version: 67.00
glider: 180
mission: 2
dive: 378
start: 12 26 119 7 33 51
data:
$ID,180
$MISSION,2
$DIVE,378
$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,42.475586
$FG_AHR_24V,78.778008
$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
$GPS1,261219,072330,1414.811,14409.164,27,0.8,27,0.3
$_CALLS,1
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-68.3
$GPS2,261219,073335,1414.834,14409.093,2,0.6,4,0.3
$SPEED_LIMITS,0.085,0.155
$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,31.8,11536,-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,9.89,2,-77.86,-0.94,0.00,397.6,424.6,370.6,169.2,2415.2,0.00,0.00,0,122.97,106.57,0.00,0.00,0.005,0.000,0.000,3019.97,3055.25,2984.69,169.25,2415.81,0,0,0,15.32,30.00,30.00
$GC,123.27,263,-77.86,-0.94,40.00,3018.5,3053.1,2984.0,169.2,2415.8,5.32,-8.90,11,149.87,2.49,14.20,2.26,0.013,0.408,0.064,3158.00,3198.00,3118.00,3012.00,3775.81,0,0,0,15.51,15.33,15.42
$GC,232.04,1028,-77.86,-0.94,0.00,3156.7,3197.1,3116.2,3013.8,3775.9,48.89,-37.39,33,238.15,0.00,0.00,2.01,0.000,0.000,0.022,3157.19,3198.00,3116.38,3013.69,2480.62,0,0,0,30.00,30.00,15.77
$GC,421.98,0,-77.86,-0.94,0.00,3156.1,3196.6,3115.6,3013.1,2466.2,107.66,-24.44,53,424.86,0.00,0.00,0.00,0.000,0.000,0.000,3155.84,3195.75,3115.94,3013.00,2466.31,0,0,0,30.00,30.00,30.00
$GC,602.17,260,-77.86,-0.94,40.00,3156.4,3196.9,3115.9,3013.2,2466.3,144.52,-17.30,71,608.09,0.00,0.00,2.19,0.000,0.000,0.068,3157.31,3198.06,3116.56,3011.94,3773.19,0,0,0,30.00,30.00,15.83
$GC,636.88,1028,-77.86,-0.94,0.00,3156.3,3196.3,3116.4,3012.8,3773.2,151.21,-19.44,78,643.22,0.00,0.00,2.00,0.000,0.000,0.021,3156.94,3197.25,3116.62,3013.06,2480.06,0,0,0,30.00,30.00,15.86
$GC,822.01,516,-77.86,-0.94,-40.00,3156.2,3196.4,3116.1,3012.8,2466.4,187.59,-15.67,97,828.12,0.00,0.00,2.15,0.000,0.000,0.028,3156.59,3197.38,3115.81,3012.81,1083.88,0,0,0,30.00,30.00,15.88
$GC,886.91,1028,-77.86,-0.94,0.00,3156.1,3196.9,3115.2,3013.1,1083.6,196.18,-12.02,110,893.44,0.00,0.00,2.40,0.000,0.000,0.037,3156.84,3196.38,3117.31,3011.94,2580.19,0,0,0,30.00,30.00,15.89
$GC,1072.26,0,-77.86,-0.94,0.00,3156.3,3196.8,3115.9,3012.6,2580.5,218.51,-14.02,129,1073.59,0.00,0.00,0.00,0.000,0.000,0.000,3157.16,3196.69,3117.62,3013.25,2580.38,0,0,0,30.00,30.00,30.00
$GC,1252.23,0,-77.86,-0.94,0.00,3155.9,3196.3,3115.6,3013.0,2580.9,244.47,-15.66,147,1253.56,0.00,0.00,0.00,0.000,0.000,0.000,3156.53,3196.12,3116.94,3012.00,2581.56,0,0,0,30.00,30.00,30.00
$GC,1442.26,516,-77.86,-0.94,-40.00,3155.6,3196.1,3115.0,3012.2,2580.7,270.23,-12.91,156,1447.46,0.00,0.00,2.35,0.000,0.000,0.031,3155.31,3195.88,3114.75,3012.62,1088.25,0,0,0,30.00,30.00,15.99
