version: 67.00
glider: 169
mission: 15
dive: 16
start: 10 8 117 15 1 19
data:
$ID,169
$MISSION,15
$DIVE,16
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$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,133
$T_MISSION,160
$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,500
$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,2960
$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,2600
$C_ROLL_CLIMB,2000
$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,2.3802691
$FG_AHR_24V,8.7871723
$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
$GPS1,081017,145208,1936.150,-15602.649,32,0.9,43,9.6
$_CALLS,3
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.2
$GPS2,081017,150111,1936.194,-15602.640,8,1.0,22,9.6
$SPEED_LIMITS,0.174,0.279
$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,219.6,725,-26.7,-10.025,-29.08
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,6.16,2,-58.46,-1.12,0.00,525.8,354.4,697.1,278.2,2541.1,0.00,0.00,0,104.31,96.06,0.00,0.00,0.005,0.000,0.000,2723.97,2844.94,2603.00,278.00,2540.94,0,0,0,15.37,30.00,30.00
$GC,104.82,295,-121.32,-1.19,40.00,2723.2,2844.2,2602.2,278.0,2540.6,3.68,-2.82,19,140.63,15.19,11.84,2.47,0.007,0.365,0.075,3479.62,3678.19,3281.06,2568.38,3816.94,0,0,0,15.41,15.15,15.79
$GC,316.31,1028,-121.32,-1.19,0.00,3478.8,3677.1,3280.6,2567.9,3817.3,67.60,-31.61,62,320.19,0.00,0.00,2.03,0.000,0.000,0.035,3478.22,3676.25,3280.19,2567.88,2550.88,0,0,0,30.00,30.00,16.04
$GC,496.14,516,-121.32,-1.19,-40.00,3479.0,3676.9,3281.2,2568.4,2549.3,115.57,-24.77,98,502.95,0.00,0.00,3.38,0.000,0.000,0.057,3479.41,3677.69,3281.12,2568.38,1173.50,0,0,0,30.00,30.00,16.07
$GC,593.08,1028,-121.32,-1.19,0.00,3479.0,3677.3,3280.7,2567.6,1173.3,139.16,-26.66,117,598.39,0.00,0.00,3.40,0.000,0.000,0.049,3479.69,3677.38,3282.00,2553.94,2613.38,0,0,0,30.00,30.00,15.96
$GC,776.10,516,-121.32,-1.19,-40.00,3479.2,3677.2,3281.2,2554.2,2611.4,177.56,-20.09,154,782.97,0.00,0.00,3.50,0.000,0.000,0.056,3480.09,3678.12,3282.06,2554.50,1173.38,0,0,0,30.00,30.00,16.10
$GC,833.14,1156,-121.32,-1.21,0.00,3479.1,3677.1,3281.1,2554.1,1173.2,189.33,-20.80,165,838.36,0.00,0.00,3.41,0.000,0.000,0.049,3479.75,3678.12,3281.38,2540.69,2614.81,0,0,0,30.00,30.00,15.98
$GC,1016.12,516,-121.32,-1.21,-40.00,3478.8,3676.9,3280.6,2540.7,2613.6,223.88,-17.88,202,1023.00,0.00,0.00,3.48,0.000,0.000,0.055,3479.06,3677.38,3280.75,2540.81,1172.12,0,0,0,30.00,30.00,16.11
