version: 67.00
glider: 181
mission: 19
dive: 631
start: 12 2 119 18 52 30
data:
$ID,181
$MISSION,19
$DIVE,631
$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,30.190481
$FG_AHR_24V,93.203171
$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
$GPS1,021219,184631,619.314,8327.329,24,0.8,25,-1.8
$_CALLS,1
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-71.5
$GPS2,021219,185214,619.318,8327.253,3,0.6,5,-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,237.9,61641,-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,-0.63,0.00,342.6,382.9,302.2,257.2,2836.1,0.00,0.00,0,85.10,80.71,0.00,0.00,0.005,0.000,0.000,2320.22,2376.44,2264.00,245.88,2832.56,0,0,0,14.72,30.00,30.00
$GC,85.41,295,-116.79,-0.63,30.00,2319.5,2377.1,2261.9,245.6,2832.5,3.21,-3.71,8,122.42,21.78,10.31,1.85,0.006,0.362,0.094,3298.31,3417.38,3179.25,2283.50,3796.69,0,0,0,15.00,15.02,14.84
$GC,219.10,1028,-116.79,-0.63,0.00,3298.7,3416.9,3180.4,2284.2,3796.3,46.15,-32.77,21,221.80,0.00,0.00,1.45,0.000,0.000,0.017,3297.94,3416.44,3179.44,2283.94,2895.88,0,0,0,30.00,30.00,15.85
$GC,404.12,516,-116.79,-0.63,-30.00,3298.2,3416.6,3179.8,2284.2,2890.8,83.86,-17.24,40,406.90,0.00,0.00,1.84,0.000,0.000,0.023,3298.31,3417.38,3179.25,2284.75,1838.88,0,0,0,30.00,30.00,15.92
$GC,629.19,1028,-116.79,-0.63,0.00,3298.2,3415.9,3180.5,2284.4,1835.9,115.75,-13.21,63,634.44,0.00,0.00,2.26,0.000,0.000,0.082,3298.00,3416.75,3179.25,2275.00,2964.56,0,0,0,30.00,30.00,15.77
$GC,819.27,516,-116.79,-0.63,-30.00,3297.7,3415.4,3180.0,2275.7,2963.7,142.63,-14.07,82,824.48,0.00,0.00,2.01,0.000,0.000,0.022,3298.16,3416.38,3179.94,2275.00,1834.94,0,0,0,30.00,30.00,15.95
$GC,994.29,1028,-116.79,-0.63,0.00,3297.4,3414.9,3179.9,2275.1,1834.0,165.47,-12.96,99,999.57,0.00,0.00,2.27,0.000,0.000,0.084,3299.72,3417.25,3182.19,2267.19,2964.44,0,0,0,30.00,30.00,15.76
$GC,1179.36,516,-116.79,-0.63,-30.00,3296.3,3413.7,3179.0,2265.3,2964.5,191.84,-14.08,118,1184.58,0.00,0.00,2.01,0.000,0.000,0.021,3297.09,3415.00,3179.19,2266.25,1832.12,0,0,0,30.00,30.00,15.96
$GC,1409.51,1028,-116.79,-0.63,0.00,3295.2,3413.7,3176.8,2265.6,1831.6,221.68,-11.42,141,1414.76,0.00,0.00,2.27,0.000,0.000,0.082,3295.47,3413.75,3177.19,2256.75,2965.69,0,0,0,30.00,30.00,15.77
$GC,1599.51,517,-116.79,-0.63,-30.00,3293.1,3412.5,3173.6,2256.6,2965.6,246.65,-13.43,160,1604.81,0.00,0.14,2.02,0.000,0.218,0.023,3293.59,3412.38,3174.81,2293.19,1833.25,0,0,0,30.00,15.66,15.64
