version: 67.00
glider: 180
mission: 2
dive: 290
start: 12 5 119 18 32 6
data:
$ID,180
$MISSION,2
$DIVE,290
$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,3295
$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,33.670082
$FG_AHR_24V,60.730511
$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
$GPS1,051219,182027,1417.107,14408.844,30,1.2,31,0.3
$_CALLS,2
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-66.6
$GPS2,051219,183151,1417.120,14408.710,3,0.5,4,0.3
$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,152.9,13388,-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,9.54,2,-77.86,-0.94,0.00,400.1,429.1,371.1,173.8,2456.6,0.00,0.00,0,112.73,96.74,0.00,0.00,0.005,0.000,0.000,2773.66,2801.06,2746.25,174.00,2455.06,0,0,0,15.53,30.00,30.00
$GC,113.00,551,-77.86,-0.94,-40.00,2773.8,2802.0,2745.7,173.9,2455.2,3.99,-5.14,10,145.09,7.82,13.99,2.15,0.007,0.415,0.031,3156.44,3204.25,3108.62,2991.69,1080.62,0,0,0,15.64,15.52,15.56
$GC,322.20,1028,-77.86,-0.94,0.00,3155.4,3202.7,3108.2,2991.8,1079.4,79.31,-32.01,52,328.33,0.00,0.00,2.43,0.000,0.000,0.042,3156.50,3203.19,3109.81,2990.75,2577.81,0,0,0,30.00,30.00,15.90
$GC,512.40,260,-77.86,-0.94,40.00,3155.2,3202.1,3108.4,2991.2,2576.8,134.31,-24.24,72,518.19,0.00,0.00,1.99,0.000,0.000,0.074,3155.72,3202.75,3108.69,2991.25,3772.69,0,0,0,30.00,30.00,15.91
$GC,742.27,1028,-77.86,-0.94,0.00,3155.0,3201.8,3108.2,2991.4,3772.4,185.02,-18.43,118,748.23,0.00,0.00,1.98,0.000,0.000,0.022,3156.12,3202.12,3110.12,2990.44,2478.00,0,0,0,30.00,30.00,15.96
$GC,932.45,260,-77.86,-0.94,40.00,3155.0,3201.7,3108.3,2991.6,2466.1,218.54,-17.05,138,937.54,0.00,0.00,2.16,0.000,0.000,0.067,3156.12,3202.25,3110.00,2991.75,3773.94,0,0,0,30.00,30.00,15.99
$GC,1162.16,1028,-77.86,-0.94,0.00,3154.6,3200.9,3108.3,2991.8,3772.7,260.71,-18.32,184,1166.57,0.00,0.00,1.98,0.000,0.000,0.022,3154.16,3199.69,3108.62,2991.00,2479.44,0,0,0,30.00,30.00,16.03
$GC,1472.45,260,-77.86,-0.94,40.00,3152.4,3197.2,3107.6,2991.8,2465.9,311.64,-15.94,196,1477.63,0.00,0.00,2.16,0.000,0.000,0.068,3152.44,3196.56,3108.31,2991.56,3771.94,0,0,0,30.00,30.00,16.04
$GC,1677.29,1028,-77.86,-0.94,0.00,3151.4,3195.1,3107.8,2990.9,3771.9,339.69,-12.52,237,1681.80,0.00,0.00,1.98,0.000,0.000,0.023,3153.47,3197.56,3109.38,2990.81,2480.25,0,0,0,30.00,30.00,16.07
$GC,1982.53,0,-77.86,-0.94,0.00,3148.8,3190.4,3107.2,2991.2,2467.4,383.11,-15.70,248,1983.86,0.00,0.00,0.00,0.000,0.000,0.000,3149.97,3192.31,3107.62,2990.88,2467.50,0,0,0,30.00,30.00,30.00
