version: 67.00
glider: 180
mission: 2
dive: 428
start: 1 7 120 8 58 49
data:
$ID,180
$MISSION,2
$DIVE,428
$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,47.635544
$FG_AHR_24V,89.291496
$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
$GPS1,070120,084538,1412.514,14409.441,31,0.8,31,0.3
$_CALLS,2
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-66.2
$GPS2,070120,085833,1412.576,14409.359,6,0.9,7,0.3
$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,162.6,4907,-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,10.04,2,-77.86,-0.94,0.00,398.5,425.3,371.8,167.6,2472.9,0.00,0.00,0,123.02,106.58,0.00,0.00,0.005,0.000,0.000,3002.62,3041.31,2963.94,167.69,2472.69,0,0,0,15.16,30.00,30.00
$GC,123.32,519,-77.86,-0.94,-40.00,3001.9,3038.6,2965.2,167.8,2472.6,4.94,-7.98,11,150.41,2.82,14.28,2.20,0.012,0.403,0.032,3156.88,3198.88,3114.88,3032.75,1084.50,0,0,0,15.40,15.27,15.32
$GC,352.74,1028,-77.86,-0.94,0.00,3155.5,3196.8,3114.1,3033.6,1083.8,77.56,-27.12,57,358.67,0.00,0.00,2.47,0.000,0.000,0.047,3156.31,3197.81,3114.81,3033.44,2575.94,0,0,0,30.00,30.00,15.82
$GC,542.56,260,-77.86,-0.94,40.00,3155.4,3196.8,3113.9,3034.2,2576.5,123.26,-22.05,77,548.61,0.00,0.00,1.99,0.000,0.000,0.072,3155.47,3196.94,3114.00,3032.81,3775.50,0,0,0,30.00,30.00,15.82
$GC,577.43,1028,-77.86,-0.94,0.00,3155.4,3196.6,3114.3,3032.6,3774.9,130.18,-20.22,84,583.76,0.00,0.00,2.02,0.000,0.000,0.022,3157.00,3198.62,3115.38,3031.69,2481.75,0,0,0,30.00,30.00,15.84
$GC,762.81,516,-77.86,-0.94,-40.00,3155.4,3196.9,3113.9,3032.7,2468.1,164.39,-16.59,103,768.68,0.00,0.00,2.17,0.000,0.000,0.030,3156.28,3197.56,3115.00,3032.56,1087.50,0,0,0,30.00,30.00,15.87
$GC,992.66,1028,-77.86,-0.94,0.00,3155.3,3196.7,3113.9,3032.4,1087.8,197.19,-13.13,149,998.79,0.00,0.00,2.42,0.000,0.000,0.037,3155.81,3196.69,3114.94,3032.50,2579.38,0,0,0,30.00,30.00,15.89
$GC,1182.83,0,-77.86,-0.94,0.00,3155.1,3196.4,3113.8,3032.2,2578.9,221.24,-13.34,169,1184.16,0.00,0.00,0.00,0.000,0.000,0.000,3156.34,3198.12,3114.56,3032.88,2578.81,0,0,0,30.00,30.00,30.00
$GC,1362.89,260,-77.86,-0.94,40.00,3155.3,3196.4,3114.2,3031.8,2579.5,244.36,-12.40,187,1367.30,0.00,0.00,1.97,0.000,0.000,0.070,3156.41,3197.88,3114.94,3029.06,3774.81,0,0,0,30.00,30.00,15.94
$GC,1472.74,1028,-77.86,-0.94,0.00,3154.8,3196.4,3113.2,3028.2,3775.0,259.01,-14.08,209,1478.06,0.00,0.00,1.99,0.000,0.000,0.022,3155.16,3196.88,3113.44,3028.00,2471.19,0,0,0,30.00,30.00,15.98
