version: 67.00
glider: 169
mission: 15
dive: 11
start: 10 8 117 6 13 57
data:
$ID,169
$MISSION,15
$DIVE,11
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,3
$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,100
$T_MISSION,125
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$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,52073
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0087000001
$HD_C,4.3999999e-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,604.7218
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,300
$PITCH_MAX,3945
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$PITCH_GAIN,25
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,280
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3780
$C_VBD,2986
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10.5
$MINV_10V,10.5
$MAXI_24V,5
$MAXI_10V,1.2
$FG_AHR_10V,2.2501695
$FG_AHR_24V,8.3002481
$PHONE_SUPPLY,2
$PRESSURE_YINT,-153.94276
$PRESSURE_SLOPE,0.0001078585
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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,49
$PHONE_DEVICE,33
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043759886
$SEABIRD_T_H,0.00062558794
$SEABIRD_T_I,2.3929e-05
$SEABIRD_T_J,2.6210178e-06
$SEABIRD_C_G,-9.9089918
$SEABIRD_C_H,1.1354597
$SEABIRD_C_I,-0.0011636069
$SEABIRD_C_J,0.00016142646
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,081017,060833,1939.039,-15603.189,4,1.4,18,9.6
$_CALLS,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.4
$GPS2,081017,061350,1939.068,-15603.194,10,1.3,23,9.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,SHELF1
$TGT_LATLONG,1936.000,-15603.000
$TGT_RADIUS,500.000
$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,167.4,5691,-16.6,-10.000,-19.72
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.21,2,-145.99,-0.81,0.00,524.6,351.8,697.4,276.3,2809.1,0.00,0.00,0,104.51,96.04,0.00,0.00,0.006,0.000,0.000,2702.56,2823.50,2581.62,276.06,2809.50,0,0,0,15.37,30.00,30.00
$GC,104.94,551,-145.99,-0.81,-40.00,2700.6,2821.4,2579.8,276.2,2809.4,3.27,-2.34,19,145.94,17.92,13.07,2.98,0.007,0.378,0.051,3580.06,3794.81,3365.31,2737.50,1471.25,0,0,0,15.37,15.70,15.78
$GC,246.06,1028,-145.99,-0.81,0.00,3580.1,3794.8,3365.4,2737.5,1471.6,31.47,-17.25,48,253.00,0.00,0.00,3.20,0.000,0.000,0.055,3580.06,3794.56,3365.56,2724.69,2918.06,0,0,0,30.00,30.00,16.06
$GC,433.04,516,-145.99,-0.81,-40.00,3580.0,3794.8,3365.2,2725.6,2917.2,66.63,-17.89,85,438.67,0.00,0.00,3.13,0.000,0.000,0.048,3581.16,3795.44,3366.88,2724.56,1472.38,0,0,0,30.00,30.00,16.02
