version: 67.00
glider: 180
mission: 2
dive: 321
start: 12 12 119 22 30 37
data:
$ID,180
$MISSION,2
$DIVE,321
$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,0.00177828
$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,598.53198
$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,36.721935
$FG_AHR_24V,67.005112
$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
$GPS1,121219,222031,1430.848,14409.242,22,0.8,23,0.2
$_CALLS,1
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.9
$GPS2,121219,223021,1430.872,14409.187,3,0.6,5,0.2
$SPEED_LIMITS,0.085,0.155
$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,169.7,38683,-21.2,-8.462,-28.66
$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,9.67,2,-77.86,-0.94,0.00,397.7,425.5,369.9,168.3,2462.2,0.00,0.00,0,112.55,96.41,0.00,0.00,0.005,0.000,0.000,2751.16,2783.50,2718.81,168.38,2464.12,0,0,0,15.46,30.00,30.00
$GC,112.82,551,-77.86,-0.94,-40.00,2749.2,2778.8,2719.6,168.2,2464.5,3.48,-2.99,10,144.95,8.53,13.92,2.18,0.007,0.407,0.033,3156.66,3204.94,3108.38,2992.06,1086.31,0,0,0,15.61,15.45,15.51
$GC,286.85,1028,-77.86,-0.94,0.00,3155.0,3201.9,3108.1,2992.9,1085.4,66.91,-35.61,45,293.81,0.00,0.00,2.46,0.000,0.000,0.051,3156.72,3203.62,3109.81,2991.75,2574.56,0,0,0,30.00,30.00,15.86
$GC,472.17,260,-77.86,-0.94,40.00,3155.2,3202.4,3108.1,2992.6,2575.6,114.27,-22.69,64,478.05,0.00,0.00,1.98,0.000,0.000,0.067,3156.50,3203.31,3109.69,2992.25,3774.06,0,0,0,30.00,30.00,15.87
$GC,486.94,1028,-77.86,-0.94,0.00,3155.3,3201.8,3108.9,2992.3,3773.2,117.82,-24.81,67,493.12,0.00,0.00,2.00,0.000,0.000,0.023,3155.84,3202.50,3109.19,2992.75,2485.50,0,0,0,30.00,30.00,15.88
$GC,672.05,516,-77.86,-0.94,-40.00,3154.7,3201.6,3107.8,2992.6,2472.4,157.57,-20.74,86,678.11,0.00,0.00,2.16,0.000,0.000,0.029,3155.88,3202.94,3108.81,2992.94,1087.56,0,0,0,30.00,30.00,15.92
$GC,716.90,1028,-77.86,-0.94,0.00,3154.8,3201.6,3108.0,2992.1,1087.1,168.15,-23.87,95,723.36,0.00,0.00,2.40,0.000,0.000,0.038,3156.12,3202.44,3109.81,2992.12,2578.44,0,0,0,30.00,30.00,15.94
$GC,902.22,516,-77.86,-0.94,-40.00,3154.7,3201.3,3108.1,2992.7,2579.9,207.57,-19.81,114,907.41,0.00,0.00,2.36,0.000,0.000,0.030,3154.59,3201.38,3107.81,2991.75,1086.75,0,0,0,30.00,30.00,15.97
$GC,1032.13,1028,-77.86,-0.94,0.00,3154.7,3201.5,3107.9,2992.8,1086.4,231.23,-16.43,140,1037.45,0.00,0.00,2.38,0.000,0.000,0.035,3155.22,3202.12,3108.31,2991.44,2582.00,0,0,0,30.00,30.00,16.00
$GC,1242.13,260,-77.86,-0.94,40.00,3154.1,3199.9,3108.4,2992.4,2581.8,264.38,-15.51,156,1247.39,0.00,0.00,1.95,0.000,0.000,0.068,3155.44,3202.62,3108.25,2992.75,3773.38,0,0,0,30.00,30.00,15.99
