version: 67.00
glider: 226
mission: 5
dive: 69
start: 10 9 118 2 17 32
data:
$ID,226
$MISSION,5
$DIVE,69
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,5
$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,360
$T_MISSION,420
$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,1020
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72460
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0070000002
$HD_B,0.0099999998
$HD_C,1.6e-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,653.96979
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,135
$PITCH_MAX,3735
$C_PITCH,1950
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041975998
$PITCH_GAIN,37
$PITCH_TIMEOUT,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,270
$ROLL_MAX,3950
$ROLL_DEG,80
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3860
$C_VBD,3166
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,4
$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,0.80000001
$FG_AHR_10V,5.217319
$FG_AHR_24V,21.36799
$PHONE_SUPPLY,2
$PRESSURE_YINT,-139.0426
$PRESSURE_SLOPE,0.00010769104
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,104
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0044421619
$SEABIRD_T_H,0.0006586102
$SEABIRD_T_I,2.6926198e-05
$SEABIRD_T_J,3.3427477e-06
$SEABIRD_C_G,-9.9959793
$SEABIRD_C_H,1.1392462
$SEABIRD_C_I,-0.0021947562
$SEABIRD_C_J,0.00024419418
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,091018,021201,7402.008,-14622.818,80,0.7,81,18.4
$_CALLS,1
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-78.1
$GPS2,091018,021658,7402.029,-14622.788,2,0.7,3,18.4
$SPEED_LIMITS,0.159,0.255
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$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,342.8,18471,-18.2,-9.167,-19.77
$D_GRID,1020
$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,1,end surface,CONTROL_FINISHED_OK
$STATE,1,begin dive
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$MODEM_MSG,CACST,6,1,20181009042028.076918,05,309,24,0049,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3C
$GC,8466.62,516,-145.99,-0.93,-80.00,3764.0,3948.2,3579.8,1705.9,2606.5,929.70,-9.23,658,8475.24,0.00,0.00,5.71,0.000,0.000,0.062,3764.50,3948.25,3580.75,1706.00,897.94,0,0,0,30.00,30.00,15.98
$GC,8586.55,1028,-145.99,-0.93,0.00,3763.7,3947.6,3579.8,1707.4,897.6,940.74,-9.15,682,8595.08,0.00,0.00,5.39,0.000,0.000,0.046,3763.53,3947.62,3579.44,1686.12,2607.19,0,0,0,30.00,30.00,16.01
$GC,8916.63,1,-145.99,-0.93,0.00,3764.0,3948.0,3580.1,1686.1,2607.8,973.69,-10.01,698,8918.09,0.00,0.21,0.00,0.000,0.161,0.000,3763.81,3947.94,3579.69,1725.69,2607.69,0,0,0,30.00,15.93,30.00
$STATE,9125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9125,begin apogee
$GC,9129.14,3,0.00,-0.14,0.00,3764.2,3948.1,3580.4,1728.9,2179.8,990.80,-7.95,705,9265.22,133.32,1.09,0.16,2.736,0.139,0.122,3160.94,3172.94,3148.94,1916.38,2222.31,0,0,0,12.83,15.99,15.00
$STATE,9265,end apogee,CONTROL_FINISHED_OK
$STATE,9265,begin climb
