version: 67.00
glider: 234
mission: 6
dive: 52
start: 10 27 122 23 49 12
data:
$ID,234
$MISSION,6
$DIVE,52
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,400
$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,110
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-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,613.25
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,3
$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,2
$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,21.182152
$FG_AHR_24V,29.438793
$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
$GPS1,271022,233646,7050.465,-623.918,12,1.4,19,-5.0
$_CALLS,5
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-53.0
$GPS2,271022,234900,7050.518,-623.831,3,1.4,12,-5.0
$SPEED_LIMITS,0.210,0.313
$TGT_NAME,PICKUP
$TGT_LATLONG,7050.470,-624.100
$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,220.8,185,-27.5,-12.121,-30.00,1068,0.315
$D_GRID,583
$IRON,1.000000,-0.051454,-0.019864,-0.075070,1.095194,-0.049316,-0.024488,-0.039592,1.063816,-1068.962891,-1108.617798,-374.864410
$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,2.24,16386,-84.69,-1.94,0.00,496.0,558.0,434.0,184.5,2251.7,0.00,0.00,0,181.44,177.24,0.00,0.12,0.005,0.000,0.252,3343.22,3387.62,3298.81,185.00,2294.75,0,0,0,14.66,30.00,15.76
$GC,181.69,18727,-146.32,-2.01,80.00,3343.1,3388.9,3297.3,184.8,2294.8,2.81,-6.19,17,212.78,8.99,13.02,3.04,0.007,0.307,0.165,3597.25,3663.25,3531.25,1711.69,3356.62,0,0,0,15.78,15.71,15.72
$GC,440.30,3205,-146.32,-1.91,0.00,3598.9,3665.9,3531.9,1712.1,3355.4,63.03,-20.82,69,445.84,0.00,0.20,2.79,0.000,0.228,0.072,3600.91,3668.12,3533.69,1738.81,2259.88,0,0,0,30.00,15.80,15.87
$GC,630.30,260,-146.32,-1.91,80.00,3599.7,3667.0,3532.4,1738.8,2259.4,96.18,-17.64,89,635.87,0.00,0.00,3.11,0.000,0.000,0.153,3599.88,3667.00,3532.75,1739.31,3355.06,0,0,0,30.00,30.00,15.87
$GC,865.30,1156,-146.32,-1.82,0.00,3599.9,3667.6,3532.2,1738.8,3354.6,147.70,-22.81,136,870.96,0.00,0.00,2.78,0.000,0.000,0.073,3600.53,3667.62,3533.44,1738.88,2262.31,0,0,0,30.00,30.00,15.94
$GC,1180.44,260,-146.32,-1.82,80.00,3600.5,3668.9,3532.1,1739.4,2262.2,202.27,-16.69,168,1185.98,0.00,0.00,3.09,0.000,0.000,0.156,3600.25,3668.69,3531.81,1738.81,3354.62,0,0,0,30.00,30.00,15.94
$GC,1265.38,3205,-146.32,-1.76,0.00,3600.5,3668.7,3532.3,1738.6,3354.1,218.87,-20.13,185,1271.12,0.00,0.26,2.78,0.000,0.223,0.075,3601.69,3669.62,3533.75,1773.56,2261.31,0,0,0,30.00,15.91,15.98
$GC,1580.50,0,-146.32,-1.76,0.00,3601.3,3670.3,3532.2,1773.8,2261.1,269.69,-15.22,211,1581.85,0.00,0.00,0.00,0.000,0.000,0.000,3601.62,3670.88,3532.38,1774.38,2261.19,0,0,0,30.00,30.00,30.00
$GC,1900.51,0,-146.32,-1.76,0.00,3601.5,3670.8,3532.1,1774.2,2261.0,316.78,-14.80,227,1901.85,0.00,0.00,0.00,0.000,0.000,0.000,3601.31,3671.25,3531.38,1774.12,2261.19,0,0,0,30.00,30.00,30.00
$GC,2220.54,0,-146.32,-1.76,0.00,3601.5,3670.9,3532.1,1774.0,2261.2,364.18,-14.80,243,2221.88,0.00,0.00,0.00,0.000,0.000,0.000,3600.69,3670.19,3531.19,1774.06,2260.69,0,0,0,30.00,30.00,30.00
$STATE,2441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2441,begin apogee
$GC,2442.39,10243,0.00,-0.33,0.00,3601.4,3670.8,3532.0,1774.1,2007.9,400.67,-17.50,254,2556.65,110.07,2.49,0.09,1.777,0.191,0.237,2997.53,3074.69,2920.38,2118.81,2049.94,0,0,0,12.74,16.01,15.37
$STATE,2557,end apogee,CONTROL_FINISHED_OK
$STATE,2557,begin climb
