version: 67.00
glider: 169
mission: 15
dive: 18
start: 10 8 117 18 32 55
data:
$ID,169
$MISSION,15
$DIVE,18
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,190
$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,2300
$C_ROLL_CLIMB,1800
$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,2.4250998
$FG_AHR_24V,8.9573631
$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
$GPS1,081017,182556,1936.359,-15602.712,24,0.9,48,9.6
$_CALLS,2
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.4
$GPS2,081017,183247,1936.382,-15602.741,15,0.9,20,9.6
$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,194.5,840,-27.6,-10.000,-30.00
$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,6.27,2,-54.25,-1.16,0.00,944.5,696.5,1192.4,274.1,2241.6,0.00,0.00,0,83.87,75.80,0.00,0.00,0.005,0.000,0.000,2630.00,2718.69,2541.31,273.88,2241.69,0,0,0,15.34,30.00,30.00
$GC,84.42,295,-114.44,-1.22,40.00,2627.9,2716.6,2539.3,273.9,2241.5,3.07,-2.59,15,122.09,17.95,12.01,3.01,0.006,0.370,0.073,3453.72,3619.62,3287.81,2552.75,3738.25,0,0,0,15.37,15.22,15.32
$GC,334.48,1156,-114.44,-1.19,0.00,3451.6,3617.8,3285.3,2554.4,3737.8,82.40,-33.52,65,339.75,0.00,0.00,2.63,0.000,0.000,0.038,3451.75,3617.88,3285.62,2554.25,2268.25,0,0,0,30.00,30.00,15.94
$GC,519.37,260,-114.44,-1.19,40.00,3451.9,3618.4,3285.4,2554.4,2265.7,132.57,-27.41,102,524.79,0.00,0.00,2.94,0.000,0.000,0.069,3453.59,3619.12,3288.06,2542.44,3737.50,0,0,0,30.00,30.00,16.02
$GC,544.31,1029,-114.44,-1.19,0.00,3451.4,3617.6,3285.2,2543.4,3737.7,139.06,-26.04,107,549.75,0.00,0.20,2.63,0.000,0.219,0.037,3451.47,3617.88,3285.06,2575.31,2259.94,0,0,0,30.00,15.93,15.96
$GC,729.32,516,-114.44,-1.19,-40.00,3451.8,3618.0,3285.6,2575.1,2259.3,180.75,-21.82,144,734.78,0.00,0.00,3.13,0.000,0.000,0.062,3452.41,3618.44,3286.38,2580.81,865.44,0,0,0,30.00,30.00,16.04
$GC,765.15,1156,-114.44,-1.24,0.00,3451.8,3618.3,3285.2,2580.2,865.2,187.85,-19.56,151,769.86,0.00,0.00,3.12,0.000,0.000,0.047,3452.44,3618.50,3286.38,2568.19,2318.75,0,0,0,30.00,30.00,15.40
$GC,950.11,128,-114.44,-1.28,0.00,3451.6,3617.8,3285.4,2567.9,2317.7,224.18,-17.79,188,953.15,0.00,0.00,0.00,0.000,0.000,0.000,3451.94,3617.75,3286.12,2565.00,2317.75,0,0,0,30.00,30.00,30.00
$GC,1134.76,389,-114.44,-1.33,40.00,3451.5,3617.5,3285.6,2568.0,2317.6,255.95,-15.84,225,1139.73,0.00,0.13,2.84,0.000,0.084,0.072,3451.75,3617.88,3285.62,2492.81,3737.62,0,0,0,30.00,16.10,16.05
$GC,1165.26,1029,-114.44,-1.33,0.00,3451.7,3618.0,3285.4,2493.5,3737.5,261.95,-20.26,231,1169.71,0.00,0.23,2.62,0.000,0.209,0.039,3452.19,3618.12,3286.25,2530.19,2256.94,0,0,0,30.00,15.99,15.45
