version: 67.00
glider: 169
mission: 14
dive: 41
start: 9 8 117 3 11 28
data:
$ID,169
$MISSION,14
$DIVE,41
$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,1.8449939
$FG_AHR_24V,6.3244939
$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
$GPS1,080917,030650,4806.070,-12222.239,26,1.4,38,16.4
$_CALLS,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-71.2
$GPS2,080917,031117,4806.053,-12222.227,8,1.4,18,16.4
$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,311.1,1998,-16.5,-10.000,-19.70
$D_GRID,107
$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,7.10,2,-146.63,-0.70,0.00,480.6,313.9,647.2,289.4,2604.1,0.00,0.00,0,114.84,105.39,0.00,0.00,0.006,0.000,0.000,2688.44,2808.62,2568.25,289.38,2604.38,0,0,0,15.29,30.00,30.00
$GC,116.15,35,-146.63,-0.70,0.00,2688.2,2808.2,2568.1,289.3,2604.2,3.04,-2.13,21,152.93,19.14,13.64,0.00,0.007,0.377,0.000,3495.50,3711.81,3279.19,2873.62,2604.12,0,0,0,15.36,15.52,30.00
$GC,327.02,676,-146.63,-0.74,-40.00,3497.1,3713.0,3281.2,2872.9,2604.2,24.04,-8.73,64,332.23,0.00,0.00,3.58,0.000,0.000,0.069,3497.72,3713.00,3282.44,2873.31,1216.38,0,0,0,30.00,30.00,15.90
$GC,375.52,1188,-146.63,-0.79,0.00,3497.0,3713.0,3280.9,2872.9,1217.0,28.51,-9.22,73,380.87,0.00,0.00,3.66,0.000,0.000,0.066,3496.94,3712.94,3280.94,2860.31,2650.12,0,0,0,30.00,30.00,15.84
$GC,557.21,676,-146.63,-0.83,-40.00,3496.7,3712.4,3281.0,2859.9,2647.9,44.59,-8.77,110,562.45,0.00,0.00,3.72,0.000,0.000,0.069,3496.00,3711.69,3280.31,2860.56,1217.50,0,0,0,30.00,30.00,15.94
$GC,635.51,1189,-146.63,-0.88,0.00,3496.8,3712.5,3281.1,2860.5,1217.9,51.89,-9.91,125,640.91,0.00,0.12,3.66,0.000,0.087,0.069,3496.75,3712.88,3280.62,2783.94,2647.25,0,0,0,30.00,15.93,15.40
$GC,820.61,517,-146.63,-0.88,-40.00,3496.5,3712.1,3280.8,2783.9,2645.5,75.39,-13.43,162,825.85,0.00,0.15,3.73,0.000,0.179,0.072,3497.84,3712.62,3283.06,2816.38,1217.69,0,0,0,30.00,15.90,15.81
$GC,890.31,1156,-146.63,-0.91,0.00,3496.5,3712.4,3280.7,2816.3,1217.8,83.42,-11.22,176,895.71,0.00,0.00,3.66,0.000,0.000,0.067,3498.69,3713.81,3283.56,2801.25,2650.75,0,0,0,30.00,30.00,15.82
$GC,1075.41,516,-146.63,-0.91,-40.00,3495.5,3710.0,3280.9,2802.7,2648.7,104.65,-12.19,213,1080.87,0.00,0.00,3.75,0.000,0.000,0.072,3495.44,3710.56,3280.31,2802.75,1215.88,0,0,0,30.00,30.00,15.94
$STATE,1099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1099,begin apogee
$GC,1103.80,3,0.00,-0.17,0.00,3495.6,3710.3,3280.8,2792.9,2215.7,107.48,11.52,218,1259.50,149.15,1.52,0.09,0.979,0.161,0.189,2893.47,3039.12,2747.81,3044.44,2169.88,0,0,0,12.19,15.76,15.35
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1260,begin climb
