version: 67.00
glider: 236
mission: 6
dive: 144
start: 5 26 122 7 33 51
data:
$ID,236
$MISSION,6
$DIVE,144
$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,2200.4414
$C_ROLL_CLIMB,2425.189
$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,31.645845
$FG_AHR_24V,72.861046
$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
$GPS1,260522,052455,4654.255,-12454.615,301,99.0,301,15.6
$_CALLS,5
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.4
$GPS2,260522,073339,4653.817,-12455.023,152,0.9,153,15.6
$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,247.5,1078,-21.5,-7.857,-30.00,1542,0.935
$D_GRID,393
$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,-79.81,-1.31,0.00,1059.4,1049.4,1069.4,166.8,2224.4,0.00,0.00,0,44.55,39.70,0.00,0.00,0.005,0.000,0.000,1974.09,1974.75,1973.44,166.56,2224.50,0,0,0,15.82,30.00,30.00
$GC,44.75,18983,-82.73,-1.32,-80.00,1972.4,1973.0,1971.9,167.0,2224.4,3.51,-4.10,7,97.86,29.69,15.45,3.93,0.006,0.261,0.145,3017.19,3010.88,3023.50,2048.88,802.88,0,0,0,15.82,15.85,15.81
$GC,260.75,1028,-82.73,-1.32,0.00,3017.4,3011.0,3023.8,2048.6,803.0,54.78,-21.41,50,266.48,0.00,0.00,3.46,0.000,0.000,0.055,3019.34,3012.75,3025.94,2048.00,2228.31,0,0,0,30.00,30.00,15.96
$GC,450.80,260,-82.73,-1.32,80.00,3016.6,3011.0,3022.1,2048.8,2228.1,87.39,-12.89,88,456.53,0.00,0.00,3.70,0.000,0.000,0.097,3017.22,3011.88,3022.56,2049.06,3640.50,0,0,0,30.00,30.00,15.97
$GC,685.83,1028,-82.73,-1.32,0.15,3015.1,3010.6,3019.6,2048.5,3639.9,124.68,-13.22,135,691.57,0.00,0.00,3.55,0.000,0.000,0.055,3016.44,3012.06,3020.81,2048.44,2183.88,0,0,0,30.00,30.00,16.02
$GC,995.92,260,-82.73,-1.32,80.00,3014.6,3010.8,3018.5,2049.1,2183.1,165.44,-12.91,197,1001.64,0.00,0.00,3.79,0.000,0.000,0.095,3015.88,3012.19,3019.56,2048.88,3638.94,0,0,0,30.00,30.00,16.06
$GC,1225.92,1028,-82.73,-1.32,0.07,3014.2,3010.8,3017.8,2048.6,3638.6,197.37,-14.03,243,1231.66,0.00,0.00,3.53,0.000,0.000,0.056,3014.66,3011.06,3018.25,2049.19,2183.94,0,0,0,30.00,30.00,16.06
$GC,1536.01,260,-82.73,-1.32,80.00,3014.3,3010.9,3017.6,2048.6,2183.9,236.54,-14.16,305,1541.74,0.00,0.00,3.80,0.000,0.000,0.096,3015.03,3012.31,3017.75,2049.00,3639.56,0,0,0,30.00,30.00,16.09
$GC,1716.00,1028,-82.73,-1.32,0.18,3014.0,3010.9,3017.1,2048.6,3639.3,262.18,-15.32,341,1721.75,0.00,0.00,3.55,0.000,0.000,0.057,3015.56,3012.44,3018.69,2048.00,2186.56,0,0,0,30.00,30.00,16.08
$GC,2027.64,260,-82.73,-1.32,80.00,3013.6,3011.2,3015.9,2048.4,2186.5,303.44,-14.62,400,2042.15,0.00,0.00,3.79,0.000,0.000,0.098,3013.88,3011.88,3015.88,2049.06,3638.69,0,0,0,30.00,30.00,16.09
