version: 67.00
glider: 226
mission: 5
dive: 70
start: 10 9 118 7 15 51
data:
$ID,226
$MISSION,5
$DIVE,70
$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,5.2573676
$FG_AHR_24V,21.646318
$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
$GPS1,091018,071031,7404.326,-14618.727,76,0.9,77,18.4
$_CALLS,1
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-78.5
$GPS2,091018,071524,7404.328,-14618.790,2,0.6,3,18.4
$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,335.1,14300,-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
$STATE,1,begin dive
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$GC,7718.30,1,-145.99,-0.93,0.00,3764.6,3946.5,3582.8,1698.9,2607.4,877.31,-9.16,606,7719.74,0.00,0.14,0.00,0.000,0.173,0.000,3764.69,3946.00,3583.38,1728.56,2607.12,0,0,0,30.00,15.99,30.00
$GC,8018.18,516,-145.99,-0.93,-80.00,3765.0,3946.6,3583.4,1728.1,2607.2,900.16,-7.56,616,8026.70,0.00,0.00,5.53,0.000,0.000,0.056,3765.72,3947.06,3584.38,1740.06,896.88,0,0,0,30.00,30.00,16.10
$GC,8133.33,1028,-145.99,-0.93,0.00,3764.7,3946.1,3583.3,1740.1,896.9,908.54,-7.13,639,8141.88,0.00,0.00,5.32,0.000,0.000,0.044,3765.12,3947.12,3583.12,1717.56,2607.19,0,0,0,30.00,30.00,16.10
$GC,8468.34,516,-145.99,-0.93,-80.00,3764.4,3946.0,3582.8,1717.6,2607.1,935.29,-8.13,656,8476.84,0.00,0.00,5.59,0.000,0.000,0.060,3765.53,3947.50,3583.56,1717.75,898.12,0,0,0,30.00,30.00,16.10
$GC,8533.42,1028,-145.99,-0.93,0.00,3764.3,3946.4,3582.2,1717.9,898.0,940.81,-8.37,669,8541.86,0.00,0.00,5.34,0.000,0.000,0.045,3765.09,3946.50,3583.69,1696.69,2605.94,0,0,0,30.00,30.00,16.11
$GC,8858.46,1,-145.99,-0.93,0.00,3764.7,3946.3,3583.1,1696.9,2606.9,970.77,-9.30,684,8859.90,0.00,0.14,0.00,0.000,0.171,0.000,3765.44,3946.94,3583.94,1726.38,2606.75,0,0,0,30.00,16.01,30.00
$STATE,9096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9096,begin apogee
$GC,9100.83,3,0.00,-0.14,0.00,3765.1,3946.8,3583.4,1732.2,2181.5,990.07,-7.92,692,9236.12,133.05,1.07,0.16,2.731,0.140,0.125,3161.56,3174.75,3148.38,1916.06,2222.88,0,0,0,12.94,16.07,15.04
$STATE,9236,end apogee,CONTROL_FINISHED_OK
$STATE,9236,begin climb
$GC,9238.02,3,145.99,0.93,0.00,3160.6,3173.4,3147.8,1915.8,2222.3,991.75,0.00,696,9377.20,136.51,1.07,0.00,2.642,0.075,0.000,2564.88,2481.69,2648.06,2177.50,2222.38,0,0,0,12.41,15.11,30.00
$GC,9695.20,518,145.99,0.93,-80.00,2557.6,2469.6,2645.6,2177.4,2222.4,931.14,17.20,736,9704.70,0.00,0.00,5.95,0.000,0.000,0.068,2557.38,2468.88,2645.88,2199.69,500.44,0,0,0,30.00,30.00,15.45
$GC,9850.14,1031,145.99,0.93,0.00,2553.6,2461.6,2645.6,2198.9,500.7,901.52,19.38,767,9858.80,0.00,0.09,5.42,0.000,0.268,0.040,2554.75,2462.38,2647.12,2164.88,2209.75,0,0,0,30.00,15.43,15.56
