version: 67.00
glider: 232
mission: 6
dive: 23
start: 8 16 121 9 30 59
data:
$ID,232
$MISSION,6
$DIVE,23
$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,49.095848
$FG_AHR_24V,84.961617
$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,32
$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
$GPS1,160821,091906,7241.387,-15604.244,5,1.2,14,12.7
$_CALLS,5
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.5
$GPS2,160821,093032,7241.418,-15604.052,6,1.2,15,12.7
$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,71.1,2364,-27.7,-10.000,-29.52
$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
$GC,5.69,16386,-55.48,-1.22,0.00,550.1,604.8,495.3,439.4,1927.1,0.00,0.00,0,88.94,81.59,0.00,0.00,0.005,0.000,0.000,1965.62,1933.44,1997.81,439.56,1915.12,0,0,0,15.40,30.00,30.00
$GC,90.05,18727,-115.48,-1.30,80.00,1969.0,1938.7,1999.2,439.5,1921.4,3.49,-2.78,8,147.09,34.45,10.60,5.07,0.005,0.432,0.118,3161.97,3112.44,3211.50,2534.62,3605.25,0,0,0,15.47,15.22,15.34
$GC,375.10,3205,-115.48,-1.22,0.00,3163.1,3115.7,3210.4,2535.6,3605.2,110.02,-34.07,65,385.41,0.00,0.10,5.05,0.000,0.311,0.091,3162.41,3114.75,3210.06,2578.31,1888.62,0,0,0,30.00,15.40,15.64
$GC,570.61,388,-115.48,-1.15,80.00,3162.5,3115.0,3210.0,2578.8,1887.8,161.28,-21.96,86,581.42,0.00,0.00,5.22,0.000,0.000,0.113,3164.00,3117.12,3210.88,2558.25,3605.06,0,0,0,30.00,30.00,15.58
$GC,810.67,3205,-115.48,-1.05,0.00,3162.8,3115.5,3210.2,2559.1,3604.9,217.22,-22.69,134,821.56,0.00,0.22,5.05,0.000,0.308,0.088,3164.12,3116.75,3211.50,2633.38,1887.31,0,0,0,30.00,15.37,15.62
$GC,1010.72,388,-115.48,-1.02,80.00,3162.8,3115.2,3210.4,2633.5,1886.4,248.08,-12.42,155,1021.50,0.00,0.00,5.20,0.000,0.000,0.112,3163.88,3116.44,3211.31,2613.88,3605.44,0,0,0,30.00,30.00,15.57
$GC,1170.28,3205,-115.48,-0.97,0.00,3162.6,3115.0,3210.1,2614.0,3605.6,271.13,-14.58,187,1178.31,0.00,0.10,5.05,0.000,0.302,0.091,3162.50,3114.38,3210.62,2658.88,1887.38,0,0,0,30.00,15.44,15.74
$GC,1486.74,260,-115.48,-0.97,80.00,3163.3,3115.2,3211.4,2658.9,1887.2,310.67,-12.42,200,1497.07,0.00,0.00,5.24,0.000,0.000,0.119,3162.97,3115.06,3210.88,2639.69,3605.06,0,0,0,30.00,30.00,15.68
$GC,1726.77,1028,-115.48,-0.97,0.00,3162.9,3115.0,3210.8,2640.1,3605.7,344.20,-14.39,248,1737.09,0.00,0.00,5.07,0.000,0.000,0.094,3164.75,3116.50,3213.00,2659.12,1887.44,0,0,0,30.00,30.00,15.74
$GC,2056.81,388,-115.48,-1.00,80.00,3162.2,3113.5,3210.9,2659.2,1887.1,382.21,-11.10,264,2067.15,0.00,0.00,5.24,0.000,0.000,0.118,3162.03,3113.31,3210.75,2639.94,3604.06,0,0,0,30.00,30.00,15.68
