version: 67.00
glider: 169
mission: 15
dive: 21
start: 10 9 117 1 41 39
data:
$ID,169
$MISSION,15
$DIVE,21
$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,2.5148532
$FG_AHR_24V,9.3152695
$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
$GPS1,081017,230929,1937.245,-15603.747,21,0.9,22,9.6
$_CALLS,1
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.1
$GPS2,091017,014131,1938.763,-15604.184,39,0.9,52,9.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,SHELF2
$TGT_LATLONG,1940.500,-15603.600
$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,53.0,3375,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.41,2,-54.25,-1.16,0.00,946.3,715.5,1177.1,289.1,2249.1,0.00,0.00,0,83.98,75.68,0.00,0.00,0.006,0.000,0.000,2626.28,2713.81,2538.75,289.00,2248.94,0,0,0,15.36,30.00,30.00
$GC,84.61,551,-113.76,-1.22,-40.00,2625.0,2712.3,2537.7,289.0,2248.9,3.04,-2.67,15,123.19,17.76,12.28,3.23,0.006,0.378,0.070,3449.75,3613.94,3285.56,2563.06,868.50,0,0,0,15.44,15.13,15.37
$GC,190.84,1028,-113.76,-1.22,0.00,3449.5,3613.6,3285.4,2567.1,867.7,32.66,-28.84,36,195.89,0.00,0.00,3.18,0.000,0.000,0.046,3451.66,3615.12,3288.19,2555.38,2317.31,0,0,0,30.00,30.00,15.81
$GC,375.00,0,-113.76,-1.22,0.00,3449.3,3613.1,3285.5,2554.7,2316.2,87.80,-29.15,73,376.32,0.00,0.00,0.00,0.000,0.000,0.000,3449.84,3613.44,3286.25,2550.56,2315.75,0,0,0,30.00,30.00,30.00
$GC,555.86,260,-113.76,-1.22,40.00,3449.1,3613.1,3285.2,2554.9,2315.9,133.00,-24.37,109,560.89,0.00,0.00,2.84,0.000,0.000,0.070,3451.12,3614.38,3287.88,2543.19,3735.38,0,0,0,30.00,30.00,15.97
$GC,600.78,1028,-113.76,-1.22,0.00,3449.3,3613.2,3285.4,2543.8,3735.2,144.58,-26.23,118,605.83,0.00,0.00,2.63,0.000,0.000,0.040,3451.41,3614.44,3288.38,2543.31,2268.12,0,0,0,30.00,30.00,15.43
$GC,785.75,260,-113.76,-1.22,40.00,3449.5,3613.2,3285.8,2543.5,2264.4,188.00,-19.97,155,790.85,0.00,0.00,2.95,0.000,0.000,0.070,3450.66,3614.19,3287.12,2531.44,3738.81,0,0,0,30.00,30.00,15.99
$GC,835.60,1029,-113.76,-1.22,0.00,3449.5,3613.6,3285.4,2531.4,3738.0,198.58,-21.25,165,840.98,0.00,0.22,2.62,0.000,0.240,0.037,3450.59,3614.25,3286.94,2566.25,2258.75,0,0,0,30.00,15.66,15.99
$GC,1020.09,388,-113.76,-1.27,40.00,3449.5,3613.0,3285.9,2566.2,2259.4,229.74,-15.40,202,1025.95,0.00,0.00,2.98,0.000,0.000,0.072,3449.03,3612.69,3285.38,2555.50,3735.25,0,0,0,30.00,30.00,16.04
$GC,1060.11,1156,-113.76,-1.30,0.00,3449.0,3612.9,3285.1,2555.8,3734.4,236.40,-16.90,210,1065.91,0.00,0.00,2.61,0.000,0.000,0.036,3450.28,3613.75,3286.81,2556.38,2259.44,0,0,0,30.00,30.00,16.07
$GC,1245.75,388,-113.76,-1.34,40.00,3449.0,3612.6,3285.3,2556.0,2257.9,266.54,-15.94,247,1250.84,0.00,0.00,3.00,0.000,0.000,0.072,3448.91,3612.69,3285.12,2544.50,3737.19,0,0,0,30.00,30.00,16.06
