version: 67.00
glider: 185
mission: 0
dive: 79
start: 2 17 116 4 26 25
data:
$ID,185
$MISSION,0
$DIVE,79
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,400
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,4
$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,270
$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,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51725
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,515.13
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,129
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,25
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,5
$MAXI_10V,0.80000001
$FG_AHR_10V,28.739861
$FG_AHR_24V,19.140144
$PHONE_SUPPLY,2
$PRESSURE_YINT,-150.34485
$PRESSURE_SLOPE,0.00010658
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,900
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$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,48
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,4
$SIM_W,0.1
$SEABIRD_T_G,0.0043319771
$SEABIRD_T_H,0.00061972893
$SEABIRD_T_I,2.0309124e-05
$SEABIRD_T_J,1.8214913e-06
$SEABIRD_C_G,-9.9888363
$SEABIRD_C_H,1.1040936
$SEABIRD_C_I,-0.0023403035
$SEABIRD_C_J,0.00025686048
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170216,041504,4739.312,-12219.018,40,0.8,43,15.9
$_CALLS,5
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-3.0
$GPS2,170216,042615,4739.311,-12219.015,3,0.8,7,15.9
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,300.2,10760,-18.2,-10.000,-20.99
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,4.95,2,-146.63,-0.91,0.00,494.1,493.6,494.6,447.1,2012.9,0.00,0.00,0,36.62,31.00,0.00,0.00,0.000,0.000,0.000,1355.97,1451.56,1260.38,447.38,2013.12,0,0,0,26.82,30.00,30.00
$GC,36.91,295,-146.63,-0.91,40.00,1355.7,1450.6,1260.8,447.2,2013.0,3.34,-9.35,3,131.88,80.66,6.99,3.41,0.000,0.061,0.043,3197.03,3284.62,3109.44,2558.06,3441.94,0,0,0,26.72,27.78,26.86
$GC,398.41,1156,-146.63,-0.86,0.00,3195.7,3283.2,3108.1,2559.6,3442.0,39.88,-10.19,75,404.53,0.00,0.00,3.17,0.000,0.000,0.026,3195.53,3280.94,3110.12,2558.19,2016.81,0,0,0,30.00,30.00,28.10
$GC,583.89,421,-146.63,-0.80,40.00,3195.5,3283.1,3108.0,2558.7,2016.6,58.31,-10.00,94,589.36,0.00,0.14,3.40,0.000,0.054,0.040,3196.72,3283.56,3109.88,2588.06,3442.69,0,0,0,30.00,28.25,27.97
$GC,858.44,1188,-146.63,-0.75,0.00,3195.6,3283.8,3107.4,2591.1,3442.7,85.76,-9.81,149,864.26,0.00,0.00,3.14,0.000,0.000,0.026,3197.72,3284.75,3110.69,2589.19,2014.25,0,0,0,30.00,30.00,28.16
$GC,1043.56,421,-146.63,-0.69,40.00,3195.8,3282.4,3109.1,2590.8,2016.7,103.97,-9.65,168,1049.40,0.00,0.14,3.38,0.000,0.057,0.041,3196.31,3282.75,3109.88,2624.25,3441.06,0,0,0,30.00,28.30,27.99
$GC,1318.33,1188,-146.63,-0.64,0.00,3195.1,3282.2,3108.0,2624.9,3441.1,131.66,-9.87,223,1324.65,0.00,0.00,3.14,0.000,0.000,0.026,3195.78,3283.50,3108.06,2624.31,2016.38,0,0,0,30.00,30.00,28.19
$GC,1503.63,389,-146.63,-0.59,40.00,3195.4,3282.4,3108.3,2624.8,2016.4,150.36,-10.14,242,1509.74,0.00,0.14,3.39,0.000,0.059,0.041,3195.12,3282.19,3108.06,2659.56,3444.62,0,0,0,30.00,28.34,27.99
