version: 67.00
glider: 180
mission: 2
dive: 439
start: 1 10 120 1 27 42
data:
$ID,180
$MISSION,2
$DIVE,439
$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,0.0019952599
$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,48.772221
$FG_AHR_24V,91.608299
$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
$GPS1,100120,011626,1400.518,14417.354,13,1.1,30,0.4
$_CALLS,1
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-69.9
$GPS2,100120,012726,1400.583,14417.288,3,0.9,7,0.4
$SPEED_LIMITS,0.085,0.155
$TGT_NAME,HOLDN
$TGT_LATLONG,1345.000,14430.000
$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,139.0,36822,-21.9,-8.462,-28.56
$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,10.05,2,-77.86,-0.97,0.00,398.5,425.6,371.4,173.5,2428.3,0.00,0.00,0,112.66,96.03,0.00,0.00,0.005,0.000,0.000,2721.91,2752.81,2691.00,173.62,2426.56,0,0,0,15.13,30.00,30.00
$GC,112.95,551,-77.86,-0.97,-40.00,2721.6,2751.7,2691.4,173.2,2426.5,3.37,-3.00,10,145.58,9.46,14.21,2.13,0.007,0.403,0.035,3156.47,3205.25,3107.69,3022.38,1089.69,0,0,0,15.41,15.25,15.29
$GC,282.62,1028,-77.86,-0.97,0.00,3155.2,3203.4,3106.9,3023.2,1089.4,54.71,-30.54,44,288.76,0.00,0.00,2.43,0.000,0.000,0.043,3155.56,3204.06,3107.06,3022.69,2576.62,0,0,0,30.00,30.00,15.82
$GC,472.73,260,-77.86,-0.97,40.00,3154.7,3203.0,3106.4,3023.6,2577.8,113.44,-30.99,64,478.69,0.00,0.00,2.01,0.000,0.000,0.074,3156.56,3204.88,3108.25,3022.44,3772.00,0,0,0,30.00,30.00,15.80
$GC,497.50,1028,-77.86,-0.97,0.00,3154.8,3202.6,3106.9,3023.9,3772.4,120.59,-28.69,69,503.83,0.00,0.00,2.00,0.000,0.000,0.022,3156.25,3205.06,3107.44,3022.25,2491.31,0,0,0,30.00,30.00,15.84
$GC,682.82,516,-77.86,-0.97,-40.00,3154.8,3202.9,3106.8,3022.9,2477.4,164.25,-22.59,88,688.74,0.00,0.00,2.18,0.000,0.000,0.029,3155.28,3202.75,3107.81,3023.12,1088.75,0,0,0,30.00,30.00,15.87
$GC,757.57,1028,-77.86,-0.97,0.00,3154.5,3202.1,3107.0,3023.3,1088.0,176.55,-15.19,103,763.97,0.00,0.00,2.42,0.000,0.000,0.038,3155.34,3202.62,3108.06,3023.00,2581.75,0,0,0,30.00,30.00,15.89
$GC,943.88,260,-77.86,-0.97,40.00,3154.5,3202.1,3107.0,3022.8,2581.6,200.80,-12.47,122,948.00,0.00,0.00,1.97,0.000,0.000,0.070,3154.44,3202.62,3106.25,3023.94,3774.94,0,0,0,30.00,30.00,15.89
$GC,1173.01,1028,-77.86,-0.97,0.00,3154.4,3202.1,3106.6,3023.0,3773.6,239.31,-16.31,168,1178.09,0.00,0.00,2.00,0.000,0.000,0.021,3156.06,3203.44,3108.69,3023.31,2475.56,0,0,0,30.00,30.00,15.96
$GC,1372.88,260,-77.86,-0.97,40.00,3153.9,3201.1,3106.7,3023.1,2460.5,266.05,-12.76,181,1378.16,0.00,0.00,2.19,0.000,0.000,0.069,3155.16,3201.94,3108.38,3022.19,3774.25,0,0,0,30.00,30.00,15.94
