version: 67.00
glider: 235
mission: 15
dive: 1
start: 5 21 122 15 50 36
data:
$ID,235
$MISSION,15
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,165
$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,40
$T_MISSION,60
$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,1.023
$MASS,72383
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,-1
$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,590.98499
$N_FILEKB,8
$FILEMGR,2
$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,2
$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,17.029999
$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,2950
$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
$C_VBD_AUTO_MAX,0
$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,400
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,157.24509
$FG_AHR_24V,197.4496
$PHONE_SUPPLY,2
$PRESSURE_YINT,-158.48517
$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
$GPS1,210522,154801,4736.945,-12256.580,2,1.0,4,15.5
$_CALLS,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-47.9
$GPS2,210522,154959,4736.934,-12256.596,2,1.0,5,15.5
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,S
$TGT_LATLONG,4736.000,-12257.000
$TGT_RADIUS,300.000
$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,180.8,1802,-17.6,-10.000,-21.21,2209,0.138
$D_GRID,164
$IRON,1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,9.97,16386,-146.63,-1.21,0.00,541.3,618.9,463.7,215.3,2722.8,0.00,0.00,0,153.13,139.77,0.00,0.00,0.005,0.000,0.000,3470.75,3478.88,3462.62,215.44,2722.06,0,0,0,14.93,30.00,30.00
$GC,153.34,18983,-146.63,-1.21,-80.00,3470.7,3479.3,3462.1,214.9,2722.8,3.16,-1.12,27,174.56,2.24,11.76,3.37,0.014,0.289,0.128,3547.09,3567.44,3526.75,1736.12,1279.12,0,0,0,15.96,15.76,15.85
$GC,402.69,1060,-146.63,-1.21,0.00,3548.4,3571.7,3525.1,1735.9,1279.4,21.49,-5.92,77,408.27,0.00,0.00,3.32,0.000,0.000,0.067,3548.22,3570.12,3526.31,1736.06,2768.50,0,0,0,30.00,30.00,15.90
$NAV,1653148743,26.5,start
$NET,CACMA,PNG,2022-05-21T16:00:06.755408,241,255,30.4,4.10,0,0,0*7B
$NET,CARFP,2022-05-21T16:00:07.351519,0,241,255,1,-1,0,0,1;7;08f1ff060c08ff,,*02
$NET,CACST,8,0,20220521160006.755408,06,32767,45,0101,0150,07,00,00,00,00,1,241,255,0,5,1,0,150,30.4,4.10,-100,-1.10,-01,-0.09,49,10000,5000,0,-1,00,00*77
$NET,CAXST,7,20220521,160008.670434,3,0,200,5000,10000,1,235,241,0,0,1,5,0,10000*53
$GC,593.23,548,-146.63,-1.21,-80.00,3548.7,3571.6,3525.8,1735.9,2769.1,30.88,-5.05,113,598.85,0.00,0.00,3.57,0.000,0.000,0.124,3549.84,3572.94,3526.75,1736.38,1279.31,0,0,0,30.00,30.00,15.84