$GC,2296.87,1156,-115.48,-1.02,0.00,3161.8,3113.2,3210.4,2639.4,3604.2,410.88,-11.93,312,2307.17,0.00,0.00,5.07,0.000,0.000,0.096,3163.94,3114.75,3213.12,2657.75,1887.38,0,0,0,30.00,30.00,15.74
$GC,2626.90,420,-115.66,-1.06,80.00,3160.0,3109.4,3210.6,2658.8,1887.5,444.43,-9.98,328,2637.22,0.00,0.00,5.25,0.000,0.000,0.118,3160.09,3109.31,3210.88,2638.81,3602.94,0,0,0,30.00,30.00,15.67
$GC,2866.93,1156,-115.66,-1.09,0.00,3159.3,3108.5,3210.1,2639.4,3603.8,470.63,-10.62,376,2877.26,0.00,0.00,5.09,0.000,0.000,0.097,3160.12,3108.75,3211.50,2657.81,1888.38,0,0,0,30.00,30.00,15.72
$GC,3196.97,4517,-123.26,-1.15,80.00,3156.9,3104.1,3209.8,2658.3,1889.0,500.91,-9.09,392,3207.39,0.00,0.19,5.24,0.000,0.118,0.118,3157.41,3104.81,3210.00,2562.06,3604.00,0,0,0,30.00,15.78,15.64
$GC,3437.02,3205,-123.26,-1.13,0.00,3156.0,3103.8,3208.2,2563.1,3604.6,533.46,-13.74,440,3447.41,0.00,0.11,5.08,0.000,0.299,0.095,3157.12,3104.75,3209.50,2608.81,1887.62,0,0,0,30.00,15.40,15.75
$GC,3767.03,388,-123.26,-1.14,80.00,3155.3,3101.9,3208.8,2608.9,1886.0,569.39,-10.63,456,3777.36,0.00,0.00,5.26,0.000,0.000,0.121,3156.78,3103.19,3210.38,2588.75,3604.06,0,0,0,30.00,30.00,15.66
$GC,4007.05,1028,-123.26,-1.14,0.00,3155.6,3102.2,3208.9,2588.5,3604.4,599.30,-12.61,504,4017.37,0.00,0.00,5.07,0.000,0.000,0.095,3157.94,3105.06,3210.81,2607.94,1887.19,0,0,0,30.00,30.00,15.73
$GC,4337.08,388,-123.26,-1.16,80.00,3154.9,3101.4,3208.4,2608.1,1887.8,634.99,-10.66,520,4347.41,0.00,0.00,5.23,0.000,0.000,0.117,3155.03,3101.69,3208.38,2587.88,3605.38,0,0,0,30.00,30.00,15.68
$GC,4577.11,1028,-123.26,-1.16,0.00,3154.5,3101.2,3207.7,2587.6,3605.9,663.87,-11.98,568,4587.43,0.00,0.00,5.09,0.000,0.000,0.096,3154.94,3100.94,3208.94,2607.75,1887.31,0,0,0,30.00,30.00,15.74
$GC,4907.14,644,-123.26,-1.19,-80.00,3154.3,3100.5,3208.1,2608.2,1887.6,698.71,-10.46,584,4917.48,0.00,0.00,5.21,0.000,0.000,0.134,3154.47,3101.12,3207.81,2628.19,196.81,0,0,0,30.00,30.00,15.61
$GC,5046.71,5253,-123.26,-1.17,0.00,3153.4,3100.8,3206.1,2628.4,196.7,716.23,-12.84,612,5054.73,0.00,0.06,5.11,0.000,0.181,0.097,3152.62,3098.88,3206.38,2583.44,1909.44,0,0,0,30.00,15.59,15.73
$STATE,5351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5351,begin apogee
$GC,5355.39,10243,0.00,-0.21,0.00,3154.1,3101.6,3206.6,2582.6,1833.9,751.11,-11.39,623,5463.50,105.06,1.17,0.11,2.137,0.251,0.211,2687.56,2627.69,2747.44,2904.06,1874.69,0,0,0,11.48,15.43,15.18
$WARN,HSCICON missed fuel gauge read
$STATE,5472,end apogee,CONTROL_FINISHED_OK
$STATE,5472,begin climb
