version: 67.00
glider: 181
mission: 19
dive: 634
start: 12 3 119 9 27 13
data:
$ID,181
$MISSION,19
$DIVE,634
$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,30.272881
$FG_AHR_24V,93.703659
$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
$GPS1,031219,092131,614.420,8326.562,32,0.6,33,-1.8
$_CALLS,1
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-72.0
$GPS2,031219,092657,614.404,8326.519,2,0.6,5,-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,249.5,55653,-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,3.93,2,-116.79,-0.63,0.00,509.4,547.0,471.8,309.9,2860.4,0.00,0.00,0,85.23,80.79,0.00,0.00,0.005,0.000,0.000,2476.25,2545.56,2406.94,299.81,2860.81,0,0,0,14.78,30.00,30.00
$GC,85.52,263,-116.79,-0.63,30.00,2475.6,2544.9,2406.3,299.7,2860.4,4.22,-6.76,8,117.34,16.77,10.00,1.78,0.006,0.360,0.094,3298.59,3416.19,3181.00,2283.38,3798.44,0,0,0,15.01,14.99,14.85
$GC,319.04,1028,-116.79,-0.63,0.00,3298.5,3415.9,3181.2,2283.9,3798.6,74.30,-19.04,32,321.74,0.00,0.00,1.46,0.000,0.000,0.022,3301.53,3418.81,3184.25,2282.81,2865.00,0,0,0,30.00,30.00,15.88
$GC,504.06,516,-116.79,-0.63,-30.00,3299.3,3416.1,3182.4,2283.6,2859.2,104.90,-14.64,51,506.82,0.00,0.00,1.78,0.000,0.000,0.020,3297.97,3415.50,3180.44,2283.25,1833.69,0,0,0,30.00,30.00,15.93
$GC,609.10,1028,-116.79,-0.63,0.00,3298.7,3415.9,3181.5,2283.2,1832.3,120.04,-13.73,62,614.35,0.00,0.00,2.24,0.000,0.000,0.076,3299.22,3417.44,3181.00,2275.19,2964.81,0,0,0,30.00,30.00,15.77
$GC,799.14,516,-116.79,-0.63,-30.00,3298.9,3416.1,3181.8,2274.1,2966.1,148.55,-15.02,81,804.35,0.00,0.00,2.01,0.000,0.000,0.020,3300.53,3417.56,3183.50,2274.94,1834.62,0,0,0,30.00,30.00,15.94
$GC,839.14,1028,-116.79,-0.63,0.00,3298.9,3415.5,3182.2,2273.5,1833.2,154.12,-13.49,85,844.39,0.00,0.00,2.24,0.000,0.000,0.076,3299.81,3417.25,3182.38,2264.00,2964.69,0,0,0,30.00,30.00,15.78
$GC,1029.18,516,-116.79,-0.63,-30.00,3298.9,3415.9,3181.8,2264.4,2964.4,181.39,-14.06,104,1034.40,0.00,0.00,2.02,0.000,0.000,0.023,3298.84,3416.44,3181.25,2265.31,1838.12,0,0,0,30.00,30.00,15.95
$GC,1249.38,1028,-116.79,-0.63,0.00,3297.1,3414.6,3179.5,2264.2,1836.6,209.06,-12.04,126,1254.63,0.00,0.00,2.27,0.000,0.000,0.084,3297.66,3415.44,3179.88,2256.38,2962.50,0,0,0,30.00,30.00,15.78
$GC,1439.31,517,-116.79,-0.63,-30.00,3296.2,3414.7,3177.8,2256.2,2963.8,234.83,-14.07,145,1444.60,0.00,0.14,2.03,0.000,0.219,0.024,3296.34,3415.50,3177.19,2293.31,1839.56,0,0,0,30.00,15.66,15.63