$GC,2282.67,516,-77.86,-0.94,-40.00,3146.3,3188.7,3104.0,2990.7,2467.2,427.43,-15.31,258,2287.71,0.00,0.00,2.15,0.000,0.000,0.035,3146.81,3188.88,3104.75,2991.31,1087.81,0,0,0,30.00,30.00,16.09
$GC,2512.33,1028,-77.86,-0.94,0.00,3143.6,3184.1,3103.1,2990.4,1088.3,460.18,-13.37,304,2517.82,0.00,0.00,2.39,0.000,0.000,0.040,3144.16,3183.62,3104.69,2990.19,2580.56,0,0,0,30.00,30.00,16.09
$GC,2822.61,260,-77.86,-0.94,40.00,3140.2,3182.2,3098.3,2991.3,2581.1,496.27,-10.95,316,2827.01,0.00,0.00,1.97,0.000,0.000,0.075,3140.47,3183.06,3097.88,2988.12,3770.81,0,0,0,30.00,30.00,16.06
$GC,3052.44,1028,-77.86,-0.94,0.00,3137.6,3178.8,3096.4,2989.7,3772.2,521.93,-12.00,362,3057.86,0.00,0.00,2.00,0.000,0.000,0.027,3140.22,3180.94,3099.50,2988.88,2483.50,0,0,0,30.00,30.00,16.08
$GC,3362.82,260,-77.86,-0.94,40.00,3134.7,3175.7,3093.8,2989.1,2469.5,560.18,-12.79,374,3367.93,0.00,0.00,2.18,0.000,0.000,0.077,3134.47,3176.50,3092.44,2987.62,3769.00,0,0,0,30.00,30.00,16.06
$GC,3437.51,1028,-77.86,-0.94,0.00,3133.2,3174.5,3091.8,2988.4,3769.4,570.40,-13.80,389,3442.92,0.00,0.00,2.00,0.000,0.000,0.028,3133.34,3174.06,3092.62,2988.69,2483.31,0,0,0,30.00,30.00,16.07
$GC,3752.83,516,-77.86,-0.94,-40.00,3131.0,3171.9,3090.1,2988.6,2471.1,614.15,-13.81,402,3757.99,0.00,0.00,2.19,0.000,0.000,0.039,3131.09,3171.62,3090.56,2988.81,1092.31,0,0,0,30.00,30.00,16.08
$GC,3927.64,1028,-77.86,-0.94,0.00,3129.5,3169.2,3089.8,2988.6,1092.6,638.11,-13.86,437,3933.27,0.00,0.00,2.41,0.000,0.000,0.042,3130.03,3169.06,3091.00,2988.69,2578.00,0,0,0,30.00,30.00,16.09
$GC,4232.79,516,-77.86,-0.94,-40.00,3127.4,3167.1,3087.7,2987.9,2580.0,677.28,-12.60,448,4238.14,0.00,0.00,2.39,0.000,0.000,0.039,3128.28,3167.31,3089.25,2987.19,1094.31,0,0,0,30.00,30.00,16.07
$GC,4317.69,1028,-77.86,-0.94,0.00,3126.6,3164.9,3088.2,2988.4,1094.0,688.32,-12.68,465,4323.31,0.00,0.00,2.41,0.000,0.000,0.042,3126.69,3165.62,3087.75,2987.94,2579.00,0,0,0,30.00,30.00,16.08
$GC,4623.01,260,-77.86,-0.94,40.00,3124.7,3163.2,3086.2,2987.8,2579.2,721.39,-10.55,476,4628.12,0.00,0.00,2.00,0.000,0.000,0.080,3125.69,3163.94,3087.44,2988.50,3770.69,0,0,0,30.00,30.00,16.04
$GC,4692.74,1028,-77.86,-0.94,0.00,3124.3,3162.9,3085.7,2987.4,3771.2,729.07,-11.04,490,4698.16,0.00,0.00,2.02,0.000,0.000,0.030,3125.59,3164.25,3086.94,2986.06,2483.56,0,0,0,30.00,30.00,16.05
$GC,5013.20,260,-77.86,-0.94,40.00,3122.5,3160.5,3084.4,2987.2,2472.9,762.98,-10.57,504,5018.20,0.00,0.00,2.20,0.000,0.000,0.080,3123.66,3161.75,3085.56,2985.94,3771.38,0,0,0,30.00,30.00,16.03
$GC,5147.82,1028,-77.86,-0.94,0.00,3121.4,3159.2,3083.6,2985.2,3771.1,778.44,-12.34,531,5153.22,0.00,0.00,2.01,0.000,0.000,0.031,3123.28,3160.88,3085.69,2985.06,2485.00,0,0,0,30.00,30.00,16.04
