version: 67.00
glider: 180
mission: 2
dive: 352
start: 12 20 119 3 20 56
data:
$ID,180
$MISSION,2
$DIVE,352
$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,3325
$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,39.82119
$FG_AHR_24V,73.405914
$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
$GPS1,201219,030853,1415.596,14409.860,17,0.9,32,0.3
$_CALLS,2
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-69.9
$GPS2,201219,032040,1415.521,14409.721,3,0.7,5,0.3
$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,165.9,10238,-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,9.80,2,-77.86,-0.94,0.00,399.6,428.9,370.3,166.9,2427.1,0.00,0.00,0,112.70,96.44,0.00,0.00,0.005,0.000,0.000,2752.91,2784.12,2721.69,166.88,2429.94,0,0,0,15.37,30.00,30.00
$GC,112.98,551,-77.86,-0.94,-40.00,2751.8,2782.8,2720.8,166.6,2430.0,3.50,-3.19,10,145.10,8.55,14.19,2.12,0.007,0.408,0.030,3156.47,3206.25,3106.69,3022.44,1079.25,0,0,0,15.57,15.38,15.46
$GC,367.02,1028,-77.86,-0.94,0.00,3154.3,3202.6,3106.1,3023.1,1079.4,85.55,-29.12,61,373.66,0.00,0.00,2.45,0.000,0.000,0.044,3154.56,3202.81,3106.31,3022.50,2579.12,0,0,0,30.00,30.00,15.84
$GC,552.17,516,-77.86,-0.94,-40.00,3154.1,3201.5,3106.7,3022.8,2578.1,134.61,-24.24,80,558.31,0.00,0.00,2.37,0.000,0.000,0.029,3157.03,3204.94,3109.12,3021.38,1086.56,0,0,0,30.00,30.00,15.88
$GC,732.30,1028,-77.86,-0.94,0.00,3154.2,3201.9,3106.5,3022.2,1087.0,170.56,-13.87,116,738.66,0.00,0.00,2.41,0.000,0.000,0.038,3154.94,3202.56,3107.31,3022.50,2580.25,0,0,0,30.00,30.00,15.91
$GC,923.30,516,-77.86,-0.94,-40.00,3154.0,3201.7,3106.2,3022.9,2580.9,200.27,-13.45,136,927.61,0.00,0.00,2.37,0.000,0.000,0.030,3154.41,3202.81,3106.00,3023.88,1087.00,0,0,0,30.00,30.00,15.95
$GC,947.13,1028,-77.86,-0.94,0.00,3154.0,3201.9,3106.0,3021.9,1087.2,203.67,-13.47,141,952.98,0.00,0.00,2.40,0.000,0.000,0.038,3155.44,3202.62,3108.25,3022.00,2577.50,0,0,0,30.00,30.00,15.96
$GC,1132.50,0,-77.86,-0.94,0.00,3153.8,3201.2,3106.4,3022.7,2578.1,228.51,-13.82,160,1133.84,0.00,0.00,0.00,0.000,0.000,0.000,3154.06,3202.25,3105.88,3022.25,2578.56,0,0,0,30.00,30.00,30.00
$GC,1332.55,516,-77.86,-0.94,-40.00,3153.0,3199.9,3106.1,3022.1,2578.2,254.80,-12.80,178,1337.66,0.00,0.00,2.36,0.000,0.000,0.032,3154.34,3201.06,3107.62,3022.44,1089.88,0,0,0,30.00,30.00,15.98
$GC,1472.23,1028,-77.86,-0.94,0.00,3151.6,3197.5,3105.6,3021.8,1089.9,274.54,-15.51,206,1477.79,0.00,0.00,2.40,0.000,0.000,0.040,3152.94,3198.62,3107.25,3021.44,2579.56,0,0,0,30.00,30.00,16.02
