version: 67.00
glider: 236
mission: 6
dive: 117
start: 5 20 122 19 30 28
data:
$ID,236
$MISSION,6
$DIVE,117
$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,2222.2222
$C_ROLL_CLIMB,2500.1377
$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,30.048861
$FG_AHR_24V,66.616783
$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
$GPS1,200522,192513,4657.535,-12601.006,25,1.8,30,15.8
$_CALLS,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.2
$GPS2,200522,193016,4657.467,-12601.022,2,0.8,5,15.8
$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,74.6,83216,-20.9,-7.857,-29.53,1599,0.798
$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,-1.29,0.00,1222.2,1212.6,1231.7,168.9,2247.5,0.00,0.00,0,59.83,54.98,0.00,0.00,0.005,0.000,0.000,2299.91,2290.31,2309.50,169.06,2247.81,0,0,0,15.66,30.00,30.00
$GC,60.03,18983,-82.73,-1.29,-80.00,2298.5,2288.9,2308.1,169.0,2247.7,3.22,-2.49,10,112.94,26.57,15.88,4.05,0.006,0.270,0.155,3188.94,3182.06,3195.81,2055.00,802.94,0,0,0,15.69,15.68,15.65
$GC,340.81,1028,-82.73,-1.29,0.00,3188.7,3181.1,3196.3,2054.1,803.1,77.03,-24.45,66,346.55,0.00,0.00,3.56,0.000,0.000,0.063,3191.19,3183.25,3199.12,2054.75,2245.12,0,0,0,30.00,30.00,15.86
$GC,530.86,260,-82.73,-1.29,80.00,3188.9,3181.2,3196.7,2055.6,2245.6,112.11,-15.69,104,536.60,0.00,0.00,3.67,0.000,0.000,0.108,3189.22,3181.69,3196.75,2054.94,3639.44,0,0,0,30.00,30.00,15.89
$GC,595.87,1028,-82.73,-1.29,-0.03,3189.0,3180.8,3197.1,2055.4,3639.6,123.32,-16.94,117,601.59,0.00,0.00,3.51,0.000,0.000,0.060,3191.03,3183.00,3199.06,2055.12,2202.44,0,0,0,30.00,30.00,15.92
$GC,905.96,0,-82.73,-1.29,-0.03,3189.8,3182.9,3196.8,2055.1,2202.6,167.98,-13.39,179,909.96,0.00,0.00,0.00,0.000,0.000,0.000,3190.97,3184.06,3197.88,2055.00,2203.00,0,0,0,30.00,30.00,30.00
$GC,1210.98,0,-82.73,-1.29,-0.03,3190.5,3183.2,3197.7,2054.7,2202.9,213.00,-14.18,240,1214.99,0.00,0.00,0.00,0.000,0.000,0.000,3191.34,3184.12,3198.56,2054.69,2202.88,0,0,0,30.00,30.00,30.00
$GC,1516.03,516,-82.73,-1.29,-80.00,3191.1,3183.9,3198.2,2055.0,2202.4,256.56,-14.24,301,1521.79,0.00,0.00,3.87,0.000,0.000,0.158,3192.25,3184.31,3200.19,2053.56,802.94,0,0,0,30.00,30.00,15.99
$GC,1561.04,1028,-82.73,-1.29,-0.07,3190.8,3182.9,3198.6,2055.3,802.8,263.54,-16.74,310,1566.77,0.00,0.00,3.52,0.000,0.000,0.063,3191.78,3184.38,3199.19,2054.88,2246.81,0,0,0,30.00,30.00,16.02
$GC,1872.67,0,-82.73,-1.29,-0.07,3191.6,3183.7,3199.5,2054.9,2246.6,306.04,-14.10,367,1882.62,0.00,0.00,0.00,0.000,0.000,0.000,3191.88,3184.31,3199.44,2054.44,2246.69,0,0,0,30.00,30.00,30.00
