version: 67.00
glider: 181
mission: 19
dive: 6
start: 7 11 119 9 48 26
data:
$ID,181
$MISSION,19
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$D_NO_BLEED,200
$D_BOOST,2
$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,100
$T_MISSION,130
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54159
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.4475299e-05
$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,619.93036
$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,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,360
$PITCH_MAX,3941
$C_PITCH,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3900
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$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,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,0.7271561
$FG_AHR_24V,3.1987202
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.23283
$PRESSURE_SLOPE,0.000109637
$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,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-1.65
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,1
$LOGGERDEVICE2,38
$LOGGERDEVICE3,23
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,34
$COMPASS2_DEVICE,49
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043108878
$SEABIRD_T_H,0.00063072296
$SEABIRD_T_I,2.4115308e-05
$SEABIRD_T_J,2.5979039e-06
$SEABIRD_C_G,-9.7531929
$SEABIRD_C_H,1.1283317
$SEABIRD_C_I,-0.0020527283
$SEABIRD_C_J,0.00023027747
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,110719,093810,1644.309,8752.823,2,0.9,18,-0.6
$_CALLS,3
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-62.4
$GPS2,110719,094811,1644.350,8753.037,2,0.9,4,-0.6
$SPEED_LIMITS,0.173,0.314
$TGT_NAME,BUOY
$TGT_LATLONG,1636.000,8812.000
$TGT_RADIUS,10000.000
$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,123.7,37038,-13.3,-10.000,-17.65
$D_GRID,300
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,16.72,2,-243.31,-0.62,0.00,341.8,386.1,297.6,310.6,2635.6,0.00,0.00,0,112.08,91.77,0.00,0.00,0.005,0.000,0.000,2502.41,2563.75,2441.06,309.88,2637.62,0,0,0,15.35,30.00,30.00
$GC,112.33,295,-243.31,-0.62,40.00,2502.9,2559.6,2446.2,309.6,2637.6,3.13,-2.60,9,156.29,26.72,9.27,2.01,0.006,0.364,0.083,3690.88,3777.88,3603.88,2273.38,3806.31,0,0,0,15.32,15.17,15.68
$GC,378.01,1157,-243.31,-0.49,0.00,3689.5,3774.7,3604.4,2272.9,3806.7,75.02,-21.64,62,386.23,0.00,0.19,1.97,0.000,0.214,0.028,3689.56,3773.94,3605.19,2324.50,2529.50,0,0,0,30.00,15.83,15.88
$GC,564.19,548,-243.31,-0.49,-40.00,3689.6,3774.1,3605.2,2324.4,2528.6,95.68,-9.73,81,571.04,0.00,0.00,2.15,0.000,0.000,0.024,3689.34,3773.06,3605.62,2325.06,1119.56,0,0,0,30.00,30.00,15.93
$GC,639.15,1188,-243.31,-0.55,0.00,3688.6,3772.6,3604.6,2323.6,1116.4,101.68,-7.88,96,646.22,0.00,0.00,2.54,0.000,0.000,0.065,3689.91,3773.75,3606.06,2317.31,2622.81,0,0,0,30.00,30.00,15.92
$GC,824.27,676,-243.31,-0.57,-40.00,3688.5,3772.9,3604.1,2318.1,2623.5,116.48,-8.52,115,831.15,0.00,0.00,2.34,0.000,0.000,0.028,3689.34,3774.31,3604.38,2316.88,1126.69,0,0,0,30.00,30.00,15.40
$GC,933.20,1189,-243.31,-0.63,0.00,3688.6,3771.9,3605.3,2317.9,1124.4,124.85,-7.40,137,941.47,0.00,0.10,2.54,0.000,0.089,0.068,3688.88,3772.50,3605.25,2220.56,2620.81,0,0,0,30.00,15.93,15.93
