version: 67.00
glider: 240
mission: 5
dive: 2
start: 7 13 122 18 14 8
data:
$ID,240
$MISSION,5
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,500
$D_NO_BLEED,500
$D_BOOST,0
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,60
$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,72877
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$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,692.53918
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,131
$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,205
$PITCH_MAX,3600
$C_PITCH,1818.3074
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,16.855078
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$C_PITCH_AUTO_DELTA,0.5
$C_PITCH_AUTO_MAX,200
$PITCH_GAIN_AUTO_DELTA,0.5
$PITCH_GAIN_AUTO_MAX,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,210
$ROLL_MAX,3810
$ROLL_DEG,80
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3364
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0.5
$C_VBD_AUTO_MAX,100
$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,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,27.452623
$FG_AHR_24V,9.6515694
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.41907
$PRESSURE_SLOPE,0.00022403029
$COMPASS_USE,49156
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-0.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,96
$NAV_DEVICE,6
$NAV2_DEVICE,6
$NETWORK_DEVICE,1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,-1
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,130722,181049,4719.750,-12524.497,1,1.0,3,15.8
$_CALLS,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-47.9
$GPS2,130722,181339,4719.745,-12524.531,2,1.0,4,15.8
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,HOLD
$TGT_LATLONG,4720.000,-12524.000
$TGT_RADIUS,1500.000
$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,47.2,817,-17.6,-10.000,-21.24,2209,0.254
$D_GRID,1000
$IRON,1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,6.71,16386,-145.99,-1.23,0.00,538.2,561.4,515.1,182.8,2125.0,0.00,0.00,0,98.18,86.26,0.00,0.00,0.005,0.000,0.000,2979.16,3004.88,2953.44,182.88,2125.56,0,0,0,16.16,30.00,30.00
$GC,98.54,18983,-145.99,-1.23,-80.00,2978.2,3003.6,2952.7,182.9,2124.2,3.05,-5.06,17,145.39,22.50,9.93,3.56,0.006,0.230,0.115,3960.09,4009.75,3910.44,1520.81,680.69,0,0,0,16.16,15.98,16.05
$GC,241.56,3205,-145.99,-1.09,0.00,3960.2,4009.9,3910.5,1520.4,681.0,28.81,-16.83,44,248.38,0.00,0.22,3.40,0.000,0.166,0.051,3960.69,4010.62,3910.75,1554.19,2175.38,0,0,0,30.00,16.01,16.08
$GC,436.75,516,-145.99,-1.09,-80.00,3960.9,4009.9,3911.9,1554.4,2175.1,52.70,-12.52,81,443.91,0.00,0.00,3.68,0.000,0.000,0.111,3961.53,4010.50,3912.56,1553.38,682.00,0,0,0,30.00,30.00,16.07
$GC,502.39,1156,-145.99,-1.04,0.00,3960.6,4009.6,3911.5,1554.2,682.2,61.31,-13.03,94,508.27,0.00,0.00,3.37,0.000,0.000,0.051,3961.47,4010.50,3912.44,1554.00,2176.12,0,0,0,30.00,30.00,16.12