$GC,1261.11,263,146.63,0.70,40.00,2889.2,3034.6,2743.9,3044.8,2169.9,114.57,0.00,249,1390.79,121.50,0.86,3.48,0.996,0.044,0.084,2287.69,2354.69,2220.69,3350.81,3632.25,0,0,0,12.02,15.46,15.21
$GC,1610.77,1191,166.86,0.65,0.00,2278.0,2345.6,2210.5,3351.2,3631.8,96.29,9.08,319,1634.07,16.00,0.39,3.01,1.014,0.203,0.051,2209.28,2274.19,2144.38,3303.62,2178.50,0,0,0,12.23,15.61,15.71
$GC,1810.68,550,221.35,0.70,-40.00,2197.2,2261.6,2132.8,3303.7,2178.9,81.33,7.51,359,1864.65,47.72,0.00,3.30,0.967,0.000,0.080,1987.44,2015.69,1959.19,3314.56,769.75,0,0,0,12.19,30.00,15.47
$GC,1988.34,1062,270.98,0.75,0.00,1975.8,1997.1,1954.5,3315.3,769.9,66.67,7.73,394,2039.73,45.01,0.00,3.22,0.948,0.000,0.059,1790.91,1786.56,1795.25,3315.50,2213.88,0,0,0,12.14,30.00,15.27
$GC,2218.55,292,276.86,0.76,40.00,1773.3,1758.4,1788.2,3315.8,2213.2,44.64,9.73,440,2223.60,0.00,0.00,3.30,0.000,0.000,0.087,1775.72,1760.62,1790.81,3314.44,3628.69,0,0,0,30.00,30.00,15.67
$GC,2290.94,1028,276.86,0.76,0.00,1772.5,1756.7,1788.3,3315.4,3628.1,36.37,11.04,455,2297.74,0.00,0.00,3.01,0.000,0.000,0.052,1772.91,1757.31,1788.50,3326.75,2181.38,0,0,0,30.00,30.00,15.79
$GC,2478.49,294,295.13,0.78,40.00,1772.4,1756.5,1788.3,3327.1,2181.0,17.98,9.17,492,2493.92,9.20,0.00,3.35,0.264,0.000,0.087,1693.19,1670.81,1715.56,3327.19,3628.50,0,0,0,14.92,30.00,15.74
$GC,2558.41,1028,295.13,0.78,0.00,1692.8,1670.6,1714.9,3327.4,3628.5,8.70,12.11,508,2563.62,0.00,0.00,3.01,0.000,0.000,0.056,1694.41,1672.19,1716.62,3339.25,2183.31,0,0,0,30.00,30.00,15.37
$STATE,2618,end climb,SURFACE_DEPTH_REACHED
$STATE,2618,begin surface coast
$FINISH,0.4,1.019655
$STATE,2658,end surface coast,CONTROL_FINISHED_OK
$STATE,2658,begin surface
$SM_CCo,2809.56,134.32,0.205,0,480.3,308.5,652.1,593.56
$SM_CCo,2810.58,0.00,0.000,0,477.7,306.7,648.8,594.19
$SM_CCo,2811.59,0.00,0.000,0,477.8,306.7,648.9,594.17
$SM_GC,0.96,0.00,8.94,1.26,0.000,0.073,0.073,477.8,306.7,648.9,289.9,2650.9,0,0,0,30.00,15.85,15.87
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,4807.87,-12216.40,080917,021545
$TCM_TEMP,16.90
$XPDR_PINGS,29
$SC_FREEKB,4001536
$HUMID,57.34
$TEMP,11.15
$INTERNAL_PRESSURE,12.3708
$24V_AH,14.98,17.722
$10V_AH,14.99,0.000
$FG_AHR_24Vo,6.394
$FG_AHR_10Vo,1.859
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,647.455,25.605,55.380,184.510,7.250,19.846,1789.105,1276.306,923.318,0.000,0.000,0.000
$DEVICE_MAMPS,1013.928,376.624,189.336,172.622,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2670.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.688,0.000,0.000,0.000
$MEM,1135332,37,45892,54
$DATA_FILE_SIZE,20468,528
$CAP_FILE_SIZE,177066,0
$SDSIZE,3918848,3900224
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.115,141.8,1
$GPS,080917,035901,4806.145,-12222.417,12,1.4,29,16.4