version: 67.00
glider: 180
mission: 2
dive: 336
start: 12 16 119 9 13 52
data:
$ID,180
$MISSION,2
$DIVE,336
$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,38.210178
$FG_AHR_24V,70.084831
$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
$GPS1,161219,090158,1411.336,14409.448,30,1.2,31,0.3
$_CALLS,2
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-70.3
$GPS2,161219,091336,1411.277,14409.327,2,0.6,5,0.3
$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,34.3,18047,-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,9.71,2,-77.86,-0.94,0.00,398.2,425.6,370.9,166.8,2453.2,0.00,0.00,0,112.69,96.48,0.00,0.00,0.005,0.000,0.000,2751.31,2784.62,2718.00,166.75,2455.12,0,0,0,15.42,30.00,30.00
$GC,112.97,295,-77.86,-0.94,40.00,2749.0,2778.6,2719.4,166.8,2454.8,3.61,-3.17,10,145.59,8.47,13.96,2.21,0.007,0.409,0.070,3156.28,3204.69,3107.88,2992.50,3773.81,0,0,0,15.60,15.46,15.48
$GC,172.52,1028,-77.86,-0.94,0.00,3156.4,3205.1,3107.8,2992.8,3773.4,25.47,-37.46,21,178.63,0.00,0.00,2.00,0.000,0.000,0.022,3156.56,3205.69,3107.44,2992.88,2488.94,0,0,0,30.00,30.00,15.81
$GC,362.70,516,-77.86,-0.94,-40.00,3155.2,3202.9,3107.5,2992.6,2473.6,90.40,-29.17,41,368.71,0.00,0.00,2.18,0.000,0.000,0.029,3156.31,3203.50,3109.12,2991.69,1088.06,0,0,0,30.00,30.00,15.87
$GC,447.53,1028,-77.86,-0.94,0.00,3155.1,3202.4,3107.9,2992.9,1086.6,112.40,-26.17,58,454.07,0.00,0.00,2.42,0.000,0.000,0.041,3155.88,3203.31,3108.44,2992.62,2578.56,0,0,0,30.00,30.00,15.90
$GC,632.91,0,-77.86,-0.94,0.00,3155.1,3202.3,3107.9,2992.8,2579.8,157.53,-19.80,77,636.16,0.00,0.00,0.00,0.000,0.000,0.000,3155.66,3202.81,3108.50,2992.62,2579.38,0,0,0,30.00,30.00,30.00
$GC,812.97,260,-77.86,-0.94,40.00,3154.9,3202.2,3107.5,2992.6,2579.4,182.18,-15.70,95,818.78,0.00,0.00,1.97,0.000,0.000,0.070,3155.66,3202.88,3108.44,2992.69,3773.06,0,0,0,30.00,30.00,15.91
$GC,1042.81,1028,-77.86,-0.94,0.00,3155.0,3202.3,3107.7,2992.8,3773.4,218.68,-15.27,141,1048.09,0.00,0.00,1.98,0.000,0.000,0.021,3156.59,3203.31,3109.88,2992.50,2483.94,0,0,0,30.00,30.00,15.98
$GC,1232.97,260,-77.86,-0.94,40.00,3154.3,3201.1,3107.5,2992.3,2470.6,246.63,-15.69,161,1238.16,0.00,0.00,2.16,0.000,0.000,0.067,3155.69,3202.25,3109.12,2993.12,3772.69,0,0,0,30.00,30.00,15.99
$GC,1337.76,1028,-77.86,-0.94,0.00,3153.7,3199.6,3107.8,2992.7,3773.3,265.40,-17.79,182,1343.16,0.00,0.00,1.99,0.000,0.000,0.022,3154.69,3200.25,3109.12,2992.62,2469.44,0,0,0,30.00,30.00,16.01
$GC,1653.06,516,-77.86,-0.94,-40.00,3151.7,3195.9,3107.5,2992.0,2455.4,314.40,-15.14,195,1658.22,0.00,0.00,2.14,0.000,0.000,0.035,3151.59,3196.56,3106.62,2992.81,1092.06,0,0,0,30.00,30.00,16.04