$GC,1367.03,1028,-77.86,-0.94,0.00,3153.4,3198.8,3107.9,2992.0,3773.8,284.21,-16.75,181,1372.43,0.00,0.00,1.99,0.000,0.000,0.022,3153.66,3200.12,3107.19,2992.25,2471.94,0,0,0,30.00,30.00,16.03
$GC,1692.35,516,-77.86,-0.94,-40.00,3151.5,3195.8,3107.3,2991.9,2458.4,332.79,-13.94,196,1697.49,0.00,0.00,2.14,0.000,0.000,0.035,3152.53,3196.62,3108.44,2993.00,1088.19,0,0,0,30.00,30.00,16.05
$GC,1822.09,1028,-77.86,-0.94,0.00,3150.1,3192.7,3107.4,2991.4,1088.0,348.56,-12.20,222,1827.56,0.00,0.00,2.39,0.000,0.000,0.037,3150.56,3193.25,3107.88,2993.06,2582.25,0,0,0,30.00,30.00,16.07
$GC,2142.25,0,-77.86,-0.94,0.00,3148.3,3190.1,3106.5,2991.5,2583.3,393.53,-14.61,236,2143.59,0.00,0.00,0.00,0.000,0.000,0.000,3149.28,3191.31,3107.25,2992.19,2583.12,0,0,0,30.00,30.00,30.00
$GC,2442.36,260,-77.86,-0.94,40.00,3145.5,3187.8,3103.2,2992.0,2582.8,439.73,-15.26,246,2446.77,0.00,0.00,1.96,0.000,0.000,0.072,3148.22,3190.81,3105.62,2990.75,3773.31,0,0,0,30.00,30.00,16.04
$GC,2622.35,1028,-77.86,-0.94,0.00,3143.2,3185.3,3101.0,2989.5,3772.3,467.22,-14.81,282,2627.60,0.00,0.00,2.01,0.000,0.000,0.026,3143.19,3184.31,3102.06,2990.81,2471.50,0,0,0,30.00,30.00,16.05
$GC,2952.33,516,-77.86,-0.94,-40.00,3139.9,3181.7,3098.2,2989.6,2457.8,509.32,-12.31,298,2957.64,0.00,0.00,2.16,0.000,0.000,0.039,3142.09,3185.00,3099.19,2989.19,1092.94,0,0,0,30.00,30.00,16.06
$GC,2997.20,1028,-77.86,-0.94,0.00,3139.8,3181.1,3098.4,2990.0,1092.4,515.33,-13.22,307,3002.71,0.00,0.00,2.40,0.000,0.000,0.041,3140.34,3182.94,3097.75,2990.06,2577.31,0,0,0,30.00,30.00,16.07
$GC,3312.46,260,-77.86,-0.94,40.00,3136.5,3177.2,3095.8,2989.0,2576.9,555.49,-13.08,320,3317.63,0.00,0.00,1.99,0.000,0.000,0.076,3138.00,3178.69,3097.31,2987.94,3772.00,0,0,0,30.00,30.00,16.02
$GC,3357.24,1028,-77.86,-0.94,0.00,3135.9,3176.6,3095.2,2989.7,3771.1,561.45,-13.34,329,3362.66,0.00,0.00,2.01,0.000,0.000,0.027,3137.19,3178.31,3096.06,2989.38,2480.44,0,0,0,30.00,30.00,16.04
$GC,3672.37,260,-77.86,-0.94,40.00,3132.2,3173.3,3091.0,2988.9,2468.0,602.02,-13.22,342,3677.70,0.00,0.00,2.20,0.000,0.000,0.076,3134.59,3175.69,3093.50,2989.06,3770.56,0,0,0,30.00,30.00,16.00
$GC,3902.31,1028,-77.86,-0.94,0.00,3131.0,3171.7,3090.2,2989.1,3769.6,633.58,-14.54,388,3907.75,0.00,0.00,2.01,0.000,0.000,0.029,3131.34,3172.69,3090.00,2988.88,2473.00,0,0,0,30.00,30.00,16.03
$GC,4212.54,0,-77.86,-0.94,0.00,3129.1,3169.0,3089.2,2989.9,2460.8,674.96,-12.89,400,4213.87,0.00,0.00,0.00,0.000,0.000,0.000,3130.12,3169.12,3091.12,2989.69,2460.38,0,0,0,30.00,30.00,30.00
$GC,4512.60,260,-77.86,-0.94,40.00,3126.4,3165.6,3087.2,2989.4,2460.6,710.69,-11.62,410,4517.83,0.00,0.00,2.23,0.000,0.000,0.079,3126.78,3165.12,3088.44,2990.06,3768.00,0,0,0,30.00,30.00,15.98