$GC,1782.58,260,-77.86,-0.94,40.00,3150.1,3194.7,3105.6,3022.4,2579.9,319.30,-14.20,218,1786.99,0.00,0.00,1.97,0.000,0.000,0.074,3150.59,3195.31,3105.88,3021.38,3772.94,0,0,0,30.00,30.00,15.99
$GC,1862.26,1028,-77.86,-0.94,0.00,3149.8,3194.2,3105.2,3022.2,3773.2,330.44,-13.63,234,1867.67,0.00,0.00,1.99,0.000,0.000,0.024,3150.25,3194.94,3105.56,3022.06,2483.62,0,0,0,30.00,30.00,16.02
$GC,2172.59,516,-77.86,-0.94,-40.00,3146.8,3189.6,3103.9,3022.1,2470.4,372.10,-13.73,246,2177.73,0.00,0.00,2.17,0.000,0.000,0.035,3147.03,3189.25,3104.81,3022.19,1089.75,0,0,0,30.00,30.00,16.03
$GC,2272.34,1028,-77.86,-0.94,0.00,3146.4,3188.6,3104.2,3022.4,1089.7,386.04,-13.71,266,2277.79,0.00,0.00,2.40,0.000,0.000,0.040,3146.97,3189.50,3104.44,3021.19,2576.19,0,0,0,30.00,30.00,16.04
$GC,2592.51,516,-77.86,-0.94,-40.00,3142.6,3185.5,3099.8,3021.8,2575.0,425.21,-12.12,280,2597.81,0.00,0.00,2.37,0.000,0.000,0.036,3144.53,3188.00,3101.06,3021.88,1093.69,0,0,0,30.00,30.00,16.04
$GC,2782.44,1028,-77.86,-0.94,0.00,3140.9,3182.8,3099.0,3021.8,1093.5,451.50,-13.81,318,2787.89,0.00,0.00,2.40,0.000,0.000,0.042,3141.72,3184.00,3099.44,3022.31,2577.75,0,0,0,30.00,30.00,16.05
$GC,3102.73,260,-77.86,-0.94,40.00,3137.7,3180.1,3095.2,3021.4,2577.8,490.53,-11.84,332,3107.80,0.00,0.00,1.99,0.000,0.000,0.077,3138.16,3180.88,3095.44,3016.88,3771.56,0,0,0,30.00,30.00,15.98
$GC,3332.45,1028,-77.86,-0.94,0.00,3134.5,3177.6,3091.5,3016.9,3771.1,516.48,-11.56,378,3337.89,0.00,0.00,2.01,0.000,0.000,0.027,3134.66,3177.50,3091.81,3017.38,2485.56,0,0,0,30.00,30.00,16.03
$GC,3642.84,260,-77.86,-0.94,40.00,3132.1,3174.2,3089.9,3017.2,2472.4,552.68,-11.69,390,3648.01,0.00,0.00,2.20,0.000,0.000,0.079,3132.94,3175.12,3090.75,3015.50,3768.38,0,0,0,30.00,30.00,15.96
$GC,3862.55,1028,-77.86,-0.94,0.00,3130.8,3172.6,3089.0,3014.6,3767.1,578.84,-11.66,434,3867.98,0.00,0.00,2.01,0.000,0.000,0.028,3131.56,3173.31,3089.81,3014.69,2482.06,0,0,0,30.00,30.00,16.02
$GC,4182.77,516,-77.86,-0.94,-40.00,3128.7,3169.8,3087.7,3015.3,2469.3,615.20,-11.38,448,4188.03,0.00,0.00,2.19,0.000,0.000,0.039,3129.72,3170.25,3089.19,3014.94,1093.81,0,0,0,30.00,30.00,16.03
$GC,4297.64,1028,-77.86,-0.94,0.00,3127.7,3168.4,3087.1,3015.6,1093.9,629.09,-12.14,471,4303.34,0.00,0.00,2.42,0.000,0.000,0.042,3127.78,3168.19,3087.38,3014.88,2578.19,0,0,0,30.00,30.00,16.00
$GC,4602.82,260,-77.86,-0.94,40.00,3125.5,3165.4,3085.5,3015.0,2577.9,665.15,-11.64,482,4608.09,0.00,0.00,2.01,0.000,0.000,0.079,3125.38,3165.56,3085.19,3007.62,3767.38,0,0,0,30.00,30.00,15.94
