086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1086,begin apogee
$GC,1088.28,3,0.00,-0.17,0.00,3495.0,3715.4,3274.6,2795.1,2174.4,105.31,11.61,215,1220.91,128.23,1.45,0.12,1.017,0.161,0.153,2894.50,3040.88,2748.12,3045.25,2223.06,0,0,0,11.90,15.26,15.39
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1221.63,3,146.63,0.70,0.00,2885.8,3030.3,2741.3,3044.7,2223.0,110.76,0.00,241,1346.28,121.35,0.86,0.00,0.999,0.048,0.000,2298.75,2375.25,2222.25,3348.75,2223.12,0,0,0,11.89,15.49,30.00
$GC,1521.16,162,203.90,0.72,-40.00,2278.6,2358.2,2198.9,3348.3,2223.6,99.27,7.38,301,1571.52,49.03,0.00,0.00,0.970,0.000,0.000,2064.50,2114.31,2014.69,3348.19,2222.94,0,0,0,11.92,30.00,30.00
$GC,1748.24,422,212.83,0.70,40.00,2044.2,2087.9,2000.6,3348.2,2222.9,77.56,9.59,346,1754.46,1.63,0.00,3.26,0.276,0.000,0.089,2031.59,2073.88,1989.31,3347.12,3631.38,0,0,0,14.83,30.00,15.63
$GC,1818.82,1157,212.83,0.65,0.00,2035.2,2078.2,1992.3,3347.2,3631.3,69.49,11.18,360,1824.33,0.00,0.34,3.04,0.000,0.201,0.056,2036.50,2079.44,1993.56,3305.25,2181.12,0,0,0,30.00,15.67,15.64
$GC,2001.29,294,265.54,0.71,40.00,2037.8,2082.3,1993.3,3306.3,2179.9,54.17,7.59,397,2065.36,55.99,0.00,3.41,0.915,0.000,0.090,1804.06,1810.88,1797.25,3304.94,3629.06,0,0,0,12.02,30.00,15.50
$GC,2131.15,1060,269.75,0.71,0.00,1796.5,1797.7,1795.4,3305.3,3628.6,42.09,9.81,423,2136.27,0.00,0.00,3.05,0.000,0.000,0.057,1795.81,1797.75,1793.88,3316.31,2182.81,0,0,0,30.00,30.00,15.70
$GC,2311.24,422,304.72,0.77,40.00,1795.9,1796.3,1795.4,3316.0,2181.3,25.68,8.40,459,2354.90,35.88,0.00,3.40,0.884,0.000,0.090,1643.97,1620.38,1667.56,3316.06,3628.88,0,0,0,12.02,30.00,15.56
$GC,2388.24,1060,308.51,0.77,0.00,1639.7,1612.3,1667.1,3316.0,3628.8,18.50,9.83,474,2394.16,0.00,0.00,3.07,0.000,0.000,0.057,1641.28,1613.38,1669.19,3328.06,2182.81,0,0,0,30.00,30.00,15.59
$STATE,2561,end climb,SURFACE_DEPTH_REACHED
$STATE,2561,begin surface coast
$FINISH,0.9,1.019454
$STATE,2601,end surface coast,CONTROL_FINISHED_OK
$STATE,2601,begin surface
$SM_CCo,2744.64,125.79,0.206,0,481.1,304.7,657.5,593.36
$SM_CCo,2745.65,0.00,0.000,0,478.1,303.6,652.6,594.09
$SM_CCo,2746.66,0.00,0.000,0,478.2,303.7,652.6,594.08
$SM_GC,0.97,0.00,8.95,1.23,0.000,0.074,0.075,478.2,303.7,652.6,292.4,2651.3,0,0,0,30.00,15.80,15.82
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,4804.40,-12158.62,060917,220228
$TCM_TEMP,16.50
$XPDR_PINGS,26
$SC_FREEKB,4016320
$HUMID,59.35
$TEMP,10.86
$INTERNAL_PRESSURE,12.38
$24V_AH,14.97,12.843
$10V_AH,14.97,0.000
$FG_AHR_24Vo,3.987
$FG_AHR_10Vo,1.397
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,641.800,25.155,48.410,175.268,6.500,20.062,1741.447,1248.714,914.189,0.000,0.000,0.000
$DEVICE_MAMPS,1016.880,381.544,152.928,161.033,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2614.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.093,0.000,0.000,0.000
$MEM,1135348,37,45876,54
$DATA_FILE_SIZE,17052,517
$CAP_FILE_SIZE,169876,0
$SDSIZE,3918848,3906560
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.128,325.9,1
$GPS,060917,234313,4807.645,-12223.232,8,1.1,22,16.4