version: 67.00
glider: 234
mission: 6
dive: 7
start: 10 21 122 19 47 40
data:
$ID,234
$MISSION,6
$DIVE,7
$N_DIVES,0
$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,400
$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,18.553911
$FG_AHR_24V,13.125857
$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
$DEVICE1,10
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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
$GPS1,211022,194139,7046.474,-727.906,25,1.5,25,-5.7
$_CALLS,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-52.8
$GPS2,211022,194728,7046.477,-727.949,3,0.8,5,-5.7
$SPEED_LIMITS,0.178,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,7038.841,-704.906
$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,153.4,20000,-18.0,-10.256,-21.56,2156,0.490
$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
$STATE,1,end surface,CONTROL_FINISHED_OK
$STATE,2,begin dive
$GC,2.18,16386,-145.99,-1.38,0.00,1360.8,1424.3,1297.3,185.7,2256.4,0.00,0.00,0,131.36,128.60,0.00,0.00,0.005,0.000,0.000,3177.66,3234.56,3120.75,185.50,2253.25,0,0,0,14.45,30.00,30.00
$GC,131.62,18727,-145.99,-1.38,80.00,3177.9,3236.7,3119.2,185.6,2252.6,3.22,-1.60,25,173.04,18.64,13.90,3.24,0.006,0.293,0.182,3594.88,3670.88,3518.88,1865.62,3355.69,0,0,0,14.62,15.53,15.53
$GC,400.58,3205,-145.99,-1.25,0.00,3597.4,3673.8,3521.1,1865.5,3352.4,35.45,-15.09,79,406.24,0.00,0.22,2.86,0.000,0.212,0.088,3598.75,3674.50,3523.00,1896.88,2262.88,0,0,0,30.00,15.66,15.73
$GC,590.58,260,-145.99,-1.25,80.00,3598.2,3675.0,3521.5,1897.3,2263.1,61.02,-11.63,117,596.24,0.00,0.00,3.17,0.000,0.000,0.171,3600.03,3676.38,3523.69,1897.69,3354.19,0,0,0,30.00,30.00,15.73
$GC,725.68,1156,-145.99,-1.19,0.00,3597.9,3674.8,3521.0,1897.9,3353.1,77.56,-12.23,144,731.19,0.00,0.00,2.81,0.000,0.000,0.085,3599.81,3676.06,3523.56,1897.50,2263.88,0,0,0,30.00,30.00,15.82
$GC,915.60,516,-145.99,-1.19,-80.00,3598.6,3675.9,3521.2,1897.6,2263.9,99.55,-11.30,182,921.46,0.00,0.00,4.24,0.000,0.000,0.187,3598.41,3675.19,3521.62,1898.50,819.38,0,0,0,30.00,30.00,15.77
$GC,930.69,1156,-145.99,-1.15,0.00,3598.5,3675.8,3521.1,1898.4,819.0,101.29,-11.54,185,936.39,0.00,0.00,3.83,0.000,0.000,0.096,3598.25,3675.62,3520.88,1897.75,2289.81,0,0,0,30.00,30.00,15.84
$GC,1240.63,2049,-145.99,-1.15,0.00,3599.0,3676.6,3521.4,1897.9,2289.3,135.85,-10.71,247,1242.09,0.00,0.17,0.00,0.000,0.209,0.000,3598.50,3675.75,3521.25,1922.31,2289.31,0,0,0,30.00,15.84,30.00
