version: 67.00
glider: 232
mission: 6
dive: 13
start: 8 13 121 23 1 14
data:
$ID,232
$MISSION,6
$DIVE,13
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$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,250
$T_MISSION,280
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72824
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0039810701
$HD_B,0.0085924603
$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,524.94202
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,4
$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,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,450
$PITCH_MAX,3850
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,24
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,80
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1850
$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,2690
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,525
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,47.682476
$FG_AHR_24V,80.595284
$PHONE_SUPPLY,2
$PRESSURE_YINT,-158.60475
$PRESSURE_SLOPE,0.00022642814
$COMPASS_USE,16388
$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,6
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,102
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044240318
$SEABIRD_T_H,0.0006469884
$SEABIRD_T_I,2.7191092e-05
$SEABIRD_T_J,3.4398734e-06
$SEABIRD_C_G,-9.9621954
$SEABIRD_C_H,1.1055299
$SEABIRD_C_I,-0.0031133897
$SEABIRD_C_J,0.00029840908
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,130821,185119,7243.057,-15600.758,301,99.0,301,12.7
$_CALLS,5
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-76.5
$GPS2,130821,230041,7242.441,-15600.702,62,1.1,81,12.7
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,S2
$TGT_LATLONG,7241.000,-15600.000
$TGT_RADIUS,1000.000
$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,114.0,2697,-28.2,-10.000,-30.00
$D_GRID,1000
$IRON,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,129.000000,846.000000,760.000000
$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
$NAV,1628895688,1.7,start
$GC,5.62,16386,-53.49,-1.24,0.00,546.7,598.1,495.3,433.6,1885.3,0.00,0.00,0,63.41,56.06,0.00,0.00,0.005,0.000,0.000,1482.16,1448.12,1516.19,433.44,1884.94,0,0,0,15.23,30.00,30.00
$GC,64.51,18727,-110.16,-1.31,80.00,1483.3,1449.3,1517.2,433.7,1885.2,3.20,-2.93,6,143.96,58.69,10.69,5.29,0.005,0.434,0.121,3139.31,3098.38,3180.25,2528.38,3605.81,0,0,0,15.27,15.18,15.19
$GC,372.41,3205,-110.16,-1.21,0.00,3140.2,3101.4,3178.9,2529.0,3605.5,96.34,-37.42,67,383.28,0.00,0.15,5.16,0.000,0.326,0.098,3143.19,3105.38,3181.00,2583.75,1888.25,0,0,0,30.00,15.37,15.50
$GC,572.43,388,-110.16,-1.14,80.00,3140.2,3101.4,3179.1,2584.0,1887.7,155.43,-25.13,88,583.25,0.00,0.00,5.31,0.000,0.000,0.122,3140.88,3102.19,3179.56,2563.38,3604.25,0,0,0,30.00,30.00,15.44
$GC,812.52,3205,-110.16,-1.06,0.00,3139.5,3100.8,3178.2,2564.1,3603.4,211.73,-21.86,136,823.39,0.00,0.19,5.16,0.000,0.310,0.095,3141.09,3102.62,3179.56,2629.75,1888.75,0,0,0,30.00,15.37,15.46