$GC,1037.89,1156,-121.32,-1.23,0.00,3479.1,3677.4,3280.8,2541.0,1172.2,227.81,-18.19,206,1043.39,0.00,0.00,3.41,0.000,0.000,0.049,3479.16,3676.94,3281.38,2526.19,2615.62,0,0,0,30.00,30.00,16.12
$GC,1223.26,1,-121.32,-1.23,0.00,3478.2,3675.5,3280.9,2525.7,2614.1,262.65,-18.42,243,1224.26,0.00,0.23,0.00,0.000,0.219,0.000,3477.16,3675.00,3279.31,2560.94,2613.88,0,0,0,30.00,16.00,30.00
$GC,1403.18,644,-121.32,-1.28,-40.00,3477.3,3674.1,3280.5,2561.2,2613.8,292.82,-16.97,279,1408.51,0.00,0.00,3.54,0.000,0.000,0.059,3477.16,3673.56,3280.75,2566.88,1173.06,0,0,0,30.00,30.00,15.45
$GC,1473.22,1157,-121.32,-1.33,0.00,3476.8,3673.2,3280.4,2566.3,1173.3,304.64,-17.28,293,1478.50,0.00,0.09,3.43,0.000,0.109,0.053,3477.94,3674.12,3281.75,2501.00,2615.00,0,0,0,30.00,16.16,15.46
$GC,1657.77,517,-121.32,-1.33,-40.00,3474.8,3669.1,3280.4,2500.6,2613.6,340.19,-18.85,330,1663.66,0.00,0.17,3.55,0.000,0.219,0.059,3476.72,3670.06,3283.38,2529.00,1173.19,0,0,0,30.00,16.03,16.12
$GC,1702.30,1156,-121.32,-1.37,0.00,3475.0,3669.4,3280.5,2529.1,1173.2,348.25,-17.90,339,1708.39,0.00,0.00,3.46,0.000,0.000,0.052,3474.75,3669.00,3280.50,2515.94,2614.56,0,0,0,30.00,30.00,16.05
$GC,1886.19,516,-121.32,-1.37,-40.00,3472.1,3663.8,3280.4,2515.5,2612.9,382.76,-18.95,347,1891.39,0.00,0.00,3.56,0.000,0.000,0.060,3473.06,3664.56,3281.56,2515.81,1173.62,0,0,0,30.00,30.00,16.17
$GC,1916.15,1156,-121.32,-1.40,0.00,3472.0,3663.6,3280.4,2516.1,1174.2,388.53,-19.19,352,1922.72,0.00,0.00,3.45,0.000,0.000,0.054,3471.72,3663.75,3279.69,2501.69,2613.44,0,0,0,30.00,30.00,16.17
$STATE,1976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1976,begin apogee
$GC,1978.56,3,0.00,-0.20,0.00,3471.0,3661.5,3280.5,2501.4,1970.6,400.32,19.87,359,2072.56,88.01,2.76,0.11,1.349,0.195,0.161,2978.72,3128.56,2828.88,2893.12,2030.12,0,0,0,12.01,16.09,15.62
$STATE,2073,end apogee,CONTROL_FINISHED_OK
$STATE,2073,begin climb
$GC,2073.34,519,121.32,1.19,-40.00,2975.2,3124.1,2826.3,2892.4,2030.1,405.61,0.00,362,2166.89,85.32,1.46,3.15,1.349,0.061,0.072,2481.16,2548.06,2414.25,3370.25,566.19,0,0,0,12.24,15.22,15.39
$GC,2248.84,1190,209.54,1.25,0.00,2471.9,2543.4,2400.4,3370.6,566.6,407.34,-0.08,397,2320.41,64.14,0.00,2.91,1.338,0.000,0.044,2121.91,2156.88,2086.94,3364.88,2021.56,0,0,0,12.21,30.00,15.73
$GC,2502.88,262,209.54,1.25,40.00,2107.3,2137.6,2076.9,3364.5,2021.3,375.86,14.25,422,2507.99,0.00,0.00,3.17,0.000,0.000,0.073,2106.91,2136.56,2077.25,3359.12,3428.88,0,0,0,30.00,30.00,15.86
$GC,2639.29,1158,209.54,1.21,0.00,2105.0,2135.2,2074.8,3361.0,3428.9,353.69,17.05,445,2644.23,0.00,0.00,3.05,0.000,0.000,0.050,2105.66,2135.31,2076.00,3372.19,1981.12,0,0,0,30.00,30.00,15.36
