version: 67.00
glider: 242
mission: 2
dive: 3
start: 7 12 122 19 52 43
data:
$ID,242
$MISSION,2
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,270
$D_ABORT,500
$D_NO_BLEED,200
$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,90
$T_MISSION,120
$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,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72936
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,45
$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,595.40039
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,15
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3610
$C_PITCH,1681.5026
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,21
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$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,195
$ROLL_MAX,3800
$ROLL_DEG,80
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$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,2890
$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
$C_VBD_AUTO_MAX,0
$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,19.251581
$FG_AHR_24V,3.9475605
$PHONE_SUPPLY,2
$PRESSURE_YINT,-182.32567
$PRESSURE_SLOPE,0.00022512203
$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,-3.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,7
$LOGGERDEVICE2,35
$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
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,120722,195013,4723.532,-12525.001,1,0.8,3,15.8
$_CALLS,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-52.1
$GPS2,120722,195204,4723.521,-12524.988,2,0.8,4,15.8
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,HEADING
$TGT_LATLONG,4731.157,-12513.682
$TGT_RADIUS,1852.000
$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,68.6,20000,-17.6,-10.000,-21.24,2209,0.166
$D_GRID,1000
$IRON,1.000000,0.015334,-0.123591,-0.022416,1.049678,-0.036701,-0.000173,-0.084301,1.124830,859.849731,-817.228638,-700.200439
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12.46,16386,-145.99,-1.02,0.00,499.3,572.7,426.0,202.7,2037.9,0.00,0.00,0,100.25,80.57,0.00,0.00,0.005,0.000,0.000,2514.47,2542.00,2486.94,202.88,2039.50,0,0,0,16.05,30.00,30.00
$GC,100.74,18983,-145.99,-1.02,-80.00,2514.5,2543.1,2486.0,203.0,2039.1,4.05,-3.60,8,150.17,21.14,8.89,3.64,0.006,0.240,0.122,3484.72,3522.94,3446.50,1435.00,533.38,0,0,0,16.06,15.85,15.94
$GC,238.67,1028,-145.99,-1.02,0.00,3487.5,3527.8,3447.2,1434.9,532.9,27.29,-12.93,34,245.43,0.00,0.00,3.37,0.000,0.000,0.052,3487.78,3527.62,3447.94,1435.00,2027.50,0,0,0,30.00,30.00,16.00
$NAV,1657655941,42.8,start
$GC,433.46,260,-145.99,-1.02,80.00,3488.9,3530.6,3447.2,1434.6,2031.9,48.84,-11.04,54,441.36,0.00,0.00,3.41,0.000,0.000,0.110,3491.16,3532.62,3449.69,1434.81,3468.19,0,0,0,30.00,30.00,15.95
