version: 67.00
glider: 180
mission: 2
dive: 417
start: 1 4 120 16 16 35
data:
$ID,180
$MISSION,2
$DIVE,417
$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,46.481384
$FG_AHR_24V,86.958008
$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
$GPS1,040120,160552,1413.061,14410.374,18,0.7,31,0.3
$_CALLS,1
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-71.4
$GPS2,040120,161620,1413.079,14410.383,2,0.5,5,0.3
$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,196.6,5743,-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,9.97,2,-77.86,-0.94,0.00,400.5,426.9,374.0,166.9,2444.8,0.00,0.00,0,123.19,106.64,0.00,0.00,0.005,0.000,0.000,3007.09,3041.94,2972.25,166.94,2444.88,0,0,0,15.19,30.00,30.00
$GC,123.49,519,-77.86,-0.94,-40.00,3006.4,3040.7,2972.1,166.9,2444.9,4.99,-7.81,11,150.75,2.76,14.40,2.16,0.012,0.406,0.034,3156.88,3198.44,3115.31,3033.56,1084.94,0,0,0,15.43,15.25,15.31
$GC,372.90,1028,-77.86,-0.94,0.00,3155.8,3196.8,3114.9,3033.5,1084.8,80.23,-27.58,61,378.96,0.00,0.00,2.44,0.000,0.000,0.046,3155.94,3197.56,3114.31,3033.50,2573.81,0,0,0,30.00,30.00,15.80
$GC,562.96,516,-77.86,-0.94,-40.00,3155.8,3196.9,3114.7,3032.3,2574.6,127.46,-21.21,81,568.97,0.00,0.00,2.38,0.000,0.000,0.032,3157.50,3198.31,3116.69,3032.88,1089.81,0,0,0,30.00,30.00,15.83
$GC,793.00,1028,-77.86,-0.94,0.00,3155.7,3196.9,3114.5,3033.6,1089.3,168.05,-13.73,127,799.05,0.00,0.00,2.42,0.000,0.000,0.040,3156.75,3197.38,3116.12,3032.56,2579.88,0,0,0,30.00,30.00,15.87
$GC,982.97,260,-77.86,-0.94,40.00,3155.7,3196.8,3114.6,3032.7,2578.9,192.20,-13.34,147,988.97,0.00,0.00,1.98,0.000,0.000,0.071,3156.28,3197.38,3115.19,3031.06,3773.75,0,0,0,30.00,30.00,15.85
$GC,1193.03,1028,-77.86,-0.94,0.00,3155.5,3196.5,3114.5,3031.1,3773.4,226.19,-15.25,189,1198.70,0.00,0.00,1.99,0.000,0.000,0.021,3156.12,3196.75,3115.50,3030.81,2480.94,0,0,0,30.00,30.00,15.94
$GC,1403.50,260,-77.86,-0.94,40.00,3155.4,3196.2,3114.6,3031.0,2466.6,254.51,-13.00,209,1408.33,0.00,0.00,2.17,0.000,0.000,0.069,3155.81,3197.00,3114.62,3031.81,3772.69,0,0,0,30.00,30.00,15.92
$GC,1487.93,1028,-77.86,-0.94,0.00,3155.2,3196.2,3114.3,3030.9,3772.0,264.89,-12.60,226,1493.55,0.00,0.00,1.99,0.000,0.000,0.022,3155.66,3196.94,3114.38,3031.19,2478.50,0,0,0,30.00,30.00,15.97
$GC,1793.07,516,-77.86,-0.94,-40.00,3152.9,3193.8,3112.1,3031.1,2468.9,302.60,-11.81,237,1798.37,0.00,0.00,2.17,0.000,0.000,0.034,3152.38,3193.00,3111.75,3030.69,1089.81,0,0,0,30.00,30.00,15.99
