version: 67.00
glider: 179
mission: 2
dive: 6
start: 10 3 119 7 31 1
data:
$ID,179
$MISSION,2
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$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,120
$T_MISSION,160
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53962
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025118899
$HD_B,0.0139236
$HD_C,5.7000002e-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,640.04498
$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,80740
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,450
$PITCH_MAX,3960
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,450
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$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,310
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,0.53796875
$FG_AHR_24V,2.8717201
$PHONE_SUPPLY,2
$PRESSURE_YINT,-166.32359
$PRESSURE_SLOPE,0.00010612313
$COMPASS_USE,4
$ALTIM_PING_FIT,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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,7
$LOGGERDEVICE2,22
$LOGGERDEVICE3,40
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.004412075
$SEABIRD_T_H,0.00063827372
$SEABIRD_T_I,2.6317541e-05
$SEABIRD_T_J,3.254017e-06
$SEABIRD_C_G,-9.9840622
$SEABIRD_C_H,1.1688964
$SEABIRD_C_I,-0.0016958674
$SEABIRD_C_J,0.00021397677
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,031019,072102,1323.922,14435.701,2,0.8,29,0.6
$_CALLS,2
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-62.0
$GPS2,031019,073045,1323.833,14435.759,2,0.6,4,0.6
$SPEED_LIMITS,0.100,0.223
$TGT_NAME,WEST
$TGT_LATLONG,1326.000,14431.000
$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,303.1,9465,-18.8,-10.000,-24.19
$D_GRID,1235
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,12.98,2,-145.99,-0.92,0.00,449.8,471.0,428.7,416.8,2575.2,0.00,0.00,0,108.42,91.76,0.00,0.00,0.005,0.000,0.000,2738.94,2761.06,2716.81,416.50,2575.62,0,0,0,15.62,30.00,30.00
$GC,108.68,295,-145.99,-0.92,40.00,2738.0,2759.9,2716.1,416.6,2575.4,3.40,-3.12,9,142.20,17.55,7.91,1.91,0.006,0.481,0.105,3561.72,3584.00,3539.44,2615.94,3948.12,0,0,0,15.84,15.66,15.69
$GC,260.01,1157,-145.99,-0.85,0.00,3561.5,3584.0,3539.1,2615.2,3948.3,39.67,-21.62,39,267.37,0.00,0.09,2.01,0.000,0.298,0.046,3562.88,3584.81,3540.94,2650.25,2436.38,0,0,0,30.00,15.83,15.66
$GC,445.19,644,-145.99,-0.81,-40.00,3561.3,3582.9,3539.6,2651.6,2436.5,79.85,-21.93,58,451.14,0.00,0.00,1.88,0.000,0.000,0.086,3561.19,3583.00,3539.38,2652.19,1053.69,0,0,0,30.00,30.00,16.00
$GC,659.18,1028,-145.99,-0.81,0.00,3561.3,3584.0,3538.7,2651.8,1053.4,119.80,-18.73,101,667.11,0.00,0.00,2.00,0.000,0.000,0.062,3562.75,3585.06,3540.44,2642.12,2542.81,0,0,0,30.00,30.00,16.02
$GC,845.11,388,-145.99,-0.83,40.00,3561.0,3583.2,3538.8,2642.6,2542.1,147.85,-14.42,120,851.14,0.00,0.00,1.95,0.000,0.000,0.105,3561.31,3583.25,3539.38,2633.88,3944.25,0,0,0,30.00,30.00,16.01
$GC,1035.27,1156,-145.99,-0.88,0.00,3560.8,3582.8,3538.8,2634.4,3944.8,169.97,-10.90,158,1041.18,0.00,0.00,1.99,0.000,0.000,0.047,3561.56,3583.44,3539.69,2634.38,2444.94,0,0,0,30.00,30.00,16.02
$GC,1225.23,644,-145.99,-0.91,-40.00,3561.1,3583.6,3538.6,2633.4,2444.1,188.10,-10.83,178,1231.18,0.00,0.00,1.88,0.000,0.000,0.083,3562.84,3584.25,3541.44,2632.38,1050.12,0,0,0,30.00,30.00,15.95
