version: 67.00
glider: 229
mission: 7
dive: 4
start: 8 6 119 1 51 0
data:
$ID,229
$MISSION,7
$DIVE,4
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$D_NO_BLEED,50
$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,135
$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,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72365
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-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,625.51501
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3840
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,340
$ROLL_MAX,3945
$ROLL_DEG,80
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0027000001
$UNCOM_BLEED,20
$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,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,6.2349153
$FG_AHR_24V,26.064251
$PHONE_SUPPLY,2
$PRESSURE_YINT,-162.56323
$PRESSURE_SLOPE,0.00010777653
$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,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-2.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,104
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0044066384
$SEABIRD_T_H,0.00064594403
$SEABIRD_T_I,2.8872973e-05
$SEABIRD_T_J,3.8119131e-06
$SEABIRD_C_G,-9.8249397
$SEABIRD_C_H,1.1031885
$SEABIRD_C_I,-0.00041305512
$SEABIRD_C_J,0.00012297566
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,060819,014849,7110.378,-14753.720,1,1.6,4,17.4
$_CALLS,1
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-70.9
$GPS2,060819,015037,7110.366,-14753.668,2,1.9,4,17.4
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$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,293.9,203550,-17.6,-10.000,-21.24
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,4.65,2,-145.99,-0.98,0.00,542.4,511.1,573.6,137.9,2543.6,0.00,0.00,0,77.28,72.05,0.00,0.00,0.005,0.000,0.000,1909.88,1832.50,1987.25,137.75,2543.25,0,0,0,15.31,30.00,30.00
$GC,77.55,295,-145.99,-0.98,80.00,1909.3,1833.2,1985.5,137.8,2543.4,3.75,-3.64,7,133.74,40.11,7.61,4.19,0.005,0.423,0.080,3496.69,3442.62,3550.75,1668.88,3956.31,0,0,0,15.40,15.21,15.28
$GC,215.78,1157,-145.99,-0.86,0.00,3497.6,3443.5,3551.7,1668.8,3956.5,43.75,-18.46,35,221.50,0.00,0.14,3.89,0.000,0.236,0.031,3498.91,3445.00,3552.81,1724.69,2557.94,0,0,0,30.00,15.45,15.60
$GC,405.95,516,-145.99,-0.86,-80.00,3496.6,3441.4,3551.8,1724.5,2541.6,66.82,-11.38,55,412.63,0.00,0.00,4.80,0.000,0.000,0.056,3498.12,3443.12,3553.12,1745.38,889.62,0,0,0,30.00,30.00,15.50
$GC,495.63,1028,-145.99,-0.86,0.00,3497.5,3441.4,3553.6,1746.2,889.9,77.15,-11.36,73,502.02,0.00,0.00,4.95,0.000,0.000,0.041,3499.44,3444.38,3554.50,1726.25,2615.88,0,0,0,30.00,30.00,15.39