$GC,4662.92,1028,-77.86,-0.94,0.00,3124.8,3164.9,3084.7,3007.9,3768.2,672.52,-12.41,494,4668.12,0.00,0.00,2.02,0.000,0.000,0.030,3125.28,3165.62,3084.94,3007.06,2491.06,0,0,0,30.00,30.00,16.00
$GC,4992.94,260,-77.86,-0.94,40.00,3123.3,3163.1,3083.5,3007.4,2477.6,711.72,-11.74,510,4998.19,0.00,0.00,2.21,0.000,0.000,0.081,3125.53,3165.19,3085.88,3003.62,3769.25,0,0,0,30.00,30.00,15.92
$GC,5062.76,1028,-77.86,-0.94,0.00,3122.8,3162.4,3083.1,3004.8,3767.9,720.31,-12.04,524,5068.18,0.00,0.00,2.02,0.000,0.000,0.030,3122.75,3162.50,3083.00,3004.00,2489.62,0,0,0,30.00,30.00,16.00
$GC,5383.13,0,-77.86,-0.94,0.00,3120.5,3159.9,3081.1,3004.6,2475.9,755.63,-10.75,538,5384.47,0.00,0.00,0.00,0.000,0.000,0.000,3119.41,3159.62,3079.19,3005.44,2476.12,0,0,0,30.00,30.00,30.00
$GC,5683.06,516,-77.86,-0.94,-40.00,3119.1,3158.4,3079.8,3004.1,2475.9,787.89,-10.62,548,5688.27,0.00,0.00,2.23,0.000,0.000,0.042,3119.97,3158.25,3081.69,3002.62,1095.12,0,0,0,30.00,30.00,16.00
$GC,5737.84,1028,-77.86,-0.94,0.00,3118.4,3157.1,3079.6,3004.4,1095.7,793.70,-10.47,559,5743.45,0.00,0.00,2.43,0.000,0.000,0.044,3118.62,3156.75,3080.50,3003.44,2575.81,0,0,0,30.00,30.00,15.98
$GC,6043.04,0,-77.86,-0.94,0.00,3117.1,3156.1,3078.1,3004.2,2576.1,825.15,-10.70,570,6044.37,0.00,0.00,0.00,0.000,0.000,0.000,3117.56,3155.94,3079.19,3003.50,2575.62,0,0,0,30.00,30.00,30.00
$GC,6343.10,0,-77.86,-0.94,0.00,3115.3,3153.8,3076.8,3004.0,2576.0,857.23,-10.78,580,6344.44,0.00,0.00,0.00,0.000,0.000,0.000,3117.31,3155.94,3078.69,3002.44,2575.81,0,0,0,30.00,30.00,30.00
$GC,6643.20,260,-77.86,-0.94,40.00,3114.6,3153.2,3076.0,3003.9,2575.9,890.59,-11.05,590,6648.30,0.00,0.00,2.03,0.000,0.000,0.082,3114.84,3153.50,3076.19,2994.75,3766.44,0,0,0,30.00,30.00,15.86
$GC,6872.93,1028,-77.86,-0.94,0.00,3112.4,3149.8,3075.1,2994.4,3769.7,917.12,-11.83,636,6878.37,0.00,0.00,2.04,0.000,0.000,0.032,3112.75,3150.06,3075.44,2995.38,2490.25,0,0,0,30.00,30.00,15.96
$GC,7183.20,260,-77.86,-0.94,40.00,3112.0,3149.1,3074.9,2995.6,2477.9,952.14,-11.15,648,7188.43,0.00,0.00,2.23,0.000,0.000,0.084,3112.22,3148.44,3076.00,2993.25,3767.31,0,0,0,30.00,30.00,15.84
$GC,7413.03,1028,-77.86,-0.94,0.00,3111.2,3147.1,3075.2,2993.9,3768.4,978.47,-11.12,694,7418.46,0.00,0.00,2.03,0.000,0.000,0.033,3111.03,3146.69,3075.38,2993.62,2487.00,0,0,0,30.00,30.00,15.96
$STATE,7543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7543,begin apogee
$GC,7545.13,3,0.00,-0.20,0.00,3111.2,3147.2,3075.1,2993.9,2020.5,992.85,-11.02,700,7605.94,58.12,0.99,0.19,2.228,0.263,0.117,2838.12,2861.06,2815.19,3259.69,2163.50,0,0,0,11.15,15.40,15.42
