version: 67.00
glider: 236
mission: 6
dive: 115
start: 5 20 122 7 57 44
data:
$ID,236
$MISSION,6
$DIVE,115
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$D_NO_BLEED,50
$D_BOOST,2
$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,420
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,85
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72604
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.017708899
$HD_C,5.7000002e-06
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$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,190
$PITCH_MAX,3920
$C_PITCH,2370
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,20
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$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,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,810
$ROLL_MAX,3630
$ROLL_DEG,80
$C_ROLL_DIVE,2231.2686
$C_ROLL_CLIMB,2502.6135
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,150
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,29.913567
$FG_AHR_24V,66.123413
$PHONE_SUPPLY,2
$PRESSURE_YINT,-166.44843
$PRESSURE_SLOPE,0.00022638284
$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,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,13.5
$XPDR_REP,11.5
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,120
$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,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$GPS1,200522,075101,4658.819,-12606.439,44,0.9,45,15.8
$_CALLS,2
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.2
$GPS2,200522,075732,4658.824,-12606.516,2,1.1,4,15.8
$SPEED_LIMITS,0.136,0.139
$TGT_NAME,PICKUP
$TGT_LATLONG,4653.360,-12455.550
$TGT_RADIUS,2500.000
$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,101.0,90388,-20.9,-7.857,-29.53,1599,0.762
$D_GRID,1000
$IRON,1.000000,-0.077650,-0.025305,-0.049886,1.073007,0.026290,0.024267,-0.058455,1.030897,-523.402100,-542.123596,-273.818451
$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,1,begin dive
$GC,4.34,16386,-82.73,-1.29,0.00,1221.9,1210.4,1233.4,169.0,2252.1,0.00,0.00,0,64.93,60.07,0.00,0.00,0.005,0.000,0.000,2403.91,2389.06,2418.75,168.81,2250.88,0,0,0,15.69,30.00,30.00
$GC,65.13,18727,-82.73,-1.29,80.00,2402.8,2387.7,2417.8,169.3,2250.8,3.47,-3.09,11,112.35,21.43,15.46,3.70,0.006,0.255,0.109,3188.66,3181.00,3196.31,2055.56,3640.25,0,0,0,15.70,15.71,15.67
$GC,340.27,1028,-82.73,-1.29,0.00,3188.8,3180.4,3197.3,2055.1,3639.9,74.56,-23.30,66,345.99,0.00,0.00,3.52,0.000,0.000,0.063,3189.34,3180.62,3198.06,2055.69,2213.00,0,0,0,30.00,30.00,15.87
$GC,530.35,260,-82.73,-1.29,80.00,3189.0,3180.5,3197.4,2055.5,2213.6,110.02,-13.99,104,536.11,0.00,0.00,3.78,0.000,0.000,0.104,3190.66,3182.12,3199.19,2055.56,3639.00,0,0,0,30.00,30.00,15.91
$GC,715.41,1028,-82.73,-1.29,-0.10,3188.7,3180.6,3196.8,2055.8,3638.6,141.09,-20.26,141,721.12,0.00,0.00,3.49,0.000,0.000,0.061,3190.94,3182.75,3199.12,2055.62,2209.25,0,0,0,30.00,30.00,15.94
