version: 67.00
glider: 169
mission: 14
dive: 51
start: 9 8 117 11 31 11
data:
$ID,169
$MISSION,14
$DIVE,51
$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,1.9833504
$FG_AHR_24V,7.0622745
$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
$GPS1,080917,112641,4806.762,-12222.359,19,0.9,27,16.4
$_CALLS,1
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-72.6
$GPS2,080917,113100,4806.750,-12222.354,8,0.9,19,16.4
$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,141.2,1456,-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,7.67,2,-146.63,-0.70,0.00,481.5,325.1,637.9,289.0,2605.5,0.00,0.00,0,114.95,104.88,0.00,0.00,0.006,0.000,0.000,2707.12,2830.69,2583.56,289.00,2606.31,0,0,0,15.32,30.00,30.00
$GC,116.69,551,-146.63,-0.70,-40.00,2706.7,2830.1,2583.4,288.9,2604.8,3.62,-2.60,21,158.07,17.83,13.25,3.61,0.007,0.378,0.070,3497.88,3710.38,3285.38,2873.69,1214.81,0,0,0,15.36,15.16,15.69
$GC,301.55,1188,-146.63,-0.75,0.00,3497.3,3709.4,3285.2,2873.6,1215.2,23.26,-8.95,58,306.97,0.00,0.00,3.68,0.000,0.000,0.068,3498.12,3711.12,3285.12,2859.62,2647.56,0,0,0,30.00,30.00,15.39
$GC,486.89,676,-146.63,-0.79,-40.00,3497.2,3709.6,3284.8,2860.7,2646.2,40.62,-9.58,95,492.07,0.00,0.00,3.70,0.000,0.000,0.071,3497.22,3709.88,3284.56,2860.12,1214.06,0,0,0,30.00,30.00,15.37
$GC,552.18,1188,-146.63,-0.84,0.00,3497.1,3709.7,3284.6,2860.8,1214.8,47.11,-9.99,108,558.00,0.00,0.00,3.68,0.000,0.000,0.068,3499.03,3710.62,3287.44,2844.62,2649.19,0,0,0,30.00,30.00,15.38
$GC,736.56,676,-146.63,-0.87,-40.00,3496.9,3709.1,3284.7,2847.5,2647.4,65.44,-9.88,145,742.00,0.00,0.00,3.75,0.000,0.000,0.069,3496.94,3709.62,3284.25,2847.50,1217.00,0,0,0,30.00,30.00,15.96
$GC,816.20,1189,-146.63,-0.92,0.00,3497.0,3709.1,3284.9,2847.1,1217.3,73.39,-9.90,161,821.97,0.00,0.12,3.66,0.000,0.091,0.068,3498.94,3710.44,3287.44,2773.56,2647.31,0,0,0,30.00,15.97,15.42
$GC,1002.01,516,-146.63,-0.92,-40.00,3495.9,3707.1,3284.6,2774.9,2645.8,98.26,-13.60,198,1008.00,0.00,0.00,3.77,0.000,0.000,0.074,3494.44,3705.94,3282.94,2775.25,1216.75,0,0,0,30.00,30.00,15.44
$STATE,1070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1070,begin apogee
$GC,1075.75,3,0.00,-0.17,0.00,3495.5,3706.7,3284.4,2764.8,2212.9,108.00,13.67,212,1247.06,164.03,1.80,0.09,0.945,0.172,0.165,2892.91,3038.69,2747.12,3044.44,2172.56,0,0,0,12.19,15.88,15.37
$STATE,1247,end apogee,CONTROL_FINISHED_OK
$STATE,1247,begin climb
$GC,1249.17,519,146.63,0.70,-40.00,2888.5,3033.6,2743.4,3044.6,2172.9,116.47,0.00,246,1379.48,122.96,0.85,3.25,0.987,0.040,0.076,2287.88,2355.88,2219.88,3370.56,769.94,0,0,0,12.01,15.45,15.23
