version: 67.00
glider: 169
mission: 14
dive: 24
start: 9 7 117 12 25 0
data:
$ID,169
$MISSION,14
$DIVE,24
$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,1.60089
$FG_AHR_24V,5.0521064
$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
$GPS1,070917,122016,4805.994,-12221.866,8,1.4,29,16.4
$_CALLS,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.8
$GPS2,070917,122449,4805.983,-12221.870,8,1.4,26,16.4
$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,288.4,2344,-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,6.47,2,-146.63,-0.70,0.00,482.9,312.8,653.0,289.8,2609.4,0.00,0.00,0,109.74,100.97,0.00,0.00,0.006,0.000,0.000,2599.59,2694.19,2505.00,289.81,2609.62,0,0,0,15.31,30.00,30.00
$GC,110.45,551,-146.63,-0.70,-40.00,2598.8,2693.1,2504.4,289.8,2609.8,3.19,-2.33,20,153.21,19.72,13.81,3.63,0.007,0.394,0.074,3495.78,3696.50,3295.06,2872.31,1216.31,0,0,0,15.33,15.54,15.62
$GC,166.18,1028,-146.63,-0.70,0.00,3496.6,3697.2,3296.1,2871.9,1216.3,12.72,-11.34,31,171.12,0.00,0.00,3.68,0.000,0.000,0.071,3498.72,3698.44,3299.00,2859.62,2647.75,0,0,0,30.00,30.00,15.36
$GC,351.12,420,-146.63,-0.73,40.00,3496.4,3696.6,3296.3,2860.2,2646.2,30.91,-9.82,68,355.97,0.00,0.00,2.54,0.000,0.000,0.095,3496.34,3697.00,3295.69,2851.50,3807.25,0,0,0,30.00,30.00,15.89
$GC,565.57,1188,-146.63,-0.77,0.00,3495.9,3695.7,3296.2,2851.4,3807.5,50.76,-9.82,111,570.67,0.00,0.00,2.17,0.000,0.000,0.053,3498.25,3697.56,3298.94,2850.94,2609.19,0,0,0,30.00,30.00,15.89
$GC,750.72,676,-146.63,-0.81,-40.00,3496.0,3695.9,3296.1,2851.4,2609.1,68.23,-9.37,148,756.07,0.00,0.00,3.60,0.000,0.000,0.072,3496.25,3696.50,3296.00,2851.56,1217.06,0,0,0,30.00,30.00,15.80
$GC,850.79,1188,-146.63,-0.85,0.00,3496.0,3695.8,3296.1,2851.2,1217.9,78.10,-9.72,168,855.97,0.00,0.00,3.64,0.000,0.000,0.068,3496.47,3696.25,3296.69,2837.69,2647.00,0,0,0,30.00,30.00,15.79
$GC,1035.92,644,-146.63,-0.88,-40.00,3495.9,3695.9,3295.9,2837.5,2645.5,96.37,-10.01,205,1041.01,0.00,0.00,3.69,0.000,0.000,0.072,3496.81,3696.81,3296.81,2837.69,1217.94,0,0,0,30.00,30.00,15.93
$GC,1116.44,1157,-146.63,-0.92,0.00,3495.9,3695.5,3296.3,2837.2,1218.2,104.72,-10.16,221,1122.08,0.00,0.09,3.65,0.000,0.103,0.070,3496.78,3697.00,3296.56,2766.44,2649.56,0,0,0,30.00,16.00,15.51
$STATE,1145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1145,begin apogee
$GC,1147.84,3,0.00,-0.17,0.00,3496.0,3695.8,3296.2,2769.9,2173.1,108.15,11.84,227,1321.62,167.85,1.71,0.12,0.957,0.165,0.150,2892.78,3037.56,2748.00,3044.12,2223.94,0,0,0,12.12,15.93,15.32
$STATE,1322,end apogee,CONTROL_FINISHED_OK
$STATE,1323,begin climb