$GC,499.84,1028,-145.99,-1.02,0.00,3489.2,3530.9,3447.4,1434.7,3468.8,56.96,-11.99,67,506.61,0.00,0.00,3.39,0.000,0.000,0.057,3488.75,3531.62,3445.88,1434.88,1971.38,0,0,0,30.00,30.00,15.99
$GC,690.08,260,-145.99,-1.02,80.00,3489.6,3531.3,3447.8,1434.4,1969.1,76.59,-10.03,87,698.24,0.00,0.00,3.59,0.000,0.000,0.107,3489.22,3532.25,3446.19,1435.00,3468.06,0,0,0,30.00,30.00,15.94
$GC,721.00,1028,-145.99,-1.02,0.00,3489.8,3531.8,3447.8,1434.6,3468.8,79.78,-10.11,93,729.45,0.00,0.00,3.38,0.000,0.000,0.056,3491.44,3533.81,3449.06,1434.81,1971.00,0,0,0,30.00,30.00,15.97
$GC,916.86,32,-145.99,-1.02,0.00,3489.9,3532.9,3446.9,1434.5,1969.9,99.59,-9.49,113,918.65,0.00,0.00,0.00,0.000,0.000,0.000,3489.22,3532.06,3446.38,1434.62,1970.12,0,0,0,30.00,30.00,30.00
$GC,1106.87,292,-145.99,-1.02,80.00,3490.1,3532.9,3447.2,1434.6,1970.0,118.75,-9.77,132,1114.95,0.00,0.00,3.60,0.000,0.000,0.109,3489.88,3531.94,3447.81,1434.44,3468.88,0,0,0,30.00,30.00,15.91
$GC,1137.72,1028,-145.99,-1.02,0.00,3489.7,3532.1,3447.2,1434.8,3469.9,122.00,-10.19,138,1146.27,0.00,0.00,3.41,0.000,0.000,0.058,3491.75,3534.75,3448.75,1434.62,1971.31,0,0,0,30.00,30.00,15.94
$GC,1333.59,292,-145.99,-1.02,80.00,3489.8,3532.2,3447.5,1434.7,1970.9,140.84,-9.36,158,1341.66,0.00,0.00,3.60,0.000,0.000,0.110,3491.69,3534.88,3448.50,1434.69,3467.75,0,0,0,30.00,30.00,15.91
$GC,1374.42,1028,-145.99,-1.02,0.00,3490.4,3532.5,3448.2,1434.8,3467.0,145.06,-10.21,166,1382.88,0.00,0.00,3.40,0.000,0.000,0.059,3489.53,3532.12,3446.94,1434.62,1970.25,0,0,0,30.00,30.00,15.94
$GC,1570.30,32,-145.99,-1.02,0.00,3489.9,3532.8,3447.0,1434.2,1969.8,163.83,-9.69,186,1572.09,0.00,0.00,0.00,0.000,0.000,0.000,3489.09,3532.75,3445.44,1434.31,1970.00,0,0,0,30.00,30.00,30.00
$GC,1760.23,260,-145.99,-1.02,80.00,3489.5,3532.5,3446.5,1434.3,1969.9,183.35,-10.54,205,1768.52,0.00,0.00,3.62,0.000,0.000,0.113,3488.84,3531.94,3445.75,1434.88,3468.12,0,0,0,30.00,30.00,15.91
$GC,1817.04,1028,-145.99,-1.02,0.00,3489.2,3532.4,3445.9,1434.9,3467.8,189.39,-10.53,216,1825.15,0.00,0.00,3.41,0.000,0.000,0.061,3491.34,3534.50,3448.19,1434.62,1972.56,0,0,0,30.00,30.00,15.94
$GC,2012.14,32,-145.99,-1.02,0.00,3488.6,3533.0,3444.2,1434.7,1973.4,208.02,-9.25,236,2013.94,0.00,0.00,0.00,0.000,0.000,0.000,3488.25,3532.19,3444.31,1434.50,1972.94,0,0,0,30.00,30.00,30.00
$GC,2202.15,292,-145.99,-1.02,80.00,3487.7,3531.8,3443.5,1434.9,1972.4,225.43,-9.16,255,2210.30,0.00,0.00,3.63,0.000,0.000,0.116,3488.97,3532.75,3445.19,1434.75,3470.69,0,0,0,30.00,30.00,15.90
$GC,2253.14,1060,-145.99,-1.02,0.00,3488.0,3532.7,3443.2,1434.5,3470.2,230.32,-9.51,265,2261.62,0.00,0.00,3.43,0.000,0.000,0.063,3487.81,3532.75,3442.88,1434.62,1972.38,0,0,0,30.00,30.00,15.93
$GC,2448.93,32,-145.99,-1.02,0.00,3486.8,3532.4,3441.1,1434.5,1971.8,247.51,-8.44,285,2450.73,0.00,0.00,0.00,0.000,0.000,0.000,3485.84,3531.19,3440.50,1434.31,1971.69,0,0,0,30.00,30.00,30.00
