version: 67.00
glider: 229
mission: 7
dive: 6
start: 8 6 119 5 35 25
data:
$ID,229
$MISSION,7
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,510
$D_ABORT,650
$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,170
$T_MISSION,225
$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,0.0041999999
$HD_B,0.011
$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,1970
$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,2450
$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,0.0024999999
$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,6.3192163
$FG_AHR_24V,26.374287
$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
$GPS1,060819,053131,7110.528,-14753.444,33,0.7,34,17.4
$_CALLS,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.8
$GPS2,060819,053502,7110.491,-14753.354,2,0.6,3,17.4
$SPEED_LIMITS,0.173,0.249
$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,327.1,203331,-19.2,-10.000,-21.88
$D_GRID,510
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,20.11,2,-145.99,-1.00,0.00,542.8,501.7,583.8,112.0,2553.0,0.00,0.00,0,82.30,61.56,0.00,0.00,0.005,0.000,0.000,1682.03,1607.62,1756.44,112.12,2552.44,0,0,0,15.29,30.00,30.00
$GC,82.55,295,-145.99,-1.00,80.00,1682.6,1609.1,1756.1,111.9,2550.3,3.46,-3.68,6,148.96,49.92,7.30,4.16,0.005,0.408,0.080,3493.91,3439.12,3548.69,1632.94,3956.00,0,0,0,15.32,15.31,15.31
$GC,210.97,1157,-145.99,-0.84,0.00,3495.7,3439.9,3551.4,1632.6,3953.4,43.34,-25.09,32,216.86,0.00,0.19,3.90,0.000,0.227,0.033,3495.88,3439.56,3552.19,1704.88,2559.94,0,0,0,30.00,15.50,15.62
$GC,400.98,516,-145.99,-0.84,-80.00,3494.7,3438.2,3551.2,1705.4,2544.8,70.01,-13.13,52,408.01,0.00,0.00,4.82,0.000,0.000,0.060,3496.56,3440.00,3553.12,1726.12,890.56,0,0,0,30.00,30.00,15.68
$GC,471.03,1157,-145.99,-0.87,0.00,3495.5,3438.4,3552.6,1727.2,889.5,78.41,-11.42,66,478.13,0.00,0.06,4.95,0.000,0.126,0.044,3495.28,3436.38,3554.19,1659.44,2618.19,0,0,0,30.00,15.62,15.70
$GC,661.06,645,-145.99,-0.82,-80.00,3497.3,3438.1,3556.5,1660.4,2620.2,104.61,-14.02,86,668.17,0.00,0.17,5.03,0.000,0.229,0.058,3496.41,3437.94,3554.88,1730.31,888.69,0,0,0,30.00,15.60,15.63
$GC,756.11,1157,-145.99,-0.90,0.00,3496.0,3437.5,3554.6,1730.4,888.4,115.89,-10.55,105,763.19,0.00,0.10,4.91,0.000,0.095,0.042,3501.31,3442.25,3560.38,1652.19,2615.88,0,0,0,30.00,15.69,15.74
$GC,941.15,645,-145.99,-0.87,-80.00,3497.2,3438.1,3556.3,1650.4,2615.1,139.52,-13.36,124,948.25,0.00,0.14,4.99,0.000,0.216,0.057,3499.94,3440.19,3559.69,1716.69,889.56,0,0,0,30.00,15.65,15.68
$GC,1006.17,1157,-145.99,-0.93,0.00,3496.8,3437.9,3555.7,1714.7,890.1,146.65,-10.24,137,1013.24,0.00,0.09,4.89,0.000,0.099,0.041,3500.28,3440.69,3559.88,1633.31,2616.81,0,0,0,30.00,15.69,15.77