$GC,1012.56,388,-110.16,-1.04,80.00,3140.3,3101.1,3179.5,2628.6,1887.9,246.55,-16.90,157,1023.38,0.00,0.00,5.33,0.000,0.000,0.122,3140.47,3101.44,3179.50,2610.00,3603.44,0,0,0,30.00,30.00,15.47
$GC,1107.10,3205,-110.16,-0.99,0.00,3140.5,3101.2,3179.8,2609.1,3603.6,264.42,-18.47,176,1115.14,0.00,0.09,5.14,0.000,0.310,0.094,3140.38,3100.25,3180.50,2651.50,1888.75,0,0,0,30.00,15.38,15.56
$GC,1428.56,388,-110.16,-1.01,80.00,3140.8,3100.6,3180.9,2651.5,1886.8,306.08,-11.80,190,1438.91,0.00,0.00,5.34,0.000,0.000,0.124,3141.84,3102.50,3181.19,2632.56,3606.00,0,0,0,30.00,30.00,15.55
$GC,1668.60,1028,-110.16,-1.01,0.00,3141.0,3101.2,3180.8,2632.8,3605.6,334.67,-11.84,238,1678.97,0.00,0.00,5.16,0.000,0.000,0.096,3142.06,3102.75,3181.38,2650.75,1886.81,0,0,0,30.00,30.00,15.56
$GC,1998.64,388,-110.16,-1.04,80.00,3141.4,3101.6,3181.2,2651.1,1887.4,368.52,-10.17,254,2009.01,0.00,0.00,5.33,0.000,0.000,0.125,3142.56,3102.38,3182.75,2631.94,3603.94,0,0,0,30.00,30.00,15.55
$NAV,1628897772,380.3,0,stop
$GC,2238.69,1156,-110.16,-1.07,0.00,3141.2,3101.2,3181.2,2632.1,3604.1,397.37,-12.00,302,2249.01,0.00,0.00,5.13,0.000,0.000,0.099,3140.78,3100.94,3180.62,2650.44,1889.75,0,0,0,30.00,30.00,15.64
$GC,2568.74,4517,-111.19,-1.11,80.00,3140.5,3100.6,3180.4,2651.2,1889.5,430.60,-9.87,318,2579.17,0.00,0.14,5.30,0.000,0.127,0.125,3141.16,3101.19,3181.12,2573.88,3603.12,0,0,0,30.00,15.64,15.60
$GC,2808.78,3205,-111.19,-1.10,0.00,3140.4,3100.6,3180.2,2573.6,3603.9,463.44,-13.66,366,2819.18,0.00,0.12,5.09,0.000,0.294,0.097,3142.22,3102.25,3182.19,2618.62,1888.25,0,0,0,30.00,15.47,15.68
$GC,3138.81,388,-111.19,-1.13,80.00,3140.0,3099.4,3180.6,2618.6,1887.8,500.34,-10.87,382,3149.16,0.00,0.00,5.30,0.000,0.000,0.127,3141.31,3101.19,3181.44,2597.69,3603.88,0,0,0,30.00,30.00,15.66
$GC,3378.86,1156,-111.19,-1.15,0.00,3139.9,3099.5,3180.4,2598.6,3604.1,529.87,-12.10,430,3389.17,0.00,0.00,5.09,0.000,0.000,0.097,3143.28,3103.06,3183.50,2607.12,1886.56,0,0,0,30.00,30.00,15.72
$GC,3708.90,388,-111.19,-1.17,80.00,3140.1,3099.2,3181.0,2608.5,1886.8,566.58,-11.18,446,3719.23,0.00,0.00,5.27,0.000,0.000,0.124,3140.66,3099.50,3181.81,2588.19,3603.81,0,0,0,30.00,30.00,15.69
$GC,3948.95,1156,-111.19,-1.18,0.00,3140.1,3099.4,3180.8,2588.0,3603.9,596.99,-12.49,494,3959.26,0.00,0.00,5.08,0.000,0.000,0.097,3141.84,3101.56,3182.12,2600.12,1888.50,0,0,0,30.00,30.00,15.75
$GC,4278.97,388,-111.19,-1.21,80.00,3139.8,3098.8,3180.7,2599.7,1888.1,634.60,-11.46,510,4289.31,0.00,0.00,5.26,0.000,0.000,0.125,3139.28,3098.25,3180.31,2580.25,3604.94,0,0,0,30.00,30.00,15.70
$GC,4519.01,1028,-111.19,-1.21,0.00,3140.2,3099.4,3180.9,2579.9,3605.1,665.02,-12.55,558,4529.35,0.00,0.00,5.09,0.000,0.000,0.097,3140.06,3098.75,3181.38,2586.94,1886.81,0,0,0,30.00,30.00,15.76
$GC,4849.06,388,-111.19,-1.23,80.00,3139.9,3098.9,3180.9,2587.1,1887.4,702.65,-11.23,574,4859.39,0.00,0.00,5.28,0.000,0.000,0.125,3140.38,3100.12,3180.62,2567.31,3604.12,0,0,0,30.00,30.00,15.72
