version: 67.00
glider: 180
mission: 2
dive: 421
start: 1 5 120 15 5 33
data:
$ID,180
$MISSION,2
$DIVE,421
$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,3336
$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,46.890774
$FG_AHR_24V,87.789719
$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
$GPS1,050120,145331,1418.564,14410.633,28,0.7,29,0.2
$_CALLS,2
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-69.1
$GPS2,050120,150518,1418.593,14410.670,4,0.6,6,0.2
$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,320.4,4618,-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,10.00,2,-77.86,-0.94,0.00,397.6,425.7,369.5,165.5,2453.9,0.00,0.00,0,123.23,106.50,0.00,0.00,0.005,0.000,0.000,3027.53,3064.00,2991.06,165.56,2455.56,0,0,0,15.18,30.00,30.00
$GC,123.53,263,-77.86,-0.94,40.00,3025.8,3061.6,2990.0,165.6,2455.8,5.45,-8.90,11,147.90,2.34,14.28,2.22,0.014,0.403,0.068,3157.38,3198.44,3116.31,3025.81,3775.81,0,0,0,15.41,15.28,15.34
$GC,370.09,1028,-77.86,-0.94,0.00,3155.8,3196.7,3114.9,3024.7,3775.1,88.05,-32.05,60,376.04,0.00,0.00,2.01,0.000,0.000,0.021,3156.69,3197.19,3116.19,3025.06,2473.75,0,0,0,30.00,30.00,15.81
$GC,560.16,516,-77.86,-0.94,-40.00,3155.9,3196.8,3114.9,3024.8,2460.2,132.01,-22.63,80,566.22,0.00,0.00,2.16,0.000,0.000,0.029,3155.59,3196.50,3114.69,3024.75,1087.69,0,0,0,30.00,30.00,15.79
$GC,610.07,1028,-77.86,-0.94,0.00,3156.1,3196.8,3115.4,3024.7,1087.0,142.88,-19.76,90,616.15,0.00,0.00,2.43,0.000,0.000,0.040,3156.31,3197.25,3115.38,3024.62,2577.19,0,0,0,30.00,30.00,15.86
$GC,800.13,260,-77.86,-0.94,40.00,3155.9,3196.9,3115.0,3024.2,2578.1,176.61,-16.56,110,806.43,0.00,0.00,1.99,0.000,0.000,0.071,3156.00,3196.50,3115.50,3023.94,3772.81,0,0,0,30.00,30.00,15.83
$GC,834.90,1028,-77.86,-0.94,0.00,3155.5,3196.2,3114.7,3024.4,3772.2,182.42,-16.60,117,841.40,0.00,0.00,2.00,0.000,0.000,0.022,3157.75,3197.19,3118.31,3024.12,2481.44,0,0,0,30.00,30.00,15.87
$GC,1020.24,0,-77.86,-0.94,0.00,3155.8,3196.2,3115.4,3023.9,2466.4,215.49,-17.44,136,1021.57,0.00,0.00,0.00,0.000,0.000,0.000,3154.91,3195.38,3114.44,3023.81,2467.44,0,0,0,30.00,30.00,30.00
$GC,1200.25,0,-77.86,-0.94,0.00,3155.5,3196.4,3114.6,3024.5,2466.2,243.43,-16.50,154,1201.58,0.00,0.00,0.00,0.000,0.000,0.000,3156.28,3197.25,3115.31,3025.06,2466.25,0,0,0,30.00,30.00,30.00
$GC,1400.18,516,-77.86,-0.94,-40.00,3155.5,3196.3,3114.8,3023.9,2466.5,270.80,-13.85,164,1405.41,0.00,0.00,2.15,0.000,0.000,0.031,3155.28,3196.94,3113.62,3024.12,1086.69,0,0,0,30.00,30.00,15.98
