version: 67.00
glider: 169
mission: 15
dive: 14
start: 10 8 117 11 28 39
data:
$ID,169
$MISSION,15
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,100
$T_MISSION,125
$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,2980
$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,2.3266084
$FG_AHR_24V,8.5951252
$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
$GPS1,081017,112303,1937.061,-15602.891,37,0.7,44,9.6
$_CALLS,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.1
$GPS2,081017,112831,1937.082,-15602.926,11,0.8,23,9.6
$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,167.2,2008,-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,-0.81,0.00,522.3,351.2,693.4,282.1,2812.4,0.00,0.00,0,104.50,96.03,0.00,0.00,0.006,0.000,0.000,2725.03,2848.38,2601.69,282.12,2812.62,0,0,0,15.38,30.00,30.00
$GC,104.98,295,-145.99,-0.81,40.00,2723.9,2847.1,2600.7,281.9,2811.9,3.77,-2.87,19,140.93,16.92,12.84,1.91,0.006,0.376,0.079,3579.81,3795.00,3364.62,2711.50,3817.31,0,0,0,15.45,15.65,15.74
$GC,153.08,1156,-145.99,-0.75,0.00,3579.7,3794.7,3364.6,2711.4,3816.8,16.70,-21.80,29,157.45,0.00,0.00,1.49,0.000,0.000,0.037,3580.41,3795.31,3365.50,2711.69,2825.69,0,0,0,30.00,30.00,15.91
$GC,336.30,389,-145.99,-0.72,40.00,3579.7,3794.4,3364.9,2711.4,2825.8,53.18,-20.49,66,340.22,0.00,0.20,1.88,0.000,0.183,0.075,3581.53,3795.00,3368.06,2742.56,3816.81,0,0,0,30.00,15.96,15.99
$GC,433.12,1028,-145.99,-0.72,0.00,3579.8,3794.8,3364.8,2742.6,3816.8,69.70,-16.45,85,437.25,0.00,0.00,1.50,0.000,0.000,0.038,3579.50,3794.88,3364.12,2742.62,2826.00,0,0,0,30.00,30.00,15.92
$GC,616.14,516,-145.99,-0.72,-40.00,3579.4,3794.6,3364.2,2742.9,2826.6,98.75,-14.11,122,622.97,0.00,0.00,3.01,0.000,0.000,0.047,3579.41,3794.31,3364.50,2743.12,1470.50,0,0,0,30.00,30.00,16.10
$GC,803.07,1156,-145.99,-0.74,0.00,3579.5,3794.6,3364.4,2742.4,1471.3,126.17,-11.41,159,808.65,0.00,0.00,3.22,0.000,0.000,0.055,3581.38,3795.69,3367.06,2729.25,2920.38,0,0,0,30.00,30.00,15.96
$GC,986.26,516,-145.99,-0.74,-40.00,3579.6,3794.8,3364.4,2729.2,2918.9,147.71,-14.12,196,993.13,0.00,0.00,3.15,0.000,0.000,0.047,3579.84,3794.75,3364.94,2729.44,1471.19,0,0,0,30.00,30.00,16.11
$GC,1046.16,1156,-145.99,-0.78,0.00,3579.6,3794.6,3364.5,2729.2,1471.8,154.31,-10.58,208,1053.01,0.00,0.00,3.22,0.000,0.000,0.055,3579.78,3794.88,3364.69,2716.31,2918.75,0,0,0,30.00,30.00,16.10
$GC,1233.05,644,-145.99,-0.81,-40.00,3579.5,3794.8,3364.2,2716.4,2917.8,174.39,-11.54,245,1238.60,0.00,0.00,3.13,0.000,0.000,0.046,3580.12,3795.19,3365.06,2716.25,1470.44,0,0,0,30.00,30.00,15.99
$GC,1313.21,1156,-145.99,-0.84,0.00,3579.5,3794.7,3364.4,2715.7,1470.6,182.39,-10.40,261,1318.73,0.00,0.00,3.22,0.000,0.000,0.055,3580.03,3794.88,3365.19,2702.38,2920.25,0,0,0,30.00,30.00,15.98
$GC,1496.44,644,-145.99,-0.87,-40.00,3579.7,3794.7,3364.8,2702.0,2919.2,200.62,-10.76,298,1503.29,0.00,0.00,3.13,0.000,0.000,0.047,3579.41,3794.44,3364.38,2702.75,1470.19,0,0,0,30.00,30.00,16.12
$GC,1668.45,1156,-145.99,-0.90,0.00,3579.8,3794.8,3364.8,2702.1,1470.6,217.54,-10.41,332,1673.75,0.00,0.00,3.21,0.000,0.000,0.058,3579.75,3795.00,3364.50,2689.38,2922.88,0,0,0,30.00,30.00,15.45
