version: 67.00
glider: 236
mission: 6
dive: 143
start: 5 26 122 5 25 7
data:
$ID,236
$MISSION,6
$DIVE,143
$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,2203.7578
$C_ROLL_CLIMB,2421.4058
$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,2680
$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,31.617277
$FG_AHR_24V,72.696838
$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
$GPS1,260522,051542,4654.316,-12454.610,134,0.8,146,15.6
$_CALLS,3
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.5
$GPS2,260522,052455,4654.255,-12454.615,4,1.2,9,15.6
$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,199.9,2037,-20.9,-7.857,-29.53,1599,0.909
$D_GRID,307
$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,-1.29,0.00,1000.7,998.7,1002.8,168.3,2173.2,0.00,0.00,0,39.46,34.59,0.00,0.00,0.005,0.000,0.000,1793.75,1802.31,1785.19,168.00,2172.44,0,0,0,15.76,30.00,30.00
$GC,39.66,18727,-82.73,-1.29,80.00,1792.8,1801.3,1784.3,167.9,2172.9,3.00,-4.43,6,97.99,34.71,15.55,3.88,0.006,0.262,0.101,3018.88,3013.00,3024.75,2054.75,3640.81,0,0,0,15.74,15.78,15.73
$GC,325.86,1028,-82.73,-1.29,0.00,3017.9,3012.3,3023.4,2054.3,3639.9,67.35,-20.07,63,331.65,0.00,0.00,3.58,0.000,0.000,0.057,3017.91,3012.44,3023.38,2054.75,2185.69,0,0,0,30.00,30.00,15.93
$GC,515.91,260,-82.73,-1.29,80.00,3017.0,3012.1,3021.9,2055.4,2186.2,94.12,-12.13,101,521.66,0.00,0.00,3.78,0.000,0.000,0.094,3017.38,3012.50,3022.25,2054.75,3640.69,0,0,0,30.00,30.00,15.97
$GC,750.95,1028,-82.73,-1.29,-0.15,3016.3,3012.3,3020.2,2054.9,3640.0,129.13,-14.50,148,756.67,0.00,0.00,3.53,0.000,0.000,0.056,3016.31,3012.44,3020.19,2055.19,2180.25,0,0,0,30.00,30.00,15.99
$GC,1061.04,260,-82.73,-1.29,80.00,3015.7,3011.7,3019.6,2055.1,2179.9,171.73,-12.78,210,1066.77,0.00,0.00,3.77,0.000,0.000,0.095,3015.69,3012.12,3019.25,2055.44,3638.88,0,0,0,30.00,30.00,16.04
$GC,1296.04,1028,-82.73,-1.29,-0.18,3015.6,3012.0,3019.1,2054.8,3638.0,208.42,-15.90,257,1301.76,0.00,0.00,3.56,0.000,0.000,0.056,3016.81,3013.06,3020.56,2055.06,2181.56,0,0,0,30.00,30.00,16.05
$GC,1606.12,260,-82.73,-1.29,80.00,3015.9,3011.9,3019.9,2054.9,2181.0,246.31,-12.46,319,1611.84,0.00,0.00,3.78,0.000,0.000,0.096,3017.81,3013.50,3022.12,2053.62,3639.38,0,0,0,30.00,30.00,16.08
$GC,1716.10,1028,-82.73,-1.29,-0.18,3015.5,3011.9,3019.1,2055.2,3639.8,262.38,-15.02,341,1721.86,0.00,0.00,3.55,0.000,0.000,0.057,3017.69,3013.50,3021.88,2053.94,2183.81,0,0,0,30.00,30.00,16.07
$GC,2027.74,0,-82.73,-1.29,-0.18,3015.8,3011.9,3019.8,2055.0,2183.5,306.67,-15.41,398,2037.69,0.00,0.00,0.00,0.000,0.000,0.000,3016.44,3013.00,3019.88,2054.88,2183.19,0,0,0,30.00,30.00,30.00
$STATE,2048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2048,begin apogee
