version: 67.00
glider: 169
mission: 15
dive: 15
start: 10 8 117 13 13 56
data:
$ID,169
$MISSION,15
$DIVE,15
$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,2.3529212
$FG_AHR_24V,8.69244
$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
$GPS1,081017,130805,1936.543,-15602.850,24,1.2,33,9.6
$_CALLS,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.2
$GPS2,081017,131349,1936.555,-15602.871,8,1.2,23,9.6
$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,171.0,1052,-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,6.18,2,-145.99,-0.81,0.00,522.9,348.1,697.8,278.6,2806.2,0.00,0.00,0,104.35,96.04,0.00,0.00,0.005,0.000,0.000,2704.66,2809.50,2599.81,278.38,2806.75,0,0,0,15.37,30.00,30.00
$GC,104.85,551,-145.99,-0.81,-40.00,2704.1,2808.5,2599.6,278.3,2806.6,3.46,-2.62,19,143.16,18.00,12.70,3.01,0.007,0.370,0.052,3580.16,3788.06,3372.25,2717.19,1470.69,0,0,0,15.38,15.19,15.75
$GC,335.25,1028,-145.99,-0.81,0.00,3581.2,3789.1,3373.2,2717.8,1471.6,50.06,-18.58,65,340.82,0.00,0.00,3.26,0.000,0.000,0.057,3581.22,3789.00,3373.44,2705.38,2918.06,0,0,0,30.00,30.00,16.00
$GC,519.76,516,-145.99,-0.81,-40.00,3580.9,3789.2,3372.6,2705.6,2916.9,84.50,-14.65,102,525.82,0.00,0.00,3.14,0.000,0.000,0.047,3581.03,3788.94,3373.12,2706.31,1471.19,0,0,0,30.00,30.00,16.07
$GC,720.04,1028,-145.99,-0.81,0.00,3580.6,3788.4,3372.8,2705.1,1472.0,116.22,-14.49,142,725.86,0.00,0.00,3.21,0.000,0.000,0.056,3580.75,3789.06,3372.44,2691.62,2918.31,0,0,0,30.00,30.00,16.10
$GC,905.69,645,-145.99,-0.79,-40.00,3580.8,3788.6,3372.9,2692.2,2916.7,145.78,-15.72,179,911.01,0.00,0.17,3.12,0.000,0.186,0.049,3581.31,3789.44,3373.19,2725.75,1470.88,0,0,0,30.00,15.96,15.46
$GC,975.65,1156,-145.99,-0.83,0.00,3580.8,3788.4,3373.1,2726.4,1471.6,153.96,-10.48,193,980.94,0.00,0.00,3.21,0.000,0.000,0.057,3581.31,3788.81,3373.81,2711.62,2919.50,0,0,0,30.00,30.00,15.51
$GC,1159.97,676,-145.99,-0.85,-40.00,3580.8,3788.6,3372.9,2714.1,2918.3,171.68,-9.83,230,1166.00,0.00,0.00,3.12,0.000,0.000,0.045,3581.81,3789.12,3374.50,2714.38,1470.06,0,0,0,30.00,30.00,16.12
$GC,1305.61,1156,-145.99,-0.89,0.00,3580.6,3788.2,3372.9,2714.1,1470.7,187.01,-10.57,259,1310.90,0.00,0.00,3.20,0.000,0.000,0.055,3580.72,3788.69,3372.75,2700.75,2919.56,0,0,0,30.00,30.00,16.07
$GC,1489.80,676,-145.99,-0.92,-40.00,3580.8,3788.6,3373.1,2700.4,2918.9,206.54,-9.67,296,1495.76,0.00,0.00,3.11,0.000,0.000,0.045,3580.75,3788.50,3373.00,2700.25,1468.69,0,0,0,30.00,30.00,16.13
$GC,1655.19,1156,-145.99,-0.96,0.00,3580.6,3788.2,3373.0,2700.6,1469.5,223.16,-10.12,329,1660.99,0.00,0.00,3.22,0.000,0.000,0.056,3581.88,3789.12,3374.62,2686.62,2918.88,0,0,0,30.00,30.00,16.07
$GC,1839.99,676,-145.99,-0.99,-40.00,3579.2,3786.0,3372.3,2687.1,2917.4,241.75,-9.17,366,1845.76,0.00,0.00,3.10,0.000,0.000,0.046,3580.06,3786.06,3374.06,2683.94,1468.88,0,0,0,30.00,30.00,16.14
