version: 67.00
glider: 169
mission: 14
dive: 33
start: 9 7 117 20 7 42
data:
$ID,169
$MISSION,14
$DIVE,33
$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,1.7266635
$FG_AHR_24V,5.7429433
$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
$GPS1,070917,200225,4806.766,-12222.311,17,1.5,33,16.4
$_CALLS,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.5
$GPS2,070917,200730,4806.786,-12222.316,13,1.2,47,16.4
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,146.2,1508,-16.5,-10.000,-19.70
$D_GRID,108
$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,6.79,2,-146.63,-0.70,0.00,482.7,313.8,651.5,291.6,2669.4,0.00,0.00,0,114.80,105.71,0.00,0.00,0.006,0.000,0.000,2732.53,2853.25,2611.81,291.62,2669.19,0,0,0,15.32,30.00,30.00
$GC,115.82,551,-146.63,-0.70,-40.00,2731.9,2852.8,2611.1,291.2,2668.8,3.68,-2.68,21,157.08,17.05,13.67,3.77,0.007,0.386,0.072,3497.69,3707.62,3287.75,2873.25,1217.00,0,0,0,15.40,15.54,15.69
$GC,244.72,1188,-146.63,-0.75,0.00,3497.9,3707.4,3288.5,2873.1,1217.8,18.17,-9.43,47,249.86,0.00,0.00,3.67,0.000,0.000,0.067,3500.28,3709.19,3291.38,2860.62,2650.31,0,0,0,30.00,30.00,15.81
$GC,426.69,644,-146.63,-0.78,-40.00,3497.7,3706.9,3288.4,2860.6,2648.5,34.95,-10.41,84,431.94,0.00,0.00,3.73,0.000,0.000,0.071,3497.28,3707.06,3287.50,2860.56,1219.56,0,0,0,30.00,30.00,15.91
$GC,496.75,1188,-146.63,-0.83,0.00,3497.9,3707.3,3288.5,2860.8,1219.9,41.44,-9.57,98,501.98,0.00,0.00,3.66,0.000,0.000,0.067,3496.56,3706.25,3286.88,2847.06,2646.81,0,0,0,30.00,30.00,15.93
$GC,676.91,644,-146.63,-0.86,-40.00,3497.5,3706.9,3288.1,2847.1,2645.8,59.06,-10.15,134,682.14,0.00,0.00,3.72,0.000,0.000,0.073,3497.69,3707.38,3288.00,2847.00,1219.38,0,0,0,30.00,30.00,15.96
$GC,750.04,1157,-146.63,-0.90,0.00,3497.4,3706.5,3288.2,2847.1,1219.8,66.61,-10.15,148,755.13,0.00,0.09,3.66,0.000,0.093,0.067,3499.72,3707.94,3291.50,2778.44,2649.19,0,0,0,30.00,15.98,15.96
$GC,935.34,517,-146.63,-0.90,-40.00,3496.6,3705.0,3288.1,2777.9,2646.9,91.01,-13.48,185,941.10,0.00,0.14,3.76,0.000,0.179,0.074,3496.59,3705.06,3288.12,2810.38,1219.62,0,0,0,30.00,15.86,15.92
$GC,1014.92,1156,-146.63,-0.92,0.00,3496.6,3704.9,3288.2,2810.1,1220.4,100.64,-11.72,201,1020.03,0.00,0.00,3.67,0.000,0.000,0.067,3496.69,3705.00,3288.38,2796.00,2647.94,0,0,0,30.00,30.00,15.92
$STATE,1080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1080,begin apogee
$GC,1082.67,3,0.00,-0.17,0.00,3496.1,3704.1,3288.1,2795.8,2174.4,108.42,12.13,214,1284.88,195.37,1.48,0.12,0.926,0.158,0.151,2896.28,3043.38,2749.19,3044.88,2223.25,0,0,0,12.15,15.78,15.32
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1286.19,519,146.63,0.70,-40.00,2893.5,3039.3,2747.6,3045.2,2223.2,118.57,0.00,254,1420.02,123.75,0.88,3.45,0.966,0.047,0.078,2286.19,2353.31,2219.06,3361.44,771.56,0,0,0,12.04,15.42,15.17