$GC,1191.22,645,-145.99,-0.90,-80.00,3497.1,3437.9,3556.4,1634.5,2615.4,169.06,-11.45,156,1198.31,0.00,0.17,5.00,0.000,0.217,0.058,3498.59,3438.88,3558.31,1704.62,889.44,0,0,0,30.00,15.67,15.71
$GC,1261.28,1189,-145.99,-0.97,0.00,3496.5,3437.3,3555.7,1703.8,889.4,175.93,-9.25,170,1268.30,0.00,0.09,4.89,0.000,0.105,0.042,3497.34,3438.00,3556.69,1626.19,2618.19,0,0,0,30.00,15.74,15.83
$GC,1451.30,645,-145.99,-0.95,-80.00,3497.3,3438.2,3556.3,1626.3,2617.3,197.69,-11.46,190,1458.39,0.00,0.16,4.99,0.000,0.218,0.058,3497.19,3437.50,3556.88,1695.06,889.62,0,0,0,30.00,15.69,15.73
$GC,1531.35,1189,-145.99,-1.01,0.00,3497.7,3438.1,3557.2,1694.6,890.2,205.46,-9.48,206,1538.39,0.00,0.10,4.89,0.000,0.093,0.042,3497.31,3436.69,3557.94,1613.25,2620.06,0,0,0,30.00,15.75,15.82
$GC,1721.38,645,-145.99,-0.98,-80.00,3497.3,3437.7,3556.9,1612.6,2621.0,227.95,-11.96,226,1728.47,0.00,0.15,4.99,0.000,0.223,0.059,3501.50,3442.19,3560.81,1678.06,890.06,0,0,0,30.00,15.71,15.75
$GC,1776.39,1157,-145.99,-1.03,0.00,3497.2,3436.8,3557.7,1677.8,889.7,233.68,-10.12,237,1783.46,0.00,0.07,4.89,0.000,0.122,0.043,3498.75,3439.25,3558.25,1610.12,2617.75,0,0,0,30.00,15.76,15.84
$GC,1981.44,645,-145.99,-1.00,-80.00,3496.7,3436.8,3556.6,1610.0,2617.4,257.55,-12.02,254,1988.52,0.00,0.14,4.99,0.000,0.223,0.059,3495.19,3435.00,3555.38,1673.00,889.75,0,0,0,30.00,15.71,15.76
$GC,2056.46,1157,-145.99,-1.05,0.00,3497.5,3437.9,3557.1,1673.1,890.2,265.39,-10.16,269,2063.54,0.00,0.08,4.88,0.000,0.117,0.043,3496.19,3436.69,3555.69,1603.25,2617.81,0,0,0,30.00,15.77,15.87
$GC,2361.48,645,-145.99,-1.03,-80.00,3496.6,3436.4,3556.8,1604.4,2616.8,300.62,-11.55,280,2368.58,0.00,0.14,4.99,0.000,0.226,0.060,3497.44,3437.88,3557.00,1663.81,889.62,0,0,0,30.00,15.72,15.78
$GC,2466.53,1189,-145.99,-1.07,0.00,3495.8,3435.5,3556.1,1663.8,889.9,311.08,-9.73,301,2473.59,0.00,0.07,4.88,0.000,0.119,0.044,3497.06,3436.81,3557.31,1597.62,2616.38,0,0,0,30.00,15.78,15.88
$GC,2771.53,645,-145.99,-1.04,-80.00,3496.3,3436.7,3555.9,1597.2,2618.9,346.09,-11.60,312,2778.62,0.00,0.15,4.99,0.000,0.225,0.060,3494.50,3434.56,3554.44,1661.44,890.31,0,0,0,30.00,15.74,15.80
$GC,2891.58,1189,-145.99,-1.09,0.00,3496.2,3436.1,3556.2,1661.2,890.2,357.81,-9.08,336,2898.63,0.00,0.09,4.86,0.000,0.106,0.043,3495.44,3434.75,3556.12,1588.31,2614.88,0,0,0,30.00,15.82,15.91
$GC,3211.85,645,-145.99,-1.05,-80.00,3496.8,3436.4,3557.2,1588.2,2614.8,394.31,-11.59,350,3218.68,0.00,0.17,4.97,0.000,0.230,0.060,3500.91,3440.00,3561.81,1657.88,888.44,0,0,0,30.00,15.73,15.81
$GC,3326.64,1189,-145.99,-1.10,0.00,3495.9,3435.6,3556.3,1657.0,888.6,405.52,-9.45,373,3333.71,0.00,0.07,4.87,0.000,0.123,0.044,3500.91,3439.88,3561.94,1590.56,2617.94,0,0,0,30.00,15.80,15.92