$GC,9267.07,3,145.99,0.93,0.00,3160.0,3170.9,3149.2,1916.8,2221.9,992.75,0.00,709,9405.16,135.90,1.05,0.00,2.653,0.073,0.000,2569.66,2487.00,2652.31,2176.12,2222.06,0,0,0,12.35,15.09,30.00
$GC,9723.15,518,145.99,0.93,-80.00,2557.4,2469.4,2645.4,2177.5,2221.6,932.22,17.37,749,9732.69,0.00,0.00,5.97,0.000,0.000,0.069,2556.66,2467.38,2645.94,2199.31,500.50,0,0,0,30.00,30.00,15.44
$GC,9923.11,1031,145.99,0.93,0.00,2552.7,2460.4,2645.0,2199.1,500.4,893.92,19.06,789,9931.84,0.00,0.09,5.41,0.000,0.267,0.040,2553.09,2460.88,2645.31,2165.50,2209.94,0,0,0,30.00,15.45,15.57
$GC,10233.11,518,145.99,0.93,-80.00,2552.7,2460.4,2645.1,2165.0,2210.9,842.07,16.49,801,10242.00,0.00,0.00,5.76,0.000,0.000,0.064,2553.88,2461.88,2645.88,2187.06,500.50,0,0,0,30.00,30.00,15.70
$GC,10338.08,1030,145.99,0.93,0.00,2551.8,2458.1,2645.4,2187.1,500.1,823.22,17.87,822,10346.84,0.00,0.00,5.33,0.000,0.000,0.039,2551.66,2458.25,2645.06,2165.44,2209.56,0,0,0,30.00,30.00,15.74
$GC,10653.18,518,145.99,0.93,-80.00,2551.8,2458.2,2645.5,2165.6,2210.9,771.70,16.22,835,10661.79,0.00,0.00,5.66,0.000,0.000,0.062,2552.09,2459.19,2645.00,2187.25,500.56,0,0,0,30.00,30.00,15.81
$GC,10788.27,1030,145.99,0.93,0.00,2551.3,2457.2,2645.4,2187.2,500.4,747.58,17.71,862,10797.00,0.00,0.00,5.32,0.000,0.000,0.039,2552.22,2458.38,2646.06,2166.69,2210.94,0,0,0,30.00,30.00,15.84
$GC,11103.17,518,145.99,0.93,-80.00,2551.7,2457.9,2645.5,2166.4,2211.6,697.12,15.84,875,11110.83,0.00,0.00,5.64,0.000,0.000,0.062,2551.38,2457.88,2644.88,2186.31,500.31,0,0,0,30.00,30.00,15.88
$GC,11243.61,1030,145.99,0.93,0.00,2551.2,2456.8,2645.5,2188.1,500.3,672.60,17.27,903,11252.17,0.00,0.00,5.28,0.000,0.000,0.039,2553.59,2458.56,2648.62,2164.31,2210.69,0,0,0,30.00,30.00,15.91
$GC,11578.79,518,145.99,0.93,-80.00,2550.9,2456.7,2645.1,2166.9,2211.3,620.30,15.53,920,11587.60,0.00,0.00,5.59,0.000,0.000,0.062,2553.97,2459.06,2648.88,2186.62,500.56,0,0,0,30.00,30.00,15.94
$GC,11708.72,1030,145.99,0.93,0.00,2550.7,2455.8,2645.7,2188.4,500.6,598.42,16.79,946,11717.47,0.00,0.00,5.26,0.000,0.000,0.039,2551.53,2456.44,2646.62,2167.94,2210.81,0,0,0,30.00,30.00,15.96
$GC,12028.95,518,145.99,0.93,-80.00,2550.3,2455.6,2645.0,2167.2,2211.8,549.69,14.97,960,12036.30,0.00,0.00,5.60,0.000,0.000,0.061,2551.28,2456.12,2646.44,2187.50,500.69,0,0,0,30.00,30.00,15.98
$GC,12164.33,1030,145.99,0.93,0.00,2550.0,2455.1,2644.9,2189.4,500.6,527.24,16.73,987,12173.08,0.00,0.00,5.24,0.000,0.000,0.039,2550.84,2455.56,2646.12,2167.81,2210.56,0,0,0,30.00,30.00,15.99
$GC,12474.31,518,145.99,0.93,-80.00,2550.5,2455.4,2645.6,2168.2,2211.1,480.87,14.69,999,12482.83,0.00,0.00,5.55,0.000,0.000,0.061,2550.56,2455.69,2645.44,2190.12,500.56,0,0,0,30.00,30.00,16.00
$GC,12594.45,1030,145.99,0.93,0.00,2550.1,2454.9,2645.2,2189.6,500.3,461.54,16.03,1023,12601.76,0.00,0.00,5.23,0.000,0.000,0.038,2550.38,2455.12,2645.62,2169.06,2210.94,0,0,0,30.00,30.00,16.02
$GC,12919.59,518,145.99,0.93,-80.00,2550.3,2455.4,2645.1,2169.1,2212.6,414.72,14.18,1038,12928.20,0.00,0.00,5.58,0.000,0.000,0.062,2552.19,2457.12,2647.25,2189.38,500.56,0,0,0,30.00,30.00,16.02
