version: 67.00
glider: 235
mission: 16
dive: 2
start: 5 21 122 22 0 49
data:
$ID,235
$MISSION,16
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,160
$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,55
$T_MISSION,70
$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,2016.0352
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,16.219912
$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,2950.3301
$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,2
$MAXI_10V,2
$FG_AHR_10V,157.38947
$FG_AHR_24V,198.18413
$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
$GPS1,210522,215540,4736.283,-12256.879,2,0.8,3,15.5
$_CALLS,2
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-51.3
$GPS2,210522,220013,4736.257,-12256.894,2,0.8,3,15.5
$SPEED_LIMITS,0.168,0.255
$TGT_NAME,N
$TGT_LATLONG,4737.000,-12256.400
$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,8.6,1507,-17.1,-9.697,-20.82,2278,0.147
$D_GRID,167
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$NET,CACST,8,1,20220521220114.395394,06,383,19,0100,0150,208,02,02,01,02,-1,-01,-01,1,3,11635,0,150,-2.4,0.96,-100,2.04,-01,2.75,65,10000,5000,0,-1,00,00*79
$NET,CACST,8,1,20220521220124.390547,06,397,19,0135,0150,194,02,02,01,02,-1,-01,-01,1,3,11635,0,150,0.1,6.47,-100,-3.47,-01,2.18,63,10000,5000,0,-1,00,00*74
$GC,11.08,16386,-146.63,-1.23,0.00,539.9,610.9,468.9,215.2,2771.4,0.00,0.00,0,131.69,114.64,0.00,0.00,0.005,0.000,0.000,3190.66,3195.75,3185.56,215.38,2771.06,0,0,0,15.27,30.00,30.00
$GC,132.01,18727,-146.63,-1.23,80.00,3189.9,3194.9,3184.9,215.4,2770.8,3.10,-1.25,22,167.50,9.90,11.35,2.73,0.007,0.263,0.130,3546.72,3575.06,3518.38,1717.12,3911.62,0,0,0,15.93,15.79,15.85
$GC,200.84,1028,-146.63,-1.23,0.00,3546.6,3575.4,3517.9,1716.7,3911.9,11.40,-11.92,35,207.05,0.00,0.00,2.70,0.000,0.000,0.069,3548.69,3577.44,3519.94,1716.69,2724.69,0,0,0,30.00,30.00,15.89
$GC,390.85,516,-146.63,-1.23,-80.00,3549.3,3580.9,3517.7,1716.9,2724.9,27.30,-7.90,73,397.42,0.00,0.00,3.45,0.000,0.000,0.125,3548.38,3578.75,3518.00,1716.81,1280.75,0,0,0,30.00,30.00,15.87
$GC,435.85,1028,-146.63,-1.23,0.00,3548.9,3580.1,3517.8,1717.1,1280.3,31.21,-8.78,82,442.38,0.00,0.00,3.37,0.000,0.000,0.066,3549.41,3580.25,3518.56,1716.62,2769.06,0,0,0,30.00,30.00,15.90
$GC,623.67,292,-146.63,-1.23,80.00,3548.9,3579.5,3518.2,1716.3,2769.1,45.08,-7.21,119,629.90,0.00,0.00,2.73,0.000,0.000,0.125,3549.88,3579.38,3520.38,1717.12,3912.56,0,0,0,30.00,30.00,15.88
$GC,678.64,1028,-146.63,-1.23,0.00,3548.4,3579.2,3517.7,1717.4,3912.5,49.59,-8.32,130,684.86,0.00,0.00,2.68,0.000,0.000,0.068,3548.97,3580.19,3517.75,1717.31,2724.00,0,0,0,30.00,30.00,15.91