$GC,1993.04,1028,-77.86,-0.94,0.00,3151.1,3189.8,3112.3,3031.1,1089.6,326.70,-10.77,277,1998.49,0.00,0.00,2.41,0.000,0.000,0.040,3150.91,3188.88,3112.94,3030.75,2578.44,0,0,0,30.00,30.00,16.00
$GC,2303.18,260,-77.86,-0.94,40.00,3148.5,3189.3,3107.6,3030.9,2579.2,360.09,-11.29,289,2308.41,0.00,0.00,1.99,0.000,0.000,0.074,3149.19,3189.31,3109.06,3030.94,3772.50,0,0,0,30.00,30.00,15.94
$GC,2453.40,1028,-77.86,-0.94,0.00,3147.2,3188.1,3106.3,3029.2,3772.9,378.17,-11.51,319,2458.45,0.00,0.00,2.00,0.000,0.000,0.024,3147.03,3187.75,3106.31,3028.69,2483.75,0,0,0,30.00,30.00,16.00
$GC,2783.24,516,-77.86,-0.94,-40.00,3143.7,3183.4,3104.1,3029.6,2470.0,415.60,-11.21,335,2788.52,0.00,0.00,2.18,0.000,0.000,0.037,3145.03,3184.50,3105.56,3028.19,1094.44,0,0,0,30.00,30.00,16.01
$GC,2978.14,1028,-77.86,-0.94,0.00,3141.9,3180.6,3103.2,3029.4,1093.8,437.08,-11.20,374,2983.63,0.00,0.00,2.41,0.000,0.000,0.040,3142.59,3182.25,3102.94,3029.38,2579.06,0,0,0,30.00,30.00,16.01
$GC,3293.36,260,-77.86,-0.94,40.00,3139.1,3178.9,3099.2,3029.1,2578.2,476.96,-13.17,387,3298.56,0.00,0.00,2.00,0.000,0.000,0.076,3138.53,3178.19,3098.88,3022.50,3770.56,0,0,0,30.00,30.00,15.92
$GC,3523.22,1028,-77.86,-0.94,0.00,3136.6,3176.4,3096.8,3023.1,3769.7,507.72,-12.71,433,3528.65,0.00,0.00,2.01,0.000,0.000,0.028,3136.84,3175.50,3098.19,3022.50,2487.38,0,0,0,30.00,30.00,15.96
$GC,3833.42,260,-77.86,-0.94,40.00,3134.8,3173.9,3095.8,3022.2,2474.4,541.79,-10.37,445,3838.71,0.00,0.00,2.20,0.000,0.000,0.077,3134.78,3173.88,3095.69,3020.88,3767.56,0,0,0,30.00,30.00,15.89
$GC,3898.26,1028,-77.86,-0.94,0.00,3133.9,3173.4,3094.4,3020.4,3768.9,548.49,-9.99,458,3903.70,0.00,0.00,2.02,0.000,0.000,0.028,3135.41,3174.50,3096.31,3018.38,2486.81,0,0,0,30.00,30.00,15.99
$GC,4223.50,516,-77.86,-0.94,-40.00,3131.1,3171.3,3090.9,3020.1,2473.2,583.29,-11.05,473,4228.74,0.00,0.00,2.22,0.000,0.000,0.041,3132.16,3172.75,3091.56,3021.19,1096.50,0,0,0,30.00,30.00,15.99
$GC,4298.33,1028,-77.86,-0.94,0.00,3130.7,3170.8,3090.5,3019.9,1096.6,592.27,-11.95,488,4303.81,0.00,0.00,2.43,0.000,0.000,0.042,3131.31,3171.25,3091.38,3019.88,2577.75,0,0,0,30.00,30.00,15.97
$GC,4613.66,260,-77.86,-0.94,40.00,3129.4,3169.1,3089.7,3020.1,2578.9,628.40,-11.17,501,4618.76,0.00,0.00,2.02,0.000,0.000,0.080,3129.88,3170.25,3089.50,3018.94,3769.94,0,0,0,30.00,30.00,15.83
$GC,4663.35,1028,-77.86,-0.94,0.00,3128.9,3168.4,3089.5,3018.5,3769.9,634.18,-11.72,511,4668.86,0.00,0.00,2.03,0.000,0.000,0.029,3130.00,3169.19,3090.81,3017.81,2487.44,0,0,0,30.00,30.00,15.96