$GC,2049.41,10243,0.00,-0.25,0.00,3014.8,3010.2,3019.2,2054.8,2450.2,309.75,-16.16,400,2120.68,62.71,1.84,0.10,1.277,0.156,0.178,2679.53,2686.81,2672.25,2309.75,2388.81,0,0,0,12.91,16.03,15.75
$STATE,2123,end apogee,CONTROL_FINISHED_OK
$STATE,2123,begin climb
$GC,2125.67,10503,82.73,1.29,80.00,2678.4,2685.6,2671.2,2309.9,2389.1,316.38,0.00,407,2202.99,69.00,2.59,3.32,1.241,0.120,0.102,2340.31,2348.06,2332.56,2684.12,3638.25,0,0,0,12.89,15.78,15.83
$GC,2290.67,11303,173.27,1.57,0.00,2339.8,2348.8,2330.8,2684.5,3637.6,315.30,2.04,431,2363.95,68.81,0.41,3.05,1.227,0.051,0.049,1972.91,1989.69,1956.12,2766.12,2390.12,0,0,0,12.81,15.72,15.73
$GC,2665.91,516,173.27,1.57,-80.00,1969.3,1989.0,1949.7,2765.4,2390.1,282.61,9.95,487,2671.66,0.00,0.00,3.94,0.000,0.000,0.132,1970.09,1989.75,1950.44,2765.06,957.12,0,0,0,30.00,30.00,15.82
$GC,2740.88,1028,173.27,1.57,0.00,1969.3,1988.8,1949.8,2765.6,957.0,273.67,12.23,502,2746.63,0.00,0.00,3.66,0.000,0.000,0.056,1970.19,1989.19,1951.19,2765.88,2445.88,0,0,0,30.00,30.00,15.86
$GC,3050.94,260,173.27,1.57,80.00,1968.8,1988.4,1949.1,2765.4,2445.9,246.55,8.65,564,3056.59,0.00,0.00,3.18,0.000,0.000,0.106,1969.22,1988.94,1949.50,2766.00,3638.38,0,0,0,30.00,30.00,15.94
$GC,3125.95,1028,173.27,1.57,0.00,1968.4,1988.3,1948.6,2765.4,3638.1,239.03,10.59,579,3131.60,0.00,0.00,3.03,0.000,0.000,0.050,1968.88,1989.00,1948.75,2766.12,2392.44,0,0,0,30.00,30.00,15.96
$GC,3436.00,516,173.27,1.57,-80.00,1968.3,1988.6,1948.0,2765.7,2392.8,209.37,10.43,641,3441.78,0.00,0.00,3.90,0.000,0.000,0.130,1969.19,1989.44,1948.94,2765.00,957.25,0,0,0,30.00,30.00,15.98
$GC,3481.01,1028,173.27,1.57,0.00,1968.2,1988.2,1948.2,2766.2,957.3,204.65,11.06,650,3486.87,0.00,0.00,3.59,0.000,0.000,0.057,1968.75,1988.88,1948.62,2765.88,2447.19,0,0,0,30.00,30.00,16.00
$GC,3791.12,324,173.27,1.60,80.00,1967.8,1987.9,1947.6,2765.4,2447.2,180.23,6.85,712,3796.71,0.00,0.00,3.12,0.000,0.000,0.106,1968.72,1989.00,1948.44,2765.44,3638.81,0,0,0,30.00,30.00,16.02
$GC,3831.06,1028,173.27,1.60,-0.02,1967.8,1987.9,1947.8,2765.4,3638.4,177.11,7.93,720,3836.68,0.00,0.00,2.99,0.000,0.000,0.050,1968.00,1988.38,1947.62,2766.00,2389.56,0,0,0,30.00,30.00,16.03
$GC,4141.27,0,173.27,1.60,-0.02,1967.1,1987.6,1946.6,2765.5,2389.1,151.61,7.66,782,4145.27,0.00,0.00,0.00,0.000,0.000,0.000,1968.03,1988.69,1947.38,2765.12,2388.81,0,0,0,30.00,30.00,30.00
$GC,4446.18,0,173.27,1.60,-0.02,1966.8,1987.8,1945.9,2765.5,2389.4,129.20,8.07,843,4450.18,0.00,0.00,0.00,0.000,0.000,0.000,1967.78,1988.88,1946.69,2765.75,2389.44,0,0,0,30.00,30.00,30.00
$GC,4751.23,260,173.27,1.60,80.00,1966.5,1987.5,1945.5,2765.9,2389.9,105.01,8.13,904,4756.90,0.00,0.00,3.27,0.000,0.000,0.102,1967.66,1989.00,1946.31,2764.94,3639.81,0,0,0,30.00,30.00,16.09
$GC,4931.30,1092,173.27,1.64,0.04,1966.3,1987.1,1945.4,2765.9,3639.7,91.81,6.42,940,4936.92,0.00,0.00,2.98,0.000,0.000,0.051,1967.53,1988.50,1946.56,2765.69,2389.69,0,0,0,30.00,30.00,16.08