$GC,1732.82,1028,-77.86,-0.94,0.00,3150.6,3193.9,3107.2,2991.9,1091.8,326.07,-14.89,211,1738.30,0.00,0.00,2.39,0.000,0.000,0.038,3150.53,3192.69,3108.38,2991.38,2579.19,0,0,0,30.00,30.00,16.05
$GC,2042.98,260,-77.86,-0.94,40.00,3148.5,3191.1,3105.9,2991.8,2579.9,370.76,-14.32,223,2047.39,0.00,0.00,1.98,0.000,0.000,0.073,3150.00,3192.12,3107.88,2990.88,3772.38,0,0,0,30.00,30.00,16.00
$GC,2172.88,1028,-77.86,-0.94,0.00,3146.8,3190.1,3103.4,2991.7,3771.6,388.57,-13.62,249,2178.28,0.00,0.00,1.99,0.000,0.000,0.023,3146.75,3190.19,3103.31,2992.88,2473.00,0,0,0,30.00,30.00,16.04
$GC,2493.03,260,-77.86,-0.94,40.00,3144.1,3186.8,3101.4,2991.9,2459.8,432.73,-13.61,263,2498.34,0.00,0.00,2.20,0.000,0.000,0.074,3145.28,3187.69,3102.88,2992.06,3773.12,0,0,0,30.00,30.00,16.02
$GC,2643.02,1028,-77.86,-0.94,0.00,3142.0,3184.8,3099.2,2992.2,3773.0,451.38,-11.34,293,2648.35,0.00,0.00,2.00,0.000,0.000,0.024,3142.78,3185.56,3100.00,2991.69,2475.12,0,0,0,30.00,30.00,16.05
$GC,2973.07,516,-77.86,-0.94,-40.00,3138.9,3181.4,3096.4,2991.9,2461.8,488.10,-11.49,309,2978.41,0.00,0.00,2.17,0.000,0.000,0.038,3139.72,3182.94,3096.50,2992.19,1093.31,0,0,0,30.00,30.00,16.05
$GC,3198.02,1028,-77.86,-0.94,0.00,3136.4,3176.8,3096.0,2991.3,1093.7,514.15,-11.76,354,3203.53,0.00,0.00,2.42,0.000,0.000,0.042,3137.75,3177.75,3097.75,2992.00,2578.38,0,0,0,30.00,30.00,16.05
$GC,3513.23,260,-77.86,-0.94,40.00,3132.2,3173.9,3090.6,2991.8,2578.3,548.72,-10.31,367,3518.46,0.00,0.00,2.00,0.000,0.000,0.078,3132.44,3173.94,3090.94,2989.00,3770.38,0,0,0,30.00,30.00,15.99
$GC,3743.20,1028,-77.86,-0.94,0.00,3131.2,3172.9,3089.4,2988.8,3769.2,577.23,-13.42,413,3748.54,0.00,0.00,2.01,0.000,0.000,0.028,3132.19,3172.56,3091.81,2988.12,2474.00,0,0,0,30.00,30.00,16.03
$GC,4053.41,260,-77.86,-0.94,40.00,3129.5,3170.0,3089.1,2988.6,2461.2,617.95,-13.26,425,4058.60,0.00,0.00,2.22,0.000,0.000,0.079,3130.50,3170.94,3090.06,2988.19,3769.50,0,0,0,30.00,30.00,15.97
$GC,4143.44,1028,-77.86,-0.94,0.00,3128.7,3169.6,3087.8,2987.4,3769.6,630.60,-13.72,443,4148.58,0.00,0.00,2.02,0.000,0.000,0.029,3128.75,3169.81,3087.69,2986.69,2471.81,0,0,0,30.00,30.00,16.03
$GC,4473.33,260,-77.86,-0.94,40.00,3126.0,3166.1,3086.0,2987.8,2459.6,670.04,-11.63,459,4478.64,0.00,0.00,2.23,0.000,0.000,0.080,3126.00,3165.69,3086.31,2983.75,3768.75,0,0,0,30.00,30.00,15.96
$GC,4508.18,1028,-77.86,-0.94,0.00,3125.5,3165.8,3085.2,2984.8,3769.2,674.11,-11.59,466,4513.61,0.00,0.00,2.02,0.000,0.000,0.030,3127.28,3166.50,3088.06,2984.25,2475.12,0,0,0,30.00,30.00,15.98
