version: 67.00
glider: 229
mission: 7
dive: 8
start: 8 6 119 8 31 43
data:
$ID,229
$MISSION,7
$DIVE,8
$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,6.3413229
$FG_AHR_24V,26.550089
$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
$GPS1,060819,082709,7110.989,-14753.675,39,1.2,40,17.4
$_CALLS,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.6
$GPS2,060819,083119,7110.955,-14753.654,2,0.9,4,17.4
$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,338.5,202463,-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,20.06,2,-145.99,-1.00,0.00,541.2,510.9,571.5,139.6,2549.9,0.00,0.00,0,82.50,61.83,0.00,0.00,0.005,0.000,0.000,1702.94,1632.38,1773.50,139.75,2549.75,0,0,0,15.31,30.00,30.00
$GC,82.75,295,-145.99,-1.00,80.00,1702.3,1632.4,1772.2,139.8,2548.6,3.31,-3.49,6,149.65,51.22,7.30,4.21,0.005,0.412,0.083,3495.19,3442.50,3547.88,1632.12,3954.25,0,0,0,15.29,15.27,15.26
$GC,226.50,1157,-145.99,-0.87,0.00,3496.2,3444.6,3547.9,1632.1,3956.5,46.23,-21.73,35,232.39,0.00,0.16,3.93,0.000,0.234,0.034,3498.00,3445.06,3550.94,1693.38,2559.56,0,0,0,30.00,15.42,15.54
$GC,411.51,516,-145.99,-0.87,-80.00,3497.1,3443.5,3550.6,1693.6,2544.1,69.76,-12.16,54,418.53,0.00,0.00,4.83,0.000,0.000,0.060,3502.03,3447.88,3556.19,1714.88,889.62,0,0,0,30.00,30.00,15.62
$GC,496.54,1028,-145.99,-0.87,0.00,3497.5,3443.0,3551.9,1715.0,890.1,80.17,-11.74,71,503.59,0.00,0.00,4.95,0.000,0.000,0.044,3499.94,3444.81,3555.06,1696.50,2612.56,0,0,0,30.00,30.00,15.64
$GC,681.57,516,-145.99,-0.87,-80.00,3498.0,3442.5,3553.6,1695.8,2613.0,103.42,-12.45,90,688.63,0.00,0.00,5.02,0.000,0.000,0.057,3496.34,3441.81,3550.88,1715.19,888.19,0,0,0,30.00,30.00,15.69
$GC,731.59,1157,-145.99,-0.92,0.00,3496.9,3441.8,3552.1,1714.8,888.8,109.37,-11.56,100,738.68,0.00,0.07,4.93,0.000,0.121,0.041,3497.25,3442.06,3552.44,1645.75,2617.00,0,0,0,30.00,15.64,15.69
$GC,921.88,645,-145.99,-0.87,-80.00,3496.4,3440.9,3552.0,1645.4,2618.9,133.49,-12.10,120,928.73,0.00,0.17,5.01,0.000,0.226,0.056,3499.16,3443.56,3554.75,1715.81,888.50,0,0,0,30.00,15.60,15.68
$GC,1001.66,1189,-145.99,-0.93,0.00,3497.0,3441.4,3552.6,1714.6,889.5,141.64,-9.63,136,1008.72,0.00,0.08,4.91,0.000,0.106,0.041,3497.12,3441.88,3552.38,1638.94,2614.94,0,0,0,30.00,15.68,15.77
$GC,1191.67,645,-145.99,-0.90,-80.00,3497.7,3442.8,3552.6,1638.3,2615.6,163.84,-12.00,156,1198.76,0.00,0.17,5.00,0.000,0.217,0.057,3497.72,3442.88,3552.56,1708.56,889.94,0,0,0,30.00,15.65,15.67
$GC,1246.72,1189,-145.99,-0.97,0.00,3497.4,3442.4,3552.4,1707.6,890.2,169.23,-9.27,167,1253.74,0.00,0.10,4.89,0.000,0.094,0.041,3497.22,3442.31,3552.12,1625.75,2618.31,0,0,0,30.00,15.70,15.80
