version: 67.00
glider: 180
mission: 2
dive: 154
start: 11 3 119 18 46 49
data:
$ID,180
$MISSION,2
$DIVE,154
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,390
$T_MISSION,450
$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,80
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54047
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00141254
$HD_B,0.0163117
$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,20.087717
$FG_AHR_24V,33.780426
$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,3
$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
$GPS1,031119,183509,1414.873,14410.617,22,0.9,23,0.3
$_CALLS,3
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-72.1
$GPS2,031119,184633,1414.835,14410.703,2,0.6,5,0.3
$SPEED_LIMITS,0.085,0.140
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$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,344.3,11487,-20.5,-8.462,-31.14
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,9.09,2,-77.86,-0.91,0.00,399.3,415.6,383.1,168.7,2479.4,0.00,0.00,0,112.78,98.03,0.00,0.00,0.005,0.000,0.000,2779.88,2809.88,2749.88,168.75,2479.00,0,0,0,15.71,30.00,30.00
$GC,113.05,35,-77.86,-0.91,0.00,2778.5,2807.9,2749.2,168.7,2478.9,3.91,-4.38,10,139.81,7.53,14.11,0.00,0.008,0.424,0.000,3154.50,3201.00,3108.00,3001.50,2478.25,0,0,0,15.73,15.65,30.00
$GC,311.81,0,-77.86,-0.91,-40.00,3155.9,3199.9,3111.8,3002.1,2477.6,74.50,-34.24,31,314.69,0.00,0.00,0.00,0.000,0.000,0.000,3156.00,3200.38,3111.62,3001.56,2477.31,0,0,0,30.00,30.00,30.00
$GC,491.86,516,-77.86,-0.91,-40.00,3156.1,3199.0,3113.2,3001.8,2477.8,122.94,-23.06,49,497.93,0.00,0.00,2.16,0.000,0.000,0.029,3156.16,3199.25,3113.06,3002.50,1084.12,0,0,0,30.00,30.00,15.98
$GC,722.22,1028,-77.86,-0.91,0.00,3157.2,3198.6,3115.8,3001.8,1083.6,162.43,-17.15,95,728.14,0.00,0.00,2.39,0.000,0.000,0.041,3157.81,3198.75,3116.88,3002.06,2576.94,0,0,0,30.00,30.00,16.01
$GC,912.16,516,-77.86,-0.91,-40.00,3157.8,3198.3,3117.2,3002.3,2577.7,191.85,-14.56,115,918.28,0.00,0.00,2.34,0.000,0.000,0.031,3158.56,3199.12,3118.00,3001.38,1089.38,0,0,0,30.00,30.00,16.03
$GC,1052.01,1028,-77.86,-0.91,0.00,3157.5,3197.6,3117.4,3001.9,1088.4,211.74,-14.86,143,1057.34,0.00,0.00,2.38,0.000,0.000,0.043,3157.72,3198.50,3116.94,3002.56,2578.56,0,0,0,30.00,30.00,16.08
$GC,1242.16,260,-77.86,-0.91,40.00,3157.6,3197.2,3118.1,3002.2,2578.2,240.10,-14.30,163,1246.56,0.00,0.00,1.94,0.000,0.000,0.073,3158.25,3197.06,3119.44,3001.75,3772.81,0,0,0,30.00,30.00,16.07
$GC,1302.00,1028,-77.86,-0.91,0.00,3157.5,3196.8,3118.2,3001.8,3772.9,249.50,-15.43,175,1306.41,0.00,0.00,1.96,0.000,0.000,0.023,3158.38,3197.12,3119.62,3003.19,2480.50,0,0,0,30.00,30.00,16.10
