version: 67.00
glider: 180
mission: 2
dive: 297
start: 12 7 119 9 36 51
data:
$ID,180
$MISSION,2
$DIVE,297
$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,34.360722
$FG_AHR_24V,62.165596
$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
$GPS1,071219,092658,1414.581,14408.708,30,1.2,31,0.3
$_CALLS,1
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-71.1
$GPS2,071219,093634,1414.591,14408.567,2,0.6,4,0.3
$SPEED_LIMITS,0.085,0.155
$TGT_NAME,N1
$TGT_LATLONG,1443.000,14410.000
$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,31.4,52676,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,9.54,2,-77.86,-0.94,0.00,399.8,426.4,373.2,169.4,2441.2,0.00,0.00,0,112.77,96.75,0.00,0.00,0.005,0.000,0.000,2750.38,2779.81,2720.94,169.38,2440.25,0,0,0,15.49,30.00,30.00
$GC,113.04,295,-77.86,-0.94,40.00,2749.6,2778.1,2721.1,169.4,2440.8,3.54,-3.15,10,145.12,8.49,13.95,2.23,0.007,0.411,0.072,3156.97,3206.88,3107.06,2991.25,3772.88,0,0,0,15.61,15.49,15.50
$GC,186.98,1028,-77.86,-0.94,0.00,3156.2,3205.8,3106.7,2991.5,3773.1,31.91,-39.60,25,193.37,0.00,0.00,2.02,0.000,0.000,0.023,3156.25,3205.00,3107.50,2992.06,2488.19,0,0,0,30.00,30.00,15.82
$GC,372.20,516,-77.86,-0.94,-40.00,3155.3,3203.6,3107.1,2991.9,2474.6,98.47,-29.84,44,378.23,0.00,0.00,2.18,0.000,0.000,0.032,3156.25,3204.88,3107.62,2991.75,1089.38,0,0,0,30.00,30.00,15.88
$GC,432.21,1028,-77.86,-0.94,0.00,3155.0,3203.0,3106.9,2991.8,1088.5,114.43,-26.18,56,438.31,0.00,0.00,2.42,0.000,0.000,0.042,3155.75,3203.81,3107.69,2991.31,2576.56,0,0,0,30.00,30.00,15.91
$GC,622.30,0,-77.86,-0.94,0.00,3155.2,3203.1,3107.2,2991.3,2577.4,159.37,-20.64,76,625.18,0.00,0.00,0.00,0.000,0.000,0.000,3155.88,3203.62,3108.12,2991.88,2578.44,0,0,0,30.00,30.00,30.00
$GC,802.28,260,-77.86,-0.94,40.00,3155.2,3202.9,3107.4,2991.5,2577.2,189.82,-15.74,94,808.25,0.00,0.00,1.97,0.000,0.000,0.068,3156.03,3204.00,3108.06,2990.25,3775.94,0,0,0,30.00,30.00,15.93
$GC,987.14,1028,-77.86,-0.94,0.00,3155.1,3202.9,3107.3,2991.8,3776.4,221.34,-18.18,131,992.67,0.00,0.00,1.99,0.000,0.000,0.023,3155.94,3204.44,3107.44,2991.00,2474.25,0,0,0,30.00,30.00,16.00
$GC,1172.37,516,-77.86,-0.94,-40.00,3154.8,3202.4,3107.1,2991.4,2461.7,249.01,-14.72,150,1177.60,0.00,0.00,2.13,0.000,0.000,0.032,3154.72,3201.62,3107.81,2991.38,1088.62,0,0,0,30.00,30.00,16.03
$GC,1217.16,1028,-77.86,-0.94,0.00,3154.2,3201.4,3107.1,2992.0,1088.1,255.04,-13.23,159,1222.66,0.00,0.00,2.39,0.000,0.000,0.037,3155.16,3202.19,3108.12,2992.00,2580.12,0,0,0,30.00,30.00,16.04
