version: 67.00
glider: 235
mission: 21
dive: 1
start: 7 12 122 17 38 0
data:
$ID,235
$MISSION,21
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,20
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,40
$T_DIVE,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,240
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72594
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,200
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,605.40039
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,15
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,3
$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,230
$PITCH_MAX,3900
$C_PITCH,2030
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,15.660437
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$C_PITCH_AUTO_DELTA,0.5
$C_PITCH_AUTO_MAX,200
$PITCH_GAIN_AUTO_DELTA,0.5
$PITCH_GAIN_AUTO_MAX,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,1200
$ROLL_MAX,3900
$ROLL_DEG,80
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,30
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,2
$C_VBD_AUTO_DELTA,0.5
$C_VBD_AUTO_MAX,100
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,171.85666
$FG_AHR_24V,217.14648
$PHONE_SUPPLY,2
$PRESSURE_YINT,-158.7531
$PRESSURE_SLOPE,0.00022957686
$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,13
$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,-0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,35
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,96
$NAV_DEVICE,6
$NAV2_DEVICE,6
$NETWORK_DEVICE,1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,-1
$SIM_W,0
$SEABIRD_T_G,0.004415411
$SEABIRD_T_H,0.00064200663
$SEABIRD_T_I,2.6329088e-05
$SEABIRD_T_J,3.2522996e-06
$SEABIRD_C_G,-9.8064938
$SEABIRD_C_H,1.0739573
$SEABIRD_C_I,-0.002841271
$SEABIRD_C_J,0.00027081851
$OPTIONS,2
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,120722,173418,4724.101,-12525.199,2,1.3,4,15.8
$_CALLS,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.9
$GPS2,120722,173716,4724.100,-12525.209,3,1.3,4,15.8
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,HEADING
$TGT_LATLONG,4713.952,-12530.648
$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,184.2,20000,-17.6,-10.000,-21.24,2209,0.156
$D_GRID,1000
$IRON,1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.816833,-1082.694702,-33.329819
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13.65,16386,-145.99,-1.31,0.00,500.5,550.1,450.9,217.9,2721.8,0.00,0.00,0,119.50,100.56,0.00,0.00,0.005,0.000,0.000,2920.22,2925.75,2914.69,216.62,2720.75,0,0,0,16.11,30.00,30.00
$GC,119.82,18727,-145.99,-1.31,80.00,2920.2,2925.1,2915.4,216.8,2722.3,3.02,-1.65,20,160.43,17.41,11.40,2.76,0.006,0.277,0.101,3561.50,3579.00,3544.00,1713.44,3916.50,0,0,0,16.10,15.88,16.01
$STATE,294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,294,begin apogee
$NET,CACST,8,1,20220712174309.920298,06,635,15,0463,0150,201,01,01,02,01,-1,-01,-01,1,3,11635,0,150,-36.7,0.40,-100,2.60,-01,2.65,73,10000,5000,0,-1,00,00*48
$NET,CACST,8,1,20220712174319.172438,06,557,15,0105,0150,223,01,01,02,02,-1,-01,-01,1,3,11643,0,150,-37.0,6.46,-100,-3.46,-01,1.65,68,10000,5000,0,-1,00,00*6D