$GC,1460.12,1028,-77.86,-0.94,0.00,3154.8,3195.3,3114.2,3024.2,1086.8,278.10,-11.76,176,1465.48,0.00,0.00,2.40,0.000,0.000,0.038,3154.69,3194.75,3114.62,3023.75,2580.00,0,0,0,30.00,30.00,15.98
$GC,1790.30,516,-77.86,-0.94,-40.00,3152.6,3193.0,3112.2,3023.4,2580.8,317.13,-12.85,192,1795.49,0.00,0.00,2.37,0.000,0.000,0.033,3152.62,3192.75,3112.50,3023.62,1091.62,0,0,0,30.00,30.00,16.00
$GC,1825.01,1028,-77.86,-0.94,0.00,3152.2,3192.3,3112.1,3023.9,1091.2,322.01,-14.06,199,1830.53,0.00,0.00,2.40,0.000,0.000,0.039,3151.75,3192.81,3110.69,3024.00,2580.81,0,0,0,30.00,30.00,16.00
$GC,2150.33,516,-77.86,-0.94,-40.00,3149.5,3189.5,3109.5,3023.4,2580.4,367.35,-13.64,214,2155.52,0.00,0.00,2.38,0.000,0.000,0.034,3149.72,3190.31,3109.12,3024.19,1092.94,0,0,0,30.00,30.00,16.00
$GC,2310.10,1028,-77.86,-0.94,0.00,3147.7,3186.3,3109.1,3022.9,1092.6,390.68,-13.85,246,2315.58,0.00,0.00,2.41,0.000,0.000,0.040,3148.22,3187.12,3109.31,3024.00,2581.56,0,0,0,30.00,30.00,15.99
$GC,2630.27,0,-77.86,-0.94,0.00,3144.4,3184.2,3104.7,3023.2,2581.6,428.85,-12.02,260,2631.61,0.00,0.00,0.00,0.000,0.000,0.000,3145.19,3184.81,3105.56,3023.19,2581.31,0,0,0,30.00,30.00,30.00
$GC,2930.41,260,-77.86,-0.94,40.00,3141.8,3182.2,3101.5,3023.4,2581.4,468.16,-13.58,270,2935.53,0.00,0.00,2.00,0.000,0.000,0.077,3141.81,3181.56,3102.06,3024.25,3773.94,0,0,0,30.00,30.00,15.92
$GC,3010.14,1028,-77.86,-0.94,0.00,3141.1,3181.0,3101.2,3023.4,3772.6,480.03,-15.01,286,3015.57,0.00,0.00,2.02,0.000,0.000,0.026,3142.94,3182.94,3102.94,3022.69,2482.88,0,0,0,30.00,30.00,15.99
$GC,3320.51,516,-77.86,-0.94,-40.00,3137.6,3177.2,3097.9,3023.8,2468.8,522.63,-13.65,298,3325.61,0.00,0.00,2.19,0.000,0.000,0.038,3139.03,3179.25,3098.81,3022.88,1093.44,0,0,0,30.00,30.00,16.02
$GC,3405.18,1028,-77.86,-0.94,0.00,3137.6,3176.6,3098.6,3022.8,1093.5,534.26,-13.74,315,3410.89,0.00,0.00,2.42,0.000,0.000,0.041,3139.22,3178.12,3100.31,3022.75,2581.25,0,0,0,30.00,30.00,15.97
$GC,3710.47,0,-77.86,-0.94,0.00,3134.7,3174.0,3095.4,3023.4,2581.3,572.82,-12.03,326,3711.80,0.00,0.00,0.00,0.000,0.000,0.000,3135.50,3174.94,3096.06,3023.44,2581.62,0,0,0,30.00,30.00,30.00
$GC,4010.64,0,-77.86,-0.94,0.00,3131.8,3172.4,3091.2,3023.3,2580.9,605.19,-10.17,336,4011.97,0.00,0.00,0.00,0.000,0.000,0.000,3132.84,3173.81,3091.88,3023.25,2581.19,0,0,0,30.00,30.00,30.00
$GC,4310.39,0,-77.86,-0.94,0.00,3130.2,3170.5,3090.0,3023.3,2581.2,631.46,-8.71,346,4311.72,0.00,0.00,0.00,0.000,0.000,0.000,3130.91,3171.44,3090.38,3022.81,2581.12,0,0,0,30.00,30.00,30.00
$GC,4610.45,0,-77.86,-0.94,0.00,3128.8,3168.1,3089.6,3023.9,2581.1,660.50,-10.28,356,4611.79,0.00,0.00,0.00,0.000,0.000,0.000,3129.69,3168.81,3090.56,3023.31,2581.00,0,0,0,30.00,30.00,30.00