$GC,10175.30,518,145.99,0.93,-80.00,2553.4,2461.6,2645.3,2165.4,2210.8,847.23,16.34,782,10183.91,0.00,0.00,5.74,0.000,0.000,0.063,2554.16,2462.06,2646.25,2187.12,500.31,0,0,0,30.00,30.00,15.69
$GC,10320.26,1030,145.99,0.93,0.00,2551.8,2458.2,2645.3,2187.1,500.6,821.64,17.43,811,10329.06,0.00,0.00,5.32,0.000,0.000,0.038,2552.34,2458.62,2646.06,2165.31,2209.06,0,0,0,30.00,30.00,15.75
$GC,10655.33,518,145.99,0.93,-80.00,2552.0,2458.6,2645.3,2165.4,2211.3,766.65,16.30,828,10663.84,0.00,0.00,5.65,0.000,0.000,0.062,2553.62,2459.75,2647.50,2187.00,500.62,0,0,0,30.00,30.00,15.81
$GC,10770.36,1030,145.99,0.93,0.00,2551.7,2457.9,2645.4,2187.4,500.6,746.53,17.64,851,10779.09,0.00,0.00,5.30,0.000,0.000,0.038,2552.12,2458.56,2645.69,2166.31,2209.88,0,0,0,30.00,30.00,15.84
$GC,11105.47,518,145.99,0.93,-80.00,2551.7,2457.9,2645.5,2166.6,2210.6,693.46,15.58,868,11112.89,0.00,0.00,5.64,0.000,0.000,0.062,2554.00,2459.81,2648.19,2185.62,500.50,0,0,0,30.00,30.00,15.89
$GC,11260.74,1030,145.99,0.93,0.00,2551.4,2457.3,2645.4,2187.8,500.4,667.40,16.72,899,11269.43,0.00,0.00,5.25,0.000,0.000,0.039,2552.72,2458.69,2646.75,2166.06,2210.50,0,0,0,30.00,30.00,15.92
$GC,11580.83,518,145.99,0.93,-80.00,2551.4,2457.2,2645.5,2166.9,2211.4,618.53,15.17,913,11589.31,0.00,0.00,5.60,0.000,0.000,0.062,2553.03,2459.00,2647.06,2187.44,500.31,0,0,0,30.00,30.00,15.94
$GC,11731.00,1030,145.99,0.93,0.00,2550.7,2455.8,2645.5,2188.4,500.4,593.38,16.79,943,11739.53,0.00,0.00,5.26,0.000,0.000,0.039,2550.56,2455.75,2645.38,2167.25,2211.12,0,0,0,30.00,30.00,15.96
$GC,12060.85,518,145.99,0.93,-80.00,2551.0,2456.6,2645.5,2167.2,2212.4,544.31,14.63,959,12068.43,0.00,0.00,5.60,0.000,0.000,0.063,2549.91,2455.44,2644.38,2188.56,500.38,0,0,0,30.00,30.00,15.98
$GC,12186.36,1030,145.99,0.93,0.00,2550.4,2455.2,2645.5,2189.6,500.4,524.14,16.03,984,12194.92,0.00,0.00,5.24,0.000,0.000,0.039,2551.88,2456.88,2646.88,2167.12,2209.75,0,0,0,30.00,30.00,16.00
$GC,12506.42,518,145.99,0.93,-80.00,2550.4,2455.6,2645.2,2168.4,2211.3,477.98,14.23,998,12513.93,0.00,0.00,5.57,0.000,0.000,0.063,2550.19,2454.81,2645.56,2189.69,500.50,0,0,0,30.00,30.00,16.01
$GC,12671.98,1030,145.99,0.93,0.00,2550.3,2454.9,2645.8,2189.7,500.3,451.57,16.15,1031,12680.49,0.00,0.00,5.22,0.000,0.000,0.039,2551.25,2456.00,2646.50,2168.12,2211.94,0,0,0,30.00,30.00,16.02
$GC,12981.87,518,145.99,0.93,-80.00,2550.5,2455.4,2645.5,2169.2,2212.5,407.26,14.11,1043,12990.62,0.00,0.00,5.59,0.000,0.000,0.064,2550.75,2455.81,2645.69,2190.62,500.31,0,0,0,30.00,30.00,16.03
$GC,13046.98,1030,145.99,0.93,0.00,2549.8,2454.4,2645.2,2190.3,500.4,397.20,15.87,1056,13055.61,0.00,0.00,5.20,0.000,0.000,0.038,2550.28,2454.88,2645.69,2169.94,2211.69,0,0,0,30.00,30.00,16.04
