version: 67.00
glider: 179
mission: 2
dive: 17
start: 10 4 119 2 4 22
data:
$ID,179
$MISSION,2
$DIVE,17
$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,150
$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,2
$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,2900
$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,2300
$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,1.2244412
$FG_AHR_24V,5.0602098
$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
$GPS1,041019,015602,1326.757,14435.561,2,1.3,5,0.6
$_CALLS,1
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-62.9
$GPS2,041019,020406,1326.740,14435.628,2,1.4,5,0.6
$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,228.1,8448,-18.8,-10.000,-24.19
$D_GRID,1104
$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,13.00,2,-145.99,-0.92,0.00,448.8,465.2,432.3,417.9,2200.8,0.00,0.00,0,108.50,91.79,0.00,0.00,0.005,0.000,0.000,2770.38,2789.62,2751.12,417.69,2196.38,0,0,0,15.60,30.00,30.00
$GC,108.76,295,-145.99,-0.92,40.00,2769.6,2789.6,2749.6,418.1,2196.4,4.00,-5.07,9,142.29,15.87,7.87,2.18,0.006,0.484,0.110,3563.06,3583.56,3542.56,2594.00,3741.25,0,0,0,15.64,15.69,15.73
$GC,364.21,1157,-145.99,-0.82,0.00,3561.0,3581.6,3540.4,2594.0,3740.9,72.49,-19.08,60,372.21,0.00,0.13,2.00,0.000,0.309,0.056,3561.19,3581.62,3540.75,2641.38,2259.69,0,0,0,30.00,15.84,16.00
$GC,550.24,388,-145.99,-0.76,40.00,3561.1,3581.5,3540.6,2640.7,2259.9,108.74,-17.11,79,556.19,0.00,0.00,2.10,0.000,0.000,0.102,3562.81,3583.38,3542.25,2632.56,3740.56,0,0,0,30.00,30.00,16.02
$GC,694.28,1156,-145.99,-0.78,0.00,3560.6,3581.6,3539.6,2631.1,3741.2,133.42,-18.15,108,702.43,0.00,0.00,2.00,0.000,0.000,0.052,3561.47,3581.81,3541.12,2630.50,2259.31,0,0,0,30.00,30.00,16.03
$GC,880.26,516,-145.99,-0.78,-40.00,3560.9,3582.1,3539.8,2631.5,2259.4,161.45,-14.43,127,886.45,0.00,0.00,1.94,0.000,0.000,0.101,3562.84,3583.44,3542.25,2631.94,857.88,0,0,0,30.00,30.00,16.01
$GC,1000.32,1028,-145.99,-0.78,0.00,3561.7,3582.9,3540.5,2632.5,857.5,179.46,-14.21,151,1006.26,0.00,0.00,2.00,0.000,0.000,0.065,3561.41,3582.12,3540.69,2623.62,2335.56,0,0,0,30.00,30.00,16.06
$GC,1190.24,388,-145.99,-0.81,40.00,3560.9,3581.3,3540.4,2624.9,2335.8,201.10,-11.74,171,1197.66,0.00,0.00,1.97,0.000,0.000,0.112,3562.03,3582.31,3541.75,2615.44,3740.94,0,0,0,30.00,30.00,16.02
$GC,1239.55,1156,-145.99,-0.84,0.00,3560.6,3581.2,3539.9,2615.1,3741.2,206.80,-11.53,181,1247.37,0.00,0.00,1.99,0.000,0.000,0.054,3560.72,3581.44,3540.00,2615.31,2260.00,0,0,0,30.00,30.00,16.05
$GC,1425.50,644,-145.99,-0.88,-40.00,3560.7,3581.1,3540.2,2615.2,2259.1,229.05,-11.44,200,1431.53,0.00,0.00,1.94,0.000,0.000,0.104,3559.41,3580.50,3538.31,2615.56,858.69,0,0,0,30.00,30.00,16.03
$GC,1495.69,1156,-145.99,-0.90,0.00,3560.4,3582.4,3538.4,2614.5,858.5,237.71,-12.53,214,1501.56,0.00,0.00,2.00,0.000,0.000,0.070,3560.84,3582.00,3539.69,2611.00,2333.25,0,0,0,30.00,30.00,16.05
$GC,1705.58,644,-145.99,-0.94,-40.00,3559.2,3581.0,3537.5,2611.3,2333.2,259.77,-10.62,230,1711.61,0.00,0.00,2.05,0.000,0.000,0.092,3560.34,3582.31,3538.38,2612.38,859.69,0,0,0,30.00,30.00,16.06