$GC,1482.76,1028,-77.86,-0.97,0.00,3153.2,3199.7,3106.7,3023.2,3773.4,279.49,-11.80,203,1488.17,0.00,0.00,1.99,0.000,0.000,0.022,3153.03,3199.25,3106.81,3022.62,2476.12,0,0,0,30.00,30.00,15.99
$GC,1793.00,0,-77.86,-0.97,0.00,3151.4,3196.4,3106.4,3022.7,2461.9,316.74,-12.16,215,1794.33,0.00,0.00,0.00,0.000,0.000,0.000,3152.12,3196.50,3107.75,3022.88,2462.12,0,0,0,30.00,30.00,30.00
$GC,2092.96,516,-77.86,-0.97,-40.00,3149.4,3192.5,3106.3,3022.8,2462.4,353.24,-12.83,225,2098.24,0.00,0.00,2.15,0.000,0.000,0.034,3150.34,3193.50,3107.19,3023.25,1090.75,0,0,0,30.00,30.00,16.02
$GC,2267.89,1028,-77.86,-0.97,0.00,3147.7,3189.3,3106.0,3022.3,1090.9,375.53,-12.64,260,2273.55,0.00,0.00,2.40,0.000,0.000,0.039,3147.81,3189.31,3106.31,3023.00,2582.00,0,0,0,30.00,30.00,16.03
$GC,2573.17,260,-77.86,-0.97,40.00,3144.8,3187.9,3101.6,3022.5,2582.0,407.56,-10.20,271,2578.30,0.00,0.00,1.98,0.000,0.000,0.075,3144.91,3188.44,3101.38,3022.69,3770.06,0,0,0,30.00,30.00,15.95
$GC,2802.96,1028,-77.86,-0.97,0.00,3142.3,3184.8,3099.8,3022.4,3769.9,434.90,-11.75,317,2808.39,0.00,0.00,2.01,0.000,0.000,0.025,3143.66,3187.00,3100.31,3022.38,2480.50,0,0,0,30.00,30.00,16.01
$GC,3113.16,260,-77.86,-0.97,40.00,3139.5,3182.7,3096.4,3022.2,2466.1,470.52,-11.69,329,3118.45,0.00,0.00,2.20,0.000,0.000,0.075,3140.69,3183.00,3098.38,3023.06,3771.12,0,0,0,30.00,30.00,15.90
$GC,3203.24,1028,-77.86,-0.97,0.00,3139.2,3181.9,3096.5,3022.6,3771.2,481.42,-12.03,347,3208.44,0.00,0.00,2.01,0.000,0.000,0.025,3139.53,3181.62,3097.44,3023.19,2480.31,0,0,0,30.00,30.00,16.00
$GC,3533.14,260,-77.86,-0.97,40.00,3135.2,3177.7,3092.7,3022.2,2465.9,520.91,-11.90,363,3538.49,0.00,0.00,2.21,0.000,0.000,0.076,3136.22,3179.19,3093.25,3021.12,3769.94,0,0,0,30.00,30.00,15.91
$GC,3648.06,1028,-77.86,-0.97,0.00,3133.8,3176.9,3090.8,3021.6,3770.1,535.18,-12.37,386,3653.84,0.00,0.00,2.01,0.000,0.000,0.026,3135.00,3178.50,3091.50,3022.00,2477.88,0,0,0,30.00,30.00,16.00
$GC,3953.31,260,-77.86,-0.97,40.00,3132.2,3174.4,3090.0,3022.4,2467.4,572.23,-12.26,397,3958.54,0.00,0.00,2.22,0.000,0.000,0.078,3133.81,3176.25,3091.38,3021.31,3771.25,0,0,0,30.00,30.00,15.89
$GC,4183.13,1028,-77.86,-0.97,0.00,3131.0,3172.5,3089.4,3020.4,3771.8,600.37,-11.57,443,4188.56,0.00,0.00,2.03,0.000,0.000,0.029,3131.25,3174.31,3088.19,3019.75,2474.00,0,0,0,30.00,30.00,15.99
$GC,4493.56,260,-77.86,-0.97,40.00,3129.2,3170.9,3087.4,3020.6,2461.4,634.48,-11.04,455,4498.61,0.00,0.00,2.24,0.000,0.000,0.080,3129.91,3171.69,3088.12,3019.81,3767.50,0,0,0,30.00,30.00,15.84