$GC,2192.65,516,-82.73,-1.29,-80.00,3191.1,3183.5,3198.8,2055.1,2246.7,351.14,-14.19,399,2207.19,0.00,0.00,3.96,0.000,0.000,0.157,3191.72,3184.25,3199.19,2055.00,802.62,0,0,0,30.00,30.00,16.03
$GC,2264.28,1028,-82.73,-1.29,-0.10,3191.4,3183.6,3199.2,2055.2,802.3,363.36,-18.11,409,2278.74,0.00,0.00,3.48,0.000,0.000,0.063,3191.56,3183.69,3199.44,2054.38,2246.31,0,0,0,30.00,30.00,16.06
$GC,2578.93,0,-82.73,-1.29,-0.10,3191.4,3183.2,3199.6,2055.2,2245.6,408.12,-13.34,441,2588.91,0.00,0.00,0.00,0.000,0.000,0.000,3192.03,3184.31,3199.75,2054.50,2245.00,0,0,0,30.00,30.00,30.00
$GC,2898.98,516,-82.73,-1.29,-80.00,3191.7,3183.8,3199.6,2055.1,2245.2,451.47,-13.68,473,2913.52,0.00,0.00,3.94,0.000,0.000,0.157,3191.53,3183.75,3199.31,2055.00,803.00,0,0,0,30.00,30.00,16.06
$GC,2915.98,1028,-82.73,-1.29,-0.14,3191.8,3184.3,3199.2,2055.4,803.1,454.87,-14.07,476,2928.63,0.00,0.00,3.47,0.000,0.000,0.063,3191.34,3183.25,3199.44,2054.94,2246.94,0,0,0,30.00,30.00,16.08
$GC,3238.08,0,-82.73,-1.29,-0.14,3191.2,3183.9,3198.6,2055.9,2247.4,497.46,-13.53,508,3248.06,0.00,0.00,0.00,0.000,0.000,0.000,3192.00,3183.56,3200.44,2054.50,2246.25,0,0,0,30.00,30.00,30.00
$GC,3558.12,516,-82.73,-1.29,-80.00,3191.5,3183.7,3199.2,2055.2,2246.4,538.03,-12.49,530,3565.59,0.00,0.00,3.94,0.000,0.000,0.158,3191.12,3183.75,3198.50,2054.75,802.50,0,0,0,30.00,30.00,16.08
$GC,3599.08,1028,-82.73,-1.29,-0.10,3191.0,3183.8,3198.2,2054.7,802.4,544.64,-14.24,537,3604.80,0.00,0.00,3.48,0.000,0.000,0.065,3191.09,3183.38,3198.81,2054.69,2247.62,0,0,0,30.00,30.00,16.10
$GC,3916.22,516,-82.73,-1.29,-80.00,3190.3,3183.6,3197.0,2054.8,2247.6,581.47,-11.76,559,3923.70,0.00,0.00,3.94,0.000,0.000,0.157,3190.34,3184.06,3196.62,2055.19,802.00,0,0,0,30.00,30.00,16.08
$GC,3942.96,1028,-82.73,-1.29,-0.10,3190.6,3183.0,3198.2,2054.8,801.7,586.16,-14.04,564,3955.74,0.00,0.00,3.47,0.000,0.000,0.064,3191.84,3185.00,3198.69,2054.75,2246.12,0,0,0,30.00,30.00,16.11
$GC,4270.10,260,-82.73,-1.29,80.00,3189.4,3182.5,3196.2,2054.9,2246.9,625.96,-12.18,586,4277.52,0.00,0.00,3.62,0.000,0.000,0.113,3191.47,3185.00,3197.94,2054.56,3639.00,0,0,0,30.00,30.00,16.10
$GC,4311.07,1028,-82.73,-1.29,-0.10,3189.7,3183.5,3195.8,2054.8,3638.7,631.99,-11.98,593,4316.78,0.00,0.00,3.48,0.000,0.000,0.065,3191.28,3184.62,3197.94,2054.62,2203.06,0,0,0,30.00,30.00,16.11
$GC,4628.22,260,-82.73,-1.29,80.00,3188.9,3183.0,3194.8,2055.1,2202.6,669.94,-12.10,615,4635.65,0.00,0.00,3.76,0.000,0.000,0.110,3190.28,3184.44,3196.12,2054.75,3638.50,0,0,0,30.00,30.00,16.11