$GC,2824.27,262,209.54,1.21,40.00,2103.0,2133.2,2072.8,3373.1,1979.2,323.26,16.47,482,2829.73,0.00,0.00,3.28,0.000,0.000,0.074,2103.12,2133.06,2073.19,3371.94,3430.31,0,0,0,30.00,30.00,16.01
$GC,2878.42,1159,209.54,1.17,0.00,2102.8,2132.5,2073.0,3372.5,3429.6,313.54,18.14,493,2884.82,0.00,0.41,3.06,0.000,0.238,0.048,2103.66,2133.75,2073.56,3332.25,1977.81,0,0,0,30.00,15.90,16.01
$GC,3064.27,262,209.54,1.17,40.00,2101.4,2132.0,2070.8,3332.4,1978.1,287.58,12.90,530,3069.55,0.00,0.00,3.27,0.000,0.000,0.074,2101.22,2131.81,2070.62,3318.31,3431.12,0,0,0,30.00,30.00,16.06
$GC,3184.14,1030,209.54,1.17,0.00,2100.7,2131.2,2070.1,3319.1,3430.7,271.27,12.45,554,3189.57,0.00,0.00,3.06,0.000,0.000,0.049,2102.72,2133.44,2072.00,3331.31,1977.75,0,0,0,30.00,30.00,16.07
$GC,3368.79,262,209.54,1.17,40.00,2100.0,2131.2,2068.8,3331.8,1978.3,250.87,10.77,591,3374.63,0.00,0.00,3.27,0.000,0.000,0.074,2099.97,2131.38,2068.56,3319.75,3430.56,0,0,0,30.00,30.00,16.10
$GC,3552.94,1030,209.54,1.17,0.00,2099.3,2130.3,2068.2,3319.8,3430.2,227.86,12.37,628,3559.51,0.00,0.00,3.03,0.000,0.000,0.049,2102.50,2133.44,2071.56,3332.38,1978.00,0,0,0,30.00,30.00,16.09
$GC,3738.71,390,209.54,1.19,40.00,2098.1,2129.7,2066.4,3332.1,1978.6,207.55,10.77,665,3744.76,0.00,0.00,3.28,0.000,0.000,0.075,2098.06,2129.94,2066.19,3320.31,3428.75,0,0,0,30.00,30.00,16.04
$GC,3898.79,1030,209.54,1.19,0.00,2097.6,2129.2,2065.9,3320.9,3428.4,189.80,10.41,697,3904.50,0.00,0.00,3.05,0.000,0.000,0.049,2099.34,2131.19,2067.50,3332.69,1978.62,0,0,0,30.00,30.00,16.06
$GC,4083.10,422,230.82,1.25,40.00,2096.4,2129.0,2063.8,3332.6,1978.4,173.11,7.59,734,4105.05,16.31,0.00,3.34,1.144,0.000,0.077,2036.94,2064.19,2009.69,3332.56,3429.25,0,0,0,12.12,30.00,15.96
$GC,4178.84,1060,235.17,1.25,0.00,2024.5,2046.8,2002.3,3332.8,3429.4,164.10,9.53,753,4184.52,0.00,0.00,3.04,0.000,0.000,0.051,2026.19,2048.44,2003.94,3344.81,1978.38,0,0,0,30.00,30.00,15.48
$GC,4363.10,422,250.52,1.29,40.00,2023.1,2044.7,2001.4,3345.5,1979.0,150.06,8.27,790,4386.08,17.20,0.00,3.32,1.107,0.000,0.078,1953.34,1965.31,1941.38,3333.25,3430.75,0,0,0,12.39,30.00,15.45
$GC,4608.73,1063,262.23,1.31,0.00,1941.3,1947.6,1935.0,3333.4,3430.1,125.65,8.68,839,4621.98,7.99,0.11,3.03,1.115,0.105,0.046,1916.03,1918.69,1913.38,3392.94,1975.81,0,0,0,12.27,15.98,15.95
$GC,4799.96,34,281.93,1.33,0.00,1904.6,1902.2,1906.9,3393.7,1976.2,108.61,7.77,877,4820.46,18.92,0.00,0.00,1.030,0.000,0.000,1837.81,1827.62,1848.00,3393.25,1976.38,0,0,0,12.30,30.00,30.00