$GC,1407.75,1190,253.94,0.75,0.00,2280.7,2349.1,2212.4,3370.0,770.1,116.59,5.10,277,1509.45,94.29,0.00,3.25,0.980,0.000,0.057,1859.97,1861.25,1858.69,3366.56,2213.69,0,0,0,12.02,30.00,14.98
$GC,1687.59,391,253.94,0.72,40.00,1842.2,1834.8,1849.6,3366.9,2213.3,83.32,13.15,333,1693.28,0.00,0.22,3.32,0.000,0.183,0.086,1844.47,1837.12,1851.81,3318.38,3627.38,0,0,0,30.00,15.58,15.61
$GC,1757.99,1158,253.94,0.70,0.00,1841.2,1833.6,1848.9,3319.6,3627.0,74.72,12.10,347,1762.25,0.00,0.00,3.03,0.000,0.000,0.054,1842.81,1835.12,1850.50,3330.62,2182.25,0,0,0,30.00,30.00,15.28
$GC,1942.35,262,253.94,0.70,40.00,1841.2,1833.6,1848.8,3330.9,2181.5,54.85,10.68,384,1947.40,0.00,0.00,3.37,0.000,0.000,0.086,1841.84,1834.19,1849.50,3331.31,3628.94,0,0,0,30.00,30.00,15.66
$GC,1997.90,1158,253.94,0.67,0.00,1840.5,1832.4,1848.6,3330.2,3628.1,48.21,12.18,395,2002.17,0.00,0.00,3.01,0.000,0.000,0.055,1842.84,1834.25,1851.44,3343.31,2182.00,0,0,0,30.00,30.00,15.33
$GC,2183.02,294,262.31,0.68,40.00,1841.0,1833.0,1848.9,3343.4,2182.2,28.92,9.62,432,2189.47,1.40,0.00,3.36,0.262,0.000,0.089,1828.53,1823.25,1833.81,3342.44,3629.00,0,0,0,15.04,30.00,15.38
$GC,2247.69,1157,262.31,0.65,0.00,1830.1,1828.6,1831.6,3343.6,3629.2,21.85,11.11,445,2252.34,0.00,0.29,3.00,0.000,0.186,0.055,1832.22,1831.12,1833.31,3303.88,2181.81,0,0,0,30.00,15.79,15.35
$GC,2433.04,422,317.55,0.73,40.00,1832.8,1833.6,1831.9,3304.6,2181.5,6.95,7.48,482,2467.73,27.18,0.00,3.32,0.220,0.000,0.087,1601.19,1571.25,1631.12,3304.69,3630.00,0,0,0,14.98,30.00,15.84
$STATE,2491,end climb,SURFACE_DEPTH_REACHED
$STATE,2491,begin surface coast
$FINISH,0.8,1.019564
$STATE,2536,end surface coast,CONTROL_FINISHED_OK
$STATE,2536,begin surface
$SM_CCo,2679.24,124.68,0.202,0,481.3,313.4,649.2,593.30
$SM_CCo,2680.25,0.00,0.000,0,477.7,312.2,643.1,594.19
$SM_CCo,2681.26,0.00,0.000,0,478.1,312.8,643.4,594.10
$SM_GC,1.03,0.00,8.77,1.88,0.000,0.072,0.050,478.1,312.8,643.4,291.6,2612.6,0,0,0,30.00,15.88,15.91
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,4807.01,-12219.12,080917,104230
$TCM_TEMP,16.30
$XPDR_PINGS,33
$SC_FREEKB,3997056
$HUMID,54.64
$TEMP,10.85
$INTERNAL_PRESSURE,12.3643
$24V_AH,14.97,19.211
$10V_AH,15.00,0.000
$FG_AHR_24Vo,7.131
$FG_AHR_10Vo,1.998
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,657.245,25.290,59.260,177.443,8.250,21.188,1754.788,1174.006,888.565,0.000,0.000,0.000
$DEVICE_MAMPS,986.704,378.264,165.064,151.714,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2548.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.757,0.000,0.000,0.000
$MEM,1135372,35,45892,54
$DATA_FILE_SIZE,17082,503
$CAP_FILE_SIZE,180121,0
$SDSIZE,3918848,3898304
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.122,342.8,1
$GPS,080917,121644,4806.582,-12222.051,28,1.2,39,16.4