$GC,4973.51,260,-77.86,-0.94,40.00,3127.1,3165.7,3088.4,3018.6,2476.1,668.93,-11.12,523,4978.84,0.00,0.00,2.22,0.000,0.000,0.080,3127.88,3166.56,3089.19,3015.81,3771.56,0,0,0,30.00,30.00,15.84
$GC,5203.49,1028,-77.86,-0.94,0.00,3125.4,3164.2,3086.6,3016.9,3769.4,695.42,-11.02,569,5208.90,0.00,0.00,2.03,0.000,0.000,0.030,3126.56,3164.94,3088.19,3017.06,2490.12,0,0,0,30.00,30.00,15.94
$GC,5513.66,0,-77.86,-0.94,0.00,3123.8,3162.6,3085.1,3017.0,2477.8,727.59,-10.04,581,5514.99,0.00,0.00,0.00,0.000,0.000,0.000,3124.22,3163.56,3084.88,3016.62,2477.56,0,0,0,30.00,30.00,30.00
$GC,5813.74,516,-77.86,-0.94,-40.00,3122.9,3161.8,3084.1,3016.7,2477.4,756.89,-9.65,591,5818.99,0.00,0.00,2.23,0.000,0.000,0.042,3124.06,3163.00,3085.12,3015.94,1098.44,0,0,0,30.00,30.00,15.95
$GC,5888.57,1028,-77.86,-0.94,0.00,3122.2,3160.4,3084.0,3016.5,1098.3,764.19,-10.63,606,5894.06,0.00,0.00,2.43,0.000,0.000,0.044,3122.72,3161.44,3084.00,3017.88,2576.38,0,0,0,30.00,30.00,15.92
$GC,6203.66,260,-77.86,-0.94,40.00,3120.9,3159.2,3082.6,3015.8,2577.0,795.58,-10.02,619,6209.01,0.00,0.00,2.04,0.000,0.000,0.081,3122.03,3160.94,3083.12,3010.88,3770.62,0,0,0,30.00,30.00,15.80
$GC,6253.60,1028,-77.86,-0.94,0.00,3120.1,3158.8,3081.5,3011.5,3771.4,801.05,-10.92,629,6259.03,0.00,0.00,2.05,0.000,0.000,0.031,3120.69,3159.94,3081.44,3012.06,2490.62,0,0,0,30.00,30.00,15.95
$GC,6563.94,0,-77.86,-0.94,0.00,3118.8,3156.9,3080.7,3011.1,2477.4,833.47,-10.20,641,6565.27,0.00,0.00,0.00,0.000,0.000,0.000,3119.31,3157.62,3081.00,3010.81,2477.69,0,0,0,30.00,30.00,30.00
$GC,6863.80,516,-77.86,-0.94,-40.00,3118.0,3155.7,3080.4,3011.4,2477.2,864.76,-10.50,651,6869.11,0.00,0.00,2.24,0.000,0.000,0.043,3118.53,3156.69,3080.38,3012.19,1099.69,0,0,0,30.00,30.00,15.92
$GC,6913.68,1028,-77.86,-0.94,0.00,3117.7,3155.3,3080.1,3010.8,1099.2,870.24,-10.90,661,6919.17,0.00,0.00,2.44,0.000,0.000,0.044,3117.62,3155.25,3080.00,3011.38,2577.25,0,0,0,30.00,30.00,15.88
$GC,7223.86,260,-77.86,-0.94,40.00,3116.5,3154.2,3078.8,3011.1,2577.4,902.98,-10.10,673,7229.11,0.00,0.00,2.04,0.000,0.000,0.080,3117.91,3156.19,3079.62,3002.75,3768.75,0,0,0,30.00,30.00,15.77
$GC,7343.93,1028,-77.86,-0.94,0.00,3116.0,3153.9,3078.1,3003.5,3769.2,915.46,-11.94,697,7349.15,0.00,0.00,2.05,0.000,0.000,0.032,3116.28,3154.00,3078.56,3002.94,2493.88,0,0,0,30.00,30.00,15.93
$GC,7674.02,0,-77.86,-0.94,0.00,3115.1,3153.0,3077.2,3003.2,2481.4,947.69,-9.70,713,7675.35,0.00,0.00,0.00,0.000,0.000,0.000,3115.72,3153.94,3077.50,3003.62,2481.12,0,0,0,30.00,30.00,30.00
$GC,7974.13,260,-77.86,-0.94,40.00,3113.8,3150.9,3076.6,3003.1,2480.8,976.88,-10.03,723,7979.23,0.00,0.00,2.24,0.000,0.000,0.084,3116.25,3152.56,3079.94,2999.69,3766.38,0,0,0,30.00,30.00,15.65
