version: 67.00
glider: 180
mission: 2
dive: 410
start: 1 2 120 23 18 13
data:
$ID,180
$MISSION,2
$DIVE,410
$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,45.749966
$FG_AHR_24V,85.453918
$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
$GPS1,020120,230501,1415.471,14409.815,24,0.7,25,0.3
$_CALLS,5
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-69.7
$GPS2,020120,231758,1415.451,14409.790,2,0.6,4,0.3
$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,5.0,10284,-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,9.96,2,-77.86,-0.94,0.00,400.6,428.2,373.1,164.8,2447.3,0.00,0.00,0,112.78,96.33,0.00,0.00,0.005,0.000,0.000,2732.78,2766.25,2699.31,164.94,2447.00,0,0,0,15.14,30.00,30.00
$GC,113.07,295,-77.86,-0.94,40.00,2731.0,2761.8,2700.2,164.9,2446.9,3.15,-2.88,10,145.58,9.53,14.12,2.22,0.007,0.403,0.075,3157.62,3206.50,3108.75,3033.75,3772.31,0,0,0,15.53,15.30,15.40
$GC,287.54,1028,-77.86,-0.94,0.00,3155.5,3203.6,3107.5,3033.1,3772.3,57.54,-31.81,45,293.84,0.00,0.00,2.00,0.000,0.000,0.023,3157.03,3204.31,3109.75,3032.81,2486.56,0,0,0,30.00,30.00,15.85
$GC,472.72,516,-77.86,-0.94,-40.00,3154.7,3202.3,3107.1,3033.1,2473.2,106.55,-18.86,64,479.09,0.00,0.00,2.17,0.000,0.000,0.031,3155.31,3202.75,3107.88,3033.44,1088.31,0,0,0,30.00,30.00,15.86
$GC,547.55,1028,-77.86,-0.94,0.00,3154.9,3203.0,3106.9,3033.8,1088.2,119.15,-16.58,79,554.10,0.00,0.00,2.43,0.000,0.000,0.043,3155.12,3202.94,3107.31,3033.81,2579.00,0,0,0,30.00,30.00,15.87
$GC,732.86,516,-77.86,-0.94,-40.00,3155.1,3202.8,3107.4,3033.7,2579.5,151.28,-17.82,98,738.83,0.00,0.00,2.37,0.000,0.000,0.031,3155.56,3203.19,3107.94,3033.00,1089.75,0,0,0,30.00,30.00,15.88
$GC,962.80,1028,-77.86,-0.94,0.00,3154.5,3201.3,3107.7,3033.2,1089.6,194.14,-13.76,144,968.93,0.00,0.00,2.41,0.000,0.000,0.040,3155.44,3202.44,3108.44,3032.75,2578.94,0,0,0,30.00,30.00,15.89
$GC,1153.00,0,-77.86,-0.94,0.00,3154.6,3201.6,3107.5,3033.4,2580.1,218.86,-11.90,164,1154.34,0.00,0.00,0.00,0.000,0.000,0.000,3155.34,3202.44,3108.25,3033.25,2579.88,0,0,0,30.00,30.00,30.00
$GC,1332.82,260,-77.86,-0.94,40.00,3154.2,3201.2,3107.2,3033.2,2579.2,243.45,-13.51,182,1338.11,0.00,0.00,1.98,0.000,0.000,0.074,3156.50,3203.06,3109.94,3032.12,3774.75,0,0,0,30.00,30.00,15.93
$GC,1437.74,1028,-77.86,-0.94,0.00,3153.9,3200.2,3107.6,3032.7,3774.1,258.21,-14.02,203,1443.14,0.00,0.00,1.99,0.000,0.000,0.022,3154.75,3200.25,3109.25,3032.50,2481.88,0,0,0,30.00,30.00,15.98
