version: 67.00
glider: 169
mission: 14
dive: 6
start: 9 6 117 21 13 23
data:
$ID,169
$MISSION,14
$DIVE,6
$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,1.3540562
$FG_AHR_24V,3.7677188
$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
$GPS1,060917,210850,4807.997,-12224.140,9,1.7,30,16.4
$_CALLS,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-72.3
$GPS2,060917,211311,4807.995,-12224.127,9,1.6,21,16.4
$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,129.3,2311,-16.5,-10.000,-19.70
$D_GRID,103
$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,6.02,2,-146.63,-0.70,0.00,522.9,338.7,707.1,292.6,2669.1,0.00,0.00,0,114.56,106.18,0.00,0.00,0.006,0.000,0.000,2744.88,2884.94,2604.81,292.56,2669.25,0,0,0,15.28,30.00,30.00
$GC,114.96,35,-146.63,-0.70,0.00,2744.0,2884.2,2603.8,292.6,2668.9,3.34,-2.37,21,150.70,16.98,13.55,0.00,0.007,0.396,0.000,3497.38,3721.50,3273.25,2872.19,2668.75,0,0,0,15.36,15.15,30.00
$GC,326.18,676,-146.63,-0.74,-40.00,3496.5,3720.0,3273.0,2872.7,2669.0,25.24,-8.86,64,333.23,0.00,0.00,3.68,0.000,0.000,0.073,3497.00,3720.19,3273.81,2872.94,1218.62,0,0,0,30.00,30.00,15.93
$GC,402.03,1188,-146.63,-0.80,0.00,3496.8,3720.2,3273.3,2872.8,1218.1,32.24,-9.38,79,408.46,0.00,0.00,3.58,0.000,0.000,0.069,3499.00,3721.56,3276.44,2860.31,2649.56,0,0,0,30.00,30.00,15.82
$GC,586.24,676,-146.63,-0.84,-40.00,3496.3,3719.5,3273.1,2860.6,2648.4,48.85,-8.87,116,593.30,0.00,0.00,3.64,0.000,0.000,0.074,3497.25,3720.19,3274.31,2860.62,1217.75,0,0,0,30.00,30.00,15.97
$GC,676.10,1189,-146.63,-0.89,0.00,3496.5,3719.6,3273.4,2860.1,1217.9,57.37,-9.18,134,683.23,0.00,0.12,3.57,0.000,0.082,0.069,3498.97,3721.56,3276.38,2779.38,2650.31,0,0,0,30.00,15.98,15.95
$GC,861.98,517,-146.63,-0.89,-40.00,3496.2,3719.2,3273.2,2781.8,2649.9,80.37,-12.83,171,868.61,0.00,0.14,3.69,0.000,0.176,0.076,3497.50,3719.88,3275.12,2814.00,1218.00,0,0,0,30.00,15.91,15.83
$GC,916.02,1156,-146.63,-0.92,0.00,3496.1,3718.9,3273.4,2813.9,1218.3,86.39,-11.33,182,923.10,0.00,0.00,3.58,0.000,0.000,0.069,3497.78,3720.25,3275.31,2800.81,2650.12,0,0,0,30.00,30.00,15.96
$STATE,1061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1061,begin apogee
$GC,1064.37,3,0.00,-0.17,0.00,3495.3,3717.2,3273.3,2800.9,2173.6,103.04,11.97,211,1236.67,165.71,1.40,0.11,0.953,0.155,0.161,2892.44,3041.88,2743.00,3044.75,2222.69,0,0,0,11.90,15.85,15.37
$STATE,1237,end apogee,CONTROL_FINISHED_OK
$STATE,1237,begin climb
$GC,1237.32,3,146.63,0.70,0.00,2888.3,3038.4,2738.2,3044.4,2222.9,111.33,0.00,245,1362.99,121.94,0.84,0.00,0.999,0.042,0.000,2296.22,2376.31,2216.12,3355.44,2223.88,0,0,0,11.83,15.48,30.00