$GC,543.01,1028,-145.99,-0.81,0.00,3579.9,3794.5,3365.4,2724.9,1472.8,84.96,-17.83,107,548.71,0.00,0.00,3.21,0.000,0.000,0.057,3580.88,3795.12,3366.62,2711.19,2919.88,0,0,0,30.00,30.00,15.38
$GC,726.05,516,-145.99,-0.81,-40.00,3579.9,3794.9,3365.0,2711.2,2918.6,112.87,-14.57,144,732.96,0.00,0.00,3.11,0.000,0.000,0.046,3580.19,3795.12,3365.25,2711.69,1471.81,0,0,0,30.00,30.00,16.10
$GC,823.04,1028,-145.99,-0.81,0.00,3579.9,3794.6,3365.2,2711.9,1472.2,125.21,-12.92,163,828.64,0.00,0.00,3.20,0.000,0.000,0.054,3580.09,3794.69,3365.50,2697.69,2919.38,0,0,0,30.00,30.00,16.03
$GC,1006.24,517,-145.99,-0.81,-40.00,3579.9,3794.2,3365.6,2697.6,2918.0,146.08,-11.44,200,1013.24,0.00,0.21,3.11,0.000,0.172,0.046,3580.16,3794.88,3365.44,2740.56,1471.56,0,0,0,30.00,16.02,16.06
$GC,1132.82,1156,-145.99,-0.86,0.00,3579.9,3794.5,3365.4,2740.3,1471.9,157.99,-10.74,225,1138.64,0.00,0.00,3.19,0.000,0.000,0.055,3580.16,3794.69,3365.62,2727.44,2921.00,0,0,0,30.00,30.00,15.38
$GC,1316.29,644,-145.99,-0.90,-40.00,3580.0,3794.6,3365.4,2727.6,2919.6,176.10,-10.05,262,1323.29,0.00,0.00,3.09,0.000,0.000,0.045,3581.00,3795.31,3366.69,2727.31,1470.56,0,0,0,30.00,30.00,16.13
$GC,1496.18,1156,-145.99,-0.94,0.00,3579.9,3794.8,3365.0,2727.8,1471.5,192.59,-10.76,298,1503.09,0.00,0.00,3.19,0.000,0.000,0.054,3581.31,3795.19,3367.44,2711.56,2920.56,0,0,0,30.00,30.00,16.13
$GC,1682.76,644,-145.99,-0.98,-40.00,3578.8,3792.6,3364.9,2714.2,2919.1,212.73,-10.81,335,1688.61,0.00,0.00,3.12,0.000,0.000,0.046,3579.44,3793.31,3365.56,2714.31,1471.19,0,0,0,30.00,30.00,16.12
$GC,1786.05,1189,-145.99,-1.03,0.00,3578.9,3792.6,3365.2,2713.7,1471.8,222.89,-9.38,356,1793.06,0.00,0.12,3.20,0.000,0.082,0.055,3578.78,3792.50,3365.06,2629.75,2919.69,0,0,0,30.00,16.16,16.14
$GC,1972.90,517,-145.99,-1.03,-40.00,3577.8,3790.4,3365.2,2629.7,2918.1,247.38,-12.41,393,1978.80,0.00,0.20,3.13,0.000,0.180,0.048,3578.16,3790.94,3365.38,2668.38,1470.44,0,0,0,30.00,16.04,16.08
$GC,2092.97,1156,-145.99,-1.06,0.00,3577.0,3789.2,3364.9,2668.6,1471.2,260.26,-10.55,417,2098.59,0.00,0.00,3.21,0.000,0.000,0.058,3576.72,3788.62,3364.81,2656.38,2919.88,0,0,0,30.00,30.00,15.41
$GC,2277.64,516,-145.99,-1.06,-40.00,3575.4,3786.3,3364.4,2655.8,2918.8,280.96,-11.85,454,2283.73,0.00,0.00,3.13,0.000,0.000,0.049,3575.34,3785.56,3365.12,2656.25,1470.31,0,0,0,30.00,30.00,16.16
$GC,2356.19,1028,-145.99,-1.06,0.00,3575.1,3785.2,3364.9,2656.4,1470.6,290.18,-11.69,470,2363.06,0.00,0.00,3.21,0.000,0.000,0.057,3575.81,3785.56,3366.06,2643.31,2917.50,0,0,0,30.00,30.00,16.16
$STATE,2438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2438,begin apogee
$GC,2440.69,3,0.00,-0.20,0.00,3574.4,3784.2,3364.6,2643.1,2357.5,300.30,12.67,486,2545.81,99.96,1.63,0.16,1.219,0.152,0.135,2978.12,3119.50,2836.75,2934.12,2430.12,0,0,0,11.86,16.11,15.65