$STATE,7607,end apogee,CONTROL_FINISHED_OK
$STATE,7607,begin climb
$GC,7607.89,519,77.86,0.94,-40.00,2838.0,2863.8,2812.2,3261.3,2163.6,994.77,0.00,702,7684.80,71.26,1.17,2.64,2.214,0.153,0.055,2520.50,2529.12,2511.88,3641.62,656.31,0,0,0,12.23,15.46,15.13
$GC,7776.74,1028,77.86,0.94,0.00,2517.3,2529.3,2505.3,3642.4,656.3,982.89,9.37,736,7782.28,0.00,0.00,2.44,0.000,0.000,0.026,2517.28,2530.06,2504.50,3642.06,2145.81,0,0,0,30.00,30.00,15.53
$GC,8081.85,2,77.86,0.94,0.00,2513.5,2530.2,2496.7,3641.6,2145.4,954.54,9.47,747,8083.19,0.00,0.00,0.00,0.000,0.000,0.000,2515.12,2530.88,2499.38,3640.94,2145.25,0,0,0,30.00,30.00,30.00
$GC,8381.92,2,77.86,0.94,0.00,2512.0,2530.8,2493.2,3642.1,2145.6,925.41,9.56,757,8383.25,0.00,0.00,0.00,0.000,0.000,0.000,2512.91,2530.19,2495.62,3640.69,2145.06,0,0,0,30.00,30.00,30.00
$GC,8681.96,262,77.86,0.94,40.00,2510.4,2530.2,2490.6,3641.2,2145.5,898.54,8.86,767,8687.26,0.00,0.00,2.34,0.000,0.000,0.073,2513.41,2534.06,2492.75,3642.12,3531.31,0,0,0,30.00,30.00,15.84
$GC,8911.87,1030,77.86,0.94,0.00,2508.9,2530.4,2487.4,3641.6,3532.5,875.67,9.68,813,8917.38,0.00,0.00,2.41,0.000,0.000,0.038,2512.06,2533.88,2490.25,3646.50,2066.19,0,0,0,30.00,30.00,15.91
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$STATE,19865,end climb,SURFACE_DEPTH_REACHED
$STATE,19865,begin surface coast
$FINISH,-0.0,1.021867
$STATE,19885,end surface coast,CONTROL_FINISHED_OK
$STATE,19885,begin surface
$SM_CCo,20040.47,135.03,0.740,0,399.9,415.5,384.2,598.56
$SM_GC,0.67,135.03,9.62,1.61,0.740,0.061,0.021,399.9,415.5,384.2,166.0,2483.4,0,0,0,11.97,15.79,15.91
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1413.50,14408.34,201219,031304
$TCM_TEMP,164.30
$XPDR_PINGS,6
$SC_FREEKB,3731968
$TM_FREEKB,2716512
$HUMID,53.04
$TEMP,23.56
$INTERNAL_PRESSURE,9.46102
$24V_AH,14.53,115.933
$10V_AH,14.96,0.000
$FG_AHR_24Vo,73.589
$FG_AHR_10Vo,39.923
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,622.505,26.115,181.565,411.082,1.500,14.339,4820.416,15869.600,1927.840,0.000,0.000,0.000
$DEVICE_MAMPS,2227.528,408.440,116.848,206.684,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19909.000,3808.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.594,20.025,0.000,0.000
$MEM,1099048,29,79976,61
$DATA_FILE_SIZE,60800,1908
$CAP_FILE_SIZE,365743,0
$SDSIZE,3918848,3790528
$SDFILEDIR,2771,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,270.8,1
$GPS,201219,085540,1414.046,14409.374,25,1.2,27,0.3