version: 67.00
glider: 234
mission: 6
dive: 5
start: 10 21 122 14 59 32
data:
$ID,234
$MISSION,6
$DIVE,5
$N_DIVES,5
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,130
$T_MISSION,160
$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,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,71640
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,135
$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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,131
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3990
$C_PITCH,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,15
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,700
$ROLL_MAX,3350
$ROLL_DEG,80
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3000
$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
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$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,529
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,18.459316
$FG_AHR_24V,12.562212
$PHONE_SUPPLY,1
$PRESSURE_YINT,-153.81317
$PRESSURE_SLOPE,0.00022809372
$COMPASS_USE,49156
$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,11
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,1.6
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044182916
$SEABIRD_T_H,0.00064551458
$SEABIRD_T_I,2.6832278e-05
$SEABIRD_T_J,3.3159545e-06
$SEABIRD_C_G,-10.12649
$SEABIRD_C_H,1.1786305
$SEABIRD_C_I,-0.0019398184
$SEABIRD_C_J,0.00023437376
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,211022,145423,7046.921,-731.836,1,1.0,4,-5.7
$_CALLS,4
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-53.0
$GPS2,211022,145914,7046.900,-731.840,2,1.0,6,-5.7
$SPEED_LIMITS,0.178,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,7039.264,-708.788
$TGT_RADIUS,1852.000
$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,128.4,20000,-18.0,-10.256,-21.56,2156,0.340
$D_GRID,400
$IRON,1.000000,-0.100701,0.113076,-0.045576,1.102586,-0.110334,-0.030364,-0.034122,0.812028,-1192.448242,-1017.089233,-109.504944
$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
$WARN,HSCICON S
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,6.83,16386,-145.99,-1.38,0.00,1158.5,1221.3,1095.7,200.2,2292.1,0.00,0.00,0,157.04,149.59,0.00,0.00,0.005,0.000,0.000,3461.59,3512.62,3410.56,200.00,2294.25,0,0,0,14.50,30.00,30.00
$GC,157.36,18727,-145.99,-1.38,80.00,3461.5,3513.4,3409.6,199.9,2293.7,3.28,-1.50,29,184.21,5.03,13.44,3.12,0.010,0.279,0.176,3595.28,3666.12,3524.44,1865.00,3355.00,0,0,0,15.69,15.66,15.63
$GC,412.38,3205,-145.99,-1.26,0.00,3596.5,3668.7,3524.2,1865.1,3352.4,38.45,-14.32,80,418.01,0.00,0.20,2.85,0.000,0.208,0.084,3598.28,3670.00,3526.56,1895.19,2264.75,0,0,0,30.00,15.74,15.82
$GC,602.39,260,-145.99,-1.26,80.00,3596.6,3669.4,3523.7,1895.4,2263.8,61.64,-11.49,118,608.05,0.00,0.00,3.15,0.000,0.000,0.163,3596.81,3669.38,3524.25,1896.31,3356.44,0,0,0,30.00,30.00,15.80