$STATE,2546,end apogee,CONTROL_FINISHED_OK
$STATE,2546,begin climb
$GC,2546.52,263,145.99,0.81,40.00,2974.9,3115.4,2834.4,2933.2,2429.7,304.91,0.00,507,2651.22,97.54,0.94,2.81,1.213,0.034,0.078,2380.28,2440.56,2320.00,3306.69,3816.69,0,0,0,12.26,15.73,15.06
$GC,2872.67,1191,173.84,0.71,0.00,2368.2,2429.3,2307.2,3306.2,3816.2,290.68,8.72,572,2899.28,20.01,0.81,2.56,1.217,0.230,0.039,2271.22,2330.31,2212.12,3224.62,2365.94,0,0,0,12.23,15.83,15.93
$GC,3077.92,678,249.06,0.76,-40.00,2257.3,2313.6,2200.9,3225.0,2366.2,276.79,6.55,613,3140.33,56.81,0.00,3.39,1.181,0.000,0.072,1959.31,1972.88,1945.75,3238.31,968.19,0,0,0,12.27,30.00,15.22
$GC,3152.93,1062,279.94,0.79,0.00,1954.6,1964.2,1945.0,3238.2,968.1,270.75,8.58,628,3184.37,24.53,0.00,3.36,1.169,0.000,0.051,1839.38,1830.19,1848.56,3231.81,2420.00,0,0,0,12.31,30.00,15.35
$GC,3363.08,262,279.94,0.79,40.00,1825.9,1807.4,1844.4,3232.1,2418.8,249.36,10.25,670,3368.87,0.00,0.00,2.82,0.000,0.000,0.078,1825.91,1807.50,1844.31,3231.62,3812.56,0,0,0,30.00,30.00,15.92
$GC,3546.21,1158,279.94,0.75,0.00,1824.7,1805.1,1844.3,3231.4,3812.6,228.18,11.43,707,3550.21,0.00,0.00,2.57,0.000,0.000,0.043,1825.44,1805.69,1845.19,3242.56,2375.44,0,0,0,30.00,30.00,16.00
$GC,3726.16,34,302.44,0.78,0.00,1823.8,1803.1,1844.6,3242.2,2372.8,210.39,8.97,743,3745.71,18.22,0.00,0.00,1.136,0.000,0.000,1746.97,1728.06,1765.88,3242.75,2372.62,0,0,0,12.24,30.00,30.00
$GC,3923.21,294,332.32,0.81,40.00,1736.1,1708.9,1763.2,3242.3,2373.2,191.42,8.63,782,3954.53,25.45,0.00,2.98,1.103,0.000,0.082,1623.16,1586.31,1660.00,3241.31,3811.75,0,0,0,12.25,30.00,15.83
$GC,3963.51,1062,338.44,0.81,0.00,1616.8,1576.8,1656.8,3242.6,3811.3,187.47,9.72,790,3969.03,1.24,0.00,2.61,0.254,0.000,0.043,1605.75,1563.62,1647.88,3252.81,2371.88,0,0,0,15.07,30.00,15.88
$GC,4146.08,516,338.44,0.81,-40.00,1603.3,1561.8,1644.9,3253.4,2371.2,167.98,10.19,827,4153.06,0.00,0.00,3.41,0.000,0.000,0.073,1604.00,1562.19,1645.81,3266.31,970.50,0,0,0,30.00,30.00,16.01
$GC,4243.04,1062,365.21,0.84,0.00,1603.5,1561.9,1645.0,3266.6,970.4,158.77,8.77,846,4274.52,26.05,0.00,3.30,1.053,0.000,0.052,1498.28,1449.88,1546.69,3262.75,2416.62,0,0,0,12.26,30.00,15.96
$GC,4452.94,518,365.21,0.84,-40.00,1479.4,1421.9,1536.9,3263.2,2416.3,136.26,11.87,888,4459.15,0.00,0.00,3.52,0.000,0.000,0.071,1480.50,1423.25,1537.75,3276.06,972.06,0,0,0,30.00,30.00,15.95
$GC,4546.26,1062,380.42,0.86,0.00,1479.3,1421.8,1536.8,3275.8,971.6,126.06,9.30,907,4564.44,12.52,0.00,3.30,1.040,0.000,0.051,1434.31,1365.69,1502.94,3276.44,2419.50,0,0,0,12.33,30.00,16.00
