version: 67.00
glider: 180
mission: 2
dive: 407
start: 1 2 120 6 1 59
data:
$ID,180
$MISSION,2
$DIVE,407
$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,45.44157
$FG_AHR_24V,84.84198
$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
$GPS1,020120,055101,1412.314,14409.312,23,0.7,24,0.3
$_CALLS,1
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-68.9
$GPS2,020120,060143,1412.344,14409.160,2,0.6,4,0.3
$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,147.0,4596,-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,-0.94,0.00,399.4,428.2,370.6,165.8,2446.6,0.00,0.00,0,122.97,106.58,0.00,0.00,0.005,0.000,0.000,3012.66,3048.81,2976.50,165.88,2448.69,0,0,0,15.22,30.00,30.00
$GC,123.27,519,-77.86,-0.94,-40.00,3011.7,3047.4,2976.0,165.8,2448.7,5.09,-8.70,11,150.56,2.61,14.35,2.15,0.013,0.406,0.033,3157.06,3198.06,3116.06,3033.88,1084.00,0,0,0,15.46,15.28,15.40
$GC,372.76,1028,-77.86,-0.94,0.00,3155.4,3196.7,3114.1,3033.4,1083.7,82.54,-24.53,61,378.76,0.00,0.00,2.43,0.000,0.000,0.040,3155.31,3196.75,3113.88,3034.25,2578.88,0,0,0,30.00,30.00,15.81
$GC,562.72,516,-77.86,-0.94,-40.00,3155.3,3196.5,3114.1,3034.1,2579.3,128.51,-23.39,81,568.78,0.00,0.00,2.37,0.000,0.000,0.028,3156.56,3198.19,3114.94,3033.88,1086.38,0,0,0,30.00,30.00,15.84
$GC,597.55,1028,-77.86,-0.94,0.00,3155.3,3196.1,3114.6,3033.7,1085.8,136.27,-21.55,88,603.92,0.00,0.00,2.44,0.000,0.000,0.044,3157.84,3198.88,3116.81,3033.81,2576.19,0,0,0,30.00,30.00,15.85
$GC,782.82,516,-77.86,-0.94,-40.00,3155.3,3196.8,3113.8,3034.4,2576.6,166.69,-16.92,107,788.83,0.00,0.00,2.37,0.000,0.000,0.032,3155.47,3196.75,3114.19,3033.50,1091.31,0,0,0,30.00,30.00,15.87
$GC,892.85,1028,-77.86,-0.94,0.00,3155.5,3196.8,3114.2,3033.9,1091.2,185.46,-16.42,129,898.88,0.00,0.00,2.41,0.000,0.000,0.041,3156.41,3197.62,3115.19,3033.31,2579.75,0,0,0,30.00,30.00,15.87
$GC,1082.92,516,-77.86,-0.94,-40.00,3155.1,3196.6,3113.7,3033.2,2579.3,213.11,-14.21,149,1088.13,0.00,0.00,2.36,0.000,0.000,0.033,3155.28,3196.75,3113.81,3034.38,1089.56,0,0,0,30.00,30.00,15.94
$GC,1312.94,1028,-77.86,-0.94,0.00,3154.2,3194.8,3113.6,3033.0,1089.4,244.23,-12.64,195,1318.23,0.00,0.00,2.41,0.000,0.000,0.041,3154.06,3195.44,3112.69,3033.50,2582.44,0,0,0,30.00,30.00,15.96
$GC,1512.95,516,-77.86,-0.94,-40.00,3153.9,3194.5,3113.3,3033.7,2580.8,268.73,-11.90,206,1518.23,0.00,0.00,2.37,0.000,0.000,0.034,3155.19,3195.62,3114.75,3033.56,1092.25,0,0,0,30.00,30.00,15.98
