version: 67.00
glider: 180
mission: 2
dive: 370
start: 12 24 119 9 52 18
data:
$ID,180
$MISSION,2
$DIVE,370
$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,41.656326
$FG_AHR_24V,77.129166
$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
$GPS1,241219,094101,1420.037,14410.026,18,0.9,19,0.2
$_CALLS,1
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-69.7
$GPS2,241219,095202,1420.087,14410.001,2,0.9,4,0.2
$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,174.5,18681,-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,9.85,2,-77.86,-0.94,0.00,397.7,425.8,369.6,164.9,2447.1,0.00,0.00,0,112.68,96.38,0.00,0.00,0.005,0.000,0.000,2722.47,2753.88,2691.06,164.88,2447.88,0,0,0,15.32,30.00,30.00
$GC,112.95,551,-77.86,-0.94,-40.00,2721.6,2751.2,2691.9,164.8,2447.6,3.12,-2.71,10,145.40,9.60,14.06,2.16,0.007,0.403,0.035,3156.75,3206.25,3107.25,3022.38,1090.50,0,0,0,15.53,15.36,15.42
$GC,277.29,1028,-77.86,-0.94,0.00,3155.5,3203.4,3107.6,3022.2,1089.6,57.79,-33.72,43,284.06,0.00,0.00,2.44,0.000,0.000,0.048,3155.34,3203.19,3107.50,3022.12,2574.12,0,0,0,30.00,30.00,15.82
$GC,462.67,0,-77.86,-0.94,0.00,3155.3,3203.1,3107.4,3021.9,2574.4,114.74,-27.23,62,465.54,0.00,0.00,0.00,0.000,0.000,0.000,3155.81,3203.62,3108.00,3022.38,2574.12,0,0,0,30.00,30.00,30.00
$GC,642.55,0,-77.86,-0.94,0.00,3155.4,3203.1,3107.8,3021.9,2574.9,152.98,-21.62,80,645.43,0.00,0.00,0.00,0.000,0.000,0.000,3155.47,3203.62,3107.31,3021.88,2574.69,0,0,0,30.00,30.00,30.00
$GC,822.44,516,-77.86,-0.94,-40.00,3154.8,3202.6,3106.9,3021.7,2574.0,187.82,-16.13,98,828.62,0.00,0.00,2.35,0.000,0.000,0.032,3156.12,3203.81,3108.44,3021.38,1086.88,0,0,0,30.00,30.00,15.89
$GC,1052.58,1028,-77.86,-0.94,0.00,3154.6,3201.9,3107.3,3022.1,1087.0,227.81,-16.09,144,1057.91,0.00,0.00,2.40,0.000,0.000,0.041,3155.09,3202.25,3107.94,3021.12,2581.19,0,0,0,30.00,30.00,15.96
$GC,1252.55,516,-77.86,-0.94,-40.00,3154.5,3201.8,3107.3,3022.0,2581.0,261.14,-16.93,161,1257.91,0.00,0.00,2.36,0.000,0.000,0.033,3156.09,3202.31,3109.88,3022.12,1093.00,0,0,0,30.00,30.00,15.98
$GC,1327.45,1028,-77.86,-0.94,0.00,3153.7,3200.6,3106.8,3021.6,1092.9,273.37,-15.42,176,1332.95,0.00,0.00,2.40,0.000,0.000,0.042,3154.25,3200.50,3108.00,3022.38,2578.19,0,0,0,30.00,30.00,16.00
$GC,1642.67,516,-77.86,-0.94,-40.00,3152.0,3197.4,3106.6,3021.7,2577.6,310.53,-11.85,189,1647.96,0.00,0.00,2.36,0.000,0.000,0.034,3152.69,3197.75,3107.62,3021.88,1090.94,0,0,0,30.00,30.00,16.00