$GC,837.45,1156,-145.99,-1.19,0.00,3596.8,3669.4,3524.3,1896.5,3353.2,91.07,-11.83,165,843.03,0.00,0.00,2.81,0.000,0.000,0.083,3597.03,3670.12,3523.94,1896.44,2263.81,0,0,0,30.00,30.00,15.89
$GC,1032.53,292,-145.99,-1.19,80.00,3597.6,3670.9,3524.2,1895.6,2263.6,111.85,-10.25,193,1037.34,0.00,0.00,3.13,0.000,0.000,0.165,3597.44,3670.06,3524.81,1895.94,3355.69,0,0,0,30.00,30.00,15.85
$GC,1072.48,3205,-145.99,-1.13,0.00,3597.9,3671.6,3524.2,1896.6,3354.2,116.32,-11.31,201,1077.36,0.00,0.22,2.81,0.000,0.200,0.083,3597.00,3671.19,3522.81,1928.88,2263.44,0,0,0,30.00,15.83,15.91
$GC,1382.47,548,-145.99,-1.13,-80.00,3598.2,3672.7,3523.7,1927.4,2263.9,145.79,-9.18,233,1388.56,0.00,0.00,4.24,0.000,0.000,0.187,3599.34,3673.62,3525.06,1928.00,818.50,0,0,0,30.00,30.00,15.87
$GC,1401.79,1060,-145.99,-1.13,0.00,3598.2,3672.4,3524.0,1928.3,818.6,147.61,-9.21,237,1408.25,0.00,0.00,3.84,0.000,0.000,0.094,3598.94,3673.50,3524.38,1928.25,2288.81,0,0,0,30.00,30.00,15.93
$GC,1717.49,548,-145.99,-1.13,-80.00,3598.6,3673.0,3524.1,1928.1,2289.6,176.71,-9.34,269,1723.58,0.00,0.00,4.30,0.000,0.000,0.181,3597.56,3672.88,3522.25,1928.88,819.56,0,0,0,30.00,30.00,15.89
$GC,1756.72,1028,-145.99,-1.13,0.00,3598.5,3673.6,3523.4,1927.9,819.2,180.78,-10.43,277,1763.27,0.00,0.00,3.83,0.000,0.000,0.098,3598.94,3673.75,3524.12,1928.00,2288.56,0,0,0,30.00,30.00,15.95
$GC,2072.52,32,-145.99,-1.13,0.00,3598.7,3673.7,3523.7,1928.0,2288.6,212.38,-9.66,309,2073.85,0.00,0.00,0.00,0.000,0.000,0.000,3598.66,3673.56,3523.75,1928.06,2288.81,0,0,0,30.00,30.00,30.00
$GC,2382.53,548,-145.99,-1.13,-80.00,3598.7,3673.2,3524.1,1927.5,2288.8,242.45,-9.94,340,2388.62,0.00,0.00,4.32,0.000,0.000,0.183,3599.69,3674.00,3525.38,1927.06,818.62,0,0,0,30.00,30.00,15.91
$GC,2391.84,1060,-145.99,-1.13,0.00,3598.5,3673.8,3523.1,1928.0,818.7,243.54,-9.41,342,2398.30,0.00,0.00,3.82,0.000,0.000,0.098,3599.59,3674.62,3524.56,1927.81,2290.19,0,0,0,30.00,30.00,15.98
$GC,2707.56,548,-145.99,-1.13,-80.00,3598.4,3673.4,3523.5,1927.7,2290.2,271.67,-7.85,374,2713.65,0.00,0.00,4.32,0.000,0.000,0.191,3597.53,3672.31,3522.75,1927.25,819.56,0,0,0,30.00,30.00,15.95
$GC,2732.63,1060,-145.99,-1.13,0.00,3598.7,3673.4,3524.0,1928.1,819.6,274.24,-9.47,379,2738.56,0.00,0.00,3.82,0.000,0.000,0.103,3598.62,3673.19,3524.06,1928.19,2290.50,0,0,0,30.00,30.00,16.00
$GC,3047.57,548,-145.99,-1.13,-80.00,3598.2,3672.8,3523.7,1928.0,2288.9,301.62,-9.01,411,3053.65,0.00,0.00,4.30,0.000,0.000,0.190,3597.66,3672.56,3522.75,1928.19,819.75,0,0,0,30.00,30.00,15.96
$GC,3096.81,1060,-145.99,-1.13,0.00,3598.4,3673.3,3523.5,1927.3,819.8,306.40,-10.04,421,3103.34,0.00,0.00,3.84,0.000,0.000,0.106,3598.56,3673.06,3524.06,1928.12,2290.44,0,0,0,30.00,30.00,16.02
$GC,3412.60,548,-145.99,-1.13,-80.00,3598.0,3672.7,3523.4,1927.9,2290.5,336.02,-9.83,453,3418.69,0.00,0.00,4.32,0.000,0.000,0.195,3598.00,3673.19,3522.81,1928.12,819.19,0,0,0,30.00,30.00,15.96