$GC,1492.25,0,-77.86,-0.91,0.00,3157.8,3195.7,3119.9,3001.9,2469.1,272.85,-12.02,183,1493.59,0.00,0.00,0.00,0.000,0.000,0.000,3157.50,3194.50,3120.50,3002.50,2469.50,0,0,0,30.00,30.00,30.00
$GC,1792.15,260,-77.86,-0.91,40.00,3155.6,3191.4,3119.8,3001.5,2468.6,312.81,-13.35,193,1797.44,0.00,0.00,2.14,0.000,0.000,0.072,3158.31,3194.00,3122.62,3000.44,3773.06,0,0,0,30.00,30.00,16.13
$GC,1886.97,1028,-77.86,-0.91,0.00,3154.8,3190.1,3119.6,3001.9,3773.0,326.55,-14.11,212,1891.38,0.00,0.00,1.96,0.000,0.000,0.024,3155.38,3190.56,3120.19,3002.50,2479.75,0,0,0,30.00,30.00,16.14
$GC,2212.14,260,-77.86,-0.91,40.00,3148.9,3188.2,3109.6,3001.7,2468.6,364.05,-10.69,227,2217.44,0.00,0.00,2.15,0.000,0.000,0.074,3148.75,3188.56,3108.94,3002.38,3771.69,0,0,0,30.00,30.00,16.14
$GC,2442.04,1028,-77.86,-0.91,0.00,3146.9,3185.1,3108.7,3001.2,3771.2,392.86,-13.43,273,2447.45,0.00,0.00,1.97,0.000,0.000,0.026,3148.16,3185.69,3110.62,3001.25,2474.19,0,0,0,30.00,30.00,16.16
$GC,2752.27,0,-77.86,-0.91,0.00,3143.3,3183.0,3103.6,3001.4,2463.8,432.02,-12.07,285,2753.60,0.00,0.00,0.00,0.000,0.000,0.000,3143.38,3183.62,3103.12,3001.69,2463.69,0,0,0,30.00,30.00,30.00
$GC,3052.41,260,-77.86,-0.91,40.00,3140.4,3180.1,3100.8,3001.4,2463.6,463.90,-9.99,295,3057.53,0.00,0.00,2.17,0.000,0.000,0.077,3142.09,3181.50,3102.69,3000.31,3771.31,0,0,0,30.00,30.00,16.16
$GC,3137.12,1028,-77.86,-0.91,0.00,3139.6,3179.1,3100.0,3001.6,3772.5,472.65,-10.68,312,3141.81,0.00,0.00,1.97,0.000,0.000,0.028,3141.44,3179.94,3102.94,3001.00,2477.06,0,0,0,30.00,30.00,16.18
$GC,3442.30,260,-77.86,-0.91,40.00,3140.6,3176.0,3105.2,3000.9,2466.6,504.06,-10.40,323,3447.58,0.00,0.00,2.17,0.000,0.000,0.080,3140.34,3174.88,3105.81,3001.50,3769.19,0,0,0,30.00,30.00,16.17
$GC,3522.16,1028,-77.86,-0.91,0.00,3139.1,3174.9,3103.4,3001.6,3769.2,513.38,-11.46,339,3526.56,0.00,0.00,1.98,0.000,0.000,0.029,3141.81,3178.25,3105.38,3001.44,2488.38,0,0,0,30.00,30.00,16.16
$GC,3832.47,0,-77.86,-0.91,0.00,3133.9,3172.4,3095.5,3001.1,2477.1,547.49,-10.66,351,3833.80,0.00,0.00,0.00,0.000,0.000,0.000,3134.47,3173.06,3095.88,3000.69,2476.88,0,0,0,30.00,30.00,30.00
$GC,4132.30,0,-77.86,-0.91,0.00,3131.5,3169.4,3093.7,3001.2,2477.6,576.22,-9.44,361,4133.64,0.00,0.00,0.00,0.000,0.000,0.000,3132.09,3170.31,3093.88,3000.00,2477.06,0,0,0,30.00,30.00,30.00
$GC,4432.44,260,-77.86,-0.91,40.00,3128.3,3165.7,3091.0,3001.1,2476.5,606.88,-10.53,371,4437.65,0.00,0.00,2.17,0.000,0.000,0.086,3129.66,3166.81,3092.50,2999.25,3768.56,0,0,0,30.00,30.00,16.16