$GC,5462.94,260,-77.86,-0.94,40.00,3119.3,3157.2,3081.4,2985.8,2472.7,815.68,-11.98,544,5468.28,0.00,0.00,2.20,0.000,0.000,0.081,3120.25,3159.25,3081.25,2983.50,3769.69,0,0,0,30.00,30.00,16.01
$GC,5522.96,1028,-77.86,-0.94,0.00,3118.7,3156.4,3081.0,2983.0,3769.1,822.79,-11.87,556,5528.26,0.00,0.00,2.01,0.000,0.000,0.031,3118.62,3157.50,3079.75,2984.06,2484.62,0,0,0,30.00,30.00,16.02
$GC,5853.11,260,-77.86,-0.94,40.00,3117.4,3155.4,3079.5,2983.6,2472.8,861.56,-11.66,572,5858.32,0.00,0.00,2.20,0.000,0.000,0.081,3118.75,3156.06,3081.44,2978.31,3768.50,0,0,0,30.00,30.00,16.00
$GC,6012.92,1028,-77.86,-0.94,0.00,3116.9,3154.2,3079.6,2977.4,3769.2,882.59,-13.80,604,6018.33,0.00,0.00,2.01,0.000,0.000,0.032,3117.12,3155.00,3079.25,2977.19,2484.19,0,0,0,30.00,30.00,16.03
$GC,6333.23,0,-77.86,-0.94,0.00,3115.5,3152.2,3078.7,2977.6,2470.9,923.57,-12.75,618,6334.56,0.00,0.00,0.00,0.000,0.000,0.000,3115.91,3152.88,3078.94,2975.69,2470.50,0,0,0,30.00,30.00,30.00
$GC,6633.22,0,-77.86,-0.94,0.00,3113.9,3151.1,3076.8,2977.8,2470.9,960.04,-12.09,628,6634.55,0.00,0.00,0.00,0.000,0.000,0.000,3114.47,3150.38,3078.56,2976.81,2470.00,0,0,0,30.00,30.00,30.00
$STATE,6903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6903,begin apogee
$GC,6905.02,3,0.00,-0.20,0.00,3112.9,3149.7,3076.1,2977.9,2027.0,990.96,-11.59,637,6964.76,57.84,0.92,0.18,2.224,0.266,0.125,2838.66,2862.56,2814.75,3231.62,2144.69,0,0,0,11.51,15.64,15.46
$STATE,6966,end apogee,CONTROL_FINISHED_OK
$STATE,6966,begin climb
$GC,6966.54,519,77.86,0.94,-40.00,2837.9,2862.8,2813.0,3232.4,2168.4,993.93,0.00,639,7042.61,70.16,1.19,2.63,2.178,0.172,0.054,2520.34,2531.12,2509.56,3610.69,657.94,0,0,0,12.25,15.50,15.17
$GC,7130.15,1028,77.86,0.94,0.00,2517.2,2529.4,2505.1,3610.0,658.2,982.42,8.37,672,7135.66,0.00,0.00,2.43,0.000,0.000,0.026,2517.97,2529.69,2506.25,3609.50,2145.75,0,0,0,30.00,30.00,15.57
$GC,7445.57,262,77.86,0.94,40.00,2512.8,2530.4,2495.1,3610.3,2147.2,955.49,8.70,685,7450.67,0.00,0.00,2.32,0.000,0.000,0.062,2513.41,2530.25,2496.56,3610.25,3539.94,0,0,0,30.00,30.00,15.84
$GC,7520.21,1030,77.86,0.94,0.00,2511.7,2530.7,2492.7,3609.8,3539.9,948.21,9.70,700,7525.69,0.00,0.00,2.38,0.000,0.000,0.026,2512.41,2531.25,2493.56,3620.19,2037.06,0,0,0,30.00,30.00,15.88
$GC,7835.52,518,77.86,0.94,-40.00,2510.2,2531.0,2489.4,3620.4,2037.2,921.90,8.45,713,7840.69,0.00,0.00,2.27,0.000,0.000,0.057,2511.47,2532.56,2490.38,3632.19,656.50,0,0,0,30.00,30.00,15.91
$GC,7990.28,1031,77.86,0.94,0.00,2509.8,2530.1,2489.6,3630.6,656.6,908.25,8.83,744,7995.88,0.00,0.14,2.38,0.000,0.269,0.028,2511.53,2532.19,2490.88,3591.75,2159.56,0,0,0,30.00,15.73,15.98