$GC,873.68,0,-146.63,-1.23,0.00,3549.7,3580.4,3518.9,1717.8,2723.4,64.87,-8.01,150,875.21,0.00,0.00,0.00,0.000,0.000,0.000,3549.09,3579.12,3519.06,1716.38,2724.81,0,0,0,30.00,30.00,30.00
$GC,1063.65,260,-146.63,-1.23,80.00,3549.2,3579.4,3518.9,1717.1,2723.4,81.48,-9.01,169,1069.23,0.00,0.00,2.84,0.000,0.000,0.124,3549.69,3579.50,3519.88,1716.38,3913.38,0,0,0,30.00,30.00,15.90
$GC,1103.67,1028,-146.63,-1.23,0.00,3548.7,3579.4,3517.9,1716.6,3913.1,85.42,-9.82,177,1109.16,0.00,0.00,2.69,0.000,0.000,0.069,3550.25,3581.56,3518.94,1716.81,2722.19,0,0,0,30.00,30.00,15.93
$NET,CACMR,PNR,2022-05-21T22:20:08.307754,25,241,,1.6,6.68,0,0,*6B
$NET,CARFP,2022-05-21T22:20:08.968963,0,25,241,1,-1,0,0,1;12;0819f107000ba74817e59cff,,*5E
$NET,CACST,8,0,20220521222008.307754,06,25266,44,0100,0150,07,01,01,00,01,1,025,241,0,5,1,0,150,1.6,6.68,-100,-3.68,-01,-0.01,59,10000,5000,0,-1,00,00*4A
$NET,CACMR,PNR,2022-05-21T22:20:10.258623,241,235,0.537868,13.1,2.95,0,0,1;6;0;1209722000*71
$NET_PING,1653171613,241,806.802063,13.100000,-1.074551
$NET,CARFP,2022-05-21T22:20:10.932752,0,241,235,1,-1,0,0,1;12;08f1eb07000b8c481ae490ff,,*61
$NET,CACST,8,0,20220521222010.258623,06,20376,43,0126,0150,07,01,01,00,01,1,241,235,0,5,1,0,150,13.1,2.95,-100,0.05,-01,-0.39,49,10000,5000,0,-1,00,00*51
$NET,CACMR,PNR,2022-05-21T22:20:11.410739,25,235,1.113926,16.1,7.89,0,0,1;19;1;1212628629*76
$NET_PING,1653171614,25,1670.889038,16.100000,0.103915
$NET,CARFP,2022-05-21T22:20:12.085150,0,25,235,1,-1,0,0,1;12;0819eb07000ba748473e95ff,,*51
$NET,CACST,8,0,20220521222011.410739,06,32767,45,0164,0150,07,01,01,00,01,1,025,235,0,5,1,0,150,16.1,7.89,-100,-4.89,-01,0.00,46,10000,5000,0,-1,00,00*5F
$NET,CACST,8,1,20220521222021.197111,06,3933,35,0278,0150,82,02,02,00,02,-1,-01,-01,2,3,7,0,150,14.7,-347.72,-100,-304.64,-01,0.00,52,10000,5000,0,-1,00,00*62
$NET,CARFP,2022-05-21T22:20:43.243322,0,21,45,1,1,1,0,1;10;08152d033020200c01ff,,1;32;0b00030000000000000000000000000000000000000000000000000000000000*7D
$NET,CACST,8,0,20220521222041.687048,06,28304,44,0244,0150,07,01,01,00,01,1,021,045,0,5,1,0,150,18.2,7.87,-100,-4.87,-01,0.45,41,10000,5000,0,1,01,00*7B
$GC,1293.69,0,-146.63,-1.23,0.00,3549.9,3579.4,3520.4,1716.8,2721.4,103.23,-9.70,197,1295.21,0.00,0.00,0.00,0.000,0.000,0.000,3548.16,3578.50,3517.81,1716.94,2721.62,0,0,0,30.00,30.00,30.00
$GC,1483.69,0,-146.63,-1.23,0.00,3549.4,3579.1,3519.6,1717.2,2722.0,120.88,-9.07,216,1485.21,0.00,0.00,0.00,0.000,0.000,0.000,3547.94,3578.19,3517.69,1717.31,2721.81,0,0,0,30.00,30.00,30.00