$GC,4552.38,1028,-77.86,-0.91,0.00,3127.2,3164.2,3090.1,3001.0,3767.8,619.64,-10.46,395,4557.65,0.00,0.00,1.99,0.000,0.000,0.033,3128.31,3165.38,3091.25,3000.88,2485.38,0,0,0,30.00,30.00,16.16
$GC,4882.49,260,-77.86,-0.91,40.00,3125.3,3162.5,3088.1,3000.8,2480.2,651.48,-9.39,411,4887.71,0.00,0.00,2.17,0.000,0.000,0.087,3125.09,3162.69,3087.50,2999.69,3768.94,0,0,0,30.00,30.00,16.17
$GC,4947.28,1028,-77.86,-0.91,0.00,3124.8,3162.4,3087.1,2999.4,3769.8,657.89,-9.98,424,4952.69,0.00,0.00,1.99,0.000,0.000,0.034,3125.16,3162.12,3088.19,3000.44,2484.75,0,0,0,30.00,30.00,16.16
$GC,5272.47,260,-77.86,-0.91,40.00,3123.2,3159.6,3086.8,2999.4,2478.9,687.70,-9.10,439,5277.75,0.00,0.00,2.17,0.000,0.000,0.087,3123.56,3159.31,3087.81,2997.25,3767.94,0,0,0,30.00,30.00,16.16
$GC,5412.35,1028,-77.86,-0.91,0.00,3121.8,3158.4,3085.2,2998.1,3767.8,701.21,-10.03,467,5417.76,0.00,0.00,1.99,0.000,0.000,0.033,3122.88,3159.62,3086.12,2997.44,2482.31,0,0,0,30.00,30.00,16.17
$GC,5722.52,0,-77.86,-0.91,0.00,3120.6,3156.0,3085.2,2997.9,2478.1,732.01,-10.01,479,5723.85,0.00,0.00,0.00,0.000,0.000,0.000,3120.75,3156.62,3084.88,2998.12,2478.19,0,0,0,30.00,30.00,30.00
$GC,6022.70,516,-77.86,-0.91,-40.00,3119.1,3154.1,3084.2,2997.8,2476.9,760.95,-9.67,489,6027.83,0.00,0.00,2.18,0.000,0.000,0.045,3119.78,3154.56,3085.00,2997.88,1098.31,0,0,0,30.00,30.00,16.16
$GC,6132.42,1028,-77.86,-0.91,0.00,3118.8,3153.3,3084.2,2998.1,1098.1,772.10,-10.02,511,6137.90,0.00,0.00,2.39,0.000,0.000,0.051,3118.75,3153.12,3084.38,2997.19,2574.69,0,0,0,30.00,30.00,16.17
$GC,6442.61,0,-77.86,-0.91,0.00,3117.2,3151.9,3082.4,2997.3,2574.2,802.81,-9.75,523,6443.95,0.00,0.00,0.00,0.000,0.000,0.000,3117.50,3152.75,3082.25,2996.56,2573.81,0,0,0,30.00,30.00,30.00
$GC,6742.78,0,-77.86,-0.91,0.00,3115.7,3150.1,3081.3,2997.8,2574.3,833.01,-9.78,533,6744.11,0.00,0.00,0.00,0.000,0.000,0.000,3116.12,3150.94,3081.31,2997.44,2573.50,0,0,0,30.00,30.00,30.00
$GC,7042.74,0,-77.86,-0.91,0.00,3114.1,3148.2,3080.1,2997.5,2573.8,862.46,-10.05,543,7044.07,0.00,0.00,0.00,0.000,0.000,0.000,3114.53,3148.75,3080.31,2996.94,2573.81,0,0,0,30.00,30.00,30.00
$GC,7342.67,516,-77.86,-0.91,-40.00,3113.4,3147.1,3079.7,2997.6,2574.8,893.97,-10.37,553,7347.99,0.00,0.00,2.37,0.000,0.000,0.046,3114.03,3148.44,3079.62,2997.88,1099.62,0,0,0,30.00,30.00,16.15
$GC,7452.57,1028,-77.86,-0.91,0.00,3113.2,3147.1,3079.2,2998.3,1099.4,905.22,-10.14,575,7458.04,0.00,0.00,2.40,0.000,0.000,0.050,3112.94,3147.00,3078.88,2997.75,2575.75,0,0,0,30.00,30.00,16.16
$GC,7762.82,260,-77.86,-0.91,40.00,3112.2,3145.4,3078.9,2997.7,2575.2,935.16,-9.44,587,7767.99,0.00,0.00,1.99,0.000,0.000,0.088,3114.38,3147.12,3081.62,2990.69,3767.56,0,0,0,30.00,30.00,16.13