$GC,1545.74,548,-145.99,-1.15,-80.00,3599.2,3677.1,3521.4,1923.3,2289.5,166.61,-10.16,308,1551.51,0.00,0.00,4.30,0.000,0.000,0.184,3600.31,3678.19,3522.44,1922.38,818.88,0,0,0,30.00,30.00,15.85
$GC,1575.75,1028,-145.99,-1.15,0.00,3599.2,3676.9,3521.6,1923.2,818.9,169.87,-10.69,314,1581.43,0.00,0.00,3.80,0.000,0.000,0.098,3599.34,3677.50,3521.19,1923.06,2289.50,0,0,0,30.00,30.00,15.91
$GC,1885.68,516,-145.99,-1.15,-80.00,3599.7,3678.1,3521.4,1922.6,2289.3,202.21,-10.74,376,1891.54,0.00,0.00,4.28,0.000,0.000,0.187,3600.28,3678.38,3522.19,1923.12,818.94,0,0,0,30.00,30.00,15.87
$GC,1930.79,1156,-145.99,-1.10,0.00,3599.9,3678.5,3521.2,1923.1,819.1,207.33,-11.92,385,1936.48,0.00,0.00,3.82,0.000,0.000,0.101,3599.47,3678.06,3520.88,1923.12,2289.44,0,0,0,30.00,30.00,15.92
$GC,2240.72,516,-145.99,-1.10,-80.00,3600.2,3679.1,3521.3,1922.9,2288.9,241.89,-10.93,447,2246.58,0.00,0.00,4.28,0.000,0.000,0.188,3602.00,3680.75,3523.25,1922.12,818.56,0,0,0,30.00,30.00,15.89
$GC,2250.84,1028,-145.99,-1.10,0.00,3600.1,3679.0,3521.2,1923.1,818.6,242.81,-10.75,449,2256.50,0.00,0.00,3.79,0.000,0.000,0.097,3601.94,3680.88,3523.00,1922.56,2289.69,0,0,0,30.00,30.00,15.95
$GC,2575.74,516,-145.99,-1.10,-80.00,3600.1,3678.9,3521.2,1923.1,2290.0,277.78,-10.60,475,2581.50,0.00,0.00,4.26,0.000,0.000,0.190,3600.59,3679.62,3521.56,1923.06,815.75,0,0,0,30.00,30.00,15.92
$GC,2585.65,1028,-145.99,-1.10,0.00,3600.2,3679.1,3521.2,1923.2,816.2,278.71,-10.57,477,2591.51,0.00,0.00,3.78,0.000,0.000,0.099,3600.62,3679.75,3521.50,1923.19,2289.94,0,0,0,30.00,30.00,15.97
$GC,2895.83,516,-145.99,-1.10,-80.00,3600.1,3678.9,3521.3,1923.1,2290.8,311.88,-10.61,494,2901.50,0.00,0.00,4.26,0.000,0.000,0.193,3601.72,3679.81,3523.62,1921.75,818.75,0,0,0,30.00,30.00,15.93
$GC,2925.72,1028,-145.99,-1.10,0.00,3600.2,3679.2,3521.2,1922.8,819.1,314.88,-10.55,500,2931.42,0.00,0.00,3.79,0.000,0.000,0.103,3601.12,3679.75,3522.50,1922.81,2289.19,0,0,0,30.00,30.00,15.99
$GC,3235.85,548,-145.99,-1.10,-80.00,3600.0,3678.8,3521.2,1922.8,2289.1,345.86,-9.76,517,3241.53,0.00,0.00,4.25,0.000,0.000,0.195,3601.22,3679.56,3522.88,1922.38,818.62,0,0,0,30.00,30.00,15.94
$GC,3275.84,1028,-145.99,-1.10,0.00,3599.9,3678.6,3521.1,1922.8,818.6,349.85,-10.72,525,3281.45,0.00,0.00,3.79,0.000,0.000,0.106,3600.47,3678.94,3522.00,1922.62,2289.00,0,0,0,30.00,30.00,16.00
$GC,3595.81,548,-145.99,-1.10,-80.00,3600.2,3679.2,3521.1,1922.6,2290.1,380.32,-9.12,544,3601.56,0.00,0.00,4.24,0.000,0.000,0.196,3601.16,3680.12,3522.19,1922.38,819.31,0,0,0,30.00,30.00,15.95