$GC,3651.65,645,-145.99,-1.07,-80.00,3496.7,3435.2,3558.1,1590.2,2619.6,442.13,-11.35,388,3658.75,0.00,0.14,4.97,0.000,0.229,0.060,3494.72,3433.81,3555.62,1653.75,891.25,0,0,0,30.00,15.75,15.82
$GC,3776.71,1189,-145.99,-1.11,0.00,3496.1,3435.8,3556.4,1653.6,891.1,454.61,-9.71,413,3783.75,0.00,0.08,4.87,0.000,0.117,0.044,3492.75,3432.56,3552.94,1584.56,2618.81,0,0,0,30.00,15.82,15.90
$GC,4091.71,645,-145.99,-1.07,-80.00,3496.1,3435.3,3556.9,1585.9,2617.6,491.03,-11.71,426,4098.81,0.00,0.16,4.97,0.000,0.228,0.060,3496.25,3436.19,3556.31,1650.62,890.06,0,0,0,30.00,15.75,15.82
$GC,4206.77,1189,-145.99,-1.11,0.00,3496.4,3435.6,3557.3,1650.8,890.0,502.51,-9.56,449,4213.81,0.00,0.06,4.86,0.000,0.126,0.044,3495.72,3435.31,3556.12,1584.81,2618.12,0,0,0,30.00,15.83,15.93
$STATE,4292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4292,begin apogee
$GC,4293.48,3,0.00,-0.17,0.00,3495.4,3433.8,3556.9,1584.0,2406.4,512.02,-11.49,456,4411.79,115.54,1.12,0.17,1.980,0.205,0.130,2899.84,2794.19,3005.50,1918.44,2463.62,0,0,0,11.80,15.75,15.17
$STATE,4412,end apogee,CONTROL_FINISHED_OK
$STATE,4412,begin climb
$GC,4412.25,3,145.99,1.00,0.00,2899.0,2792.7,3005.3,1919.4,2464.4,513.38,0.00,459,4529.90,115.50,1.09,0.00,1.812,0.066,0.000,2301.84,2193.12,2410.56,2307.62,2465.75,0,0,0,11.07,15.26,30.00
$GC,4822.28,391,145.99,0.85,80.00,2289.3,2185.4,2393.2,2307.2,2465.1,471.60,13.22,473,4846.13,0.00,0.27,4.48,0.000,0.254,0.079,2293.28,2189.69,2396.88,2216.69,3956.88,0,0,0,30.00,15.32,15.39
$GC,4890.97,1158,145.99,0.71,0.00,2288.4,2185.8,2391.1,2217.7,3955.8,463.26,13.02,476,4914.78,0.00,0.00,4.37,0.000,0.000,0.032,2289.91,2187.56,2392.25,2235.06,2409.88,0,0,0,30.00,30.00,15.48
$GC,5256.64,131,145.99,0.66,0.00,2285.6,2183.4,2387.8,2235.5,2410.0,423.86,10.83,489,5258.11,0.00,0.22,0.00,0.000,0.230,0.000,2291.41,2189.62,2393.19,2174.25,2407.94,0,0,0,30.00,15.48,30.00
$GC,5556.61,423,182.43,0.79,80.00,2284.7,2182.0,2387.4,2174.1,2408.5,397.94,8.32,499,5604.16,28.98,0.14,4.63,1.673,0.079,0.078,2151.44,2048.75,2254.12,2224.75,3955.62,0,0,0,11.74,15.65,15.40
$GC,5671.18,1156,182.43,0.73,0.00,2149.0,2048.2,2249.8,2225.2,3955.6,385.56,11.16,504,5694.98,0.00,0.00,4.34,0.000,0.000,0.031,2151.62,2050.25,2253.00,2243.00,2411.88,0,0,0,30.00,30.00,15.59
$GC,5991.14,131,182.43,0.70,0.00,2146.2,2045.1,2247.3,2242.2,2410.3,349.86,10.79,515,5992.60,0.00,0.19,0.00,0.000,0.221,0.000,2145.28,2044.12,2246.44,2186.25,2409.69,0,0,0,30.00,15.54,30.00
$GC,6291.42,423,212.26,0.83,80.00,2145.0,2043.8,2246.2,2186.1,2409.4,323.52,8.63,525,6338.90,25.18,0.14,4.64,1.599,0.082,0.078,2028.34,1927.75,2128.94,2243.88,3957.00,0,0,0,11.92,15.70,15.48