$GC,4999.91,420,285.97,1.35,40.00,1814.2,1796.4,1832.1,3393.6,1976.6,87.23,9.56,917,5004.80,0.00,0.00,3.28,0.000,0.000,0.071,1817.22,1799.50,1834.94,3382.94,3429.38,0,0,0,30.00,30.00,15.90
$GC,5039.81,1062,290.35,1.36,0.00,1814.5,1796.9,1832.1,3382.1,3429.3,83.22,9.52,925,5045.87,1.47,0.00,3.03,0.250,0.000,0.048,1799.75,1782.62,1816.88,3394.25,1975.50,0,0,0,14.98,30.00,15.43
$GC,5223.02,678,302.29,1.41,-40.00,1804.9,1792.8,1817.1,3394.4,1976.7,65.87,8.66,962,5244.80,15.50,0.00,2.97,0.946,0.000,0.077,1739.75,1716.06,1763.44,3405.81,566.25,0,0,0,12.31,30.00,15.89
$GC,5329.92,1158,302.29,1.44,0.00,1734.2,1705.2,1763.2,3405.1,566.2,55.13,10.39,983,5334.75,0.00,0.00,2.87,0.000,0.000,0.047,1734.97,1706.25,1763.69,3401.50,2022.56,0,0,0,30.00,30.00,15.36
$GC,5513.00,422,303.06,1.48,40.00,1734.0,1705.2,1762.8,3402.0,2021.5,36.75,9.94,1020,5519.80,0.00,0.00,3.15,0.000,0.000,0.072,1736.44,1706.81,1766.06,3400.88,3430.62,0,0,0,30.00,30.00,16.02
$GC,5612.98,1030,303.06,1.48,0.00,1734.2,1705.0,1763.4,3401.2,3430.1,25.14,11.54,1040,5619.79,0.00,0.00,2.98,0.000,0.000,0.044,1734.66,1705.81,1763.50,3412.94,1977.38,0,0,0,30.00,30.00,16.02
$GC,5799.80,390,303.06,1.50,40.00,1734.0,1705.1,1763.0,3412.8,1976.9,6.37,10.30,1077,5804.81,0.00,0.00,3.24,0.000,0.000,0.068,1734.69,1705.75,1763.62,3410.62,3432.75,0,0,0,30.00,30.00,15.96
$STATE,5830,end climb,SURFACE_DEPTH_REACHED
$STATE,5830,begin surface coast
$FINISH,0.1,1.022122
$STATE,5853,end surface coast,CONTROL_FINISHED_OK
$STATE,5853,begin surface
$SM_CCo,5954.61,84.89,0.178,0,946.2,699.2,1193.2,500.36
$SM_GC,1.30,84.89,8.40,1.53,0.178,0.043,0.040,946.2,699.2,1193.2,279.7,2547.2,0,0,0,14.99,16.03,16.05
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,1935.48,-15604.81,081017,145532
$TCM_TEMP,24.20
$XPDR_PINGS,31
$SC_FREEKB,4012736
$HUMID,49.54
$TEMP,22.53
$INTERNAL_PRESSURE,12.8506
$24V_AH,15.10,22.720
$10V_AH,15.00,0.000
$FG_AHR_24Vo,8.864
$FG_AHR_10Vo,2.402
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,510.995,25.470,121.495,324.643,7.750,23.855,2938.779,3530.327,1895.283,0.000,0.000,0.000
$DEVICE_MAMPS,1349.472,365.144,160.800,169.945,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5869.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.974,0.000,0.000,0.000
$MEM,1164112,31,17472,42
$DATA_FILE_SIZE,40755,1088
$CAP_FILE_SIZE,270279,0
$SDSIZE,3918848,3904800
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.078,314.3,1
$GPS,081017,164126,1935.730,-15603.124,28,1.2,40,9.6