version: 67.00
glider: 236
mission: 6
dive: 116
start: 5 20 122 13 53 0
data:
$ID,236
$MISSION,6
$DIVE,116
$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,2227.9788
$C_ROLL_CLIMB,2498.196
$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,29.982981
$FG_AHR_24V,66.37252
$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
$GPS1,200522,134733,4658.403,-12603.523,73,1.2,76,15.8
$_CALLS,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.7
$GPS2,200522,135247,4658.403,-12603.459,2,1.2,5,15.8
$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,95.4,86457,-20.9,-7.857,-29.53,1599,0.806
$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,-1.29,0.00,1222.6,1213.9,1231.3,170.2,2252.8,0.00,0.00,0,70.01,65.18,0.00,0.00,0.005,0.000,0.000,2495.56,2477.12,2514.00,170.38,2253.25,0,0,0,15.68,30.00,30.00
$GC,70.22,18727,-82.73,-1.29,80.00,2494.7,2475.9,2513.4,170.3,2252.7,3.40,-2.84,12,112.62,19.00,15.39,3.71,0.006,0.254,0.112,3188.56,3182.06,3195.06,2056.44,3639.38,0,0,0,15.71,15.72,15.67
$GC,115.45,1028,-82.73,-1.29,0.00,3188.4,3181.6,3195.2,2056.4,3639.4,12.11,-18.59,21,121.19,0.00,0.00,3.55,0.000,0.000,0.063,3188.31,3181.25,3195.38,2056.19,2207.62,0,0,0,30.00,30.00,15.79
$GC,305.56,260,-82.73,-1.29,80.00,3189.0,3181.8,3196.2,2057.0,2207.4,60.62,-23.52,59,311.29,0.00,0.00,3.78,0.000,0.000,0.103,3189.59,3182.31,3196.88,2054.69,3637.12,0,0,0,30.00,30.00,15.86
$GC,540.59,1028,-82.73,-1.29,-0.31,3188.7,3181.4,3195.9,2055.7,3637.8,112.11,-17.76,106,546.32,0.00,0.00,3.52,0.000,0.000,0.063,3189.66,3182.62,3196.69,2055.19,2202.31,0,0,0,30.00,30.00,15.91
$GC,850.68,260,-82.73,-1.29,80.00,3188.8,3181.5,3196.0,2056.2,2202.6,159.66,-13.50,168,856.40,0.00,0.00,3.79,0.000,0.000,0.103,3189.84,3182.69,3197.00,2055.19,3639.06,0,0,0,30.00,30.00,15.95
$GC,1065.68,1028,-82.73,-1.29,-0.32,3189.7,3181.4,3198.0,2056.0,3639.9,191.73,-14.80,211,1071.38,0.00,0.00,3.48,0.000,0.000,0.062,3190.41,3182.31,3198.50,2056.06,2202.50,0,0,0,30.00,30.00,15.99
$GC,1375.77,0,-82.73,-1.29,-0.32,3190.3,3182.9,3197.8,2055.8,2202.9,237.08,-14.72,273,1379.78,0.00,0.00,0.00,0.000,0.000,0.000,3190.72,3183.44,3198.00,2056.19,2203.06,0,0,0,30.00,30.00,30.00
$GC,1680.79,0,-82.73,-1.29,-0.32,3191.3,3183.4,3199.2,2055.6,2203.4,281.59,-14.48,334,1684.80,0.00,0.00,0.00,0.000,0.000,0.000,3191.81,3184.44,3199.19,2056.19,2202.94,0,0,0,30.00,30.00,30.00
$GC,1992.39,0,-82.73,-1.29,-0.32,3191.0,3182.9,3199.0,2056.6,2202.6,324.66,-14.87,378,2002.39,0.00,0.00,0.00,0.000,0.000,0.000,3191.56,3183.88,3199.25,2056.38,2203.12,0,0,0,30.00,30.00,30.00