$NET,CACST,8,1,20220712174319.891863,06,823,17,0120,0150,201,01,01,02,01,-1,-01,-01,1,3,11635,0,150,-36.7,0.58,-100,2.42,-01,-0.98,73,10000,5000,0,-1,00,00*61
$NET,CACST,8,1,20220712174320.600581,06,135,09,0000,0150,223,01,01,02,01,-1,-01,-01,1,3,11643,0,150,17.2,0.72,-100,2.28,-01,1.92,56,10000,5000,0,-1,00,00*61
$NET,CACST,8,1,20220712174328.948355,06,275,12,0116,0150,216,01,01,02,01,-1,-01,-01,1,3,11635,0,150,-36.8,0.61,-100,2.39,-01,0.28,73,10000,5000,0,-1,00,00*48
$NET,CACST,8,1,20220712174329.655126,06,52,11,0100,0150,223,01,01,01,01,-1,-01,-01,1,3,11643,0,150,-36.7,0.63,-100,2.37,-01,2.88,73,10000,5000,0,-1,00,00*70
$GC,298.67,10243,0.00,-0.32,0.00,3561.6,3579.2,3544.0,1713.7,2571.5,46.01,-25.34,54,405.48,99.03,1.71,0.08,1.074,0.223,0.214,2967.09,3014.06,2920.12,1951.81,2626.62,0,0,0,11.47,15.90,15.71
$STATE,408,end apogee,CONTROL_FINISHED_OK
$STATE,409,begin climb
$GC,409.00,10503,145.99,1.31,80.00,2965.4,3012.8,2918.0,1952.6,2626.8,62.53,0.00,65,528.04,106.26,2.80,3.12,1.070,0.189,0.103,2371.31,2449.19,2293.44,2344.88,3911.75,0,0,0,11.57,15.66,15.56
$NAV,1657648211,54.5,0,stop
$GC,620.54,11303,327.50,1.53,0.00,2364.8,2436.9,2292.6,2344.4,3913.0,59.46,1.56,105,763.10,129.21,0.37,3.08,1.074,0.143,0.063,1629.91,1715.12,1544.69,2401.38,2575.19,0,0,0,11.58,15.73,15.79
$NET,CACST,8,1,20220712175308.147472,06,474,14,0107,0150,261,02,02,02,02,-1,-01,-01,1,3,11635,0,150,-36.6,0.58,-100,2.42,-01,-0.01,67,10000,5000,0,-1,00,00*67
$NET,CACST,8,1,20220712175308.860586,06,567,15,0187,0150,216,01,01,02,01,-1,-01,-01,1,3,11643,0,150,-36.7,0.51,-100,2.49,-01,0.89,73,10000,5000,0,-1,00,00*42
$NET,CACST,8,1,20220712175312.911887,06,360,13,0253,0150,216,03,03,02,03,-1,-01,-01,1,3,11635,0,150,-36.1,0.60,-100,2.40,-01,-0.94,60,10000,5000,0,-1,00,00*62
$NET,CACST,8,1,20220712175313.863771,06,663,16,0136,0150,223,01,01,02,01,-1,-01,-01,1,3,11643,0,150,-35.9,0.54,-100,2.46,-01,2.53,71,10000,5000,0,-1,00,00*49
$NET,CACST,8,1,20220712175317.917097,06,772,16,0105,0150,223,01,01,02,01,-1,-01,-01,1,3,11643,0,150,-35.9,0.67,-100,2.33,-01,0.59,71,10000,5000,0,-1,00,00*4B
$NET,CACST,8,1,20220712175318.856655,06,561,15,0308,0150,276,02,02,02,02,-1,-01,-01,1,3,11635,0,150,-36.1,0.73,-100,2.27,-01,-0.12,66,10000,5000,0,-1,00,00*69
$NET,CACST,8,1,20220712175319.578037,06,413,14,0152,0150,216,02,02,02,02,-1,-01,-01,1,3,11643,0,150,10.2,0.58,-100,2.42,-01,-4.58,55,10000,5000,0,-1,00,00*4E
$NET,CACST,8,1,20220712175323.151253,06,1219,18,0202,0150,276,02,02,02,02,-1,-01,-01,1,3,11635,0,150,-35.9,0.60,-100,2.40,-01,-1.13,65,10000,5000,0,-1,00,00*59
$NET,CACST,8,1,20220712175323.860901,06,578,15,0314,0150,276,02,02,02,02,-1,-01,-01,1,3,11635,0,150,-36.3,0.65,-100,2.35,-01,1.48,66,10000,5000,0,-1,00,00*4A
$GC,944.14,16646,327.50,1.53,80.00,1624.6,1705.0,1544.2,2401.4,2574.8,33.84,10.41,166,950.57,0.00,0.00,3.19,0.000,0.000,0.105,1623.78,1702.56,1545.00,2400.94,3913.31,0,0,0,30.00,30.00,15.87
$GC,1004.19,9254,373.67,1.59,0.00,1622.3,1698.8,1545.9,2400.8,3913.7,28.92,7.85,178,1047.09,33.99,0.00,3.04,1.014,0.000,0.066,1443.97,1525.25,1362.69,2400.75,2575.88,0,0,0,11.61,30.00,15.93