$GC,4918.59,1028,-111.19,-1.23,0.00,3139.7,3098.8,3180.6,2567.2,3604.1,711.66,-13.06,588,4926.58,0.00,0.00,5.07,0.000,0.000,0.096,3140.19,3099.25,3181.12,2577.19,1888.12,0,0,0,30.00,30.00,15.78
$GC,5234.96,388,-111.19,-1.24,80.00,3140.0,3098.8,3181.1,2577.1,1887.1,748.63,-11.66,601,5245.30,0.00,0.00,5.27,0.000,0.000,0.126,3141.75,3100.69,3182.81,2557.19,3605.56,0,0,0,30.00,30.00,15.73
$STATE,5249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5249,begin apogee
$GC,5258.59,10243,0.00,-0.21,0.00,3139.7,3097.8,3181.6,2565.3,1838.9,750.49,-11.66,604,5365.74,103.40,1.27,0.12,2.188,0.282,0.210,2687.72,2637.62,2737.81,2903.19,1875.00,0,0,0,11.80,15.52,15.06
$STATE,5367,end apogee,CONTROL_FINISHED_OK
$STATE,5367,begin climb
$GC,5367.42,10759,111.19,1.31,-80.00,2686.5,2635.2,2737.8,2903.6,1875.1,753.02,0.00,610,5481.46,103.57,1.54,5.53,2.118,0.125,0.134,2236.25,2201.88,2270.62,3417.44,195.19,0,0,0,12.18,15.20,14.74
$GC,5709.41,21639,111.19,1.20,0.00,2222.7,2198.2,2247.2,3417.2,195.6,665.75,30.74,678,5717.52,0.00,0.23,5.15,0.000,0.357,0.098,2221.03,2195.69,2246.38,3348.25,1859.31,0,0,0,30.00,15.08,15.26
$GC,6020.89,17030,111.19,1.13,-80.00,2219.7,2191.5,2247.9,3348.0,1875.1,585.81,25.13,690,6031.25,0.00,0.00,5.33,0.000,0.000,0.135,2219.62,2191.31,2247.94,3367.69,194.12,0,0,0,30.00,30.00,15.40
$GC,6260.94,21639,111.19,1.04,0.00,2219.8,2191.6,2248.0,3368.0,194.2,519.61,27.84,738,6271.37,0.00,0.22,5.06,0.000,0.345,0.098,2219.16,2190.69,2247.62,3297.38,1859.69,0,0,0,30.00,15.29,15.51
$GC,6590.97,17030,111.19,1.00,-80.00,2218.3,2188.9,2247.8,3297.6,1875.2,445.11,22.16,754,6601.31,0.00,0.00,5.30,0.000,0.000,0.137,2221.47,2192.38,2250.56,3316.62,193.38,0,0,0,30.00,30.00,15.54
$GC,6831.02,21639,111.19,0.96,0.00,2218.1,2188.6,2247.7,3317.1,192.6,388.84,22.55,802,6841.40,0.00,0.11,5.01,0.000,0.334,0.098,2221.41,2192.00,2250.81,3271.50,1858.69,0,0,0,30.00,15.39,15.61
$GC,7161.04,17030,111.19,0.94,-80.00,2217.5,2186.9,2248.1,3272.5,1874.2,324.17,18.74,818,7171.38,0.00,0.00,5.26,0.000,0.000,0.135,2218.31,2188.50,2248.12,3292.88,194.00,0,0,0,30.00,30.00,15.60
$GC,7401.09,17542,111.19,0.91,0.00,2217.4,2187.2,2247.5,3291.7,193.9,282.40,15.16,866,7411.38,0.00,0.00,5.00,0.000,0.000,0.098,2218.06,2188.00,2248.12,3273.62,1861.12,0,0,0,30.00,30.00,15.67
$GC,7731.09,8742,135.34,0.94,-80.00,2217.2,2186.6,2247.8,3273.4,1873.9,250.92,6.99,882,7762.34,20.97,0.00,5.24,1.602,0.000,0.135,2136.69,2103.50,2169.88,3292.75,193.25,0,0,0,11.92,30.00,15.50
$GC,7991.14,1156,135.34,0.93,0.00,2131.6,2101.4,2161.7,3291.7,192.8,226.49,10.02,934,8001.95,0.00,0.00,5.01,0.000,0.000,0.097,2132.28,2101.62,2162.94,3273.12,1868.50,0,0,0,30.00,30.00,15.58
$GC,8191.17,8870,159.91,0.98,-80.00,2130.8,2098.8,2162.9,3273.4,1871.1,211.83,6.93,955,8222.63,23.56,0.00,5.28,1.548,0.000,0.135,2034.03,1999.06,2069.00,3292.38,194.19,0,0,0,12.05,30.00,15.42
$GC,8451.18,9254,167.99,0.99,0.00,2029.3,1999.2,2059.4,3292.5,193.9,187.69,8.99,1007,8472.24,11.14,0.00,5.03,1.328,0.000,0.096,2004.62,1970.25,2039.00,3272.62,1866.00,0,0,0,12.00,30.00,15.53