$GC,1597.79,1028,-77.86,-0.94,0.00,3153.6,3193.2,3113.9,3033.5,1091.6,279.34,-12.42,223,1603.36,0.00,0.00,2.41,0.000,0.000,0.042,3155.53,3195.56,3115.50,3033.38,2580.00,0,0,0,30.00,30.00,15.99
$GC,1903.03,516,-77.86,-0.94,-40.00,3151.7,3191.8,3111.6,3033.1,2580.3,321.35,-14.13,234,1908.29,0.00,0.00,2.37,0.000,0.000,0.035,3151.97,3190.75,3113.19,3033.56,1092.56,0,0,0,30.00,30.00,16.00
$GC,2107.97,1028,-77.86,-0.94,0.00,3150.2,3188.7,3111.6,3033.1,1092.6,351.68,-14.50,275,2113.66,0.00,0.00,2.41,0.000,0.000,0.043,3153.00,3191.31,3114.69,3033.56,2579.19,0,0,0,30.00,30.00,16.00
$GC,2413.21,0,-77.86,-0.94,0.00,3147.4,3187.5,3107.3,3033.6,2578.7,390.13,-11.62,286,2414.54,0.00,0.00,0.00,0.000,0.000,0.000,3148.53,3188.75,3108.31,3033.06,2578.69,0,0,0,30.00,30.00,30.00
$GC,2713.03,516,-77.86,-0.94,-40.00,3144.4,3184.1,3104.8,3033.2,2578.8,419.87,-9.88,296,2718.38,0.00,0.00,2.38,0.000,0.000,0.037,3145.44,3185.56,3105.31,3034.25,1095.25,0,0,0,30.00,30.00,16.00
$GC,2872.96,1028,-77.86,-0.94,0.00,3143.4,3182.1,3104.8,3033.2,1094.8,437.16,-11.28,328,2878.45,0.00,0.00,2.42,0.000,0.000,0.044,3145.91,3185.19,3106.62,3033.00,2579.44,0,0,0,30.00,30.00,15.98
$GC,3193.23,516,-77.86,-0.94,-40.00,3140.2,3180.2,3100.1,3033.2,2579.2,470.60,-10.55,342,3198.45,0.00,0.00,2.39,0.000,0.000,0.039,3141.69,3181.94,3101.44,3033.00,1096.69,0,0,0,30.00,30.00,16.00
$GC,3257.99,1028,-77.86,-0.94,0.00,3139.4,3178.6,3100.1,3033.1,1096.9,477.53,-10.82,355,3263.49,0.00,0.00,2.42,0.000,0.000,0.045,3139.81,3178.50,3101.12,3034.56,2577.31,0,0,0,30.00,30.00,15.99
$GC,3583.34,260,-77.86,-0.94,40.00,3136.7,3176.4,3097.0,3032.8,2577.8,512.30,-11.13,370,3588.44,0.00,0.00,2.01,0.000,0.000,0.079,3137.44,3178.06,3096.81,3025.19,3773.62,0,0,0,30.00,30.00,15.91
$GC,3813.07,1028,-77.86,-0.94,0.00,3135.0,3174.6,3095.4,3026.2,3772.2,540.71,-12.54,416,3818.50,0.00,0.00,2.01,0.000,0.000,0.028,3136.09,3175.75,3096.44,3026.50,2483.00,0,0,0,30.00,30.00,15.99
$GC,4123.41,260,-77.86,-0.94,40.00,3132.2,3172.2,3092.2,3025.6,2470.3,578.13,-11.93,428,4128.56,0.00,0.00,2.21,0.000,0.000,0.078,3131.53,3170.94,3092.12,3022.12,3768.44,0,0,0,30.00,30.00,15.88
$GC,4158.11,1028,-77.86,-0.94,0.00,3131.7,3172.3,3091.1,3021.6,3768.5,582.49,-12.57,435,4163.53,0.00,0.00,2.02,0.000,0.000,0.029,3131.84,3171.81,3091.88,3021.75,2484.12,0,0,0,30.00,30.00,15.98
$GC,4483.31,0,-77.86,-0.94,0.00,3130.0,3170.4,3089.7,3021.9,2473.3,622.98,-12.84,450,4484.64,0.00,0.00,0.00,0.000,0.000,0.000,3130.66,3170.50,3090.81,3021.88,2473.75,0,0,0,30.00,30.00,30.00