$GC,1119.45,389,-243.31,-0.57,40.00,3687.8,3771.9,3603.6,2220.8,2621.4,148.53,-12.98,156,1126.71,0.00,0.28,2.05,0.000,0.182,0.090,3688.12,3770.50,3605.75,2294.19,3807.00,0,0,0,30.00,15.88,15.90
$GC,1348.42,1060,-243.31,-0.57,0.00,3686.7,3769.2,3604.1,2295.2,3806.3,169.52,-8.61,202,1356.55,0.00,0.00,2.00,0.000,0.000,0.037,3686.97,3769.81,3604.12,2295.31,2532.88,0,0,0,30.00,30.00,15.94
$GC,1534.62,676,-243.31,-0.61,-40.00,3686.2,3768.8,3603.7,2294.4,2532.6,182.19,-6.23,221,1541.42,0.00,0.00,2.16,0.000,0.000,0.026,3687.19,3769.12,3605.25,2294.06,1121.25,0,0,0,30.00,30.00,16.01
$GC,1613.48,1188,-243.31,-0.67,0.00,3686.3,3768.9,3603.8,2295.7,1119.2,187.30,-6.51,237,1621.86,0.00,0.00,2.55,0.000,0.000,0.069,3686.91,3769.12,3604.69,2289.12,2620.56,0,0,0,30.00,30.00,15.95
$GC,1799.64,421,-243.31,-0.71,40.00,3685.1,3766.2,3604.0,2288.8,2620.5,199.38,-6.47,256,1806.56,0.00,0.12,2.06,0.000,0.087,0.095,3686.03,3767.25,3604.81,2199.12,3804.44,0,0,0,30.00,15.98,15.95
$GC,2028.54,1157,-243.31,-0.63,0.00,3684.8,3764.9,3604.8,2199.7,3804.7,229.81,-13.84,302,2051.61,0.00,0.27,1.98,0.000,0.179,0.037,3684.50,3764.12,3604.88,2280.44,2527.75,0,0,0,30.00,15.92,15.48
$GC,2224.36,676,-243.31,-0.67,-40.00,3684.0,3762.9,3605.1,2279.9,2528.6,244.62,-6.90,321,2247.39,0.00,0.00,2.15,0.000,0.000,0.028,3681.44,3760.38,3602.50,2280.81,1127.12,0,0,0,30.00,30.00,16.03
$GC,2319.09,1189,-243.31,-0.74,0.00,3682.2,3760.0,3604.4,2280.8,1125.5,251.43,-7.15,337,2342.26,0.00,0.11,2.55,0.000,0.084,0.074,3683.09,3761.50,3604.69,2199.06,2623.81,0,0,0,30.00,16.03,16.04
$GC,2645.04,645,-243.31,-0.71,-40.00,3680.5,3758.9,3602.1,2199.4,2624.2,285.44,-10.88,354,2668.30,0.00,0.19,2.34,0.000,0.188,0.033,3679.22,3757.81,3600.62,2256.12,1128.50,0,0,0,30.00,16.01,16.03
$GC,2719.98,1188,-243.31,-0.76,0.00,3680.2,3757.6,3602.9,2256.5,1125.8,291.61,-7.58,366,2743.11,0.00,0.00,2.54,0.000,0.000,0.074,3681.16,3760.19,3602.12,2247.31,2619.94,0,0,0,30.00,30.00,16.07
$STATE,2846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2846,begin apogee
$GC,2846.98,3,0.00,-0.14,0.00,3678.7,3757.4,3600.0,2250.1,2547.7,301.28,-7.73,373,3035.33,177.55,0.59,0.13,1.100,0.144,0.150,2697.22,2773.31,2621.12,2439.25,2628.81,0,0,0,12.23,16.03,15.40
$STATE,3036,end apogee,CONTROL_FINISHED_OK
$STATE,3036,begin climb
$GC,3036.34,519,243.31,0.62,-40.00,2695.8,2772.1,2619.5,2439.6,2627.6,308.21,0.00,382,3239.09,179.82,0.68,2.47,1.064,0.035,0.037,1703.72,1780.69,1626.75,2736.31,1144.56,0,0,0,12.36,15.60,15.36
$GC,3365.81,1157,243.31,0.54,0.00,1701.3,1776.9,1625.8,2736.2,1144.1,259.71,17.58,437,3389.17,0.00,0.31,2.62,0.000,0.191,0.083,1701.09,1776.88,1625.31,2644.62,2616.50,0,0,0,30.00,15.71,15.78
$GC,3673.60,390,243.31,0.49,40.00,1698.2,1776.2,1620.2,2645.9,2617.2,216.44,13.62,465,3696.76,0.00,0.00,2.12,0.000,0.000,0.107,1698.16,1777.00,1619.31,2646.50,3800.69,0,0,0,30.00,30.00,15.93
$GC,3734.46,1159,243.31,0.41,0.00,1697.9,1776.8,1619.1,2647.4,3800.5,206.95,16.05,474,3757.54,0.00,0.17,2.02,0.000,0.195,0.048,1696.91,1774.81,1619.00,2601.88,2550.19,0,0,0,30.00,15.89,15.97
$GC,3930.45,294,266.48,0.44,40.00,1697.8,1776.4,1619.2,2602.5,2550.4,187.09,9.33,493,3962.30,18.51,0.00,2.28,0.884,0.000,0.111,1613.03,1690.44,1535.62,2602.94,3799.25,0,0,0,12.43,30.00,15.78
$GC,4089.00,1156,266.48,0.41,0.00,1609.8,1688.9,1530.6,2602.7,3799.8,169.78,11.02,524,4112.23,0.00,0.00,2.03,0.000,0.000,0.048,1610.03,1688.94,1531.12,2609.38,2551.50,0,0,0,30.00,30.00,15.54
