version: 67.00
glider: 169
mission: 15
dive: 7
start: 10 8 117 0 57 25
data:
$ID,169
$MISSION,15
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,215
$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,60
$T_MISSION,82
$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,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,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,2.1593559
$FG_AHR_24V,7.9823089
$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
$GPS1,081017,005221,1939.894,-15603.977,6,1.6,36,9.6
$_CALLS,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.8
$GPS2,081017,005717,1939.950,-15603.979,14,1.2,16,9.6
$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,144.4,7512,-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,6.11,2,-145.99,-0.81,0.00,522.4,355.6,689.3,285.2,2685.4,0.00,0.00,0,104.47,96.09,0.00,0.00,0.006,0.000,0.000,2704.28,2827.12,2581.44,284.94,2685.75,0,0,0,15.35,30.00,30.00
$GC,104.84,295,-145.99,-0.81,40.00,2703.2,2825.4,2580.9,284.8,2685.2,3.46,-2.56,19,143.12,18.25,13.27,2.13,0.007,0.388,0.076,3579.50,3796.69,3362.31,2730.12,3818.19,0,0,0,15.43,15.17,15.79
$GC,290.01,1028,-145.99,-0.81,0.00,3579.9,3795.9,3363.8,2730.1,3818.2,37.06,-15.92,56,294.62,0.00,0.00,1.93,0.000,0.000,0.035,3580.69,3796.50,3364.88,2730.75,2588.38,0,0,0,30.00,30.00,16.10
$GC,475.49,644,-145.99,-0.79,-40.00,3580.0,3796.1,3363.9,2730.4,2589.3,69.99,-17.40,93,480.90,0.00,0.00,3.30,0.000,0.000,0.056,3581.16,3796.88,3365.44,2730.31,1214.69,0,0,0,30.00,30.00,15.48
$GC,550.25,1028,-145.99,-0.79,0.00,3580.1,3796.4,3363.8,2730.2,1215.0,82.43,-16.20,108,555.95,0.00,0.00,3.38,0.000,0.000,0.050,3580.12,3796.12,3364.12,2715.69,2656.56,0,0,0,30.00,30.00,15.41
$GC,735.67,517,-145.99,-0.79,-40.00,3579.9,3796.0,3363.9,2715.8,2655.7,110.59,-12.93,145,740.96,0.00,0.14,3.44,0.000,0.176,0.055,3579.97,3796.00,3363.94,2749.50,1215.19,0,0,0,30.00,15.98,15.43
$GC,795.10,1156,-145.99,-0.83,0.00,3580.2,3796.4,3363.9,2749.3,1215.4,117.44,-11.21,157,800.81,0.00,0.00,3.38,0.000,0.000,0.049,3581.44,3796.69,3366.19,2735.94,2658.88,0,0,0,30.00,30.00,15.46
$GC,980.46,644,-145.99,-0.86,-40.00,3580.1,3796.1,3364.0,2736.6,2657.8,137.95,-10.47,194,985.90,0.00,0.00,3.43,0.000,0.000,0.054,3581.22,3796.88,3365.56,2736.44,1213.56,0,0,0,30.00,30.00,15.41
$GC,1045.74,1156,-145.99,-0.90,0.00,3580.0,3796.2,3363.9,2736.1,1213.9,144.61,-10.17,207,1050.81,0.00,0.00,3.37,0.000,0.000,0.048,3579.72,3795.94,3363.50,2721.75,2659.69,0,0,0,30.00,30.00,15.50
$GC,1230.63,644,-145.99,-0.92,-40.00,3579.7,3795.9,3363.5,2721.9,2658.4,165.11,-11.61,244,1235.83,0.00,0.00,3.47,0.000,0.000,0.056,3580.44,3796.00,3364.88,2721.62,1215.25,0,0,0,30.00,30.00,15.39
$GC,1330.04,1156,-145.99,-0.96,0.00,3579.7,3795.8,3363.6,2721.6,1215.6,176.66,-11.16,264,1335.99,0.00,0.00,3.39,0.000,0.000,0.050,3579.62,3795.56,3363.69,2707.94,2658.62,0,0,0,30.00,30.00,15.39
$STATE,1365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1365,begin apogee
$GC,1366.86,3,0.00,-0.20,0.00,3579.3,3795.2,3363.5,2707.4,2152.6,180.17,10.05,271,1467.73,96.12,1.13,0.17,1.020,0.138,0.110,2978.03,3122.00,2834.06,2935.19,2235.88,0,0,0,11.98,16.12,15.74
$STATE,1468,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1468.37,519,145.99,0.81,-40.00,2974.1,3117.4,2830.9,2934.9,2236.1,183.22,0.00,291,1569.22,93.79,0.94,3.24,1.021,0.037,0.061,2380.22,2448.06,2312.38,3311.94,765.44,0,0,0,12.34,15.81,15.59
