version: 67.00
glider: 181
mission: 18
dive: 3
start: 5 9 119 18 1 49
data:
$ID,181
$MISSION,18
$DIVE,3
$N_DIVES,5
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,2
$T_BOOST,0
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53887
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.4475299e-05
$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,667.02802
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,360
$PITCH_MAX,3941
$C_PITCH,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3900
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,0.40950724
$FG_AHR_24V,2.0173869
$PHONE_SUPPLY,2
$PRESSURE_YINT,-159.06963
$PRESSURE_SLOPE,0.000109412
$COMPASS_USE,4
$ALTIM_PING_FIT,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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-1.65
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,1
$LOGGERDEVICE2,38
$LOGGERDEVICE3,23
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,34
$COMPASS2_DEVICE,49
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043108878
$SEABIRD_T_H,0.00063072296
$SEABIRD_T_I,2.4115308e-05
$SEABIRD_T_J,2.5979039e-06
$SEABIRD_C_G,-9.7531929
$SEABIRD_C_H,1.1283317
$SEABIRD_C_I,-0.0020527283
$SEABIRD_C_J,0.00023027747
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,090519,175853,4743.604,-12224.585,1,0.6,2,15.6
$_CALLS,1
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-54.7
$GPS2,090519,180133,4743.619,-12224.590,2,0.6,3,15.6
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,205.1,557,-17.8,-10.000,-21.47
$D_GRID,174
$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
$WARN,HPMAR logging already started
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,13.89,2,-146.63,-0.65,0.00,380.2,409.8,350.7,362.2,2422.2,0.00,0.00,0,190.85,173.45,0.00,0.00,0.005,0.000,0.000,3536.50,3605.31,3467.69,362.31,2421.38,0,0,0,15.48,30.00,30.00
$GC,191.10,295,-146.63,-0.65,40.00,3535.1,3603.8,3466.5,362.4,2420.4,3.72,-8.77,17,215.35,3.86,8.92,2.45,0.011,0.374,0.098,3696.69,3763.25,3630.12,2260.31,3804.50,0,0,0,15.75,15.60,15.69
$GC,237.00,1157,-146.63,-0.58,0.00,3695.8,3764.2,3627.4,2260.6,3805.1,16.68,-19.28,26,245.31,0.00,0.12,2.19,0.000,0.203,0.042,3696.34,3764.69,3628.00,2296.31,2442.00,0,0,0,30.00,15.82,15.86
$GC,423.19,516,-146.63,-0.58,-40.00,3695.2,3762.6,3627.9,2296.4,2436.7,39.01,-11.89,45,430.02,0.00,0.00,2.27,0.000,0.000,0.047,3695.22,3762.81,3627.62,2296.81,1045.44,0,0,0,30.00,30.00,15.75
$GC,612.13,1188,-146.63,-0.61,0.00,3696.1,3763.9,3628.2,2296.0,1044.1,58.67,-9.40,83,620.35,0.00,0.00,2.62,0.000,0.000,0.095,3697.41,3765.06,3629.75,2287.19,2515.12,0,0,0,30.00,30.00,15.81
$GC,798.34,0,-146.63,-0.61,0.00,3695.8,3762.8,3628.9,2288.7,2514.5,79.12,-11.89,102,802.77,0.00,0.00,0.00,0.000,0.000,0.000,3694.69,3761.94,3627.44,2289.00,2514.31,0,0,0,30.00,30.00,30.00
$GC,978.44,260,-146.63,-0.61,40.00,3695.1,3762.8,3627.4,2288.4,2514.5,101.00,-11.66,120,985.15,0.00,0.00,2.34,0.000,0.000,0.117,3694.91,3762.00,3627.81,2278.00,3798.69,0,0,0,30.00,30.00,15.83
$GC,1033.23,1028,-146.63,-0.61,0.00,3695.1,3761.7,3628.4,2278.9,3800.7,107.27,-11.44,131,1040.12,0.00,0.00,2.20,0.000,0.000,0.049,3695.94,3763.00,3628.88,2277.31,2448.50,0,0,0,30.00,30.00,15.88
$GC,1218.42,388,-146.63,-0.60,40.00,3694.8,3761.4,3628.1,2277.8,2440.4,129.53,-12.53,150,1225.50,0.00,0.00,2.43,0.000,0.000,0.100,3694.69,3760.75,3628.62,2268.44,3803.88,0,0,0,30.00,30.00,15.84
$GC,1263.30,1028,-146.63,-0.60,0.00,3694.3,3761.1,3627.4,2267.4,3803.8,135.28,-12.87,159,1270.13,0.00,0.00,2.19,0.000,0.000,0.044,3694.16,3761.38,3626.94,2268.12,2446.00,0,0,0,30.00,30.00,15.90