$GC,13044.70,1030,145.99,0.93,0.00,2550.0,2454.7,2645.3,2190.6,500.3,395.03,15.88,1063,13053.27,0.00,0.00,5.22,0.000,0.000,0.039,2551.22,2456.19,2646.25,2169.31,2211.12,0,0,0,30.00,30.00,16.03
$GC,13369.71,518,145.99,0.93,-80.00,2550.2,2454.9,2645.6,2169.8,2211.3,350.88,13.29,1078,13378.30,0.00,0.00,5.53,0.000,0.000,0.061,2552.22,2456.44,2648.00,2190.81,500.44,0,0,0,30.00,30.00,16.04
$GC,13479.72,1030,145.99,0.93,0.00,2550.1,2454.5,2645.6,2190.9,499.4,335.18,14.17,1100,13488.51,0.00,0.00,5.21,0.000,0.000,0.038,2550.16,2454.75,2645.56,2170.69,2212.62,0,0,0,30.00,30.00,16.06
$GC,13789.93,518,145.99,0.93,-80.00,2550.2,2455.0,2645.3,2170.1,2213.6,299.68,10.78,1112,13797.32,0.00,0.00,5.55,0.000,0.000,0.061,2551.00,2455.12,2646.88,2191.50,499.38,0,0,0,30.00,30.00,16.06
$GC,13920.35,1030,145.99,0.93,0.00,2549.9,2454.2,2645.6,2191.8,499.1,285.93,9.37,1138,13929.00,0.00,0.00,5.18,0.000,0.000,0.037,2551.81,2456.00,2647.62,2170.94,2212.94,0,0,0,30.00,30.00,16.07
$GC,14235.23,66,145.99,1.00,0.00,2550.3,2455.3,2645.4,2171.2,2213.1,265.50,5.74,1151,14236.57,0.00,0.00,0.00,0.000,0.000,0.000,2550.81,2455.62,2646.00,2167.69,2213.69,0,0,0,30.00,30.00,30.00
$GC,14535.40,551,310.52,1.49,-80.00,2549.8,2454.9,2644.8,2171.2,2213.4,257.49,2.25,1161,14681.00,137.44,0.51,5.95,1.876,0.078,0.067,1891.75,1798.00,1985.50,2333.44,500.62,0,0,0,12.98,16.08,15.26
$GC,14753.97,1031,310.52,1.49,0.00,1886.9,1786.5,1987.2,2333.1,500.5,229.44,19.18,1204,14762.59,0.00,0.09,5.49,0.000,0.271,0.041,1887.62,1787.38,1987.88,2300.06,2211.00,0,0,0,30.00,15.34,15.47
$GC,14943.80,518,310.52,1.49,-80.00,1884.3,1781.2,1987.4,2299.6,2212.2,199.94,14.87,1224,14952.72,0.00,0.00,5.86,0.000,0.000,0.068,1884.44,1781.31,1987.56,2320.12,500.31,0,0,0,30.00,30.00,15.62
$GC,15028.90,1030,310.52,1.49,0.00,1882.0,1776.8,1987.2,2320.1,500.4,186.66,15.05,1241,15036.42,0.00,0.00,5.41,0.000,0.000,0.040,1881.25,1775.88,1986.62,2300.25,2209.69,0,0,0,30.00,30.00,15.66
$GC,15219.44,518,310.52,1.49,-80.00,1881.8,1776.3,1987.2,2300.9,2210.6,161.62,12.89,1261,15228.31,0.00,0.00,5.72,0.000,0.000,0.063,1881.84,1775.81,1987.88,2320.94,500.44,0,0,0,30.00,30.00,15.74
$GC,15304.50,1030,310.52,1.49,0.00,1879.4,1771.8,1987.1,2320.6,500.4,150.06,13.48,1278,15313.01,0.00,0.00,5.34,0.000,0.000,0.039,1879.50,1771.94,1987.06,2301.19,2211.12,0,0,0,30.00,30.00,15.77
$GC,15499.31,518,310.52,1.49,-80.00,1879.6,1772.0,1987.1,2301.5,2212.2,128.47,10.11,1299,15508.13,0.00,0.00,5.68,0.000,0.000,0.064,1880.50,1772.56,1988.44,2321.50,500.38,0,0,0,30.00,30.00,15.81
$GC,15564.48,1030,310.52,1.49,0.00,1878.7,1770.2,1987.2,2320.9,500.2,121.20,11.12,1312,15573.09,0.00,0.00,5.32,0.000,0.000,0.038,1879.31,1770.50,1988.12,2302.19,2209.94,0,0,0,30.00,30.00,15.82
$GC,15759.46,582,310.52,1.52,-80.00,1878.6,1770.2,1986.9,2301.2,2209.9,104.62,7.67,1333,15768.09,0.00,0.00,5.64,0.000,0.000,0.063,1878.66,1769.94,1987.38,2322.00,500.25,0,0,0,30.00,30.00,15.86