$GC,1785.68,1191,251.45,0.85,0.00,2372.2,2445.4,2299.0,3312.1,765.9,174.79,5.16,354,1863.57,70.08,0.28,2.98,1.007,0.217,0.040,1950.25,1963.94,1936.56,3268.50,2228.56,0,0,0,12.30,15.87,15.88
$GC,2038.10,550,266.41,0.86,-40.00,1940.0,1947.8,1932.2,3268.2,2228.8,152.72,9.31,405,2054.26,11.02,0.00,3.23,0.979,0.000,0.069,1890.44,1892.88,1888.00,3279.62,769.31,0,0,0,12.33,30.00,15.88
$GC,2275.67,1030,266.41,0.86,0.00,1883.7,1881.6,1885.8,3280.1,768.7,128.18,10.57,452,2281.58,0.00,0.00,2.99,0.000,0.000,0.043,1886.28,1884.06,1888.50,3280.19,2222.38,0,0,0,30.00,30.00,15.93
$GC,2457.90,294,306.71,0.90,40.00,1882.6,1880.4,1884.8,3279.8,2221.7,108.88,8.15,489,2492.54,29.62,0.00,2.98,0.939,0.000,0.072,1727.56,1707.88,1747.25,3278.88,3637.12,0,0,0,12.29,30.00,15.90
$GC,2535.62,1158,306.71,0.88,0.00,1721.1,1698.0,1744.2,3279.9,3636.4,100.93,11.53,504,2541.49,0.00,0.00,2.78,0.000,0.000,0.039,1721.16,1697.94,1744.38,3291.62,2176.50,0,0,0,30.00,30.00,15.90
$GC,2717.88,294,336.77,0.91,40.00,1720.7,1696.9,1744.4,3291.6,2174.8,83.53,8.62,541,2747.30,22.44,0.00,3.07,0.906,0.000,0.071,1595.75,1567.25,1624.25,3292.25,3636.44,0,0,0,12.30,30.00,15.92
$GC,2835.71,1062,381.38,0.95,0.00,1594.3,1565.8,1622.8,3291.9,3637.0,73.53,7.95,564,2872.53,31.06,0.00,2.76,0.887,0.000,0.038,1427.25,1361.75,1492.75,3304.06,2170.69,0,0,0,12.41,30.00,15.94
$GC,3047.90,518,381.38,0.95,-40.00,1412.1,1339.3,1484.9,3304.0,2171.0,52.42,10.07,607,3052.99,0.00,0.00,3.08,0.000,0.000,0.068,1411.50,1339.31,1483.69,3316.31,768.75,0,0,0,30.00,30.00,16.04
$GC,3086.61,1030,381.38,0.95,0.00,1411.6,1338.4,1484.7,3316.7,768.9,48.07,10.76,614,3092.00,0.00,0.00,2.99,0.000,0.000,0.045,1412.03,1338.62,1485.44,3317.00,2222.00,0,0,0,30.00,30.00,15.42
$GC,3267.98,294,389.89,0.96,40.00,1411.4,1338.0,1484.9,3316.5,2221.3,28.97,9.61,651,3274.13,1.59,0.00,2.93,0.228,0.000,0.069,1395.16,1318.06,1472.25,3316.88,3635.06,0,0,0,14.98,30.00,16.04
$GC,3306.18,1062,394.43,0.96,0.00,1395.0,1318.1,1471.9,3316.6,3634.8,25.06,9.79,658,3314.06,3.08,0.00,2.77,0.679,0.000,0.039,1379.06,1298.00,1460.12,3328.12,2173.62,0,0,0,12.30,30.00,16.01
$GC,3488.09,0,394.43,0.96,0.00,1378.3,1298.4,1458.2,3328.9,2172.6,4.92,10.03,695,3489.41,0.00,0.00,0.00,0.000,0.000,0.000,1379.44,1299.50,1459.38,3328.31,2172.38,0,0,0,30.00,30.00,30.00
$STATE,3508,end climb,SURFACE_DEPTH_REACHED
$STATE,3508,begin surface coast
$FINISH,0.1,1.005825
$STATE,3538,end surface coast,CONTROL_FINISHED_OK
$STATE,3538,begin surface
$SM_CCo,3649.02,94.62,0.165,0,518.3,343.8,692.9,605.32
$SM_GC,1.13,94.62,8.28,1.18,0.165,0.045,0.063,518.3,343.8,692.9,284.6,2656.5,0,0,0,14.94,16.14,16.12
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,1935.48,-15604.81,071017,235147
$TCM_TEMP,25.00
$XPDR_PINGS,26
$SC_FREEKB,4016768
$HUMID,56.27
$TEMP,25.82
$INTERNAL_PRESSURE,12.97
$24V_AH,15.28,20.990
$10V_AH,15.00,0.000
$FG_AHR_24Vo,8.048
$FG_AHR_10Vo,2.178
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,567.770,24.050,69.545,213.453,6.500,17.789,2075.067,1851.928,1235.149,0.000,0.000,0.000
$DEVICE_MAMPS,1020.816,388.432,109.960,167.311,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3552.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.703,0.000,0.000,0.000
$MEM,1164076,32,17488,42
$DATA_FILE_SIZE,27178,705
$CAP_FILE_SIZE,195496,0
$SDSIZE,3918848,3906912
$ERRORS,0,0,0,0,0,0,4,0
$CURRENT,0.208,348.9,1
$GPS,081017,015902,1939.948,-15603.822,18,0.9,36,9.6