$STATE,1388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1388,begin apogee
$GC,1389.69,3,0.00,-0.14,0.00,3694.1,3760.4,3627.8,2267.0,2531.1,150.84,-12.34,172,1504.27,110.01,0.57,0.09,1.298,0.185,0.142,3097.19,3189.25,3005.12,2436.81,2439.06,0,0,0,12.27,15.84,15.31
$STATE,1508,end apogee,CONTROL_FINISHED_OK
$STATE,1508,begin climb
$WARN,HPMAR logging already started
$GC,1508.03,263,146.63,0.65,40.00,3096.5,3188.8,3004.2,2435.9,2438.9,154.93,0.00,183,1636.74,113.08,0.79,2.57,1.301,0.098,0.102,2499.19,2548.31,2450.06,2697.81,3799.06,0,0,0,12.16,15.44,15.15
$GC,1824.65,1159,146.63,0.56,0.00,2493.1,2543.8,2442.4,2698.5,3798.3,124.20,15.20,243,1831.59,0.00,0.20,2.24,0.000,0.218,0.045,2491.66,2541.81,2441.50,2653.50,2448.12,0,0,0,30.00,15.61,15.64
$GC,2009.55,390,146.63,0.54,40.00,2491.7,2543.4,2439.9,2653.6,2442.2,104.33,10.12,262,2016.68,0.00,0.00,2.49,0.000,0.000,0.108,2494.56,2546.25,2442.88,2651.88,3800.81,0,0,0,30.00,30.00,15.61
$GC,2144.70,1190,168.20,0.53,0.00,2492.5,2545.2,2439.8,2652.6,3801.2,90.94,8.99,289,2170.48,17.88,0.00,2.21,1.125,0.000,0.044,2415.19,2469.25,2361.12,2660.75,2440.88,0,0,0,12.33,30.00,15.76
$GC,2354.78,678,209.39,0.55,-40.00,2409.0,2467.6,2350.4,2662.9,2441.9,74.39,8.07,313,2397.63,33.47,0.00,2.34,1.182,0.000,0.054,2242.88,2314.94,2170.81,2671.94,1048.94,0,0,0,12.29,30.00,15.48
$GC,2475.48,1062,226.49,0.56,0.00,2240.2,2311.4,2169.1,2671.4,1048.6,63.91,9.20,337,2498.00,15.16,0.00,2.62,1.081,0.000,0.085,2175.12,2247.19,2103.06,2672.69,2515.31,0,0,0,12.32,30.00,15.69
$GC,2675.41,516,226.49,0.56,-40.00,2169.9,2245.2,2094.5,2672.4,2516.2,40.84,12.15,359,2682.45,0.00,0.00,2.45,0.000,0.000,0.050,2170.50,2246.19,2094.81,2681.56,1050.12,0,0,0,30.00,30.00,15.72
$GC,2820.71,1030,226.49,0.56,0.00,2168.2,2242.9,2093.6,2680.9,1049.8,24.92,10.17,388,2827.55,0.00,0.00,2.61,0.000,0.000,0.085,2170.28,2244.19,2096.38,2680.75,2518.56,0,0,0,30.00,30.00,15.78
$GC,3005.74,516,226.49,0.56,-40.00,2168.8,2244.4,2093.2,2681.7,2518.5,5.78,10.27,407,3012.85,0.00,0.00,2.45,0.000,0.000,0.050,2168.09,2243.12,2093.06,2689.06,1045.81,0,0,0,30.00,30.00,15.81
$STATE,3040,end climb,SURFACE_DEPTH_REACHED
$STATE,3040,begin surface coast
$FINISH,0.4,1.022080
$STATE,3070,end surface coast,CONTROL_FINISHED_OK
$STATE,3070,begin surface
$SM_CCo,3408.03,310.96,1.122,0,381.1,403.9,358.2,666.95
$SM_CCo,3409.17,0.00,2.705,0,381.6,404.5,358.8,666.82
$SM_CCo,3410.28,0.00,0.009,0,381.5,404.6,358.4,666.85
$SM_GC,0.23,0.00,6.80,2.63,0.009,0.077,0.104,381.5,404.6,358.4,339.9,2514.2,0,0,0,30.36,15.87,15.85
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,4742.17,-12225.08,090519,175613
$TCM_TEMP,14.70
$XPDR_PINGS,41
$SC_FREEKB,3875936
$PM_FREEKB_00,62189632
$PM_FREEKB_01,62341568
$PM_FREEKB_02,62341760
$PM_FREEKB_03,62342144
$PM_ACTIVECARD,0
$TM_FREEKB,7808928
$HUMID,50.72
$TEMP,10.86
$INTERNAL_PRESSURE,9.01181
$24V_AH,14.31,4.238
$10V_AH,14.68,0.000
$FG_AHR_24Vo,2.139
$FG_AHR_10Vo,0.445
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,777.875,17.400,43.650,0.000,10.250,12.032,1815.708,1658.335,931.022,0.000,0.000,0.000
$DEVICE_MAMPS,2705.096,374.328,142.432,0.000,420.000,6.320,9.810,2.190,1.990,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3057.000,3074.000,3054.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.351,9.942,18.615,0.000
$MEM,1133588,28,45760,64
$DATA_FILE_SIZE,17103,420
$CAP_FILE_SIZE,157204,0
$SDSIZE,3918848,3906496
$SDFILEDIR,58,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.196,  4.3,1
$GPS,090519,185916,4743.911,-12224.743,1,0.8,2,15.6