$GC,1784.57,1028,-116.79,-0.63,0.00,3292.5,3412.9,3172.2,2293.9,1831.7,267.17,-10.54,178,1789.85,0.00,0.00,2.26,0.000,0.000,0.082,3292.69,3413.00,3172.38,2287.06,2961.56,0,0,0,30.00,30.00,15.78
$GC,1969.63,516,-116.79,-0.63,-30.00,3291.0,3411.6,3170.5,2287.4,2961.5,288.95,-12.02,197,1974.84,0.00,0.00,2.01,0.000,0.000,0.022,3291.88,3412.56,3171.19,2286.62,1829.56,0,0,0,30.00,30.00,15.97
$GC,2129.70,1028,-116.79,-0.63,0.00,3289.7,3411.1,3168.2,2287.0,1828.2,306.96,-11.24,213,2134.95,0.00,0.00,2.26,0.000,0.000,0.079,3290.88,3411.69,3170.06,2277.06,2964.06,0,0,0,30.00,30.00,15.79
$GC,2319.74,516,-116.79,-0.63,-30.00,3287.9,3407.7,3168.1,2278.2,2964.2,330.26,-12.51,232,2324.96,0.00,0.00,2.02,0.000,0.000,0.021,3289.81,3409.44,3170.19,2276.56,1832.94,0,0,0,30.00,30.00,15.98
$GC,2489.83,1028,-116.79,-0.63,0.00,3286.7,3405.6,3167.9,2277.8,1831.4,350.61,-12.22,249,2495.08,0.00,0.00,2.27,0.000,0.000,0.082,3286.97,3405.62,3168.31,2269.00,2964.81,0,0,0,30.00,30.00,15.78
$GC,2679.84,516,-116.79,-0.63,-30.00,3285.0,3403.7,3166.3,2268.6,2964.6,375.39,-13.14,268,2685.05,0.00,0.00,2.03,0.000,0.000,0.023,3286.50,3405.44,3167.56,2268.38,1834.94,0,0,0,30.00,30.00,15.98
$GC,2859.90,1028,-116.79,-0.63,0.00,3283.9,3402.6,3165.2,2268.4,1834.5,397.22,-11.89,286,2865.15,0.00,0.00,2.28,0.000,0.000,0.085,3283.62,3401.75,3165.50,2260.62,2962.56,0,0,0,30.00,30.00,15.76
$GC,3049.89,517,-116.79,-0.63,-30.00,3282.8,3400.4,3165.2,2259.8,2963.2,421.48,-12.74,297,3055.19,0.00,0.13,2.04,0.000,0.220,0.025,3283.25,3401.50,3165.00,2295.62,1839.31,0,0,0,30.00,15.64,15.62
$GC,3174.90,1028,-116.79,-0.63,0.00,3282.2,3400.6,3163.9,2296.0,1837.2,433.86,-9.51,303,3180.15,0.00,0.00,2.26,0.000,0.000,0.081,3282.84,3400.62,3165.06,2289.31,2964.94,0,0,0,30.00,30.00,15.77
$GC,3489.95,516,-116.79,-0.63,-30.00,3281.0,3398.6,3163.3,2289.6,2964.8,467.87,-11.01,319,3495.16,0.00,0.00,2.05,0.000,0.000,0.026,3283.12,3400.31,3165.94,2289.50,1840.62,0,0,0,30.00,30.00,15.99
$GC,3720.03,1028,-116.79,-0.63,0.00,3279.2,3396.8,3161.5,2289.4,1838.5,492.22,-10.55,330,3725.28,0.00,0.00,2.27,0.000,0.000,0.083,3279.91,3397.81,3162.00,2278.62,2964.88,0,0,0,30.00,30.00,15.77
$GC,4030.03,516,-116.79,-0.63,-30.00,3276.8,3394.4,3159.1,2280.2,2964.5,527.16,-11.18,346,4035.24,0.00,0.00,2.05,0.000,0.000,0.026,3277.22,3394.88,3159.56,2280.31,1834.00,0,0,0,30.00,30.00,15.98
$GC,4260.10,1028,-116.79,-0.63,0.00,3276.1,3393.0,3159.2,2280.4,1832.8,551.40,-10.38,357,4265.36,0.00,0.00,2.27,0.000,0.000,0.080,3275.62,3392.31,3158.94,2271.69,2964.50,0,0,0,30.00,30.00,15.76