$GC,1853.17,644,-145.99,-0.92,-40.00,3578.7,3793.0,3364.3,2688.9,2921.5,237.70,-10.20,369,1858.73,0.00,0.00,3.16,0.000,0.000,0.047,3580.94,3794.31,3367.56,2688.75,1470.56,0,0,0,30.00,30.00,16.05
$GC,1963.82,1156,-145.99,-0.95,0.00,3579.0,3792.9,3365.1,2688.6,1471.4,249.40,-10.61,391,1968.77,0.00,0.00,3.23,0.000,0.000,0.059,3579.12,3793.25,3365.00,2675.44,2918.12,0,0,0,30.00,30.00,15.43
$GC,2148.57,644,-145.99,-0.98,-40.00,3577.0,3789.6,3364.5,2675.9,2916.6,267.51,-10.16,428,2153.59,0.00,0.00,3.13,0.000,0.000,0.049,3579.09,3791.19,3367.00,2676.12,1470.31,0,0,0,30.00,30.00,16.13
$GC,2293.85,1156,-145.99,-1.01,0.00,3576.4,3788.3,3364.4,2675.6,1471.8,282.34,-10.10,457,2298.78,0.00,0.00,3.23,0.000,0.000,0.060,3576.44,3788.75,3364.12,2662.94,2919.19,0,0,0,30.00,30.00,15.51
$STATE,2473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2473,begin apogee
$GC,2475.62,3,0.00,-0.20,0.00,3574.6,3784.6,3364.5,2662.9,2356.1,300.03,9.48,493,2606.33,126.04,1.30,0.17,1.140,0.142,0.128,2984.25,3127.25,2841.25,2915.00,2427.00,0,0,0,11.99,16.12,15.57
$STATE,2606,end apogee,CONTROL_FINISHED_OK
$STATE,2606,begin climb
$GC,2607.22,263,145.99,0.81,40.00,2973.2,3113.8,2832.6,2915.4,2427.4,304.73,0.00,519,2712.75,98.86,0.98,2.85,1.211,0.042,0.077,2378.41,2440.00,2316.81,3264.69,3815.00,0,0,0,12.22,15.66,15.43
$GC,2840.42,1191,175.40,0.74,0.00,2367.8,2429.2,2306.4,3264.8,3814.8,297.28,8.65,565,2866.18,21.02,0.49,2.56,1.218,0.218,0.043,2270.75,2329.00,2212.50,3212.12,2365.00,0,0,0,12.28,15.72,15.34
$GC,3045.64,678,260.85,0.80,-40.00,2249.2,2304.9,2193.4,3212.9,2365.2,283.91,6.08,606,3117.02,64.61,0.00,3.45,1.172,0.000,0.071,1911.41,1916.38,1906.44,3225.75,970.50,0,0,0,12.27,30.00,15.58
$GC,3194.90,1062,270.99,0.81,0.00,1902.5,1900.9,1904.2,3226.1,970.5,270.92,9.53,636,3202.55,2.80,0.00,3.37,0.756,0.000,0.051,1877.81,1875.69,1879.94,3225.56,2419.62,0,0,0,12.33,30.00,15.79
$GC,3379.84,260,270.99,0.81,40.00,1886.8,1891.8,1881.8,3225.8,2418.6,251.44,10.72,673,3385.33,0.00,0.00,2.83,0.000,0.000,0.080,1889.06,1893.19,1884.94,3225.38,3813.25,0,0,0,30.00,30.00,15.93
$GC,3410.62,1156,270.99,0.78,0.00,1886.8,1891.7,1881.8,3224.9,3813.6,247.99,11.09,679,3415.27,0.00,0.00,2.59,0.000,0.000,0.046,1888.31,1892.94,1883.69,3236.75,2370.69,0,0,0,30.00,30.00,15.40
$GC,3595.54,550,310.94,0.82,-40.00,1886.6,1891.2,1881.9,3236.5,2369.1,230.50,8.17,716,3641.40,40.05,0.00,3.47,1.116,0.000,0.074,1706.78,1683.56,1730.00,3249.44,972.69,0,0,0,12.25,30.00,15.74
$GC,3659.97,1060,313.68,0.82,0.00,1702.6,1675.6,1729.6,3249.6,972.4,224.45,9.87,729,3665.56,0.00,0.00,3.38,0.000,0.000,0.052,1702.22,1674.88,1729.56,3249.56,2417.62,0,0,0,30.00,30.00,15.84
$GC,3844.93,516,313.68,0.82,-40.00,1699.9,1670.4,1729.3,3249.9,2417.0,204.41,11.21,766,3850.60,0.00,0.00,3.54,0.000,0.000,0.075,1701.00,1671.38,1730.62,3263.75,972.75,0,0,0,30.00,30.00,15.44
$GC,3920.91,1028,313.68,0.82,0.00,1699.2,1668.7,1729.8,3263.2,973.1,195.77,11.06,781,3925.50,0.00,0.00,3.33,0.000,0.000,0.054,1699.38,1669.12,1729.62,3263.69,2420.06,0,0,0,30.00,30.00,15.43
$GC,4105.12,518,313.68,0.82,-40.00,1698.7,1667.7,1729.7,3263.6,2418.6,175.15,10.44,818,4110.51,0.00,0.00,3.51,0.000,0.000,0.071,1699.91,1668.75,1731.06,3276.81,967.56,0,0,0,30.00,30.00,15.97