$GC,1349.34,128,-114.44,-1.36,0.00,3451.3,3617.3,3285.3,2529.7,2257.2,294.81,-16.89,268,1350.67,0.00,0.00,0.00,0.000,0.000,0.000,3451.34,3617.06,3285.62,2524.62,2257.38,0,0,0,30.00,30.00,30.00
$GC,1529.47,388,-114.44,-1.40,40.00,3451.1,3617.1,3285.1,2529.4,2256.9,326.90,-17.70,304,1534.81,0.00,0.00,2.97,0.000,0.000,0.074,3451.00,3617.00,3285.00,2519.56,3736.25,0,0,0,30.00,30.00,16.11
$GC,1584.29,1156,-114.44,-1.42,0.00,3451.2,3617.2,3285.2,2519.0,3735.4,336.43,-17.59,315,1589.67,0.00,0.00,2.62,0.000,0.000,0.038,3451.12,3616.88,3285.38,2519.69,2261.81,0,0,0,30.00,30.00,16.06
$GC,1766.46,128,-114.44,-1.46,0.00,3450.4,3616.9,3283.9,2519.1,2260.4,367.29,-16.92,335,1767.79,0.00,0.00,0.00,0.000,0.000,0.000,3450.44,3616.88,3284.00,2514.06,2259.81,0,0,0,30.00,30.00,30.00
$GC,1946.36,389,-114.44,-1.49,40.00,3448.2,3615.6,3280.9,2518.9,2260.5,397.57,-16.75,341,1951.53,0.00,0.14,3.02,0.000,0.089,0.076,3447.78,3616.00,3279.56,2444.44,3737.25,0,0,0,30.00,16.17,16.09
$GC,1993.91,1157,-114.44,-1.47,0.00,3447.9,3615.4,3280.4,2444.3,3736.8,407.19,-20.64,347,1999.42,0.00,0.28,2.65,0.000,0.218,0.041,3449.97,3616.62,3283.31,2485.62,2257.88,0,0,0,30.00,16.02,16.16
$GC,2186.42,260,-114.44,-1.47,40.00,3446.6,3615.9,3277.4,2485.8,2258.2,445.58,-19.79,358,2191.51,0.00,0.00,3.02,0.000,0.000,0.077,3448.47,3617.25,3279.69,2475.12,3733.06,0,0,0,30.00,30.00,16.13
$STATE,2210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2210,begin apogee
$GC,2215.28,3,0.00,-0.20,0.00,3445.8,3615.5,3276.2,2475.8,1775.8,450.60,19.71,360,2317.36,95.57,3.01,0.08,1.368,0.210,0.178,2978.78,3129.75,2827.81,2892.69,1841.25,0,0,0,11.94,16.05,15.57
$STATE,2318,end apogee,CONTROL_FINISHED_OK
$STATE,2318,begin climb
$GC,2318.21,519,114.44,1.22,-40.00,2975.2,3124.6,2825.8,2892.5,1840.5,455.20,0.00,365,2412.08,83.92,1.48,3.04,1.418,0.059,0.078,2512.09,2589.75,2434.44,3385.06,367.31,0,0,0,12.17,15.18,15.36
$GC,2484.86,1191,148.65,1.22,0.00,2498.9,2579.0,2418.9,3385.4,367.3,456.13,5.79,398,2516.07,25.96,0.25,2.72,1.414,0.245,0.046,2375.59,2447.56,2303.62,3347.88,1833.19,0,0,0,12.20,15.58,15.28
$GC,2687.84,262,148.65,1.22,40.00,2358.0,2431.4,2284.6,3347.4,1832.4,435.95,10.49,412,2692.96,0.00,0.00,3.20,0.000,0.000,0.069,2359.41,2432.62,2286.19,3334.75,3224.38,0,0,0,30.00,30.00,15.85
$GC,2927.43,1030,148.65,1.22,0.00,2354.7,2426.4,2282.9,3334.1,3223.1,409.12,11.40,457,2933.95,0.00,0.00,3.16,0.000,0.000,0.051,2358.28,2429.75,2286.81,3346.94,1768.88,0,0,0,30.00,30.00,15.92
$GC,3107.93,294,149.55,1.22,40.00,2353.2,2426.6,2279.9,3347.2,1769.8,391.62,9.89,465,3113.09,0.00,0.00,3.33,0.000,0.000,0.070,2353.75,2426.94,2280.56,3334.25,3225.44,0,0,0,30.00,30.00,16.00
