version: 67.00
glider: 181
mission: 19
dive: 630
start: 12 2 119 13 47 0
data:
$ID,181
$MISSION,19
$DIVE,630
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,390
$T_MISSION,430
$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,120
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54159
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.019109501
$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,500
$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,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$PITCH_GAIN,37
$PITCH_TIMEOUT,17
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,30
$C_ROLL_DIVE,2950
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,12
$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,2825
$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,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,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,30.161711
$FG_AHR_24V,93.035728
$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
$DEVICE1,10
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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
$GPS1,021219,134109,620.659,8327.737,22,0.6,31,-1.8
$_CALLS,1
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-73.3
$GPS2,021219,134645,620.625,8327.666,3,0.5,5,-1.8
$SPEED_LIMITS,0.085,0.162
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$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,245.8,63684,-19.2,-8.462,-27.55
$D_GRID,990
$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,2,end surface,CONTROL_FINISHED_OK
$STATE,2,begin dive
$GC,3.79,2,-116.79,-0.63,0.00,781.9,791.8,772.1,261.7,2831.1,0.00,0.00,0,69.83,65.43,0.00,0.00,0.005,0.000,0.000,2383.78,2446.00,2321.56,254.75,2830.69,0,0,0,14.69,30.00,30.00
$GC,70.07,263,-116.79,-0.63,30.00,2382.4,2444.8,2320.1,254.4,2830.9,4.23,-6.79,7,105.74,18.73,10.23,1.86,0.006,0.360,0.098,3299.66,3411.62,3187.69,2285.50,3797.88,0,0,0,14.99,15.00,14.84
$GC,273.45,1028,-116.79,-0.63,0.00,3298.5,3410.4,3186.6,2285.0,3798.9,65.76,-20.97,27,276.15,0.00,0.00,1.46,0.000,0.000,0.024,3298.72,3411.19,3186.25,2285.31,2854.44,0,0,0,30.00,30.00,15.84
$GC,453.51,516,-116.79,-0.63,-30.00,3298.5,3410.7,3186.2,2284.3,2852.7,96.98,-16.40,45,456.26,0.00,0.00,1.75,0.000,0.000,0.017,3300.06,3411.75,3188.38,2284.56,1822.00,0,0,0,30.00,30.00,15.90
$GC,563.54,1028,-116.79,-0.63,0.00,3298.8,3411.1,3186.5,2284.4,1819.6,112.57,-12.90,56,568.81,0.00,0.00,2.28,0.000,0.000,0.082,3299.38,3412.25,3186.50,2275.25,2967.88,0,0,0,30.00,30.00,15.73
$GC,748.60,516,-116.79,-0.63,-30.00,3298.7,3410.8,3186.6,2275.4,2967.4,139.43,-13.72,75,753.82,0.00,0.00,2.01,0.000,0.000,0.020,3299.38,3411.12,3187.62,2274.94,1826.88,0,0,0,30.00,30.00,15.93