$GC,1025.49,516,-82.73,-1.29,-80.00,3189.1,3180.6,3197.5,2055.3,2209.6,183.52,-13.36,203,1031.26,0.00,0.00,3.87,0.000,0.000,0.159,3190.00,3181.75,3198.25,2055.75,802.81,0,0,0,30.00,30.00,15.96
$GC,1070.49,1028,-82.73,-1.29,-0.11,3189.4,3181.2,3197.6,2054.9,802.9,190.66,-16.46,212,1076.21,0.00,0.00,3.52,0.000,0.000,0.060,3189.62,3181.62,3197.62,2055.44,2252.81,0,0,0,30.00,30.00,15.99
$GC,1380.58,516,-82.73,-1.29,-80.00,3189.9,3182.4,3197.4,2055.6,2253.2,235.50,-14.32,274,1386.35,0.00,0.00,4.01,0.000,0.000,0.156,3190.50,3182.75,3198.25,2055.75,802.00,0,0,0,30.00,30.00,15.99
$GC,1450.55,1028,-82.73,-1.29,-0.19,3190.2,3182.9,3197.5,2055.6,801.8,247.22,-17.36,288,1456.26,0.00,0.00,3.48,0.000,0.000,0.061,3192.06,3184.19,3199.94,2055.31,2254.00,0,0,0,30.00,30.00,16.03
$GC,1760.64,0,-82.73,-1.29,-0.19,3190.3,3182.6,3198.0,2055.6,2254.2,291.57,-15.23,350,1764.64,0.00,0.00,0.00,0.000,0.000,0.000,3191.19,3183.06,3199.31,2055.00,2254.44,0,0,0,30.00,30.00,30.00
$GC,2067.21,516,-82.73,-1.29,-80.00,3189.0,3180.2,3197.8,2056.1,2254.3,333.87,-13.37,386,2081.75,0.00,0.00,3.97,0.000,0.000,0.157,3191.00,3182.88,3199.12,2055.31,802.75,0,0,0,30.00,30.00,16.03
$GC,2138.85,1028,-82.73,-1.29,-0.25,3190.4,3182.6,3198.1,2055.8,802.8,345.35,-16.40,396,2153.31,0.00,0.00,3.47,0.000,0.000,0.064,3191.16,3183.31,3199.00,2054.00,2252.06,0,0,0,30.00,30.00,16.05
$GC,2463.46,0,-82.73,-1.29,-0.25,3190.3,3182.6,3198.0,2055.5,2251.6,393.81,-15.12,429,2473.45,0.00,0.00,0.00,0.000,0.000,0.000,3191.22,3182.88,3199.56,2055.75,2251.88,0,0,0,30.00,30.00,30.00
$GC,2783.48,516,-82.73,-1.29,-80.00,3190.0,3182.1,3197.9,2056.0,2252.1,438.82,-13.48,461,2798.02,0.00,0.00,3.97,0.000,0.000,0.159,3191.06,3183.06,3199.06,2055.75,801.94,0,0,0,30.00,30.00,16.06
$GC,2828.79,1028,-82.73,-1.29,-0.25,3190.5,3182.9,3198.1,2055.9,801.9,447.56,-17.01,468,2841.57,0.00,0.00,3.44,0.000,0.000,0.064,3190.72,3183.12,3198.31,2055.19,2253.00,0,0,0,30.00,30.00,16.09
$GC,3151.01,516,-82.73,-1.29,-80.00,3189.8,3182.2,3197.3,2055.6,2252.9,490.76,-12.77,500,3165.56,0.00,0.00,3.96,0.000,0.000,0.159,3190.22,3182.19,3198.25,2055.44,801.69,0,0,0,30.00,30.00,16.06
$GC,3208.40,1028,-82.73,-1.29,-0.25,3190.0,3183.2,3196.8,2055.3,801.8,499.57,-15.45,508,3222.86,0.00,0.00,3.46,0.000,0.000,0.065,3190.91,3184.12,3197.69,2056.06,2252.62,0,0,0,30.00,30.00,16.08
$GC,3538.03,516,-82.73,-1.29,-80.00,3189.6,3182.9,3196.3,2055.8,2252.0,542.91,-12.42,531,3545.50,0.00,0.00,3.93,0.000,0.000,0.159,3189.53,3182.56,3196.50,2055.69,802.88,0,0,0,30.00,30.00,16.07
$GC,3615.31,1028,-82.73,-1.29,-0.27,3189.3,3182.3,3196.3,2055.9,802.9,553.96,-14.61,543,3622.70,0.00,0.00,3.45,0.000,0.000,0.065,3190.31,3183.56,3197.06,2055.44,2252.81,0,0,0,30.00,30.00,16.09
$GC,3934.95,0,-82.73,-1.29,-0.27,3189.8,3182.8,3196.8,2055.7,2252.1,593.50,-11.66,566,3936.28,0.00,0.00,0.00,0.000,0.000,0.000,3189.53,3181.88,3197.19,2056.06,2252.69,0,0,0,30.00,30.00,30.00
