version: 67.00
glider: 180
mission: 2
dive: 221
start: 11 19 119 9 13 42
data:
$ID,180
$MISSION,2
$DIVE,221
$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,0.0019952599
$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,26.754063
$FG_AHR_24V,46.886402
$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
$GPS1,191119,090401,1423.373,14410.124,26,0.7,27,0.2
$_CALLS,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-69.7
$GPS2,191119,091326,1423.455,14410.041,2,0.6,4,0.2
$SPEED_LIMITS,0.085,0.155
$TGT_NAME,N1
$TGT_LATLONG,1443.000,14410.000
$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,17.9,36198,-21.9,-8.462,-28.56
$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,9.31,2,-77.86,-0.97,0.00,396.8,421.0,372.6,164.5,2459.6,0.00,0.00,0,112.75,96.81,0.00,0.00,0.005,0.000,0.000,2808.88,2836.12,2781.62,164.50,2458.44,0,0,0,15.62,30.00,30.00
$GC,113.00,263,-77.86,-0.97,40.00,2807.6,2834.8,2780.4,164.7,2457.7,4.78,-7.56,10,142.24,6.57,14.15,2.20,0.008,0.423,0.075,3154.66,3201.56,3107.75,2983.19,3771.44,0,0,0,15.69,15.61,15.63
$GC,234.12,1028,-77.86,-0.97,0.00,3155.6,3201.8,3109.4,2982.5,3772.1,55.62,-42.77,34,240.41,0.00,0.00,1.99,0.000,0.000,0.024,3155.72,3202.75,3108.69,2984.12,2479.50,0,0,0,30.00,30.00,15.90
$GC,419.29,516,-77.86,-0.97,-40.00,3155.2,3201.5,3108.9,2983.6,2464.7,109.01,-26.80,53,425.37,0.00,0.00,2.15,0.000,0.000,0.033,3155.88,3201.69,3110.06,2983.12,1090.00,0,0,0,30.00,30.00,15.96
$GC,429.34,1028,-77.86,-0.97,0.00,3154.9,3200.8,3109.0,2983.4,1089.8,111.44,-25.30,55,435.42,0.00,0.00,2.41,0.000,0.000,0.044,3156.00,3202.19,3109.81,2983.06,2576.38,0,0,0,30.00,30.00,15.97
$GC,619.26,516,-77.86,-0.97,-40.00,3155.0,3201.0,3108.9,2983.8,2576.9,149.71,-15.50,75,625.42,0.00,0.00,2.35,0.000,0.000,0.033,3154.75,3200.25,3109.25,2983.44,1091.44,0,0,0,30.00,30.00,15.99
$GC,749.44,1028,-77.86,-0.97,0.00,3154.5,3200.1,3109.0,2983.2,1091.2,169.92,-17.39,101,755.46,0.00,0.00,2.39,0.000,0.000,0.041,3155.16,3200.50,3109.81,2983.50,2577.38,0,0,0,30.00,30.00,15.96
$GC,940.77,260,-77.86,-0.97,40.00,3154.2,3199.6,3108.8,2983.6,2577.2,200.36,-16.79,121,944.63,0.00,0.00,1.96,0.000,0.000,0.071,3155.88,3201.75,3110.00,2982.75,3774.44,0,0,0,30.00,30.00,16.00
$GC,1069.56,1028,-77.86,-0.97,0.00,3154.0,3199.4,3108.6,2983.2,3773.4,222.10,-15.76,147,1074.66,0.00,0.00,1.98,0.000,0.000,0.023,3155.31,3200.81,3109.81,2982.88,2466.31,0,0,0,30.00,30.00,16.06
$GC,1259.48,516,-77.86,-0.97,-40.00,3153.1,3197.4,3108.7,2983.2,2452.2,250.93,-15.57,167,1264.72,0.00,0.00,2.12,0.000,0.000,0.033,3154.47,3198.38,3110.56,2984.25,1091.38,0,0,0,30.00,30.00,16.09