$GC,653.22,1028,-146.63,-1.21,0.00,3548.1,3571.4,3524.7,1735.8,1279.5,35.85,-8.69,125,658.96,0.00,0.00,3.37,0.000,0.000,0.071,3548.31,3571.44,3525.19,1736.88,2770.75,0,0,0,30.00,30.00,15.87
$GC,843.25,292,-146.63,-1.21,80.00,3548.7,3572.4,3525.0,1736.4,2770.3,49.26,-7.31,163,848.74,0.00,0.00,2.74,0.000,0.000,0.132,3549.12,3571.38,3526.88,1736.25,3910.62,0,0,0,30.00,30.00,15.83
$GC,877.53,1060,-146.63,-1.21,0.00,3549.1,3572.4,3525.8,1735.9,3911.2,52.05,-7.78,170,883.72,0.00,0.00,2.69,0.000,0.000,0.070,3549.50,3572.88,3526.12,1736.31,2726.50,0,0,0,30.00,30.00,15.87
$GC,1073.27,516,-146.63,-1.21,-80.00,3548.9,3571.8,3526.0,1736.1,2725.2,67.70,-8.34,190,1078.28,0.00,0.00,3.45,0.000,0.000,0.128,3550.03,3572.19,3527.88,1736.00,1280.38,0,0,0,30.00,30.00,15.83
$GC,1113.29,1028,-146.63,-1.21,0.00,3548.6,3571.6,3525.6,1735.9,1280.5,71.49,-9.48,198,1118.13,0.00,0.00,3.36,0.000,0.000,0.071,3549.44,3572.88,3526.00,1735.94,2768.62,0,0,0,30.00,30.00,15.85
$GC,1303.30,260,-146.63,-1.21,80.00,3549.3,3572.4,3526.2,1736.4,2768.5,87.96,-8.90,218,1308.04,0.00,0.00,2.76,0.000,0.000,0.133,3549.97,3573.62,3526.31,1736.06,3911.62,0,0,0,30.00,30.00,15.83
$GC,1397.60,1028,-146.63,-1.21,0.00,3548.8,3572.4,3525.2,1735.8,3911.1,97.15,-9.48,237,1403.77,0.00,0.00,2.69,0.000,0.000,0.072,3550.56,3573.62,3527.50,1736.19,2725.25,0,0,0,30.00,30.00,15.86
$GC,1593.33,0,-146.63,-1.21,0.00,3549.1,3572.9,3525.2,1736.1,2725.4,114.69,-9.14,257,1594.67,0.00,0.00,0.00,0.000,0.000,0.000,3548.19,3571.94,3524.44,1735.56,2726.00,0,0,0,30.00,30.00,30.00
$STATE,1653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1653,begin apogee
$GC,1654.51,10243,0.00,-0.29,0.00,3548.9,3572.9,3524.9,1735.9,2574.2,120.05,-8.93,263,1765.64,107.68,1.49,0.08,1.327,0.150,0.244,2947.34,3012.50,2882.19,1960.12,2623.00,0,0,0,11.76,15.82,15.38
$STATE,1770,end apogee,CONTROL_FINISHED_OK
$STATE,1770,begin climb
$NET,CACMR,PNR,2022-05-21T16:20:23.164302,241,235,0.047888,-5.0,2.33,0,0,1;6;0;1222570056*68
$NET_PING,1653150025,241,71.832001,-5.000000,-0.642083
$NET,CARFP,2022-05-21T16:20:23.834864,0,241,235,1,-1,0,0,1;12;08f1eb07000b8c48def048ff,,*38
$NET,CACST,8,0,20220521162023.164302,06,32767,45,0114,0150,37,02,02,00,02,1,241,235,0,5,1,0,150,-5.0,2.33,-100,0.67,-01,0.08,68,10000,5000,0,-1,00,00*63
$GC,1770.92,10759,146.63,1.21,-80.00,2948.0,3012.2,2883.8,1960.3,2623.2,122.42,0.00,274,1892.22,110.79,2.40,3.62,1.283,0.101,0.135,2348.69,2426.50,2270.88,2327.19,1189.75,0,0,0,11.49,15.40,15.19