$GC,1752.90,516,-77.86,-0.94,-40.00,3152.0,3197.0,3106.9,3033.2,2467.8,296.31,-11.63,216,1758.20,0.00,0.00,2.15,0.000,0.000,0.034,3153.06,3197.62,3108.50,3032.75,1091.00,0,0,0,30.00,30.00,15.99
$GC,1982.81,1028,-77.86,-0.94,0.00,3150.0,3192.8,3107.2,3033.9,1091.2,322.03,-10.17,262,1988.33,0.00,0.00,2.40,0.000,0.000,0.040,3150.75,3194.06,3107.44,3033.44,2580.31,0,0,0,30.00,30.00,15.98
$GC,2292.98,0,-77.86,-0.94,0.00,3148.2,3190.6,3105.9,3032.8,2580.0,358.30,-11.78,274,2294.31,0.00,0.00,0.00,0.000,0.000,0.000,3149.03,3191.94,3106.12,3033.25,2580.62,0,0,0,30.00,30.00,30.00
$GC,2593.05,260,-77.86,-0.94,40.00,3145.8,3188.8,3102.7,3032.8,2580.1,398.09,-13.46,284,2598.27,0.00,0.00,1.99,0.000,0.000,0.076,3146.12,3188.56,3103.69,3027.19,3769.94,0,0,0,30.00,30.00,15.94
$GC,2818.00,1028,-77.86,-0.94,0.00,3143.1,3185.6,3100.6,3027.8,3770.8,426.01,-12.06,329,2823.34,0.00,0.00,2.00,0.000,0.000,0.026,3143.69,3186.00,3101.38,3028.19,2485.88,0,0,0,30.00,30.00,16.00
$GC,3133.17,260,-77.86,-0.94,40.00,3140.6,3183.1,3098.2,3027.8,2471.9,459.31,-10.41,342,3138.40,0.00,0.00,2.20,0.000,0.000,0.077,3140.31,3181.94,3098.69,3026.00,3771.00,0,0,0,30.00,30.00,15.92
$GC,3363.01,1028,-77.86,-0.94,0.00,3138.7,3180.8,3096.6,3025.8,3771.5,485.75,-12.06,388,3368.44,0.00,0.00,2.01,0.000,0.000,0.028,3139.91,3182.00,3097.81,3024.75,2485.31,0,0,0,30.00,30.00,15.99
$GC,3673.35,260,-77.86,-0.94,40.00,3135.8,3177.6,3094.0,3025.9,2472.1,522.17,-11.79,400,3678.49,0.00,0.00,2.20,0.000,0.000,0.078,3135.84,3178.94,3092.75,3023.75,3768.12,0,0,0,30.00,30.00,15.90
$GC,3748.06,1028,-77.86,-0.94,0.00,3134.7,3176.9,3092.4,3023.4,3768.8,531.26,-12.13,415,3753.48,0.00,0.00,2.01,0.000,0.000,0.029,3135.22,3178.25,3092.19,3022.19,2485.94,0,0,0,30.00,30.00,16.00
$GC,4063.32,0,-77.86,-0.94,0.00,3132.3,3174.4,3090.2,3023.2,2472.8,565.08,-10.81,428,4064.65,0.00,0.00,0.00,0.000,0.000,0.000,3132.53,3174.94,3090.12,3023.44,2472.81,0,0,0,30.00,30.00,30.00
$GC,4363.23,516,-77.86,-0.94,-40.00,3131.2,3172.8,3089.7,3022.9,2473.4,598.40,-10.90,438,4368.56,0.00,0.00,2.21,0.000,0.000,0.041,3131.91,3174.31,3089.50,3024.06,1095.06,0,0,0,30.00,30.00,15.99
$GC,4458.13,1028,-77.86,-0.94,0.00,3130.9,3172.1,3089.7,3023.4,1095.3,609.51,-11.74,457,4463.63,0.00,0.00,2.43,0.000,0.000,0.043,3131.22,3171.69,3090.75,3022.31,2579.00,0,0,0,30.00,30.00,15.95
$GC,4783.43,516,-77.86,-0.94,-40.00,3128.2,3169.4,3087.1,3022.7,2578.9,646.81,-11.39,472,4788.63,0.00,0.00,2.40,0.000,0.000,0.038,3128.75,3170.50,3087.00,3023.06,1096.69,0,0,0,30.00,30.00,15.99
$GC,4848.16,1028,-77.86,-0.94,0.00,3128.2,3168.9,3087.6,3022.8,1095.9,654.09,-11.11,485,4853.66,0.00,0.00,2.44,0.000,0.000,0.044,3130.22,3170.50,3089.94,3022.12,2577.75,0,0,0,30.00,30.00,15.96