$GC,4667.04,1028,-82.73,-1.29,-0.03,3189.5,3183.3,3195.6,2055.3,3638.1,674.46,-12.40,621,4674.46,0.00,0.00,3.48,0.000,0.000,0.065,3192.09,3185.94,3198.25,2055.00,2203.81,0,0,0,30.00,30.00,16.12
$GC,4986.65,0,-82.73,-1.29,-0.03,3187.7,3182.4,3192.9,2055.1,2203.4,711.82,-11.11,644,4987.98,0.00,0.00,0.00,0.000,0.000,0.000,3189.69,3183.88,3195.50,2054.94,2203.69,0,0,0,30.00,30.00,30.00
$GC,5301.67,0,-82.73,-1.29,-0.03,3188.4,3183.5,3193.3,2054.8,2203.6,747.76,-11.94,665,5303.01,0.00,0.00,0.00,0.000,0.000,0.000,3187.53,3182.44,3192.62,2055.06,2203.94,0,0,0,30.00,30.00,30.00
$GC,5616.71,260,-82.73,-1.29,80.00,3187.9,3183.3,3192.5,2055.1,2203.8,784.12,-11.61,686,5624.14,0.00,0.00,3.77,0.000,0.000,0.111,3187.91,3183.00,3192.81,2054.56,3637.81,0,0,0,30.00,30.00,16.12
$GC,5676.92,1028,-82.73,-1.29,0.01,3187.9,3183.2,3192.7,2054.9,3637.8,792.92,-13.76,696,5682.64,0.00,0.00,3.48,0.000,0.000,0.068,3187.88,3182.94,3192.81,2054.88,2203.44,0,0,0,30.00,30.00,16.12
$GC,5994.06,0,-82.73,-1.29,0.01,3187.2,3183.4,3191.1,2054.6,2203.5,827.98,-10.83,718,5995.40,0.00,0.00,0.00,0.000,0.000,0.000,3187.41,3183.94,3190.88,2055.12,2203.56,0,0,0,30.00,30.00,30.00
$GC,6309.07,0,-82.73,-1.29,0.01,3186.8,3182.7,3190.8,2054.8,2203.9,862.79,-11.38,739,6310.41,0.00,0.00,0.00,0.000,0.000,0.000,3187.16,3183.38,3190.94,2053.94,2203.31,0,0,0,30.00,30.00,30.00
$GC,6624.12,516,-82.73,-1.29,-80.00,3186.2,3183.2,3189.1,2054.6,2203.8,897.86,-11.11,760,6631.95,0.00,0.00,3.85,0.000,0.000,0.166,3187.03,3184.00,3190.06,2054.62,803.75,0,0,0,30.00,30.00,16.10
$GC,6708.53,1028,-82.73,-1.29,-0.04,3186.6,3183.4,3189.8,2055.1,803.9,909.53,-13.94,774,6721.32,0.00,0.00,3.50,0.000,0.000,0.069,3186.28,3184.00,3188.56,2055.31,2245.88,0,0,0,30.00,30.00,16.13
$GC,7035.63,260,-82.73,-1.29,80.00,3186.3,3183.9,3188.6,2054.6,2246.9,943.33,-10.72,796,7043.04,0.00,0.00,3.65,0.000,0.000,0.114,3187.66,3186.12,3189.19,2053.50,3636.88,0,0,0,30.00,30.00,16.12
$GC,7074.45,1028,-82.73,-1.29,-0.02,3186.5,3183.2,3189.7,2054.8,3636.6,947.94,-11.93,802,7081.85,0.00,0.00,3.48,0.000,0.000,0.068,3186.06,3184.00,3188.12,2055.31,2202.75,0,0,0,30.00,30.00,16.13
$GC,7394.07,0,-82.73,-1.29,-0.02,3186.0,3183.4,3188.6,2054.6,2202.5,983.86,-11.40,825,7395.41,0.00,0.00,0.00,0.000,0.000,0.000,3186.31,3183.50,3189.12,2055.00,2202.31,0,0,0,30.00,30.00,30.00
$STATE,7454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7454,begin apogee
$GC,7455.81,10243,0.00,-0.25,0.00,3185.4,3182.9,3188.0,2054.6,2520.7,990.63,-11.76,829,7530.83,68.39,1.85,0.08,2.225,0.166,0.266,2850.12,2856.12,2844.12,2310.06,2465.94,0,0,0,12.91,16.09,15.57