$GC,3451.82,1028,-145.99,-1.13,0.00,3598.3,3672.6,3524.0,1928.1,819.2,340.01,-10.42,461,3458.37,0.00,0.00,3.82,0.000,0.000,0.108,3598.47,3672.88,3524.06,1927.88,2287.00,0,0,0,30.00,30.00,16.02
$GC,3767.61,548,-145.99,-1.13,-80.00,3597.8,3672.5,3523.1,1927.9,2287.4,370.73,-9.03,493,3773.69,0.00,0.00,4.30,0.000,0.000,0.197,3596.97,3671.56,3522.38,1928.50,819.25,0,0,0,30.00,30.00,15.97
$GC,3792.70,1028,-145.99,-1.13,0.00,3597.8,3673.0,3522.6,1927.6,819.1,373.88,-10.85,498,3798.62,0.00,0.00,3.82,0.000,0.000,0.109,3598.16,3673.31,3523.00,1927.50,2288.38,0,0,0,30.00,30.00,16.03
$STATE,4068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4068,begin apogee
$GC,4069.42,10243,0.00,-0.33,0.00,3597.5,3672.6,3522.4,1928.1,2008.6,400.19,-9.71,526,4182.69,110.43,1.34,0.08,1.889,0.166,0.272,2997.12,3082.06,2912.19,2119.62,2038.38,0,0,0,12.37,15.98,15.26
$STATE,4184,end apogee,CONTROL_FINISHED_OK
$STATE,4184,begin climb
$WARN,HSCICON S
$GC,4183.32,10243,145.99,1.38,0.00,2997.4,3081.9,2912.8,2119.5,2038.1,404.18,0.00,537,4301.70,114.17,2.99,0.00,1.806,0.137,0.000,2401.16,2485.88,2316.44,2536.94,2037.75,0,0,0,12.13,15.33,30.00
$GC,4604.84,16646,145.99,1.38,80.00,2387.7,2473.2,2302.1,2536.6,2037.9,363.94,10.98,581,4609.83,0.00,0.00,3.79,0.000,0.000,0.165,2389.41,2475.00,2303.81,2536.88,3351.69,0,0,0,30.00,30.00,15.62
$GC,4724.86,17414,145.99,1.38,0.00,2386.3,2470.6,2302.0,2536.2,3352.6,348.14,13.74,605,4729.81,0.00,0.00,3.52,0.000,0.000,0.093,2389.47,2473.94,2305.00,2537.62,2010.19,0,0,0,30.00,30.00,15.71
$GC,5034.89,16386,145.99,1.38,0.00,2384.9,2470.0,2299.8,2536.4,2010.8,310.27,12.41,637,5036.23,0.00,0.00,0.00,0.000,0.000,0.000,2383.50,2469.25,2297.75,2536.25,2010.38,0,0,0,30.00,30.00,30.00
$GC,5344.91,16646,145.99,1.38,80.00,2384.0,2469.1,2298.9,2536.6,2010.6,273.34,11.24,668,5349.90,0.00,0.00,3.80,0.000,0.000,0.158,2383.09,2467.94,2298.25,2537.19,3354.31,0,0,0,30.00,30.00,15.84
$GC,5404.94,17414,145.99,1.38,0.00,2383.2,2467.8,2298.8,2536.6,3354.8,265.89,12.76,680,5409.86,0.00,0.00,3.47,0.000,0.000,0.093,2386.69,2471.06,2302.31,2536.94,2008.12,0,0,0,30.00,30.00,15.88
$GC,5714.96,16386,145.99,1.38,0.00,2383.3,2468.1,2298.6,2536.3,2008.2,229.40,12.35,712,5716.29,0.00,0.00,0.00,0.000,0.000,0.000,2384.06,2468.94,2299.19,2536.56,2008.31,0,0,0,30.00,30.00,30.00
$GC,6024.98,16646,145.99,1.38,80.00,2382.9,2467.6,2298.2,2536.4,2008.1,193.90,11.14,743,6030.03,0.00,0.00,3.77,0.000,0.000,0.155,2384.03,2468.50,2299.56,2536.50,3354.94,0,0,0,30.00,30.00,15.91
$GC,6109.22,17414,145.99,1.38,0.00,2382.1,2465.9,2298.2,2536.2,3353.5,183.61,12.08,760,6115.71,0.00,0.00,3.47,0.000,0.000,0.093,2383.25,2467.62,2298.88,2536.44,2009.44,0,0,0,30.00,30.00,15.94
$GC,6425.03,16386,145.99,1.38,0.00,2382.0,2466.1,2297.9,2536.3,2009.5,148.79,10.67,792,6426.36,0.00,0.00,0.00,0.000,0.000,0.000,2381.38,2465.25,2297.50,2536.19,2009.06,0,0,0,30.00,30.00,30.00