$GC,2015.19,1189,-145.99,-1.02,0.00,3579.0,3785.2,3372.8,2686.8,1470.3,258.37,-9.77,401,2021.02,0.00,0.10,3.24,0.000,0.097,0.058,3580.00,3785.94,3374.06,2608.62,2918.81,0,0,0,30.00,16.15,16.14
$GC,2200.03,645,-145.99,-1.00,-40.00,3577.4,3782.4,3372.5,2608.9,2917.4,283.63,-14.06,438,2206.07,0.00,0.28,3.13,0.000,0.181,0.050,3579.16,3783.69,3374.62,2656.50,1471.31,0,0,0,30.00,16.05,16.09
$STATE,2345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2345,begin apogee
$GC,2349.28,3,0.00,-0.20,0.00,3576.1,3779.9,3372.2,2648.4,2421.9,300.61,10.99,467,2456.38,103.17,1.48,0.09,1.214,0.157,0.161,2981.62,3125.38,2837.88,2914.38,2354.38,0,0,0,11.93,15.43,15.62
$STATE,2457,end apogee,CONTROL_FINISHED_OK
$STATE,2457,begin climb
$GC,2457.16,519,145.99,0.81,-40.00,2974.7,3116.6,2832.7,2914.8,2354.6,304.45,0.00,488,2563.16,98.71,0.93,3.37,1.212,0.032,0.063,2378.25,2440.50,2316.00,3310.06,964.38,0,0,0,12.23,15.68,15.45
$GC,2736.74,1191,171.71,0.75,0.00,2368.5,2436.6,2300.4,3310.6,965.1,293.21,8.82,544,2761.62,18.55,0.66,3.30,1.211,0.211,0.049,2282.97,2344.94,2221.00,3216.62,2422.06,0,0,0,12.19,15.77,15.85
$GC,2939.82,678,214.08,0.76,-40.00,2265.0,2325.0,2205.0,3216.9,2421.7,277.11,8.06,584,2977.86,32.42,0.00,3.55,1.185,0.000,0.071,2103.81,2144.81,2062.81,3229.88,969.44,0,0,0,12.20,30.00,15.29
$GC,3199.88,1062,228.84,0.78,0.00,2089.9,2122.4,2057.4,3230.4,969.6,252.59,9.32,636,3217.15,11.65,0.00,3.32,1.192,0.000,0.053,2054.31,2086.19,2022.44,3229.38,2418.06,0,0,0,12.33,30.00,15.43
$GC,3395.74,678,250.51,0.78,-40.00,2033.2,2059.2,2007.2,3229.9,2417.4,234.21,9.01,675,3421.16,18.33,0.00,3.52,1.157,0.000,0.070,1950.88,1965.19,1936.56,3244.38,968.81,0,0,0,12.30,30.00,15.83
$GC,3455.13,1062,269.88,0.80,0.00,1946.9,1958.3,1935.5,3244.8,968.9,228.87,9.11,687,3476.51,16.60,0.00,3.35,1.149,0.000,0.051,1886.88,1890.75,1883.00,3243.94,2417.81,0,0,0,12.37,30.00,15.86
$GC,3655.07,294,282.93,0.81,40.00,1867.2,1861.1,1873.2,3244.0,2417.1,208.89,9.40,727,3671.11,10.85,0.00,2.86,1.158,0.000,0.083,1822.81,1812.94,1832.69,3244.19,3813.81,0,0,0,12.28,30.00,15.79
$GC,3875.48,1158,282.93,0.78,0.00,1817.9,1803.4,1832.4,3244.0,3814.0,186.55,10.37,771,3880.90,0.00,0.00,2.57,0.000,0.000,0.043,1817.81,1803.12,1832.50,3254.44,2369.56,0,0,0,30.00,30.00,15.91
$GC,4059.93,294,323.27,0.82,40.00,1817.2,1802.1,1832.2,3254.8,2368.9,168.33,8.15,808,4101.56,35.06,0.00,2.99,1.060,0.000,0.082,1655.59,1625.25,1685.94,3254.19,3811.44,0,0,0,12.19,30.00,15.75
$GC,4325.59,1158,323.27,0.78,0.00,1650.9,1616.2,1685.6,3254.4,3811.5,138.35,10.95,861,4330.75,0.00,0.00,2.57,0.000,0.000,0.046,1652.12,1617.06,1687.19,3265.31,2369.50,0,0,0,30.00,30.00,15.39
$GC,4510.39,294,340.97,0.80,40.00,1650.3,1615.0,1685.6,3265.8,2367.9,120.50,9.19,898,4531.39,14.98,0.00,2.98,1.029,0.000,0.081,1581.78,1547.12,1616.44,3265.06,3811.50,0,0,0,12.34,30.00,15.84