$GC,1782.94,516,-77.86,-0.94,-40.00,3152.3,3192.9,3111.8,3028.6,2457.4,301.56,-14.58,221,1788.12,0.00,0.00,2.15,0.000,0.000,0.032,3153.34,3193.88,3112.81,3029.12,1089.00,0,0,0,30.00,30.00,15.98
$GC,1947.76,1028,-77.86,-0.94,0.00,3151.0,3189.8,3112.2,3028.5,1088.4,324.04,-14.56,254,1953.25,0.00,0.00,2.41,0.000,0.000,0.039,3151.53,3190.56,3112.50,3027.81,2580.38,0,0,0,30.00,30.00,16.02
$GC,2262.91,516,-77.86,-0.94,-40.00,3148.5,3189.0,3108.0,3027.1,2581.0,367.46,-12.99,267,2268.25,0.00,0.00,2.37,0.000,0.000,0.033,3149.75,3190.38,3109.12,3027.19,1092.06,0,0,0,30.00,30.00,16.02
$GC,2462.94,1028,-77.86,-0.94,0.00,3146.6,3185.6,3107.6,3028.1,1092.5,393.65,-12.22,307,2468.36,0.00,0.00,2.40,0.000,0.000,0.039,3147.75,3186.38,3109.12,3027.00,2579.88,0,0,0,30.00,30.00,16.02
$GC,2773.02,260,-77.86,-0.94,40.00,3143.5,3183.8,3103.2,3028.0,2580.1,428.72,-11.30,319,2778.28,0.00,0.00,1.98,0.000,0.000,0.074,3144.03,3184.44,3103.62,3024.06,3771.31,0,0,0,30.00,30.00,15.92
$GC,3002.93,1028,-77.86,-0.94,0.00,3141.2,3181.4,3101.0,3023.3,3771.8,456.38,-11.31,365,3008.37,0.00,0.00,2.01,0.000,0.000,0.025,3141.97,3182.88,3101.06,3023.12,2481.38,0,0,0,30.00,30.00,16.00
$GC,3313.10,260,-77.86,-0.94,40.00,3138.2,3178.4,3098.1,3023.9,2469.0,493.67,-12.33,377,3318.42,0.00,0.00,2.20,0.000,0.000,0.074,3138.53,3178.56,3098.50,3022.94,3771.81,0,0,0,30.00,30.00,15.92
$GC,3367.97,1028,-77.86,-0.94,0.00,3137.6,3177.8,3097.4,3022.2,3772.1,500.69,-12.74,388,3373.51,0.00,0.00,2.01,0.000,0.000,0.026,3137.72,3177.94,3097.50,3022.00,2483.88,0,0,0,30.00,30.00,15.98
$GC,3673.14,0,-77.86,-0.94,0.00,3135.6,3175.4,3095.8,3021.8,2470.3,538.39,-12.33,399,3674.47,0.00,0.00,0.00,0.000,0.000,0.000,3136.00,3176.25,3095.75,3022.12,2469.88,0,0,0,30.00,30.00,30.00
$GC,3973.34,0,-77.86,-0.94,0.00,3132.5,3172.9,3092.1,3021.9,2469.9,572.38,-11.01,409,3974.68,0.00,0.00,0.00,0.000,0.000,0.000,3133.66,3174.00,3093.31,3021.62,2470.56,0,0,0,30.00,30.00,30.00
$GC,4273.38,260,-77.86,-0.94,40.00,3130.7,3171.1,3090.2,3021.8,2469.9,605.29,-10.91,419,4278.51,0.00,0.00,2.22,0.000,0.000,0.077,3132.19,3172.12,3092.25,3019.00,3770.19,0,0,0,30.00,30.00,15.89
$GC,4383.08,1028,-77.86,-0.94,0.00,3129.8,3169.8,3089.8,3018.9,3769.8,617.91,-11.50,441,4388.50,0.00,0.00,2.02,0.000,0.000,0.028,3130.28,3169.88,3090.69,3019.25,2488.50,0,0,0,30.00,30.00,15.99
$GC,4693.23,260,-77.86,-0.94,40.00,3128.7,3167.9,3089.4,3018.6,2476.3,653.05,-11.47,453,4698.55,0.00,0.00,2.22,0.000,0.000,0.078,3129.59,3168.69,3090.50,3018.75,3769.00,0,0,0,30.00,30.00,15.87