$GC,4833.50,260,-77.86,-0.94,40.00,3123.6,3163.2,3083.9,2984.4,2462.3,713.21,-12.08,481,4838.68,0.00,0.00,2.23,0.000,0.000,0.080,3123.66,3162.56,3084.75,2980.19,3769.44,0,0,0,30.00,30.00,15.95
$GC,5008.28,1028,-77.86,-0.94,0.00,3122.6,3162.1,3083.0,2979.6,3768.9,734.66,-12.34,516,5013.85,0.00,0.00,2.02,0.000,0.000,0.030,3124.31,3163.19,3085.44,2979.00,2470.00,0,0,0,30.00,30.00,16.00
$GC,5313.53,260,-77.86,-0.94,40.00,3120.7,3160.1,3081.2,2979.4,2456.8,771.94,-12.23,527,5318.74,0.00,0.00,2.23,0.000,0.000,0.082,3122.00,3161.25,3082.75,2976.19,3770.44,0,0,0,30.00,30.00,15.93
$GC,5453.33,1028,-77.86,-0.94,0.00,3119.4,3158.5,3080.3,2975.9,3769.5,790.15,-13.27,555,5458.75,0.00,0.00,2.03,0.000,0.000,0.031,3120.34,3159.75,3080.94,2976.56,2476.25,0,0,0,30.00,30.00,16.01
$GC,5763.58,0,-77.86,-0.94,0.00,3118.1,3156.6,3079.6,2975.5,2463.9,831.53,-13.56,567,5764.92,0.00,0.00,0.00,0.000,0.000,0.000,3118.62,3156.31,3080.94,2975.69,2464.12,0,0,0,30.00,30.00,30.00
$GC,6063.68,260,-77.86,-0.94,40.00,3116.5,3154.2,3078.7,2975.9,2464.1,872.34,-13.50,577,6068.82,0.00,0.00,2.23,0.000,0.000,0.081,3117.88,3155.62,3080.12,2968.31,3769.94,0,0,0,30.00,30.00,15.90
$GC,6108.37,1028,-77.86,-0.94,0.00,3116.2,3154.6,3077.8,2966.9,3769.8,877.99,-12.16,586,6113.79,0.00,0.00,2.03,0.000,0.000,0.032,3117.66,3155.81,3079.50,2966.25,2482.06,0,0,0,30.00,30.00,15.99
$GC,6423.49,260,-77.86,-0.94,40.00,3115.2,3153.6,3076.9,2966.6,2469.6,919.10,-12.77,599,6428.85,0.00,0.00,2.23,0.000,0.000,0.081,3115.44,3154.00,3076.88,2961.12,3768.75,0,0,0,30.00,30.00,15.89
$GC,6533.45,1029,-77.86,-0.94,0.00,3114.2,3152.0,3076.3,2961.2,3767.6,933.34,-13.00,621,6538.91,0.00,0.12,2.03,0.000,0.291,0.032,3115.41,3153.44,3077.38,2993.19,2474.56,0,0,0,30.00,15.58,15.99
$GC,6843.55,516,-77.86,-0.94,-40.00,3113.8,3151.9,3075.8,2994.1,2462.2,965.63,-10.07,633,6848.90,0.00,0.00,2.21,0.000,0.000,0.045,3114.47,3153.06,3075.88,2994.62,1098.31,0,0,0,30.00,30.00,15.97
$GC,6888.45,1028,-77.86,-0.94,0.00,3113.5,3151.0,3075.9,2994.0,1098.1,970.73,-10.41,642,6893.95,0.00,0.00,2.44,0.000,0.000,0.045,3113.88,3152.50,3075.25,2993.19,2577.94,0,0,0,30.00,30.00,15.98
$STATE,7083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7083,begin apogee
$GC,7085.47,3,0.00,-0.20,0.00,3113.1,3150.3,3075.9,2994.5,2033.0,991.96,-10.98,651,7146.22,58.62,0.86,0.17,2.234,0.258,0.132,2839.38,2864.69,2814.06,3232.25,2165.75,0,0,0,11.24,15.51,15.43
$STATE,7148,end apogee,CONTROL_FINISHED_OK
$STATE,7148,begin climb
$GC,7148.13,519,77.86,0.94,-40.00,2838.0,2864.1,2811.9,3232.9,2165.3,994.37,0.00,653,7225.09,71.44,1.20,2.64,2.234,0.168,0.055,2519.47,2531.19,2507.75,3609.62,658.00,0,0,0,12.10,15.46,15.13