$GC,4783.29,260,-77.86,-0.94,40.00,3128.5,3167.4,3089.6,3021.1,2472.9,660.78,-12.13,460,4788.61,0.00,0.00,2.22,0.000,0.000,0.081,3130.09,3168.75,3091.44,3017.62,3768.62,0,0,0,30.00,30.00,15.83
$GC,4978.29,1028,-77.86,-0.94,0.00,3127.2,3165.6,3088.9,3018.1,3768.5,683.83,-11.48,499,4983.63,0.00,0.00,2.02,0.000,0.000,0.031,3127.12,3166.50,3087.75,3017.00,2491.12,0,0,0,30.00,30.00,15.97
$GC,5293.54,0,-77.86,-0.94,0.00,3125.4,3164.2,3086.5,3018.4,2477.6,717.73,-10.69,512,5294.88,0.00,0.00,0.00,0.000,0.000,0.000,3126.12,3165.44,3086.81,3018.06,2477.62,0,0,0,30.00,30.00,30.00
$GC,5593.59,516,-77.86,-0.94,-40.00,3123.8,3162.2,3085.4,3018.6,2477.8,751.28,-11.45,522,5598.70,0.00,0.00,2.23,0.000,0.000,0.043,3126.16,3165.25,3087.06,3017.88,1098.50,0,0,0,30.00,30.00,15.95
$GC,5658.26,1028,-77.86,-0.94,0.00,3123.3,3161.9,3084.8,3018.3,1098.3,759.07,-11.70,535,5663.77,0.00,0.00,2.43,0.000,0.000,0.045,3124.19,3162.81,3085.56,3017.38,2577.62,0,0,0,30.00,30.00,15.92
$GC,5983.52,0,-77.86,-0.94,0.00,3121.8,3159.9,3083.6,3017.6,2577.9,796.01,-11.41,550,5984.85,0.00,0.00,0.00,0.000,0.000,0.000,3122.22,3160.38,3084.06,3017.19,2577.94,0,0,0,30.00,30.00,30.00
$GC,6283.59,516,-77.86,-0.94,-40.00,3120.5,3159.1,3081.9,3017.7,2578.0,833.17,-12.59,560,6288.80,0.00,0.00,2.42,0.000,0.000,0.040,3121.28,3159.56,3083.00,3017.44,1096.94,0,0,0,30.00,30.00,15.93
$GC,6448.38,1028,-77.86,-0.94,0.00,3119.5,3157.2,3081.8,3017.8,1097.2,853.86,-12.47,593,6453.95,0.00,0.00,2.45,0.000,0.000,0.046,3120.53,3157.88,3083.19,3015.94,2577.44,0,0,0,30.00,30.00,15.89
$GC,6763.67,260,-77.86,-0.94,40.00,3118.1,3155.9,3080.2,3017.5,2578.4,889.14,-10.78,606,6768.81,0.00,0.00,2.03,0.000,0.000,0.082,3117.97,3155.94,3080.00,3011.81,3768.25,0,0,0,30.00,30.00,15.78
$GC,6908.86,1028,-77.86,-0.94,0.00,3117.2,3154.9,3079.4,3011.5,3769.1,904.44,-9.32,635,6914.18,0.00,0.00,2.04,0.000,0.000,0.033,3118.41,3156.00,3080.81,3011.00,2490.50,0,0,0,30.00,30.00,15.93
$GC,7213.58,516,-77.86,-0.94,-40.00,3116.6,3154.8,3078.3,3011.1,2477.5,932.30,-8.66,646,7218.90,0.00,0.00,2.24,0.000,0.000,0.043,3118.88,3156.44,3081.31,3010.44,1099.50,0,0,0,30.00,30.00,15.91
$GC,7308.47,1028,-77.86,-0.94,0.00,3116.0,3153.4,3078.6,3011.4,1099.3,940.96,-8.86,665,7313.97,0.00,0.00,2.44,0.000,0.000,0.045,3116.84,3154.88,3078.81,3010.69,2579.12,0,0,0,30.00,30.00,15.88
$GC,7633.89,0,-77.86,-0.94,0.00,3115.1,3151.3,3078.8,3010.6,2578.6,969.62,-9.17,680,7635.22,0.00,0.00,0.00,0.000,0.000,0.000,3116.75,3153.44,3080.06,3009.62,2577.94,0,0,0,30.00,30.00,30.00
$STATE,7874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7874,begin apogee