$GC,1642.61,1191,171.61,0.68,0.00,2277.1,2348.4,2205.8,3361.7,772.0,99.46,8.86,325,1668.45,20.41,0.28,3.21,0.978,0.195,0.059,2200.22,2263.31,2137.12,3313.31,2215.25,0,0,0,12.15,15.61,15.23
$GC,1845.88,550,227.95,0.74,-40.00,2175.9,2236.8,2115.1,3314.5,2214.4,83.14,7.43,366,1901.17,49.72,0.00,3.38,0.946,0.000,0.084,1959.03,1985.31,1932.75,3326.62,771.06,0,0,0,12.18,30.00,15.10
$GC,2074.51,1062,250.67,0.76,0.00,1946.4,1962.6,1930.1,3327.1,771.6,61.96,8.96,411,2099.39,19.51,0.00,3.20,0.942,0.000,0.059,1878.44,1889.69,1867.19,3323.38,2213.81,0,0,0,12.21,30.00,15.25
$GC,2275.73,292,257.10,0.77,40.00,1856.6,1862.4,1850.8,3322.6,2213.4,42.47,9.71,452,2280.88,0.00,0.00,3.27,0.000,0.000,0.087,1857.50,1863.69,1851.31,3322.69,3627.94,0,0,0,30.00,30.00,15.76
$GC,2334.44,1156,257.10,0.75,0.00,1855.7,1861.5,1849.9,3323.1,3628.3,36.05,10.59,463,2339.10,0.00,0.00,3.02,0.000,0.000,0.056,1856.97,1862.69,1851.25,3334.50,2182.69,0,0,0,30.00,30.00,15.34
$GC,2519.35,294,291.70,0.78,40.00,1856.0,1861.8,1850.2,3335.2,2181.2,18.11,8.42,500,2544.20,17.34,0.00,3.34,0.261,0.000,0.088,1708.59,1694.19,1723.00,3334.50,3631.44,0,0,0,14.94,30.00,15.78
$GC,2589.39,1028,291.70,0.78,0.00,1707.2,1693.5,1721.0,3335.2,3630.9,11.13,10.05,514,2593.86,0.00,0.00,3.04,0.000,0.000,0.055,1709.25,1694.81,1723.69,3346.81,2185.12,0,0,0,30.00,30.00,15.87
$STATE,2679,end climb,SURFACE_DEPTH_REACHED
$STATE,2679,begin surface coast
$FINISH,1.0,1.019329
$STATE,2715,end surface coast,CONTROL_FINISHED_OK
$STATE,2715,begin surface
$SM_CCo,2868.68,135.64,0.204,0,480.6,308.5,652.7,593.48
$SM_CCo,2869.71,0.00,0.000,0,477.7,306.9,648.5,594.19
$SM_CCo,2870.71,0.00,0.000,0,477.7,306.8,648.7,594.19
$SM_GC,1.00,0.00,8.94,1.26,0.000,0.073,0.074,477.7,306.8,648.7,290.3,2653.1,0,0,0,30.00,15.86,15.88
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,4808.37,-12220.85,070917,191324
$TCM_TEMP,16.30
$XPDR_PINGS,33
$SC_FREEKB,4005120
$HUMID,57.35
$TEMP,11.00
$INTERNAL_PRESSURE,12.371
$24V_AH,14.96,16.544
$10V_AH,14.99,0.000
$FG_AHR_24Vo,5.815
$FG_AHR_10Vo,1.741
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,684.490,25.480,58.125,195.438,8.250,48.349,1880.980,1283.710,952.735,0.000,0.000,0.000
$DEVICE_MAMPS,977.520,386.136,150.632,153.910,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2728.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.956,0.000,0.000,0.000
$MEM,1135324,38,45880,54
$DATA_FILE_SIZE,20462,540
$CAP_FILE_SIZE,183345,0
$SDSIZE,3918848,3901760
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.140,344.3,1
$GPS,070917,205617,4806.645,-12222.141,17,1.0,31,16.4