$GC,1431.71,645,-145.99,-0.95,-80.00,3497.2,3441.6,3552.9,1625.6,2617.4,190.74,-11.54,186,1438.79,0.00,0.16,4.99,0.000,0.214,0.058,3498.78,3443.38,3554.19,1694.94,889.62,0,0,0,30.00,15.67,15.70
$GC,1511.74,1189,-145.99,-1.01,0.00,3496.9,3441.8,3552.0,1694.3,890.1,198.75,-9.58,202,1518.78,0.00,0.10,4.89,0.000,0.095,0.043,3499.16,3443.38,3554.94,1611.81,2617.62,0,0,0,30.00,15.73,15.83
$GC,1701.76,645,-145.99,-0.98,-80.00,3496.8,3440.4,3553.1,1611.8,2617.7,221.23,-12.23,222,1708.84,0.00,0.17,4.99,0.000,0.222,0.058,3495.78,3439.81,3551.75,1682.31,891.69,0,0,0,30.00,15.68,15.75
$GC,1766.77,1157,-145.99,-1.03,0.00,3496.3,3440.9,3551.8,1682.9,890.9,228.32,-10.33,235,1773.83,0.00,0.08,4.89,0.000,0.110,0.043,3498.16,3442.81,3553.50,1608.00,2619.94,0,0,0,30.00,15.74,15.85
$GC,1951.80,645,-145.99,-1.00,-80.00,3496.7,3440.6,3552.9,1607.6,2620.2,251.34,-12.83,254,1958.93,0.00,0.16,4.99,0.000,0.223,0.058,3499.56,3442.94,3556.19,1672.75,889.69,0,0,0,30.00,15.69,15.77
$GC,2021.81,1157,-145.99,-1.07,0.00,3496.2,3440.5,3552.0,1673.8,889.4,259.15,-10.65,268,2028.88,0.00,0.09,4.90,0.000,0.102,0.043,3495.34,3439.06,3551.62,1597.75,2618.94,0,0,0,30.00,15.77,15.84
$GC,2331.84,645,-145.99,-1.03,-80.00,3495.9,3439.8,3552.1,1597.6,2619.2,297.87,-12.63,280,2338.93,0.00,0.16,4.99,0.000,0.233,0.059,3496.94,3441.25,3552.62,1664.00,889.62,0,0,0,30.00,15.70,15.76
$GC,2441.89,1189,-145.99,-1.08,0.00,3496.5,3439.9,3553.1,1664.4,889.6,309.01,-9.59,302,2449.06,0.00,0.08,4.89,0.000,0.115,0.044,3493.50,3436.44,3550.56,1593.25,2617.38,0,0,0,30.00,15.78,15.87
$GC,2771.90,645,-145.99,-1.04,-80.00,3494.9,3438.2,3551.6,1593.8,2619.4,346.83,-11.54,318,2778.98,0.00,0.17,4.98,0.000,0.229,0.060,3495.66,3437.94,3553.38,1661.31,889.62,0,0,0,30.00,15.73,15.77
$GC,2891.95,1189,-145.99,-1.09,0.00,3495.3,3437.6,3553.1,1661.7,889.4,358.32,-8.93,342,2898.98,0.00,0.08,4.89,0.000,0.110,0.045,3497.31,3440.25,3554.38,1589.62,2618.25,0,0,0,30.00,15.79,15.88
$GC,3211.96,645,-145.99,-1.05,-80.00,3494.9,3437.7,3552.2,1589.0,2617.7,395.28,-11.98,356,3219.04,0.00,0.17,4.97,0.000,0.228,0.059,3494.47,3436.69,3552.25,1660.31,889.50,0,0,0,30.00,15.74,15.78
$GC,3322.01,1189,-145.99,-1.10,0.00,3496.2,3439.0,3553.3,1658.7,888.7,406.24,-9.55,378,3329.07,0.00,0.08,4.87,0.000,0.109,0.044,3494.19,3437.38,3551.00,1585.31,2618.19,0,0,0,30.00,15.83,15.89
$GC,3652.02,645,-145.99,-1.06,-80.00,3494.9,3438.2,3551.6,1585.3,2620.0,445.41,-11.95,394,3659.16,0.00,0.17,4.98,0.000,0.226,0.060,3496.44,3438.00,3554.88,1655.81,891.00,0,0,0,30.00,15.75,15.80
$GC,3777.07,1189,-145.99,-1.10,0.00,3494.8,3437.4,3552.1,1655.6,890.9,457.78,-9.75,419,3784.11,0.00,0.08,4.88,0.000,0.114,0.044,3496.19,3439.00,3553.38,1585.12,2620.44,0,0,0,30.00,15.84,15.90
