version: 67.00
glider: 169
mission: 14
dive: 40
start: 9 8 117 2 19 2
data:
$ID,169
$MISSION,14
$DIVE,40
$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,1.8305199
$FG_AHR_24V,6.2449965
$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
$GPS1,080917,020902,4805.971,-12222.139,22,0.8,39,16.4
$_CALLS,4
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.6
$GPS2,080917,021850,4805.917,-12222.095,16,0.9,28,16.4
$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,320.7,2296,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7.01,2,-146.63,-0.70,0.00,481.1,314.8,647.4,287.7,2603.8,0.00,0.00,0,114.65,105.29,0.00,0.00,0.006,0.000,0.000,2707.38,2823.50,2591.25,287.62,2604.12,0,0,0,15.34,30.00,30.00
$GC,115.92,551,-146.63,-0.70,-40.00,2706.2,2822.3,2590.2,287.6,2603.8,3.02,-2.02,21,157.29,18.65,13.03,3.59,0.007,0.367,0.070,3499.12,3708.62,3289.62,2872.88,1217.31,0,0,0,15.35,15.56,15.71
$GC,175.73,1188,-146.63,-0.74,0.00,3497.8,3707.6,3288.0,2873.3,1217.6,11.14,-9.24,33,181.11,0.00,0.00,3.66,0.000,0.000,0.068,3496.59,3707.00,3286.19,2860.69,2651.00,0,0,0,30.00,30.00,15.40
$GC,360.03,676,-146.63,-0.77,-40.00,3497.5,3707.4,3287.7,2861.2,2649.2,27.66,-9.74,70,365.13,0.00,0.00,3.73,0.000,0.000,0.069,3498.03,3707.75,3288.31,2860.62,1217.62,0,0,0,30.00,30.00,15.92
$GC,415.59,1156,-146.63,-0.82,0.00,3497.2,3707.1,3287.4,2860.5,1218.0,33.09,-10.07,81,421.22,0.00,0.00,3.64,0.000,0.000,0.065,3496.53,3706.06,3287.00,2846.75,2649.38,0,0,0,30.00,30.00,15.87
$GC,597.11,644,-146.63,-0.85,-40.00,3497.3,3706.9,3287.6,2846.4,2647.9,50.83,-10.78,118,602.35,0.00,0.00,3.71,0.000,0.000,0.069,3497.38,3707.31,3287.44,2847.00,1217.88,0,0,0,30.00,30.00,15.96
$GC,690.02,1156,-146.63,-0.88,0.00,3497.4,3706.9,3287.8,2846.8,1219.2,60.45,-10.35,136,695.13,0.00,0.00,3.66,0.000,0.000,0.066,3497.31,3706.75,3287.88,2832.50,2650.94,0,0,0,30.00,30.00,15.94
$GC,875.82,644,-146.63,-0.91,-40.00,3496.2,3705.0,3287.5,2832.3,2648.9,79.37,-11.06,173,881.25,0.00,0.00,3.73,0.000,0.000,0.073,3497.56,3706.62,3288.50,2832.00,1218.56,0,0,0,30.00,30.00,15.40
$GC,964.79,1157,-146.63,-0.94,0.00,3496.5,3705.2,3287.9,2832.6,1219.5,88.84,-11.33,191,970.29,0.00,0.09,3.64,0.000,0.102,0.065,3496.97,3705.44,3288.50,2765.44,2648.69,0,0,0,30.00,15.99,15.91
$STATE,1109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1109,begin apogee
$GC,1112.68,3,0.00,-0.17,0.00,3495.5,3703.0,3287.9,2765.6,2172.7,108.29,13.57,220,1284.09,165.22,1.75,0.12,0.979,0.168,0.153,2896.03,3040.62,2751.44,3044.25,2223.50,0,0,0,12.16,15.79,15.34
$STATE,1284,end apogee,CONTROL_FINISHED_OK
$STATE,1284,begin climb