$GC,4565.30,1030,340.97,0.80,0.00,1574.0,1538.9,1609.1,3264.8,3811.4,114.52,11.51,909,4570.73,0.00,0.00,2.59,0.000,0.000,0.043,1573.97,1539.12,1608.81,3276.62,2372.12,0,0,0,30.00,30.00,15.88
$GC,4746.70,551,349.71,0.81,-40.00,1573.0,1537.2,1608.8,3276.2,2370.1,96.56,9.60,946,4753.06,1.36,0.23,3.40,0.250,0.186,0.071,1560.09,1521.94,1598.25,3245.88,970.19,0,0,0,14.96,15.91,15.98
$GC,4785.15,1190,392.35,0.88,0.00,1558.9,1522.1,1595.8,3246.3,970.2,93.37,8.04,953,4828.95,38.59,0.00,3.30,0.940,0.000,0.052,1387.28,1303.44,1471.12,3246.25,2420.50,0,0,0,12.16,30.00,15.47
$GC,5005.95,679,423.84,0.95,-40.00,1366.4,1274.9,1457.8,3246.4,2420.1,75.03,8.56,997,5037.40,24.12,0.12,3.52,0.917,0.077,0.069,1244.88,1106.81,1382.94,3330.88,969.44,0,0,0,12.34,15.95,15.78
$GC,5176.48,1031,423.84,0.95,0.00,1238.3,1096.4,1380.2,3330.3,969.4,56.39,12.25,1031,5181.90,0.00,0.28,3.31,0.000,0.174,0.051,1239.12,1096.88,1381.38,3280.94,2420.06,0,0,0,30.00,15.85,15.35
$GC,5361.64,130,423.84,0.97,0.00,1235.8,1095.6,1375.9,3280.6,2418.9,37.39,10.55,1068,5362.97,0.00,0.00,0.00,0.000,0.000,0.000,1236.84,1096.44,1377.25,3280.38,2418.81,0,0,0,30.00,30.00,30.00
$GC,5540.73,676,430.05,1.01,-40.00,1235.8,1095.4,1376.2,3280.9,2418.8,18.49,9.72,1104,5546.83,0.00,0.00,3.47,0.000,0.000,0.066,1236.03,1095.75,1376.31,3294.06,971.44,0,0,0,30.00,30.00,16.05
$GC,5606.79,1190,433.11,1.05,0.00,1236.1,1095.8,1376.4,3293.6,970.9,12.00,9.86,1117,5613.87,1.95,0.00,3.28,0.233,0.000,0.049,1218.12,1073.00,1363.25,3294.00,2421.62,0,0,0,14.99,30.00,15.42
$STATE,5706,end climb,SURFACE_DEPTH_REACHED
$STATE,5706,begin surface coast
$FINISH,0.2,1.006056
$STATE,5741,end surface coast,CONTROL_FINISHED_OK
$STATE,5741,begin surface
$SM_CCo,5835.33,77.88,0.176,0,521.8,345.6,697.9,604.47
$SM_CCo,5836.41,0.06,0.317,0,519.4,346.2,692.6,605.06
$SM_GC,1.12,0.06,8.14,1.07,0.317,0.042,0.068,519.4,346.2,692.6,279.0,2921.2,0,0,0,15.88,16.05,16.04
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,1937.89,-15601.79,081017,112439
$TCM_TEMP,24.40
$XPDR_PINGS,27
$SC_FREEKB,4013184
$HUMID,55.80
$TEMP,23.19
$INTERNAL_PRESSURE,12.8418
$24V_AH,15.15,22.544
$10V_AH,15.00,0.000
$FG_AHR_24Vo,8.779
$FG_AHR_10Vo,2.379
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,618.300,25.090,101.735,242.954,6.750,24.456,2971.457,3178.537,2007.691,0.000,0.000,0.000
$DEVICE_MAMPS,1214.008,370.392,160.800,164.013,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5758.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.472,0.000,0.000,0.000
$MEM,1164096,31,17488,42
$DATA_FILE_SIZE,44116,1144
$CAP_FILE_SIZE,261153,0
$SDSIZE,3918848,3905056
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.093, 38.4,1
$GPS,081017,145208,1936.150,-15602.649,32,0.9,43,9.6