$STATE,7533,end apogee,CONTROL_FINISHED_OK
$STATE,7533,begin climb
$GC,7535.83,11271,82.73,1.29,0.00,2847.7,2853.6,2841.8,2309.7,2466.6,994.75,0.00,834,7615.34,74.00,2.62,0.10,2.183,0.100,0.147,2511.25,2514.56,2507.94,2686.25,2522.81,0,0,0,12.77,15.62,15.65
$GC,7928.26,10275,139.63,1.46,0.00,2508.7,2513.6,2503.7,2686.4,2523.1,979.63,4.20,867,7988.60,49.88,0.25,0.00,2.138,0.076,0.000,2280.12,2287.56,2272.69,2734.12,2522.56,0,0,0,12.74,15.77,30.00
$GC,8303.26,0,139.63,1.46,0.00,2281.1,2288.8,2273.4,2733.9,2523.0,953.14,7.76,892,8304.60,0.00,0.00,0.00,0.000,0.000,0.000,2281.28,2288.88,2273.69,2734.38,2523.00,0,0,0,30.00,30.00,30.00
$GC,8618.28,0,139.63,1.46,0.00,2280.6,2288.6,2272.5,2734.4,2522.9,927.62,8.55,913,8619.62,0.00,0.00,0.00,0.000,0.000,0.000,2279.34,2287.50,2271.19,2734.19,2522.75,0,0,0,30.00,30.00,30.00
$GC,8933.32,516,139.63,1.46,-80.00,2279.6,2288.3,2270.8,2734.6,2523.2,898.92,9.68,934,8940.80,0.00,0.00,4.01,0.000,0.000,0.129,2279.88,2289.06,2270.69,2734.75,1033.88,0,0,0,30.00,30.00,15.94
$GC,8991.40,1028,139.63,1.46,0.03,2279.5,2288.4,2270.6,2733.8,1033.9,893.21,9.97,943,8998.81,0.00,0.00,3.67,0.000,0.000,0.068,2279.88,2289.12,2270.62,2733.62,2518.56,0,0,0,30.00,30.00,15.95
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$STATE,21157,end climb,SURFACE_DEPTH_REACHED
$STATE,21157,begin surface coast
$FINISH,0.1,1.024504
$STATE,21187,end surface coast,CONTROL_FINISHED_OK
$STATE,21187,begin surface
$SM_CCo,21275.73,56.31,0.954,0,1219.7,1209.8,1229.7,399.91
$SM_GC,1.99,56.31,18.81,3.51,0.954,0.044,0.058,1219.7,1209.8,1229.7,172.8,2197.9,0,0,0,12.74,15.83,15.84
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4651.46,-12033.52,200522,134906
$TCM_TEMP,175.80
$XPDR_PINGS,78,13.5,11.5
$HUMID,49.08
$TEMP,7.79
$INTERNAL_PRESSURE,8.4922
$24V_AH,14.80,55.738
$10V_AH,15.00,0.000
$FG_AHR_24Vo,66.852
$FG_AHR_10Vo,30.119
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,521.640,40.950,220.270,234.672,19.500,14.237,14562.566,5.294,0.000,6901.930,3583.755,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,2225.232,269.696,265.760,220.917,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,11219.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,968352,29,78336,65
$DATA_FILE_SIZE,112295,2481
$CAP_FILE_SIZE,443372,0
$SDSIZE,3918848,3879872
$SDFILEDIR,621,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 47.5,1
$IMPLIED_C_PITCH,2465,13.97,2103,0.0,0.00
$IMPLIED_C_VBD,2697,25.857925,1289,0
$GPS,210522,012533,4658.170,-12557.401,20,1.8,23,15.8