$GC,692.32,0,-145.99,-1.04,0.00,3961.6,4010.2,3913.0,1554.3,2176.6,82.49,-10.65,114,693.89,0.00,0.00,0.00,0.000,0.000,0.000,3960.78,4009.25,3912.31,1554.00,2177.00,0,0,0,30.00,30.00,30.00
$GC,882.47,676,-145.99,-1.07,-80.00,3962.0,4011.2,3912.8,1554.2,2176.1,99.98,-8.78,133,889.50,0.00,0.00,3.67,0.000,0.000,0.113,3962.66,4010.75,3914.56,1553.88,680.69,0,0,0,30.00,30.00,16.08
$GC,1098.04,1156,-145.99,-1.02,0.00,3962.3,4012.2,3912.4,1553.8,680.8,121.25,-10.01,176,1103.93,0.00,0.00,3.37,0.000,0.000,0.053,3963.41,4013.00,3913.81,1553.38,2176.06,0,0,0,30.00,30.00,16.14
$GC,1288.00,548,-145.99,-1.02,-80.00,3962.7,4012.9,3912.5,1554.1,2175.3,138.02,-9.06,196,1295.12,0.00,0.00,3.68,0.000,0.000,0.115,3963.69,4013.75,3913.62,1554.00,680.75,0,0,0,30.00,30.00,16.08
$GC,1403.62,3205,-145.99,-0.98,0.00,3962.6,4012.4,3912.8,1554.1,680.6,150.26,-10.63,219,1409.66,0.00,0.17,3.38,0.000,0.170,0.055,3963.00,4012.69,3913.31,1582.19,2175.69,0,0,0,30.00,16.06,16.14
$GC,1593.68,676,-145.99,-1.07,-80.00,3962.1,4011.9,3912.2,1582.7,2175.2,166.10,-8.28,239,1600.72,0.00,0.00,3.68,0.000,0.000,0.118,3963.72,4013.81,3913.62,1582.38,681.81,0,0,0,30.00,30.00,16.08
$GC,1693.45,1060,-145.99,-1.07,0.00,3962.4,4012.3,3912.6,1582.1,682.2,175.84,-9.70,259,1700.83,0.00,0.00,3.38,0.000,0.000,0.056,3962.88,4012.88,3912.88,1581.94,2173.25,0,0,0,30.00,30.00,16.13
$STATE,1749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1749,begin apogee
$GC,1750.46,10243,0.00,-0.30,0.00,3962.7,4012.8,3912.5,1582.7,2113.9,180.38,-8.13,265,1858.03,100.64,1.07,0.10,1.117,0.124,0.196,3363.00,3425.44,3300.56,1746.94,2180.44,0,0,0,11.21,16.06,15.80
$STATE,1859,end apogee,CONTROL_FINISHED_OK
$STATE,1859,begin climb
$GC,1859.26,10503,145.99,1.23,80.00,3361.9,3423.5,3300.2,1747.2,2180.3,183.85,0.00,275,1976.82,103.40,2.43,3.60,1.086,0.098,0.123,2766.25,2825.75,2706.75,2117.88,3615.44,0,0,0,11.57,15.81,15.62
$GC,2000.31,5253,145.99,0.92,0.00,2766.0,2825.4,2706.6,2117.6,3615.4,171.70,14.96,301,2007.68,0.00,0.65,3.50,0.000,0.155,0.057,2765.47,2825.75,2705.19,2032.88,2121.62,0,0,0,30.00,15.68,15.75
$MODEM_MSG,CACST,8,1,20220713181512.203574,18,2176,03,0233,0000,44,00,00,05,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*29
$NAV,1657738213,153.6,1,stop
$GC,2195.27,548,147.17,0.92,-80.00,2760.9,2823.8,2697.9,2032.4,2121.9,150.65,9.94,321,2201.32,0.00,0.00,3.58,0.000,0.000,0.122,2757.38,2820.31,2694.44,2033.06,680.69,0,0,0,30.00,30.00,15.90
$GC,2259.57,1156,147.17,0.79,0.00,2757.3,2818.9,2695.8,2032.8,680.6,143.16,11.80,334,2266.98,0.00,0.00,3.41,0.000,0.000,0.058,2759.72,2821.00,2698.44,2032.94,2171.75,0,0,0,30.00,30.00,15.97
$GC,2455.27,8742,178.26,0.83,-80.00,2757.0,2818.2,2695.8,2032.6,2171.4,125.20,8.55,354,2488.46,24.18,0.00,3.71,1.007,0.000,0.122,2634.75,2699.12,2570.38,2033.62,679.50,0,0,0,11.48,30.00,15.93