$GC,2638.93,292,-145.99,-1.02,80.00,3486.5,3532.8,3440.2,1434.3,1971.4,263.51,-8.29,296,2647.10,0.00,0.00,3.63,0.000,0.000,0.118,3487.50,3533.31,3441.69,1434.12,3468.56,0,0,0,30.00,30.00,15.88
$GC,2684.94,1060,-145.99,-1.02,0.00,3486.2,3532.4,3439.9,1434.5,3468.4,267.57,-8.73,305,2692.64,0.00,0.00,3.42,0.000,0.000,0.063,3486.16,3532.00,3440.31,1434.81,1971.56,0,0,0,30.00,30.00,15.92
$STATE,2716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2716,begin apogee
$GC,2717.66,10243,0.00,-0.24,0.00,3486.3,3532.1,3440.4,1434.3,2037.9,270.05,-8.15,308,2837.43,107.86,1.22,0.12,1.327,0.120,0.192,2888.66,2986.38,2790.94,1625.88,1964.12,0,0,0,11.13,15.85,15.50
$STATE,2839,end apogee,CONTROL_FINISHED_OK
$STATE,2839,begin climb
$GC,2839.97,10503,145.99,1.02,80.00,2888.1,2985.8,2790.4,1625.4,1963.2,272.35,0.00,313,2969.60,109.60,1.94,3.76,1.284,0.086,0.115,2293.44,2393.56,2193.31,1931.00,3466.69,0,0,0,11.28,15.53,15.36
$GC,2973.30,11303,304.76,1.21,0.00,2292.1,2391.6,2192.6,1931.1,3467.6,271.07,2.61,336,3105.98,115.10,0.25,3.51,1.258,0.070,0.060,1646.66,1749.31,1544.00,1991.06,1970.06,0,0,0,11.43,15.44,15.43
$GC,3413.16,16902,304.76,1.21,-80.00,1639.3,1739.1,1539.6,1990.6,1968.9,218.20,12.27,388,3421.36,0.00,0.00,3.58,0.000,0.000,0.137,1638.84,1738.75,1538.94,1990.56,532.81,0,0,0,30.00,30.00,15.72
$NAV,1657659012,213.0,0,stop
$GC,3524.26,17414,304.76,1.21,0.00,1638.4,1737.5,1539.4,1990.3,532.8,201.68,14.88,410,3532.73,0.00,0.00,3.40,0.000,0.000,0.059,1638.47,1737.94,1539.00,1991.75,2026.00,0,0,0,30.00,30.00,15.84
$GC,3720.02,16902,304.76,1.21,-80.00,1637.8,1737.8,1537.7,1991.3,2026.2,179.11,10.58,430,3728.30,0.00,0.00,3.67,0.000,0.000,0.134,1636.56,1736.19,1536.94,1991.62,533.88,0,0,0,30.00,30.00,15.86
$GC,3756.83,17414,304.76,1.21,0.00,1638.2,1737.3,1539.2,1991.4,534.1,174.41,12.96,437,3764.85,0.00,0.00,3.37,0.000,0.000,0.058,1637.53,1736.69,1538.38,1991.12,2029.00,0,0,0,30.00,30.00,15.92
$GC,3951.83,16902,304.76,1.21,-80.00,1637.4,1737.1,1537.6,1991.2,2028.1,152.13,11.70,457,3960.11,0.00,0.00,3.68,0.000,0.000,0.135,1636.75,1735.94,1537.56,1991.56,534.12,0,0,0,30.00,30.00,15.91
$NAV,1657659541,148.6,start
$GC,3991.62,17414,304.76,1.21,0.00,1637.7,1736.9,1538.4,1991.2,533.8,148.64,12.57,462,4002.49,0.00,0.00,3.40,0.000,0.000,0.058,1637.78,1737.75,1537.81,1992.12,2028.88,0,0,0,30.00,30.00,15.93
$GC,4190.58,8742,312.26,1.22,-80.00,1637.1,1736.8,1537.3,1991.2,2028.2,125.88,9.65,483,4208.36,6.64,0.00,3.70,0.852,0.000,0.137,1617.69,1718.44,1516.94,1990.44,532.88,0,0,0,11.32,30.00,15.86
$GC,4231.88,1028,312.26,1.22,0.00,1616.7,1716.9,1516.4,1991.4,532.9,121.46,10.87,491,4240.07,0.00,0.00,3.40,0.000,0.000,0.058,1616.28,1716.38,1516.19,1991.38,2027.88,0,0,0,30.00,30.00,15.92
$GC,4426.97,8226,329.06,1.24,0.00,1615.5,1715.8,1515.2,1991.5,2027.3,103.12,9.22,511,4448.02,15.23,0.00,0.00,1.081,0.000,0.000,1549.38,1649.50,1449.25,1991.88,2027.06,0,0,0,11.37,30.00,30.00