$GC,2312.45,260,-82.73,-1.29,80.00,3190.7,3182.6,3198.7,2056.1,2202.8,369.40,-14.23,410,2326.95,0.00,0.00,3.80,0.000,0.000,0.108,3193.12,3184.56,3201.69,2056.25,3639.69,0,0,0,30.00,30.00,16.07
$GC,2341.34,1028,-82.73,-1.29,-0.29,3191.3,3183.0,3199.6,2055.8,3640.5,373.58,-15.02,414,2355.81,0.00,0.00,3.47,0.000,0.000,0.065,3191.06,3183.12,3199.00,2056.06,2202.94,0,0,0,30.00,30.00,16.07
$GC,2655.99,0,-82.73,-1.29,-0.29,3190.8,3182.8,3198.9,2056.8,2203.1,418.85,-13.95,446,2665.98,0.00,0.00,0.00,0.000,0.000,0.000,3191.97,3184.19,3199.75,2056.25,2202.50,0,0,0,30.00,30.00,30.00
$GC,2976.04,260,-82.73,-1.29,80.00,3190.7,3183.0,3198.4,2055.9,2201.9,462.86,-13.70,478,2990.55,0.00,0.00,3.79,0.000,0.000,0.108,3191.00,3183.12,3198.88,2056.19,3637.44,0,0,0,30.00,30.00,16.08
$GC,3004.95,1028,-82.73,-1.29,-0.32,3191.3,3183.8,3198.8,2056.5,3637.6,466.79,-14.10,482,3019.42,0.00,0.00,3.48,0.000,0.000,0.065,3190.75,3182.88,3198.62,2056.25,2202.62,0,0,0,30.00,30.00,16.08
$GC,3329.58,0,-82.73,-1.29,-0.32,3190.6,3183.2,3198.1,2056.2,2201.9,508.30,-12.57,513,3330.92,0.00,0.00,0.00,0.000,0.000,0.000,3190.41,3183.00,3197.81,2056.56,2201.50,0,0,0,30.00,30.00,30.00
$GC,3644.61,260,-82.73,-1.29,80.00,3190.1,3182.5,3197.7,2056.1,2202.0,547.56,-13.21,534,3652.07,0.00,0.00,3.81,0.000,0.000,0.110,3190.22,3183.12,3197.31,2055.94,3637.56,0,0,0,30.00,30.00,16.10
$GC,3704.82,1028,-82.73,-1.29,-0.31,3189.9,3181.6,3198.1,2055.9,3637.6,556.68,-13.05,544,3710.50,0.00,0.00,3.48,0.000,0.000,0.066,3191.22,3183.50,3198.94,2054.75,2201.81,0,0,0,30.00,30.00,16.11
$GC,4021.93,0,-82.73,-1.29,-0.31,3189.7,3183.7,3195.6,2056.4,2202.0,597.56,-13.37,566,4023.27,0.00,0.00,0.00,0.000,0.000,0.000,3188.94,3182.31,3195.56,2056.00,2202.06,0,0,0,30.00,30.00,30.00
$GC,4336.96,516,-82.73,-1.29,-80.00,3188.9,3183.0,3194.8,2056.6,2201.9,637.06,-12.79,587,4344.41,0.00,0.00,3.83,0.000,0.000,0.167,3189.66,3183.94,3195.38,2056.50,803.38,0,0,0,30.00,30.00,16.09
$GC,4416.40,1028,-82.73,-1.29,-0.34,3188.8,3183.2,3194.4,2056.5,803.1,649.40,-15.91,600,4422.09,0.00,0.00,3.54,0.000,0.000,0.067,3189.38,3183.50,3195.25,2055.94,2243.75,0,0,0,30.00,30.00,16.12
$GC,4733.48,0,-82.73,-1.29,-0.34,3188.6,3182.5,3194.6,2056.4,2242.9,685.62,-11.75,622,4734.82,0.00,0.00,0.00,0.000,0.000,0.000,3188.53,3183.81,3193.25,2056.00,2243.56,0,0,0,30.00,30.00,30.00
$GC,5048.53,516,-82.73,-1.29,-80.00,3188.0,3182.4,3193.6,2056.5,2243.8,722.29,-11.14,643,5055.99,0.00,0.00,3.98,0.000,0.000,0.161,3189.88,3184.75,3195.00,2055.81,802.94,0,0,0,30.00,30.00,16.10