$GC,2557.19,10503,146.32,2.01,80.00,2998.9,3076.3,2921.4,2119.0,2049.6,404.56,0.00,259,2683.66,113.69,4.03,3.87,1.741,0.123,0.139,2403.59,2487.69,2319.50,2689.75,3356.50,0,0,0,12.38,15.41,15.16
$GC,2701.08,1028,146.32,2.01,0.00,2395.9,2479.4,2312.3,2690.6,3356.1,389.04,15.92,288,2706.82,0.00,0.00,3.60,0.000,0.000,0.078,2397.19,2480.44,2313.94,2690.56,2009.00,0,0,0,30.00,30.00,15.33
$GC,3016.22,16386,146.32,2.01,0.00,2388.0,2471.2,2304.8,2690.0,2007.4,334.61,18.29,306,3017.57,0.00,0.00,0.00,0.000,0.000,0.000,2386.59,2470.06,2303.12,2690.62,2008.25,0,0,0,30.00,30.00,30.00
$GC,3336.24,16386,146.32,2.01,0.00,2385.7,2469.0,2302.4,2689.9,2007.9,279.57,17.07,322,3337.59,0.00,0.00,0.00,0.000,0.000,0.000,2385.03,2467.94,2302.12,2690.38,2007.88,0,0,0,30.00,30.00,30.00
$GC,3646.29,16386,146.32,2.01,0.00,2384.7,2467.8,2301.5,2690.2,2007.5,224.35,17.20,344,3647.63,0.00,0.00,0.00,0.000,0.000,0.000,2383.97,2466.75,2301.19,2690.19,2008.00,0,0,0,30.00,30.00,30.00
$GC,3956.34,16386,146.32,2.01,0.00,2383.4,2466.6,2300.3,2690.0,2007.8,174.91,15.13,375,3957.69,0.00,0.00,0.00,0.000,0.000,0.000,2382.19,2465.62,2298.75,2690.31,2007.88,0,0,0,30.00,30.00,30.00
$GC,4266.40,16646,146.32,2.01,80.00,2382.6,2464.6,2300.7,2690.6,2008.2,125.45,15.25,406,4272.06,0.00,0.00,3.74,0.000,0.000,0.138,2382.56,2464.38,2300.75,2690.19,3355.00,0,0,0,30.00,30.00,15.96
$GC,4351.32,17414,146.32,2.01,0.00,2381.3,2462.6,2300.1,2690.2,3355.6,111.85,15.78,423,4357.11,0.00,0.00,3.44,0.000,0.000,0.080,2380.97,2462.25,2299.69,2690.12,2006.56,0,0,0,30.00,30.00,15.98
$GC,4666.46,16386,146.32,2.01,0.00,2380.6,2462.4,2298.8,2690.3,2005.0,62.35,13.32,455,4667.81,0.00,0.00,0.00,0.000,0.000,0.000,2379.09,2461.38,2296.81,2690.25,2005.25,0,0,0,30.00,30.00,30.00
$GC,4856.50,17030,146.32,2.05,-80.00,2380.3,2461.7,2298.9,2690.6,2005.8,34.62,13.79,474,4862.15,0.00,0.00,3.74,0.000,0.000,0.163,2380.06,2461.94,2298.19,2690.00,691.38,0,0,0,30.00,30.00,15.99
$GC,5046.52,17414,146.32,2.05,0.00,2379.2,2459.9,2298.4,2690.2,691.1,4.28,17.17,512,5052.13,0.00,0.00,3.39,0.000,0.000,0.076,2381.25,2461.62,2300.88,2690.69,2041.50,0,0,0,30.00,30.00,16.03
$STATE,5066,end climb,SURFACE_DEPTH_REACHED
$STATE,5067,begin surface coast
$FINISH,-0.3,1.020524
$STATE,5087,end surface coast,CONTROL_FINISHED_OK
$STATE,5087,begin surface
$SM_CCo,5696.02,584.82,1.216,0,501.0,562.8,439.2,613.00
$SM_GC,1.12,584.82,15.69,0.60,1.216,0.070,0.104,501.0,562.8,439.2,184.4,2294.1,0,0,0,12.75,16.01,16.03
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7050.91,-634.17,271022,234503
$TCM_TEMP,7.05
$XPDR_PINGS,4,12.5,11.5
$HUMID,76.27
$TEMP,3.23
$INTERNAL_PRESSURE,7.87132
$24V_AH,14.52,21.642
$10V_AH,14.58,0.000
$FG_AHR_24Vo,29.760
$FG_AHR_10Vo,21.199
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,994.810,35.705,40.865,446.446,1.000,21.342,2014.479,0.983,0.000,3800.513,751.443,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1776.528,307.088,251.984,148.376,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,599.502,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,968328,25,78740,50
$DATA_FILE_SIZE,19384,517
$CAP_FILE_SIZE,205796,0
$SDSIZE,3887104,3863296
$SDFILEDIR,274,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,  5.8,1
$MAGCAL,1.000000,-0.010521,-0.076347,-0.080902,1.043773,-0.225031,-0.017124,-0.008004,0.730825,-1004.3,-870.0,80.7,34,0.1014,0
$IMPLIED_C_PITCH,2239,14.13,330,0.0,0.00
$IMPLIED_C_VBD,2886,15.496157,330,0
$GPS,281022,012445,7050.205,-625.241,25,1.1,32,-5.0