$GC,13371.97,518,145.99,0.93,-80.00,2550.5,2455.4,2645.6,2170.1,2212.5,354.40,12.91,1071,13379.47,0.00,0.00,5.58,0.000,0.000,0.064,2549.84,2454.50,2645.19,2191.25,500.44,0,0,0,30.00,30.00,16.05
$GC,13487.42,1030,145.99,0.93,0.00,2550.0,2454.1,2645.8,2191.2,500.2,338.57,14.04,1094,13495.92,0.00,0.00,5.20,0.000,0.000,0.038,2550.31,2455.19,2645.44,2170.75,2213.56,0,0,0,30.00,30.00,16.06
$GC,13817.47,518,145.99,0.93,-80.00,2550.2,2454.9,2645.5,2170.2,2213.8,302.50,9.88,1110,13825.95,0.00,0.00,5.53,0.000,0.000,0.061,2550.97,2455.12,2646.81,2191.56,499.69,0,0,0,30.00,30.00,16.06
$GC,13837.43,1030,145.99,0.93,0.00,2550.0,2454.6,2645.4,2192.1,499.6,300.57,9.67,1114,13845.96,0.00,0.00,5.20,0.000,0.000,0.036,2551.47,2455.00,2647.94,2170.38,2213.19,0,0,0,30.00,30.00,16.07
$GC,14147.61,582,145.99,0.98,-80.00,2550.6,2455.4,2645.8,2171.1,2214.9,276.22,6.82,1126,14156.09,0.00,0.00,5.51,0.000,0.000,0.060,2553.19,2456.50,2649.88,2191.12,499.62,0,0,0,30.00,30.00,16.07
$GC,14282.48,1063,249.33,1.29,0.00,2549.7,2454.0,2645.4,2192.0,499.5,269.21,4.83,1153,14378.17,87.20,0.33,5.15,1.903,0.090,0.035,2145.72,2056.44,2235.00,2257.75,2216.00,0,0,0,12.96,16.05,16.08
$GC,14677.72,518,249.33,1.29,-80.00,2136.5,2041.2,2231.7,2257.7,2215.8,226.52,10.90,1197,14686.58,0.00,0.00,5.74,0.000,0.000,0.065,2136.72,2040.56,2232.88,2278.88,499.94,0,0,0,30.00,30.00,15.73
$GC,14832.77,1030,249.33,1.29,0.00,2132.6,2033.8,2231.4,2279.9,500.7,208.01,11.44,1228,14841.22,0.00,0.00,5.31,0.000,0.000,0.038,2132.75,2033.81,2231.69,2258.38,2212.12,0,0,0,30.00,30.00,15.78
$GC,15027.61,518,249.33,1.29,-80.00,2132.8,2034.2,2231.5,2258.3,2213.4,190.24,8.82,1249,15036.41,0.00,0.00,5.64,0.000,0.000,0.062,2132.47,2033.44,2231.50,2280.56,500.69,0,0,0,30.00,30.00,15.82
$GC,15082.80,1031,249.33,1.29,0.00,2131.4,2030.7,2232.1,2280.3,500.4,184.81,9.98,1260,15091.32,0.00,0.06,5.28,0.000,0.238,0.038,2132.50,2032.06,2232.94,2252.69,2214.88,0,0,0,30.00,15.74,15.84
$GC,15277.82,582,249.33,1.32,-80.00,2131.8,2031.8,2231.8,2253.0,2215.2,169.22,7.67,1281,15286.71,0.00,0.00,5.80,0.000,0.000,0.069,2131.69,2031.44,2231.94,2275.69,500.62,0,0,0,30.00,30.00,15.87
$GC,15322.86,1094,249.33,1.33,0.00,2130.2,2029.0,2231.3,2275.0,500.5,165.45,8.55,1290,15330.13,0.00,0.00,5.26,0.000,0.000,0.037,2130.94,2030.19,2231.69,2253.62,2212.38,0,0,0,30.00,30.00,15.88
$GC,15513.22,583,249.33,1.39,-80.00,2130.6,2030.1,2231.1,2253.3,2213.5,152.75,6.10,1310,15520.68,0.00,0.10,5.59,0.000,0.114,0.061,2130.53,2029.56,2231.50,2313.25,500.12,0,0,0,30.00,15.88,15.90
$GC,15578.72,1095,249.33,1.41,0.00,2129.8,2028.2,2231.3,2313.9,499.7,147.66,7.91,1323,15586.04,0.00,0.08,5.22,0.000,0.270,0.036,2129.28,2027.56,2231.00,2280.06,2215.00,0,0,0,30.00,15.77,15.91