$GC,5173.35,0,-77.86,-0.94,0.00,3125.8,3166.1,3085.6,3022.4,2577.6,689.84,-11.21,500,5174.69,0.00,0.00,0.00,0.000,0.000,0.000,3126.84,3166.62,3087.06,3023.12,2577.81,0,0,0,30.00,30.00,30.00
$GC,5473.53,0,-77.86,-0.94,0.00,3124.0,3163.8,3084.3,3023.1,2577.9,724.39,-11.65,510,5474.87,0.00,0.00,0.00,0.000,0.000,0.000,3124.91,3164.44,3085.38,3022.12,2577.88,0,0,0,30.00,30.00,30.00
$GC,5773.39,260,-77.86,-0.94,40.00,3122.8,3162.9,3082.8,3022.6,2577.6,760.15,-11.80,520,5778.65,0.00,0.00,2.04,0.000,0.000,0.084,3124.62,3164.44,3084.81,3018.00,3770.25,0,0,0,30.00,30.00,15.82
$GC,5908.27,1028,-77.86,-0.94,0.00,3121.6,3161.6,3081.7,3018.2,3769.8,776.76,-13.44,547,5913.70,0.00,0.00,2.04,0.000,0.000,0.031,3123.41,3164.12,3082.69,3018.62,2484.56,0,0,0,30.00,30.00,15.96
$GC,6223.43,516,-77.86,-0.94,-40.00,3120.3,3160.2,3080.4,3018.7,2473.4,814.96,-11.97,560,6228.75,0.00,0.00,2.22,0.000,0.000,0.042,3120.84,3161.06,3080.62,3018.38,1097.69,0,0,0,30.00,30.00,15.95
$GC,6348.34,1028,-77.86,-0.94,0.00,3119.7,3159.2,3080.1,3018.1,1097.8,829.80,-11.71,585,6353.84,0.00,0.00,2.44,0.000,0.000,0.045,3120.34,3160.50,3080.19,3016.56,2577.12,0,0,0,30.00,30.00,15.91
$GC,6673.59,260,-77.86,-0.94,40.00,3118.4,3157.5,3079.2,3017.5,2578.0,865.69,-10.83,600,6678.79,0.00,0.00,2.03,0.000,0.000,0.083,3119.62,3159.62,3079.62,3016.31,3767.75,0,0,0,30.00,30.00,15.78
$GC,6758.40,1028,-77.86,-0.94,0.00,3117.7,3156.7,3078.7,3015.7,3768.3,875.92,-12.00,617,6764.12,0.00,0.00,2.02,0.000,0.000,0.032,3117.69,3156.81,3078.56,3015.56,2493.69,0,0,0,30.00,30.00,15.93
$GC,7063.77,516,-77.86,-0.94,-40.00,3116.5,3155.4,3077.6,3015.4,2487.3,911.00,-11.39,628,7068.90,0.00,0.00,2.26,0.000,0.000,0.043,3116.78,3157.25,3076.31,3014.44,1099.00,0,0,0,30.00,30.00,15.92
$GC,7113.44,1028,-77.86,-0.94,0.00,3116.4,3155.3,3077.4,3015.0,1098.4,916.79,-11.78,638,7118.95,0.00,0.00,2.44,0.000,0.000,0.045,3117.00,3155.12,3078.88,3013.88,2577.25,0,0,0,30.00,30.00,15.89
$GC,7423.64,516,-77.86,-0.94,-40.00,3115.1,3154.1,3076.1,3014.8,2577.2,950.36,-10.84,650,7428.97,0.00,0.00,2.42,0.000,0.000,0.039,3117.44,3156.38,3078.50,3014.25,1098.38,0,0,0,30.00,30.00,15.92
$GC,7503.51,1028,-77.86,-0.94,0.00,3115.1,3153.8,3076.3,3014.5,1098.2,959.36,-11.26,666,7509.01,0.00,0.00,2.44,0.000,0.000,0.045,3116.22,3155.50,3076.94,3014.81,2575.88,0,0,0,30.00,30.00,15.88
$STATE,7814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7814,begin apogee
