version: 67.00
glider: 180
mission: 2
dive: 132
start: 10 29 119 19 15 20
data:
$ID,180
$MISSION,2
$DIVE,132
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$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,150
$T_MISSION,180
$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,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54047
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$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,619.93036
$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,185
$PITCH_MAX,3625
$C_PITCH,3295
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,25
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,360
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$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,400
$VBD_MAX,3960
$C_VBD,2840
$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
$W_ADJ_DBAND,2
$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,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,17.676283
$FG_AHR_24V,29.390715
$PHONE_SUPPLY,2
$PRESSURE_YINT,-154.69112
$PRESSURE_SLOPE,0.00010699085
$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,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,7
$LOGGERDEVICE2,22
$LOGGERDEVICE3,33
$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,0.0043955045
$SEABIRD_T_H,0.00063085643
$SEABIRD_T_I,2.5021687e-05
$SEABIRD_T_J,3.0087358e-06
$SEABIRD_C_G,-9.7732916
$SEABIRD_C_H,1.1286387
$SEABIRD_C_I,-0.0014607979
$SEABIRD_C_J,0.00018615076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$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
$GPS1,291019,185909,1416.440,14409.041,5,0.8,22,0.3
$_CALLS,2
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-70.5
$GPS2,291019,191504,1416.352,14409.064,3,0.6,4,0.3
$SPEED_LIMITS,0.231,0.308
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$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,148.1,11884,-18.1,-13.333,-23.43
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13.89,2,-243.31,-1.02,0.00,402.7,440.2,365.2,165.3,2453.7,0.00,0.00,0,119.13,101.46,0.00,0.00,0.005,0.000,0.000,2908.28,2940.88,2875.69,165.75,2453.19,0,0,0,15.79,30.00,30.00
$GC,119.41,551,-243.31,-1.02,-40.00,2907.0,2937.6,2876.4,165.8,2453.4,5.00,-7.95,10,159.08,15.52,13.97,2.13,0.006,0.426,0.034,3832.00,3938.38,3725.62,2966.44,1085.00,0,0,0,15.83,15.73,15.81
$GC,295.98,1028,-243.31,-1.02,0.00,3830.5,3934.8,3726.1,2967.4,1080.4,81.89,-41.39,45,304.01,0.00,0.00,2.45,0.000,0.000,0.060,3830.66,3935.38,3725.94,2967.06,2570.75,0,0,0,30.00,30.00,15.97
$GC,482.10,0,-243.31,-1.02,0.00,3830.2,3934.6,3725.9,2967.4,2570.6,137.30,-28.05,64,486.54,0.00,0.00,0.00,0.000,0.000,0.000,3830.56,3934.31,3726.81,2966.31,2571.75,0,0,0,30.00,30.00,30.00