$GC,1279.28,1028,-77.86,-0.97,0.00,3153.3,3197.8,3108.9,2983.1,1091.2,254.08,-15.77,171,1284.77,0.00,0.00,2.37,0.000,0.000,0.040,3153.31,3196.94,3109.69,2983.19,2576.00,0,0,0,30.00,30.00,16.11
$GC,1589.49,260,-77.86,-0.97,40.00,3151.9,3195.8,3108.1,2983.0,2576.8,297.16,-12.50,183,1593.91,0.00,0.00,1.95,0.000,0.000,0.072,3152.19,3196.25,3108.12,2983.75,3772.25,0,0,0,30.00,30.00,16.09
$GC,1819.43,1028,-77.86,-0.97,0.00,3150.3,3192.6,3108.1,2983.2,3771.9,327.29,-12.29,229,1824.78,0.00,0.00,1.98,0.000,0.000,0.025,3151.50,3193.19,3109.81,2982.12,2461.88,0,0,0,30.00,30.00,16.12
$GC,2129.71,260,-77.86,-0.97,40.00,3148.3,3189.1,3107.6,2983.0,2446.4,367.60,-13.98,241,2134.84,0.00,0.00,2.19,0.000,0.000,0.072,3149.31,3189.44,3109.19,2981.56,3771.56,0,0,0,30.00,30.00,16.13
$GC,2184.40,1028,-77.86,-0.97,0.00,3148.4,3189.3,3107.6,2982.5,3771.0,374.68,-12.81,252,2189.97,0.00,0.00,1.98,0.000,0.000,0.026,3150.00,3190.25,3109.75,2982.94,2464.69,0,0,0,30.00,30.00,16.13
$GC,2489.57,516,-77.86,-0.97,-40.00,3145.5,3186.2,3104.7,2982.2,2451.6,414.65,-13.30,263,2494.88,0.00,0.00,2.13,0.000,0.000,0.038,3145.91,3186.38,3105.44,2982.25,1094.31,0,0,0,30.00,30.00,16.15
$GC,2614.54,1028,-77.86,-0.97,0.00,3144.1,3183.9,3104.2,2982.6,1094.4,430.28,-11.92,288,2619.95,0.00,0.00,2.38,0.000,0.000,0.041,3144.19,3184.94,3103.44,2982.00,2578.62,0,0,0,30.00,30.00,16.16
$GC,2939.72,260,-77.86,-0.97,40.00,3141.0,3182.2,3099.9,2982.9,2579.2,469.95,-12.50,303,2944.13,0.00,0.00,1.98,0.000,0.000,0.078,3143.41,3183.81,3103.00,2982.94,3770.50,0,0,0,30.00,30.00,16.12
$GC,3049.52,1028,-77.86,-0.97,0.00,3140.0,3181.2,3098.8,2982.2,3771.2,483.65,-11.99,325,3054.92,0.00,0.00,1.98,0.000,0.000,0.028,3140.84,3182.19,3099.50,2982.44,2464.75,0,0,0,30.00,30.00,16.15
$GC,3359.71,516,-77.86,-0.97,-40.00,3136.8,3176.9,3096.7,2982.3,2453.6,521.20,-12.50,337,3364.98,0.00,0.00,2.14,0.000,0.000,0.040,3138.16,3178.25,3098.06,2981.81,1095.38,0,0,0,30.00,30.00,16.15
$GC,3394.54,1028,-77.86,-0.97,0.00,3136.8,3176.8,3096.8,2981.8,1095.2,525.91,-13.38,344,3400.03,0.00,0.00,2.40,0.000,0.000,0.043,3136.75,3177.56,3095.94,2981.81,2579.12,0,0,0,30.00,30.00,16.15
$GC,3719.89,260,-77.86,-0.97,40.00,3132.7,3173.9,3091.5,2981.6,2578.3,566.11,-12.10,359,3724.98,0.00,0.00,1.98,0.000,0.000,0.082,3132.66,3173.25,3092.06,2981.88,3768.88,0,0,0,30.00,30.00,16.12
$GC,3889.66,1028,-77.86,-0.97,0.00,3131.2,3172.1,3090.4,2981.8,3769.6,586.48,-11.55,393,3895.08,0.00,0.00,2.01,0.000,0.000,0.030,3131.34,3173.19,3089.50,2982.75,2465.56,0,0,0,30.00,30.00,16.12