$GC,7815.78,3,0.00,-0.20,0.00,3114.3,3152.6,3076.0,3014.4,2022.2,992.23,-10.53,678,7878.51,60.08,0.93,0.19,2.264,0.246,0.117,2837.31,2862.12,2812.50,3272.62,2164.94,0,0,0,10.51,15.34,15.33
$STATE,7880,end apogee,CONTROL_FINISHED_OK
$STATE,7880,begin climb
$GC,7880.62,3,77.86,0.94,0.00,2838.0,2863.6,2812.4,3273.1,2165.3,994.16,0.00,680,7955.64,72.14,1.12,0.00,2.255,0.139,0.000,2521.19,2531.19,2511.19,3632.81,2166.06,0,0,0,12.09,15.41,30.00
$GC,8233.82,518,77.86,0.94,-40.00,2514.0,2530.9,2497.2,3632.6,2166.2,967.03,8.86,692,8239.20,0.00,0.00,2.56,0.000,0.000,0.052,2514.88,2531.88,2497.88,3643.12,656.38,0,0,0,30.00,30.00,15.71
$GC,8308.58,1030,77.86,0.94,0.00,2513.8,2530.9,2496.8,3643.4,656.2,960.47,9.14,707,8314.34,0.00,0.00,2.40,0.000,0.000,0.027,2514.16,2530.81,2497.50,3642.56,2146.62,0,0,0,30.00,30.00,15.70
$GC,8623.88,518,77.86,0.94,-40.00,2511.2,2530.6,2491.9,3642.8,2146.9,932.68,8.82,720,8629.10,0.00,0.00,2.49,0.000,0.000,0.051,2513.72,2532.50,2494.94,3653.06,657.75,0,0,0,30.00,30.00,15.82
$GC,8763.67,1030,77.86,0.94,0.00,2511.4,2530.8,2492.0,3652.2,657.8,919.16,9.87,748,8769.16,0.00,0.00,2.46,0.000,0.000,0.052,2512.19,2532.44,2491.94,3651.62,2120.12,0,0,0,30.00,30.00,15.80
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$STATE,19784,end climb,SURFACE_DEPTH_REACHED
$STATE,19784,begin surface coast
$FINISH,-0.1,1.022279
$STATE,19804,end surface coast,CONTROL_FINISHED_OK
$STATE,19804,begin surface
$SM_CCo,20022.05,196.18,0.759,0,400.2,415.8,384.8,598.47
$SM_CCo,20023.20,0.01,1.799,0,400.5,414.8,386.2,598.41
$SM_CCo,20024.35,0.00,2.598,0,401.5,420.9,382.1,598.16
$SM_GC,0.53,0.00,9.83,1.62,2.598,0.074,0.020,401.5,420.9,382.1,162.7,2450.9,0,0,0,30.36,15.71,15.37
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1413.38,14411.45,020120,231446
$TCM_TEMP,163.30
$XPDR_PINGS,2
$SC_FREEKB,3709696
$TM_FREEKB,2029568
$HUMID,53.38
$TEMP,22.60
$INTERNAL_PRESSURE,9.41578
$24V_AH,14.34,134.252
$10V_AH,14.90,0.000
$FG_AHR_24Vo,85.646
$FG_AHR_10Vo,45.852
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,622.350,26.005,184.510,282.664,0.500,13.782,4711.970,16030.084,1905.587,0.000,0.000,0.000
$DEVICE_MAMPS,2597.512,402.864,124.720,113.541,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19810.000,3794.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.661,19.924,0.000,0.000
$MEM,1099044,30,79960,61
$DATA_FILE_SIZE,60895,1881
$CAP_FILE_SIZE,363914,0
$SDSIZE,3918848,3771872
$SDFILEDIR,3188,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,330.6,1
$GPS,030120,045248,1417.443,14409.771,25,1.0,34,0.2