$GC,4570.09,516,-116.79,-0.63,-30.00,3274.0,3390.8,3157.1,2271.4,2964.1,586.33,-11.10,373,4575.30,0.00,0.00,2.05,0.000,0.000,0.027,3274.84,3391.38,3158.31,2270.75,1835.62,0,0,0,30.00,30.00,16.00
$GC,4800.17,1028,-116.79,-0.63,0.00,3273.2,3390.5,3155.9,2271.4,1834.1,610.38,-10.35,384,4805.43,0.00,0.00,2.29,0.000,0.000,0.084,3273.00,3389.88,3156.12,2262.12,2964.69,0,0,0,30.00,30.00,15.74
$GC,5110.16,516,-116.79,-0.63,-30.00,3271.7,3387.9,3155.6,2261.9,2964.8,645.20,-11.18,400,5115.37,0.00,0.00,2.05,0.000,0.000,0.027,3272.50,3389.69,3155.31,2260.44,1839.38,0,0,0,30.00,30.00,15.98
$GC,5340.25,1028,-116.79,-0.63,0.00,3271.2,3388.1,3154.2,2261.9,1838.3,669.79,-10.53,411,5345.50,0.00,0.00,2.28,0.000,0.000,0.084,3273.19,3389.19,3157.19,2252.31,2961.75,0,0,0,30.00,30.00,15.72
$GC,5650.26,517,-116.79,-0.63,-30.00,3268.9,3384.9,3152.9,2253.0,2961.4,706.10,-11.79,427,5655.54,0.00,0.16,2.05,0.000,0.218,0.027,3270.12,3386.56,3153.69,2295.00,1837.81,0,0,0,30.00,15.57,15.54
$GC,5880.31,1028,-116.79,-0.63,0.00,3268.4,3384.6,3152.1,2295.2,1836.6,726.77,-8.79,438,5885.57,0.00,0.00,2.28,0.000,0.000,0.079,3267.97,3384.88,3151.06,2288.19,2964.69,0,0,0,30.00,30.00,15.70
$GC,6190.39,516,-116.79,-0.63,-30.00,3266.8,3383.2,3150.2,2288.5,2964.2,756.39,-9.62,454,6195.60,0.00,0.00,2.05,0.000,0.000,0.025,3268.62,3385.00,3152.25,2288.56,1835.12,0,0,0,30.00,30.00,15.96
$GC,6420.52,1028,-116.79,-0.63,0.00,3266.2,3382.9,3149.6,2287.9,1833.3,777.18,-8.85,465,6425.77,0.00,0.00,2.28,0.000,0.000,0.079,3267.47,3383.56,3151.38,2278.19,2963.00,0,0,0,30.00,30.00,15.66
$GC,6730.51,516,-116.79,-0.63,-30.00,3265.2,3381.2,3149.1,2278.1,2963.4,807.30,-9.74,481,6735.73,0.00,0.00,2.06,0.000,0.000,0.026,3265.72,3381.75,3149.69,2277.94,1840.19,0,0,0,30.00,30.00,15.97
$GC,6960.67,1028,-116.79,-0.63,0.00,3265.2,3381.6,3148.8,2278.2,1838.9,828.87,-9.30,492,6965.95,0.00,0.00,2.32,0.000,0.000,0.089,3264.81,3382.38,3147.25,2268.88,2964.56,0,0,0,30.00,30.00,15.67
$GC,7270.65,516,-116.79,-0.63,-30.00,3263.8,3380.2,3147.4,2268.0,2964.6,861.44,-10.58,508,7275.86,0.00,0.00,2.05,0.000,0.000,0.025,3263.78,3380.31,3147.25,2268.00,1831.44,0,0,0,30.00,30.00,15.92
$GC,7500.78,1028,-116.79,-0.63,0.00,3263.5,3380.0,3146.9,2268.4,1830.8,884.73,-10.26,519,7506.03,0.00,0.00,2.29,0.000,0.000,0.080,3263.47,3379.38,3147.56,2259.19,2962.81,0,0,0,30.00,30.00,15.67
$GC,7810.78,517,-116.79,-0.63,-30.00,3262.6,3379.0,3146.1,2259.1,2962.9,918.97,-11.24,535,7816.06,0.00,0.12,2.05,0.000,0.217,0.026,3263.88,3379.38,3148.38,2293.50,1834.50,0,0,0,30.00,15.55,15.50