$GC,7266.98,1028,77.86,0.94,0.00,2518.1,2530.2,2506.0,3610.4,658.0,987.43,8.14,677,7272.46,0.00,0.00,2.46,0.000,0.000,0.026,2519.47,2532.31,2506.62,3609.50,2144.50,0,0,0,30.00,30.00,15.43
$GC,7592.13,2,77.86,0.94,0.00,2512.9,2530.9,2494.8,3610.1,2144.1,961.49,8.15,692,7593.47,0.00,0.00,0.00,0.000,0.000,0.000,2514.69,2531.75,2497.62,3609.00,2144.00,0,0,0,30.00,30.00,30.00
$GC,7892.15,518,77.86,0.94,-40.00,2511.6,2531.4,2491.7,3609.9,2144.2,936.75,8.19,702,7897.51,0.00,0.00,2.49,0.000,0.000,0.051,2512.84,2532.44,2493.25,3619.00,656.06,0,0,0,30.00,30.00,15.89
$GC,8057.07,1030,77.86,0.94,0.00,2510.9,2530.3,2491.6,3620.1,656.2,923.31,8.03,735,8062.54,0.00,0.00,2.39,0.000,0.000,0.028,2510.75,2530.00,2491.50,3619.19,2145.19,0,0,0,30.00,30.00,15.91
$GC,8372.27,326,77.86,0.97,40.00,2509.2,2530.7,2487.7,3619.2,2145.2,898.79,7.53,748,8377.56,0.00,0.00,2.32,0.000,0.000,0.063,2510.69,2532.44,2488.94,3620.31,3542.38,0,0,0,30.00,30.00,15.92
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$GC,14332.96,1063,118.33,1.44,0.00,2504.2,2529.6,2478.7,3664.0,656.6,429.46,5.48,1240,14369.24,32.34,0.00,2.41,1.580,0.000,0.036,2356.59,2375.31,2337.88,3664.12,2130.69,0,0,0,11.36,30.00,15.90
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$STATE,19916,end climb,SURFACE_DEPTH_REACHED
$STATE,19916,begin surface coast
$FINISH,-0.1,1.021708
$STATE,19936,end surface coast,CONTROL_FINISHED_OK
$STATE,19936,begin surface
$SM_CCo,20146.56,190.38,0.750,0,401.0,418.8,383.2,598.28
$SM_CCo,20147.69,0.00,2.605,0,401.4,421.8,381.0,598.19
$SM_CCo,20148.81,0.38,0.095,0,400.8,421.3,380.2,598.34
$SM_GC,0.79,0.38,9.48,0.87,0.095,0.051,0.053,400.8,421.3,380.2,167.8,2580.6,0,0,0,15.47,15.91,15.93
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,1410.97,14409.64,161219,090601
$TCM_TEMP,164.55
$XPDR_PINGS,8
$SC_FREEKB,3738112
$TM_FREEKB,2904640
$HUMID,52.85
$TEMP,23.68
$INTERNAL_PRESSURE,9.45974
$24V_AH,14.45,110.889
$10V_AH,14.92,0.000
$FG_AHR_24Vo,70.266
$FG_AHR_10Vo,38.312
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,611.795,25.755,195.315,413.053,2.000,14.017,4797.048,15995.974,1893.225,0.000,0.000,0.000
$DEVICE_MAMPS,2605.384,408.768,131.608,206.144,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19958.000,3750.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.613,20.020,0.000,0.000
$MEM,1099076,29,79948,61
$DATA_FILE_SIZE,60913,1877
$CAP_FILE_SIZE,375534,0
$SDSIZE,3918848,3795488
$SDFILEDIR,2659,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090, 14.7,1
$GPS,161219,145031,1413.395,14410.662,33,0.8,34,0.3