$GC,2141.88,1028,-82.73,-1.32,0.18,3013.3,3010.8,3015.9,2048.9,3639.1,323.24,-17.63,416,2156.35,0.00,0.00,3.56,0.000,0.000,0.058,3013.94,3011.00,3016.88,2049.19,2186.56,0,0,0,30.00,30.00,16.09
$GC,2466.52,516,-82.73,-1.32,-80.00,3012.8,3010.5,3015.0,2048.8,2186.0,373.56,-11.68,449,2481.04,0.00,0.00,3.84,0.000,0.000,0.158,3013.69,3011.88,3015.50,2048.31,802.88,0,0,0,30.00,30.00,16.07
$GC,2540.28,1028,-82.73,-1.32,0.18,3012.9,3010.2,3015.5,2048.9,802.6,386.49,-18.93,460,2553.03,0.00,0.00,3.45,0.000,0.000,0.057,3014.62,3012.69,3016.56,2047.56,2230.19,0,0,0,30.00,30.00,16.10
$STATE,2592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2592,begin apogee
$GC,2593.62,10243,0.00,-0.25,0.00,3013.0,3011.1,3015.0,2049.1,2454.5,393.75,-16.26,465,2664.94,63.40,1.88,0.10,1.427,0.156,0.176,2678.44,2685.94,2670.94,2309.50,2389.75,0,0,0,12.92,16.06,15.74
$STATE,2667,end apogee,CONTROL_FINISHED_OK
$STATE,2668,begin climb
$GC,2669.92,11271,82.73,1.32,0.00,2677.4,2684.9,2669.9,2308.9,2389.5,400.24,0.00,472,2743.53,69.46,2.67,0.10,1.371,0.103,0.127,2341.88,2349.81,2333.94,2692.94,2451.50,0,0,0,12.92,15.78,15.82
$GC,3053.00,10535,175.01,1.60,80.00,2339.3,2348.8,2329.8,2692.4,2451.6,395.67,1.71,513,3128.86,70.51,0.41,3.26,1.346,0.049,0.109,1965.16,1981.56,1948.75,2773.31,3639.44,0,0,0,12.85,15.85,15.54
$GC,3155.16,1028,175.01,1.60,0.05,1964.3,1981.3,1947.2,2773.4,3639.8,389.02,8.36,528,3167.87,0.00,0.00,3.07,0.000,0.000,0.050,1965.06,1982.00,1948.12,2773.25,2396.12,0,0,0,30.00,30.00,15.66
$GC,3477.33,516,175.01,1.60,-80.00,1962.5,1981.4,1943.7,2772.4,2395.1,360.54,8.08,560,3491.87,0.00,0.00,3.95,0.000,0.000,0.131,1962.81,1981.94,1943.69,2772.62,960.25,0,0,0,30.00,30.00,15.86
$GC,3551.12,1028,175.01,1.60,0.00,1961.4,1979.8,1943.0,2773.2,960.1,352.24,10.41,571,3563.92,0.00,0.00,3.67,0.000,0.000,0.056,1962.69,1981.62,1943.75,2773.25,2449.75,0,0,0,30.00,30.00,15.90
$GC,3873.37,0,175.01,1.60,0.00,1961.7,1980.3,1943.1,2772.8,2449.2,323.02,8.68,603,3883.35,0.00,0.00,0.00,0.000,0.000,0.000,1962.31,1981.44,1943.19,2773.56,2449.31,0,0,0,30.00,30.00,30.00
$GC,4185.32,260,175.01,1.60,80.00,1961.2,1980.5,1941.9,2772.8,2449.5,294.81,9.24,639,4191.00,0.00,0.00,3.14,0.000,0.000,0.107,1961.19,1980.69,1941.69,2772.44,3639.19,0,0,0,30.00,30.00,16.00
$GC,4230.34,1028,175.01,1.60,-0.02,1961.1,1980.6,1941.6,2773.1,3638.7,290.02,11.10,648,4235.98,0.00,0.00,3.01,0.000,0.000,0.051,1961.69,1981.31,1942.06,2773.19,2397.62,0,0,0,30.00,30.00,16.01
$GC,4540.46,260,175.01,1.60,80.00,1960.7,1980.8,1940.6,2772.8,2397.3,259.79,10.25,710,4546.13,0.00,0.00,3.27,0.000,0.000,0.104,1960.97,1980.81,1941.12,2773.38,3636.75,0,0,0,30.00,30.00,16.04