$GC,958.68,1028,-116.79,-0.63,0.00,3297.9,3410.6,3185.2,2275.8,1825.1,166.46,-13.18,96,963.93,0.00,0.00,2.27,0.000,0.000,0.081,3299.19,3410.38,3188.00,2265.38,2963.69,0,0,0,30.00,30.00,15.72
$GC,1148.69,516,-116.79,-0.63,-30.00,3297.6,3409.2,3186.1,2266.3,2961.8,193.80,-14.27,115,1153.90,0.00,0.00,2.01,0.000,0.000,0.022,3298.59,3410.00,3187.19,2264.69,1827.94,0,0,0,30.00,30.00,15.95
$GC,1353.73,1028,-116.79,-0.63,0.00,3297.2,3409.6,3184.8,2265.1,1827.2,220.74,-12.13,135,1359.02,0.00,0.00,2.26,0.000,0.000,0.077,3297.41,3408.56,3186.25,2257.56,2967.38,0,0,0,30.00,30.00,15.78
$GC,1538.77,517,-116.79,-0.63,-30.00,3296.0,3408.6,3183.3,2256.9,2966.4,245.57,-13.41,154,1544.06,0.00,0.14,2.03,0.000,0.222,0.024,3296.16,3409.38,3182.94,2295.44,1831.12,0,0,0,30.00,15.63,15.60
$GC,1723.80,1028,-116.79,-0.63,0.00,3295.6,3408.3,3182.9,2294.8,1829.4,264.49,-9.60,172,1729.08,0.00,0.00,2.25,0.000,0.000,0.077,3296.97,3410.00,3183.94,2287.62,2963.81,0,0,0,30.00,30.00,15.78
$GC,1908.84,516,-116.79,-0.63,-30.00,3293.9,3407.5,3180.4,2287.2,2963.6,285.07,-11.34,191,1914.05,0.00,0.00,2.02,0.000,0.000,0.022,3294.75,3409.06,3180.44,2287.75,1833.62,0,0,0,30.00,30.00,15.96
$GC,1998.85,1028,-116.79,-0.63,0.00,3294.0,3408.4,3179.6,2288.1,1832.2,295.04,-10.82,200,2004.11,0.00,0.00,2.25,0.000,0.000,0.078,3295.72,3410.44,3181.00,2278.75,2963.38,0,0,0,30.00,30.00,15.78
$GC,2188.89,516,-116.79,-0.63,-30.00,3292.8,3407.6,3177.9,2278.4,2962.6,317.24,-11.59,219,2194.10,0.00,0.00,2.03,0.000,0.000,0.022,3293.81,3408.00,3179.62,2278.81,1829.31,0,0,0,30.00,30.00,15.97
$GC,2368.93,1028,-116.79,-0.63,0.00,3291.3,3407.1,3175.6,2278.9,1828.4,337.64,-11.35,237,2374.18,0.00,0.00,2.29,0.000,0.000,0.085,3293.16,3409.12,3177.19,2269.12,2964.81,0,0,0,30.00,30.00,15.73
$GC,2558.97,516,-116.79,-0.63,-30.00,3290.0,3405.4,3174.6,2269.8,2965.4,361.46,-12.54,256,2564.18,0.00,0.00,2.03,0.000,0.000,0.024,3290.66,3406.50,3174.81,2269.06,1829.44,0,0,0,30.00,30.00,15.97
$GC,2739.00,1028,-116.79,-0.63,0.00,3288.3,3403.1,3173.6,2269.4,1829.4,383.45,-11.99,274,2744.25,0.00,0.00,2.28,0.000,0.000,0.082,3289.78,3403.88,3175.69,2260.00,2962.50,0,0,0,30.00,30.00,15.74
$GC,2939.02,516,-116.79,-0.63,-30.00,3286.9,3400.9,3172.8,2259.9,2961.8,408.60,-12.66,291,2944.24,0.00,0.00,2.03,0.000,0.000,0.025,3288.00,3402.00,3174.00,2260.12,1832.69,0,0,0,30.00,30.00,15.99
$GC,3114.07,1028,-116.79,-0.63,0.00,3286.2,3400.1,3172.3,2260.9,1831.1,429.66,-11.65,299,3119.35,0.00,0.00,2.28,0.000,0.000,0.081,3286.03,3399.44,3172.62,2251.25,2963.12,0,0,0,30.00,30.00,15.75
$GC,3419.11,517,-116.79,-0.63,-30.00,3284.6,3398.3,3170.9,2251.4,2962.9,468.78,-12.80,315,3424.40,0.00,0.16,2.04,0.000,0.214,0.024,3285.00,3398.38,3171.62,2296.12,1836.12,0,0,0,30.00,15.61,15.58