$GC,4910.39,516,-77.86,-0.94,-40.00,3126.7,3165.6,3087.7,3023.4,2581.4,694.74,-11.70,366,4915.78,0.00,0.00,2.42,0.000,0.000,0.040,3127.09,3165.94,3088.25,3023.25,1096.69,0,0,0,30.00,30.00,15.97
$GC,4980.30,1028,-77.86,-0.94,0.00,3126.4,3165.4,3087.4,3023.1,1097.0,703.44,-12.35,380,4985.80,0.00,0.00,2.43,0.000,0.000,0.045,3127.25,3165.44,3089.06,3022.81,2576.00,0,0,0,30.00,30.00,15.94
$GC,5300.57,516,-77.86,-0.94,-40.00,3124.5,3163.4,3085.6,3023.3,2576.6,740.56,-11.33,394,5305.82,0.00,0.00,2.40,0.000,0.000,0.038,3125.88,3164.56,3087.19,3024.25,1096.81,0,0,0,30.00,30.00,15.97
$GC,5425.39,1028,-77.86,-0.94,0.00,3124.2,3163.1,3085.3,3023.6,1096.8,754.69,-11.23,419,5430.88,0.00,0.00,2.43,0.000,0.000,0.043,3124.25,3162.62,3085.88,3023.88,2578.25,0,0,0,30.00,30.00,15.91
$GC,5750.58,0,-77.86,-0.94,0.00,3122.2,3161.1,3083.2,3023.4,2578.0,788.80,-10.13,434,5751.91,0.00,0.00,0.00,0.000,0.000,0.000,3122.81,3161.56,3084.06,3021.81,2578.00,0,0,0,30.00,30.00,30.00
$GC,6050.60,260,-77.86,-0.94,40.00,3121.1,3160.0,3082.2,3023.4,2578.6,819.92,-10.38,444,6055.86,0.00,0.00,2.04,0.000,0.000,0.080,3122.97,3161.75,3084.19,3018.31,3769.75,0,0,0,30.00,30.00,15.79
$GC,6200.71,1028,-77.86,-0.94,0.00,3119.9,3158.1,3081.7,3017.9,3769.6,836.65,-11.19,474,6205.93,0.00,0.00,2.03,0.000,0.000,0.031,3119.94,3157.38,3082.50,3017.25,2490.69,0,0,0,30.00,30.00,15.94
$GC,6530.87,516,-77.86,-0.94,-40.00,3118.8,3157.2,3080.4,3017.6,2478.8,873.72,-11.33,490,6536.00,0.00,0.00,2.24,0.000,0.000,0.042,3118.94,3156.81,3081.06,3017.94,1096.31,0,0,0,30.00,30.00,15.91
$GC,6605.59,1028,-77.86,-0.94,0.00,3118.0,3155.9,3080.1,3017.8,1096.6,882.42,-11.70,505,6611.07,0.00,0.00,2.44,0.000,0.000,0.044,3118.78,3156.06,3081.50,3017.12,2578.31,0,0,0,30.00,30.00,15.87
$GC,6920.99,260,-77.86,-0.94,40.00,3116.9,3155.2,3078.5,3017.4,2577.8,917.74,-10.98,518,6926.02,0.00,0.00,2.03,0.000,0.000,0.080,3118.25,3156.25,3080.25,3010.75,3768.31,0,0,0,30.00,30.00,15.78
$GC,7020.64,1028,-77.86,-0.94,0.00,3116.2,3154.4,3078.1,3012.6,3768.7,929.33,-11.78,538,7026.07,0.00,0.00,2.05,0.000,0.000,0.032,3116.22,3154.31,3078.12,3012.25,2490.38,0,0,0,30.00,30.00,15.93
$GC,7340.90,0,-77.86,-0.94,0.00,3115.4,3153.8,3076.9,3012.2,2477.4,965.89,-11.15,552,7342.23,0.00,0.00,0.00,0.000,0.000,0.000,3116.34,3155.12,3077.56,3012.00,2477.31,0,0,0,30.00,30.00,30.00
$STATE,7581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7581,begin apogee
$GC,7582.64,3,0.00,-0.20,0.00,3114.7,3152.4,3076.9,3011.8,2014.6,991.44,-10.51,560,7645.49,60.16,0.95,0.20,2.212,0.250,0.113,2837.91,2862.38,2813.44,3272.38,2165.19,0,0,0,10.62,15.32,15.34