$GC,4612.41,1028,-77.86,-0.94,0.00,3125.6,3164.4,3086.8,2989.4,3768.8,722.75,-12.06,430,4617.81,0.00,0.00,2.01,0.000,0.000,0.030,3126.53,3165.00,3088.06,2988.44,2474.94,0,0,0,30.00,30.00,16.03
$GC,4932.67,516,-77.86,-0.94,-40.00,3123.8,3162.6,3085.1,2989.8,2462.1,759.87,-11.56,444,4937.86,0.00,0.00,2.20,0.000,0.000,0.043,3125.19,3163.69,3086.69,2987.88,1096.62,0,0,0,30.00,30.00,16.03
$GC,5017.44,1028,-77.86,-0.94,0.00,3123.6,3162.6,3084.6,2989.1,1097.0,769.95,-11.93,461,5023.10,0.00,0.00,2.42,0.000,0.000,0.043,3124.78,3163.44,3086.12,2987.94,2577.25,0,0,0,30.00,30.00,16.03
$GC,5322.71,260,-77.86,-0.94,40.00,3122.0,3160.2,3083.8,2989.2,2577.6,806.38,-12.15,472,5327.87,0.00,0.00,2.00,0.000,0.000,0.079,3122.78,3161.75,3083.81,2985.75,3770.88,0,0,0,30.00,30.00,15.96
$GC,5397.50,1028,-77.86,-0.94,0.00,3120.9,3159.2,3082.6,2985.3,3770.9,816.65,-13.58,487,5402.98,0.00,0.00,2.02,0.000,0.000,0.031,3122.34,3159.88,3084.81,2983.94,2475.12,0,0,0,30.00,30.00,16.01
$GC,5712.80,0,-77.86,-0.94,0.00,3118.8,3156.6,3081.1,2985.3,2460.4,860.13,-14.14,500,5714.13,0.00,0.00,0.00,0.000,0.000,0.000,3119.28,3156.19,3082.38,2983.25,2460.62,0,0,0,30.00,30.00,30.00
$GC,6012.87,260,-77.86,-0.94,40.00,3117.2,3154.5,3080.0,2984.9,2460.8,901.64,-13.53,510,6018.02,0.00,0.00,2.23,0.000,0.000,0.081,3117.47,3155.69,3079.25,2980.88,3768.81,0,0,0,30.00,30.00,15.93
$GC,6067.58,1028,-77.86,-0.94,0.00,3117.3,3154.2,3080.4,2980.6,3768.3,909.32,-13.99,521,6073.32,0.00,0.00,2.03,0.000,0.000,0.033,3118.69,3156.31,3081.06,2980.12,2474.31,0,0,0,30.00,30.00,15.99
$GC,6372.94,260,-77.86,-0.94,40.00,3116.1,3153.2,3079.0,2980.4,2462.1,950.17,-13.12,532,6378.07,0.00,0.00,2.23,0.000,0.000,0.081,3116.28,3154.44,3078.12,2974.44,3768.00,0,0,0,30.00,30.00,15.92
$GC,6422.64,1028,-77.86,-0.94,0.00,3115.8,3152.7,3078.8,2974.3,3768.3,957.21,-13.60,542,6428.05,0.00,0.00,2.02,0.000,0.000,0.033,3116.59,3154.38,3078.81,2974.12,2479.69,0,0,0,30.00,30.00,16.01
$STATE,6672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6673,begin apogee
$GC,6674.56,3,0.00,-0.20,0.00,3114.7,3152.0,3077.4,2973.8,2026.6,990.27,-13.29,552,6735.45,58.26,0.94,0.18,2.199,0.263,0.122,2839.06,2863.50,2814.62,3230.06,2166.06,0,0,0,11.43,15.56,15.45
$STATE,6739,end apogee,CONTROL_FINISHED_OK
$STATE,6739,begin climb
$GC,6739.04,519,77.86,0.94,-40.00,2837.5,2863.2,2811.9,3231.8,2166.2,993.65,0.00,554,6815.05,70.35,1.19,2.64,2.193,0.169,0.053,2521.50,2534.00,2509.00,3610.81,656.94,0,0,0,12.21,15.48,15.15
$GC,6947.90,1092,77.86,0.97,0.00,2517.0,2530.0,2503.9,3609.5,656.9,981.38,7.65,596,6953.13,0.00,0.00,2.43,0.000,0.000,0.027,2518.31,2532.38,2504.25,3611.06,2146.50,0,0,0,30.00,30.00,15.62