$GC,1589.37,1028,-116.79,-0.63,0.00,3295.2,3414.6,3175.9,2293.1,1837.9,251.19,-10.37,160,1594.62,0.00,0.00,2.27,0.000,0.000,0.082,3295.78,3415.56,3176.00,2286.19,2965.12,0,0,0,30.00,30.00,15.79
$GC,1779.41,516,-116.79,-0.63,-30.00,3293.6,3414.8,3172.4,2285.8,2964.7,272.95,-11.27,179,1784.63,0.00,0.00,2.04,0.000,0.000,0.025,3294.00,3414.62,3173.38,2285.25,1834.62,0,0,0,30.00,30.00,15.98
$GC,1894.44,1028,-116.79,-0.63,0.00,3292.9,3414.5,3171.2,2286.5,1833.4,285.39,-10.71,190,1899.71,0.00,0.00,2.26,0.000,0.000,0.079,3293.25,3414.44,3172.06,2276.38,2962.06,0,0,0,30.00,30.00,15.79
$GC,2079.50,516,-116.79,-0.63,-30.00,3291.4,3413.2,3169.6,2276.4,2962.6,308.11,-12.40,209,2084.71,0.00,0.00,2.03,0.000,0.000,0.024,3291.75,3412.62,3170.88,2274.75,1834.81,0,0,0,30.00,30.00,15.97
$GC,2224.54,1028,-116.79,-0.63,0.00,3290.6,3413.1,3168.0,2276.1,1833.6,325.66,-11.97,223,2229.82,0.00,0.00,2.26,0.000,0.000,0.079,3291.84,3414.31,3169.38,2267.00,2966.00,0,0,0,30.00,30.00,15.79
$GC,2409.63,516,-116.79,-0.63,-30.00,3288.5,3409.6,3167.5,2268.1,2964.6,349.54,-12.77,242,2414.84,0.00,0.00,2.04,0.000,0.000,0.025,3288.31,3409.81,3166.81,2267.94,1834.88,0,0,0,30.00,30.00,15.98
$GC,2599.69,1028,-116.79,-0.63,0.00,3287.2,3407.9,3166.4,2267.2,1833.7,372.54,-11.71,261,2604.94,0.00,0.00,2.26,0.000,0.000,0.080,3289.59,3409.75,3169.44,2258.75,2963.75,0,0,0,30.00,30.00,15.78
$GC,2789.73,517,-116.79,-0.63,-30.00,3286.1,3406.4,3165.7,2258.8,2963.0,397.01,-13.19,280,2795.02,0.00,0.14,2.04,0.000,0.218,0.026,3286.25,3406.50,3166.00,2296.44,1840.12,0,0,0,30.00,15.64,15.62
$GC,2934.77,1028,-116.79,-0.63,0.00,3285.5,3405.8,3165.2,2295.8,1838.1,412.37,-10.42,289,2940.03,0.00,0.00,2.25,0.000,0.000,0.079,3286.00,3407.06,3164.94,2289.50,2960.25,0,0,0,30.00,30.00,15.76
$GC,3249.81,516,-116.79,-0.63,-30.00,3283.8,3404.0,3163.6,2289.3,2960.2,445.60,-10.16,305,3255.03,0.00,0.00,2.03,0.000,0.000,0.022,3284.12,3403.94,3164.31,2289.19,1832.12,0,0,0,30.00,30.00,15.99
$GC,3479.89,1028,-116.79,-0.63,0.00,3282.3,3402.8,3161.9,2288.8,1831.1,467.51,-9.53,316,3485.14,0.00,0.00,2.28,0.000,0.000,0.082,3282.91,3402.25,3163.56,2279.81,2961.62,0,0,0,30.00,30.00,15.73
$GC,3789.88,516,-116.79,-0.63,-30.00,3280.1,3400.8,3159.4,2280.2,2962.2,501.06,-10.81,332,3795.09,0.00,0.00,2.05,0.000,0.000,0.027,3281.78,3402.25,3161.31,2280.31,1835.31,0,0,0,30.00,30.00,15.99
$GC,4019.96,1028,-116.79,-0.63,0.00,3279.1,3398.4,3159.8,2280.2,1833.6,525.29,-10.67,343,4025.21,0.00,0.00,2.28,0.000,0.000,0.081,3279.06,3399.12,3159.00,2271.19,2961.94,0,0,0,30.00,30.00,15.76