$GC,1592.27,1028,-77.86,-0.94,0.00,3153.9,3193.4,3114.4,3012.5,1088.1,289.40,-13.83,186,1597.50,0.00,0.00,2.40,0.000,0.000,0.039,3155.19,3193.94,3116.44,3011.75,2580.62,0,0,0,30.00,30.00,16.01
$GC,1922.30,260,-77.86,-0.94,40.00,3151.1,3191.2,3111.0,3012.0,2579.9,333.18,-13.59,202,1926.72,0.00,0.00,1.97,0.000,0.000,0.072,3151.41,3190.56,3112.25,3012.62,3772.81,0,0,0,30.00,30.00,15.94
$GC,1997.06,1028,-77.86,-0.94,0.00,3150.6,3190.6,3110.6,3012.5,3773.6,343.91,-14.52,217,2002.47,0.00,0.00,2.00,0.000,0.000,0.024,3151.16,3191.31,3111.00,3012.25,2478.81,0,0,0,30.00,30.00,15.98
$GC,2312.40,260,-77.86,-0.94,40.00,3148.1,3188.4,3107.8,3011.8,2465.0,383.36,-12.21,230,2317.54,0.00,0.00,2.19,0.000,0.000,0.072,3148.91,3188.94,3108.88,3011.88,3770.81,0,0,0,30.00,30.00,15.96
$GC,2487.21,1028,-77.86,-0.94,0.00,3146.0,3186.2,3105.8,3012.0,3771.3,405.09,-11.85,265,2492.69,0.00,0.00,1.99,0.000,0.000,0.025,3148.03,3187.81,3108.25,3011.38,2483.88,0,0,0,30.00,30.00,16.00
$GC,2792.41,516,-77.86,-0.94,-40.00,3142.9,3183.1,3102.8,3012.0,2471.1,441.20,-12.09,276,2797.60,0.00,0.00,2.17,0.000,0.000,0.037,3143.97,3183.44,3104.50,3010.75,1092.25,0,0,0,30.00,30.00,16.00
$GC,2907.20,1028,-77.86,-0.94,0.00,3141.8,3181.1,3102.6,3011.8,1092.2,456.25,-12.58,299,2912.84,0.00,0.00,2.40,0.000,0.000,0.040,3142.00,3181.31,3102.69,3012.00,2578.31,0,0,0,30.00,30.00,16.02
$GC,3212.44,0,-77.86,-0.94,0.00,3138.2,3178.1,3098.2,3011.2,2578.6,494.09,-12.52,310,3213.78,0.00,0.00,0.00,0.000,0.000,0.000,3139.03,3179.06,3099.00,3011.88,2578.62,0,0,0,30.00,30.00,30.00
$GC,3512.39,260,-77.86,-0.94,40.00,3136.2,3175.8,3096.6,3011.9,2579.7,531.75,-12.22,320,3517.63,0.00,0.00,2.00,0.000,0.000,0.077,3135.50,3175.38,3095.62,3006.38,3769.56,0,0,0,30.00,30.00,15.93
$GC,3602.49,1028,-77.86,-0.94,0.00,3135.1,3174.2,3096.1,3007.1,3769.8,543.04,-12.28,338,3607.67,0.00,0.00,2.01,0.000,0.000,0.027,3135.16,3175.31,3095.00,3006.38,2484.12,0,0,0,30.00,30.00,15.99
$GC,3932.46,0,-77.86,-0.94,0.00,3132.1,3172.5,3091.7,3006.9,2471.1,580.02,-10.91,354,3933.79,0.00,0.00,0.00,0.000,0.000,0.000,3132.88,3173.56,3092.19,3007.06,2470.88,0,0,0,30.00,30.00,30.00
$GC,4232.54,516,-77.86,-0.94,-40.00,3130.1,3170.4,3089.9,3006.6,2470.7,613.44,-11.37,364,4237.75,0.00,0.00,2.20,0.000,0.000,0.041,3131.09,3170.12,3092.06,3006.19,1096.69,0,0,0,30.00,30.00,15.98
$GC,4287.30,1028,-77.86,-0.94,0.00,3129.7,3169.5,3089.8,3006.9,1096.9,619.93,-11.60,375,4292.88,0.00,0.00,2.42,0.000,0.000,0.044,3130.28,3169.88,3090.69,3006.38,2580.25,0,0,0,30.00,30.00,15.98