$GC,4249.98,0,-82.73,-1.29,-0.27,3188.4,3182.4,3194.5,2055.7,2252.2,631.90,-12.58,587,4251.31,0.00,0.00,0.00,0.000,0.000,0.000,3188.56,3182.19,3194.94,2055.88,2252.62,0,0,0,30.00,30.00,30.00
$GC,4565.01,516,-82.73,-1.29,-80.00,3189.2,3183.1,3195.3,2055.4,2252.5,668.95,-11.92,608,4572.48,0.00,0.00,3.94,0.000,0.000,0.159,3188.81,3182.81,3194.81,2055.75,801.81,0,0,0,30.00,30.00,16.09
$GC,4591.76,1028,-82.73,-1.29,-0.25,3187.9,3182.3,3193.4,2055.3,801.9,673.28,-12.08,613,4604.54,0.00,0.00,3.48,0.000,0.000,0.066,3188.00,3182.00,3194.00,2055.44,2252.44,0,0,0,30.00,30.00,16.11
$GC,4918.86,0,-82.73,-1.29,-0.25,3187.7,3182.5,3192.9,2055.6,2251.7,709.34,-10.93,635,4920.19,0.00,0.00,0.00,0.000,0.000,0.000,3187.38,3182.25,3192.50,2055.06,2252.25,0,0,0,30.00,30.00,30.00
$GC,5233.91,0,-82.73,-1.29,-0.25,3187.3,3182.7,3192.0,2055.4,2252.9,744.84,-11.28,656,5235.25,0.00,0.00,0.00,0.000,0.000,0.000,3188.03,3183.62,3192.44,2054.94,2252.62,0,0,0,30.00,30.00,30.00
$GC,5548.94,0,-82.73,-1.29,-0.25,3186.7,3182.7,3190.6,2055.5,2252.8,781.86,-11.93,677,5550.28,0.00,0.00,0.00,0.000,0.000,0.000,3187.28,3182.31,3192.25,2055.56,2252.19,0,0,0,30.00,30.00,30.00
$GC,5863.98,260,-82.73,-1.29,80.00,3186.0,3181.8,3190.2,2055.5,2252.4,818.04,-11.46,698,5871.38,0.00,0.00,3.60,0.000,0.000,0.116,3185.88,3181.62,3190.12,2055.56,3637.00,0,0,0,30.00,30.00,16.12
$GC,5948.44,1028,-82.73,-1.29,-0.23,3186.3,3182.9,3189.7,2055.4,3637.1,829.53,-10.75,712,5961.18,0.00,0.00,3.47,0.000,0.000,0.067,3187.34,3183.31,3191.38,2055.62,2207.81,0,0,0,30.00,30.00,16.13
$GC,6275.52,0,-82.73,-1.29,-0.23,3185.6,3182.2,3189.0,2055.6,2207.2,866.65,-11.01,734,6276.85,0.00,0.00,0.00,0.000,0.000,0.000,3186.38,3182.69,3190.06,2055.62,2207.31,0,0,0,30.00,30.00,30.00
$GC,6590.52,260,-82.73,-1.29,80.00,3185.2,3182.3,3188.0,2056.1,2207.7,900.84,-10.79,755,6597.94,0.00,0.00,3.74,0.000,0.000,0.113,3187.06,3183.12,3191.00,2055.38,3637.44,0,0,0,30.00,30.00,16.13
$GC,6617.64,1028,-82.73,-1.29,-0.20,3185.6,3182.9,3188.3,2055.9,3637.1,905.02,-10.98,760,6630.04,0.00,0.00,3.49,0.000,0.000,0.067,3185.22,3182.06,3188.38,2055.44,2208.38,0,0,0,30.00,30.00,16.13
$GC,6944.53,0,-82.73,-1.29,-0.20,3185.0,3182.4,3187.5,2055.7,2207.0,938.66,-10.03,782,6945.87,0.00,0.00,0.00,0.000,0.000,0.000,3184.41,3182.12,3186.69,2055.50,2207.12,0,0,0,30.00,30.00,30.00
$GC,7259.42,260,-82.73,-1.29,80.00,3184.7,3182.8,3186.7,2055.4,2207.0,972.45,-11.15,803,7266.86,0.00,0.00,3.75,0.000,0.000,0.113,3185.09,3182.75,3187.44,2055.62,3637.12,0,0,0,30.00,30.00,16.13
$GC,7286.16,1028,-82.73,-1.29,-0.18,3184.5,3181.9,3187.2,2055.6,3636.9,976.30,-11.30,808,7298.94,0.00,0.00,3.48,0.000,0.000,0.069,3185.09,3182.50,3187.69,2055.19,2209.12,0,0,0,30.00,30.00,16.12
$STATE,7433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7433,begin apogee