$GC,3334.00,1158,149.55,1.20,0.00,2351.4,2423.4,2279.4,3334.8,3224.4,367.37,10.87,508,3339.45,0.00,0.00,3.18,0.000,0.000,0.055,2355.25,2427.38,2283.12,3346.75,1770.94,0,0,0,30.00,30.00,15.46
$GC,3527.82,294,150.24,1.20,40.00,2351.0,2423.9,2278.0,3346.8,1771.2,347.80,9.91,518,3532.99,0.00,0.00,3.32,0.000,0.000,0.071,2353.31,2425.19,2281.44,3334.94,3225.19,0,0,0,30.00,30.00,16.08
$GC,3639.84,1062,160.94,1.21,0.00,2349.9,2421.8,2278.1,3335.1,3224.1,337.80,8.68,539,3649.43,2.67,0.00,3.16,0.912,0.000,0.055,2329.41,2400.31,2258.50,3347.06,1769.06,0,0,0,12.17,30.00,15.54
$GC,3827.79,294,170.19,1.22,40.00,2337.1,2404.1,2270.1,3346.7,1769.9,321.68,8.86,577,3850.16,15.66,0.00,3.34,1.313,0.000,0.074,2282.00,2347.44,2216.56,3334.56,3223.75,0,0,0,12.27,30.00,15.94
$GC,3954.41,1062,172.05,1.22,0.00,2273.1,2335.1,2211.2,3334.4,3222.8,309.61,9.77,602,3959.82,0.00,0.00,3.19,0.000,0.000,0.054,2272.94,2334.81,2211.06,3346.94,1773.06,0,0,0,30.00,30.00,16.01
$GC,4139.55,294,177.90,1.23,40.00,2271.5,2334.2,2208.8,3346.8,1774.4,292.13,9.28,639,4146.07,1.55,0.00,3.34,0.278,0.000,0.075,2258.09,2320.00,2196.19,3334.88,3227.44,0,0,0,15.03,30.00,15.45
$GC,4367.83,1062,183.78,1.23,0.00,2265.8,2328.3,2203.4,3335.2,3226.6,269.23,9.28,685,4385.21,10.96,0.00,3.18,1.285,0.000,0.053,2237.84,2296.12,2179.56,3345.69,1772.06,0,0,0,12.24,30.00,16.08
$GC,4564.31,294,205.48,1.26,40.00,2221.1,2276.9,2165.4,3346.2,1772.4,252.75,7.33,724,4591.45,21.25,0.00,3.38,1.226,0.000,0.076,2136.09,2183.94,2088.25,3335.56,3224.00,0,0,0,12.35,30.00,15.51
$GC,4814.90,1030,205.48,1.26,0.00,2129.6,2170.5,2088.7,3335.6,3222.9,223.68,11.23,774,4819.85,0.00,0.00,3.20,0.000,0.000,0.052,2130.41,2171.12,2089.69,3346.44,1773.12,0,0,0,30.00,30.00,15.93
$GC,4997.85,422,217.99,1.30,40.00,2128.8,2169.5,2088.1,3347.4,1773.8,207.17,8.46,811,5015.20,10.67,0.00,3.36,1.231,0.000,0.073,2089.88,2126.25,2053.50,3335.62,3223.62,0,0,0,12.21,30.00,15.90
$GC,5204.68,1031,217.99,1.30,0.00,2081.8,2114.1,2049.6,3335.6,3222.6,186.29,11.09,852,5209.95,0.00,0.09,3.19,0.000,0.121,0.055,2081.94,2114.06,2049.81,3390.12,1771.94,0,0,0,30.00,16.00,15.44
$GC,5387.93,294,246.85,1.33,40.00,2080.8,2112.1,2049.5,3390.4,1772.9,169.76,6.45,889,5420.60,27.33,0.00,3.36,1.115,0.000,0.073,1970.62,1985.06,1956.19,3378.44,3224.44,0,0,0,12.22,30.00,15.35
$GC,5434.58,1062,254.52,1.33,0.00,1964.5,1975.4,1953.5,3378.0,3223.2,165.51,9.06,898,5441.93,2.82,0.00,3.22,0.967,0.000,0.052,1945.19,1953.44,1936.94,3390.44,1773.00,0,0,0,12.27,30.00,15.82
$GC,5617.82,260,254.52,1.33,40.00,1950.5,1962.6,1938.4,3390.2,1773.3,146.15,10.64,935,5624.65,0.00,0.00,3.34,0.000,0.000,0.069,1951.00,1962.38,1939.62,3384.19,3225.50,0,0,0,30.00,30.00,15.95