$GC,4568.18,1028,-77.86,-0.97,0.00,3128.0,3169.5,3086.4,3020.2,3768.4,643.52,-12.07,470,4573.61,0.00,0.00,2.03,0.000,0.000,0.028,3129.91,3170.88,3088.94,3020.94,2480.06,0,0,0,30.00,30.00,15.99
$GC,4883.36,0,-77.86,-0.97,0.00,3126.3,3167.6,3084.9,3019.6,2467.0,679.35,-11.52,483,4884.70,0.00,0.00,0.00,0.000,0.000,0.000,3126.59,3168.12,3085.06,3019.62,2467.38,0,0,0,30.00,30.00,30.00
$GC,5183.52,260,-77.86,-0.97,40.00,3124.3,3164.5,3084.1,3019.7,2467.2,714.10,-11.62,493,5188.67,0.00,0.00,2.23,0.000,0.000,0.080,3126.28,3167.38,3085.19,3015.69,3768.31,0,0,0,30.00,30.00,15.85
$GC,5333.45,1028,-77.86,-0.97,0.00,3123.0,3163.2,3082.8,3016.4,3768.6,732.17,-12.36,523,5338.68,0.00,0.00,2.03,0.000,0.000,0.030,3124.72,3165.75,3083.69,3016.88,2481.50,0,0,0,30.00,30.00,15.97
$GC,5663.64,0,-77.86,-0.97,0.00,3121.6,3162.2,3080.9,3015.9,2468.8,765.90,-9.83,539,5664.97,0.00,0.00,0.00,0.000,0.000,0.000,3122.09,3162.75,3081.44,3016.25,2469.06,0,0,0,30.00,30.00,30.00
$GC,5963.54,0,-77.86,-0.97,0.00,3119.8,3160.0,3079.5,3016.0,2469.0,793.18,-8.99,549,5964.87,0.00,0.00,0.00,0.000,0.000,0.000,3121.03,3162.25,3079.81,3015.75,2468.69,0,0,0,30.00,30.00,30.00
$GC,6263.52,0,-77.86,-0.97,0.00,3118.9,3159.2,3078.6,3016.4,2468.3,821.01,-9.46,559,6264.86,0.00,0.00,0.00,0.000,0.000,0.000,3119.28,3159.62,3078.94,3015.81,2469.06,0,0,0,30.00,30.00,30.00
$GC,6563.68,516,-77.86,-0.97,-40.00,3117.2,3157.1,3077.2,3016.1,2468.9,850.30,-9.93,569,6568.79,0.00,0.00,2.23,0.000,0.000,0.044,3116.88,3157.88,3075.88,3016.12,1096.81,0,0,0,30.00,30.00,15.93
$GC,6658.37,1028,-77.86,-0.97,0.00,3116.8,3156.6,3077.0,3016.3,1096.4,860.56,-11.25,588,6663.86,0.00,0.00,2.45,0.000,0.000,0.045,3118.09,3158.12,3078.06,3015.06,2577.62,0,0,0,30.00,30.00,15.89
$GC,6983.52,0,-77.86,-0.97,0.00,3115.3,3154.9,3075.8,3016.3,2577.3,895.43,-10.78,603,6984.85,0.00,0.00,0.00,0.000,0.000,0.000,3116.47,3156.38,3076.56,3013.94,2577.44,0,0,0,30.00,30.00,30.00
$GC,7283.58,0,-77.86,-0.97,0.00,3114.9,3153.9,3075.8,3015.8,2577.1,928.52,-11.05,613,7284.91,0.00,0.00,0.00,0.000,0.000,0.000,3115.56,3155.00,3076.12,3013.38,2576.75,0,0,0,30.00,30.00,30.00
$GC,7583.64,516,-77.86,-0.97,-40.00,3114.1,3152.8,3075.4,3015.8,2577.5,959.83,-10.12,623,7588.91,0.00,0.00,2.42,0.000,0.000,0.041,3115.12,3154.06,3076.19,3016.00,1099.50,0,0,0,30.00,30.00,15.89
$GC,7653.43,1028,-77.86,-0.97,0.00,3113.8,3152.4,3075.2,3015.7,1099.3,967.48,-10.38,637,7658.93,0.00,0.00,2.45,0.000,0.000,0.045,3115.34,3153.81,3076.88,3014.56,2577.69,0,0,0,30.00,30.00,15.88