$GC,4285.05,294,296.31,0.44,40.00,1608.6,1688.3,1528.9,2609.9,2551.1,152.43,9.14,543,4323.20,23.73,0.00,2.28,0.886,0.000,0.111,1489.81,1566.38,1413.25,2609.75,3801.75,0,0,0,12.47,30.00,15.75
$GC,4391.05,1156,296.31,0.41,0.00,1488.5,1566.4,1410.6,2609.2,3798.9,141.59,11.12,563,4414.23,0.00,0.00,2.01,0.000,0.000,0.042,1488.62,1566.44,1410.81,2619.31,2529.81,0,0,0,30.00,30.00,15.86
$GC,4587.09,294,355.37,0.47,40.00,1487.1,1566.2,1408.0,2618.1,2529.2,123.91,8.30,582,4645.88,43.35,0.00,2.35,0.871,0.000,0.111,1251.06,1317.19,1184.94,2618.38,3798.88,0,0,0,12.44,30.00,15.70
$GC,4763.59,1028,355.37,0.47,0.00,1247.9,1316.8,1179.1,2619.9,3799.1,106.62,10.42,616,4786.73,0.00,0.00,2.02,0.000,0.000,0.044,1247.56,1316.69,1178.44,2628.38,2539.31,0,0,0,30.00,30.00,15.91
$GC,4959.68,423,436.49,0.58,40.00,1246.9,1317.0,1176.9,2627.6,2538.1,90.08,7.67,635,5032.06,57.65,0.10,2.33,0.816,0.081,0.109,918.41,976.81,860.00,2699.50,3800.12,0,0,0,12.41,15.95,15.62
$GC,5148.72,1157,436.49,0.53,0.00,916.4,976.6,856.2,2699.7,3800.8,67.38,11.81,672,5171.95,0.00,0.22,2.03,0.000,0.159,0.041,916.66,976.81,856.50,2639.94,2525.38,0,0,0,30.00,15.74,15.43
$GC,5344.77,423,593.47,0.76,40.00,915.6,976.8,854.4,2640.9,2524.5,55.66,5.49,691,5458.51,99.11,0.23,2.34,0.742,0.052,0.104,338.56,401.25,275.88,2775.62,3799.56,0,0,0,12.39,15.91,15.55
$GC,5521.29,1159,593.47,0.71,0.00,338.4,401.2,275.6,2775.6,3798.8,30.81,15.50,725,5544.51,0.00,0.28,2.02,0.000,0.163,0.038,338.59,401.19,276.00,2695.38,2513.69,0,0,0,30.00,15.70,15.74
$GC,5717.29,679,698.78,0.90,-40.00,338.0,401.4,274.6,2698.1,2508.1,15.64,6.97,744,5740.51,0.00,0.20,2.16,0.000,0.059,0.033,338.00,401.38,274.62,2819.12,1152.56,0,0,0,30.00,15.89,15.89
$GC,5808.44,1191,734.45,0.95,0.00,337.7,401.2,274.2,2820.3,1142.5,6.54,8.97,759,5831.75,0.00,0.14,2.58,0.000,0.144,0.084,337.56,401.12,274.00,2773.12,2616.88,0,0,0,30.00,15.81,15.81
$STATE,5845,end climb,SURFACE_DEPTH_REACHED
$STATE,5845,begin surface coast
$FINISH,0.1,1.021108
$STATE,5875,end surface coast,CONTROL_FINISHED_OK
$STATE,5875,begin surface
$SM_CCo,5899.81,0.00,0.000,0,338.1,401.2,275.0,579.38
$SM_CCo,5900.83,0.00,0.000,0,338.3,401.2,275.4,579.31
$SM_CCo,5901.85,0.00,0.000,0,338.3,401.1,275.5,579.32
$SM_GC,1.00,0.00,6.59,0.06,0.000,0.038,0.110,338.3,401.1,275.5,326.1,2537.4,0,0,0,30.00,15.96,15.97
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,1641.89,8756.15,110719,094151
$TCM_TEMP,25.00
$XPDR_PINGS,27
$SC_FREEKB,3874400
$PM_FREEKB_00,61805760
$PM_FREEKB_01,62341568
$PM_FREEKB_02,62341760
$PM_FREEKB_03,62342144
$PM_ACTIVECARD,0
$TM_FREEKB,7806912
$HUMID,53.30
$TEMP,23.13
$INTERNAL_PRESSURE,9.57178
$24V_AH,15.05,6.595
$10V_AH,15.00,0.000
$FG_AHR_24Vo,3.300
$FG_AHR_10Vo,0.774
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,718.210,20.030,71.920,372.112,6.750,13.580,3191.294,3302.850,1638.447,0.000,0.000,0.000
$DEVICE_MAMPS,1100.192,364.488,149.648,179.024,420.000,6.320,9.810,2.190,1.990,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5882.000,5896.000,2104.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.683,6.379,16.804,0.000
$MEM,1156804,26,22764,55
$DATA_FILE_SIZE,30595,765
$CAP_FILE_SIZE,204309,0
$SDSIZE,3918848,3905568
$SDFILEDIR,82,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.209, 76.7,1
$GPS,110719,112802,1644.480,8753.539,31,0.7,33,-0.6