$GC,1839.73,1156,-145.99,-0.96,0.00,3558.8,3579.8,3537.8,2611.7,859.4,274.46,-11.31,257,1846.88,0.00,0.00,2.01,0.000,0.000,0.073,3559.25,3581.25,3537.25,2610.56,2334.06,0,0,0,30.00,30.00,16.04
$GC,2155.85,421,-145.99,-1.02,40.00,3555.5,3578.5,3532.6,2609.6,2333.4,306.23,-9.37,270,2162.75,0.00,0.10,1.99,0.000,0.123,0.119,3555.97,3578.75,3533.19,2523.62,3736.94,0,0,0,30.00,16.00,15.99
$GC,2204.76,1157,-145.99,-0.98,0.00,3555.7,3578.1,3533.2,2523.9,3737.0,312.40,-12.96,280,2212.78,0.00,0.17,2.00,0.000,0.260,0.058,3555.84,3578.19,3533.50,2592.19,2257.31,0,0,0,30.00,15.86,16.03
$GC,2510.83,160,-145.99,-1.02,0.00,3553.6,3576.6,3530.6,2590.9,2257.7,342.55,-9.74,291,2515.27,0.00,0.00,0.00,0.000,0.000,0.000,3553.19,3576.69,3529.69,2590.75,2257.75,0,0,0,30.00,30.00,30.00
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2691.92,3,0.00,-0.17,0.00,3550.9,3574.1,3527.7,2590.1,2045.1,360.07,-9.69,297,2808.03,110.79,0.67,0.09,1.418,0.197,0.174,2965.06,3029.62,2900.50,2853.94,2184.56,0,0,0,12.08,15.90,15.52
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin climb
$GC,2811.98,263,145.99,0.92,40.00,2965.6,3030.2,2901.0,2854.6,2183.8,361.76,0.00,300,2934.95,116.17,0.78,2.00,1.406,0.053,0.120,2371.94,2439.50,2304.38,3237.12,3538.56,0,0,0,12.58,15.63,15.41
$GC,3156.95,1159,145.99,0.76,0.00,2364.0,2432.4,2295.6,3236.4,3537.9,333.88,12.99,367,3164.09,0.00,0.31,2.04,0.000,0.288,0.073,2365.44,2434.44,2296.44,3133.19,2068.00,0,0,0,30.00,15.71,15.87
$GC,3483.09,551,191.24,0.85,-40.00,2359.8,2431.8,2287.9,3131.8,2067.5,306.05,7.91,382,3525.84,36.01,0.09,2.03,1.343,0.135,0.123,2188.81,2270.38,2107.25,3220.31,657.06,0,0,0,12.39,15.94,15.73
$GC,3748.74,1159,191.24,0.77,0.00,2180.0,2261.7,2098.4,3220.0,657.1,277.05,12.27,435,3755.93,0.00,0.22,2.02,0.000,0.271,0.073,2180.19,2262.19,2098.19,3134.62,2135.38,0,0,0,30.00,15.81,15.95
$GC,4053.81,678,210.43,0.83,-40.00,2177.1,2261.5,2092.6,3134.9,2134.7,248.74,9.11,450,4076.29,16.28,0.00,2.09,1.211,0.000,0.106,2107.84,2196.88,2018.81,3143.44,658.50,0,0,0,12.43,30.00,15.88
$GC,4298.23,1156,210.43,0.86,0.00,2103.1,2191.9,2014.2,3143.4,658.3,223.91,10.94,499,4306.43,0.00,0.00,2.02,0.000,0.000,0.074,2102.88,2191.94,2013.81,3143.94,2130.56,0,0,0,30.00,30.00,15.99
$GC,4484.27,389,210.43,0.90,40.00,2102.4,2192.1,2012.7,3144.1,2130.3,205.48,10.27,518,4491.24,0.00,0.10,1.99,0.000,0.127,0.109,2101.56,2191.19,2011.94,3221.38,3538.50,0,0,0,30.00,15.96,15.96
$GC,4549.19,1157,210.43,0.80,0.00,2102.4,2192.0,2012.8,3222.0,3538.2,196.48,14.10,531,4556.43,0.00,0.22,2.03,0.000,0.279,0.074,2101.97,2191.00,2012.94,3141.81,2063.94,0,0,0,30.00,15.79,15.99
$GC,4734.37,423,281.74,0.97,40.00,2101.2,2192.1,2010.2,3143.6,2065.1,181.02,6.71,550,4797.48,54.99,0.16,2.14,1.264,0.102,0.115,1817.41,1901.81,1733.00,3242.94,3540.25,0,0,0,12.40,15.96,15.69
$GC,5019.41,1157,281.74,0.89,0.00,1814.7,1901.6,1727.8,3242.1,3540.0,147.67,12.97,607,5027.51,0.00,0.22,2.05,0.000,0.271,0.076,1815.22,1902.69,1727.75,3172.12,2066.19,0,0,0,30.00,15.75,15.90