$GC,4592.61,0,-77.86,-0.94,0.00,3128.5,3167.5,3089.6,3006.8,2580.2,654.44,-11.47,386,4593.94,0.00,0.00,0.00,0.000,0.000,0.000,3128.59,3167.38,3089.81,3006.38,2580.06,0,0,0,30.00,30.00,30.00
$GC,4892.58,260,-77.86,-0.94,40.00,3126.2,3164.7,3087.8,3005.6,2579.7,691.06,-12.22,396,4897.75,0.00,0.00,2.00,0.000,0.000,0.079,3126.38,3164.50,3088.25,2998.56,3771.06,0,0,0,30.00,30.00,15.88
$GC,5072.61,1028,-77.86,-0.94,0.00,3124.8,3162.9,3086.7,2999.1,3770.9,714.75,-13.48,432,5077.82,0.00,0.00,2.02,0.000,0.000,0.030,3125.75,3164.94,3086.56,2998.62,2480.19,0,0,0,30.00,30.00,15.98
$GC,5402.77,0,-77.86,-0.94,0.00,3123.9,3162.1,3085.6,2998.6,2467.9,755.81,-12.04,448,5404.11,0.00,0.00,0.00,0.000,0.000,0.000,3124.06,3163.00,3085.12,2999.25,2467.88,0,0,0,30.00,30.00,30.00
$GC,5702.67,0,-77.86,-0.94,0.00,3121.7,3159.6,3083.8,2998.9,2468.5,793.17,-12.28,458,5704.00,0.00,0.00,0.00,0.000,0.000,0.000,3122.25,3160.69,3083.81,2998.69,2468.00,0,0,0,30.00,30.00,30.00
$GC,6002.54,260,-77.86,-0.94,40.00,3120.2,3156.9,3083.6,2999.2,2468.1,831.04,-12.64,468,6007.92,0.00,0.00,2.23,0.000,0.000,0.080,3119.56,3157.00,3082.12,2995.25,3767.62,0,0,0,30.00,30.00,15.83
$GC,6067.48,1028,-77.86,-0.94,0.00,3119.7,3156.2,3083.2,2995.1,3768.1,839.77,-13.50,481,6072.90,0.00,0.00,2.03,0.000,0.000,0.032,3120.31,3156.50,3084.12,2995.38,2485.12,0,0,0,30.00,30.00,15.96
$GC,6392.82,0,-77.86,-0.94,0.00,3118.8,3155.3,3082.2,2994.6,2471.2,883.45,-13.65,496,6394.15,0.00,0.00,0.00,0.000,0.000,0.000,3119.34,3155.50,3083.19,2992.50,2470.62,0,0,0,30.00,30.00,30.00
$GC,6692.71,0,-77.86,-0.94,0.00,3117.7,3154.3,3081.1,2994.8,2470.8,923.82,-13.57,506,6694.04,0.00,0.00,0.00,0.000,0.000,0.000,3118.31,3154.31,3082.31,2992.38,2471.06,0,0,0,30.00,30.00,30.00
$GC,6992.73,0,-77.86,-0.94,0.00,3116.5,3152.9,3080.2,2994.9,2471.4,961.74,-12.77,516,6994.06,0.00,0.00,0.00,0.000,0.000,0.000,3117.28,3154.06,3080.50,2992.56,2470.62,0,0,0,30.00,30.00,30.00
$STATE,7233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7233,begin apogee
$GC,7234.69,3,0.00,-0.20,0.00,3115.8,3152.3,3079.4,2994.7,2022.8,991.53,-12.36,524,7296.43,59.44,0.98,0.19,2.224,0.255,0.122,2837.88,2862.25,2813.50,3262.00,2162.25,0,0,0,10.98,15.35,15.39
$STATE,7298,end apogee,CONTROL_FINISHED_OK
$STATE,7298,begin climb
$GC,7298.48,3,77.86,0.94,0.00,2837.8,2862.6,2813.1,3261.6,2162.6,994.54,0.00,526,7372.79,71.48,1.16,0.00,2.229,0.148,0.000,2521.59,2531.81,2511.38,3631.38,2163.31,0,0,0,12.14,15.43,30.00
$GC,7652.77,518,77.86,0.94,-40.00,2514.0,2531.4,2496.6,3631.3,2163.8,967.04,9.31,538,7658.19,0.00,0.00,2.56,0.000,0.000,0.055,2513.94,2531.38,2496.50,3640.75,655.19,0,0,0,30.00,30.00,15.70
