version: 67.00
glider: 169
mission: 15
dive: 9
start: 10 8 117 3 27 44
data:
$ID,169
$MISSION,15
$DIVE,9
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,225
$D_ABORT,275
$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,75
$T_MISSION,95
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52073
$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,604.7218
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,300
$PITCH_MAX,3945
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$PITCH_GAIN,25
$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,2900
$C_ROLL_CLIMB,2400
$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,2986
$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,2.203768
$FG_AHR_24V,8.1357136
$PHONE_SUPPLY,2
$PRESSURE_YINT,-153.94276
$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,0
$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
$GPS1,081017,032155,1939.702,-15603.676,0,1.0,15,9.6
$_CALLS,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.6
$GPS2,081017,032737,1939.738,-15603.682,8,1.1,24,9.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,SHELF1
$TGT_LATLONG,1936.000,-15603.000
$TGT_RADIUS,500.000
$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,158.4,7025,-16.6,-10.000,-19.72
$D_GRID,1000
$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,6.17,2,-145.99,-0.81,0.00,523.2,351.3,695.0,287.7,2808.8,0.00,0.00,0,104.59,96.21,0.00,0.00,0.005,0.000,0.000,2709.16,2830.88,2587.44,287.38,2808.38,0,0,0,15.39,30.00,30.00
$GC,104.99,295,-145.99,-0.81,40.00,2707.4,2829.2,2585.6,287.5,2808.2,3.60,-2.75,19,143.00,17.71,13.30,1.90,0.006,0.386,0.078,3579.34,3795.06,3363.62,2731.06,3821.44,0,0,0,15.50,15.25,15.74
$GC,285.09,1156,-145.99,-0.79,0.00,3579.6,3794.6,3364.7,2730.8,3821.7,38.91,-17.85,55,289.54,0.00,0.00,1.48,0.000,0.000,0.037,3579.75,3794.50,3365.00,2730.88,2823.00,0,0,0,30.00,30.00,15.98
$GC,470.28,516,-145.99,-0.79,-40.00,3579.8,3794.9,3364.8,2730.9,2823.2,72.45,-17.99,92,475.62,0.00,0.00,2.97,0.000,0.000,0.050,3579.75,3794.94,3364.56,2731.62,1472.06,0,0,0,30.00,30.00,15.37
$GC,579.68,1028,-145.99,-0.79,0.00,3579.8,3794.8,3364.7,2731.8,1472.5,89.64,-14.03,114,585.80,0.00,0.00,3.19,0.000,0.000,0.054,3579.72,3794.56,3364.88,2717.94,2920.19,0,0,0,30.00,30.00,16.09
$GC,764.67,516,-145.99,-0.79,-40.00,3579.6,3794.6,3364.7,2717.5,2919.2,116.36,-13.19,151,770.85,0.00,0.00,3.11,0.000,0.000,0.048,3580.12,3795.06,3365.19,2717.50,1472.06,0,0,0,30.00,30.00,16.01
$GC,874.70,1156,-145.99,-0.81,0.00,3579.8,3794.6,3364.9,2717.6,1471.9,130.79,-10.64,173,880.87,0.00,0.00,3.18,0.000,0.000,0.053,3580.94,3795.56,3366.31,2704.38,2919.62,0,0,0,30.00,30.00,16.03