$GC,2586.95,5253,178.26,0.77,0.00,2630.0,2695.5,2564.4,2032.6,679.4,112.07,10.74,380,2594.16,0.00,0.23,3.40,0.000,0.152,0.057,2629.91,2695.94,2563.88,1996.50,2172.12,0,0,0,30.00,15.98,16.03
$NAV,1657738750,104.1,start
$GC,2784.13,10919,243.85,0.98,-80.00,2629.4,2695.9,2563.0,1996.2,2172.0,98.51,6.95,399,2841.77,48.61,0.41,3.73,1.028,0.070,0.121,2364.88,2442.44,2287.31,2066.81,682.56,0,0,0,11.49,16.04,15.86
$GC,2844.47,9254,253.97,0.99,0.00,2364.6,2441.9,2287.3,2066.8,682.1,92.92,9.53,407,2862.51,9.64,0.00,3.41,0.817,0.000,0.056,2326.53,2405.06,2248.00,2067.94,2173.19,0,0,0,11.57,30.00,15.91
$GC,3050.31,8870,267.56,1.10,-80.00,2320.6,2403.1,2238.1,2067.6,2172.9,73.11,9.37,429,3072.02,11.35,0.00,3.71,0.872,0.000,0.123,2274.00,2356.75,2191.25,2066.12,682.75,0,0,0,11.50,30.00,15.91
$GC,3252.58,11431,314.65,1.21,0.00,2265.7,2351.0,2180.3,2067.1,683.0,55.36,7.81,469,3296.39,35.19,0.27,3.41,0.982,0.077,0.058,2078.97,2168.62,1989.31,2121.75,2172.00,0,0,0,11.46,15.97,15.98
$GC,3477.68,8354,359.43,1.33,0.00,2073.2,2165.6,1980.8,2120.9,2172.4,37.76,7.92,510,3514.22,32.62,0.00,0.00,0.961,0.000,0.000,1897.25,1994.88,1799.62,2121.50,2172.56,0,0,0,11.51,30.00,30.00
$GC,3697.71,10919,407.68,1.53,-80.00,1890.7,1991.6,1789.7,2121.2,2172.2,20.26,7.76,554,3741.63,34.65,0.42,3.74,0.948,0.073,0.122,1700.19,1796.19,1604.19,2201.19,682.94,0,0,0,11.42,15.98,15.83
$STATE,3919,end climb,SURFACE_DEPTH_REACHED
$STATE,3919,begin surface coast
$FINISH,0.5,1.022460
$STATE,3949,end surface coast,CONTROL_FINISHED_OK
$STATE,3949,begin surface
$SM_CCo,4178.01,190.95,0.945,0,541.3,561.6,521.1,692.40
$SM_GC,1.67,190.95,12.45,3.38,0.945,0.061,0.058,541.3,561.6,521.1,186.0,2168.4,0,0,0,11.53,15.96,15.98
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4720.05,-12528.94,130722,180922
$TCM_TEMP,18.67
$SC_FREEKB,3878144
$RAFOS_CLK,0
$MODEM,0,1657736112,47.25000,-122.25000,912.204,1354515.6
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,53.39
$TEMP,11.67
$INTERNAL_PRESSURE,8.0932
$24V_AH,15.01,10.973
$10V_AH,15.00,0.000
$FG_AHR_24Vo,9.823
$FG_AHR_10Vo,27.505
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,700.005,28.255,78.095,0.000,0.000,13.282,2327.395,0.004,0.000,1678.538,1171.276,2240.122,0.000,0.000,192.728
$DEVICE_MAMPS,1116.592,230.336,195.896,0.000,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3951.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.449,0.000,0.000,0.000
$MEM0,60108,1,0,0
$MEM1,65508,1,0,0
$MEM2,966660,24,80248,59
$DATA_FILE_SIZE,16115,603
$CAP_FILE_SIZE,421859,0
$SDSIZE,3887104,3870528
$SDFILEDIR,80,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.032,188.4,1
$MAGCAL,1.000000,0.007582,-0.007608,-0.001367,1.135626,-0.085364,0.032494,-0.022546,0.898010,86.0,-817.8,-293.3,36,0.0492,1
$IMPLIED_C_PITCH,1809,16.40,299,1813.8,16.63
$IMPLIED_C_VBD,3685,50.146416,223,3464.0
$GPS,130722,192439,4719.873,-12523.950,1,1.1,25,15.8