$GC,4199.92,0,-77.86,-0.97,0.00,3130.1,3170.1,3090.1,2981.8,2453.2,615.45,-8.72,405,4201.26,0.00,0.00,0.00,0.000,0.000,0.000,3130.66,3171.19,3090.12,2981.19,2453.00,0,0,0,30.00,30.00,30.00
$GC,4499.98,260,-77.86,-0.97,40.00,3128.0,3167.6,3088.4,2981.6,2453.0,642.51,-9.48,415,4505.17,0.00,0.00,2.23,0.000,0.000,0.084,3128.69,3169.00,3088.38,2982.69,3769.75,0,0,0,30.00,30.00,16.12
$GC,4644.80,1028,-77.86,-0.97,0.00,3126.2,3165.6,3086.8,2981.6,3769.3,658.06,-10.28,444,4650.47,0.00,0.00,2.01,0.000,0.000,0.032,3126.81,3166.75,3086.88,2982.69,2469.81,0,0,0,30.00,30.00,16.12
$GC,4949.90,516,-77.86,-0.97,-40.00,3124.1,3162.9,3085.4,2981.6,2457.8,691.70,-11.52,455,4955.23,0.00,0.00,2.17,0.000,0.000,0.044,3124.19,3162.50,3085.88,2981.19,1097.25,0,0,0,30.00,30.00,16.13
$GC,5054.84,1028,-77.86,-0.97,0.00,3123.8,3162.1,3085.4,2981.9,1096.9,703.74,-11.50,476,5060.35,0.00,0.00,2.42,0.000,0.000,0.046,3124.09,3161.94,3086.25,2980.94,2577.56,0,0,0,30.00,30.00,16.13
$GC,5370.00,0,-77.86,-0.97,0.00,3122.4,3160.9,3083.9,2981.8,2577.8,738.28,-10.99,489,5371.34,0.00,0.00,0.00,0.000,0.000,0.000,3123.00,3161.75,3084.25,2981.38,2578.12,0,0,0,30.00,30.00,30.00
$GC,5670.14,260,-77.86,-0.97,40.00,3120.2,3158.7,3081.7,2981.9,2577.5,771.43,-10.96,499,5675.28,0.00,0.00,2.00,0.000,0.000,0.086,3122.38,3160.50,3084.25,2979.44,3769.62,0,0,0,30.00,30.00,16.10
$GC,5744.91,1028,-77.86,-0.97,0.00,3119.2,3157.5,3080.9,2979.8,3769.5,780.29,-11.93,514,5750.33,0.00,0.00,2.01,0.000,0.000,0.033,3120.78,3159.38,3082.19,2980.00,2477.00,0,0,0,30.00,30.00,16.10
$GC,6060.27,260,-77.86,-0.97,40.00,3118.0,3155.9,3080.1,2979.5,2463.4,815.02,-10.86,527,6065.40,0.00,0.00,2.22,0.000,0.000,0.086,3117.94,3156.44,3079.44,2977.62,3769.88,0,0,0,30.00,30.00,16.09
$GC,6174.97,1028,-77.86,-0.97,0.00,3117.2,3154.8,3079.6,2978.4,3770.1,827.49,-10.67,550,6180.67,0.00,0.00,2.01,0.000,0.000,0.034,3117.72,3154.75,3080.69,2977.44,2473.44,0,0,0,30.00,30.00,16.08
$GC,6480.29,516,-77.86,-0.97,-40.00,3116.1,3153.9,3078.4,2977.8,2462.0,858.10,-9.61,561,6485.44,0.00,0.00,2.19,0.000,0.000,0.045,3116.50,3154.19,3078.81,2976.88,1098.25,0,0,0,30.00,30.00,16.11
$GC,6610.04,1028,-77.86,-0.97,0.00,3115.4,3152.8,3078.0,2978.1,1098.1,871.17,-10.51,587,6615.59,0.00,0.00,2.42,0.000,0.000,0.048,3116.62,3153.38,3079.88,2978.00,2577.50,0,0,0,30.00,30.00,16.11
$GC,6930.24,0,-77.86,-0.97,0.00,3113.6,3150.6,3076.5,2978.6,2579.6,902.65,-9.71,601,6931.57,0.00,0.00,0.00,0.000,0.000,0.000,3113.34,3150.19,3076.50,2978.19,2579.38,0,0,0,30.00,30.00,30.00