$GC,5121.36,10791,241.22,1.84,-80.00,1965.9,1986.8,1944.9,2765.5,2389.6,84.92,3.49,978,5193.66,65.39,0.31,3.89,1.013,0.061,0.130,1695.94,1714.56,1677.31,2832.56,956.75,0,0,0,12.92,16.09,15.80
$GC,5236.52,1028,241.22,1.84,0.04,1694.8,1712.8,1676.8,2833.1,956.6,77.03,8.87,1001,5242.41,0.00,0.00,3.65,0.000,0.000,0.055,1695.16,1713.50,1676.81,2832.69,2448.94,0,0,0,30.00,30.00,15.88
$GC,5426.59,580,241.22,1.90,-80.00,1693.2,1712.8,1673.8,2832.9,2449.6,62.00,6.05,1039,5432.39,0.00,0.00,4.03,0.000,0.000,0.121,1693.56,1713.50,1673.62,2833.31,955.44,0,0,0,30.00,30.00,15.94
$GC,5491.63,1092,241.22,1.95,-0.11,1693.2,1712.8,1673.6,2832.9,955.3,58.21,5.97,1052,5497.31,0.00,0.00,3.60,0.000,0.000,0.053,1694.12,1713.62,1674.62,2833.00,2448.81,0,0,0,30.00,30.00,15.95
$GC,5681.63,10535,317.84,2.18,80.00,1692.6,1712.9,1672.3,2832.8,2448.5,50.63,2.93,1090,5759.79,73.35,0.41,3.16,0.963,0.057,0.104,1383.56,1402.00,1365.12,2915.00,3638.31,0,0,0,12.90,15.98,15.70
$GC,5987.67,1028,317.84,2.18,0.24,1386.2,1406.8,1365.6,2914.4,3638.0,26.90,10.20,1151,5993.32,0.00,0.00,3.01,0.000,0.000,0.049,1387.19,1407.88,1366.50,2913.69,2397.12,0,0,0,30.00,30.00,15.88
$GC,6177.73,8486,355.89,2.30,80.00,1386.2,1407.1,1365.3,2914.3,2397.1,13.89,5.41,1189,6223.85,38.73,0.00,3.31,0.914,0.000,0.100,1229.44,1248.50,1210.38,2914.75,3639.56,0,0,0,12.83,30.00,15.76
$GC,6347.75,1092,355.89,2.34,0.21,1232.5,1253.2,1211.8,2914.4,3639.7,3.31,6.33,1223,6353.38,0.00,0.00,3.03,0.000,0.000,0.048,1233.38,1253.88,1212.88,2913.88,2395.94,0,0,0,30.00,30.00,15.88
$STATE,6388,end climb,SURFACE_DEPTH_REACHED
$STATE,6388,begin surface coast
$FINISH,1.6,1.022634
$STATE,6438,end surface coast,CONTROL_FINISHED_OK
$STATE,6438,begin surface
$SM_CCo,6506.69,41.44,0.928,0,1050.3,1040.8,1059.8,399.77
$SM_GC,5.43,41.44,17.55,0.49,0.928,0.054,0.086,1050.3,1040.8,1059.8,167.8,2177.6,0,0,0,12.85,15.87,15.90
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4652.92,-12455.65,260522,021742
$TCM_TEMP,176.00
$XPDR_PINGS,13,13.5,11.5
$HUMID,49.89
$TEMP,8.23
$INTERNAL_PRESSURE,8.52018
$24V_AH,15.13,63.660
$10V_AH,15.00,0.000
$FG_AHR_24Vo,72.841
$FG_AHR_10Vo,31.642
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,488.725,38.640,98.440,360.948,3.250,17.928,4271.311,5.769,0.000,2697.012,1804.359,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1276.656,262.152,177.528,226.803,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,2340.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,968376,29,78312,65
$DATA_FILE_SIZE,54570,1241
$CAP_FILE_SIZE,233675,0
$SDSIZE,3918848,3873984
$SDFILEDIR,725,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,48.811,215.7,1
$IMPLIED_C_PITCH,2527,14.23,998,0.0,0.00
$IMPLIED_C_VBD,2734,39.177616,862,0
$GPS,260522,052455,4654.255,-12454.615,301,99.0,301,15.6