$GC,1275.46,1156,-113.76,-1.37,0.00,3448.8,3612.6,3285.0,2544.1,3736.9,271.37,-16.52,253,1280.69,0.00,0.00,2.62,0.000,0.000,0.038,3448.84,3612.75,3284.94,2544.31,2263.56,0,0,0,30.00,30.00,16.04
$GC,1460.58,645,-113.76,-1.40,-40.00,3448.7,3612.6,3284.8,2544.3,2261.9,300.57,-16.96,290,1466.08,0.00,0.13,3.23,0.000,0.079,0.068,3448.97,3612.44,3285.50,2469.75,867.19,0,0,0,30.00,16.13,16.07
$GC,1505.94,1029,-113.76,-1.40,0.00,3448.9,3612.9,3285.0,2469.9,867.0,309.79,-20.66,299,1511.09,0.00,0.34,3.14,0.000,0.214,0.050,3449.59,3613.25,3285.94,2506.44,2317.88,0,0,0,30.00,15.99,15.47
$GC,1690.72,260,-113.76,-1.40,40.00,3447.1,3611.8,3282.5,2505.7,2316.9,343.18,-17.95,336,1695.81,0.00,0.00,2.88,0.000,0.000,0.075,3447.19,3611.50,3282.88,2495.81,3737.69,0,0,0,30.00,30.00,16.10
$GC,1755.34,1028,-113.76,-1.40,0.00,3447.0,3611.2,3282.7,2495.4,3736.9,355.70,-19.28,349,1760.45,0.00,0.00,2.66,0.000,0.000,0.041,3448.12,3612.56,3283.69,2495.94,2265.75,0,0,0,30.00,30.00,16.07
$GC,1936.46,0,-113.76,-1.40,0.00,3446.4,3611.5,3281.3,2495.8,2263.8,391.17,-19.70,360,1937.79,0.00,0.00,0.00,0.000,0.000,0.000,3447.22,3612.31,3282.12,2491.19,2263.62,0,0,0,30.00,30.00,30.00
$GC,2116.46,260,-113.76,-1.40,40.00,3445.3,3611.5,3279.1,2495.8,2264.1,426.31,-19.37,366,2121.55,0.00,0.00,3.04,0.000,0.000,0.077,3446.97,3612.31,3281.62,2483.88,3733.69,0,0,0,30.00,30.00,16.12
$GC,2190.39,1028,-113.76,-1.40,0.00,3444.0,3611.5,3276.5,2484.0,3733.7,440.80,-19.43,376,2195.80,0.00,0.00,2.67,0.000,0.000,0.042,3444.03,3611.62,3276.44,2484.19,2266.06,0,0,0,30.00,30.00,16.14
$STATE,2266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2266,begin apogee
$GC,2268.83,3,0.00,-0.20,0.00,3443.1,3611.1,3275.2,2484.2,1766.2,454.73,18.31,380,2362.98,88.01,2.92,0.09,1.435,0.205,0.179,2981.31,3131.44,2831.19,2892.06,1842.25,0,0,0,12.12,16.06,15.54
$STATE,2363,end apogee,CONTROL_FINISHED_OK
$STATE,2363,begin climb
$GC,2363.88,519,113.76,1.22,-40.00,2975.0,3124.8,2825.2,2892.4,1842.3,457.96,0.00,382,2457.37,84.90,1.51,3.11,1.429,0.063,0.081,2509.34,2587.56,2431.12,3381.50,370.06,0,0,0,12.22,15.18,15.32
$GC,2544.03,1190,142.55,1.22,0.00,2501.1,2582.6,2419.6,3381.2,369.9,456.48,6.46,418,2571.21,22.06,0.00,2.71,1.431,0.000,0.043,2400.72,2477.44,2324.00,3375.38,1829.06,0,0,0,12.15,30.00,15.70
$GC,2733.56,262,142.55,1.22,40.00,2383.7,2460.0,2307.4,3376.1,1829.2,437.37,10.54,429,2738.70,0.00,0.00,3.24,0.000,0.000,0.069,2383.53,2460.12,2306.94,3363.56,3225.94,0,0,0,30.00,30.00,15.81
$GC,2973.13,1158,142.55,1.18,0.00,2380.6,2455.2,2306.1,3363.3,3224.9,410.97,10.89,474,2979.66,0.00,0.00,3.23,0.000,0.000,0.053,2383.00,2457.75,2308.25,3375.56,1773.38,0,0,0,30.00,30.00,15.94