$GC,1059.63,517,-145.99,-0.81,-40.00,3579.5,3794.2,3364.8,2704.2,2918.9,153.73,-12.48,210,1065.86,0.00,0.17,3.10,0.000,0.170,0.047,3581.47,3795.62,3367.31,2740.00,1470.19,0,0,0,30.00,16.01,16.06
$GC,1214.91,1188,-145.99,-0.86,0.00,3579.6,3794.6,3364.7,2741.1,1471.1,169.08,-9.35,241,1220.78,0.00,0.00,3.19,0.000,0.000,0.054,3579.59,3794.38,3364.81,2727.88,2920.62,0,0,0,30.00,30.00,16.03
$GC,1400.61,676,-145.99,-0.90,-40.00,3579.6,3794.4,3364.8,2728.2,2919.8,186.76,-8.39,278,1405.67,0.00,0.00,3.10,0.000,0.000,0.049,3580.62,3795.38,3365.88,2728.38,1471.00,0,0,0,30.00,30.00,15.44
$GC,1615.24,1189,-145.99,-0.95,0.00,3579.6,3794.4,3364.7,2727.8,1471.6,205.74,-8.84,321,1620.86,0.00,0.09,3.18,0.000,0.094,0.056,3579.72,3794.50,3364.94,2647.62,2917.56,0,0,0,30.00,16.15,15.38
$STATE,1780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1780,begin apogee
$GC,1782.36,3,0.00,-0.20,0.00,3578.0,3791.5,3364.6,2647.0,2349.2,225.62,12.61,354,1887.86,100.36,1.62,0.17,1.086,0.154,0.116,2982.66,3124.25,2841.06,2933.62,2430.12,0,0,0,11.87,15.99,15.69
$STATE,1888,end apogee,CONTROL_FINISHED_OK
$STATE,1888,begin climb
$GC,1888.65,263,145.99,0.81,40.00,2973.9,3115.1,2832.8,2933.9,2429.8,229.13,0.00,375,1989.51,94.09,0.92,2.76,1.102,0.028,0.071,2377.66,2440.94,2314.38,3324.94,3821.56,0,0,0,12.29,15.77,15.53
$GC,2211.91,1191,206.12,0.74,0.00,2368.3,2432.2,2304.4,3324.4,3821.1,212.76,7.24,439,2258.36,40.74,0.98,2.49,1.087,0.245,0.036,2143.62,2190.19,2097.06,3233.31,2365.06,0,0,0,12.35,15.52,15.96
$GC,2436.67,550,248.80,0.78,-40.00,2124.1,2164.1,2084.1,3233.0,2364.6,194.58,8.04,484,2473.02,30.91,0.00,3.34,1.059,0.000,0.068,1960.06,1975.31,1944.81,3246.81,968.06,0,0,0,12.38,30.00,15.31
$GC,2551.86,1062,289.67,0.82,0.00,1953.0,1962.3,1943.6,3245.9,968.0,186.03,8.13,507,2588.05,30.88,0.00,3.24,1.042,0.000,0.049,1801.88,1790.81,1812.94,3244.25,2421.62,0,0,0,12.26,30.00,15.35
$GC,2767.68,550,309.55,0.84,-40.00,1786.5,1766.7,1806.2,3244.6,2420.9,167.66,9.09,550,2788.81,15.40,0.00,3.46,1.037,0.000,0.069,1711.88,1687.06,1736.69,3257.38,969.06,0,0,0,12.26,30.00,15.37
$GC,2802.69,1062,325.45,0.86,0.00,1709.1,1681.4,1736.8,3257.4,968.9,164.37,9.27,557,2822.49,13.16,0.00,3.26,1.028,0.000,0.049,1653.34,1622.00,1684.69,3257.19,2421.19,0,0,0,12.29,30.00,15.38
$GC,3002.39,518,325.45,0.86,-40.00,1642.6,1604.8,1680.4,3257.4,2420.5,143.57,10.20,597,3007.27,0.00,0.00,3.48,0.000,0.000,0.069,1643.25,1605.19,1681.31,3270.81,967.88,0,0,0,30.00,30.00,15.45
$GC,3037.30,1030,325.45,0.86,0.00,1642.2,1603.7,1680.8,3270.3,967.8,140.04,10.05,604,3042.19,0.00,0.00,3.26,0.000,0.000,0.050,1643.31,1604.62,1682.00,3270.88,2420.75,0,0,0,30.00,30.00,15.42
$GC,3221.96,262,325.45,0.86,40.00,1641.8,1603.2,1680.3,3271.2,2419.8,118.75,11.45,641,3227.26,0.00,0.00,2.76,0.000,0.000,0.075,1643.03,1604.12,1681.94,3270.50,3815.50,0,0,0,30.00,30.00,16.03
