version: 67.00
glider: 169
mission: 15
dive: 10
start: 10 8 117 4 52 41
data:
$ID,169
$MISSION,15
$DIVE,10
$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,2.228992
$FG_AHR_24V,8.2182121
$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
$GPS1,081017,044332,1939.372,-15603.541,8,1.0,30,9.6
$_CALLS,3
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.9
$GPS2,081017,045233,1939.418,-15603.540,4,0.9,18,9.6
$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,155.4,6400,-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,6.19,2,-145.99,-0.81,0.00,524.7,352.4,697.0,280.4,2810.9,0.00,0.00,0,104.43,95.92,0.00,0.00,0.006,0.000,0.000,2715.56,2839.50,2591.62,280.38,2810.94,0,0,0,15.36,30.00,30.00
$GC,104.84,295,-145.99,-0.81,40.00,2715.2,2838.9,2591.4,280.2,2811.4,3.62,-2.76,19,142.14,17.50,13.11,1.89,0.007,0.381,0.079,3582.06,3796.00,3368.12,2730.69,3820.88,0,0,0,15.44,15.17,15.75
$GC,224.25,1028,-145.99,-0.81,0.00,3579.7,3794.8,3364.6,2730.8,3820.7,27.89,-16.93,43,228.66,0.00,0.00,1.49,0.000,0.000,0.037,3581.66,3796.25,3367.06,2730.00,2822.25,0,0,0,30.00,30.00,15.97
$GC,406.35,644,-145.99,-0.79,-40.00,3579.4,3794.6,3364.1,2731.2,2822.4,62.61,-18.27,80,410.42,0.00,0.00,2.97,0.000,0.000,0.047,3578.72,3794.56,3362.88,2731.31,1471.25,0,0,0,30.00,30.00,16.09
$GC,516.20,1028,-145.99,-0.79,0.00,3580.0,3795.2,3364.7,2731.2,1471.8,81.15,-18.13,102,521.31,0.00,0.00,3.20,0.000,0.000,0.055,3580.44,3795.62,3365.25,2717.25,2918.50,0,0,0,30.00,30.00,16.10
$GC,696.30,516,-145.99,-0.79,-40.00,3579.7,3794.8,3364.6,2717.6,2917.4,110.09,-13.98,138,701.39,0.00,0.00,3.10,0.000,0.000,0.046,3579.16,3795.06,3363.25,2717.50,1470.81,0,0,0,30.00,30.00,16.11
$GC,776.28,1028,-145.99,-0.79,0.00,3579.7,3794.7,3364.6,2717.8,1470.8,120.41,-14.00,154,781.38,0.00,0.00,3.18,0.000,0.000,0.054,3580.03,3795.12,3364.94,2703.38,2920.06,0,0,0,30.00,30.00,16.12
$GC,956.19,517,-145.99,-0.79,-40.00,3579.7,3794.6,3364.9,2704.4,2918.5,142.99,-13.56,190,961.38,0.00,0.21,3.10,0.000,0.171,0.046,3579.06,3794.69,3363.44,2746.94,1469.25,0,0,0,30.00,16.03,16.07
$GC,1046.28,1188,-145.99,-0.83,0.00,3579.7,3794.4,3365.0,2747.1,1470.0,151.52,-9.68,208,1051.39,0.00,0.00,3.19,0.000,0.000,0.054,3578.97,3793.56,3364.38,2735.44,2920.19,0,0,0,30.00,30.00,16.13
$GC,1226.18,644,-145.99,-0.87,-40.00,3579.8,3794.8,3364.9,2735.1,2918.9,169.59,-11.79,244,1231.27,0.00,0.00,3.09,0.000,0.000,0.045,3581.62,3795.56,3367.69,2733.25,1469.19,0,0,0,30.00,30.00,16.14
$GC,1384.04,1156,-145.99,-0.91,0.00,3579.2,3794.4,3364.1,2734.8,1469.8,184.95,-10.49,275,1389.97,0.00,0.00,3.20,0.000,0.000,0.055,3580.28,3794.81,3365.75,2720.75,2918.56,0,0,0,30.00,30.00,16.03