$GC,5473.21,10759,123.26,1.31,-80.00,2686.0,2625.1,2747.0,2904.8,1874.6,752.90,0.00,626,5596.86,112.87,1.51,5.49,2.081,0.118,0.135,2182.12,2139.25,2225.00,3417.50,193.81,0,0,0,12.15,15.33,14.85
$GC,5824.82,21639,123.26,1.22,0.00,2172.3,2139.1,2205.4,3416.9,194.1,658.30,32.12,696,5835.17,0.00,0.20,5.12,0.000,0.341,0.097,2175.09,2141.56,2208.62,3353.50,1858.31,0,0,0,30.00,15.11,15.32
$GC,6160.32,17030,123.26,1.15,-80.00,2168.6,2131.3,2205.8,3353.8,1875.3,565.47,27.16,713,6170.66,0.00,0.00,5.30,0.000,0.000,0.131,2169.88,2132.56,2207.19,3372.88,194.38,0,0,0,30.00,30.00,15.45
$GC,6400.41,21639,123.26,1.09,0.00,2167.6,2131.3,2203.9,3373.6,192.9,497.48,28.09,761,6410.80,0.00,0.17,5.05,0.000,0.329,0.097,2170.69,2134.81,2206.56,3311.69,1859.25,0,0,0,30.00,15.29,15.56
$GC,6730.44,17030,123.26,1.05,-80.00,2166.9,2129.5,2204.2,3313.7,1875.2,417.01,24.25,777,6740.78,0.00,0.00,5.26,0.000,0.000,0.133,2169.09,2131.69,2206.50,3333.62,192.75,0,0,0,30.00,30.00,15.56
$GC,6970.51,21639,123.26,1.01,0.00,2166.5,2129.4,2203.7,3333.6,192.9,357.61,23.69,825,6980.87,0.00,0.14,5.03,0.000,0.311,0.099,2167.19,2129.94,2204.44,3288.12,1858.69,0,0,0,30.00,15.37,15.64
$GC,7300.52,16902,123.26,1.01,-80.00,2166.0,2128.3,2203.8,3287.2,1873.8,299.91,15.94,841,7310.86,0.00,0.00,5.25,0.000,0.000,0.134,2166.28,2129.12,2203.44,3307.00,193.75,0,0,0,30.00,30.00,15.60
$GC,7540.58,17542,123.26,0.99,0.00,2165.9,2128.4,2203.4,3306.4,194.1,257.16,16.73,889,7550.87,0.00,0.00,4.98,0.000,0.000,0.096,2166.78,2129.31,2204.25,3287.38,1859.44,0,0,0,30.00,30.00,15.69
$GC,7860.69,676,130.45,1.01,-80.00,2165.1,2126.9,2203.3,3287.9,1873.6,220.04,9.13,922,7871.44,0.00,0.00,5.26,0.000,0.000,0.134,2166.22,2128.38,2204.06,3306.88,192.88,0,0,0,30.00,30.00,15.62
$GC,8100.71,9382,138.40,0.99,0.00,2165.1,2127.4,2202.9,3307.2,192.9,196.75,9.04,970,8125.80,14.85,0.00,4.99,1.418,0.000,0.096,2123.66,2082.56,2164.75,3287.94,1875.06,0,0,0,11.77,30.00,15.63
$GC,8310.73,8870,172.56,1.05,-80.00,2121.6,2078.4,2164.8,3288.0,1875.4,183.11,5.89,994,8366.44,45.30,0.00,5.28,1.454,0.000,0.134,1982.59,1940.19,2025.00,3307.88,192.81,0,0,0,12.07,30.00,15.45
$GC,8595.34,9382,198.93,1.10,0.00,1977.2,1939.5,2014.8,3307.3,192.7,161.72,6.83,1051,8637.98,34.26,0.00,5.03,1.398,0.000,0.094,1876.94,1833.38,1920.50,3289.12,1873.69,0,0,0,12.05,30.00,15.43
$GC,8825.84,10919,219.37,1.19,-80.00,1871.4,1822.6,1920.2,3288.6,1875.2,145.22,7.54,1078,8861.99,27.50,0.19,5.33,1.371,0.102,0.136,1794.56,1753.06,1836.06,3389.56,192.81,0,0,0,11.97,15.50,15.34
$GC,9090.39,13479,232.10,1.19,0.00,1787.4,1751.4,1823.4,3389.8,192.9,123.21,8.47,1131,9121.83,21.38,0.10,5.05,1.333,0.311,0.096,1742.50,1701.75,1783.25,3346.25,1877.50,0,0,0,11.90,15.33,15.45