$GC,1910.35,1028,146.63,1.21,0.00,2347.6,2424.6,2270.6,2327.1,1189.3,107.71,16.62,300,1915.20,0.00,0.00,3.32,0.000,0.000,0.065,2345.84,2422.88,2268.81,2327.75,2620.25,0,0,0,30.00,30.00,15.31
$GC,2100.35,260,146.63,1.21,80.00,2344.2,2419.9,2268.4,2327.7,2619.3,77.81,15.23,320,2105.16,0.00,0.00,3.18,0.000,0.000,0.135,2342.69,2417.88,2267.50,2327.38,3910.25,0,0,0,30.00,30.00,15.53
$GC,2160.37,17414,146.63,1.21,0.00,2342.8,2416.9,2268.6,2327.1,3910.6,68.28,15.91,332,2165.16,0.00,0.00,3.10,0.000,0.000,0.073,2342.34,2417.00,2267.69,2327.50,2579.44,0,0,0,30.00,30.00,15.60
$GC,2345.38,16902,146.63,1.21,-80.00,2342.6,2417.6,2267.5,2327.6,2579.4,42.05,13.75,357,2350.98,0.00,0.00,3.42,0.000,0.000,0.135,2343.19,2417.75,2268.62,2327.12,1186.62,0,0,0,30.00,30.00,15.65
$NET,CACMR,PNR,2022-05-21T16:30:07.388809,45,235,0.160503,9.3,5.05,0,0,1;15;1;1807683782*4C
$NET_PING,1653150609,45,240.754501,9.300000,0.134543
$NET,CARFP,2022-05-21T16:30:08.061996,0,45,235,1,-1,0,0,1;12;082deb07000b9f6bbf10c6ff,,*54
$NET,CACST,8,0,20220521163007.388809,06,22843,43,0187,0150,82,02,02,00,02,1,045,235,0,5,1,0,150,9.3,5.05,-100,-2.05,-01,0.11,55,10000,5000,0,-1,00,00*65
$NET,CACMR,PNR,2022-05-21T16:30:09.152155,25,235,1.042176,17.1,6.13,0,0,1;19;0;1810878685*79
$NET_PING,1653150611,25,1563.264038,17.100000,0.684444
$NET,CARFP,2022-05-21T16:30:09.826954,0,25,235,1,-1,0,0,1;12;0819eb07000ba66befd0ddff,,*07
$NET,CACST,8,0,20220521163009.152155,06,24249,43,0155,0150,82,02,02,00,02,1,025,235,0,5,1,0,150,17.1,6.13,-100,-3.13,-01,-0.03,48,10000,5000,0,-1,00,00*7C
$GC,2373.75,17414,146.63,1.21,0.00,2341.9,2414.8,2269.0,2327.2,1186.7,37.82,15.37,362,2378.55,0.00,0.00,3.26,0.000,0.000,0.066,2342.16,2414.31,2270.00,2327.31,2622.75,0,0,0,30.00,30.00,15.67
$NET,CARFP,2022-05-21T16:30:21.727403,0,45,121,1,5,0,0,1;8;082d7903a04017ff,1;5;ac013a6c5b;1;13;4d1fb6e15c39700004000356b9;1;13;3770bb8bb8fa0440202e0f1972;1;13;305c54b3c7000274d8b69a3f6d;1;13;c2b872e000080006ad726ee577;1;13;1771f40880405c1e2cc804e9b1;1;2;6d34,0;23;*16
$NET,CACST,8,1,20220521163019.706158,06,11703,40,0135,0150,74,01,01,00,01,1,045,121,3,5,7,0,150,8.5,3.89,-100,-0.89,-01,0.03,52,10000,5000,0,5,01,01*42
$GC,2563.04,16646,146.63,1.21,80.00,2341.4,2414.2,2268.5,2327.7,2622.8,13.18,12.14,400,2568.57,0.00,0.00,3.13,0.000,0.000,0.134,2340.41,2412.12,2268.69,2327.62,3910.25,0,0,0,30.00,30.00,15.69
$FREEZE,9.93,9.720,-1.600,0,1,0
$FREEZE,9.26,9.722,-1.599,0,1,0
$FREEZE,8.61,9.746,-1.598,0,1,0
$FREEZE,7.96,9.800,-1.595,0,1,0
$FREEZE,7.36,9.817,-1.594,0,1,0
$FREEZE,6.76,9.826,-1.593,0,1,0
$FREEZE,6.19,9.846,-1.592,0,1,0
$FREEZE,5.67,9.987,-1.589,0,1,0
