version: 67.00
glider: 185
mission: 0
dive: 47
start: 2 14 116 6 31 42
data:
$ID,185
$MISSION,0
$DIVE,47
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,400
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,4
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,270
$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,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51725
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,515.13
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,129
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,25
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,5
$MAXI_10V,0.80000001
$FG_AHR_10V,27.485165
$FG_AHR_24V,17.438835
$PHONE_SUPPLY,2
$PRESSURE_YINT,-150.34485
$PRESSURE_SLOPE,0.00010658
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,900
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$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,48
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,4
$SIM_W,0.1
$SEABIRD_T_G,0.0043319771
$SEABIRD_T_H,0.00061972893
$SEABIRD_T_I,2.0309124e-05
$SEABIRD_T_J,1.8214913e-06
$SEABIRD_C_G,-9.9888363
$SEABIRD_C_H,1.1040936
$SEABIRD_C_I,-0.0023403035
$SEABIRD_C_J,0.00025686048
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,140216,062246,4739.312,-12219.027,24,1.9,31,15.9
$_CALLS,4
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-3.2
$GPS2,140216,063133,4739.310,-12219.018,3,0.8,34,15.9
$SPEED_LIMITS,0.173,0.261
$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,300.4,10759,-18.2,-10.000,-20.99
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,3.74,2,-146.63,-0.91,0.00,492.3,485.7,498.9,445.6,2012.6,0.00,0.00,0,35.40,30.97,0.00,0.00,0.000,0.000,0.000,1337.81,1433.69,1241.94,445.81,2012.75,0,0,0,26.66,30.00,30.00
$GC,35.67,263,-146.63,-0.91,40.00,1337.9,1433.4,1242.4,445.7,2012.8,3.43,-10.41,3,134.70,84.78,6.98,3.45,0.000,0.060,0.045,3195.62,3285.06,3106.19,2556.75,3443.56,0,0,0,26.66,27.68,26.80
$GC,401.47,1156,-146.63,-0.86,0.00,3196.0,3285.4,3106.7,2554.1,3444.1,40.13,-10.07,76,407.77,0.00,0.00,3.23,0.000,0.000,0.028,3196.56,3285.56,3107.56,2554.38,2016.00,0,0,0,30.00,30.00,27.86
$GC,591.23,421,-146.63,-0.80,40.00,3196.6,3286.4,3106.7,2555.4,2016.4,58.93,-9.73,96,597.18,0.00,0.13,3.44,0.000,0.057,0.043,3198.03,3287.12,3108.94,2532.62,3441.88,0,0,0,30.00,28.06,27.73
$GC,866.07,1188,-146.63,-0.75,0.00,3196.0,3285.1,3106.8,2590.7,3441.2,86.52,-9.88,151,872.48,0.00,0.00,3.21,0.000,0.000,0.028,3197.22,3286.25,3108.19,2590.38,2017.88,0,0,0,30.00,30.00,27.93
$GC,1051.44,389,-146.63,-0.69,40.00,3195.7,3284.9,3106.5,2590.6,2017.7,104.90,-10.04,170,1057.58,0.00,0.14,3.45,0.000,0.058,0.043,3197.88,3286.62,3109.12,2624.75,3443.38,0,0,0,30.00,28.12,27.76
$GC,1326.48,1156,-146.63,-0.64,0.00,3196.8,3286.3,3107.3,2624.9,3443.5,132.74,-10.02,225,1332.49,0.00,0.00,3.21,0.000,0.000,0.029,3197.00,3286.12,3107.88,2621.25,2014.31,0,0,0,30.00,30.00,27.96