$GC,8083.81,1029,-77.86,-0.94,0.00,3113.2,3149.8,3076.6,2999.2,3766.7,988.43,-10.34,745,8089.29,0.00,0.14,2.04,0.000,0.262,0.033,3113.91,3150.44,3077.38,3035.69,2487.56,0,0,0,30.00,15.40,15.94
$STATE,8124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8124,begin apogee
$GC,8125.69,3,0.00,-0.20,0.00,3113.5,3150.4,3076.7,3035.8,2016.1,992.06,-8.86,748,8187.73,60.12,0.85,0.19,2.237,0.240,0.113,2838.78,2862.12,2815.44,3272.62,2160.00,0,0,0,10.56,15.33,15.32
$STATE,8190,end apogee,CONTROL_FINISHED_OK
$STATE,8190,begin climb
$GC,8189.89,3,77.86,0.94,0.00,2838.9,2862.8,2815.1,3272.6,2163.2,993.13,0.00,750,8264.89,72.54,1.12,0.00,2.245,0.141,0.000,2519.47,2528.81,2510.12,3631.25,2164.25,0,0,0,11.91,15.38,30.00
$GC,8544.06,2,77.86,0.94,0.00,2513.8,2530.4,2497.1,3631.4,2163.8,963.25,9.57,762,8545.39,0.00,0.00,0.00,0.000,0.000,0.000,2514.25,2531.00,2497.50,3631.62,2163.88,0,0,0,30.00,30.00,30.00
$GC,8843.97,262,77.86,0.94,40.00,2512.3,2530.6,2493.9,3631.5,2164.3,936.23,8.90,772,8849.33,0.00,0.00,2.31,0.000,0.000,0.064,2513.00,2531.88,2494.12,3630.69,3540.38,0,0,0,30.00,30.00,15.78
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$STATE,19992,end climb,SURFACE_DEPTH_REACHED
$STATE,19992,begin surface coast
$FINISH,-0.4,1.022200
$STATE,20022,end surface coast,CONTROL_FINISHED_OK
$STATE,20022,begin surface
$SM_CCo,20221.90,181.23,0.750,0,401.0,416.2,385.7,598.29
$SM_CCo,20223.12,0.00,2.591,0,400.2,416.3,384.1,598.48
$SM_CCo,20224.24,0.00,0.013,0,400.0,417.6,382.4,598.53
$SM_GC,0.72,0.00,9.73,0.86,0.013,0.064,0.033,400.0,417.6,382.4,169.6,2594.1,0,0,0,30.36,15.73,15.90
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1415.49,14411.45,040120,101358
$TCM_TEMP,163.27
$XPDR_PINGS,5
$SC_FREEKB,3707008
$TM_FREEKB,1944736
$HUMID,53.31
$TEMP,22.72
$INTERNAL_PRESSURE,9.42658
$24V_AH,14.33,136.524
$10V_AH,14.91,0.000
$FG_AHR_24Vo,87.148
$FG_AHR_10Vo,46.584
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,630.800,26.235,177.750,375.042,1.250,14.921,4743.250,16052.633,1875.093,0.000,0.000,0.000
$DEVICE_MAMPS,2591.280,406.472,129.640,209.036,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20027.000,3872.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.641,19.917,0.000,0.000
$MEM,1099056,29,79968,61
$DATA_FILE_SIZE,57634,1846
$CAP_FILE_SIZE,359327,0
$SDSIZE,3918848,3770016
$SDFILEDIR,3226,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047, 39.3,1
$GPS,040120,215431,1412.098,14410.120,33,0.9,34,0.3