$GC,3153.51,295,143.21,1.18,40.00,2379.7,2456.0,2303.4,3375.8,1774.1,393.24,9.92,482,3158.74,0.00,0.30,3.30,0.000,0.233,0.070,2378.72,2455.19,2302.25,3321.12,3224.56,0,0,0,30.00,15.86,15.96
$GC,3389.37,1060,148.54,1.19,0.00,2377.8,2453.6,2301.9,3321.1,3223.4,371.74,9.34,527,3394.79,0.00,0.00,3.19,0.000,0.000,0.053,2379.28,2455.62,2302.94,3333.62,1772.38,0,0,0,30.00,30.00,16.00
$GC,3573.60,294,162.38,1.20,40.00,2376.4,2453.4,2299.4,3333.9,1773.5,356.32,8.30,535,3595.18,15.90,0.00,3.35,1.350,0.000,0.072,2315.84,2388.25,2243.44,3321.94,3224.50,0,0,0,12.26,30.00,15.89
$GC,3819.21,1060,167.87,1.21,0.00,2304.0,2370.4,2237.7,3322.1,3223.4,332.74,9.32,583,3825.16,0.00,0.00,3.23,0.000,0.000,0.054,2305.34,2372.25,2238.44,3334.19,1773.56,0,0,0,30.00,30.00,16.02
$GC,4004.09,294,173.71,1.21,40.00,2303.1,2370.8,2235.5,3334.6,1774.4,315.65,9.28,620,4020.06,8.95,0.00,3.36,1.352,0.000,0.073,2269.81,2334.19,2205.44,3325.69,3225.88,0,0,0,12.34,30.00,15.92
$GC,4189.83,1030,173.71,1.21,0.00,2264.2,2324.2,2204.1,3325.6,3225.1,295.50,11.08,657,4195.14,0.00,0.00,3.22,0.000,0.000,0.057,2266.28,2327.00,2205.56,3338.00,1775.25,0,0,0,30.00,30.00,15.44
$GC,4374.49,292,176.91,1.21,40.00,2262.6,2323.7,2201.6,3338.2,1776.1,276.98,9.61,694,4380.20,0.00,0.00,3.35,0.000,0.000,0.072,2265.81,2326.56,2205.06,3326.19,3225.12,0,0,0,30.00,30.00,16.05
$GC,4434.59,1060,178.24,1.22,0.00,2261.8,2322.4,2201.2,3326.2,3224.2,270.99,9.84,706,4440.22,0.00,0.00,3.21,0.000,0.000,0.054,2263.75,2324.19,2203.31,3338.25,1775.62,0,0,0,30.00,30.00,16.06
$GC,4619.29,294,198.69,1.24,40.00,2261.4,2321.8,2201.1,3338.5,1776.4,255.24,7.48,743,4650.54,23.92,0.00,3.36,1.239,0.000,0.073,2167.72,2219.94,2115.50,3325.94,3225.00,0,0,0,12.29,30.00,15.87
$GC,4875.05,1030,198.69,1.24,0.00,2159.1,2205.4,2112.8,3326.6,3224.3,228.07,11.45,794,4880.21,0.00,0.00,3.24,0.000,0.000,0.057,2161.81,2207.50,2116.12,3339.06,1776.38,0,0,0,30.00,30.00,15.40
$GC,5059.96,390,198.69,1.27,40.00,2157.6,2204.1,2111.2,3338.9,1777.0,209.41,10.44,831,5065.06,0.00,0.00,3.36,0.000,0.000,0.072,2159.34,2205.25,2113.44,3326.75,3224.56,0,0,0,30.00,30.00,16.00
$GC,5199.38,1061,204.83,1.27,0.00,2157.2,2203.2,2111.2,3327.3,3223.2,196.00,9.24,859,5205.14,0.00,0.10,3.22,0.000,0.120,0.054,2158.16,2204.00,2112.31,3384.06,1775.19,0,0,0,30.00,15.99,15.98
$GC,5383.40,294,223.42,1.29,40.00,2156.8,2201.9,2111.6,3384.9,1776.3,180.48,7.71,896,5410.84,22.42,0.00,3.38,1.150,0.000,0.075,2064.16,2100.19,2028.12,3375.31,3224.62,0,0,0,12.21,30.00,15.46
$GC,5479.42,1062,241.04,1.31,0.00,2058.6,2088.8,2028.4,3374.6,3224.4,172.73,7.83,915,5501.45,16.40,0.00,3.26,1.152,0.000,0.053,1999.28,2021.31,1977.25,3386.81,1774.88,0,0,0,12.24,30.00,15.90
$GC,5679.22,262,241.04,1.31,40.00,1986.0,2000.8,1971.2,3386.6,1775.3,152.69,10.44,955,5685.19,0.00,0.00,3.38,0.000,0.000,0.070,1987.03,2002.06,1972.00,3377.38,3225.38,0,0,0,30.00,30.00,15.82