$GC,4742.98,518,380.42,0.86,-40.00,1415.0,1339.5,1490.6,3276.1,2418.5,105.14,10.03,946,4748.94,0.00,0.00,3.49,0.000,0.000,0.070,1415.28,1339.56,1491.00,3290.31,969.75,0,0,0,30.00,30.00,15.98
$GC,4793.14,1030,380.42,0.86,0.00,1415.1,1339.2,1490.9,3289.9,970.0,99.95,10.01,956,4799.03,0.00,0.00,3.29,0.000,0.000,0.050,1416.56,1340.19,1492.94,3290.19,2419.88,0,0,0,30.00,30.00,15.96
$GC,4976.18,34,402.76,0.88,0.00,1414.7,1338.6,1490.8,3290.1,2418.8,81.75,8.98,993,4994.67,17.02,0.00,0.00,0.955,0.000,0.000,1339.16,1239.88,1438.44,3290.00,2418.69,0,0,0,12.21,30.00,30.00
$GC,5173.14,550,442.90,0.92,-40.00,1325.0,1218.9,1431.1,3289.7,2418.8,64.53,8.16,1032,5209.70,30.01,0.00,3.52,0.900,0.000,0.069,1166.75,1003.44,1330.06,3304.44,970.31,0,0,0,12.34,30.00,15.86
$GC,5283.07,1190,458.16,0.96,0.00,1161.2,995.4,1327.0,3303.9,970.2,54.72,9.30,1054,5299.40,11.46,0.00,3.30,0.895,0.000,0.050,1117.72,940.12,1295.31,3303.81,2422.94,0,0,0,12.32,30.00,15.46
$GC,5476.19,262,458.16,0.96,40.00,1098.1,916.9,1279.3,3303.9,2422.2,34.84,10.29,1093,5480.22,0.00,0.00,2.79,0.000,0.000,0.077,1098.62,917.19,1280.06,3303.19,3813.50,0,0,0,30.00,30.00,15.98
$GC,5503.04,1030,458.16,0.96,0.00,1097.8,916.2,1279.4,3303.8,3813.5,31.66,11.51,1098,5508.56,0.00,0.00,2.54,0.000,0.000,0.039,1098.91,916.69,1281.12,3314.69,2373.00,0,0,0,30.00,30.00,15.92
$GC,5686.21,518,458.16,0.96,-40.00,1096.9,916.3,1277.6,3315.1,2370.9,10.67,11.85,1135,5693.16,0.00,0.00,3.36,0.000,0.000,0.067,1097.41,916.62,1278.19,3329.38,967.19,0,0,0,30.00,30.00,16.05
$STATE,5753,end climb,SURFACE_DEPTH_REACHED
$STATE,5753,begin surface coast
$FINISH,1.2,1.021952
$STATE,5763,end surface coast,CONTROL_FINISHED_OK
$STATE,5763,begin surface
$SM_CCo,5845.81,63.33,0.177,0,520.6,345.1,696.0,604.77
$SM_GC,1.13,63.33,8.19,4.22,0.177,0.039,0.053,520.6,345.1,696.0,285.1,2921.7,0,0,0,14.99,16.03,16.06
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,1937.89,-15601.79,081017,044844
$TCM_TEMP,24.60
$XPDR_PINGS,27
$SC_FREEKB,4014976
$HUMID,56.25
$TEMP,23.81
$INTERNAL_PRESSURE,12.8868
$24V_AH,15.19,21.722
$10V_AH,15.00,0.000
$FG_AHR_24Vo,8.391
$FG_AHR_10Vo,2.274
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,618.085,25.190,114.775,222.613,6.750,24.541,3009.511,3129.638,2039.404,0.000,0.000,0.000
$DEVICE_MAMPS,1218.928,377.936,134.560,166.948,420.000,22.530,9.790,2.190,9.810,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5778.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.382,0.000,0.000,0.000
$MEM,1164064,33,17480,42
$DATA_FILE_SIZE,44055,1150
$CAP_FILE_SIZE,273375,0
$SDSIZE,3918848,3905920
$ERRORS,0,0,0,0,0,0,2,0
$CURRENT,0.102,343.7,1
$GPS,081017,075219,1938.372,-15603.101,15,0.8,44,9.6