$GC,4636.98,8742,367.45,1.29,-80.00,1545.0,1643.1,1446.9,1991.4,2027.8,84.52,8.21,532,4677.90,30.14,0.00,3.73,1.118,0.000,0.138,1392.22,1493.44,1291.00,1991.62,533.94,0,0,0,11.35,30.00,15.72
$GC,4710.74,9254,384.62,1.31,0.00,1389.6,1490.4,1288.8,1991.6,533.8,78.09,9.20,546,4734.76,14.95,0.00,3.43,1.026,0.000,0.059,1323.25,1425.62,1220.88,1992.12,2027.44,0,0,0,11.43,30.00,15.77
$GC,4918.32,10275,445.24,1.39,0.00,1318.3,1418.6,1218.0,1991.8,2027.4,61.88,7.18,569,4972.24,46.51,0.16,0.00,1.090,0.093,0.000,1075.06,1173.44,976.69,2026.81,2028.62,0,0,0,11.39,15.82,30.00
$GC,5158.33,8742,467.20,1.41,-80.00,1070.8,1165.6,975.9,2027.1,2028.5,39.75,8.98,596,5187.17,18.11,0.00,3.78,1.012,0.000,0.140,985.38,1080.56,890.19,2025.69,534.06,0,0,0,11.32,30.00,15.65
$GC,5244.93,1028,467.20,1.41,0.00,983.2,1077.1,889.2,2027.7,534.1,30.79,11.18,613,5253.48,0.00,0.00,3.46,0.000,0.000,0.059,982.81,1076.88,888.75,2028.00,2028.88,0,0,0,30.00,30.00,15.74
$GC,5440.78,8742,540.15,1.50,-80.00,981.3,1075.4,887.3,2028.5,2028.4,15.69,6.61,633,5508.32,54.70,0.00,3.79,1.036,0.000,0.137,688.16,780.00,596.31,2028.50,535.50,0,0,0,11.27,30.00,15.57
$GC,5606.94,11303,658.33,1.65,0.00,685.3,777.8,592.9,2028.3,535.4,7.83,4.50,665,5653.08,35.19,0.32,3.45,1.001,0.083,0.057,501.16,576.44,425.88,2087.00,2035.31,0,0,0,11.35,15.69,15.71
$STATE,5736,end climb,SURFACE_DEPTH_REACHED
$STATE,5736,begin surface coast
$FINISH,0.4,1.021702
$STATE,5776,end surface coast,CONTROL_FINISHED_OK
$STATE,5777,begin surface
$SM_CCo,5805.27,0.17,0.140,0,498.9,573.4,424.5,586.53
$SM_GC,2.39,0.17,11.70,0.12,0.140,0.055,0.153,498.9,573.4,424.5,200.4,1964.1,0,0,0,15.78,15.69,15.68
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4725.73,-12521.16,120722,194633
$TCM_TEMP,14.36
$SC_FREEKB,3877824
$PM_FREEKB_00,62202688
$PM_ACTIVECARD,0
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,55.98
$TEMP,11.46
$INTERNAL_PRESSURE,7.81093
$24V_AH,14.94,2.381
$10V_AH,15.00,0.000
$FG_AHR_24Vo,4.130
$FG_AHR_10Vo,19.374
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,655.895,24.490,113.490,0.000,0.000,13.844,2677.327,0.013,0.000,3168.886,1349.710,3084.759,0.000,0.000,4.077
$DEVICE_MAMPS,1326.512,240.176,192.288,0.000,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5779.000,5786.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.098,12.740,0.000,0.000
$MEM0,60108,1,0,0
$MEM1,65508,1,0,0
$MEM2,965772,27,80756,75
$DATA_FILE_SIZE,19333,686
$CAP_FILE_SIZE,254759,0
$SDSIZE,3887104,3869792
$SDFILEDIR,57,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.048,141.9,1
$MAGCAL,1.000000,0.017254,-0.069902,-0.016667,1.104294,-0.064888,-0.002361,-0.024917,1.028273,822.6,-834.9,-664.4,33,0.0507,0
$IMPLIED_C_PITCH,1695,14.51,398,1688.4,19.00
$IMPLIED_C_VBD,2888,80.128494,397,0
$GPS,120722,213039,4723.319,-12523.873,6,1.3,35,15.8