$GC,1872.57,1028,-77.86,-0.94,0.00,3150.6,3194.2,3106.9,3021.3,1090.9,343.42,-13.07,235,1878.06,0.00,0.00,2.40,0.000,0.000,0.041,3151.28,3195.12,3107.44,3021.56,2580.62,0,0,0,30.00,30.00,16.02
$GC,2182.79,516,-77.86,-0.94,-40.00,3148.9,3191.9,3106.0,3021.4,2579.8,383.75,-13.17,247,2188.08,0.00,0.00,2.38,0.000,0.000,0.036,3149.81,3193.12,3106.50,3020.69,1094.00,0,0,0,30.00,30.00,16.01
$GC,2412.73,1028,-77.86,-0.94,0.00,3146.9,3188.4,3105.4,3020.9,1093.0,413.00,-11.95,293,2418.21,0.00,0.00,2.40,0.000,0.000,0.042,3148.81,3189.81,3107.81,3020.75,2579.88,0,0,0,30.00,30.00,16.03
$GC,2723.04,0,-77.86,-0.94,0.00,3143.3,3186.2,3100.4,3020.9,2580.1,450.65,-12.52,305,2724.37,0.00,0.00,0.00,0.000,0.000,0.000,3144.06,3187.19,3100.94,3020.94,2579.88,0,0,0,30.00,30.00,30.00
$GC,3023.10,516,-77.86,-0.94,-40.00,3140.5,3183.2,3097.8,3021.2,2579.6,489.11,-12.60,315,3028.23,0.00,0.00,2.38,0.000,0.000,0.038,3142.19,3185.12,3099.25,3021.12,1095.25,0,0,0,30.00,30.00,16.02
$GC,3067.77,1028,-77.86,-0.94,0.00,3140.1,3182.8,3097.3,3021.2,1095.5,494.80,-12.70,324,3073.27,0.00,0.00,2.41,0.000,0.000,0.044,3140.53,3182.62,3098.44,3020.69,2578.12,0,0,0,30.00,30.00,16.03
$GC,3382.95,260,-77.86,-0.94,40.00,3137.1,3179.2,3095.0,3020.9,2577.3,531.75,-11.49,337,3388.20,0.00,0.00,2.00,0.000,0.000,0.078,3137.69,3179.94,3095.44,3014.06,3769.81,0,0,0,30.00,30.00,15.95
$GC,3482.84,1028,-77.86,-0.94,0.00,3135.5,3177.6,3093.4,3014.8,3770.1,543.67,-12.09,357,3488.25,0.00,0.00,2.00,0.000,0.000,0.027,3135.78,3177.44,3094.12,3015.50,2487.88,0,0,0,30.00,30.00,16.01
$GC,3803.16,0,-77.86,-0.94,0.00,3132.6,3175.1,3090.1,3014.7,2475.1,580.06,-11.18,371,3804.50,0.00,0.00,0.00,0.000,0.000,0.000,3133.97,3176.69,3091.25,3014.50,2474.50,0,0,0,30.00,30.00,30.00
$GC,4103.11,516,-77.86,-0.94,-40.00,3131.1,3172.6,3089.6,3014.2,2474.9,614.18,-11.56,381,4108.34,0.00,0.00,2.21,0.000,0.000,0.040,3132.75,3173.19,3092.31,3014.62,1096.00,0,0,0,30.00,30.00,16.01
$GC,4152.89,1028,-77.86,-0.94,0.00,3131.2,3172.6,3089.8,3013.8,1095.2,620.25,-12.13,391,4158.39,0.00,0.00,2.43,0.000,0.000,0.044,3131.97,3172.94,3091.00,3012.75,2578.81,0,0,0,30.00,30.00,16.00
$GC,4463.25,260,-77.86,-0.94,40.00,3129.0,3169.6,3088.3,3013.9,2579.4,658.10,-12.28,403,4468.34,0.00,0.00,2.01,0.000,0.000,0.078,3129.56,3170.12,3089.00,3006.44,3767.50,0,0,0,30.00,30.00,15.91
$GC,4532.94,1028,-77.86,-0.94,0.00,3128.3,3169.2,3087.3,3006.7,3767.9,667.19,-12.89,417,4538.36,0.00,0.00,2.02,0.000,0.000,0.029,3128.47,3169.44,3087.50,3007.56,2487.38,0,0,0,30.00,30.00,15.99