$GC,15763.52,66,249.33,1.48,0.00,2130.2,2028.9,2231.5,2280.7,2216.2,136.63,5.82,1342,15764.86,0.00,0.00,0.00,0.000,0.000,0.000,2132.09,2029.94,2234.25,2278.25,2215.56,0,0,0,30.00,30.00,30.00
$GC,15943.61,583,249.33,1.56,-80.00,2130.2,2028.9,2231.5,2280.7,2215.6,127.25,5.29,1360,15952.24,0.00,0.14,5.62,0.000,0.090,0.066,2129.81,2028.31,2231.31,2348.69,499.56,0,0,0,30.00,15.93,15.95
$GC,15998.64,1094,249.33,1.63,0.00,2129.0,2026.6,2231.4,2349.4,499.6,123.93,5.68,1371,16007.33,0.00,0.00,5.20,0.000,0.000,0.036,2131.28,2027.88,2234.69,2326.00,2212.88,0,0,0,30.00,30.00,15.95
$GC,16193.80,551,373.66,2.00,-80.00,2129.1,2026.9,2231.3,2328.1,2213.7,115.03,3.94,1392,16317.96,115.48,0.38,5.95,1.720,0.084,0.070,1637.34,1537.06,1737.62,2451.75,500.31,0,0,0,12.89,15.94,15.31
$GC,16540.99,1031,373.66,2.00,0.00,1628.3,1518.8,1737.8,2452.2,500.4,72.31,9.70,1456,16549.65,0.00,0.08,5.37,0.000,0.279,0.038,1628.50,1518.75,1738.25,2420.31,2214.44,0,0,0,30.00,15.47,15.61
$GC,16731.05,551,534.75,2.48,-80.00,1627.3,1516.6,1738.1,2420.4,2215.0,66.50,2.40,1476,16920.54,180.69,0.47,6.30,1.563,0.076,0.082,982.69,844.12,1121.25,2568.50,500.31,0,0,0,12.64,15.68,15.05
$GC,17151.14,1094,534.75,2.53,0.00,973.9,827.1,1120.8,2568.7,500.5,32.44,6.86,1558,17159.71,0.00,0.00,5.45,0.000,0.000,0.040,974.16,827.00,1121.31,2548.00,2212.38,0,0,0,30.00,30.00,15.45
$GC,17346.19,551,720.39,3.09,-80.00,973.0,825.5,1120.5,2547.9,2212.5,29.87,1.37,1579,17483.74,127.58,0.52,6.32,1.551,0.068,0.084,495.56,382.56,608.56,2712.56,500.62,0,0,0,12.59,15.55,15.05
$STATE,17624,end climb,SURFACE_DEPTH_REACHED
$STATE,17624,begin surface coast
$STATE,17634,end surface coast,CONTROL_FINISHED_OK
$STATE,17635,begin surface
$SM_CCo,17713.94,0.00,0.000,0,491.0,373.8,608.2,656.19
$SM_GC,2.23,0.00,7.98,6.82,0.000,0.056,0.048,491.0,373.8,608.2,117.9,2605.2,0,0,0,30.00,15.36,15.38
$SUPER,59,126,254,1,0,0
$IRIDIUM_FIX,7401.93,-14618.60,091018,021404
$TCM_TEMP,248.91
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,20.1
$RAFOS_CLK,0
$RAFOS_FIX,7413.850586,-14606.143555,091018,080826,2,255,5.70
$HUMID,51.71
$TEMP,0.36
$INTERNAL_PRESSURE,8.76447
$24V_AH,14.14,42.240
$10V_AH,14.70,0.000
$FG_AHR_24Vo,21.917
$FG_AHR_10Vo,5.301
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,887.455,22.200,405.260,186.281,0.750,12.831,3415.084,14546.656,1670.657,4414.000,1.000,0.000
$DEVICE_MAMPS,2731.336,384.168,125.376,181.885,420.000,5.530,11.850,2.310,0.080,48.000,30.000,0.000
$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,1133916,28,45668,57
$DATA_FILE_SIZE,67800,1637
$CAP_FILE_SIZE,504183,0
$SDSIZE,3918848,3893440
$ERRORS,0,0,0,0,0,0,0,0
$GPS,091018,121239,7406.958,-14615.026,74,0.9,75,18.5