$GC,5684.69,1028,254.52,1.33,0.00,1950.2,1962.4,1938.1,3384.8,3225.1,138.31,10.84,948,5689.89,0.00,0.00,3.20,0.000,0.000,0.054,1950.97,1963.25,1938.69,3397.00,1773.50,0,0,0,30.00,30.00,15.40
$GC,5867.93,162,280.10,1.38,0.00,1950.4,1962.5,1938.4,3396.6,1774.5,122.69,6.85,985,5899.16,27.68,0.00,0.00,1.041,0.000,0.000,1841.72,1832.81,1850.62,3396.69,1774.56,0,0,0,12.17,30.00,30.00
$GC,6077.94,422,288.04,1.42,40.00,1826.5,1809.2,1843.8,3397.0,1774.5,101.20,9.02,1027,6084.83,1.90,0.00,3.34,0.324,0.000,0.070,1811.19,1791.94,1830.44,3397.00,3227.94,0,0,0,14.98,30.00,15.35
$GC,6144.74,1062,289.75,1.42,0.00,1814.5,1799.4,1829.6,3396.7,3226.8,94.54,9.79,1040,6152.00,2.01,0.00,3.18,0.385,0.000,0.050,1805.78,1779.75,1831.81,3409.44,1771.00,0,0,0,14.95,30.00,15.40
$GC,6327.94,422,299.14,1.47,40.00,1810.7,1791.9,1829.6,3409.1,1771.9,78.48,8.84,1077,6345.27,12.48,0.00,3.34,0.989,0.000,0.070,1755.56,1726.81,1784.31,3409.81,3226.12,0,0,0,12.22,30.00,15.43
$GC,6567.76,1030,299.14,1.47,0.00,1751.5,1719.6,1783.3,3410.2,3224.4,53.16,10.91,1125,6574.79,0.00,0.00,3.15,0.000,0.000,0.047,1751.75,1720.12,1783.38,3422.88,1771.06,0,0,0,30.00,30.00,15.99
$GC,6754.68,646,299.14,1.50,-40.00,1751.5,1719.6,1783.4,3422.6,1772.4,33.77,10.16,1162,6759.81,0.00,0.00,2.81,0.000,0.000,0.079,1753.94,1721.88,1786.00,3433.56,367.56,0,0,0,30.00,30.00,15.91
$GC,6977.83,1158,299.14,1.53,0.00,1751.0,1718.4,1783.6,3433.8,367.9,9.07,11.13,1207,6981.84,0.00,0.00,2.63,0.000,0.000,0.040,1750.88,1718.19,1783.56,3432.12,1828.94,0,0,0,30.00,30.00,16.04
$STATE,7035,end climb,SURFACE_DEPTH_REACHED
$STATE,7035,begin surface coast
$FINISH,0.2,1.010560
$STATE,7065,end surface coast,CONTROL_FINISHED_OK
$STATE,7065,begin surface
$SM_CCo,7167.58,86.81,0.179,0,945.7,694.6,1196.9,500.48
$SM_GC,1.31,86.81,8.57,1.16,0.179,0.048,0.054,945.7,694.6,1196.9,274.5,2323.2,0,0,0,14.96,16.05,16.03
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,1937.52,-15604.81,081017,182729
$TCM_TEMP,24.40
$XPDR_PINGS,33
$SC_FREEKB,4011840
$HUMID,55.54
$TEMP,22.35
$INTERNAL_PRESSURE,12.8333
$24V_AH,15.03,23.087
$10V_AH,15.00,0.000
$FG_AHR_24Vo,9.043
$FG_AHR_10Vo,2.451
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,522.995,26.395,125.815,256.543,8.250,21.444,3113.655,4437.739,2112.561,0.000,0.000,0.000
$DEVICE_MAMPS,1417.696,370.064,178.184,167.424,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7079.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.979,0.000,0.000,0.000
$MEM,1164072,31,17512,42
$DATA_FILE_SIZE,47565,1224
$CAP_FILE_SIZE,286993,0
$SDSIZE,3918848,3904352
$ERRORS,0,0,0,0,0,0,4,0
$CURRENT,0.071,346.7,1
$GPS,081017,203305,1935.958,-15603.037,15,0.9,29,9.6