$GC,3286.84,1158,325.45,0.84,0.00,1641.8,1603.0,1680.6,3270.8,3815.6,111.24,11.24,654,3292.09,0.00,0.00,2.53,0.000,0.000,0.040,1642.28,1603.31,1681.25,3281.81,2372.81,0,0,0,30.00,30.00,15.96
$GC,3471.79,550,344.42,0.86,-40.00,1642.1,1603.4,1680.8,3281.9,2371.8,94.56,9.13,691,3492.64,14.27,0.00,3.34,0.963,0.000,0.069,1570.84,1540.75,1600.94,3295.12,968.00,0,0,0,12.29,30.00,15.92
$GC,3657.18,1062,358.66,0.87,0.00,1564.5,1530.2,1598.7,3295.1,968.3,77.73,9.35,728,3673.66,10.94,0.00,3.23,0.940,0.000,0.049,1518.94,1484.25,1553.62,3295.06,2421.56,0,0,0,12.36,30.00,15.46
$GC,3852.43,550,394.88,0.91,-40.00,1507.0,1465.2,1548.8,3295.1,2420.7,59.91,8.34,767,3883.93,26.33,0.00,3.46,0.883,0.000,0.068,1365.91,1278.00,1453.81,3309.19,967.69,0,0,0,12.33,30.00,15.46
$GC,3947.59,1062,413.78,0.93,0.00,1360.2,1267.5,1452.8,3309.1,967.7,51.77,9.13,786,3967.67,13.84,0.00,3.24,0.879,0.000,0.048,1295.25,1183.56,1406.94,3308.56,2422.50,0,0,0,12.36,30.00,15.46
$GC,4147.34,262,413.78,0.93,40.00,1280.0,1163.5,1396.5,3308.1,2421.9,30.59,11.43,826,4152.12,0.00,0.00,2.76,0.000,0.000,0.076,1281.47,1164.31,1398.62,3308.69,3815.62,0,0,0,30.00,30.00,15.48
$GC,4166.70,1030,413.78,0.93,0.00,1279.0,1163.2,1394.8,3308.6,3815.2,28.11,12.25,830,4172.28,0.00,0.00,2.53,0.000,0.000,0.038,1279.88,1163.81,1395.94,3319.94,2372.62,0,0,0,30.00,30.00,15.93
$GC,4351.92,518,413.78,0.93,-40.00,1279.0,1163.1,1394.9,3320.1,2371.4,5.99,12.46,867,4357.34,0.00,0.00,3.30,0.000,0.000,0.067,1280.66,1164.31,1397.00,3333.81,969.69,0,0,0,30.00,30.00,15.45
$STATE,4381,end climb,SURFACE_DEPTH_REACHED
$STATE,4381,begin surface coast
$FINISH,0.6,1.021980
$STATE,4397,end surface coast,CONTROL_FINISHED_OK
$STATE,4397,begin surface
$SM_CCo,4499.45,82.71,0.172,0,521.3,345.9,696.6,604.60
$SM_CCo,4500.53,0.05,0.412,0,519.6,346.0,693.2,605.01
$SM_GC,1.21,0.05,8.22,4.22,0.412,0.044,0.054,519.6,346.0,693.2,282.2,2915.6,0,0,0,15.86,16.10,16.08
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,1939.93,-15601.79,081017,020028
$TCM_TEMP,24.70
$XPDR_PINGS,30
$SC_FREEKB,4015872
$HUMID,56.29
$TEMP,24.70
$INTERNAL_PRESSURE,12.9141
$24V_AH,15.24,21.339
$10V_AH,15.00,0.000
$FG_AHR_24Vo,8.210
$FG_AHR_10Vo,2.228
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,587.620,25.290,86.340,248.592,7.500,25.373,2454.701,2366.098,1540.926,0.000,0.000,0.000
$DEVICE_MAMPS,1101.832,386.464,132.592,157.024,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4413.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.593,0.000,0.000,0.000
$MEM,1164080,31,17504,42
$DATA_FILE_SIZE,33994,876
$CAP_FILE_SIZE,224858,0
$SDSIZE,3918848,3906432
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.072,325.8,1
$GPS,081017,044332,1939.372,-15603.541,8,1.0,30,9.6