version: 67.00
glider: 169
mission: 14
dive: 20
start: 9 7 117 8 45 55
data:
$ID,169
$MISSION,14
$DIVE,20
$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,1.5401802
$FG_AHR_24V,4.7504086
$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
$GPS1,070917,084119,4806.635,-12222.465,16,1.0,39,16.4
$_CALLS,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-71.5
$GPS2,070917,084543,4806.647,-12222.469,9,1.0,19,16.4
$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,137.3,1331,-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,6.35,2,-146.63,-0.70,0.00,482.5,312.3,652.6,288.8,2605.5,0.00,0.00,0,114.63,105.86,0.00,0.00,0.006,0.000,0.000,2719.97,2846.81,2593.12,289.00,2605.19,0,0,0,15.29,30.00,30.00
$GC,115.27,35,-146.63,-0.70,0.00,2718.3,2845.6,2591.1,289.1,2604.7,3.18,-2.13,21,151.95,19.66,13.18,0.00,0.007,0.376,0.000,3496.03,3715.50,3276.56,2872.56,2605.19,0,0,0,15.31,15.16,30.00
$GC,326.46,676,-146.63,-0.74,-40.00,3497.4,3715.8,3279.1,2872.4,2604.9,22.52,-9.09,64,331.68,0.00,0.00,3.62,0.000,0.000,0.072,3498.94,3715.94,3281.94,2870.56,1216.38,0,0,0,30.00,30.00,15.89
$GC,404.18,1188,-146.63,-0.79,0.00,3497.1,3715.2,3278.9,2872.7,1217.0,29.82,-9.93,79,409.91,0.00,0.00,3.67,0.000,0.000,0.072,3498.84,3716.50,3281.19,2860.00,2650.38,0,0,0,30.00,30.00,15.30
$GC,586.46,676,-146.63,-0.84,-40.00,3497.0,3715.2,3278.9,2860.1,2648.4,45.70,-9.02,116,591.70,0.00,0.00,3.71,0.000,0.000,0.072,3498.94,3715.50,3282.38,2860.19,1216.38,0,0,0,30.00,30.00,15.93
$GC,673.97,1157,-146.63,-0.89,0.00,3497.2,3715.2,3279.2,2860.2,1216.4,54.13,-10.17,133,679.86,0.00,0.12,3.67,0.000,0.086,0.069,3497.16,3715.31,3279.00,2786.00,2647.50,0,0,0,30.00,15.95,15.85
$GC,856.40,516,-146.63,-0.89,-40.00,3496.7,3714.5,3278.9,2786.3,2646.1,76.46,-12.67,170,861.64,0.00,0.00,3.72,0.000,0.000,0.075,3495.91,3714.62,3277.19,2785.94,1217.19,0,0,0,30.00,30.00,15.94
$GC,924.01,1028,-146.63,-0.89,0.00,3496.9,3714.7,3279.1,2786.4,1217.5,85.37,-13.03,183,929.83,0.00,0.00,3.67,0.000,0.000,0.069,3499.44,3716.75,3282.12,2769.81,2646.56,0,0,0,30.00,30.00,15.88
$STATE,1094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1094,begin apogee
$GC,1096.38,3,0.00,-0.17,0.00,3496.1,3713.2,3278.9,2770.9,2173.8,108.22,14.45,217,1268.21,166.13,1.67,0.12,0.980,0.163,0.150,2898.31,3045.25,2751.38,3043.88,2223.88,0,0,0,12.10,15.92,15.33
$STATE,1269,end apogee,CONTROL_FINISHED_OK
$STATE,1269,begin climb
$GC,1269.22,3,146.63,0.70,0.00,2890.3,3037.9,2742.8,3043.7,2224.1,116.65,0.00,251,1397.37,122.99,0.87,0.00,1.003,0.047,0.000,2303.62,2373.62,2233.62,3349.69,2223.75,0,0,0,11.88,15.42,30.00