$GC,3625.80,1060,-145.99,-1.10,0.00,3600.0,3679.1,3520.9,1923.1,819.4,383.45,-8.60,550,3631.48,0.00,0.00,3.76,0.000,0.000,0.107,3600.81,3679.06,3522.56,1922.62,2288.69,0,0,0,30.00,30.00,16.02
$STATE,3816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3816,begin apogee
$GC,3817.66,10243,0.00,-0.33,0.00,3600.0,3678.8,3521.2,1923.2,2007.6,401.55,-9.59,561,3931.92,111.06,1.38,0.08,1.872,0.171,0.271,3000.25,3082.50,2918.00,2119.25,2040.06,0,0,0,12.51,15.98,15.25
$STATE,3932,end apogee,CONTROL_FINISHED_OK
$STATE,3932,begin climb
$GC,3932.30,10243,145.99,1.38,0.00,2998.0,3082.1,2913.9,2121.0,2040.3,404.55,0.00,566,4050.70,114.00,2.99,0.00,1.825,0.138,0.000,2402.03,2487.50,2316.56,2537.25,2039.81,0,0,0,12.21,15.31,30.00
$GC,4355.85,16646,145.99,1.38,80.00,2388.7,2474.2,2303.1,2537.2,2040.2,362.05,11.64,588,4361.52,0.00,0.00,3.78,0.000,0.000,0.166,2389.19,2474.19,2304.19,2537.25,3357.94,0,0,0,30.00,30.00,15.59
$GC,4415.86,17414,145.99,1.38,0.00,2387.2,2471.3,2303.0,2537.2,3354.4,354.48,12.97,600,4421.49,0.00,0.00,3.51,0.000,0.000,0.092,2389.09,2473.56,2304.62,2536.75,2009.38,0,0,0,30.00,30.00,15.66
$GC,4735.96,16386,145.99,1.38,0.00,2385.9,2470.9,2300.9,2536.5,2008.8,318.08,11.31,619,4737.30,0.00,0.00,0.00,0.000,0.000,0.000,2384.62,2470.25,2299.00,2536.62,2009.25,0,0,0,30.00,30.00,30.00
$GC,5055.92,16386,145.99,1.38,0.00,2385.3,2470.4,2300.3,2537.4,2009.3,282.64,10.99,635,5057.26,0.00,0.00,0.00,0.000,0.000,0.000,2383.78,2468.56,2299.00,2536.75,2009.12,0,0,0,30.00,30.00,30.00
$GC,5360.94,16646,145.99,1.38,80.00,2384.8,2469.6,2300.1,2536.8,2009.1,248.06,11.87,651,5366.71,0.00,0.00,3.79,0.000,0.000,0.158,2385.38,2470.00,2300.75,2537.62,3355.75,0,0,0,30.00,30.00,15.84
$GC,5441.03,17414,145.99,1.38,0.00,2383.8,2468.4,2299.1,2536.8,3354.1,237.61,13.00,667,5446.73,0.00,0.00,3.46,0.000,0.000,0.092,2384.56,2467.31,2301.81,2536.88,2009.19,0,0,0,30.00,30.00,15.89
$GC,5751.11,16386,145.99,1.38,0.00,2383.9,2468.1,2299.6,2537.1,2009.1,201.92,11.62,729,5752.45,0.00,0.00,0.00,0.000,0.000,0.000,2382.53,2466.81,2298.25,2537.69,2009.62,0,0,0,30.00,30.00,30.00
$GC,6056.13,16646,145.99,1.38,80.00,2383.3,2467.8,2298.9,2537.2,2009.2,168.27,11.39,790,6061.89,0.00,0.00,3.77,0.000,0.000,0.159,2385.41,2469.69,2301.12,2536.94,3356.19,0,0,0,30.00,30.00,15.90
$GC,6136.22,17414,145.99,1.38,0.00,2383.1,2467.1,2299.1,2537.6,3355.1,158.51,12.52,806,6141.86,0.00,0.00,3.45,0.000,0.000,0.092,2383.84,2466.44,2301.25,2536.56,2007.25,0,0,0,30.00,30.00,15.95