$GC,1536.89,679,179.50,0.69,-40.00,2278.3,2360.9,2195.8,3355.5,2223.6,99.62,8.50,305,1571.66,27.50,0.23,3.42,1.008,0.198,0.085,2159.06,2229.25,2088.88,3329.25,771.88,0,0,0,11.89,15.61,15.49
$GC,1655.50,1062,212.58,0.72,0.00,2147.3,2216.2,2078.4,3328.6,771.9,89.95,8.49,328,1691.25,28.62,0.00,3.23,1.002,0.000,0.061,2030.56,2079.06,1982.06,3329.06,2214.44,0,0,0,11.91,30.00,15.62
$GC,1870.22,294,241.00,0.75,40.00,2009.2,2048.4,1969.9,3329.1,2213.9,70.02,8.70,371,1901.38,24.49,0.00,3.30,0.982,0.000,0.090,1903.56,1925.12,1882.00,3329.31,3628.62,0,0,0,12.04,30.00,15.56
$GC,1995.48,1158,241.00,0.73,0.00,1897.5,1915.8,1879.3,3328.6,3628.4,56.40,11.19,396,2000.83,0.00,0.00,3.05,0.000,0.000,0.057,1898.78,1916.75,1880.81,3340.62,2182.56,0,0,0,30.00,30.00,15.69
$GC,2180.51,292,246.84,0.73,40.00,1896.7,1914.6,1878.8,3340.9,2181.2,37.96,9.73,433,2185.68,0.00,0.00,3.33,0.000,0.000,0.089,1898.09,1916.06,1880.12,3340.94,3630.50,0,0,0,30.00,30.00,15.84
$GC,2215.76,1156,246.84,0.71,0.00,1896.0,1913.4,1878.6,3340.4,3630.8,34.09,11.00,440,2220.64,0.00,0.00,3.02,0.000,0.000,0.060,1896.12,1913.81,1878.44,3353.44,2181.88,0,0,0,30.00,30.00,15.34
$GC,2396.84,294,257.38,0.72,40.00,1895.8,1913.1,1878.6,3352.5,2181.2,16.36,9.52,477,2407.99,5.62,0.00,3.32,0.273,0.000,0.091,1846.53,1862.44,1830.62,3352.31,3629.81,0,0,0,14.84,30.00,15.30
$GC,2459.92,1157,257.38,0.69,0.00,1848.9,1865.4,1832.4,3352.9,3629.8,9.65,11.09,489,2465.88,0.00,0.28,2.99,0.000,0.223,0.057,1850.00,1866.88,1833.12,3316.94,2180.06,0,0,0,30.00,15.21,15.89
$STATE,2575,end climb,SURFACE_DEPTH_REACHED
$STATE,2575,begin surface coast
$FINISH,0.3,1.019471
$STATE,2650,end surface coast,CONTROL_FINISHED_OK
$STATE,2650,begin surface
$SM_CCo,2818.56,149.96,0.208,0,479.6,306.9,652.2,593.73
$SM_CCo,2819.57,0.00,0.000,0,478.3,306.2,650.4,594.03
$SM_CCo,2820.58,0.00,0.000,0,478.4,306.3,650.4,594.02
$SM_GC,1.05,0.00,8.85,1.20,0.000,0.075,0.075,478.4,306.3,650.4,289.4,2652.4,0,0,0,30.00,15.91,15.92
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,4809.81,-12220.85,060917,202141
$TCM_TEMP,16.40
$XPDR_PINGS,26
$SC_FREEKB,4017216
$HUMID,59.96
$TEMP,11.15
$INTERNAL_PRESSURE,12.3965
$24V_AH,14.97,12.536
$10V_AH,15.00,0.000
$FG_AHR_24Vo,3.835
$FG_AHR_10Vo,1.368
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,647.000,25.410,49.855,180.049,6.500,22.799,1785.802,1283.892,931.284,0.000,0.000,0.000
$DEVICE_MAMPS,1008.352,396.304,161.456,154.844,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2662.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.541,0.000,0.000,0.000
$MEM,1135412,34,45872,54
$DATA_FILE_SIZE,20507,527
$CAP_FILE_SIZE,172143,0
$SDSIZE,3918848,3906944
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.129,322.5,1
$GPS,060917,220055,4807.848,-12223.871,7,1.3,20,16.4