$GC,4140.70,1031,313.68,0.82,0.00,1698.1,1666.5,1729.8,3276.8,967.1,171.28,10.84,825,4145.55,0.00,0.20,3.33,0.000,0.187,0.055,1699.22,1667.44,1731.00,3238.94,2419.44,0,0,0,30.00,15.93,15.52
$GC,4325.28,294,319.27,0.83,40.00,1697.3,1665.3,1729.4,3238.7,2417.8,151.60,9.74,862,4331.59,1.52,0.00,2.83,0.249,0.000,0.082,1680.88,1647.75,1714.00,3233.56,3817.44,0,0,0,14.98,30.00,15.98
$GC,4485.55,1062,336.44,0.84,0.00,1682.4,1649.9,1714.9,3234.4,3817.8,135.87,9.21,894,4510.91,21.39,0.00,2.57,1.032,0.000,0.045,1614.78,1578.44,1651.12,3242.81,2366.75,0,0,0,12.26,30.00,15.47
$GC,4690.60,550,357.96,0.87,-40.00,1593.0,1562.4,1623.6,3244.4,2367.2,117.50,9.01,935,4712.98,17.17,0.00,3.41,1.001,0.000,0.071,1515.00,1475.50,1554.50,3257.88,969.50,0,0,0,12.35,30.00,15.89
$GC,4800.69,1190,397.63,0.94,0.00,1508.0,1462.2,1553.7,3257.8,969.6,107.95,8.18,957,4837.63,31.52,0.00,3.33,0.962,0.000,0.053,1366.16,1278.38,1453.94,3256.69,2421.31,0,0,0,12.38,30.00,15.39
$GC,5015.38,163,431.22,1.00,0.00,1343.4,1247.5,1439.2,3257.9,2420.3,89.24,8.46,1000,5042.68,25.67,0.13,0.00,0.940,0.080,0.000,1229.28,1090.25,1368.31,3322.81,2420.69,0,0,0,12.33,15.92,30.00
$GC,5220.62,518,431.22,1.00,-40.00,1206.9,1060.1,1353.6,3322.5,2420.2,65.14,11.64,1041,5225.75,0.00,0.00,3.53,0.000,0.000,0.070,1207.75,1060.88,1354.62,3337.06,969.12,0,0,0,30.00,30.00,15.48
$GC,5310.52,1031,431.22,1.00,0.00,1206.7,1059.9,1353.4,3337.2,969.2,54.29,12.28,1059,5315.71,0.00,0.22,3.30,0.000,0.177,0.051,1206.72,1059.94,1353.50,3294.12,2420.00,0,0,0,30.00,15.91,15.38
$GC,5495.57,2,431.22,1.00,0.00,1206.3,1059.5,1353.1,3294.4,2418.7,33.91,11.10,1096,5496.90,0.00,0.00,0.00,0.000,0.000,0.000,1207.22,1060.19,1354.25,3293.88,2418.56,0,0,0,30.00,30.00,30.00
$GC,5675.62,518,431.22,1.00,-40.00,1206.4,1059.6,1353.1,3295.1,2418.8,15.62,10.59,1132,5680.72,0.00,0.00,3.48,0.000,0.000,0.067,1207.34,1060.69,1354.00,3306.06,967.25,0,0,0,30.00,30.00,16.00
$GC,5725.23,1190,431.58,1.02,0.00,1206.4,1059.8,1353.1,3307.7,967.2,10.49,9.98,1142,5730.74,0.00,0.00,3.27,0.000,0.000,0.049,1207.81,1060.62,1355.00,3307.19,2420.56,0,0,0,30.00,30.00,15.47
$STATE,5799,end climb,SURFACE_DEPTH_REACHED
$STATE,5800,begin surface coast
$FINISH,0.3,1.011745
$STATE,5830,end surface coast,CONTROL_FINISHED_OK
$STATE,5830,begin surface
$SM_CCo,5921.65,75.14,0.175,0,519.2,340.9,697.6,605.09
$SM_GC,1.20,75.14,8.13,1.04,0.175,0.042,0.063,519.2,340.9,697.6,280.5,2923.2,0,0,0,14.99,16.08,16.06
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,1937.89,-15601.79,081017,093807
$TCM_TEMP,24.40
$XPDR_PINGS,33
$SC_FREEKB,4013632
$HUMID,55.90
$TEMP,23.29
$INTERNAL_PRESSURE,12.8475
$24V_AH,15.14,22.343
$10V_AH,15.00,0.000
$FG_AHR_24Vo,8.685
$FG_AHR_10Vo,2.352
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,638.740,24.480,111.050,226.293,8.250,24.721,3020.692,3198.696,2052.671,0.000,0.000,0.000
$DEVICE_MAMPS,1217.616,376.296,127.672,171.257,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5847.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.876,0.000,0.000,0.000
$MEM,1164052,33,17492,42
$DATA_FILE_SIZE,44166,1163
$CAP_FILE_SIZE,273463,0
$SDSIZE,3918848,3905248
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.116,342.9,1
$GPS,081017,130805,1936.543,-15602.850,24,1.2,33,9.6