$GC,6383.06,1028,212.26,0.83,0.00,2029.0,1929.9,2128.0,2244.7,3955.8,313.19,10.79,529,6406.89,0.00,0.00,4.32,0.000,0.000,0.031,2031.94,1932.75,2131.12,2262.62,2407.50,0,0,0,30.00,30.00,15.64
$GC,6726.97,131,212.26,0.81,0.00,2025.5,1926.6,2124.4,2262.9,2407.4,270.91,11.64,541,6728.42,0.00,0.16,0.00,0.000,0.227,0.000,2024.69,1925.81,2123.56,2217.38,2403.88,0,0,0,30.00,15.57,30.00
$GC,7104.57,423,232.70,0.90,80.00,2025.1,1924.9,2125.2,2217.8,2405.6,235.11,9.06,555,7128.81,18.00,0.12,4.59,1.469,0.092,0.077,1951.31,1850.62,2052.00,2268.38,3952.44,0,0,0,11.79,15.73,15.57
$GC,7242.02,1157,232.70,0.82,0.00,1945.5,1849.5,2041.6,2266.9,3954.4,218.40,12.76,561,7265.91,0.00,0.21,4.29,0.000,0.230,0.031,1943.81,1847.25,2040.38,2224.69,2405.12,0,0,0,30.00,15.58,15.72
$GC,7700.40,679,272.88,0.99,-80.00,1942.6,1845.5,2039.6,2225.1,2405.6,176.42,8.15,581,7748.08,33.33,0.18,4.89,1.451,0.072,0.068,1784.78,1688.12,1881.44,2333.06,740.94,0,0,0,11.92,15.74,15.52
$GC,7814.95,1029,272.88,0.99,0.00,1780.6,1687.4,1873.8,2332.6,740.2,163.14,11.54,586,7839.02,0.00,0.12,4.93,0.000,0.234,0.043,1778.59,1684.69,1872.50,2279.50,2467.44,0,0,0,30.00,15.55,15.66
$GC,8250.45,423,315.67,1.16,80.00,1777.8,1681.3,1874.2,2279.5,2466.9,123.13,8.03,605,8298.06,34.78,0.18,4.41,1.396,0.073,0.081,1611.94,1518.88,1705.00,2356.00,3951.50,0,0,0,11.93,15.71,15.47
$GC,8410.90,1157,315.67,1.08,0.00,1607.8,1517.3,1698.3,2355.2,3954.9,105.97,11.53,612,8434.80,0.00,0.23,4.33,0.000,0.228,0.033,1608.53,1517.81,1699.25,2307.38,2409.50,0,0,0,30.00,15.51,15.65
$GC,8851.12,163,376.69,1.33,0.00,1604.5,1512.9,1696.1,2307.4,2408.4,75.24,7.19,631,8920.99,48.79,0.26,0.00,1.352,0.059,0.000,1359.53,1266.69,1452.38,2423.00,2405.69,0,0,0,11.89,15.63,30.00
$GC,9332.41,423,464.83,1.67,80.00,1354.4,1260.2,1448.6,2422.8,2405.9,32.07,5.94,652,9426.62,68.59,0.23,4.72,1.300,0.061,0.079,1002.75,918.38,1087.12,2528.75,3954.00,0,0,0,11.75,15.56,15.25
$RESTART_TIME,Tue Aug  6 08:23:56 2019
$SM_CCo,1711829.56,86.02,1.217,0,550.9,509.4,592.4,576.23
$SM_CCo,1711830.67,0.00,2.771,0,550.7,509.8,591.6,576.28
$SM_CCo,1711831.75,0.00,0.015,0,550.6,509.4,591.7,576.32
$SM_CCo,1711876.81,0.00,0.000,0,546.0,504.1,588.0,577.43
$SM_CCo,1711877.83,0.00,0.000,0,546.7,504.4,588.9,577.28
$SM_CCo,1711878.84,0.00,0.000,0,546.2,503.8,588.6,577.39
$SM_GC,1.04,0.00,6.86,3.94,0.000,0.049,0.036,546.2,503.8,588.6,90.6,2559.7,0,0,0,30.00,15.35,15.41
$SM_CCo,10.35,0.00,0.000,0,545.5,508.2,582.8,577.55
$SM_CCo,11.37,0.00,0.000,0,545.1,508.0,582.2,577.65
$SM_CCo,12.38,0.00,0.000,0,545.4,508.1,582.7,577.58
$SM_GC,3.19,0.00,1.97,0.19,0.000,0.115,0.070,545.4,508.1,582.7,140.1,2622.3,0,0,0,30.00,15.37,15.42