$GC,662.11,260,-243.31,-1.02,40.00,3830.1,3934.6,3725.6,2967.1,2570.9,188.84,-27.56,82,668.99,0.00,0.00,1.96,0.000,0.000,0.075,3830.88,3934.88,3726.88,2964.38,3772.69,0,0,0,30.00,30.00,16.01
$GC,677.02,1028,-243.31,-1.02,0.00,3829.7,3933.7,3725.8,2968.3,3773.1,192.93,-28.36,85,682.98,0.00,0.00,1.97,0.000,0.000,0.025,3830.06,3933.81,3726.31,2966.62,2500.38,0,0,0,30.00,30.00,16.03
$GC,867.09,516,-243.31,-1.02,-40.00,3829.5,3933.1,3725.9,2966.9,2488.6,239.01,-22.92,105,872.28,0.00,0.00,2.16,0.000,0.000,0.031,3829.56,3933.25,3725.88,2967.56,1085.50,0,0,0,30.00,30.00,16.08
$GC,897.07,1028,-243.31,-1.02,0.00,3829.3,3932.8,3725.9,2966.9,1084.7,245.86,-22.46,111,902.34,0.00,0.00,2.40,0.000,0.000,0.047,3829.78,3933.06,3726.50,2967.88,2575.12,0,0,0,30.00,30.00,16.09
$GC,1107.04,0,-243.31,-1.02,0.00,3828.7,3931.7,3725.6,2967.2,2575.5,290.51,-21.51,121,1109.94,0.00,0.00,0.00,0.000,0.000,0.000,3828.88,3932.62,3725.12,2967.00,2575.38,0,0,0,30.00,30.00,30.00
$GC,1407.04,260,-243.31,-1.02,40.00,3825.8,3927.4,3724.3,2966.5,2575.4,346.69,-19.08,131,1412.27,0.00,0.00,1.97,0.000,0.000,0.077,3826.31,3925.94,3726.69,2967.25,3772.25,0,0,0,30.00,30.00,16.10
$GC,1527.15,1028,-243.31,-1.02,0.00,3825.2,3924.6,3725.9,2966.8,3773.2,368.01,-18.12,155,1532.30,0.00,0.00,1.98,0.000,0.000,0.026,3825.31,3925.00,3725.62,2966.75,2483.56,0,0,0,30.00,30.00,16.12
$GC,1857.24,0,-243.31,-1.02,0.00,3820.6,3916.3,3724.9,2966.9,2471.6,424.66,-16.74,171,1860.13,0.00,0.00,0.00,0.000,0.000,0.000,3821.91,3918.06,3725.75,2966.94,2471.06,0,0,0,30.00,30.00,30.00
$GC,2157.18,260,-243.31,-1.02,40.00,3818.8,3912.6,3724.9,2966.4,2471.6,478.49,-18.31,181,2162.38,0.00,0.00,2.17,0.000,0.000,0.079,3818.91,3912.31,3725.50,2966.12,3768.44,0,0,0,30.00,30.00,16.12
$GC,2291.20,1028,-243.31,-1.02,0.00,3816.0,3909.5,3722.4,2966.6,3769.6,503.78,-18.76,208,2297.37,0.00,0.00,1.99,0.000,0.000,0.029,3816.97,3910.06,3723.88,2967.31,2494.25,0,0,0,30.00,30.00,16.13
$GC,2607.28,260,-243.31,-1.02,40.00,3812.5,3905.5,3719.5,2966.6,2482.4,559.21,-17.11,221,2612.43,0.00,0.00,2.17,0.000,0.000,0.084,3813.12,3905.81,3720.44,2965.31,3769.69,0,0,0,30.00,30.00,16.11
$GC,2676.23,1028,-243.31,-1.02,0.00,3812.5,3905.6,3719.4,2966.4,3767.7,570.89,-16.45,235,2682.41,0.00,0.00,1.99,0.000,0.000,0.031,3812.19,3905.12,3719.25,2966.56,2492.69,0,0,0,30.00,30.00,16.12
$STATE,2877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2877,begin apogee
$GC,2879.07,3,0.00,-0.20,0.00,3810.0,3902.1,3717.9,2965.9,2006.1,603.06,-15.99,245,3062.09,175.52,0.89,0.20,1.596,0.232,0.095,2839.53,2875.56,2803.50,3232.69,2162.12,0,0,0,12.63,16.04,15.31
$STATE,3063,end apogee,CONTROL_FINISHED_OK
$STATE,3063,begin climb