$GC,4092.08,645,-145.99,-1.06,-80.00,3494.6,3436.6,3552.5,1584.9,2619.4,495.01,-12.02,432,4099.17,0.00,0.17,4.99,0.000,0.224,0.059,3494.50,3437.19,3551.81,1654.12,890.50,0,0,0,30.00,15.77,15.83
$GC,4202.15,1189,-145.99,-1.11,0.00,3494.9,3437.0,3552.8,1654.8,889.9,505.79,-9.19,454,4209.19,0.00,0.08,4.86,0.000,0.113,0.045,3493.78,3436.25,3551.31,1583.62,2617.06,0,0,0,30.00,15.85,15.92
$STATE,4262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4262,begin apogee
$GC,4263.85,3,0.00,-0.17,0.00,3495.7,3437.2,3554.2,1584.2,2402.2,512.17,-10.83,461,4382.17,115.32,1.12,0.18,1.993,0.207,0.127,2899.44,2794.31,3004.56,1918.94,2462.19,0,0,0,11.86,15.75,15.15
$STATE,4383,end apogee,CONTROL_FINISHED_OK
$STATE,4383,begin climb
$GC,4382.62,3,145.99,1.00,0.00,2898.2,2793.1,3003.2,1917.7,2462.6,513.57,0.00,464,4504.05,116.81,1.10,0.00,1.897,0.067,0.000,2306.00,2199.31,2412.69,2306.44,2463.62,0,0,0,12.11,15.24,30.00
$GC,4866.93,391,145.99,0.85,80.00,2287.4,2185.9,2388.9,2306.9,2464.4,463.11,12.78,482,4890.83,0.00,0.26,4.48,0.000,0.255,0.079,2286.09,2185.56,2386.62,2217.81,3955.44,0,0,0,30.00,15.34,15.42
$GC,4935.67,1158,145.99,0.71,0.00,2285.5,2186.2,2384.9,2217.9,3954.1,454.63,12.87,485,4959.48,0.00,0.00,4.38,0.000,0.000,0.035,2283.25,2184.00,2382.50,2235.88,2410.44,0,0,0,30.00,30.00,15.49
$GC,5301.10,131,145.99,0.66,0.00,2283.8,2183.5,2384.2,2236.0,2410.1,416.33,10.19,498,5302.56,0.00,0.22,0.00,0.000,0.229,0.000,2283.16,2183.06,2383.25,2173.81,2406.94,0,0,0,30.00,15.50,30.00
$GC,5601.10,423,191.26,0.81,80.00,2283.4,2183.0,2383.8,2174.0,2406.4,391.73,7.91,508,5648.73,35.69,0.16,4.68,1.757,0.082,0.083,2114.31,2015.00,2213.62,2245.50,3955.81,0,0,0,11.91,15.66,15.37
$GC,5738.62,1157,191.26,0.71,0.00,2113.4,2016.1,2210.8,2244.4,3954.6,376.00,12.31,514,5762.46,0.00,0.26,4.36,0.000,0.235,0.035,2113.31,2015.94,2210.69,2188.69,2406.75,0,0,0,30.00,15.44,15.57
$GC,6172.94,163,205.68,0.79,0.00,2109.2,2010.5,2207.9,2189.2,2407.0,333.11,9.34,530,6203.28,13.13,0.10,0.00,1.548,0.098,0.000,2060.00,1960.75,2159.25,2241.12,2405.62,0,0,0,11.93,15.65,30.00
$GC,6502.94,260,205.68,0.79,80.00,2055.9,1955.1,2156.8,2240.6,2405.9,296.29,11.26,541,6526.80,0.00,0.00,4.64,0.000,0.000,0.084,2055.94,1955.00,2156.88,2241.50,3955.19,0,0,0,30.00,30.00,15.69
$GC,6594.67,1157,205.68,0.74,0.00,2054.6,1954.9,2154.3,2242.3,3955.1,285.12,12.32,545,6618.56,0.00,0.22,4.32,0.000,0.234,0.036,2051.34,1951.81,2150.88,2200.12,2407.38,0,0,0,30.00,15.56,15.71
$GC,6938.45,679,231.49,0.86,-80.00,2053.4,1953.5,2153.4,2202.0,2407.0,252.67,8.81,557,6985.93,22.57,0.14,4.89,1.538,0.086,0.068,1954.22,1857.12,2051.31,2294.56,740.25,0,0,0,11.94,15.73,15.53