$GC,4853.09,260,-77.86,-0.94,40.00,3126.2,3166.3,3086.0,3006.1,2479.2,706.89,-12.41,431,4858.42,0.00,0.00,2.21,0.000,0.000,0.082,3126.66,3167.38,3085.94,3003.81,3770.50,0,0,0,30.00,30.00,15.88
$GC,4927.98,1028,-77.86,-0.94,0.00,3125.3,3165.1,3085.5,3003.8,3770.0,716.59,-12.90,446,4933.41,0.00,0.00,2.03,0.000,0.000,0.030,3125.84,3166.12,3085.56,3003.12,2487.88,0,0,0,30.00,30.00,15.99
$GC,5243.17,260,-77.86,-0.94,40.00,3123.4,3162.9,3083.9,3003.4,2474.6,753.52,-11.51,459,5248.47,0.00,0.00,2.22,0.000,0.000,0.082,3123.72,3162.81,3084.62,3001.00,3770.38,0,0,0,30.00,30.00,15.86
$GC,5338.03,1028,-77.86,-0.94,0.00,3123.3,3162.9,3083.7,3000.9,3770.4,765.03,-12.11,478,5343.45,0.00,0.00,2.02,0.000,0.000,0.031,3123.53,3163.38,3083.69,3000.69,2488.12,0,0,0,30.00,30.00,15.97
$GC,5663.34,260,-77.86,-0.94,40.00,3121.9,3160.8,3083.0,3000.8,2474.8,802.71,-11.68,493,5668.52,0.00,0.00,2.23,0.000,0.000,0.082,3122.69,3161.88,3083.50,2992.50,3768.31,0,0,0,30.00,30.00,15.85
$GC,5703.33,1028,-77.86,-0.94,0.00,3120.8,3160.0,3081.6,2992.7,3768.2,806.94,-10.41,501,5708.50,0.00,0.00,2.03,0.000,0.000,0.032,3122.25,3162.31,3082.19,2991.38,2486.25,0,0,0,30.00,30.00,15.97
$GC,6023.24,260,-77.86,-0.94,40.00,3119.1,3158.1,3080.0,2992.4,2472.7,843.52,-11.30,515,6028.56,0.00,0.00,2.23,0.000,0.000,0.083,3120.16,3159.06,3081.25,2990.56,3767.38,0,0,0,30.00,30.00,15.82
$GC,6088.11,1029,-77.86,-0.94,0.00,3118.4,3157.1,3079.8,2990.4,3768.1,851.01,-11.58,528,6093.60,0.00,0.12,2.03,0.000,0.267,0.032,3118.94,3156.94,3080.94,3024.12,2479.38,0,0,0,30.00,15.54,15.96
$GC,6413.39,0,-77.86,-0.94,0.00,3117.5,3155.6,3079.4,3024.2,2468.1,882.98,-9.88,543,6414.72,0.00,0.00,0.00,0.000,0.000,0.000,3118.59,3156.25,3080.94,3025.12,2468.31,0,0,0,30.00,30.00,30.00
$GC,6713.27,0,-77.86,-0.94,0.00,3116.4,3154.4,3078.4,3025.4,2468.2,914.24,-10.48,553,6714.60,0.00,0.00,0.00,0.000,0.000,0.000,3116.56,3155.06,3078.06,3023.12,2468.00,0,0,0,30.00,30.00,30.00
$GC,7013.40,260,-77.86,-0.94,40.00,3115.6,3153.8,3077.5,3024.8,2468.8,944.37,-9.65,563,7018.63,0.00,0.00,2.24,0.000,0.000,0.083,3117.94,3156.69,3079.19,3017.75,3766.81,0,0,0,30.00,30.00,15.80
$GC,7088.28,1028,-77.86,-0.94,0.00,3114.5,3152.5,3076.4,3017.9,3766.3,953.43,-11.05,578,7093.62,0.00,0.00,2.03,0.000,0.000,0.033,3114.88,3153.62,3076.12,3017.69,2495.25,0,0,0,30.00,30.00,15.97
$GC,7403.48,516,-77.86,-0.94,-40.00,3114.0,3151.9,3076.1,3018.6,2483.1,985.41,-10.06,591,7408.67,0.00,0.00,2.24,0.000,0.000,0.043,3115.50,3153.12,3077.88,3018.06,1096.38,0,0,0,30.00,30.00,15.94
$STATE,7453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7453,begin apogee