$GC,4758.10,1028,-77.86,-0.94,0.00,3127.8,3167.1,3088.5,3018.5,3769.9,660.59,-11.68,466,4763.53,0.00,0.00,2.02,0.000,0.000,0.028,3128.25,3166.62,3089.88,3019.00,2490.06,0,0,0,30.00,30.00,15.98
$GC,5083.46,260,-77.86,-0.94,40.00,3125.6,3164.8,3086.4,3018.7,2476.0,696.96,-11.42,481,5088.60,0.00,0.00,2.21,0.000,0.000,0.079,3126.88,3166.31,3087.44,3017.31,3768.50,0,0,0,30.00,30.00,15.85
$GC,5288.25,1028,-77.86,-0.94,0.00,3124.2,3163.1,3085.4,3018.4,3769.1,720.78,-11.00,522,5293.74,0.00,0.00,2.02,0.000,0.000,0.029,3124.16,3163.25,3085.06,3018.69,2485.94,0,0,0,30.00,30.00,15.97
$GC,5593.44,516,-77.86,-0.94,-40.00,3123.4,3162.7,3084.1,3017.9,2473.1,754.07,-11.02,533,5598.67,0.00,0.00,2.22,0.000,0.000,0.043,3123.41,3163.62,3083.19,3018.88,1097.62,0,0,0,30.00,30.00,15.96
$GC,5668.23,1028,-77.86,-0.94,0.00,3122.9,3161.6,3084.2,3018.8,1098.4,762.57,-10.45,548,5673.73,0.00,0.00,2.44,0.000,0.000,0.043,3123.75,3163.06,3084.44,3018.25,2579.12,0,0,0,30.00,30.00,15.94
$GC,5983.53,260,-77.86,-0.94,40.00,3120.8,3159.8,3081.9,3018.2,2578.3,802.58,-12.70,561,5988.67,0.00,0.00,2.03,0.000,0.000,0.081,3122.28,3161.31,3083.25,3018.75,3769.94,0,0,0,30.00,30.00,15.81
$GC,6098.29,1028,-77.86,-0.94,0.00,3120.2,3158.9,3081.4,3018.4,3770.8,817.05,-11.34,584,6103.87,0.00,0.00,2.03,0.000,0.000,0.030,3121.34,3160.50,3082.19,3017.75,2493.00,0,0,0,30.00,30.00,15.96
$GC,6403.60,260,-77.86,-0.94,40.00,3119.1,3157.9,3080.2,3018.2,2481.7,854.80,-11.96,595,6408.76,0.00,0.00,2.22,0.000,0.000,0.080,3119.00,3157.31,3080.69,3016.25,3768.81,0,0,0,30.00,30.00,15.79
$GC,6633.36,1028,-77.86,-0.94,0.00,3117.6,3155.9,3079.2,3016.9,3768.5,882.20,-13.33,641,6638.79,0.00,0.00,2.03,0.000,0.000,0.031,3118.84,3157.38,3080.31,3016.31,2494.81,0,0,0,30.00,30.00,15.94
$GC,6943.65,260,-77.86,-0.94,40.00,3116.5,3155.0,3078.0,3016.9,2483.1,914.13,-10.13,653,6948.84,0.00,0.00,2.22,0.000,0.000,0.081,3117.81,3156.44,3079.19,3012.88,3770.19,0,0,0,30.00,30.00,15.78
$GC,7063.69,1028,-77.86,-0.94,0.00,3115.8,3154.1,3077.4,3013.9,3769.7,927.23,-11.01,677,7068.84,0.00,0.00,2.04,0.000,0.000,0.031,3116.59,3154.69,3078.50,3013.94,2486.69,0,0,0,30.00,30.00,15.95
$GC,7393.63,260,-77.86,-0.94,40.00,3114.9,3153.2,3076.6,3014.0,2474.5,960.08,-9.86,693,7398.90,0.00,0.00,2.24,0.000,0.000,0.081,3116.06,3154.44,3077.69,3010.31,3767.44,0,0,0,30.00,30.00,15.74
$GC,7493.47,1028,-77.86,-0.94,0.00,3114.4,3152.0,3076.9,3010.6,3769.3,970.58,-10.60,713,7498.90,0.00,0.00,2.04,0.000,0.000,0.031,3115.00,3153.06,3076.94,3010.81,2489.31,0,0,0,30.00,30.00,15.95
$STATE,7693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7693,begin apogee