$GC,7434.99,10243,0.00,-0.25,0.00,3184.4,3182.4,3186.4,2055.8,2522.8,990.71,-10.36,818,7510.01,68.62,1.80,0.08,2.236,0.150,0.257,2849.72,2855.31,2844.12,2307.69,2470.31,0,0,0,12.82,16.08,15.57
$STATE,7513,end apogee,CONTROL_FINISHED_OK
$STATE,7513,begin climb
$GC,7515.01,11271,82.73,1.29,0.00,2847.8,2854.8,2840.9,2308.8,2470.4,994.00,0.00,823,7594.74,74.70,2.61,0.09,2.183,0.096,0.150,2511.59,2514.75,2508.44,2687.94,2521.00,0,0,0,12.87,15.62,15.65
$GC,7907.73,8226,116.32,1.39,0.00,2508.8,2514.5,2503.1,2687.9,2521.0,973.98,5.70,856,7938.18,29.94,0.00,0.00,2.055,0.000,0.000,2375.00,2381.12,2368.88,2688.31,2521.19,0,0,0,12.81,30.00,30.00
$GC,8252.62,2629,116.32,1.44,-80.00,2374.3,2380.6,2368.1,2687.1,2521.3,950.52,6.35,879,8261.01,0.00,0.20,4.04,0.000,0.088,0.129,2377.16,2382.94,2371.38,2726.69,1038.56,0,0,0,30.00,15.81,15.80
$GC,8317.82,1028,116.32,1.44,-0.04,2373.6,2379.4,2367.8,2726.4,1038.6,944.17,9.71,890,8330.67,0.00,0.00,3.71,0.000,0.000,0.067,2375.31,2381.62,2369.00,2726.88,2518.31,0,0,0,30.00,30.00,15.83
$GC,8644.95,516,116.32,1.44,-80.00,2373.8,2380.4,2367.2,2727.6,2518.2,918.80,7.51,912,8652.42,0.00,0.00,3.97,0.000,0.000,0.129,2375.62,2382.31,2368.94,2726.12,1037.38,0,0,0,30.00,30.00,15.90
$GC,8743.64,1028,116.32,1.44,-0.08,2374.0,2381.2,2366.7,2726.9,1037.1,909.55,8.37,928,8749.38,0.00,0.00,3.68,0.000,0.000,0.067,2376.94,2383.56,2370.31,2727.06,2517.69,0,0,0,30.00,30.00,15.94
$GC,9060.75,260,116.32,1.44,80.00,2373.5,2380.8,2366.2,2727.0,2517.9,886.52,7.77,950,9065.03,0.00,0.00,2.99,0.000,0.000,0.122,2371.97,2379.31,2364.62,2726.75,3639.00,0,0,0,30.00,30.00,15.97
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$STATE,20778,end climb,SURFACE_DEPTH_REACHED
$STATE,20778,begin surface coast
$FINISH,0.0,1.024659
$STATE,20798,end surface coast,CONTROL_FINISHED_OK
$STATE,20798,begin surface
$SM_CCo,20906.72,80.56,0.973,0,1219.5,1203.1,1235.9,399.95
$SM_GC,4.62,80.56,18.06,0.58,0.973,0.048,0.085,1219.5,1203.1,1235.9,170.8,2201.5,0,0,0,12.88,15.91,15.92
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4700.48,-12604.20,200522,015529
$TCM_TEMP,175.60
$XPDR_PINGS,89,13.5,11.5
$HUMID,49.38
$TEMP,7.65
$INTERNAL_PRESSURE,8.48614
$24V_AH,14.79,55.079
$10V_AH,15.00,0.000
$FG_AHR_24Vo,66.357
$FG_AHR_10Vo,29.981
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,527.015,39.475,250.365,258.882,22.250,13.833,14305.570,5.383,0.000,6855.742,3516.433,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,2236.056,254.608,257.232,228.698,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,11043.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,20.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,968336,29,78352,65
$DATA_FILE_SIZE,112343,2434
$CAP_FILE_SIZE,466172,0
$SDSIZE,3918848,3880352
$SDFILEDIR,613,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056, 56.8,1
$IMPLIED_C_PITCH,2463,14.06,2025,0.0,0.00
$IMPLIED_C_VBD,2694,34.551952,1024,0
$GPS,200522,134733,4658.403,-12603.523,73,1.2,76,15.8