$GC,5106.60,1028,-82.73,-1.29,-0.36,3187.7,3182.5,3192.9,2056.7,803.0,729.73,-13.80,652,5114.00,0.00,0.00,3.51,0.000,0.000,0.067,3188.47,3182.94,3194.00,2055.25,2244.31,0,0,0,30.00,30.00,16.12
$GC,5426.23,0,-82.73,-1.29,-0.36,3187.8,3183.1,3192.4,2055.8,2243.9,765.65,-11.51,675,5427.57,0.00,0.00,0.00,0.000,0.000,0.000,3187.88,3183.38,3192.38,2056.00,2244.12,0,0,0,30.00,30.00,30.00
$GC,5741.28,0,-82.73,-1.29,-0.36,3186.6,3182.4,3190.7,2056.4,2244.1,800.23,-11.50,696,5742.61,0.00,0.00,0.00,0.000,0.000,0.000,3187.06,3183.12,3191.00,2056.62,2244.50,0,0,0,30.00,30.00,30.00
$GC,6056.31,260,-82.73,-1.29,80.00,3185.8,3182.1,3189.5,2055.9,2243.9,834.64,-11.37,717,6063.72,0.00,0.00,3.67,0.000,0.000,0.115,3186.59,3182.12,3191.06,2056.75,3639.88,0,0,0,30.00,30.00,16.12
$GC,6097.27,1028,-82.73,-1.29,-0.36,3186.2,3182.8,3189.5,2056.8,3639.9,840.84,-12.79,724,6102.98,0.00,0.00,3.47,0.000,0.000,0.067,3188.34,3184.31,3192.38,2055.94,2200.94,0,0,0,30.00,30.00,16.14
$GC,6414.42,260,-82.73,-1.29,80.00,3186.0,3183.1,3188.8,2056.3,2201.4,876.97,-11.60,746,6421.87,0.00,0.00,3.77,0.000,0.000,0.112,3185.66,3182.81,3188.50,2056.38,3636.19,0,0,0,30.00,30.00,16.12
$GC,6441.16,1028,-82.73,-1.29,-0.35,3185.5,3182.5,3188.6,2055.9,3637.2,881.06,-10.05,751,6453.94,0.00,0.00,3.46,0.000,0.000,0.068,3187.69,3184.44,3190.94,2055.69,2202.88,0,0,0,30.00,30.00,16.13
$GC,6768.46,0,-82.73,-1.29,-0.35,3185.3,3182.1,3188.5,2056.2,2202.8,919.23,-11.98,773,6769.80,0.00,0.00,0.00,0.000,0.000,0.000,3184.12,3181.38,3186.88,2056.25,2202.81,0,0,0,30.00,30.00,30.00
$GC,7083.46,260,-82.73,-1.29,80.00,3185.1,3182.6,3187.5,2056.1,2202.8,955.82,-11.59,794,7090.93,0.00,0.00,3.78,0.000,0.000,0.112,3185.53,3183.06,3188.00,2056.12,3637.75,0,0,0,30.00,30.00,16.12
$GC,7129.43,1028,-82.73,-1.29,-0.32,3185.2,3182.4,3188.1,2055.9,3638.1,962.65,-13.03,802,7142.21,0.00,0.00,3.44,0.000,0.000,0.069,3185.72,3183.00,3188.44,2055.56,2204.19,0,0,0,30.00,30.00,16.14
$STATE,7396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7397,begin apogee
$GC,7398.30,10243,0.00,-0.25,0.00,3185.0,3182.8,3187.1,2056.1,2520.9,991.45,-11.06,820,7473.28,68.50,1.80,0.09,2.228,0.151,0.241,2849.62,2855.62,2843.62,2309.00,2462.50,0,0,0,12.87,16.09,15.57
$STATE,7476,end apogee,CONTROL_FINISHED_OK
$STATE,7476,begin climb
$GC,7478.27,11271,82.73,1.29,0.00,2847.8,2854.0,2841.5,2309.1,2462.5,995.08,0.00,825,7558.01,74.90,2.61,0.11,2.187,0.096,0.140,2511.81,2514.88,2508.75,2686.00,2522.25,0,0,0,12.75,15.62,15.66
$GC,7870.82,8226,115.50,1.39,0.00,2507.8,2514.1,2501.6,2686.9,2522.1,976.43,5.75,858,7901.44,29.06,0.00,0.00,2.079,0.000,0.000,2379.38,2386.31,2372.44,2686.56,2522.44,0,0,0,12.80,30.00,30.00