$GC,7230.27,260,-77.86,-0.97,40.00,3112.2,3148.2,3076.2,2977.4,2579.1,932.13,-10.18,611,7235.49,0.00,0.00,2.01,0.000,0.000,0.088,3113.94,3150.44,3077.44,2974.69,3769.31,0,0,0,30.00,30.00,16.08
$GC,7305.09,1028,-77.86,-0.97,0.00,3111.8,3147.3,3076.3,2974.2,3769.2,939.96,-9.94,626,7310.51,0.00,0.00,2.02,0.000,0.000,0.036,3112.97,3147.88,3078.06,2974.00,2476.50,0,0,0,30.00,30.00,16.09
$GC,7620.32,0,-77.86,-0.97,0.00,3111.2,3146.4,3076.0,2974.6,2464.1,970.36,-9.61,639,7621.65,0.00,0.00,0.00,0.000,0.000,0.000,3112.06,3147.62,3076.50,2975.00,2464.31,0,0,0,30.00,30.00,30.00
$STATE,7860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7860,begin apogee
$GC,7862.14,3,0.00,-0.20,0.00,3111.0,3146.2,3075.8,2975.0,2026.0,991.77,-8.83,647,7921.90,57.45,0.91,0.18,2.310,0.258,0.129,2838.78,2861.62,2815.94,3232.00,2160.75,0,0,0,11.85,15.87,15.48
$STATE,7923,end apogee,CONTROL_FINISHED_OK
$STATE,7923,begin climb
$GC,7923.49,519,77.86,0.97,-40.00,2838.5,2862.0,2815.0,3231.6,2160.1,992.76,0.00,649,7999.73,70.14,1.19,2.63,2.222,0.145,0.057,2521.59,2530.38,2512.81,3623.88,658.06,0,0,0,12.40,15.51,15.16
$GC,8027.31,1028,77.86,0.97,0.00,2519.2,2527.1,2511.4,3621.9,658.1,984.74,10.67,670,8032.78,0.00,0.00,2.47,0.000,0.000,0.028,2518.91,2528.50,2509.31,3623.75,2142.88,0,0,0,30.00,30.00,15.42
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$STATE,19674,end climb,SURFACE_DEPTH_REACHED
$STATE,19674,begin surface coast
$FINISH,-0.1,1.021448
$STATE,19694,end surface coast,CONTROL_FINISHED_OK
$STATE,19694,begin surface
$SM_CCo,19903.61,189.94,0.733,0,400.9,417.5,384.2,598.32
$SM_CCo,19904.65,0.00,0.000,0,399.6,414.2,385.0,598.63
$SM_CCo,19905.69,0.00,0.000,0,399.5,416.8,382.2,598.65
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$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,1420.01,14413.25,191119,032929
$TCM_TEMP,165.38
$XPDR_PINGS,12
$SC_FREEKB,3782304
$TM_FREEKB,4280160
$HUMID,52.13
$TEMP,23.72
$INTERNAL_PRESSURE,9.45563
$24V_AH,14.64,75.487
$10V_AH,14.93,0.000
$FG_AHR_24Vo,47.060
$FG_AHR_10Vo,26.853
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,604.510,26.235,193.620,373.849,3.000,13.805,4682.555,15735.803,1883.319,0.000,0.000,0.000
$DEVICE_MAMPS,2309.856,423.200,128.984,201.530,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19712.000,3730.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.334,20.020,0.000,0.000
$MEM,1099244,28,79860,58
$DATA_FILE_SIZE,60902,1865
$CAP_FILE_SIZE,370443,0
$SDSIZE,3918848,3831456
$SDFILEDIR,1854,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,351.6,1
$GPS,191119,144609,1425.366,14410.677,25,1.0,26,0.2