$FREEZE,5.24,10.373,-1.574,0,1,0
$FREEZE,4.81,10.671,-1.564,0,1,0
$FREEZE,4.39,10.727,-1.562,0,1,0
$GC,2638.06,17414,146.63,1.21,0.00,2340.6,2413.9,2267.2,2327.6,3910.8,4.39,10.53,415,2643.56,0.00,0.00,3.06,0.000,0.000,0.071,2338.69,2411.38,2266.00,2327.62,2576.88,0,0,0,30.00,30.00,15.74
$FREEZE,3.81,11.018,-1.552,0,1,0
$FREEZE,3.59,11.212,-1.544,0,1,0
$FREEZE,3.40,11.310,-1.544,0,1,0
$FREEZE,3.23,11.585,-1.535,0,1,0
$FREEZE,3.07,11.452,-1.539,0,1,0
$FREEZE,2.90,11.567,-1.535,0,1,0
$FREEZE,2.74,11.633,-1.533,0,1,0
$FREEZE,2.59,11.631,-1.534,0,1,0
$FREEZE,2.46,11.660,-1.533,0,1,0
$FREEZE,2.29,11.750,-1.531,0,1,0
$FREEZE,2.15,11.795,-1.529,0,1,0
$FREEZE,2.02,11.843,-1.527,0,1,0
$FREEZE,1.90,11.865,-1.526,0,1,0
$STATE,2708,end climb,SURFACE_DEPTH_REACHED
$STATE,2708,begin surface coast
$FREEZE,1.75,11.893,-1.525,0,1,0
$FREEZE,1.62,11.929,-1.525,0,1,0
$FREEZE,1.49,11.946,-1.525,0,1,0
$FREEZE,1.40,11.968,-1.511,0,1,0
$FREEZE,1.33,12.031,-1.501,0,1,0
$NAV,1653150974,1.2,0,stop
$FREEZE,1.24,12.130,-1.489,0,1,0
$FREEZE,1.18,12.100,-1.481,0,1,0
$FREEZE,1.12,11.992,-1.474,0,1,0
$FREEZE,1.06,11.931,-1.471,0,1,0
$FREEZE,1.02,11.909,-1.471,0,1,0
$FINISH,1.0,1.020404
$STATE,2758,end surface coast,CONTROL_FINISHED_OK
$STATE,2758,begin surface
$SM_CCo,3102.23,311.04,1.143,0,541.2,615.1,467.2,590.89
$SM_GC,1.69,311.04,13.19,0.41,1.143,0.088,0.099,541.2,615.1,467.2,217.7,2773.8,0,0,0,11.72,15.74,15.79
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4739.11,-12242.00,210522,154523
$TCM_TEMP,12.89
$SC_FREEKB,3878368
$PM_FREEKB_00,61919552
$PM_ACTIVECARD,0
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,47.79
$TEMP,9.95
$INTERNAL_PRESSURE,7.88072
$24V_AH,14.71,131.906
$10V_AH,14.70,0.000
$FG_AHR_24Vo,197.643
$FG_AHR_10Vo,157.292
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,671.525,28.845,58.295,0.000,0.000,14.252,1655.176,0.009,0.000,1176.245,887.779,2230.400,0.000,0.000,151.168
$DEVICE_MAMPS,1327.168,288.720,244.112,0.000,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2757.000,2772.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.952,17.603,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,942816,28,103532,83
$DATA_FILE_SIZE,12954,439
$CAP_FILE_SIZE,324997,0
$SDSIZE,3918848,3885632
$SDFILEDIR,241,3
$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,-0.037971,-0.012847,-0.048827,1.085390,0.021022,-0.004417,-0.020626,1.149482,-960.4,-1116.8,-49.5,17,0.0207,0
$IMPLIED_C_PITCH,1995,16.32,227,2012.4,16.67
$IMPLIED_C_VBD,3095,33.537407,227,0
$GPS,210522,164254,4736.661,-12256.745,0,0.9,2,15.5