$GC,3063.92,519,243.31,1.02,-40.00,2836.3,2874.1,2798.6,3233.8,2161.8,609.52,0.00,251,3257.87,187.37,1.25,2.61,1.544,0.147,0.055,1846.72,1870.00,1823.44,3633.75,658.44,0,0,0,12.45,15.38,15.22
$GC,3479.84,1028,243.31,1.02,0.00,1841.9,1862.8,1821.1,3636.0,658.4,549.54,17.71,333,3486.09,0.00,0.00,2.38,0.000,0.000,0.030,1843.09,1864.19,1822.00,3635.75,2139.50,0,0,0,30.00,30.00,15.82
$GC,3790.94,518,243.31,1.02,-40.00,1838.6,1865.5,1811.6,3635.1,2140.1,494.10,18.06,345,3796.14,0.00,0.00,2.46,0.000,0.000,0.056,1838.94,1865.62,1812.25,3635.75,656.94,0,0,0,30.00,30.00,15.98
$GC,3824.87,1030,243.31,1.02,0.00,1838.5,1865.6,1811.5,3635.6,656.6,487.44,19.28,352,3831.14,0.00,0.00,2.37,0.000,0.000,0.031,1839.03,1866.81,1811.25,3635.56,2141.62,0,0,0,30.00,30.00,15.99
$GC,4151.00,262,243.31,1.02,40.00,1837.2,1865.4,1809.1,3635.3,2142.5,424.06,19.46,367,4156.14,0.00,0.00,2.29,0.000,0.000,0.065,1837.28,1865.75,1808.81,3635.00,3539.44,0,0,0,30.00,30.00,16.03
$GC,4210.77,1030,243.31,1.02,0.00,1836.5,1865.8,1807.2,3635.8,3540.4,411.70,20.64,379,4216.19,0.00,0.00,2.36,0.000,0.000,0.031,1837.75,1867.38,1808.12,3637.62,2052.44,0,0,0,30.00,30.00,16.05
$GC,4541.13,518,243.31,1.02,-40.00,1835.2,1864.9,1805.5,3637.7,2053.5,357.13,16.03,395,4546.18,0.00,0.00,2.28,0.000,0.000,0.062,1835.53,1864.31,1806.75,3636.75,658.19,0,0,0,30.00,30.00,16.06
$GC,4685.00,1030,243.31,1.02,0.00,1834.8,1864.0,1805.6,3637.5,658.0,333.45,15.22,424,4692.34,0.00,0.00,2.36,0.000,0.000,0.030,1834.84,1864.50,1805.19,3638.25,2143.12,0,0,0,30.00,30.00,16.07
$GC,4990.86,262,243.31,1.02,40.00,1834.1,1863.8,1804.3,3637.6,2143.4,285.19,16.54,435,4996.25,0.00,0.00,2.29,0.000,0.000,0.065,1835.25,1864.94,1805.56,3636.44,3542.25,0,0,0,30.00,30.00,16.07
$GC,5015.02,1030,243.31,1.02,0.00,1834.2,1864.1,1804.2,3638.0,3540.1,280.83,17.47,440,5022.33,0.00,0.00,2.36,0.000,0.000,0.030,1834.44,1864.69,1804.19,3637.69,2051.50,0,0,0,30.00,30.00,16.08
$GC,5321.04,262,243.31,1.02,40.00,1833.8,1863.8,1803.8,3637.5,2052.1,230.87,15.41,457,5326.31,0.00,0.00,2.46,0.000,0.000,0.058,1835.16,1865.88,1804.44,3637.88,3540.00,0,0,0,30.00,30.00,16.09
$GC,5395.06,1030,243.31,1.02,0.00,1833.7,1863.7,1803.7,3637.7,3540.2,219.37,16.02,472,5402.29,0.00,0.00,2.35,0.000,0.000,0.030,1834.59,1864.38,1804.81,3636.56,2050.50,0,0,0,30.00,30.00,16.08
$GC,5581.09,518,243.31,1.02,-40.00,1833.6,1863.9,1803.2,3638.5,2050.4,195.60,13.18,491,5588.11,0.00,0.00,2.26,0.000,0.000,0.061,1833.94,1864.06,1803.81,3638.12,656.75,0,0,0,30.00,30.00,16.08
$GC,5810.13,1030,243.31,1.02,0.00,1833.4,1863.8,1803.1,3638.8,656.9,164.65,14.36,537,5818.06,0.00,0.00,2.35,0.000,0.000,0.028,1833.66,1863.06,1804.25,3637.38,2145.50,0,0,0,30.00,30.00,16.06
$GC,5996.27,326,243.31,1.08,40.00,1833.6,1863.8,1803.4,3638.9,2147.2,141.60,11.39,556,6003.18,0.00,0.00,2.26,0.000,0.000,0.062,1832.84,1863.44,1802.25,3638.25,3543.75,0,0,0,30.00,30.00,16.05