$STATE,7647,end apogee,CONTROL_FINISHED_OK
$STATE,7647,begin climb
$GC,7647.63,519,77.86,0.94,-40.00,2837.7,2862.6,2812.9,3272.5,2165.4,993.22,0.00,562,7725.43,71.93,1.12,2.65,2.218,0.139,0.055,2521.62,2531.00,2512.25,3643.69,655.44,0,0,0,12.03,15.41,15.06
$GC,7802.32,1028,77.86,0.94,0.00,2517.6,2528.9,2506.2,3642.6,655.4,983.27,8.89,593,7807.83,0.00,0.00,2.45,0.000,0.000,0.026,2519.16,2531.38,2506.94,3644.25,2141.12,0,0,0,30.00,30.00,15.49
$GC,8122.62,2,77.86,0.94,0.00,2513.3,2530.3,2496.2,3642.6,2140.8,953.30,9.58,607,8123.96,0.00,0.00,0.00,0.000,0.000,0.000,2513.44,2529.94,2496.94,3642.19,2140.06,0,0,0,30.00,30.00,30.00
$GC,8422.51,2,77.86,0.94,0.00,2512.0,2530.2,2493.7,3643.6,2140.9,925.02,9.39,617,8423.84,0.00,0.00,0.00,0.000,0.000,0.000,2513.16,2531.00,2495.31,3643.75,2140.88,0,0,0,30.00,30.00,30.00
$GC,8722.57,262,77.86,0.94,40.00,2510.8,2530.5,2491.1,3643.2,2140.5,897.37,9.07,627,8727.91,0.00,0.00,2.41,0.000,0.000,0.090,2510.22,2530.44,2490.00,3643.31,3528.25,0,0,0,30.00,30.00,15.71
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$GC,13733.61,1029,113.04,1.27,0.00,2372.2,2393.9,2350.4,3665.0,656.8,478.54,10.55,1079,13739.09,0.00,0.00,2.46,0.000,0.000,0.044,2371.91,2392.25,2351.56,3666.25,2120.69,0,0,0,30.00,30.00,15.67
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$STATE,20010,end climb,SURFACE_DEPTH_REACHED
$STATE,20010,begin surface coast
$FINISH,-0.2,1.022277
$STATE,20040,end surface coast,CONTROL_FINISHED_OK
$STATE,20040,begin surface
$SM_CCo,20254.84,194.35,0.752,0,399.2,414.9,383.6,598.72
$SM_GC,0.71,194.35,9.77,0.88,0.752,0.069,0.049,399.2,414.9,383.6,170.6,2596.6,0,0,0,11.62,15.77,15.85
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1417.90,14413.25,050120,145754
$TCM_TEMP,163.21
$XPDR_PINGS,8
$SC_FREEKB,3705472
$TM_FREEKB,1897536
$HUMID,53.31
$TEMP,22.80
$INTERNAL_PRESSURE,9.42665
$24V_AH,14.40,137.786
$10V_AH,14.91,0.000
$FG_AHR_24Vo,87.976
$FG_AHR_10Vo,46.993
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,622.855,26.125,172.830,397.218,2.000,15.189,4649.397,16256.385,1821.520,0.000,0.000,0.000
$DEVICE_MAMPS,2218.016,402.536,128.000,209.498,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20066.000,3675.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.594,19.952,0.000,0.000
$MEM,1099072,29,79952,61
$DATA_FILE_SIZE,57793,1791
$CAP_FILE_SIZE,352969,0
$SDSIZE,3918848,3768768
$SDFILEDIR,3254,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,327.2,1
$GPS,050120,204355,1420.235,14409.316,14,0.7,30,0.2