$GC,1778.59,1188,-146.63,-0.53,0.00,3195.6,3282.4,3108.9,2659.6,3443.5,177.72,-9.86,297,1784.65,0.00,0.00,3.16,0.000,0.000,0.026,3197.25,3283.88,3110.62,2659.69,2014.38,0,0,0,30.00,30.00,28.21
$GC,1963.65,421,-146.63,-0.48,40.00,3195.8,3283.1,3108.6,2659.3,2015.3,196.16,-9.89,316,1969.74,0.00,0.14,3.38,0.000,0.058,0.041,3195.91,3283.50,3108.31,2695.19,3444.00,0,0,0,30.00,28.39,28.00
$GC,2238.63,1188,-146.63,-0.43,0.00,3195.2,3281.9,3108.5,2694.5,3443.4,223.71,-9.81,371,2244.65,0.00,0.00,3.14,0.000,0.000,0.026,3195.53,3283.06,3108.00,2697.38,2015.56,0,0,0,30.00,30.00,28.23
$GC,2423.62,389,-146.63,-0.37,40.00,3195.8,3282.4,3109.2,2696.8,2015.4,242.55,-10.11,390,2429.35,0.00,0.14,3.38,0.000,0.057,0.041,3197.12,3283.12,3111.12,2727.19,3441.44,0,0,0,30.00,28.42,28.00
$GC,2698.23,1156,-146.63,-0.32,0.00,3195.2,3282.4,3108.1,2728.0,3441.0,269.93,-10.26,445,2704.65,0.00,0.00,3.13,0.000,0.000,0.026,3195.88,3282.50,3109.25,2726.00,2017.06,0,0,0,30.00,30.00,28.23
$GC,2883.65,421,-146.63,-0.27,40.00,3195.3,3282.2,3108.4,2728.2,2016.2,288.65,-9.85,464,2889.35,0.00,0.14,3.38,0.000,0.058,0.041,3195.69,3282.69,3108.69,2761.62,3442.75,0,0,0,30.00,28.42,28.00
$GC,3158.20,1156,-146.63,-0.21,0.00,3194.9,3282.1,3107.8,2762.9,3443.3,315.96,-10.10,519,3164.65,0.00,0.00,3.14,0.000,0.000,0.026,3195.38,3282.94,3107.81,2763.25,2015.94,0,0,0,30.00,30.00,28.22
$GC,3343.72,421,-146.63,-0.16,40.00,3195.1,3281.8,3108.5,2762.6,2016.4,334.50,-9.97,538,3349.75,0.00,0.13,3.38,0.000,0.058,0.041,3195.16,3282.44,3107.88,2795.44,3444.12,0,0,0,30.00,28.45,27.99
$STATE,3603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3603,begin apogee
$GC,3607.48,2,0.00,-0.20,0.00,3196.4,3283.8,3109.0,2795.5,2014.8,360.40,9.78,590,3716.09,106.24,0.00,0.05,0.416,0.000,0.096,2593.59,2649.06,2538.12,2796.12,2029.81,0,0,0,23.13,30.00,27.29
$STATE,3716,end apogee,CONTROL_FINISHED_OK
$STATE,3716,begin climb
$GC,3716.59,519,146.63,0.91,-40.00,2589.1,2644.1,2534.1,2796.2,2028.9,349.80,0.00,601,3835.84,111.29,1.48,3.27,0.402,0.056,0.023,1991.72,2044.38,1939.06,3140.81,604.06,0,0,0,24.43,27.52,26.87
$GC,4102.46,1158,146.63,0.86,0.00,1979.9,2037.9,1921.8,3140.5,603.9,310.81,10.22,678,4108.63,0.00,0.00,3.24,0.000,0.000,0.027,1980.91,2039.50,1922.31,3138.00,2029.19,0,0,0,30.00,30.00,27.77
$GC,4293.00,647,146.63,0.80,-40.00,1979.4,2038.1,1920.6,3139.7,2029.7,291.81,10.03,698,4298.66,0.00,0.14,3.16,0.000,0.046,0.024,1979.28,2036.62,1921.94,3100.56,604.00,0,0,0,30.00,28.06,27.92
$GC,4567.36,1190,147.31,0.75,0.00,1978.7,2037.1,1920.2,3099.8,604.1,264.16,9.97,753,4573.61,0.00,0.00,3.19,0.000,0.000,0.026,1979.28,2037.00,1921.56,3098.06,2027.00,0,0,0,30.00,30.00,28.00
$GC,4752.47,646,147.31,0.70,-40.00,1978.6,2036.6,1920.6,3100.5,2028.7,245.76,10.16,772,4758.60,0.00,0.00,3.15,0.000,0.000,0.024,1979.50,2037.06,1921.94,3098.56,602.62,0,0,0,30.00,30.00,28.08