$GC,4329.94,516,-116.79,-0.63,-30.00,3278.2,3398.7,3157.8,2271.4,2962.0,562.75,-12.27,359,4335.16,0.00,0.00,2.04,0.000,0.000,0.026,3278.97,3399.69,3158.25,2270.75,1842.38,0,0,0,30.00,30.00,15.96
$GC,4544.99,1028,-116.79,-0.63,0.00,3276.7,3397.9,3155.4,2270.8,1840.6,588.05,-11.79,369,4550.27,0.00,0.00,2.29,0.000,0.000,0.086,3276.94,3398.56,3155.31,2262.19,2962.25,0,0,0,30.00,30.00,15.71
$GC,4850.01,516,-116.79,-0.63,-30.00,3275.2,3395.5,3154.9,2262.2,2963.1,627.26,-12.84,385,4855.22,0.00,0.00,2.05,0.000,0.000,0.026,3275.47,3395.19,3155.75,2261.69,1837.00,0,0,0,30.00,30.00,15.96
$GC,5070.13,1028,-116.79,-0.63,0.00,3274.5,3395.0,3154.1,2262.2,1835.8,653.34,-11.34,396,5075.39,0.00,0.00,2.28,0.000,0.000,0.084,3275.94,3395.75,3156.12,2253.44,2961.50,0,0,0,30.00,30.00,15.72
$GC,5390.09,517,-116.79,-0.63,-30.00,3272.7,3392.2,3153.1,2253.2,2961.1,692.24,-12.08,412,5395.38,0.00,0.15,2.05,0.000,0.218,0.026,3272.34,3392.06,3152.62,2293.50,1830.56,0,0,0,30.00,15.58,15.55
$GC,5620.10,1028,-116.79,-0.63,0.00,3272.3,3392.8,3151.9,2293.4,1830.1,712.44,-8.46,423,5625.35,0.00,0.00,2.28,0.000,0.000,0.077,3272.53,3393.12,3151.94,2286.94,2963.94,0,0,0,30.00,30.00,15.71
$GC,5930.16,516,-116.79,-0.63,-30.00,3271.5,3391.6,3151.3,2286.7,2962.9,740.85,-9.18,439,5935.38,0.00,0.00,2.05,0.000,0.000,0.025,3270.62,3390.06,3151.19,2286.50,1832.81,0,0,0,30.00,30.00,15.98
$GC,6160.25,1028,-116.79,-0.63,0.00,3270.8,3391.4,3150.2,2287.3,1831.9,761.60,-9.23,450,6165.50,0.00,0.00,2.26,0.000,0.000,0.074,3270.47,3391.12,3149.81,2276.75,2962.56,0,0,0,30.00,30.00,15.71
$GC,6470.25,516,-116.79,-0.63,-30.00,3269.7,3389.4,3149.9,2276.7,2962.9,794.05,-10.75,466,6475.46,0.00,0.00,2.04,0.000,0.000,0.025,3269.78,3389.56,3150.00,2276.88,1833.75,0,0,0,30.00,30.00,15.94
$GC,6700.38,1028,-116.79,-0.63,0.00,3269.4,3390.5,3148.4,2276.6,1833.1,817.99,-10.42,477,6705.63,0.00,0.00,2.27,0.000,0.000,0.077,3269.59,3391.19,3148.00,2267.62,2964.25,0,0,0,30.00,30.00,15.69
$GC,7010.40,516,-116.79,-0.63,-30.00,3267.6,3387.8,3147.3,2268.0,2963.4,852.85,-11.22,493,7015.62,0.00,0.00,2.04,0.000,0.000,0.026,3268.16,3388.50,3147.81,2267.62,1836.25,0,0,0,30.00,30.00,15.96
$GC,7240.51,1028,-116.79,-0.63,0.00,3267.6,3388.9,3146.2,2267.6,1835.5,876.73,-10.20,504,7245.77,0.00,0.00,2.26,0.000,0.000,0.076,3267.50,3388.50,3146.50,2258.81,2964.62,0,0,0,30.00,30.00,15.69
$GC,7550.51,517,-116.79,-0.63,-30.00,3265.8,3385.4,3146.2,2258.5,2965.0,911.09,-11.02,520,7555.80,0.00,0.14,2.06,0.000,0.215,0.027,3266.00,3385.69,3146.31,2295.75,1833.00,0,0,0,30.00,15.53,15.50