$GC,7875.65,3,0.00,-0.20,0.00,3113.9,3150.4,3077.5,3010.6,2036.4,992.21,-9.39,688,7938.24,60.17,0.95,0.17,2.271,0.249,0.134,2840.00,2863.69,2816.31,3273.06,2164.25,0,0,0,10.67,15.32,15.33
$STATE,7940,end apogee,CONTROL_FINISHED_OK
$STATE,7940,begin climb
$GC,7940.34,519,77.86,0.94,-40.00,2838.1,2862.5,2813.7,3272.7,2163.6,993.31,0.00,690,8018.17,72.46,1.12,2.64,2.247,0.137,0.056,2521.97,2531.25,2512.69,3643.06,656.69,0,0,0,12.00,15.40,15.06
$GC,8085.22,1028,77.86,0.94,0.00,2517.9,2529.2,2506.6,3642.2,656.5,983.06,9.27,719,8090.56,0.00,0.00,2.46,0.000,0.000,0.027,2517.44,2530.00,2504.88,3642.88,2142.50,0,0,0,30.00,30.00,15.43
$GC,8415.38,262,77.86,0.94,40.00,2513.7,2530.5,2496.8,3642.4,2142.8,952.58,9.01,735,8420.58,0.00,0.00,2.42,0.000,0.000,0.089,2513.50,2531.88,2495.12,3641.75,3530.12,0,0,0,30.00,30.00,15.65
$GC,8515.11,1030,77.86,0.94,0.00,2512.1,2530.2,2493.9,3641.6,3529.7,942.97,9.81,755,8520.61,0.00,0.00,2.46,0.000,0.000,0.053,2513.88,2532.56,2495.19,3647.75,2075.88,0,0,0,30.00,30.00,15.73
$GC,8835.47,518,77.86,0.94,-40.00,2511.7,2530.9,2492.4,3647.8,2076.2,914.24,8.81,769,8840.63,0.00,0.00,2.43,0.000,0.000,0.090,2511.91,2530.88,2492.94,3655.69,663.31,0,0,0,30.00,30.00,15.77
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$STATE,19997,end climb,SURFACE_DEPTH_REACHED
$STATE,19997,begin surface coast
$FINISH,0.4,1.022294
$STATE,20017,end surface coast,CONTROL_FINISHED_OK
$STATE,20017,begin surface
$SM_CCo,20215.14,178.99,0.752,0,400.5,413.0,388.0,598.41
$SM_CCo,20216.29,0.01,1.355,0,399.4,415.2,383.6,598.67
$SM_GC,0.64,0.01,9.93,0.85,1.355,0.077,0.040,399.4,415.2,383.6,168.5,2597.7,0,0,0,30.36,15.64,15.25
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,1411.40,14408.34,020120,001041
$TCM_TEMP,163.27
$XPDR_PINGS,8
$SC_FREEKB,3710848
$TM_FREEKB,2064544
$HUMID,53.32
$TEMP,22.65
$INTERNAL_PRESSURE,9.41383
$24V_AH,14.40,133.313
$10V_AH,14.90,0.000
$FG_AHR_24Vo,85.027
$FG_AHR_10Vo,45.545
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,628.715,26.355,189.800,390.118,2.000,13.744,4893.639,15905.783,1961.488,0.000,0.000,0.000
$DEVICE_MAMPS,2271.152,405.816,133.904,202.513,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20043.000,3825.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.594,19.943,0.000,0.000
$MEM,1099056,29,79968,61
$DATA_FILE_SIZE,60837,1940
$CAP_FILE_SIZE,372320,0
$SDSIZE,3918848,3773184
$SDFILEDIR,3156,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021, 10.7,1
$GPS,020120,113931,1411.304,14410.024,18,0.8,19,0.3