$GC,15814.53,1030,310.52,1.52,0.00,1878.3,1768.9,1987.8,2321.9,499.8,99.76,9.08,1344,15823.10,0.00,0.00,5.28,0.000,0.000,0.039,1878.41,1769.19,1987.62,2302.31,2211.88,0,0,0,30.00,30.00,15.87
$GC,16009.51,551,407.10,1.81,-80.00,1878.1,1768.9,1987.3,2302.1,2212.1,88.08,5.11,1365,16126.49,107.86,0.29,5.96,1.654,0.078,0.071,1501.56,1396.25,1606.88,2409.62,500.50,0,0,0,12.80,15.89,15.30
$GC,16159.69,1031,407.10,1.81,0.00,1497.8,1388.9,1606.6,2409.6,500.2,75.46,11.50,1395,16167.16,0.00,0.08,5.44,0.000,0.242,0.039,1498.16,1389.06,1607.25,2375.38,2211.44,0,0,0,30.00,15.33,15.44
$GC,16344.64,551,522.33,2.16,-80.00,1494.9,1383.4,1606.4,2375.4,2210.9,64.88,4.33,1414,16483.07,129.70,0.32,6.05,1.583,0.066,0.071,1031.03,901.50,1160.56,2494.25,500.56,0,0,0,12.58,15.60,15.08
$GC,16525.88,1095,522.33,2.18,0.00,1026.9,893.8,1160.1,2494.1,500.6,53.29,8.10,1450,16534.77,0.00,0.06,5.50,0.000,0.205,0.039,1026.84,893.62,1160.06,2464.31,2214.19,0,0,0,30.00,15.21,15.29
$GC,16721.07,582,522.33,2.25,-80.00,1024.7,889.1,1160.2,2465.4,2215.1,41.53,5.56,1471,16730.60,0.00,0.00,6.09,0.000,0.000,0.079,1024.53,888.19,1160.88,2487.62,500.38,0,0,0,30.00,30.00,15.49
$GC,16780.98,1094,522.33,2.32,0.00,1022.3,884.4,1160.1,2487.4,500.1,38.15,5.64,1483,16789.70,0.00,0.00,5.38,0.000,0.000,0.037,1022.41,884.56,1160.25,2485.19,2211.88,0,0,0,30.00,30.00,15.55
$GC,16971.00,35,670.73,2.77,0.00,1021.8,883.6,1159.9,2485.2,2211.9,31.45,2.93,1503,17113.62,140.88,0.43,0.00,1.549,0.058,0.000,499.84,387.88,611.81,2617.31,2212.44,0,0,0,12.61,15.65,30.00
$GC,17291.01,582,670.73,2.78,-80.00,492.1,381.1,603.1,2618.9,2212.6,10.28,8.23,1543,17300.77,0.00,0.00,6.17,0.000,0.000,0.080,491.03,379.06,603.00,2640.25,501.81,0,0,0,30.00,30.00,15.42
$GC,17346.12,1031,670.73,2.78,0.00,489.4,375.7,603.2,2640.1,500.5,5.16,9.53,1554,17354.76,0.00,0.10,5.47,0.000,0.232,0.042,489.50,375.75,603.25,2606.50,2212.75,0,0,0,30.00,15.38,15.49
$STATE,17389,end climb,SURFACE_DEPTH_REACHED
$STATE,17389,begin surface coast
$STATE,17409,end surface coast,CONTROL_FINISHED_OK
$STATE,17409,begin surface
$SM_CCo,17481.93,0.00,0.000,0,489.5,375.5,603.5,656.55
$SM_GC,2.55,0.00,8.16,1.38,0.000,0.101,0.051,489.5,375.5,603.5,124.1,2609.1,0,0,0,30.00,15.45,15.53
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,7354.45,-14326.42,081018,211727
$TCM_TEMP,248.61
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.3,19.6
$RAFOS_CLK,-22
$RAFOS_FIX,7432.305176,-14542.542969,091018,040428,4,255,8.38
$HUMID,52.37
$TEMP,0.12
$INTERNAL_PRESSURE,8.76523
$24V_AH,14.11,41.707
$10V_AH,14.85,0.000
$FG_AHR_24Vo,21.640
$FG_AHR_10Vo,5.256
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,890.075,22.095,395.920,191.834,2.250,12.717,3336.894,14405.273,1595.955,2200.000,1.000,0.000
$DEVICE_MAMPS,2735.928,382.528,122.424,176.052,420.000,5.530,11.850,2.310,0.080,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,1133948,28,45636,57
$DATA_FILE_SIZE,64295,1562
$CAP_FILE_SIZE,492660,0
$SDSIZE,3918848,3893696
$ERRORS,0,0,0,0,0,0,0,0
$GPS,091018,071031,7404.326,-14618.727,76,0.9,77,18.4