$GC,7780.57,1028,-116.79,-0.63,0.00,3266.0,3386.1,3145.9,2295.4,1831.8,930.88,-8.51,531,7785.83,0.00,0.00,2.28,0.000,0.000,0.077,3266.06,3386.38,3145.75,2288.06,2964.19,0,0,0,30.00,30.00,15.66
$GC,8090.64,516,-116.79,-0.63,-30.00,3264.0,3385.1,3142.8,2288.4,2963.4,959.81,-9.46,547,8095.86,0.00,0.00,2.05,0.000,0.000,0.025,3264.88,3385.94,3143.81,2286.62,1833.81,0,0,0,30.00,30.00,15.96
$GC,8320.77,1028,-116.79,-0.63,0.00,3264.0,3385.1,3142.9,2288.4,1832.8,980.88,-8.89,558,8326.03,0.00,0.00,2.27,0.000,0.000,0.076,3264.00,3385.56,3142.44,2278.62,2962.12,0,0,0,30.00,30.00,15.65
$STATE,8430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8431,begin apogee
$GC,8432.54,3,0.00,-0.14,0.00,3263.3,3384.4,3142.2,2279.1,2556.0,991.80,-10.03,564,8533.02,98.39,0.61,0.15,2.047,0.169,0.164,2823.78,2931.62,2715.94,2455.19,2620.12,0,0,0,10.19,15.46,14.84
$STATE,8533,end apogee,CONTROL_FINISHED_OK
$STATE,8533,begin climb
$GC,8533.40,263,116.79,0.63,30.00,2822.1,2929.1,2715.1,2454.8,2620.0,995.57,0.00,569,8645.75,107.40,0.75,2.27,2.012,0.070,0.106,2345.59,2409.06,2282.12,2705.75,3672.69,0,0,0,11.61,15.23,14.80
$GC,8672.44,1063,287.02,0.81,0.00,2343.7,2406.4,2281.0,2706.2,3672.1,995.66,0.12,576,8822.04,145.60,0.12,2.11,1.996,0.092,0.029,1652.72,1730.00,1575.44,2769.94,2546.44,0,0,0,11.58,15.29,15.36
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$STATE,17305,end climb,SURFACE_DEPTH_REACHED
$STATE,17305,begin surface coast
$FINISH,0.0,1.020836
$STATE,17355,end surface coast,CONTROL_FINISHED_OK
$STATE,17355,begin surface
$SM_CCo,17426.62,0.00,0.000,0,668.4,733.6,603.2,529.01
$SM_GC,0.52,0.00,7.02,0.95,0.000,0.050,0.079,668.4,733.6,603.2,330.8,2969.1,0,0,0,30.00,15.66,15.68
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,614.29,8330.72,031219,043142
$TCM_TEMP,24.70
$XPDR_PINGS,83
$HUMID,54.25
$TEMP,20.89
$INTERNAL_PRESSURE,9.49988
$24V_AH,13.97,173.510
$10V_AH,15.00,0.000
$FG_AHR_24Vo,93.859
$FG_AHR_10Vo,30.300
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,627.485,20.115,201.715,210.713,20.750,14.834,4055.414,13644.625,2800.451,0.000,0.000,0.000
$DEVICE_MAMPS,2046.800,360.224,163.752,176.961,420.000,6.320,9.810,2.190,1.990,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,1308.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,1155128,30,23740,86
$DATA_FILE_SIZE,61169,1213
$CAP_FILE_SIZE,371020,0
$SDSIZE,3918848,3751296
$SDFILEDIR,3086,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,156.8,1
$GPS,031219,141819,612.708,8325.833,20,0.6,31,-1.8