$GC,1566.40,676,-145.99,-0.96,-40.00,3579.0,3793.6,3364.4,2721.8,2917.5,203.53,-9.42,312,1571.49,0.00,0.00,3.10,0.000,0.000,0.046,3578.50,3792.88,3364.12,2721.94,1470.44,0,0,0,30.00,30.00,16.12
$GC,1694.00,1189,-145.99,-1.01,0.00,3579.0,3793.1,3364.9,2721.6,1471.1,214.70,-8.90,337,1699.95,0.00,0.12,3.19,0.000,0.078,0.055,3580.00,3793.94,3366.06,2635.19,2920.25,0,0,0,30.00,16.15,16.10
$STATE,1783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1784,begin apogee
$GC,1785.75,3,0.00,-0.20,0.00,3577.5,3790.8,3364.3,2635.0,2349.5,225.70,13.75,355,1886.95,95.10,1.77,0.17,1.111,0.159,0.114,2976.59,3118.50,2834.69,2933.62,2431.94,0,0,0,11.94,16.03,15.70
$STATE,1887,end apogee,CONTROL_FINISHED_OK
$STATE,1887,begin climb
$GC,1887.62,3,145.99,0.81,0.00,2974.4,3115.6,2833.2,2933.7,2432.1,229.97,0.00,375,1985.68,94.16,0.94,0.00,1.112,0.036,0.000,2385.06,2450.56,2319.56,3301.31,2431.81,0,0,0,12.26,15.77,30.00
$GC,2163.32,423,206.96,0.79,40.00,2370.7,2440.8,2300.6,3301.5,2431.4,222.14,7.20,430,2209.98,40.76,0.40,2.78,1.113,0.217,0.074,2130.47,2173.12,2087.81,3241.06,3817.25,0,0,0,12.23,15.82,15.69
$GC,2267.86,1158,206.96,0.73,0.00,2124.4,2163.0,2085.8,3241.1,3817.0,212.93,10.36,451,2273.56,0.00,0.00,2.54,0.000,0.000,0.037,2126.12,2164.50,2087.75,3251.19,2369.06,0,0,0,30.00,30.00,15.88
$GC,2453.05,678,295.37,0.79,-40.00,2120.8,2160.0,2081.5,3251.6,2369.6,198.24,5.95,488,2522.53,63.47,0.00,3.40,1.075,0.000,0.070,1768.81,1750.50,1787.12,3264.38,969.25,0,0,0,12.32,30.00,15.24
$GC,2714.23,1030,295.37,0.79,0.00,1762.0,1735.8,1788.1,3264.6,969.4,175.19,10.61,540,2720.39,0.00,0.00,3.25,0.000,0.000,0.050,1764.41,1738.19,1790.62,3259.44,2420.50,0,0,0,30.00,30.00,15.36
$GC,2897.25,294,309.30,0.81,40.00,1760.9,1733.8,1788.1,3260.0,2419.6,155.87,9.36,577,2912.44,10.46,0.00,2.78,1.028,0.000,0.077,1714.00,1686.56,1741.44,3260.12,3815.62,0,0,0,12.38,30.00,15.92
$GC,3134.26,1158,309.30,0.78,0.00,1710.9,1679.8,1741.9,3260.2,3815.1,127.93,11.42,624,3139.66,0.00,0.00,2.55,0.000,0.000,0.040,1711.06,1680.12,1742.00,3270.62,2372.62,0,0,0,30.00,30.00,15.98
$GC,3317.32,294,339.41,0.81,40.00,1710.4,1678.4,1742.4,3270.5,2371.1,110.92,8.62,661,3345.78,23.67,0.00,2.90,0.965,0.000,0.078,1588.50,1559.31,1617.69,3270.38,3816.00,0,0,0,12.33,30.00,15.44
$GC,3394.18,1030,339.41,0.81,0.00,1582.1,1551.4,1612.8,3270.2,3815.8,102.95,10.98,676,3399.64,0.00,0.00,2.55,0.000,0.000,0.040,1582.22,1551.56,1612.88,3281.00,2373.25,0,0,0,30.00,30.00,15.99
$GC,3577.25,262,339.41,0.81,40.00,1581.4,1550.1,1612.8,3281.9,2372.7,83.55,10.07,713,3581.30,0.00,0.00,2.88,0.000,0.000,0.075,1583.62,1552.12,1615.12,3281.12,3814.44,0,0,0,30.00,30.00,16.05