$GC,1532.47,260,-77.86,-0.94,40.00,3152.5,3198.1,3106.9,2990.4,2581.4,295.61,-12.99,172,1536.87,0.00,0.00,1.96,0.000,0.000,0.071,3153.84,3199.31,3108.38,2990.75,3775.94,0,0,0,30.00,30.00,16.02
$GC,1762.32,1028,-77.86,-0.94,0.00,3151.2,3195.6,3106.8,2990.7,3774.6,332.22,-17.56,218,1767.67,0.00,0.00,1.99,0.000,0.000,0.024,3151.78,3195.56,3108.00,2990.69,2482.31,0,0,0,30.00,30.00,16.06
$GC,2072.55,260,-77.86,-0.94,40.00,3149.1,3191.9,3106.2,2991.1,2468.7,382.25,-15.11,230,2077.73,0.00,0.00,2.16,0.000,0.000,0.070,3148.81,3191.12,3106.50,2991.00,3772.88,0,0,0,30.00,30.00,16.05
$GC,2127.30,1028,-77.86,-0.94,0.00,3148.8,3192.0,3105.6,2991.0,3771.5,390.49,-14.89,241,2133.06,0.00,0.00,1.98,0.000,0.000,0.025,3149.38,3192.50,3106.25,2990.56,2477.44,0,0,0,30.00,30.00,16.06
$GC,2432.55,516,-77.86,-0.94,-40.00,3145.8,3188.9,3102.8,2990.7,2467.0,433.73,-13.78,252,2437.76,0.00,0.00,2.17,0.000,0.000,0.036,3146.38,3189.88,3102.88,2990.25,1092.06,0,0,0,30.00,30.00,16.07
$GC,2522.53,1028,-77.86,-0.94,0.00,3144.5,3186.6,3102.5,2990.6,1092.1,447.00,-13.97,270,2527.82,0.00,0.00,2.38,0.000,0.000,0.039,3144.44,3186.88,3102.00,2991.00,2580.12,0,0,0,30.00,30.00,16.09
$GC,2852.76,260,-77.86,-0.94,40.00,3141.1,3183.8,3098.3,2990.6,2580.3,488.69,-12.84,286,2857.16,0.00,0.00,1.97,0.000,0.000,0.076,3142.09,3185.50,3098.69,2990.81,3773.50,0,0,0,30.00,30.00,16.05
$GC,3077.49,1028,-77.86,-0.94,0.00,3138.8,3181.3,3096.2,2991.3,3772.8,519.08,-14.15,331,3082.83,0.00,0.00,2.00,0.000,0.000,0.027,3139.56,3182.56,3096.56,2991.56,2484.12,0,0,0,30.00,30.00,16.05
$GC,3392.55,260,-77.86,-0.94,40.00,3135.9,3177.0,3094.9,2990.4,2470.0,564.54,-14.67,344,3397.89,0.00,0.00,2.18,0.000,0.000,0.077,3137.94,3179.12,3096.75,2990.56,3770.06,0,0,0,30.00,30.00,16.05
$GC,3512.59,1028,-77.86,-0.94,0.00,3134.2,3176.2,3092.1,2990.6,3770.1,581.46,-14.55,368,3517.88,0.00,0.00,2.00,0.000,0.000,0.028,3135.94,3178.50,3093.38,2990.12,2479.94,0,0,0,30.00,30.00,16.06
$GC,3842.72,516,-77.86,-0.94,-40.00,3131.4,3172.9,3090.0,2990.8,2467.1,626.60,-13.60,384,3847.94,0.00,0.00,2.18,0.000,0.000,0.040,3132.66,3174.50,3090.81,2991.06,1093.75,0,0,0,30.00,30.00,16.07
$GC,4042.57,1028,-77.86,-0.94,0.00,3130.2,3170.6,3089.9,2991.5,1094.1,654.43,-14.05,424,4048.05,0.00,0.00,2.42,0.000,0.000,0.042,3131.47,3170.56,3092.38,2988.94,2578.56,0,0,0,30.00,30.00,16.07
$GC,4352.79,0,-77.86,-0.94,0.00,3128.9,3168.9,3088.9,2990.8,2579.4,697.82,-13.66,436,4354.12,0.00,0.00,0.00,0.000,0.000,0.000,3129.78,3169.94,3089.62,2990.94,2579.81,0,0,0,30.00,30.00,30.00
$GC,4652.77,516,-77.86,-0.94,-40.00,3126.2,3165.8,3086.7,2990.4,2580.7,736.71,-12.73,446,4658.09,0.00,0.00,2.40,0.000,0.000,0.041,3127.94,3167.31,3088.56,2990.38,1095.25,0,0,0,30.00,30.00,16.05