$GC,9305.89,10919,272.64,1.29,-80.00,1739.2,1695.5,1782.9,3345.3,1877.5,109.78,5.12,1156,9393.01,77.14,0.12,5.41,1.352,0.114,0.136,1578.12,1541.75,1614.50,3420.25,194.00,0,0,0,11.97,15.44,15.17
$GC,9621.00,9254,295.50,1.32,0.00,1571.2,1540.8,1601.6,3420.8,194.2,89.43,7.25,1219,9672.82,43.47,0.00,5.09,1.310,0.000,0.097,1484.53,1450.50,1518.56,3408.12,1874.62,0,0,0,12.01,30.00,15.38
$GC,9856.50,8870,320.94,1.40,-80.00,1480.3,1442.1,1518.6,3408.1,1874.9,73.26,6.94,1248,9913.01,47.01,0.00,5.43,1.307,0.000,0.138,1380.00,1351.38,1408.62,3428.25,194.12,0,0,0,12.00,30.00,15.18
$GC,10141.10,9382,332.25,1.46,0.00,1374.7,1352.6,1396.8,3428.6,193.2,49.44,8.64,1305,10171.75,20.42,0.00,5.09,1.260,0.000,0.097,1335.53,1312.50,1358.56,3427.31,1859.81,0,0,0,12.00,30.00,15.40
$GC,10356.60,10919,348.84,1.55,-80.00,1332.0,1305.8,1358.3,3428.2,1859.9,31.44,8.00,1330,10392.77,26.72,0.12,5.36,1.271,0.131,0.138,1266.62,1249.31,1283.94,3497.50,195.69,0,0,0,11.95,15.44,15.28
$GC,10621.19,9254,391.66,1.60,0.00,1262.4,1251.8,1273.0,3497.6,193.9,9.66,4.85,1383,10689.83,60.62,0.00,5.05,1.287,0.000,0.094,1093.25,1094.56,1091.94,3496.75,1876.50,0,0,0,11.95,30.00,15.46
$STATE,10742,end climb,SURFACE_DEPTH_REACHED
$STATE,10742,begin surface coast
$FINISH,0.2,1.023521
$STATE,10772,end surface coast,CONTROL_FINISHED_OK
$STATE,10772,begin surface
$SM_CCo,10966.92,172.86,1.221,0,550.9,622.7,479.1,524.72
$SM_GC,1.72,172.86,9.15,0.12,1.221,0.090,0.127,550.9,622.7,479.1,438.9,1926.1,0,0,0,12.09,15.34,15.38
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7243.63,-15608.14,160821,091959
$TCM_TEMP,4.36
$XPDR_PINGS,387,13.0,10.5
$SC_FREEKB,3869856
$RAFOS_CLK,-14
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,51.08
$TEMP,2.62
$INTERNAL_PRESSURE,8.2332
$24V_AH,14.33,21.086
$10V_AH,14.46,0.000
$FG_AHR_24Vo,85.325
$FG_AHR_10Vo,49.165
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,925.495,24.275,207.320,0.000,96.750,24.396,3802.706,7091.495,1814.621,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,2137.328,431.728,210.984,0.000,420.000,15.000,11.920,2.920,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10773.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.863,0.000,0.000,0.000
$MEM0,60860,1,0,0
$MEM1,65508,1,0,0
$MEM2,997756,26,49152,57
$DATA_FILE_SIZE,41668,1405
$CAP_FILE_SIZE,611976,0
$SDSIZE,3918848,3900416
$SDFILEDIR,235,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,57.036,192.1,1
$IMPLIED_C_PITCH,2995,24.42,515
$IMPLIED_C_VBD,2770,54.615856,239
$GPS,160821,093032,7241.418,-15604.052,301,99.0,301,12.7