$GC,7213.47,1029,231.49,0.86,0.00,1948.9,1853.8,2044.1,2293.5,740.2,221.49,11.27,569,7237.54,0.00,0.15,4.92,0.000,0.231,0.043,1947.75,1852.50,2043.00,2238.38,2468.19,0,0,0,30.00,15.59,15.72
$GC,7671.87,679,254.67,0.96,-80.00,1946.9,1850.2,2043.7,2237.2,2469.1,179.69,8.93,589,7719.31,20.03,0.12,5.06,1.448,0.088,0.065,1861.34,1764.12,1958.56,2321.88,740.50,0,0,0,11.86,15.75,15.58
$GC,7992.67,1157,254.67,0.98,0.00,1854.6,1759.9,1949.2,2321.6,740.2,145.11,10.50,603,8016.68,0.00,0.09,4.89,0.000,0.247,0.041,1854.31,1759.44,1949.19,2275.69,2470.25,0,0,0,30.00,15.61,15.75
$GC,8451.07,423,325.82,1.22,80.00,1853.5,1758.2,1948.8,2276.1,2470.5,111.35,6.72,623,8522.07,56.91,0.25,4.41,1.394,0.066,0.079,1569.16,1478.94,1659.38,2373.25,3952.19,0,0,0,11.98,15.76,15.43
$GC,8657.34,1157,325.82,1.14,0.00,1564.9,1478.2,1651.5,2374.2,3953.4,87.67,12.39,632,8681.23,0.00,0.24,4.32,0.000,0.229,0.032,1565.62,1478.31,1652.94,2324.69,2404.94,0,0,0,30.00,15.51,15.64
$GC,9092.81,679,400.99,1.42,-80.00,1561.4,1472.3,1650.4,2324.1,2403.6,57.41,6.54,651,9163.98,59.33,0.29,4.95,1.326,0.056,0.067,1260.84,1176.62,1345.06,2467.00,740.56,0,0,0,11.96,15.68,15.38
$GC,9276.15,1031,400.99,1.42,0.00,1256.6,1176.5,1336.6,2467.2,740.2,38.12,11.42,659,9300.22,0.00,0.14,4.95,0.000,0.214,0.043,1257.47,1176.88,1338.06,2415.75,2466.88,0,0,0,30.00,15.47,15.57
$GC,9734.55,679,585.32,2.06,-80.00,1253.5,1170.2,1336.8,2415.5,2467.2,31.30,1.51,679,9876.03,132.81,0.60,5.23,1.261,0.045,0.065,549.34,499.12,599.56,2677.94,740.12,0,0,0,12.02,15.65,15.16
$STATE,10125,end climb,SURFACE_DEPTH_REACHED
$STATE,10125,begin surface coast
$STATE,10137,end surface coast,CONTROL_FINISHED_OK
$STATE,10137,begin surface
$SM_CCo,10155.11,0.00,0.000,0,541.8,497.0,586.5,578.48
$SM_CCo,10156.13,0.00,0.000,0,541.6,496.8,586.3,578.52
$SM_CCo,10157.16,0.00,0.000,0,541.6,497.2,585.9,578.52
$SM_GC,1.38,0.00,7.18,5.41,0.000,0.052,0.041,541.6,497.2,585.9,119.2,2615.0,0,0,0,30.00,15.48,15.51
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,7111.25,-14745.54,060819,053330
$TCM_TEMP,7.63
$XPDR_PINGS,8
$RAFOS_CLK,-9
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,56.17
$TEMP,1.47
$INTERNAL_PRESSURE,8.3065
$24V_AH,14.36,63.542
$10V_AH,14.87,0.000
$FG_AHR_24Vo,26.723
$FG_AHR_10Vo,6.355
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,685.645,22.630,203.380,131.403,2.000,13.507,6510.830,3875.122,655.457,226.000,0.000,0.000
$DEVICE_MAMPS,1993.336,412.048,126.688,152.666,420.000,15.000,19.920,2.310,5.000,48.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,1164784,22,14664,61
$DATA_FILE_SIZE,22482,699
$CAP_FILE_SIZE,336800,0
$SDSIZE,3918848,3907200
$SDFILEDIR,76,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,  3.9,1
$GPS,060819,112231,7111.341,-14753.572,53,0.8,54,17.4