$GC,7277.94,262,77.86,0.97,40.00,2512.5,2531.2,2493.9,3609.8,2146.8,953.61,8.94,612,7283.14,0.00,0.00,2.32,0.000,0.000,0.063,2514.53,2533.00,2496.06,3610.38,3538.31,0,0,0,30.00,30.00,15.85
$GC,7432.75,1030,77.86,0.97,0.00,2510.3,2531.1,2489.4,3609.7,3538.6,938.14,9.67,643,7438.22,0.00,0.00,2.39,0.000,0.000,0.026,2511.62,2532.31,2490.94,3618.75,2042.31,0,0,0,30.00,30.00,15.90
$GC,7758.01,518,77.86,0.97,-40.00,2509.2,2530.7,2487.8,3619.4,2041.7,908.20,9.33,658,7763.22,0.00,0.00,2.27,0.000,0.000,0.058,2510.41,2531.69,2489.12,3628.94,656.94,0,0,0,30.00,30.00,15.92
$GC,7802.77,1030,77.86,0.97,0.00,2509.3,2530.6,2488.1,3630.1,656.9,903.87,9.66,667,7808.26,0.00,0.00,2.38,0.000,0.000,0.027,2511.16,2532.56,2489.75,3630.56,2147.50,0,0,0,30.00,30.00,15.94
$GC,8117.88,2,77.86,0.97,0.00,2508.4,2531.0,2485.8,3629.9,2148.5,873.66,9.74,680,8119.21,0.00,0.00,0.00,0.000,0.000,0.000,2508.66,2531.44,2485.88,3628.94,2148.56,0,0,0,30.00,30.00,30.00
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$GC,15649.21,1063,177.53,1.56,0.00,2249.8,2268.2,2231.4,3665.9,656.4,258.19,5.94,1286,15682.40,28.78,0.00,2.38,1.287,0.000,0.026,2114.09,2117.62,2110.56,3665.31,2146.38,0,0,0,11.95,30.00,15.87
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$STATE,19045,end climb,SURFACE_DEPTH_REACHED
$STATE,19045,begin surface coast
$FINISH,0.0,1.021647
$STATE,19065,end surface coast,CONTROL_FINISHED_OK
$STATE,19065,begin surface
$SM_CCo,19228.05,142.79,0.758,0,400.0,419.2,380.8,598.52
$SM_CCo,19229.25,0.00,2.619,0,400.6,415.5,385.8,598.38
$SM_CCo,19230.38,0.00,0.011,0,400.3,417.6,382.9,598.46
$SM_GC,0.72,0.00,9.66,0.84,0.011,0.062,0.029,400.3,417.6,382.9,169.4,2610.3,0,0,0,30.36,15.82,15.89
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,1433.37,14413.75,121219,165801
$TCM_TEMP,164.66
$XPDR_PINGS,7
$SC_FREEKB,3743872
$TM_FREEKB,3085984
$HUMID,52.94
$TEMP,23.42
$INTERNAL_PRESSURE,9.4513
$24V_AH,14.48,106.218
$10V_AH,14.93,0.000
$FG_AHR_24Vo,67.188
$FG_AHR_10Vo,36.818
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,623.450,25.925,177.485,367.669,1.750,13.896,4486.310,15279.321,1762.816,0.000,0.000,0.000
$DEVICE_MAMPS,2619.160,407.456,122.424,214.579,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19087.000,3651.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.285,20.025,0.000,0.000
$MEM,1099124,26,79960,61
$DATA_FILE_SIZE,54504,1736
$CAP_FILE_SIZE,353761,0
$SDSIZE,3918848,3800160
$SDFILEDIR,2554,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,257.5,1
$GPS,131219,035156,1429.143,14408.484,14,0.9,32,0.2