$GC,3624.05,1062,372.59,0.85,0.00,1581.5,1550.2,1612.8,3281.7,3814.2,79.39,8.48,722,3652.62,23.98,0.00,2.54,0.915,0.000,0.039,1461.97,1408.06,1515.88,3292.12,2370.62,0,0,0,12.32,30.00,15.98
$GC,3827.34,550,407.11,0.88,-40.00,1447.9,1385.0,1510.8,3292.1,2370.4,61.09,8.42,763,3857.71,24.78,0.00,3.35,0.881,0.000,0.069,1317.03,1208.50,1425.56,3305.00,967.56,0,0,0,12.33,30.00,15.43
$GC,3934.92,1190,430.91,0.92,0.00,1308.6,1195.6,1421.5,3304.7,967.7,51.58,8.91,784,3957.55,17.53,0.00,3.24,0.873,0.000,0.048,1229.59,1090.06,1369.12,3305.50,2422.44,0,0,0,12.40,30.00,15.45
$GC,4135.05,294,439.24,0.93,40.00,1209.9,1065.2,1354.6,3305.6,2421.8,32.05,9.62,824,4141.33,1.71,0.00,2.76,0.233,0.000,0.074,1194.53,1044.50,1344.56,3305.62,3817.25,0,0,0,14.97,30.00,15.93
$GC,4155.18,1028,439.24,0.93,0.00,1193.4,1043.7,1343.1,3305.4,3817.1,29.76,10.36,828,4160.44,0.00,0.00,2.54,0.000,0.000,0.040,1194.59,1044.44,1344.75,3316.31,2373.62,0,0,0,30.00,30.00,15.40
$GC,4337.29,516,439.24,0.93,-40.00,1198.5,1053.8,1343.2,3316.6,2371.1,8.97,11.70,865,4342.43,0.00,0.00,3.30,0.000,0.000,0.066,1199.59,1054.06,1345.12,3330.56,969.69,0,0,0,30.00,30.00,16.06
$GC,4384.90,1028,439.24,0.93,0.00,1198.5,1053.8,1343.2,3330.2,969.8,3.50,10.51,874,4390.45,0.00,0.00,3.21,0.000,0.000,0.047,1199.12,1054.25,1344.00,3330.12,2422.44,0,0,0,30.00,30.00,15.46
$STATE,4395,end climb,SURFACE_DEPTH_REACHED
$STATE,4395,begin surface coast
$FINISH,0.4,1.021981
$STATE,4424,end surface coast,CONTROL_FINISHED_OK
$STATE,4424,begin surface
$SM_CCo,4516.02,75.32,0.173,0,520.9,345.6,696.3,604.68
$SM_CCo,4517.11,0.08,0.291,0,519.5,345.6,693.4,605.04
$SM_GC,1.23,0.08,8.16,1.05,0.291,0.035,0.063,519.5,345.6,693.4,276.8,2926.2,0,0,0,15.85,16.09,16.06
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,1935.48,-15604.81,081017,044649
$TCM_TEMP,24.80
$XPDR_PINGS,28
$SC_FREEKB,4015424
$HUMID,56.21
$TEMP,24.68
$INTERNAL_PRESSURE,12.9186
$24V_AH,15.23,21.517
$10V_AH,15.00,0.000
$FG_AHR_24Vo,8.294
$FG_AHR_10Vo,2.249
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,584.435,24.725,83.575,329.151,7.000,24.392,2549.495,2486.464,1543.903,0.000,0.000,0.000
$DEVICE_MAMPS,1112.656,381.216,120.784,165.292,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4440.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.335,0.000,0.000,0.000
$MEM,1164076,32,17488,42
$DATA_FILE_SIZE,33951,882
$CAP_FILE_SIZE,225167,0
$SDSIZE,3918848,3906208
$ERRORS,0,0,0,0,0,0,0,0
$CURRENT,0.072,358.3,1
$GPS,081017,060833,1939.039,-15603.189,4,1.4,18,9.6