$GC,5028.09,1191,148.35,0.64,0.00,1978.5,2036.5,1920.6,3100.7,602.5,218.12,9.95,827,5033.28,0.00,0.17,3.18,0.000,0.047,0.027,1978.84,2037.12,1920.56,3052.06,2029.12,0,0,0,30.00,27.97,28.07
$GC,5212.67,678,148.63,0.59,-40.00,1978.2,2036.4,1920.0,3050.1,2028.3,199.51,9.99,846,5218.21,0.00,0.00,3.13,0.000,0.000,0.023,1980.50,2038.50,1922.50,3049.69,604.06,0,0,0,30.00,30.00,28.15
$GC,5487.65,1158,148.63,0.54,0.00,1978.2,2036.4,1919.9,3050.1,604.0,172.07,10.09,901,5493.60,0.00,0.00,3.18,0.000,0.000,0.026,1979.94,2037.25,1922.62,3048.50,2029.69,0,0,0,30.00,30.00,28.12
$GC,5672.58,677,152.04,0.49,-40.00,1978.6,2036.8,1920.4,3049.4,2030.3,153.48,9.84,920,5678.28,0.00,0.17,3.13,0.000,0.049,0.024,1978.50,2037.19,1919.81,3001.06,604.00,0,0,0,30.00,28.32,28.18
$GC,5947.75,1156,152.04,0.43,0.00,1978.5,2036.5,1920.4,3000.1,604.0,126.26,10.00,975,5953.22,0.00,0.00,3.17,0.000,0.000,0.027,1980.62,2038.44,1922.81,3000.38,2029.31,0,0,0,30.00,30.00,28.14
$GC,6132.65,644,152.04,0.38,-40.00,1977.9,2035.7,1920.2,3000.4,2029.0,107.77,10.05,994,6138.22,0.00,0.00,3.12,0.000,0.000,0.024,1977.62,2035.62,1919.62,2998.75,605.25,0,0,0,30.00,30.00,28.20
$GC,6407.88,1157,152.04,0.33,0.00,1978.1,2036.0,1920.1,3001.4,605.5,80.24,10.31,1049,6413.68,0.00,0.17,3.17,0.000,0.047,0.027,1978.44,2036.50,1920.38,2949.19,2027.62,0,0,0,30.00,28.05,28.15
$GC,6592.99,678,168.23,0.29,-40.00,1978.2,2035.9,1920.6,2948.7,2027.4,62.19,9.26,1068,6609.75,11.94,0.00,3.11,0.405,0.000,0.024,1905.59,1962.94,1848.25,2949.19,603.94,0,0,0,23.47,30.00,27.98
$GC,6877.46,1188,170.97,0.24,0.00,1897.9,1959.4,1836.5,2949.9,603.9,33.69,9.87,1125,6883.71,0.00,0.00,3.16,0.000,0.000,0.026,1900.44,1960.88,1840.00,2947.38,2028.31,0,0,0,30.00,30.00,28.20
$GC,7068.08,645,170.97,0.19,-40.00,1897.9,1959.4,1836.4,2949.3,2028.9,14.57,10.02,1145,7073.66,0.00,0.15,3.12,0.000,0.050,0.024,1897.47,1958.94,1836.00,2905.12,602.56,0,0,0,30.00,28.39,28.24
$STATE,7192,end climb,SURFACE_DEPTH_REACHED
$STATE,7192,begin surface coast
$FINISH,-0.0,0.998155
$STATE,7213,end surface coast,CONTROL_FINISHED_OK
$STATE,7213,begin surface
$SM_CCo,7345.41,115.51,0.112,0,498.9,492.2,505.7,515.39
$SM_GC,1.53,115.51,7.68,3.17,0.112,0.043,0.027,498.9,492.2,505.7,446.2,2029.9,0,0,0,24.88,28.06,28.18
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,4719.74,-12218.96,170216,041817
$TCM_TEMP,23.30
$XPDR_PINGS,2
$SC_FREEKB,3995328
$HUMID,47.64
$TEMP,20.54
$INTERNAL_PRESSURE,10.3494
$24V_AH,26.81,6.861
$10V_AH,11.09,16.295
$FG_AHR_24Vo,19.183
$FG_AHR_10Vo,28.777
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,456.645,17.920,103.030,359.596,0.500,8.471,2641.335,5356.015,1623.611,0.000,0.000,0.000
$DEVICE_MAMPS,415.877,60.547,95.713,75.245,420.000,11.200,163.720,2.190,4.080,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7230.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.806,0.000,0.000,0.000
$MEM,1135516,35,45472,53
$DATA_FILE_SIZE,40693,1174
$CAP_FILE_SIZE,244395,0
$SDSIZE,4028416,4001760
$ERRORS,0,0,0,0,0,0,0,0
$CURRENT,0.000,227.1,1
$GPS,170216,062932,4739.310,-12219.017,17,0.9,32,15.9