$GC,6735.05,16386,145.99,1.38,0.00,2381.3,2465.5,2297.1,2536.2,2009.8,116.49,10.44,823,6736.39,0.00,0.00,0.00,0.000,0.000,0.000,2380.25,2464.31,2296.19,2536.56,2009.12,0,0,0,30.00,30.00,30.00
$GC,7040.10,16646,145.99,1.38,80.00,2380.7,2464.4,2296.9,2536.6,2009.3,84.27,10.69,868,7045.85,0.00,0.00,3.78,0.000,0.000,0.154,2380.81,2464.44,2297.19,2536.19,3357.56,0,0,0,30.00,30.00,15.97
$GC,7160.11,17414,145.99,1.38,0.00,2380.3,2463.7,2296.9,2536.1,3355.1,69.85,12.14,892,7165.83,0.00,0.00,3.45,0.000,0.000,0.092,2383.97,2467.62,2300.31,2535.00,2009.19,0,0,0,30.00,30.00,16.00
$GC,7350.18,16646,145.99,1.38,80.00,2380.2,2464.1,2296.4,2536.1,2010.1,49.53,10.46,930,7355.93,0.00,0.00,3.77,0.000,0.000,0.155,2380.88,2463.12,2298.62,2536.00,3356.19,0,0,0,30.00,30.00,15.95
$GC,7395.20,17414,145.99,1.38,0.00,2380.2,2463.4,2296.9,2536.3,3354.9,44.85,10.48,939,7400.90,0.00,0.00,3.44,0.000,0.000,0.091,2380.28,2463.62,2296.94,2536.50,2008.88,0,0,0,30.00,30.00,16.01
$GC,7585.25,8742,156.33,1.39,-80.00,2380.0,2463.4,2296.6,2536.9,2008.9,27.60,9.76,977,7606.38,13.70,0.00,3.82,1.369,0.000,0.185,2361.91,2444.56,2279.25,2535.12,693.62,0,0,0,12.36,30.00,15.84
$GC,7690.28,9254,197.46,1.45,0.00,2359.5,2443.0,2276.1,2536.2,693.3,18.43,8.30,998,7767.48,71.93,0.00,3.44,1.424,0.000,0.086,2192.53,2278.62,2106.44,2536.56,2039.00,0,0,0,12.43,30.00,15.92
$STATE,7856,end climb,SURFACE_DEPTH_REACHED
$STATE,7856,begin surface coast
$FINISH,0.0,1.027885
$STATE,7881,end surface coast,CONTROL_FINISHED_OK
$STATE,7881,begin surface
$SM_CCo,8228.76,324.41,1.283,0,1165.5,1231.3,1099.7,450.00
$SM_GC,1.05,324.41,15.39,0.64,1.283,0.077,0.124,1165.5,1231.3,1099.7,193.4,2288.1,0,0,0,12.33,15.66,15.67
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7045.94,-731.80,211022,145648
$TCM_TEMP,6.21
$XPDR_PINGS,58,12.5,11.5
$WARN,HSCICON S
$SC_FREEKB,3877216
$HUMID,51.05
$TEMP,2.24
$INTERNAL_PRESSURE,7.80034
$24V_AH,14.49,3.652
$10V_AH,14.55,0.000
$FG_AHR_24Vo,12.851
$FG_AHR_10Vo,18.489
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,789.255,33.575,119.795,0.000,14.500,15.537,3393.196,0.010,0.000,4535.285,2204.697,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1889.032,279.208,271.664,0.000,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7883.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.051,0.000,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,1018920,32,27968,52
$DATA_FILE_SIZE,28894,1036
$CAP_FILE_SIZE,273041,0
$SDSIZE,3887104,3873472
$SDFILEDIR,58,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,307.2,1
$MAGCAL,1.000000,-0.056837,0.009231,-0.029251,1.115398,0.075466,0.071563,-0.085429,0.830735,-1098.1,-1211.7,-112.8,36,0.1437,0
$IMPLIED_C_PITCH,2234,14.42,768,0.0,0.00
$IMPLIED_C_VBD,2956,17.035898,768,0
$GPS,211022,171710,7046.605,-730.036,18,1.7,19,-5.7