$GC,1511.50,421,-146.63,-0.59,40.00,3196.4,3285.4,3107.5,2623.9,2014.7,151.20,-9.98,244,1517.58,0.00,0.14,3.45,0.000,0.059,0.043,3196.25,3285.56,3106.94,2658.56,3443.81,0,0,0,30.00,28.18,27.78
$GC,1786.50,1156,-146.63,-0.53,0.00,3196.2,3285.4,3107.0,2658.8,3442.6,178.53,-10.24,299,1792.37,0.00,0.00,3.22,0.000,0.000,0.029,3196.22,3285.62,3106.81,2661.94,2013.44,0,0,0,30.00,30.00,27.98
$GC,1971.68,421,-146.63,-0.48,40.00,3196.6,3286.1,3107.2,2659.1,2013.8,196.98,-9.92,318,1977.58,0.00,0.14,3.44,0.000,0.058,0.043,3196.25,3286.00,3106.50,2694.31,3444.81,0,0,0,30.00,28.23,27.79
$GC,2246.33,1156,-146.63,-0.43,0.00,3196.6,3286.2,3106.9,2694.3,3445.1,224.56,-10.09,373,2252.48,0.00,0.00,3.21,0.000,0.000,0.028,3196.78,3285.62,3107.94,2693.94,2016.94,0,0,0,30.00,30.00,28.00
$GC,2431.83,421,-146.63,-0.37,40.00,3196.2,3285.1,3107.2,2694.7,2015.9,242.75,-9.76,392,2437.57,0.00,0.14,3.44,0.000,0.059,0.043,3197.88,3287.25,3108.50,2726.94,3444.44,0,0,0,30.00,28.26,27.78
$GC,2706.62,1156,-146.63,-0.32,0.00,3196.3,3286.1,3106.4,2728.1,3442.8,270.20,-10.17,447,2712.49,0.00,0.00,3.20,0.000,0.000,0.028,3196.91,3286.62,3107.19,2728.62,2017.69,0,0,0,30.00,30.00,28.00
$GC,2891.82,389,-146.63,-0.27,40.00,3196.2,3284.9,3107.6,2728.5,2017.4,289.04,-10.17,466,2897.58,0.00,0.14,3.45,0.000,0.059,0.043,3197.41,3286.56,3108.25,2762.00,3441.19,0,0,0,30.00,28.27,27.77
$GC,3166.48,1156,-146.63,-0.21,0.00,3196.6,3286.2,3106.9,2762.4,3441.6,316.46,-10.18,521,3172.08,0.00,0.00,3.20,0.000,0.000,0.028,3196.69,3286.38,3107.00,2760.12,2016.44,0,0,0,30.00,30.00,28.01
$GC,3351.45,389,-146.63,-0.16,40.00,3196.3,3285.2,3107.4,2762.8,2016.1,335.28,-10.20,540,3357.20,0.00,0.14,3.44,0.000,0.059,0.043,3196.72,3286.56,3106.88,2796.81,3443.19,0,0,0,30.00,28.31,27.76
$STATE,3602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3602,begin apogee
$GC,3606.47,2,0.00,-0.20,0.00,3196.7,3286.2,3107.1,2797.4,2016.6,360.39,10.18,590,3727.20,118.54,0.00,0.04,0.467,0.000,0.113,2598.31,2654.56,2542.06,2794.75,2027.25,0,0,0,23.88,30.00,26.90
$STATE,3728,end apogee,CONTROL_FINISHED_OK
$STATE,3728,begin climb
$GC,3727.68,519,146.63,0.91,-40.00,2587.4,2644.0,2530.9,2796.6,2028.8,348.23,0.00,602,3860.17,123.44,1.50,3.36,0.440,0.057,0.025,1989.94,2045.38,1934.50,3138.75,603.88,0,0,0,24.14,27.16,26.48
$GC,4127.87,1158,146.63,0.86,0.00,1977.2,2037.7,1916.8,3138.4,604.1,307.49,10.19,682,4132.59,0.00,0.00,3.30,0.000,0.000,0.028,1977.38,2037.38,1917.38,3137.81,2029.25,0,0,0,30.00,30.00,27.49
$GC,4317.35,647,146.63,0.80,-40.00,1976.3,2036.8,1915.9,3138.3,2030.2,288.52,10.20,702,4322.65,0.00,0.14,3.25,0.000,0.048,0.025,1977.72,2038.38,1917.06,3100.50,604.00,0,0,0,30.00,27.79,27.66
$GC,4592.78,1190,147.62,0.75,0.00,1975.9,2036.9,1914.9,3101.1,603.9,261.07,9.95,757,4597.60,0.00,0.00,3.26,0.000,0.000,0.028,1977.03,2037.81,1916.25,3100.19,2027.31,0,0,0,30.00,30.00,27.76
$GC,4777.58,678,148.25,0.70,-40.00,1975.7,2036.8,1914.6,3100.1,2027.4,242.68,9.97,776,4782.97,0.00,0.00,3.20,0.000,0.000,0.025,1976.91,2037.81,1916.00,3100.75,605.38,0,0,0,30.00,30.00,27.85