$GC,7456.23,3,0.00,-0.20,0.00,3114.1,3151.8,3076.4,3017.6,2139.9,990.43,-9.93,601,7518.19,59.24,0.90,0.13,2.235,0.265,0.135,2840.03,2865.44,2814.62,3261.38,2009.12,0,0,0,10.98,15.29,15.39
$STATE,7520,end apogee,CONTROL_FINISHED_OK
$STATE,7520,begin climb
$GC,7520.24,3,77.86,0.94,0.00,2837.9,2863.3,2812.5,3261.9,2008.6,991.79,0.00,604,7594.36,71.44,1.16,0.00,2.224,0.148,0.000,2522.75,2531.88,2513.62,3632.31,2008.00,0,0,0,12.22,15.46,30.00
$GC,7883.51,518,77.86,0.94,-40.00,2513.7,2530.8,2496.7,3631.8,2008.0,963.30,8.76,617,7888.75,0.00,0.00,2.25,0.000,0.000,0.053,2515.09,2531.62,2498.56,3639.81,655.06,0,0,0,30.00,30.00,15.72
$GC,7963.32,1030,77.86,0.94,0.00,2513.7,2530.1,2497.2,3640.4,655.1,956.91,8.58,633,7968.80,0.00,0.00,2.40,0.000,0.000,0.027,2514.03,2531.75,2496.31,3639.94,2145.69,0,0,0,30.00,30.00,15.77
$GC,8273.77,2,77.86,0.94,0.00,2511.2,2530.6,2491.8,3640.1,2145.7,931.09,8.21,645,8275.10,0.00,0.00,0.00,0.000,0.000,0.000,2512.09,2531.38,2492.81,3640.94,2146.06,0,0,0,30.00,30.00,30.00
$GC,8573.59,582,77.86,0.96,-40.00,2509.6,2530.7,2488.6,3640.5,2145.2,907.25,7.82,655,8578.85,0.00,0.00,2.49,0.000,0.000,0.051,2511.88,2533.56,2490.19,3650.56,655.44,0,0,0,30.00,30.00,15.87
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$STATE,19986,end climb,SURFACE_DEPTH_REACHED
$STATE,19986,begin surface coast
$FINISH,-0.3,1.022030
$STATE,20006,end surface coast,CONTROL_FINISHED_OK
$STATE,20006,begin surface
$SM_CCo,20174.89,148.69,0.742,0,400.4,416.8,383.9,598.44
$SM_CCo,20176.09,0.00,2.607,0,400.2,416.4,383.9,598.49
$SM_CCo,20177.22,0.00,0.012,0,400.1,416.4,383.9,598.50
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$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,1417.59,14341.18,241219,035516
$TCM_TEMP,163.94
$XPDR_PINGS,6
$SC_FREEKB,3725056
$TM_FREEKB,2501696
$HUMID,53.16
$TEMP,23.14
$INTERNAL_PRESSURE,9.43937
$24V_AH,14.43,121.600
$10V_AH,14.92,0.000
$FG_AHR_24Vo,77.314
$FG_AHR_10Vo,41.757
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,623.715,25.860,179.590,420.818,1.500,13.667,4743.629,16037.616,1869.050,0.000,0.000,0.000
$DEVICE_MAMPS,2607.352,402.864,135.216,195.352,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20029.000,3649.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.595,19.977,0.000,0.000
$MEM,1099060,29,79964,61
$DATA_FILE_SIZE,57649,1843
$CAP_FILE_SIZE,362072,0
$SDSIZE,3918848,3784864
$SDFILEDIR,2897,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,315.2,1
$GPS,241219,152909,1418.658,14409.987,17,1.0,18,0.2