$GC,8215.90,2629,115.50,1.44,-80.00,2377.9,2384.0,2371.8,2686.1,2522.2,954.59,6.09,881,8224.31,0.00,0.22,4.02,0.000,0.082,0.129,2378.38,2385.00,2371.75,2730.38,1033.19,0,0,0,30.00,15.81,15.80
$GC,8256.90,1028,115.50,1.44,0.00,2378.1,2384.6,2371.5,2730.5,1033.2,950.74,7.50,888,8262.66,0.00,0.00,3.74,0.000,0.000,0.066,2379.81,2386.31,2373.31,2729.62,2516.31,0,0,0,30.00,30.00,15.83
$GC,8574.03,64,115.50,1.47,0.00,2376.8,2384.1,2369.4,2730.0,2516.9,927.65,7.18,910,8575.37,0.00,0.00,0.00,0.000,0.000,0.000,2376.69,2384.19,2369.19,2730.56,2516.75,0,0,0,30.00,30.00,30.00
$GC,8889.06,260,115.50,1.47,80.00,2375.9,2384.2,2367.6,2729.7,2517.6,904.06,7.42,931,8893.23,0.00,0.00,3.03,0.000,0.000,0.120,2374.50,2382.56,2366.44,2730.50,3637.94,0,0,0,30.00,30.00,15.96
$GC,8925.02,1028,115.50,1.47,0.00,2376.3,2384.6,2368.1,2730.1,3637.4,900.88,8.31,937,8930.64,0.00,0.00,2.82,0.000,0.000,0.060,2377.00,2385.38,2368.62,2729.75,2462.94,0,0,0,30.00,30.00,15.97
$GC,9242.15,64,115.50,1.48,0.00,2375.9,2384.3,2367.6,2729.5,2462.0,876.78,7.21,959,9243.49,0.00,0.00,0.00,0.000,0.000,0.000,2375.25,2384.19,2366.31,2730.25,2462.56,0,0,0,30.00,30.00,30.00
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$STATE,19765,end climb,SURFACE_DEPTH_REACHED
$STATE,19765,begin surface coast
$FINISH,-0.2,1.024563
$STATE,19785,end surface coast,CONTROL_FINISHED_OK
$STATE,19785,begin surface
$SM_CCo,19896.65,83.06,0.979,0,1220.6,1203.6,1237.6,399.69
$SM_GC,2.03,83.06,18.33,0.75,0.979,0.044,0.075,1220.6,1203.6,1237.6,172.9,2196.1,0,0,0,12.89,15.91,15.93
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4700.83,-12608.61,200522,075402
$TCM_TEMP,175.08
$XPDR_PINGS,85,13.5,11.5
$HUMID,49.41
$TEMP,7.47
$INTERNAL_PRESSURE,8.47972
$24V_AH,14.80,55.407
$10V_AH,15.00,0.000
$FG_AHR_24Vo,66.602
$FG_AHR_10Vo,30.048
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,524.045,39.665,233.735,243.476,21.250,14.326,13805.144,6.491,0.000,6266.278,3344.769,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,2228.184,253.952,240.832,214.318,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,10878.899,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,968364,28,78344,65
$DATA_FILE_SIZE,105896,2314
$CAP_FILE_SIZE,441599,0
$SDSIZE,3918848,3880128
$SDFILEDIR,617,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,117.7,1
$IMPLIED_C_PITCH,2438,15.20,1895,0.0,0.00
$IMPLIED_C_VBD,2709,33.366283,1142,0
$GPS,200522,192513,4657.535,-12601.006,25,1.8,30,15.8