$GC,4822.66,1028,-77.86,-0.94,0.00,3125.1,3163.4,3086.8,2990.4,1095.2,757.51,-10.63,480,4828.15,0.00,0.00,2.42,0.000,0.000,0.044,3126.50,3165.25,3087.75,2991.00,2580.12,0,0,0,30.00,30.00,16.06
$GC,5132.99,260,-77.86,-0.94,40.00,3123.3,3162.8,3083.8,2990.9,2579.6,793.44,-11.41,492,5138.09,0.00,0.00,1.99,0.000,0.000,0.080,3123.47,3163.00,3083.94,2982.81,3771.94,0,0,0,30.00,30.00,16.01
$GC,5262.75,1028,-77.86,-0.94,0.00,3122.8,3161.5,3084.0,2983.9,3770.6,809.31,-12.76,518,5268.17,0.00,0.00,2.01,0.000,0.000,0.031,3124.09,3163.06,3085.12,2983.62,2490.12,0,0,0,30.00,30.00,16.03
$GC,5582.86,0,-77.86,-0.94,0.00,3121.3,3159.8,3082.8,2983.2,2477.4,845.65,-11.11,532,5584.19,0.00,0.00,0.00,0.000,0.000,0.000,3121.94,3161.06,3082.81,2983.81,2477.38,0,0,0,30.00,30.00,30.00
$GC,5883.14,260,-77.86,-0.94,40.00,3119.1,3157.4,3080.8,2984.0,2477.3,877.50,-10.24,542,5888.24,0.00,0.00,2.20,0.000,0.000,0.081,3118.94,3157.44,3080.44,2977.75,3768.25,0,0,0,30.00,30.00,15.98
$GC,5943.02,1028,-77.86,-0.94,0.00,3118.3,3156.4,3080.2,2976.5,3768.2,884.18,-11.42,554,5948.25,0.00,0.00,2.03,0.000,0.000,0.034,3118.69,3156.50,3080.88,2976.56,2482.88,0,0,0,30.00,30.00,16.02
$GC,6272.96,260,-77.86,-0.94,40.00,3117.4,3155.3,3079.5,2975.9,2470.6,922.01,-11.30,570,6278.32,0.00,0.00,2.21,0.000,0.000,0.082,3116.97,3155.44,3078.50,2970.75,3768.94,0,0,0,30.00,30.00,15.97
$GC,6402.92,1028,-77.86,-0.94,0.00,3116.6,3154.1,3079.1,2969.7,3769.2,938.20,-12.28,596,6408.34,0.00,0.00,2.02,0.000,0.000,0.034,3117.09,3154.19,3080.00,2969.81,2482.50,0,0,0,30.00,30.00,16.02
$GC,6723.14,0,-77.86,-0.94,0.00,3115.5,3153.2,3077.8,2969.1,2470.1,977.95,-12.68,610,6724.48,0.00,0.00,0.00,0.000,0.000,0.000,3116.69,3153.81,3079.56,2969.31,2470.12,0,0,0,30.00,30.00,30.00
$STATE,6843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6843,begin apogee
$GC,6844.89,3,0.00,-0.20,0.00,3114.9,3152.7,3077.1,2969.9,2021.9,993.76,-13.12,614,6905.71,58.31,0.95,0.19,2.187,0.266,0.121,2837.75,2862.12,2813.38,3231.81,2161.94,0,0,0,11.60,15.63,15.47
$STATE,6907,end apogee,CONTROL_FINISHED_OK
$STATE,6907,begin climb
$GC,6907.50,519,77.86,0.94,-40.00,2837.6,2863.2,2811.9,3232.1,2163.0,997.52,0.00,616,6983.54,70.50,1.18,2.63,2.179,0.167,0.055,2521.19,2533.25,2509.12,3609.62,656.50,0,0,0,12.25,15.49,15.17
$GC,7031.19,1092,77.86,0.97,0.00,2518.2,2530.1,2506.3,3609.9,656.6,991.40,7.60,641,7036.59,0.00,0.00,2.46,0.000,0.000,0.027,2517.94,2530.25,2505.62,3610.50,2147.00,0,0,0,30.00,30.00,15.47