$GC,1349.30,1156,-145.99,-0.94,0.00,3560.3,3582.1,3538.4,2634.1,1049.9,204.17,-11.89,203,1357.29,0.00,0.00,2.02,0.000,0.000,0.066,3560.62,3583.06,3538.19,2626.31,2542.50,0,0,0,30.00,30.00,16.03
$GC,1535.31,676,-145.99,-1.00,-40.00,3559.7,3581.8,3537.6,2625.9,2542.6,217.03,-6.29,222,1541.35,0.00,0.00,2.06,0.000,0.000,0.081,3561.28,3584.06,3538.50,2625.94,1052.75,0,0,0,30.00,30.00,16.03
$GC,1655.41,1189,-145.99,-1.06,0.00,3559.7,3581.7,3537.8,2625.8,1052.6,228.11,-9.97,246,1662.80,0.00,0.12,2.02,0.000,0.123,0.070,3561.00,3583.38,3538.62,2538.31,2536.62,0,0,0,30.00,15.93,15.67
$GC,1850.29,129,-145.99,-1.02,0.00,3558.0,3579.8,3536.3,2538.2,2535.9,255.93,-15.53,264,1854.91,0.00,0.16,0.00,0.000,0.265,0.000,3557.03,3579.19,3534.88,2598.44,2536.50,0,0,0,30.00,15.87,30.00
$GC,2150.40,128,-145.99,-1.07,0.00,3555.7,3577.8,3533.5,2597.4,2535.8,291.31,-11.11,274,2154.83,0.00,0.00,0.00,0.000,0.000,0.000,3555.75,3577.94,3533.56,2598.25,2536.31,0,0,0,30.00,30.00,30.00
$GC,2450.30,645,-145.99,-1.12,-40.00,3553.8,3576.6,3530.9,2597.6,2535.5,322.70,-10.59,284,2457.49,0.00,0.11,2.07,0.000,0.124,0.086,3555.91,3578.94,3532.88,2517.75,1053.06,0,0,0,30.00,15.97,15.96
$GC,2679.44,1157,-145.99,-1.07,0.00,3550.8,3573.0,3528.7,2519.0,1053.3,356.84,-13.96,330,2687.57,0.00,0.19,2.03,0.000,0.256,0.077,3551.56,3574.50,3528.62,2583.25,2530.06,0,0,0,30.00,15.77,15.99
$STATE,2715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2715,begin apogee
$GC,2717.18,3,0.00,-0.17,0.00,3550.5,3573.4,3527.6,2583.8,2049.6,360.68,-10.86,332,2833.52,111.04,0.74,0.09,1.436,0.197,0.196,2965.22,3031.31,2899.12,2872.81,2172.12,0,0,0,11.98,15.83,15.50
$STATE,2837,end apogee,CONTROL_FINISHED_OK
$STATE,2837,begin climb
$GC,2837.63,3,145.99,0.92,0.00,2965.5,3032.5,2898.5,2873.6,2172.1,362.25,0.00,335,2959.82,116.64,0.79,0.00,1.413,0.050,0.000,2372.22,2442.81,2301.62,3258.31,2171.69,0,0,0,12.46,15.63,30.00
$GC,3272.86,647,145.99,0.77,-40.00,2362.0,2436.1,2287.9,3258.1,2172.4,318.21,13.38,370,3279.85,0.00,0.28,2.14,0.000,0.282,0.107,2361.50,2435.56,2287.44,3166.25,658.94,0,0,0,30.00,15.77,15.85
$GC,3501.83,1190,155.95,0.75,0.00,2358.5,2432.6,2284.3,3166.4,658.9,296.22,9.54,416,3518.76,8.53,0.00,2.01,1.038,0.000,0.067,2330.59,2406.44,2254.75,3168.12,2140.69,0,0,0,12.32,30.00,15.94
$GC,3837.87,422,207.73,0.82,40.00,2326.8,2405.8,2247.9,3166.8,2140.8,265.59,7.61,433,3886.78,42.44,0.00,2.02,1.351,0.000,0.112,2117.56,2206.25,2028.88,3167.12,3541.38,0,0,0,12.38,30.00,15.71
$GC,3948.76,1190,212.35,0.79,0.00,2117.1,2206.6,2027.7,3166.4,3540.6,256.71,9.79,455,3960.85,6.05,0.00,2.05,0.822,0.000,0.071,2101.69,2193.88,2009.50,3175.75,2063.19,0,0,0,12.38,30.00,15.87
$GC,4264.67,550,264.39,0.90,-40.00,2096.2,2192.1,2000.3,3176.4,2063.2,223.68,7.60,488,4312.66,41.37,0.00,2.02,1.304,0.000,0.122,1887.50,1976.19,1798.81,3185.88,662.75,0,0,0,12.33,30.00,15.68
$GC,4534.63,1028,264.39,0.90,0.00,1882.5,1969.9,1795.1,3186.4,662.4,189.91,10.57,542,4542.67,0.00,0.00,2.01,0.000,0.000,0.071,1883.69,1971.12,1796.25,3185.44,2136.31,0,0,0,30.00,30.00,15.91
$GC,4720.60,518,264.39,0.90,-40.00,1881.5,1969.6,1793.5,3186.3,2136.2,171.07,10.81,561,4726.63,0.00,0.00,2.10,0.000,0.000,0.109,1879.44,1967.19,1791.69,3193.75,661.19,0,0,0,30.00,30.00,15.93