$GC,1673.70,0,-146.63,-1.23,0.00,3547.7,3577.8,3517.7,1716.4,2722.1,138.29,-9.14,235,1675.23,0.00,0.00,0.00,0.000,0.000,0.000,3548.25,3578.50,3518.00,1717.12,2721.25,0,0,0,30.00,30.00,30.00
$GC,1863.70,260,-146.63,-1.23,80.00,3548.6,3579.6,3517.7,1717.5,2721.8,156.33,-9.56,254,1869.45,0.00,0.00,2.85,0.000,0.000,0.126,3548.94,3579.38,3518.50,1718.06,3913.19,0,0,0,30.00,30.00,15.91
$STATE,1904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1904,begin apogee
$GC,1908.83,10243,0.00,-0.31,0.00,3549.2,3580.1,3518.3,1717.1,2577.0,160.47,-10.51,262,2021.66,106.11,1.51,0.07,1.354,0.153,0.244,2948.12,3013.12,2883.12,1941.88,2623.69,0,0,0,12.04,15.90,15.47
$STATE,2026,end apogee,CONTROL_FINISHED_OK
$STATE,2026,begin climb
$NAV,1653172579,155.4,0,stop
$GC,2026.57,10243,146.63,1.23,0.00,2947.7,3011.8,2883.7,1941.8,2622.9,163.75,0.00,273,2146.47,110.50,2.49,0.00,1.297,0.101,0.000,2349.38,2428.75,2270.00,2320.00,2623.69,0,0,0,11.83,15.49,30.00
$GC,2330.48,16646,146.63,1.23,80.00,2343.6,2420.4,2266.9,2319.3,2622.2,127.43,14.26,305,2336.11,0.00,0.00,3.14,0.000,0.000,0.123,2342.66,2418.19,2267.12,2319.12,3908.75,0,0,0,30.00,30.00,15.64
$GC,2362.54,17414,146.63,1.23,0.00,2342.9,2418.8,2267.1,2318.5,3910.2,122.59,15.20,311,2368.21,0.00,0.00,3.08,0.000,0.000,0.071,2345.72,2421.81,2269.62,2318.62,2578.50,0,0,0,30.00,30.00,15.67
$GC,2552.62,16646,146.63,1.23,80.00,2341.3,2416.6,2266.1,2318.4,2579.7,95.57,14.10,331,2558.36,0.00,0.00,3.21,0.000,0.000,0.124,2344.75,2420.81,2268.69,2319.00,3911.38,0,0,0,30.00,30.00,15.76
$GC,2586.90,17414,146.63,1.23,0.00,2341.2,2416.6,2265.8,2318.0,3912.1,90.49,14.69,338,2594.01,0.00,0.00,3.06,0.000,0.000,0.071,2341.62,2415.69,2267.56,2318.50,2579.12,0,0,0,30.00,30.00,15.81
$GC,2782.71,16646,146.63,1.23,80.00,2340.6,2415.7,2265.6,2318.9,2578.8,63.81,13.26,358,2788.61,0.00,0.00,3.20,0.000,0.000,0.124,2342.38,2419.19,2265.56,2318.44,3912.50,0,0,0,30.00,30.00,15.83
$GC,2816.99,17414,146.63,1.23,0.00,2340.0,2414.8,2265.2,2318.7,3911.2,58.86,14.25,365,2824.26,0.00,0.00,3.04,0.000,0.000,0.071,2341.03,2415.00,2267.06,2319.81,2577.62,0,0,0,30.00,30.00,15.88
$NET,CACMR,PNR,2022-05-21T22:50:09.533257,25,235,1.163477,8.4,3.00,0,0,1;19;1;3010706389*44
$NET_PING,1653173411,25,1745.215454,8.400000,0.009752
$NET,CARFP,2022-05-21T22:50:10.203880,0,25,235,1,-1,0,0,1;12;0819eb07000ba7b373bbd5ff,,*0D
$NET,CACST,8,0,20220521225009.533257,06,1708,32,0136,0150,149,02,02,00,02,1,025,235,0,5,1,0,150,8.4,3.00,-100,0.00,-01,0.06,57,10000,5000,0,-1,00,00*4B
$GC,3004.76,16646,146.63,1.23,80.00,2340.3,2414.9,2265.8,2319.4,2577.1,34.62,12.48,395,3011.35,0.00,0.00,3.20,0.000,0.000,0.125,2340.00,2416.19,2263.81,2319.19,3910.56,0,0,0,30.00,30.00,15.87