$GC,7695.50,3,0.00,-0.20,0.00,3114.0,3151.8,3076.2,3011.1,2019.6,991.10,-10.29,723,7758.16,60.23,0.95,0.19,2.218,0.248,0.114,2839.00,2862.88,2815.12,3271.88,2165.31,0,0,0,10.67,15.29,15.32
$STATE,7760,end apogee,CONTROL_FINISHED_OK
$STATE,7760,begin climb
$GC,7760.33,519,77.86,0.94,-40.00,2837.9,2863.1,2812.8,3272.5,2165.8,992.80,0.00,725,7838.08,72.16,1.12,2.65,2.222,0.139,0.055,2519.25,2529.81,2508.69,3644.12,656.62,0,0,0,12.00,15.39,15.05
$GC,7919.97,1028,77.86,0.94,0.00,2517.5,2529.5,2505.6,3643.6,656.5,982.46,8.64,757,7925.48,0.00,0.00,2.45,0.000,0.000,0.027,2517.91,2530.56,2505.25,3643.56,2135.75,0,0,0,30.00,30.00,15.50
$GC,8235.17,262,77.86,0.94,40.00,2513.4,2530.7,2496.1,3643.4,2135.1,954.77,8.82,770,8240.50,0.00,0.00,2.46,0.000,0.000,0.098,2514.28,2531.75,2496.81,3643.25,3531.25,0,0,0,30.00,30.00,15.64
$GC,8370.04,1030,77.86,0.94,0.00,2512.0,2530.6,2493.4,3643.4,3530.6,941.69,9.93,797,8375.54,0.00,0.00,2.47,0.000,0.000,0.057,2512.09,2530.62,2493.56,3648.38,2074.25,0,0,0,30.00,30.00,15.75
$GC,8685.25,2,77.86,0.94,0.00,2510.8,2530.6,2491.0,3648.4,2074.9,913.23,8.92,810,8686.59,0.00,0.00,0.00,0.000,0.000,0.000,2510.47,2529.69,2491.25,3648.12,2074.56,0,0,0,30.00,30.00,30.00
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$STATE,19539,end climb,SURFACE_DEPTH_REACHED
$STATE,19539,begin surface coast
$FINISH,-0.3,1.009682
$STATE,19569,end surface coast,CONTROL_FINISHED_OK
$STATE,19569,begin surface
$SM_CCo,19743.03,154.26,0.751,0,400.9,413.6,388.2,598.31
$SM_CCo,19744.16,0.00,2.593,0,399.3,416.3,382.4,598.69
$SM_GC,0.72,0.00,9.47,0.84,2.593,0.045,0.031,399.3,416.3,382.4,165.3,2601.4,0,0,0,30.36,15.83,15.90
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,1410.97,14409.64,070120,085010
$TCM_TEMP,163.42
$XPDR_PINGS,7
$SC_FREEKB,3702784
$TM_FREEKB,1811712
$HUMID,53.52
$TEMP,22.78
$INTERNAL_PRESSURE,9.43089
$24V_AH,14.34,140.066
$10V_AH,14.94,0.000
$FG_AHR_24Vo,89.482
$FG_AHR_10Vo,47.735
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,632.805,25.825,179.515,454.321,1.750,16.193,5023.235,15438.188,1996.200,0.000,0.000,0.000
$DEVICE_MAMPS,2592.920,402.864,128.656,199.036,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19596.000,3639.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.545,19.958,0.000,0.000
$MEM,1098872,31,80052,64
$DATA_FILE_SIZE,64036,1982
$CAP_FILE_SIZE,366514,0
$SDSIZE,3918848,3766496
$SDFILEDIR,3303,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,103.3,1
$GPS,070120,142849,1410.799,14410.627,21,0.7,40,0.3