$STATE,7883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7883,begin apogee
$GC,7885.57,3,0.00,-0.20,0.00,3113.5,3151.9,3075.1,3015.6,2036.1,990.24,-9.93,648,7948.15,60.47,0.93,0.17,2.224,0.246,0.125,2839.28,2864.38,2814.19,3272.44,2156.88,0,0,0,10.47,15.34,15.30
$STATE,7950,end apogee,CONTROL_FINISHED_OK
$STATE,7950,begin climb
$GC,7950.38,3,77.86,0.97,0.00,2838.1,2863.9,2812.3,3271.9,2156.3,991.85,0.00,650,8025.72,72.42,1.12,0.00,2.208,0.137,0.000,2520.69,2530.69,2510.69,3632.19,2158.00,0,0,0,11.95,15.39,30.00
$GC,8303.59,518,77.86,0.97,-40.00,2513.7,2530.4,2497.1,3632.4,2157.2,963.27,9.50,662,8309.33,0.00,0.00,2.55,0.000,0.000,0.053,2514.16,2531.06,2497.25,3642.00,656.06,0,0,0,30.00,30.00,15.72
$GC,8533.53,1030,77.86,0.97,0.00,2513.4,2530.2,2496.6,3642.1,656.2,941.04,10.28,708,8539.04,0.00,0.00,2.41,0.000,0.000,0.028,2512.75,2530.31,2495.19,3642.81,2144.38,0,0,0,30.00,30.00,15.77
$GC,8843.79,2,77.86,0.97,0.00,2510.6,2530.3,2490.9,3641.8,2145.2,909.93,10.10,720,8845.13,0.00,0.00,0.00,0.000,0.000,0.000,2509.53,2529.06,2490.00,3641.88,2145.38,0,0,0,30.00,30.00,30.00
$GC,9143.88,2,77.86,0.97,0.00,2509.6,2530.8,2488.5,3642.5,2144.9,878.11,10.71,730,9145.21,0.00,0.00,0.00,0.000,0.000,0.000,2508.12,2529.06,2487.19,3643.00,2145.06,0,0,0,30.00,30.00,30.00
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$STATE,20178,end climb,SURFACE_DEPTH_REACHED
$STATE,20178,begin surface coast
$FINISH,-0.3,1.022010
$STATE,20207,end surface coast,CONTROL_FINISHED_OK
$STATE,20207,begin surface
$SM_CCo,20407.40,179.40,0.751,0,399.6,416.7,382.5,598.63
$SM_GC,0.53,179.40,9.66,0.63,0.751,0.057,0.052,399.6,416.7,382.5,169.8,2598.8,0,0,0,11.48,15.68,15.89
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1359.90,14414.04,090120,192330
$TCM_TEMP,163.44
$XPDR_PINGS,8
$SC_FREEKB,3698560
$TM_FREEKB,1677184
$HUMID,53.54
$TEMP,22.65
$INTERNAL_PRESSURE,9.41826
$24V_AH,14.36,143.584
$10V_AH,14.91,0.000
$FG_AHR_24Vo,91.796
$FG_AHR_10Vo,48.874
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,627.140,25.925,171.275,397.063,2.000,15.442,4799.018,16211.912,1891.229,0.000,0.000,0.000
$DEVICE_MAMPS,2223.592,403.192,131.608,201.889,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20214.000,3790.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.327,19.921,0.000,0.000
$MEM,1098892,30,80052,64
$DATA_FILE_SIZE,57648,1864
$CAP_FILE_SIZE,354696,0
$SDSIZE,3918848,3763040
$SDFILEDIR,3380,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,293.2,1
$GPS,100120,070831,1359.510,14417.640,25,0.9,26,0.4