$GC,4630.48,1028,175.01,1.60,0.03,1960.3,1980.2,1940.4,2772.8,3636.8,250.50,10.75,728,4636.10,0.00,0.00,2.99,0.000,0.000,0.052,1961.31,1981.56,1941.06,2772.00,2395.62,0,0,0,30.00,30.00,16.04
$GC,4940.71,516,175.01,1.60,-80.00,1959.8,1980.2,1939.4,2773.4,2395.8,223.66,8.75,790,4946.33,0.00,0.00,3.89,0.000,0.000,0.131,1960.72,1981.31,1940.12,2772.75,960.81,0,0,0,30.00,30.00,16.05
$GC,4980.69,1028,175.01,1.60,0.06,1959.5,1979.8,1939.2,2772.9,960.6,219.92,9.33,798,4986.30,0.00,0.00,3.64,0.000,0.000,0.057,1959.50,1979.38,1939.62,2772.94,2451.06,0,0,0,30.00,30.00,16.06
$GC,5290.62,324,175.01,1.62,80.00,1959.1,1979.0,1939.1,2772.8,2451.7,195.96,7.23,860,5296.40,0.00,0.00,3.12,0.000,0.000,0.106,1959.03,1979.25,1938.81,2772.50,3640.25,0,0,0,30.00,30.00,16.06
$GC,5350.77,1028,175.01,1.62,0.06,1958.9,1978.9,1938.9,2772.9,3640.5,190.87,8.16,872,5356.25,0.00,0.00,2.99,0.000,0.000,0.050,1958.81,1979.06,1938.56,2773.31,2395.81,0,0,0,30.00,30.00,16.07
$GC,5660.69,260,175.01,1.62,80.00,1958.7,1979.3,1938.1,2773.2,2396.5,165.64,7.55,934,5666.35,0.00,0.00,3.25,0.000,0.000,0.103,1958.75,1979.38,1938.12,2773.44,3638.12,0,0,0,30.00,30.00,16.09
$GC,5770.73,1028,175.01,1.62,0.16,1958.6,1978.9,1938.2,2773.5,3638.9,156.64,8.17,956,5776.32,0.00,0.00,2.97,0.000,0.000,0.051,1959.12,1979.50,1938.75,2773.50,2395.06,0,0,0,30.00,30.00,16.08
$GC,6080.77,16450,175.01,1.68,0.16,1958.3,1978.8,1937.9,2773.1,2395.7,135.34,5.96,1018,6084.77,0.00,0.00,0.00,0.000,0.000,0.000,1959.47,1980.12,1938.81,2773.00,2395.38,0,0,0,30.00,30.00,30.00
$GC,6385.82,16710,175.01,1.73,80.00,1958.1,1978.3,1937.9,2772.1,2395.4,117.03,6.20,1079,6391.47,0.00,0.00,3.26,0.000,0.000,0.103,1958.81,1979.38,1938.25,2772.62,3638.94,0,0,0,30.00,30.00,16.11
$GC,6450.82,17478,175.01,1.75,0.22,1957.8,1978.1,1937.6,2773.3,3639.2,112.45,6.90,1092,6456.43,0.00,0.00,2.95,0.000,0.000,0.050,1958.22,1978.56,1937.88,2772.50,2396.44,0,0,0,30.00,30.00,16.10
$GC,6760.91,10791,218.42,1.88,-80.00,1957.8,1978.2,1937.2,2773.4,2396.6,94.80,4.96,1154,6812.26,42.83,0.32,3.91,1.021,0.063,0.128,1789.88,1809.06,1770.69,2839.56,960.12,0,0,0,12.93,16.09,15.89
$GC,6890.87,1028,218.42,1.88,0.27,1789.1,1808.9,1769.2,2840.8,960.1,85.55,7.80,1180,6896.62,0.00,0.00,3.69,0.000,0.000,0.056,1789.31,1809.06,1769.56,2840.88,2455.12,0,0,0,30.00,30.00,15.99
$GC,7080.93,64,218.42,1.94,0.27,1788.2,1808.1,1768.3,2840.8,2454.7,72.28,5.94,1218,7084.94,0.00,0.00,0.00,0.000,0.000,0.000,1789.25,1809.31,1769.19,2840.50,2455.00,0,0,0,30.00,30.00,30.00