$GC,3044.76,17414,146.63,1.23,0.00,2340.0,2414.2,2265.8,2318.8,3911.2,29.36,13.14,403,3051.31,0.00,0.00,3.04,0.000,0.000,0.071,2339.25,2413.31,2265.19,2318.62,2578.19,0,0,0,30.00,30.00,15.92
$FREEZE,9.76,9.925,-1.591,0,1,0
$FREEZE,9.36,9.959,-1.590,0,1,0
$GC,3234.88,16902,146.63,1.23,-80.00,2339.6,2414.0,2265.2,2318.2,2578.0,9.36,8.50,441,3241.52,0.00,0.00,3.36,0.000,0.000,0.138,2338.44,2412.75,2264.12,2318.88,1189.19,0,0,0,30.00,30.00,15.90
$FREEZE,8.48,9.994,-1.589,0,1,0
$FREEZE,8.02,10.201,-1.581,0,1,0
$FREEZE,7.57,10.310,-1.577,0,1,0
$FREEZE,7.12,10.426,-1.574,0,1,0
$FREEZE,6.62,10.621,-1.569,0,1,0
$FREEZE,6.12,10.860,-1.561,0,1,0
$FREEZE,5.60,11.018,-1.552,0,1,0
$FREEZE,5.07,11.198,-1.545,0,1,0
$FREEZE,4.59,11.297,-1.543,0,1,0
$FREEZE,4.15,11.313,-1.542,0,1,0
$FREEZE,3.75,11.321,-1.542,0,1,0
$FREEZE,3.39,11.336,-1.541,0,1,0
$FREEZE,3.03,11.362,-1.540,0,1,0
$FREEZE,2.63,11.514,-1.539,0,1,0
$FREEZE,2.26,11.867,-1.528,0,1,0
$FREEZE,1.89,11.924,-1.526,0,1,0
$STATE,3320,end climb,SURFACE_DEPTH_REACHED
$STATE,3320,begin surface coast
$FREEZE,1.56,11.947,-1.526,0,1,0
$FREEZE,1.21,11.976,-1.526,0,1,0
$FREEZE,0.87,12.046,-1.525,0,1,0
$FREEZE,0.50,12.125,-1.524,0,1,0
$FREEZE,0.44,12.724,-1.513,0,1,0
$FREEZE,0.40,13.630,-1.481,0,1,0
$FINISH,0.4,1.020234
$STATE,3350,end surface coast,CONTROL_FINISHED_OK
$STATE,3350,begin surface
$SM_CCo,3704.53,306.47,1.134,0,541.7,619.1,464.2,590.76
$SM_GC,1.66,306.47,12.69,3.53,1.134,0.056,0.068,541.7,619.1,464.2,217.8,2772.9,0,0,0,11.94,15.95,15.97
$NAV,1653174155,0.4,start
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4735.53,-12254.47,210522,215426
$TCM_TEMP,13.01
$SC_FREEKB,3878048
$PM_FREEKB_00,62182016
$PM_ACTIVECARD,0
$RAFOS_CLK,1
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,48.77
$TEMP,10.39
$INTERNAL_PRESSURE,7.92102
$24V_AH,14.81,103.984
$10V_AH,14.77,0.000
$FG_AHR_24Vo,198.376
$FG_AHR_10Vo,157.441
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,647.615,28.035,61.080,0.000,0.000,12.846,1853.222,0.002,0.000,1565.947,951.086,2204.307,0.000,0.000,171.615
$DEVICE_MAMPS,1354.392,263.136,243.784,0.000,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3349.000,3360.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.877,17.652,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,942948,28,103440,81
$DATA_FILE_SIZE,12924,464
$CAP_FILE_SIZE,362933,0
$SDSIZE,3918848,3885216
$SDFILEDIR,250,3
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1411.9
$IMPLIED_C_PITCH,2000,15.81,265,2008.2,16.02
$IMPLIED_C_VBD,3055,22.725687,265,3002.8
$GPS,210522,230322,4736.585,-12256.596,1,1.2,3,15.5