$GC,5052.55,1159,148.25,0.64,0.00,1975.3,2036.4,1914.2,3100.7,605.6,214.98,10.06,831,5057.67,0.00,0.18,3.24,0.000,0.049,0.028,1975.41,2036.19,1914.62,3048.94,2027.69,0,0,0,30.00,27.76,27.87
$GC,5237.19,678,148.67,0.59,-40.00,1975.2,2036.3,1914.2,3050.0,2027.6,196.80,9.98,850,5242.57,0.00,0.00,3.19,0.000,0.000,0.025,1975.84,2037.31,1914.38,3050.31,603.94,0,0,0,30.00,30.00,27.93
$GC,5512.20,1158,148.67,0.54,0.00,1975.3,2036.2,1914.4,3049.9,604.1,169.13,10.01,905,5517.98,0.00,0.00,3.23,0.000,0.000,0.028,1976.22,2037.44,1915.00,3049.56,2028.81,0,0,0,30.00,30.00,27.92
$GC,5697.29,677,152.53,0.49,-40.00,1974.6,2035.6,1913.6,3049.1,2028.6,150.58,9.82,924,5703.02,0.00,0.17,3.20,0.000,0.050,0.026,1976.31,2037.25,1915.38,3000.00,604.12,0,0,0,30.00,28.14,27.97
$GC,5972.30,1156,152.53,0.43,0.00,1974.7,2035.2,1914.1,2998.9,603.9,123.27,10.25,979,5977.99,0.00,0.00,3.23,0.000,0.000,0.028,1974.62,2035.12,1914.12,2999.94,2027.69,0,0,0,30.00,30.00,27.95
$GC,6157.04,676,153.48,0.38,-40.00,1975.1,2035.9,1914.3,3001.1,2027.9,105.09,9.96,998,6162.56,0.00,0.00,3.19,0.000,0.000,0.025,1975.12,2035.94,1914.31,3003.81,604.31,0,0,0,30.00,30.00,28.00
$GC,6432.51,1191,155.92,0.33,0.00,1974.9,2035.6,1914.2,3001.1,604.2,77.22,9.89,1053,6438.75,1.09,0.18,3.22,0.189,0.049,0.028,1962.41,2021.06,1903.75,2947.56,2027.56,0,0,0,24.92,27.85,27.96
$GC,6622.55,644,155.92,0.28,-40.00,1963.2,2018.6,1907.7,2947.8,2027.3,58.06,10.01,1073,6627.57,0.00,0.00,3.19,0.000,0.000,0.025,1964.31,2019.06,1909.56,2946.00,603.94,0,0,0,30.00,30.00,28.04
$GC,6897.02,1156,155.92,0.22,0.00,1962.9,2018.1,1907.8,2947.9,603.9,30.70,10.03,1128,6902.99,0.00,0.00,3.22,0.000,0.000,0.028,1963.31,2019.00,1907.62,2946.81,2029.38,0,0,0,30.00,30.00,27.98
$GC,7082.34,677,156.66,0.17,-40.00,1963.2,2018.4,1907.9,2948.3,2029.3,12.10,9.97,1147,7088.01,0.00,0.17,3.19,0.000,0.052,0.025,1963.00,2018.19,1907.81,2900.50,604.06,0,0,0,30.00,28.25,28.03
$STATE,7187,end climb,SURFACE_DEPTH_REACHED
$STATE,7187,begin surface coast
$FINISH,-0.0,0.999224
$STATE,7208,end surface coast,CONTROL_FINISHED_OK
$STATE,7208,begin surface
$SM_CCo,7346.74,122.08,0.122,0,496.3,488.1,504.6,516.03
$SM_GC,-0.12,122.08,7.72,3.20,0.122,0.042,0.028,496.3,488.1,504.6,446.9,2028.3,0,0,0,25.53,27.86,27.98
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,4719.74,-12218.96,140216,062720
$TCM_TEMP,20.70
$XPDR_PINGS,1
$SC_FREEKB,4005568
$HUMID,49.25
$TEMP,14.25
$INTERNAL_PRESSURE,10.1091
$24V_AH,26.40,5.545
$10V_AH,10.98,11.836
$FG_AHR_24Vo,17.487
$FG_AHR_10Vo,27.522
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,480.900,17.995,105.060,257.727,0.250,35.472,2570.220,5282.045,1621.088,0.000,0.000,0.000
$DEVICE_MAMPS,466.944,59.629,113.143,90.209,420.000,11.200,163.720,2.190,4.080,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7206.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.766,0.000,0.000,0.000
$MEM,1135576,32,45472,53
$DATA_FILE_SIZE,40708,1172
$CAP_FILE_SIZE,249089,0
$SDSIZE,4028416,4009152
$ERRORS,0,0,0,0,0,0,0,0
$CURRENT,0.000, -0.0,1
$GPS,140216,083425,4739.312,-12219.018,3,1.7,7,15.9