$GC,3649.18,1028,-116.79,-0.63,0.00,3283.6,3398.5,3168.8,2295.5,1833.9,490.68,-9.25,326,3654.43,0.00,0.00,2.28,0.000,0.000,0.085,3283.53,3399.00,3168.06,2289.19,2964.44,0,0,0,30.00,30.00,15.73
$GC,3959.25,516,-116.79,-0.63,-30.00,3281.1,3395.6,3166.6,2289.1,2964.4,521.79,-9.90,342,3964.46,0.00,0.00,2.05,0.000,0.000,0.024,3282.88,3397.50,3168.25,2289.06,1834.06,0,0,0,30.00,30.00,15.95
$GC,4189.37,1028,-116.79,-0.63,0.00,3280.2,3393.3,3167.0,2288.7,1832.2,543.34,-9.26,353,4194.62,0.00,0.00,2.28,0.000,0.000,0.081,3279.84,3392.88,3166.81,2279.56,2967.25,0,0,0,30.00,30.00,15.74
$GC,4499.37,516,-116.79,-0.63,-30.00,3278.8,3391.9,3165.6,2279.8,2967.2,575.48,-10.52,369,4504.58,0.00,0.00,2.05,0.000,0.000,0.025,3281.16,3395.50,3166.81,2278.88,1835.69,0,0,0,30.00,30.00,15.99
$GC,4729.52,1028,-116.79,-0.63,0.00,3277.6,3390.7,3164.6,2279.4,1834.1,599.06,-10.36,380,4734.77,0.00,0.00,2.29,0.000,0.000,0.084,3278.66,3391.94,3165.38,2268.50,2965.38,0,0,0,30.00,30.00,15.71
$GC,5039.51,260,-116.79,-0.63,30.00,3277.1,3389.6,3164.7,2269.8,2965.6,634.85,-11.71,396,5042.22,0.00,0.00,1.55,0.000,0.000,0.101,3277.69,3390.56,3164.81,2263.19,3798.81,0,0,0,30.00,30.00,15.71
$GC,5264.58,1028,-116.79,-0.63,0.00,3275.6,3387.4,3163.9,2263.5,3799.0,662.39,-12.15,407,5267.28,0.00,0.00,1.49,0.000,0.000,0.028,3274.38,3385.56,3163.19,2263.69,2874.12,0,0,0,30.00,30.00,15.98
$GC,5569.61,516,-116.79,-0.63,-30.00,3274.4,3387.1,3161.7,2263.6,2873.7,697.64,-11.24,423,5572.38,0.00,0.00,1.83,0.000,0.000,0.023,3272.69,3386.44,3158.94,2264.19,1832.81,0,0,0,30.00,30.00,15.98
$GC,5774.65,1028,-116.79,-0.63,0.00,3273.3,3386.1,3160.5,2263.6,1831.5,718.76,-9.81,433,5779.91,0.00,0.00,2.29,0.000,0.000,0.082,3273.69,3386.12,3161.25,2254.12,2960.69,0,0,0,30.00,30.00,15.69
$GC,6084.69,517,-116.79,-0.63,-30.00,3272.1,3384.7,3159.4,2254.2,2961.4,752.74,-10.82,449,6089.97,0.00,0.15,2.06,0.000,0.213,0.026,3275.16,3387.31,3163.00,2295.44,1837.12,0,0,0,30.00,15.55,15.54
$GC,6314.71,1028,-116.79,-0.63,0.00,3271.3,3384.4,3158.3,2295.8,1835.9,771.66,-8.22,460,6319.96,0.00,0.00,2.30,0.000,0.000,0.083,3271.69,3385.00,3158.38,2288.38,2964.25,0,0,0,30.00,30.00,15.67
$GC,6624.77,516,-116.79,-0.63,-30.00,3270.5,3383.3,3157.7,2288.7,2964.4,800.11,-9.37,476,6629.99,0.00,0.00,2.04,0.000,0.000,0.024,3270.22,3383.25,3157.19,2288.56,1836.69,0,0,0,30.00,30.00,15.96
$GC,6854.86,1028,-116.79,-0.63,0.00,3269.2,3381.9,3156.6,2288.6,1835.0,820.40,-8.77,487,6860.11,0.00,0.00,2.28,0.000,0.000,0.080,3268.88,3382.12,3155.62,2279.00,2961.94,0,0,0,30.00,30.00,15.66
$GC,7164.86,516,-116.79,-0.63,-30.00,3268.0,3380.8,3155.2,2279.1,2962.7,852.00,-10.42,503,7170.07,0.00,0.00,2.06,0.000,0.000,0.026,3268.66,3382.00,3155.31,2278.69,1833.38,0,0,0,30.00,30.00,15.93
$GC,7394.92,1028,-116.79,-0.63,0.00,3268.6,3381.7,3155.5,2279.0,1831.8,875.33,-10.09,514,7400.17,0.00,0.00,2.29,0.000,0.000,0.080,3269.50,3382.81,3156.19,2270.06,2965.62,0,0,0,30.00,30.00,15.64