$GC,5719.28,1030,241.04,1.31,0.00,1985.7,2000.1,1971.2,3377.1,3224.6,148.18,11.31,963,5725.22,0.00,0.00,3.24,0.000,0.000,0.053,1987.12,2001.69,1972.56,3389.25,1774.12,0,0,0,30.00,30.00,15.85
$GC,5903.57,262,241.04,1.31,40.00,1984.9,1998.5,1971.2,3389.7,1774.9,128.11,11.83,1000,5910.08,0.00,0.00,3.37,0.000,0.000,0.070,1987.41,2000.31,1974.50,3389.44,3225.19,0,0,0,30.00,30.00,15.93
$GC,6133.52,1062,251.41,1.32,0.00,1984.3,1997.6,1970.9,3389.1,3225.0,102.63,8.72,1046,6145.15,5.55,0.00,3.20,1.092,0.000,0.050,1959.50,1969.38,1949.62,3402.88,1772.50,0,0,0,12.17,30.00,15.98
$GC,6323.54,422,263.96,1.36,40.00,1955.8,1962.4,1949.1,3402.2,1773.3,88.40,8.45,1084,6341.39,12.14,0.00,3.36,1.038,0.000,0.072,1896.28,1895.50,1897.06,3402.50,3225.62,0,0,0,12.25,30.00,15.44
$GC,6563.41,1062,280.79,1.38,0.00,1892.6,1887.1,1898.1,3402.7,3224.8,69.31,7.93,1132,6581.64,13.23,0.00,3.18,0.981,0.000,0.048,1836.94,1824.56,1849.31,3415.25,1771.69,0,0,0,12.27,30.00,15.99
$GC,6759.21,678,303.35,1.43,-40.00,1823.6,1803.1,1844.1,3415.8,1772.4,54.23,7.22,1171,6780.56,16.82,0.00,2.89,0.944,0.000,0.087,1737.69,1704.62,1770.75,3427.00,369.88,0,0,0,12.28,30.00,15.34
$GC,7003.42,1158,303.35,1.47,0.00,1731.2,1692.1,1770.2,3426.9,369.6,26.61,10.67,1220,7009.24,0.00,0.00,2.63,0.000,0.000,0.041,1733.50,1694.12,1772.88,3426.81,1828.81,0,0,0,30.00,30.00,15.95
$GC,7189.43,390,303.35,1.50,40.00,1731.0,1691.7,1770.2,3426.9,1828.8,7.16,10.52,1257,7195.05,0.00,0.00,3.20,0.000,0.000,0.067,1731.91,1692.94,1770.88,3423.12,3226.69,0,0,0,30.00,30.00,15.93
$STATE,7229,end climb,SURFACE_DEPTH_REACHED
$STATE,7229,begin surface coast
$FINISH,0.2,0.999137
$STATE,7253,end surface coast,CONTROL_FINISHED_OK
$STATE,7253,begin surface
$SM_CCo,7355.80,84.93,0.180,0,946.0,693.7,1198.2,500.42
$SM_GC,1.25,84.93,8.65,1.90,0.180,0.047,0.042,946.0,693.7,1198.2,283.4,2275.8,0,0,0,15.02,15.97,16.01
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,1938.15,-15513.65,081017,230514
$TCM_TEMP,24.20
$XPDR_PINGS,28
$SC_FREEKB,4010496
$HUMID,55.31
$TEMP,21.91
$INTERNAL_PRESSURE,12.8147
$24V_AH,14.99,23.805
$10V_AH,15.00,0.000
$FG_AHR_24Vo,9.400
$FG_AHR_10Vo,2.541
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,508.675,26.465,136.350,278.218,7.000,53.586,3239.879,4494.113,2178.875,0.000,0.000,0.000
$DEVICE_MAMPS,1434.752,377.608,179.168,169.680,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7271.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.150,0.000,0.000,0.000
$MEM,1164104,29,17520,42
$DATA_FILE_SIZE,47443,1270
$CAP_FILE_SIZE,295320,0
$SDSIZE,3918848,3903584
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.097,328.6,1
$GPS,091017,034454,1939.509,-15603.620,18,1.0,28,9.6