$GC,5205.43,423,339.69,1.05,40.00,1813.2,1901.9,1724.6,3171.3,2066.2,132.74,7.33,626,5258.56,44.22,0.16,2.14,1.165,0.104,0.117,1581.47,1668.31,1494.62,3269.94,3534.94,0,0,0,12.44,15.93,15.71
$GC,5260.49,1157,339.69,0.98,0.00,1581.3,1668.1,1494.5,3269.5,3535.6,126.52,11.97,637,5268.46,0.00,0.21,2.07,0.000,0.274,0.083,1581.16,1668.00,1494.31,3200.81,2067.69,0,0,0,30.00,15.67,15.51
$GC,5446.37,423,348.77,1.05,40.00,1577.4,1667.9,1486.9,3200.9,2067.9,109.44,9.58,656,5462.73,8.97,0.09,2.13,0.866,0.149,0.121,1546.84,1636.94,1456.75,3269.38,3537.12,0,0,0,12.46,15.86,15.82
$GC,5686.52,1157,348.77,0.98,0.00,1544.0,1635.0,1452.9,3269.8,3536.9,82.20,10.90,704,5693.70,0.00,0.20,2.03,0.000,0.270,0.075,1545.84,1637.00,1454.69,3202.12,2067.94,0,0,0,30.00,15.79,15.95
$GC,5871.57,163,359.91,1.09,0.00,1543.4,1635.1,1451.6,3201.4,2067.9,64.16,9.49,723,5886.49,10.62,0.12,0.00,0.847,0.122,0.000,1498.59,1588.88,1408.31,3289.56,2068.00,0,0,0,12.44,15.94,30.00
$GC,6061.60,294,393.89,1.15,40.00,1497.5,1588.6,1406.4,3289.2,2067.2,45.09,8.43,742,6095.25,26.75,0.00,2.12,0.946,0.000,0.122,1360.91,1445.38,1276.44,3289.38,3535.88,0,0,0,12.56,30.00,15.84
$GC,6212.17,1156,393.89,1.13,0.00,1359.8,1445.6,1274.1,3289.6,3534.9,29.34,11.19,772,6220.22,0.00,0.00,2.04,0.000,0.000,0.078,1360.59,1446.44,1274.75,3298.44,2068.06,0,0,0,30.00,30.00,15.93
$GC,6398.21,261,393.89,1.13,40.00,1359.2,1445.6,1272.8,3299.8,2067.6,8.95,11.11,791,6405.28,0.00,0.12,2.10,0.000,0.272,0.117,1358.53,1444.94,1272.12,3250.38,3535.81,0,0,0,30.00,15.86,15.94
$GC,6443.15,1156,393.89,1.17,0.00,1359.1,1445.6,1272.6,3249.9,3536.2,4.37,10.12,800,6449.13,0.00,0.00,2.03,0.000,0.000,0.077,1359.84,1446.38,1273.31,3256.38,2070.88,0,0,0,30.00,30.00,15.99
$STATE,6473,end climb,SURFACE_DEPTH_REACHED
$STATE,6473,begin surface coast
$FINISH,0.1,1.021053
$STATE,6493,end surface coast,CONTROL_FINISHED_OK
$STATE,6493,begin surface
$SM_CCo,6665.62,157.79,0.933,0,450.8,463.4,438.2,617.46
$SM_CCo,6666.66,0.00,0.000,0,450.0,462.8,437.1,617.67
$SM_CCo,6667.70,0.00,0.000,0,449.9,462.7,437.1,617.70
$SM_GC,0.84,0.00,6.37,0.34,0.000,0.065,0.060,449.9,462.7,437.1,415.4,2331.8,0,0,0,30.00,15.96,16.04
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1326.59,14438.31,041019,000108
$TCM_TEMP,136.58
$XPDR_PINGS,53
$SC_FREEKB,3872256
$TM_FREEKB,7596096
$PM_FREEKB_00,123833216
$PM_FREEKB_01,124835200
$PM_FREEKB_02,124835200
$PM_FREEKB_03,124821184
$PM_ACTIVECARD,0
$HUMID,51.99
$TEMP,25.13
$INTERNAL_PRESSURE,9.47327
$24V_AH,14.94,6.667
$10V_AH,14.98,0.000
$FG_AHR_24Vo,5.253
$FG_AHR_10Vo,1.299
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,690.250,18.320,65.930,366.094,13.250,14.123,3030.510,4100.532,1210.393,0.000,0.000,0.000
$DEVICE_MAMPS,1418.024,483.880,173.592,197.377,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6496.000,6504.000,6497.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.396,19.041,4.222,0.000
$MEM,1099412,25,79812,55
$DATA_FILE_SIZE,25708,806
$CAP_FILE_SIZE,195292,0
$SDSIZE,3918848,3902656
$SDFILEDIR,178,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,346.9,1
$GPS,041019,035631,1326.635,14434.999,2,0.8,31,0.6