$GC,1574.73,422,209.01,0.72,40.00,2278.1,2350.9,2205.3,3349.7,2223.9,105.22,7.15,312,1636.38,53.90,0.00,3.33,0.988,0.000,0.090,2035.94,2075.00,1996.88,3349.88,3630.62,0,0,0,12.05,30.00,15.35
$GC,1814.78,1159,209.01,0.67,0.00,2024.2,2054.8,1993.6,3349.1,3630.2,78.89,11.21,360,1820.32,0.00,0.31,3.05,0.000,0.196,0.055,2025.78,2055.19,1996.38,3308.44,2182.31,0,0,0,30.00,15.59,15.61
$GC,1998.78,294,230.41,0.69,40.00,2022.5,2054.2,1990.8,3309.6,2181.8,62.71,9.02,397,2021.79,17.64,0.00,3.37,0.957,0.000,0.092,1947.12,1972.81,1921.44,3304.69,3630.31,0,0,0,12.09,30.00,15.17
$GC,2094.60,1062,241.72,0.70,0.00,1940.6,1960.7,1920.6,3304.6,3629.7,53.43,9.48,416,2106.49,7.25,0.00,3.04,0.972,0.000,0.055,1913.94,1932.06,1895.81,3315.50,2178.50,0,0,0,12.11,30.00,15.66
$GC,2284.55,294,271.08,0.73,40.00,1903.0,1917.8,1888.2,3316.1,2178.8,36.40,8.66,454,2321.04,29.02,0.00,3.40,0.917,0.000,0.090,1784.34,1782.00,1786.69,3315.94,3629.06,0,0,0,12.15,30.00,15.60
$GC,2354.62,1030,271.08,0.73,0.00,1777.2,1770.4,1784.1,3316.0,3628.8,29.45,10.52,468,2360.31,0.00,0.00,3.05,0.000,0.000,0.058,1779.56,1772.38,1786.75,3328.12,2181.62,0,0,0,30.00,30.00,15.22
$GC,2538.88,294,302.56,0.76,40.00,1775.9,1767.5,1784.2,3328.5,2181.1,12.32,8.56,505,2556.76,12.74,0.00,3.36,0.252,0.000,0.092,1664.53,1643.44,1685.62,3328.38,3631.25,0,0,0,14.94,30.00,15.33
$GC,2598.89,1028,302.56,0.76,0.00,1664.0,1642.6,1685.4,3328.4,3631.1,6.14,10.53,517,2605.39,0.00,0.00,3.04,0.000,0.000,0.056,1665.34,1644.06,1686.62,3340.38,2182.81,0,0,0,30.00,30.00,15.83
$STATE,2639,end climb,SURFACE_DEPTH_REACHED
$STATE,2639,begin surface coast
$FINISH,1.0,1.019037
$STATE,2675,end surface coast,CONTROL_FINISHED_OK
$STATE,2675,begin surface
$SM_CCo,2822.22,129.76,0.205,0,478.0,304.1,652.0,594.11
$SM_CCo,2823.23,0.00,0.000,0,477.9,304.2,651.6,594.13
$SM_CCo,2824.24,0.00,0.000,0,478.1,304.5,651.7,594.09
$SM_GC,1.03,0.00,8.84,1.25,0.000,0.070,0.075,478.1,304.5,651.7,288.6,2649.4,0,0,0,30.00,15.84,15.84
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,4806.07,-12223.57,070917,075034
$TCM_TEMP,16.30
$XPDR_PINGS,30
$SC_FREEKB,4010944
$HUMID,57.95
$TEMP,10.89
$INTERNAL_PRESSURE,12.3714
$24V_AH,14.93,14.534
$10V_AH,14.97,0.000
$FG_AHR_24Vo,4.822
$FG_AHR_10Vo,1.553
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,664.960,24.985,50.215,184.149,7.500,20.289,1801.121,1276.540,938.051,0.000,0.000,0.000
$DEVICE_MAMPS,1002.776,375.640,149.648,165.611,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,25.099,0.000,0.000,0.000
$MEM,1135336,36,45908,54
$DATA_FILE_SIZE,20448,532
$CAP_FILE_SIZE,173619,0
$SDSIZE,3918848,3904256
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.125,330.4,1
$GPS,070917,093328,4806.513,-12222.143,8,1.1,16,16.4