$GC,8040.81,1028,-116.79,-0.63,0.00,3262.3,3378.7,3145.9,2293.4,1832.4,939.29,-8.62,546,8046.08,0.00,0.00,2.32,0.000,0.000,0.090,3262.00,3379.44,3144.56,2286.00,2961.50,0,0,0,30.00,30.00,15.59
$GC,8350.87,516,-116.79,-0.63,-30.00,3260.3,3377.2,3143.4,2285.9,2960.8,968.52,-9.35,562,8356.09,0.00,0.00,2.06,0.000,0.000,0.027,3262.00,3379.44,3144.56,2286.00,1831.44,0,0,0,30.00,30.00,15.95
$GC,8580.95,1028,-116.79,-0.63,0.00,3260.2,3377.7,3142.6,2285.9,1830.7,989.29,-9.00,573,8586.22,0.00,0.00,2.33,0.000,0.000,0.090,3260.34,3377.62,3143.06,2275.38,2962.69,0,0,0,30.00,30.00,15.58
$STATE,8591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8591,begin apogee
$GC,8592.72,3,0.00,-0.14,0.00,3259.8,3377.2,3142.4,2276.5,2560.0,990.23,-9.00,574,8693.23,97.86,0.62,0.14,2.044,0.171,0.184,2825.19,2929.50,2720.88,2455.06,2617.81,0,0,0,10.11,15.45,14.83
$STATE,8693,end apogee,CONTROL_FINISHED_OK
$STATE,8693,begin climb
$GC,8693.62,263,116.79,0.63,30.00,2824.9,2929.1,2720.6,2453.6,2617.3,993.65,0.00,579,8806.98,108.46,0.75,2.31,2.010,0.068,0.114,2345.66,2407.12,2284.19,2713.62,3672.50,0,0,0,11.67,15.24,14.83
$GC,8823.67,1063,304.79,0.82,0.00,2345.2,2406.6,2283.9,2713.9,3672.1,994.09,-0.76,585,8989.66,162.62,0.11,2.11,1.987,0.099,0.028,1583.03,1655.88,1510.19,2772.94,2551.81,0,0,0,11.60,15.26,15.30
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$STATE,16937,end climb,SURFACE_DEPTH_REACHED
$STATE,16937,begin surface coast
$FINISH,0.7,1.020819
$STATE,16968,end surface coast,CONTROL_FINISHED_OK
$STATE,16968,begin surface
$SM_CCo,17039.62,0.00,0.000,0,339.2,406.4,272.0,609.77
$SM_GC,0.58,0.00,7.11,0.76,0.000,0.053,0.083,339.2,406.4,272.0,345.4,2966.5,0,0,0,30.00,15.65,15.69
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,618.55,8326.41,021219,134331
$TCM_TEMP,24.80
$XPDR_PINGS,74
$HUMID,54.10
$TEMP,20.99
$INTERNAL_PRESSURE,9.47371
$24V_AH,13.97,172.657
$10V_AH,15.00,0.000
$FG_AHR_24Vo,93.371
$FG_AHR_10Vo,30.217
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,699.420,21.185,187.690,222.173,18.500,14.100,4087.724,13238.729,2770.793,0.000,0.000,0.000
$DEVICE_MAMPS,2043.520,361.864,184.088,170.355,420.000,6.320,9.810,2.190,1.990,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,1273.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,1155092,33,23716,86
$DATA_FILE_SIZE,61197,1184
$CAP_FILE_SIZE,364237,0
$SDSIZE,3918848,3751872
$SDFILEDIR,3077,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,156.6,1
$GPS,021219,233701,617.490,8327.201,22,0.7,23,-1.8