$GC,7356.28,2,77.86,0.97,0.00,2513.4,2531.5,2495.2,3610.1,2147.1,965.18,8.56,656,7357.61,0.00,0.00,0.00,0.000,0.000,0.000,2515.44,2533.75,2497.12,3609.62,2146.81,0,0,0,30.00,30.00,30.00
$GC,7656.35,2,77.86,0.97,0.00,2511.6,2531.3,2491.9,3609.9,2147.2,937.78,9.12,666,7657.69,0.00,0.00,0.00,0.000,0.000,0.000,2513.91,2533.56,2494.25,3609.19,2146.88,0,0,0,30.00,30.00,30.00
$GC,7956.46,262,77.86,0.97,40.00,2510.0,2531.3,2488.6,3609.8,2147.0,909.97,9.47,676,7961.61,0.00,0.00,2.30,0.000,0.000,0.063,2511.62,2532.31,2490.94,3610.75,3541.00,0,0,0,30.00,30.00,15.94
$GC,8036.17,1030,77.86,0.97,0.00,2509.2,2531.1,2487.4,3609.5,3540.6,901.82,10.21,692,8041.66,0.00,0.00,2.38,0.000,0.000,0.027,2509.81,2530.81,2488.81,3618.25,2039.25,0,0,0,30.00,30.00,15.91
$GC,8346.28,2,77.86,0.97,0.00,2508.7,2531.1,2486.2,3619.9,2040.1,870.61,10.27,704,8347.61,0.00,0.00,0.00,0.000,0.000,0.000,2507.50,2528.19,2486.81,3619.81,2039.81,0,0,0,30.00,30.00,30.00
$GC,8646.42,262,77.86,0.97,40.00,2507.9,2531.1,2484.6,3619.6,2040.3,838.02,10.87,714,8651.80,0.00,0.00,2.52,0.000,0.000,0.057,2507.62,2529.50,2485.75,3620.56,3540.31,0,0,0,30.00,30.00,15.98
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$GC,12791.86,1063,106.62,1.28,0.00,2504.5,2529.5,2479.5,3650.3,655.1,503.37,6.35,1093,12819.08,23.20,0.00,2.37,1.597,0.000,0.027,2403.00,2423.56,2382.44,3650.38,2151.19,0,0,0,11.58,30.00,15.99
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$STATE,19168,end climb,SURFACE_DEPTH_REACHED
$STATE,19168,begin surface coast
$FINISH,0.4,1.021632
$STATE,19188,end surface coast,CONTROL_FINISHED_OK
$STATE,19188,begin surface
$SM_CCo,19342.84,135.34,0.772,0,401.0,411.4,390.6,598.29
$SM_CCo,19343.98,0.00,2.625,0,399.9,417.6,382.2,598.55
$SM_GC,0.64,0.00,9.72,0.87,2.625,0.071,0.034,399.9,417.6,382.2,168.5,2611.4,0,0,0,30.36,15.78,15.42
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1413.07,14409.64,071219,034921
$TCM_TEMP,164.67
$XPDR_PINGS,9
$SC_FREEKB,3753088
$TM_FREEKB,3374848
$HUMID,52.79
$TEMP,23.33
$INTERNAL_PRESSURE,9.44592
$24V_AH,14.52,98.837
$10V_AH,14.95,0.000
$FG_AHR_24Vo,62.344
$FG_AHR_10Vo,34.458
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,617.080,25.965,176.160,360.242,2.250,13.734,4673.662,15191.787,1896.220,0.000,0.000,0.000
$DEVICE_MAMPS,2625.064,410.736,121.440,203.034,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19210.000,3783.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.348,19.977,0.000,0.000
$MEM,1099284,26,79860,58
$DATA_FILE_SIZE,57654,1871
$CAP_FILE_SIZE,355772,0
$SDSIZE,3918848,3807648
$SDFILEDIR,2386,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,326.4,1
$GPS,071219,150001,1416.180,14409.256,29,0.8,30,0.3