$GC,1285.61,263,146.63,0.70,40.00,2890.0,3034.8,2745.2,3044.8,2223.8,116.49,0.00,254,1414.24,119.32,0.88,3.31,1.000,0.050,0.085,2292.44,2360.12,2224.75,3343.81,3628.81,0,0,0,11.96,15.43,15.22
$GC,1635.26,1191,176.07,0.66,0.00,2276.6,2341.4,2211.8,3344.2,3628.3,97.92,8.66,324,1664.86,23.91,0.32,2.99,0.997,0.200,0.050,2175.25,2235.75,2114.75,3307.94,2179.19,0,0,0,12.14,15.61,15.71
$GC,1843.23,550,245.27,0.73,-40.00,2159.1,2216.5,2101.6,3306.9,2179.0,82.06,6.84,365,1909.99,60.66,0.00,3.30,0.979,0.000,0.083,1885.94,1898.69,1873.19,3319.12,771.69,0,0,0,12.24,30.00,15.05
$GC,2013.29,1062,275.80,0.76,0.00,1878.7,1885.2,1872.1,3319.2,771.6,66.40,8.61,399,2047.53,26.92,0.00,3.20,0.949,0.000,0.058,1765.31,1757.25,1773.38,3318.88,2213.00,0,0,0,12.14,30.00,15.20
$GC,2225.13,294,295.50,0.78,40.00,1753.4,1737.4,1769.4,3318.6,2212.1,45.99,9.10,442,2248.23,17.05,0.00,3.31,0.927,0.000,0.088,1683.66,1661.81,1705.50,3318.81,3627.69,0,0,0,12.21,30.00,15.47
$GC,2305.22,1030,295.50,0.78,0.00,1677.6,1651.7,1703.4,3318.6,3627.5,37.68,10.35,458,2312.11,0.00,0.00,3.04,0.000,0.000,0.052,1678.38,1652.50,1704.25,3331.56,2181.00,0,0,0,30.00,30.00,15.73
$GC,2492.88,294,317.65,0.80,40.00,1676.8,1650.6,1703.1,3331.4,2180.5,19.12,8.99,495,2508.07,8.57,0.00,3.35,0.265,0.000,0.087,1603.34,1570.12,1636.56,3331.25,3631.00,0,0,0,14.92,30.00,15.68
$GC,2555.19,1028,317.65,0.80,0.00,1601.2,1568.3,1634.2,3331.5,3630.6,11.86,11.60,508,2562.07,0.00,0.00,3.03,0.000,0.000,0.053,1601.59,1568.75,1634.44,3343.31,2184.12,0,0,0,30.00,30.00,15.84
$STATE,2641,end climb,SURFACE_DEPTH_REACHED
$STATE,2641,begin surface coast
$FINISH,0.3,1.019609
$STATE,2674,end surface coast,CONTROL_FINISHED_OK
$STATE,2674,begin surface
$SM_CCo,2815.67,123.85,0.203,0,479.3,310.2,648.4,593.79
$SM_CCo,2816.68,0.00,0.000,0,476.8,308.7,644.9,594.42
$SM_CCo,2817.70,0.00,0.000,0,476.9,308.9,644.9,594.38
$SM_GC,1.01,0.00,8.92,1.25,0.000,0.070,0.072,476.9,308.9,644.9,289.3,2654.4,0,0,0,30.00,15.84,15.85
$SUPER,59,126,254,1,0,0
$IRIDIUM_FIX,4808.37,-12220.85,080917,021405
$TCM_TEMP,16.80
$XPDR_PINGS,25
$SC_FREEKB,4001984
$HUMID,57.23
$TEMP,11.17
$INTERNAL_PRESSURE,12.3786
$24V_AH,14.97,17.571
$10V_AH,14.98,0.000
$FG_AHR_24Vo,6.319
$FG_AHR_10Vo,1.844
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,669.440,25.000,57.430,319.632,6.250,29.263,1953.708,1440.821,931.339,0.000,0.000,0.000
$DEVICE_MAMPS,999.824,367.112,152.928,160.937,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2687.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.925,0.000,0.000,0.000
$MEM,1135408,34,45876,54
$DATA_FILE_SIZE,20418,532
$CAP_FILE_SIZE,182334,0
$SDSIZE,3918848,3900416
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.121,142.4,1
$GPS,080917,030650,4806.070,-12222.239,26,1.4,38,16.4