$GC,7265.95,10535,254.71,2.05,80.00,1788.2,1808.2,1768.1,2840.0,2455.2,61.34,5.44,1255,7307.35,36.50,0.16,3.15,1.025,0.084,0.106,1640.47,1659.81,1621.12,2882.00,3638.25,0,0,0,12.85,16.02,15.83
$GC,7535.98,1028,254.71,2.05,0.12,1639.1,1659.1,1619.1,2881.2,3638.0,42.46,7.47,1309,7541.62,0.00,0.00,3.01,0.000,0.000,0.050,1639.56,1659.75,1619.38,2881.25,2394.12,0,0,0,30.00,30.00,15.96
$GC,7726.03,10791,310.16,2.22,-80.00,1638.9,1659.0,1618.9,2881.9,2394.1,33.94,4.16,1347,7787.91,54.68,0.15,3.92,0.942,0.088,0.128,1415.94,1435.31,1396.56,2920.62,961.94,0,0,0,12.82,15.99,15.76
$GC,7876.03,1028,310.16,2.22,-0.20,1419.4,1440.8,1398.1,2921.1,961.9,22.96,9.23,1377,7881.77,0.00,0.00,3.65,0.000,0.000,0.054,1419.56,1440.88,1398.25,2921.31,2448.12,0,0,0,30.00,30.00,15.88
$GC,8066.07,8486,360.53,2.37,80.00,1419.0,1440.7,1397.4,2921.2,2448.4,11.88,4.50,1415,8122.71,51.20,0.00,3.20,0.943,0.000,0.103,1210.56,1228.12,1193.00,2920.50,3639.75,0,0,0,12.84,30.00,15.72
$GC,8141.22,3141,360.53,2.39,-0.20,1211.1,1228.2,1194.0,2920.9,3640.2,7.22,6.97,1430,8146.77,0.00,0.17,3.04,0.000,0.080,0.047,1211.88,1229.25,1194.50,2961.06,2389.56,0,0,0,30.00,15.78,15.79
$GC,8331.12,10791,463.24,2.70,-80.00,1217.1,1239.0,1195.1,2960.6,2390.6,3.20,1.01,1468,8402.78,70.63,0.41,0.00,0.929,0.056,0.000,911.41,922.75,900.06,3036.31,2389.56,0,0,0,12.82,15.87,30.00
$STATE,8403,end climb,SURFACE_DEPTH_REACHED
$STATE,8403,begin surface coast
$FINISH,0.3,1.022353
$STATE,8606,end surface coast,CONTROL_FINISHED_OK
$STATE,8606,begin surface
$SM_CCo,8693.39,0.00,0.000,0,916.2,922.4,910.1,432.66
$SM_GC,2.20,0.00,18.78,0.47,0.000,0.066,0.089,916.2,922.4,910.1,170.2,2181.2,0,0,0,30.00,15.83,15.83
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4653.31,-12500.04,260522,072529
$TCM_TEMP,177.13
$XPDR_PINGS,28,13.5,11.5
$HUMID,49.97
$TEMP,8.78
$INTERNAL_PRESSURE,8.53683
$24V_AH,15.20,63.894
$10V_AH,15.00,0.000
$FG_AHR_24Vo,73.028
$FG_AHR_10Vo,31.678
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,528.605,40.410,125.205,453.863,7.000,162.127,6333.236,5.373,0.000,3222.450,2208.649,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1426.880,261.168,176.216,202.642,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3666.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,968332,30,78336,65
$DATA_FILE_SIZE,67484,1523
$CAP_FILE_SIZE,282063,0
$SDSIZE,3918848,3873760
$SDFILEDIR,729,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.011,324.1,1
$IMPLIED_C_PITCH,2527,14.21,1182,0.0,0.00
$IMPLIED_C_VBD,2712,35.247860,907,0
$GPS,260522,100033,4653.846,-12456.074,78,1.8,103,15.6