$GC,7704.91,516,-116.79,-0.63,-30.00,3267.3,3379.8,3154.8,2269.9,2965.6,908.59,-10.72,530,7710.12,0.00,0.00,2.07,0.000,0.000,0.025,3267.09,3379.38,3154.81,2267.88,1835.19,0,0,0,30.00,30.00,15.93
$GC,7935.00,1028,-116.79,-0.63,0.00,3266.6,3378.9,3154.3,2270.1,1833.9,931.24,-9.45,541,7940.25,0.00,0.00,2.29,0.000,0.000,0.078,3267.34,3380.31,3154.38,2260.56,2966.44,0,0,0,30.00,30.00,15.63
$GC,8244.99,260,-116.79,-0.63,30.00,3265.5,3378.7,3152.3,2260.6,2966.7,963.70,-10.51,557,8247.70,0.00,0.00,1.57,0.000,0.000,0.104,3265.94,3379.00,3152.88,2251.81,3797.44,0,0,0,30.00,30.00,15.60
$GC,8470.02,1029,-116.79,-0.63,0.00,3265.2,3377.0,3153.4,2254.2,3797.6,988.71,-11.08,568,8472.80,0.00,0.14,1.49,0.000,0.190,0.030,3265.25,3377.56,3152.94,2294.12,2902.75,0,0,0,30.00,15.51,15.91
$STATE,8495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8495,begin apogee
$GC,8496.88,3,0.00,-0.14,0.00,3265.1,3377.2,3153.0,2294.8,2528.9,991.02,-9.25,570,8598.35,99.22,0.54,0.21,2.047,0.161,0.150,2822.50,2923.19,2721.81,2455.69,2615.19,0,0,0,10.01,14.87,14.84
$STATE,8599,end apogee,CONTROL_FINISHED_OK
$STATE,8599,begin climb
$GC,8598.73,519,116.79,0.63,-30.00,2822.7,2922.8,2722.6,2456.2,2615.6,993.98,0.00,575,8710.54,107.86,0.75,1.98,2.010,0.069,0.031,2348.78,2410.12,2287.44,2720.88,1493.12,0,0,0,11.57,15.23,14.87
$GC,8747.22,1062,275.40,0.79,0.00,2343.2,2406.4,2279.9,2722.0,1492.8,993.18,0.69,582,8889.94,137.63,0.00,2.09,1.990,0.000,0.077,1702.22,1779.75,1624.69,2721.44,2609.94,0,0,0,11.54,30.00,15.35
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$STATE,17814,end climb,SURFACE_DEPTH_REACHED
$STATE,17814,begin surface coast
$FINISH,-0.3,1.020957
$STATE,17864,end surface coast,CONTROL_FINISHED_OK
$STATE,17864,begin surface
$SM_CCo,17935.44,0.00,0.000,0,339.6,407.4,271.8,609.66
$SM_GC,0.57,0.00,6.82,0.75,0.000,0.029,0.075,339.6,407.4,271.8,337.6,2975.3,0,0,0,30.00,15.77,15.72
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,620.79,8332.88,021219,075839
$TCM_TEMP,25.20
$XPDR_PINGS,86
$HUMID,53.75
$TEMP,21.63
$INTERNAL_PRESSURE,9.49945
$24V_AH,13.96,172.356
$10V_AH,15.00,0.000
$FG_AHR_24Vo,93.196
$FG_AHR_10Vo,30.190
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,680.160,19.810,196.505,210.367,21.500,14.371,4260.292,13953.182,2968.382,0.000,0.000,0.000
$DEVICE_MAMPS,2046.800,359.568,149.648,180.589,420.000,6.320,9.810,2.190,1.990,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,1346.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,1155164,30,23704,86
$DATA_FILE_SIZE,64733,1252
$CAP_FILE_SIZE,379066,0
$SDSIZE,3918848,3752064
$SDFILEDIR,3074,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020, 66.8,1
$GPS,021219,184631,619.314,8327.329,24,0.8,25,-1.8