$GC,681.05,516,-145.99,-0.86,-80.00,3497.2,3440.1,3554.3,1726.5,2616.2,99.41,-11.53,92,687.73,0.00,0.00,5.03,0.000,0.000,0.054,3498.25,3441.62,3554.88,1745.69,890.38,0,0,0,30.00,30.00,15.49
$GC,740.69,1157,-145.99,-0.91,0.00,3497.2,3440.1,3554.2,1745.9,889.5,105.94,-10.46,104,748.11,0.00,0.06,4.93,0.000,0.123,0.040,3499.06,3441.69,3556.44,1676.38,2617.81,0,0,0,30.00,15.49,15.49
$GC,930.98,645,-145.99,-0.87,-80.00,3497.4,3439.8,3555.0,1676.0,2618.4,128.10,-11.84,124,937.84,0.00,0.17,5.04,0.000,0.225,0.054,3497.31,3440.75,3553.88,1744.50,888.88,0,0,0,30.00,15.55,15.47
$GC,1005.92,1189,-145.99,-0.94,0.00,3497.4,3440.3,3554.5,1744.3,888.8,135.26,-9.09,139,1012.83,0.00,0.09,4.92,0.000,0.098,0.039,3497.84,3439.75,3555.94,1663.69,2620.06,0,0,0,30.00,15.62,15.55
$GC,1190.91,645,-145.99,-0.91,-80.00,3497.2,3439.8,3554.7,1663.6,2620.4,155.92,-11.42,158,1197.88,0.00,0.17,5.04,0.000,0.215,0.054,3497.59,3439.81,3555.38,1733.06,890.19,0,0,0,30.00,15.57,15.44
$GC,1260.80,1189,-145.99,-0.98,0.00,3497.3,3440.1,3554.5,1733.1,890.0,162.10,-8.15,172,1268.19,0.00,0.09,4.92,0.000,0.095,0.039,3498.38,3440.00,3556.75,1647.25,2619.62,0,0,0,30.00,15.50,15.50
$GC,1451.10,645,-145.99,-0.94,-80.00,3497.9,3440.4,3555.4,1647.8,2620.0,181.98,-10.68,192,1457.93,0.00,0.19,5.03,0.000,0.212,0.055,3496.38,3437.62,3555.12,1722.62,890.00,0,0,0,30.00,15.58,15.44
$GC,1506.08,1189,-145.99,-1.02,0.00,3496.9,3438.9,3554.9,1723.1,890.4,186.77,-8.54,203,1512.89,0.00,0.10,4.89,0.000,0.084,0.040,3496.12,3438.44,3553.81,1632.06,2616.38,0,0,0,30.00,15.63,15.68
$GC,1691.05,129,-145.99,-0.98,0.00,3496.2,3438.0,3554.4,1631.6,2615.8,206.24,-10.55,222,1692.50,0.00,0.19,0.00,0.000,0.206,0.000,3496.47,3437.38,3555.56,1689.62,2616.25,0,0,0,30.00,15.60,30.00
$GC,1871.21,676,-145.99,-1.02,-80.00,3496.5,3438.2,3554.8,1689.5,2616.0,221.47,-8.22,240,1877.91,0.00,0.00,5.02,0.000,0.000,0.056,3499.09,3440.19,3558.00,1711.06,889.69,0,0,0,30.00,30.00,15.61
$GC,1970.90,1189,-145.99,-1.10,0.00,3496.2,3437.7,3554.8,1710.8,889.9,229.54,-7.81,260,1978.34,0.00,0.14,4.91,0.000,0.073,0.040,3497.97,3440.50,3555.44,1612.50,2618.06,0,0,0,30.00,15.60,15.64
$GC,2161.29,645,-145.99,-1.04,-80.00,3495.9,3437.6,3554.2,1613.2,2619.1,249.90,-10.88,280,2168.03,0.00,0.19,5.01,0.000,0.218,0.054,3496.88,3438.06,3555.69,1690.25,890.19,0,0,0,30.00,15.60,15.62
$GC,2220.94,1189,-145.99,-1.09,0.00,3496.4,3438.0,3554.8,1691.1,889.8,255.41,-8.98,292,2228.01,0.00,0.08,4.91,0.000,0.111,0.040,3496.25,3437.88,3554.62,1618.94,2618.94,0,0,0,30.00,15.58,15.65
$GC,2541.20,645,-145.99,-1.05,-80.00,3495.2,3436.2,3554.2,1619.1,2618.5,289.13,-10.89,306,2548.06,0.00,0.17,5.01,0.000,0.220,0.057,3495.88,3435.81,3555.94,1688.56,890.12,0,0,0,30.00,15.61,15.64
$GC,2646.00,1189,-145.99,-1.10,0.00,3495.4,3436.1,3554.8,1688.6,889.6,298.56,-8.74,327,2653.04,0.00,0.08,4.89,0.000,0.109,0.042,3495.69,3436.31,3555.06,1613.44,2618.06,0,0,0,30.00,15.69,15.66