$GC,7847.62,1028,-77.86,-0.91,0.00,3111.8,3145.5,3078.1,2991.8,3767.9,943.37,-9.86,604,7853.11,0.00,0.00,2.00,0.000,0.000,0.037,3111.59,3144.81,3078.38,2992.12,2491.44,0,0,0,30.00,30.00,16.14
$GC,8152.79,260,-77.86,-0.91,40.00,3111.2,3144.6,3077.9,2992.1,2486.6,971.65,-9.45,615,8158.09,0.00,0.00,2.17,0.000,0.000,0.091,3112.69,3146.12,3079.25,2989.81,3768.88,0,0,0,30.00,30.00,16.12
$GC,8207.68,1028,-77.86,-0.91,0.00,3110.9,3144.2,3077.6,2990.0,3768.9,977.06,-9.92,626,8213.39,0.00,0.00,2.00,0.000,0.000,0.037,3111.28,3144.62,3077.94,2990.00,2488.81,0,0,0,30.00,30.00,16.13
$STATE,8363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8363,begin apogee
$GC,8364.71,3,0.00,-0.20,0.00,3111.0,3144.5,3077.5,2990.4,2023.4,991.63,-9.40,632,8424.41,56.71,0.83,0.18,2.247,0.253,0.125,2838.69,2859.25,2818.12,3232.88,2170.50,0,0,0,12.38,16.00,15.51
$STATE,8425,end apogee,CONTROL_FINISHED_OK
$STATE,8425,begin climb
$GC,8425.85,519,77.86,0.91,-40.00,2837.7,2858.5,2816.8,3232.8,2170.2,993.30,0.00,634,8502.21,69.96,1.12,2.64,2.182,0.145,0.060,2520.00,2526.75,2513.25,3599.31,659.69,0,0,0,12.50,15.53,15.14
$GC,8524.78,1028,77.86,0.91,0.00,2518.4,2524.5,2512.4,3600.1,659.6,987.17,8.74,654,8530.28,0.00,0.00,2.46,0.000,0.000,0.031,2518.09,2526.00,2510.19,3599.38,2141.88,0,0,0,30.00,30.00,15.37
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$STATE,19716,end climb,SURFACE_DEPTH_REACHED
$STATE,19716,begin surface coast
$FINISH,-0.3,1.021603
$STATE,19736,end surface coast,CONTROL_FINISHED_OK
$STATE,19736,begin surface
$SM_CCo,19952.95,196.89,0.746,0,400.4,412.3,388.5,598.43
$SM_CCo,19954.00,0.00,0.000,0,399.2,412.9,385.4,598.74
$SM_CCo,19955.04,0.00,0.000,0,398.8,412.2,385.4,598.82
$SM_GC,0.71,0.00,9.48,0.86,0.000,0.055,0.048,398.8,412.2,385.4,167.0,2587.5,0,0,0,30.00,15.96,16.00
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1415.37,14414.55,031119,183940
$TCM_TEMP,164.96
$XPDR_PINGS,9
$SC_FREEKB,3808032
$TM_FREEKB,5055808
$HUMID,51.86
$TEMP,23.24
$INTERNAL_PRESSURE,9.4272
$24V_AH,14.68,55.391
$10V_AH,14.89,0.000
$FG_AHR_24Vo,33.952
$FG_AHR_10Vo,20.187
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,606.405,25.935,170.670,401.248,2.250,13.951,4504.137,16087.615,1793.550,0.000,0.000,0.000
$DEVICE_MAMPS,2246.552,423.856,125.376,206.658,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19752.000,3568.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.593,20.030,0.000,0.000
$MEM,1099256,28,79848,58
$DATA_FILE_SIZE,54496,1766
$CAP_FILE_SIZE,348398,0
$SDSIZE,3918848,3851584
$SDFILEDIR,1385,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,205.3,1
$GPS,041119,002002,1415.911,14410.239,21,0.9,22,0.3