$GC,4824.70,1030,264.39,0.90,0.00,1880.0,1968.0,1792.1,3192.2,661.5,158.69,11.56,582,4832.80,0.00,0.00,2.01,0.000,0.000,0.073,1880.59,1968.69,1792.50,3193.88,2131.69,0,0,0,30.00,30.00,15.97
$GC,5010.76,262,264.39,0.90,40.00,1879.4,1968.0,1790.8,3193.8,2131.7,140.83,10.07,601,5016.80,0.00,0.00,2.00,0.000,0.000,0.116,1881.16,1969.69,1792.62,3192.81,3541.25,0,0,0,30.00,30.00,15.97
$GC,5240.97,1063,347.49,1.06,0.00,1879.4,1968.0,1790.9,3193.6,3540.1,116.62,6.17,647,5310.28,62.60,0.15,2.03,1.178,0.119,0.070,1549.53,1638.94,1460.12,3292.38,2060.69,0,0,0,12.29,15.90,15.99
$GC,5485.87,389,347.49,1.01,40.00,1546.3,1639.2,1453.4,3292.4,2061.0,98.84,11.16,678,5493.00,0.00,0.17,2.11,0.000,0.274,0.106,1545.44,1638.38,1452.50,3232.25,3536.50,0,0,0,30.00,15.77,15.84
$GC,5561.03,1062,354.64,1.03,0.00,1546.7,1639.7,1453.6,3231.2,3536.8,91.18,9.67,693,5576.67,7.41,0.00,2.04,0.777,0.000,0.076,1521.47,1615.62,1427.31,3239.25,2069.56,0,0,0,12.42,30.00,15.89
$GC,5761.04,678,366.55,1.09,-40.00,1519.6,1614.9,1424.3,3239.1,2069.4,71.17,9.45,715,5779.19,11.38,0.00,1.97,0.876,0.000,0.108,1472.97,1566.94,1379.00,3243.06,658.44,0,0,0,12.46,30.00,15.85
$GC,5897.01,1191,387.35,1.18,0.00,1469.4,1561.1,1377.8,3242.9,658.4,59.31,9.04,742,5920.64,17.41,0.14,1.99,0.931,0.109,0.062,1387.38,1475.06,1299.69,3327.75,2136.62,0,0,0,12.44,15.88,15.95
$GC,6103.60,389,387.35,1.15,40.00,1386.0,1475.6,1296.4,3328.4,2136.4,30.39,14.73,765,6110.80,0.00,0.14,1.98,0.000,0.281,0.111,1386.06,1475.50,1296.62,3276.62,3541.38,0,0,0,30.00,15.83,15.90
$GC,6158.67,1028,387.35,1.15,0.00,1386.1,1475.2,1296.9,3276.5,3541.1,23.49,12.01,776,6164.81,0.00,0.00,2.04,0.000,0.000,0.079,1386.44,1475.75,1297.12,3283.56,2071.19,0,0,0,30.00,30.00,15.96
$GC,6348.74,128,387.35,1.18,0.00,1386.0,1475.5,1296.6,3282.7,2070.8,3.45,10.31,796,6353.39,0.00,0.00,0.00,0.000,0.000,0.000,1385.78,1475.44,1296.12,3283.94,2071.25,0,0,0,30.00,30.00,30.00
$STATE,6368,end climb,SURFACE_DEPTH_REACHED
$STATE,6369,begin surface coast
$FINISH,-0.2,1.021354
$STATE,6389,end surface coast,CONTROL_FINISHED_OK
$STATE,6389,begin surface
$SM_CCo,6567.25,163.01,0.945,0,451.1,464.2,437.9,617.40
$SM_CCo,6568.37,0.00,0.016,0,450.2,463.4,436.9,617.63
$SM_CCo,6569.48,0.00,0.008,0,450.0,463.4,436.6,617.67
$SM_GC,0.75,0.00,6.50,0.60,0.008,0.077,0.080,450.0,463.4,436.6,422.8,2536.7,0,0,0,30.36,15.98,16.04
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1324.01,14431.60,031019,072314
$TCM_TEMP,136.69
$XPDR_PINGS,45
$SC_FREEKB,3876480
$TM_FREEKB,7780192
$PM_FREEKB_00,124571840
$PM_FREEKB_01,124835200
$PM_FREEKB_02,124835200
$PM_FREEKB_03,124821184
$PM_ACTIVECARD,0
$HUMID,52.23
$TEMP,25.28
$INTERNAL_PRESSURE,9.48519
$24V_AH,14.94,3.738
$10V_AH,14.98,0.000
$FG_AHR_24Vo,3.068
$FG_AHR_10Vo,0.612
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,697.180,17.455,57.700,410.142,11.250,13.555,3058.556,4073.730,1213.424,0.000,0.000,0.000
$DEVICE_MAMPS,1436.064,481.256,195.896,201.626,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6392.000,6399.000,6392.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.415,19.057,4.239,0.000
$MEM,1099432,25,79792,55
$DATA_FILE_SIZE,25703,800
$CAP_FILE_SIZE,187505,0
$SDSIZE,3918848,3906208
$SDFILEDIR,79,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061, 70.4,1
$GPS,031019,092132,1324.345,14435.411,2,0.8,31,0.6