$GC,7837.74,1030,77.86,0.94,0.00,2513.4,2530.2,2496.6,3641.9,655.0,948.77,10.11,575,7843.16,0.00,0.00,2.39,0.000,0.000,0.028,2513.16,2531.00,2495.31,3641.25,2144.00,0,0,0,30.00,30.00,15.80
$GC,8162.95,518,77.86,0.94,-40.00,2510.5,2530.9,2490.2,3641.8,2144.9,913.92,10.64,590,8168.21,0.00,0.00,2.48,0.000,0.000,0.051,2510.69,2530.88,2490.50,3650.94,656.31,0,0,0,30.00,30.00,15.85
$GC,8302.78,1030,77.86,0.94,0.00,2510.4,2530.5,2490.3,3651.0,656.5,898.92,10.24,618,8308.27,0.00,0.00,2.43,0.000,0.000,0.044,2512.34,2532.56,2492.12,3651.62,2122.00,0,0,0,30.00,30.00,15.85
$GC,8613.05,262,77.86,0.94,40.00,2509.5,2530.8,2488.2,3651.2,2121.8,867.42,10.06,630,8618.30,0.00,0.00,2.47,0.000,0.000,0.106,2509.03,2529.56,2488.50,3651.88,3528.25,0,0,0,30.00,30.00,15.71
$GC,8697.83,1030,77.86,0.94,0.00,2508.7,2530.8,2486.6,3651.1,3528.6,858.43,10.62,647,8703.62,0.00,0.00,2.47,0.000,0.000,0.061,2509.41,2531.25,2487.56,3651.25,2074.19,0,0,0,30.00,30.00,15.79
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$GC,13383.70,67,77.86,1.41,0.00,2504.8,2529.9,2479.8,3658.9,2064.2,494.36,7.24,984,13385.05,0.00,0.00,0.00,0.000,0.000,0.000,2504.91,2528.50,2481.31,3657.38,2063.75,0,0,0,30.00,30.00,30.00
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$STATE,19687,end climb,SURFACE_DEPTH_REACHED
$STATE,19687,begin surface coast
$FINISH,-0.2,1.011395
$STATE,19717,end surface coast,CONTROL_FINISHED_OK
$STATE,19717,begin surface
$SM_CCo,19889.96,154.35,0.739,0,401.0,413.7,388.2,598.29
$SM_CCo,19891.09,0.00,2.606,0,399.5,416.3,382.8,598.65
$SM_GC,0.66,0.00,9.52,0.87,2.606,0.050,0.061,399.5,416.3,382.8,164.9,2575.1,0,0,0,30.36,15.82,15.88
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,1411.16,14414.55,261219,014717
$TCM_TEMP,163.77
$XPDR_PINGS,6
$SC_FREEKB,3721984
$TM_FREEKB,2406368
$HUMID,53.19
$TEMP,23.00
$INTERNAL_PRESSURE,9.43888
$24V_AH,14.41,124.107
$10V_AH,14.94,0.000
$FG_AHR_24Vo,78.964
$FG_AHR_10Vo,42.576
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,624.130,26.000,165.055,366.664,1.500,13.662,4496.155,15945.941,1759.529,0.000,0.000,0.000
$DEVICE_MAMPS,2606.368,407.784,122.096,203.273,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19720.000,3515.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.613,19.978,0.000,0.000
$MEM,1099016,31,79968,61
$DATA_FILE_SIZE,54524,1729
$CAP_FILE_SIZE,341724,0
$SDSIZE,3918848,3782400
$SDFILEDIR,2953,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075, 74.1,1
$GPS,261219,130601,1416.279,14410.741,22,0.7,23,0.3