$STATE,2681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2681,begin apogee
$GC,2682.45,3,0.00,-0.17,0.00,3496.0,3437.2,3554.8,1613.9,2546.4,302.12,-9.71,329,2798.92,114.33,1.12,0.19,1.717,0.198,0.111,2896.22,2789.06,3003.38,1948.94,2616.69,0,0,0,11.77,15.62,15.14
$STATE,2800,end apogee,CONTROL_FINISHED_OK
$STATE,2800,begin climb
$GC,2799.92,3,145.99,0.98,0.00,2896.0,2789.6,3002.4,1948.6,2618.3,303.58,0.00,332,2915.96,112.19,1.04,0.00,1.553,0.045,0.000,2305.69,2199.88,2411.50,2334.38,2617.44,0,0,0,11.99,15.27,30.00
$GC,3223.99,391,145.99,0.77,80.00,2288.2,2187.3,2389.0,2334.7,2618.0,259.90,13.26,367,3230.63,0.00,0.37,3.99,0.000,0.258,0.080,2290.62,2188.69,2392.56,2220.69,3956.00,0,0,0,30.00,15.36,15.37
$GC,3263.74,1158,145.99,0.60,0.00,2286.9,2186.9,2386.9,2219.5,3955.3,254.80,12.80,375,3269.54,0.00,0.00,3.91,0.000,0.000,0.031,2287.88,2187.94,2387.81,2237.12,2564.38,0,0,0,30.00,30.00,15.51
$GC,3568.99,163,158.12,0.56,0.00,2284.9,2184.4,2385.5,2236.3,2548.1,225.69,9.44,403,3579.19,9.35,0.23,0.00,1.242,0.219,0.000,2250.59,2150.12,2351.06,2168.69,2546.62,0,0,0,11.83,15.42,30.00
$GC,3759.11,679,232.72,0.78,-80.00,2250.1,2148.2,2351.9,2169.0,2546.5,212.38,6.53,422,3826.20,59.62,0.24,4.91,1.502,0.064,0.060,1947.72,1844.69,2050.75,2296.50,889.69,0,0,0,11.86,15.52,15.23
$GC,3863.77,1157,232.72,0.75,0.00,1944.0,1843.6,2044.4,2296.4,889.8,201.26,12.02,443,3871.03,0.00,0.17,5.02,0.000,0.222,0.042,1944.28,1844.31,2044.25,2233.00,2618.69,0,0,0,30.00,15.32,15.32
$GC,4054.12,295,263.47,0.84,80.00,1939.8,1837.2,2042.4,2232.7,2618.4,183.83,8.57,463,4085.41,24.75,0.10,3.98,1.374,0.094,0.081,1823.75,1723.31,1924.19,2280.12,3953.88,0,0,0,11.89,15.51,15.32
$GC,4094.13,1157,263.47,0.76,0.00,1821.6,1722.8,1920.4,2280.1,3953.2,179.60,10.78,469,4099.96,0.00,0.21,3.91,0.000,0.221,0.030,1821.94,1723.25,1920.62,2235.56,2563.62,0,0,0,30.00,15.32,15.41
$GC,4284.08,679,302.40,0.92,-80.00,1818.2,1719.7,1916.8,2235.4,2546.7,163.27,8.19,489,4322.92,31.31,0.17,4.91,1.363,0.071,0.060,1664.44,1572.19,1756.69,2337.81,890.44,0,0,0,11.91,15.53,15.34
$GC,4380.00,1029,302.40,0.92,0.00,1661.7,1571.6,1751.8,2338.1,890.2,152.72,11.06,508,4387.13,0.00,0.12,4.97,0.000,0.225,0.040,1660.47,1570.75,1750.19,2283.88,2619.56,0,0,0,30.00,15.40,15.50
$GC,4564.96,163,328.66,1.03,0.00,1658.5,1566.9,1750.1,2284.8,2620.3,135.33,8.78,527,4587.60,21.76,0.14,0.00,1.324,0.079,0.000,1558.31,1469.31,1647.31,2348.88,2619.62,0,0,0,11.89,15.54,30.00
$GC,4765.02,0,328.66,1.03,0.00,1554.2,1463.8,1644.6,2348.4,2619.2,112.88,11.39,547,4766.35,0.00,0.00,0.00,0.000,0.000,0.000,1553.16,1463.19,1643.12,2348.69,2619.62,0,0,0,30.00,30.00,30.00
$GC,4944.98,550,356.90,1.11,-80.00,1552.9,1461.8,1643.9,2348.4,2619.0,95.02,8.69,565,4976.72,23.56,0.00,5.11,1.312,0.000,0.060,1442.38,1352.19,1532.56,2370.38,890.00,0,0,0,11.90,30.00,15.38