$GC,1322.67,519,146.63,0.70,-40.00,2889.3,3033.1,2745.5,3043.6,2223.7,116.49,0.00,261,1453.94,123.65,0.87,3.43,0.990,0.045,0.079,2291.50,2361.62,2221.38,3363.62,769.62,0,0,0,12.01,15.43,15.23
$GC,1676.52,1191,174.90,0.69,0.00,2276.9,2351.1,2202.8,3363.2,769.9,99.30,8.71,331,1707.23,23.34,0.27,3.23,1.001,0.192,0.058,2181.97,2247.12,2116.81,3316.44,2214.38,0,0,0,12.10,15.58,15.59
$GC,1886.70,550,217.00,0.73,-40.00,2162.9,2224.2,2101.5,3316.2,2213.7,82.38,8.08,373,1929.76,37.04,0.00,3.39,0.977,0.000,0.085,2001.31,2037.00,1965.62,3328.00,771.75,0,0,0,12.16,30.00,15.12
$GC,2097.03,1062,229.13,0.74,0.00,1992.6,2021.0,1964.2,3328.0,771.7,63.41,9.45,415,2107.55,4.45,0.00,3.21,0.952,0.000,0.058,1969.00,1997.12,1940.88,3321.44,2213.44,0,0,0,12.17,30.00,15.65
$GC,2286.46,294,255.06,0.77,40.00,1968.2,1997.4,1939.1,3322.2,2212.2,46.67,8.82,453,2323.38,30.11,0.00,3.31,0.937,0.000,0.090,1845.94,1855.06,1836.81,3322.38,3629.25,0,0,0,12.19,30.00,15.60
$GC,2387.12,1030,255.06,0.77,0.00,1840.0,1844.8,1835.1,3322.1,3628.9,36.38,11.27,473,2392.45,0.00,0.00,3.05,0.000,0.000,0.057,1841.41,1845.94,1836.88,3333.94,2181.81,0,0,0,30.00,30.00,15.19
$GC,2571.72,294,257.27,0.77,40.00,1839.5,1843.7,1835.3,3333.8,2181.4,18.02,9.90,510,2577.54,0.00,0.00,3.36,0.000,0.000,0.088,1841.91,1845.75,1838.06,3333.25,3629.12,0,0,0,30.00,30.00,15.80
$GC,2651.86,1030,257.27,0.77,0.00,1838.3,1841.8,1834.8,3333.8,3629.5,9.62,10.58,526,2657.64,0.00,0.00,3.04,0.000,0.000,0.058,1839.44,1842.38,1836.50,3345.31,2181.75,0,0,0,30.00,30.00,15.32
$STATE,2766,end climb,SURFACE_DEPTH_REACHED
$STATE,2766,begin surface coast
$FINISH,0.7,1.019361
$STATE,2842,end surface coast,CONTROL_FINISHED_OK
$STATE,2842,begin surface
$SM_CCo,3008.66,148.57,0.204,0,480.9,307.6,654.2,593.40
$SM_CCo,3009.67,0.00,0.000,0,477.9,305.9,649.9,594.13
$SM_CCo,3010.68,0.00,0.000,0,478.2,306.1,650.2,594.07
$SM_GC,1.02,0.00,9.11,1.25,0.000,0.080,0.074,478.2,306.1,650.2,293.2,2650.3,0,0,0,30.00,15.87,15.89
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,4812.76,-11927.45,070917,112808
$TCM_TEMP,17.00
$XPDR_PINGS,32
$SC_FREEKB,4009152
$HUMID,57.74
$TEMP,11.25
$INTERNAL_PRESSURE,12.3817
$24V_AH,14.95,15.147
$10V_AH,14.99,0.000
$FG_AHR_24Vo,5.122
$FG_AHR_10Vo,1.615
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,655.725,25.865,55.175,183.089,8.000,27.559,1867.650,1403.196,994.881,0.000,0.000,0.000
$DEVICE_MAMPS,1001.136,394.336,149.976,168.267,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2855.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.023,0.000,0.000,0.000
$MEM,1135276,39,45908,54
$DATA_FILE_SIZE,20434,564
$CAP_FILE_SIZE,179741,0
$SDSIZE,3918848,3903488
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.053,120.5,1
$GPS,070917,131604,4806.048,-12222.065,37,1.0,40,16.4