$GC,6065.19,1062,307.79,1.16,0.00,1833.3,1864.1,1802.6,3638.4,3543.0,133.59,10.95,570,6119.30,47.29,0.00,2.36,1.011,0.000,0.028,1582.66,1607.38,1557.94,3638.56,2047.25,0,0,0,12.56,30.00,16.04
$GC,6296.07,516,307.79,1.16,-40.00,1579.1,1608.4,1549.8,3638.7,2047.8,107.07,13.52,598,6303.23,0.00,0.00,2.27,0.000,0.000,0.058,1578.34,1607.88,1548.81,3639.06,657.00,0,0,0,30.00,30.00,15.92
$GC,6525.26,1063,381.08,1.25,0.00,1578.2,1607.4,1549.1,3638.0,656.9,80.88,10.63,644,6585.54,53.31,0.00,2.36,0.894,0.000,0.027,1284.78,1314.81,1254.75,3639.31,2146.62,0,0,0,12.66,30.00,15.97
$GC,6768.43,551,464.26,1.35,-40.00,1281.7,1316.1,1247.3,3638.2,2147.4,52.14,10.26,674,6834.79,59.05,0.00,2.49,0.837,0.000,0.051,945.31,986.06,904.56,3638.75,655.44,0,0,0,12.70,30.00,15.64
$GC,6836.75,1063,606.48,1.53,0.00,945.0,985.6,904.4,3638.6,655.6,46.40,8.08,683,6936.76,93.06,0.00,2.39,0.818,0.000,0.027,400.06,472.19,327.94,3638.38,2147.75,0,0,0,12.52,30.00,15.71
$GC,7112.60,295,693.05,1.63,40.00,397.6,471.6,323.6,3638.6,2147.5,19.84,10.13,720,7120.10,0.00,0.00,2.29,0.000,0.000,0.060,397.69,471.75,323.62,3638.75,3541.06,0,0,0,30.00,30.00,15.80
$GC,7182.07,1095,693.05,1.69,0.00,397.2,471.5,323.0,3638.6,3540.4,11.86,11.57,734,7190.02,0.00,0.00,2.37,0.000,0.000,0.025,397.38,471.69,323.06,3639.12,2041.81,0,0,0,30.00,30.00,15.85
$STATE,7290,end climb,SURFACE_DEPTH_REACHED
$STATE,7290,begin surface coast
$FINISH,0.4,1.021493
$STATE,7298,end surface coast,CONTROL_FINISHED_OK
$STATE,7298,begin surface
$SM_CCo,7317.62,0.00,0.000,0,398.5,453.4,343.6,598.89
$SM_CCo,7318.66,0.00,0.000,0,398.6,453.5,343.7,598.88
$SM_CCo,7319.70,0.00,0.000,0,398.5,453.3,343.8,598.89
$SM_GC,1.21,0.00,9.53,0.86,0.000,0.060,0.049,398.5,453.3,343.8,171.7,2600.7,0,0,0,30.00,15.57,15.94
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1417.59,14411.45,291019,190310
$TCM_TEMP,164.72
$XPDR_PINGS,26
$SC_FREEKB,3816640
$TM_FREEKB,5307200
$PM_FREEKB_00,96801344
$PM_FREEKB_01,124851072
$PM_FREEKB_02,124851072
$PM_FREEKB_03,124837184
$PM_ACTIVECARD,0
$HUMID,54.93
$TEMP,22.56
$INTERNAL_PRESSURE,9.44799
$24V_AH,14.81,48.511
$10V_AH,15.00,0.000
$FG_AHR_24Vo,29.605
$FG_AHR_10Vo,17.770
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,732.580,25.635,79.080,678.317,6.500,12.903,3310.539,4946.774,1141.043,0.000,0.000,0.000
$DEVICE_MAMPS,1596.128,426.480,94.872,225.710,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7358.000,2473.000,7312.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.926,20.007,5.095,0.000
$MEM,1099284,26,79860,58
$DATA_FILE_SIZE,22531,746
$CAP_FILE_SIZE,206018,0
$SDSIZE,3918848,3859040
$SDFILEDIR,1213,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,198.5,1
$GPS,291019,211756,1414.786,14409.280,2,1.0,6,0.3