$GC,6446.32,8226,154.82,1.39,0.00,2383.2,2467.0,2299.3,2537.5,2007.9,126.32,9.84,868,6456.43,8.77,0.00,0.00,1.285,0.000,0.000,2370.09,2454.62,2285.56,2536.81,2007.31,0,0,0,12.50,30.00,30.00
$GC,6761.33,8226,163.75,1.40,0.00,2364.8,2449.9,2279.7,2536.9,2007.4,96.05,9.83,931,6780.93,16.86,0.00,0.00,1.424,0.000,0.000,2331.06,2415.75,2246.38,2537.88,2007.56,0,0,0,12.52,30.00,30.00
$GC,6961.40,260,163.75,1.40,80.00,2327.8,2412.4,2243.1,2537.9,2007.3,75.54,11.18,971,6967.13,0.00,0.00,3.79,0.000,0.000,0.159,2329.56,2414.31,2244.81,2537.12,3354.88,0,0,0,30.00,30.00,15.84
$GC,7051.38,1028,163.75,1.40,0.00,2327.1,2411.3,2242.9,2537.6,3354.2,64.06,12.76,989,7057.10,0.00,0.00,3.42,0.000,0.000,0.091,2327.78,2412.00,2243.56,2537.81,2007.19,0,0,0,30.00,30.00,15.88
$GC,7241.45,8742,172.99,1.42,-80.00,2326.8,2411.3,2242.2,2537.9,2007.4,44.48,9.82,1027,7268.72,21.58,0.00,3.81,1.404,0.000,0.186,2295.75,2380.06,2211.44,2536.94,692.19,0,0,0,12.44,30.00,15.70
$GC,7306.45,1028,172.99,1.42,0.00,2292.1,2376.6,2207.6,2537.7,692.7,36.47,13.23,1040,7312.16,0.00,0.00,3.41,0.000,0.000,0.084,2291.88,2376.75,2207.00,2537.50,2041.19,0,0,0,30.00,30.00,15.80
$GC,7496.50,260,172.99,1.42,80.00,2290.7,2375.8,2205.6,2537.9,2040.7,12.74,14.59,1078,7502.24,0.00,0.00,3.68,0.000,0.000,0.160,2292.72,2377.06,2208.38,2537.00,3357.31,0,0,0,30.00,30.00,15.79
$STATE,7562,end climb,SURFACE_DEPTH_REACHED
$STATE,7562,begin surface coast
$FINISH,0.2,1.027588
$STATE,7572,end surface coast,CONTROL_FINISHED_OK
$STATE,7572,begin surface
$SM_CCo,7900.08,303.05,1.323,0,1369.7,1434.2,1305.2,399.92
$SM_GC,1.34,303.05,15.02,2.72,1.323,0.078,0.081,1369.7,1434.2,1305.2,188.2,2256.0,0,0,0,12.45,15.84,15.85
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7048.93,-726.17,211022,171815
$TCM_TEMP,5.53
$XPDR_PINGS,3,12.5,11.5
$HUMID,51.26
$TEMP,1.67
$INTERNAL_PRESSURE,7.79087
$24V_AH,14.45,4.227
$10V_AH,14.52,0.000
$FG_AHR_24Vo,13.400
$FG_AHR_10Vo,18.586
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,722.550,33.680,119.950,307.030,0.750,14.206,3212.525,0.422,0.000,4702.875,1555.980,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1871.976,293.312,271.336,189.710,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,1567.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,1018712,34,28076,55
$DATA_FILE_SIZE,41769,1093
$CAP_FILE_SIZE,260178,0
$SDSIZE,3887104,3872928
$SDFILEDIR,72,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089, 14.4,1
$IMPLIED_C_PITCH,2236,14.26,876,0.0,0.00
$IMPLIED_C_VBD,2905,19.073269,876,0
$GPS,211022,215936,7046.008,-725.885,5,1.3,10,-5.6