$GC,8661.25,10919,200.47,1.07,-80.00,2000.7,1963.4,2038.0,3273.5,1866.1,173.75,5.95,1030,8713.11,42.60,0.12,5.34,1.454,0.124,0.136,1872.62,1837.19,1908.06,3348.25,194.31,0,0,0,11.93,15.55,15.25
$GC,8941.54,9254,220.15,1.10,0.00,1864.6,1835.2,1893.9,3347.6,194.0,147.84,7.54,1086,8977.59,26.39,0.00,5.06,1.406,0.000,0.096,1791.47,1756.56,1826.38,3327.81,1866.00,0,0,0,11.93,30.00,15.39
$GC,9161.60,8870,263.26,1.19,-80.00,1787.7,1749.4,1826.1,3327.9,1866.2,136.10,4.62,1112,9228.30,58.18,0.00,5.43,1.425,0.000,0.139,1616.59,1581.75,1651.44,3347.88,194.12,0,0,0,12.01,30.00,15.15
$GC,9456.48,9382,291.26,1.28,0.00,1607.8,1579.2,1636.3,3348.4,194.2,115.14,6.50,1171,9513.42,46.18,0.00,5.09,1.364,0.000,0.095,1501.31,1467.50,1535.12,3329.12,1869.69,0,0,0,11.99,30.00,15.38
$GC,9701.77,10919,336.46,1.43,-80.00,1496.7,1458.1,1535.2,3329.4,1869.4,104.29,4.36,1201,9788.95,78.11,0.29,5.49,1.385,0.084,0.139,1317.31,1296.38,1338.25,3465.31,194.25,0,0,0,11.94,15.37,15.02
$GC,10016.93,1156,336.46,1.45,0.00,1311.7,1297.6,1325.8,3465.3,193.8,65.95,12.92,1264,10027.19,0.00,0.00,5.14,0.000,0.000,0.101,1312.12,1297.62,1326.62,3463.62,1870.12,0,0,0,30.00,30.00,15.34
$GC,10212.44,8870,352.74,1.52,-80.00,1309.4,1292.4,1326.3,3464.7,1875.2,48.63,7.97,1285,10248.56,26.17,0.00,5.41,1.322,0.000,0.141,1250.94,1237.50,1264.38,3484.06,195.06,0,0,0,11.95,30.00,15.23
$GC,10477.04,1156,352.74,1.53,0.00,1247.7,1240.2,1255.1,3483.8,194.2,19.02,11.07,1338,10487.28,0.00,0.00,5.09,0.000,0.000,0.099,1248.44,1240.38,1256.50,3476.88,1858.19,0,0,0,30.00,30.00,15.43
$GC,10672.56,8870,392.37,1.65,-80.00,1245.4,1235.0,1255.8,3477.7,1868.8,4.03,5.05,1359,10738.50,55.94,0.00,5.39,1.328,0.000,0.136,1089.78,1093.69,1085.88,3496.44,193.94,0,0,0,11.94,30.00,15.17
$FREEZE,3.76,3.758,-1.562,0,3,0
$STATE,10917,end climb,NO_VERTICAL_VELOCITY
$STATE,10917,begin surface
$SM_CCo,11095.43,174.43,1.283,0,551.2,611.9,490.5,524.65
$SM_GC,2.10,0.00,9.11,5.34,0.000,0.070,0.097,549.1,600.5,497.7,434.6,1908.1,0,0,0,30.00,15.11,15.10
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7245.31,-15558.57,130821,143648
$TCM_TEMP,4.59
$XPDR_PINGS,13,13.0,10.5
$SC_FREEKB,3873696
$RAFOS_CLK,-17
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,50.27
$TEMP,2.57
$INTERNAL_PRESSURE,8.22157
$24V_AH,14.21,15.581
$10V_AH,14.56,0.000
$FG_AHR_24Vo,80.956
$FG_AHR_10Vo,47.772
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,885.375,24.280,229.865,204.216,3.250,90.192,4054.634,7525.504,1821.233,2083.572,0.000,0.000,0.000
$DEVICE_MAMPS,2188.168,434.352,210.000,68.225,420.000,15.000,11.920,2.920,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10931.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.190,0.000,0.000,0.000
$MEM0,60860,1,0,0
$MEM1,65508,1,0,0
$MEM2,997772,25,49156,57
$DATA_FILE_SIZE,41673,1408
$CAP_FILE_SIZE,358605,0
$SDSIZE,3918848,3905216
$SDFILEDIR,115,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,52.934,193.4,1
$IMPLIED_C_PITCH,2984,24.48,509
$IMPLIED_C_VBD,2648,60.408848,289
$GPS,130821,230041,7242.441,-15600.702,301,99.0,301,12.7