$GC,8315.57,66,77.86,0.96,0.00,2508.8,2530.6,2487.1,3591.5,2159.2,881.94,7.85,759,8316.91,0.00,0.00,0.00,0.000,0.000,0.000,2509.62,2531.12,2488.12,3590.44,2158.62,0,0,0,30.00,30.00,30.00
$GC,8615.67,326,77.86,0.98,40.00,2508.1,2530.9,2485.3,3591.3,2159.4,857.76,7.77,769,8620.78,0.00,0.00,2.29,0.000,0.000,0.065,2510.25,2532.69,2487.81,3590.44,3540.25,0,0,0,30.00,30.00,15.97
$GC,8825.71,1030,77.86,0.98,0.00,2506.8,2530.6,2483.1,3591.9,3540.8,838.98,8.98,811,8830.86,0.00,0.00,2.38,0.000,0.000,0.028,2507.94,2531.88,2484.00,3597.94,2037.44,0,0,0,30.00,30.00,15.98
$GC,9155.64,2,77.86,0.98,0.00,2506.3,2530.6,2482.1,3599.5,2035.5,812.13,8.03,827,9156.97,0.00,0.00,0.00,0.000,0.000,0.000,2507.12,2531.75,2482.50,3600.31,2035.69,0,0,0,30.00,30.00,30.00
$GC,9455.57,66,77.86,1.01,0.00,2506.1,2530.5,2481.8,3599.8,2035.8,789.51,7.61,837,9456.91,0.00,0.00,0.00,0.000,0.000,0.000,2507.00,2530.56,2483.44,3599.62,2035.75,0,0,0,30.00,30.00,30.00
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$GC,16386.74,1029,158.65,1.40,0.00,2188.4,2193.1,2183.8,3650.3,653.7,223.23,9.56,1474,16392.33,0.00,0.00,2.38,0.000,0.000,0.025,2188.06,2192.00,2184.12,3650.19,2149.12,0,0,0,30.00,30.00,15.87
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$STATE,19529,end climb,SURFACE_DEPTH_REACHED
$STATE,19529,begin surface coast
$FINISH,-0.1,1.021566
$STATE,19559,end surface coast,CONTROL_FINISHED_OK
$STATE,19559,begin surface
$SM_CCo,19699.64,120.95,0.778,0,400.2,418.2,382.1,598.49
$SM_CCo,19700.76,0.00,2.631,0,400.0,417.1,383.0,598.52
$SM_CCo,19701.88,0.00,0.013,0,400.0,416.7,383.4,598.52
$SM_GC,0.79,0.00,9.66,0.85,0.013,0.068,0.035,400.0,416.7,383.4,168.2,2610.9,0,0,0,30.36,15.86,15.93
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1415.61,14408.34,051219,125014
$TCM_TEMP,164.69
$XPDR_PINGS,11
$SC_FREEKB,3755776
$TM_FREEKB,3458208
$HUMID,52.90
$TEMP,23.47
$INTERNAL_PRESSURE,9.45326
$24V_AH,14.55,96.679
$10V_AH,14.96,0.000
$FG_AHR_24Vo,60.910
$FG_AHR_10Vo,33.769
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,616.035,25.905,176.490,417.754,2.750,12.131,4779.666,15554.743,1919.757,0.000,0.000,0.000
$DEVICE_MAMPS,2630.640,415.000,125.048,207.778,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19580.000,3740.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.298,20.003,0.000,0.000
$MEM,1099284,26,79860,58
$DATA_FILE_SIZE,60879,1905
$CAP_FILE_SIZE,359598,0
$SDSIZE,3918848,3809824
$SDFILEDIR,2337,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,244.6,1
$GPS,061219,000110,1415.157,14408.081,25,1.1,27,0.3