$GC,5039.87,1190,377.03,1.23,0.00,1439.9,1351.6,1528.2,2370.8,890.1,86.51,9.06,584,5066.46,17.69,0.00,4.98,1.269,0.000,0.041,1361.78,1272.56,1451.00,2355.56,2616.44,0,0,0,11.94,30.00,15.50
$GC,5245.05,679,408.44,1.38,-80.00,1357.3,1265.9,1448.8,2355.9,2617.0,68.60,8.54,607,5278.90,26.08,0.25,5.13,1.290,0.058,0.061,1232.19,1145.94,1318.44,2489.06,889.81,0,0,0,11.95,15.54,15.36
$GC,5335.75,1157,408.44,1.34,0.00,1229.6,1146.1,1313.1,2489.0,889.9,57.27,12.89,625,5343.17,0.00,0.17,4.99,0.000,0.227,0.042,1229.34,1146.06,1312.62,2420.56,2618.50,0,0,0,30.00,15.41,15.45
$GC,5526.07,34,431.14,1.40,0.00,1228.4,1144.2,1312.7,2421.7,2617.2,38.72,8.94,645,5546.34,19.40,0.00,0.00,1.322,0.000,0.000,1141.97,1059.44,1224.50,2421.12,2617.81,0,0,0,11.94,30.00,30.00
$GC,5726.13,163,580.51,1.98,0.00,1138.2,1053.2,1223.1,2421.8,2617.2,28.42,3.05,665,5839.55,111.29,0.59,0.00,1.294,0.034,0.000,549.97,498.88,601.06,2664.94,2617.19,0,0,0,11.88,15.54,30.00
$GC,6021.57,679,597.15,1.96,-80.00,544.4,492.8,596.0,2665.1,2616.7,9.17,9.23,704,6028.61,0.00,0.17,5.14,0.000,0.223,0.061,544.19,492.62,595.75,2638.12,890.12,0,0,0,30.00,15.35,15.40
$GC,6056.68,1062,623.74,2.03,0.00,543.4,492.7,594.1,2638.3,890.2,6.07,8.76,711,6063.48,0.00,0.00,5.01,0.000,0.000,0.042,543.22,492.56,593.88,2637.38,2617.81,0,0,0,30.00,30.00,15.37
$STATE,6102,end climb,SURFACE_DEPTH_REACHED
$STATE,6102,begin surface coast
$FINISH,0.2,1.022230
$STATE,6122,end surface coast,CONTROL_FINISHED_OK
$STATE,6122,begin surface
$SM_CCo,6134.09,0.00,0.000,0,542.5,491.4,593.6,578.29
$SM_CCo,6135.12,0.00,0.000,0,542.7,491.8,593.6,578.25
$SM_CCo,6136.15,0.00,0.000,0,542.7,491.9,593.6,578.24
$SM_GC,1.48,0.00,7.11,0.14,0.000,0.055,0.060,542.7,491.9,593.6,134.2,2548.1,0,0,0,30.00,15.44,15.51
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,7112.34,-14751.19,060819,014523
$TCM_TEMP,6.98
$XPDR_PINGS,6
$SC_FREEKB,3876224
$RAFOS_CLK,-5
$RAFOS_FIX,7110.843262,-14922.857422,060819,030329,0,1,8.73
$HUMID,58.58
$TEMP,1.13
$INTERNAL_PRESSURE,8.31857
$24V_AH,14.51,62.617
$10V_AH,14.85,0.000
$FG_AHR_24Vo,26.208
$FG_AHR_10Vo,6.284
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,683.490,21.680,153.925,0.000,1.500,13.749,2081.290,4114.842,776.549,0.000,0.000,0.000
$DEVICE_MAMPS,1717.160,422.544,110.944,0.000,420.000,15.000,19.920,2.310,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6121.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.799,0.000,0.000,0.000
$MEM,1154652,28,24456,72
$DATA_FILE_SIZE,22518,718
$CAP_FILE_SIZE,280584,0
$SDSIZE,3918848,3907808
$SDFILEDIR,65,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.180,129.6,1
$GPS,060819,033435,7110.458,-14753.993,56,1.0,57,17.4