$GC,1230.26,260,373.67,1.59,80.00,1440.0,1521.2,1358.9,2400.9,2576.4,14.87,11.47,223,1236.70,0.00,0.00,3.17,0.000,0.000,0.105,1439.25,1519.31,1359.19,2399.75,3914.56,0,0,0,30.00,30.00,15.94
$GC,1245.27,1028,373.67,1.59,0.00,1438.2,1517.1,1359.3,2400.8,3913.6,13.33,10.88,226,1251.66,0.00,0.00,3.04,0.000,0.000,0.068,1439.19,1517.44,1360.94,2400.56,2575.06,0,0,0,30.00,30.00,15.97
$NAV,1657648745,11.3,start
$FREEZE,9.88,15.279,-1.740,0,1,0
$FREEZE,9.54,15.408,-1.738,0,1,0
$FREEZE,9.22,15.439,-1.738,0,1,0
$FREEZE,8.71,15.602,-1.738,0,1,0
$FREEZE,8.25,15.716,-1.736,0,1,0
$FREEZE,7.90,15.770,-1.734,0,1,0
$FREEZE,7.53,15.786,-1.734,0,1,0
$FREEZE,7.09,15.836,-1.736,0,1,0
$FREEZE,6.63,15.970,-1.731,0,1,0
$FREEZE,6.35,15.985,-1.734,0,1,0
$FREEZE,6.08,16.150,-1.730,0,1,0
$FREEZE,5.78,16.214,-1.729,0,1,0
$FREEZE,5.46,16.241,-1.728,0,1,0
$FREEZE,5.16,16.289,-1.726,0,1,0
$FREEZE,4.83,16.526,-1.718,0,1,0
$FREEZE,4.56,16.583,-1.721,0,1,0
$FREEZE,4.33,16.644,-1.720,0,1,0
$FREEZE,4.04,16.698,-1.718,0,1,0
$FREEZE,3.67,16.704,-1.718,0,1,0
$FREEZE,3.39,16.717,-1.718,0,1,0
$FREEZE,3.23,16.712,-1.718,0,1,0
$FREEZE,3.12,16.707,-1.718,0,1,0
$FREEZE,3.05,16.707,-1.718,0,1,0
$FREEZE,2.91,16.701,-1.718,0,1,0
$FREEZE,2.70,16.706,-1.718,0,1,0
$FREEZE,2.31,16.708,-1.717,0,1,0
$FREEZE,1.87,16.706,-1.717,0,1,0
$STATE,1409,end climb,SURFACE_DEPTH_REACHED
$STATE,1409,begin surface coast
$FREEZE,1.63,16.723,-1.716,0,1,0
$FREEZE,1.52,16.719,-1.716,0,1,0
$FREEZE,1.33,16.705,-1.716,0,1,0
$FREEZE,0.91,16.702,-1.716,0,1,0
$FREEZE,0.39,16.707,-1.716,0,1,0
$FREEZE,0.27,16.708,-1.700,0,1,0
$FREEZE,0.16,16.705,-0.394,0,1,0
$FREEZE,0.11,16.686,-1.692,0,1,0
$FREEZE,0.15,16.713,-1.361,0,1,0
$FINISH,0.1,1.017955
$STATE,1454,end surface coast,CONTROL_FINISHED_OK
$STATE,1454,begin surface
$SM_CCo,1646.06,159.64,1.047,0,500.0,547.7,452.4,605.39
$SM_GC,1.41,159.64,12.78,0.41,1.047,0.039,0.080,500.0,547.7,452.4,211.7,2782.8,0,0,0,11.48,15.98,15.97
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4724.81,-12523.76,120722,173229
$TCM_TEMP,16.79
$SC_FREEKB,3878368
$PM_FREEKB_00,62321472
$PM_ACTIVECARD,0
$RAFOS_CLK,1
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,58.08
$TEMP,16.43
$INTERNAL_PRESSURE,8.70532
$24V_AH,15.02,115.340
$10V_AH,14.98,0.000
$FG_AHR_24Vo,217.309
$FG_AHR_10Vo,171.887
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,646.095,29.045,24.885,0.000,0.000,13.068,1176.487,0.002,0.000,352.113,538.729,811.575,0.000,0.000,55.394
$DEVICE_MAMPS,1074.280,276.912,214.264,0.000,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1454.000,1463.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.072,10.956,0.000,0.000
$MEM0,60108,1,0,0
$MEM1,65508,1,0,0
$MEM2,963808,23,82400,95
$DATA_FILE_SIZE,6547,266
$CAP_FILE_SIZE,209570,0
$SDSIZE,3918848,3878432
$SDFILEDIR,283,3
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$MAGCAL,1.000000,0.010128,-0.063169,-0.087250,1.072990,-0.045988,-0.003437,0.060541,1.120606,-1044.9,-999.9,-222.1,33,0.0239,1
$IMPLIED_C_PITCH,2513,13.75,126,2230.0,14.71
$GPS,120722,180604,4724.001,-12525.222,1,1.2,3,15.8