version: 67.00
glider: 236
mission: 6
dive: 145
start: 5 26 122 10 7 3
data:
$ID,236
$MISSION,6
$DIVE,145
$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,2203.783
$C_ROLL_CLIMB,2420.9536
$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,31.679798
$FG_AHR_24V,73.04187
$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
$GPS1,260522,100033,4653.846,-12456.074,78,1.8,103,15.6
$_CALLS,2
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.9
$GPS2,260522,100651,4653.856,-12456.111,5,1.1,12,15.6
$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,126.8,1162,-21.5,-7.857,-30.00,1542,1.032
$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,4.35,16386,-79.81,-1.31,0.00,918.7,916.8,920.6,168.9,2233.2,0.00,0.00,0,44.55,39.67,0.00,0.00,0.005,0.000,0.000,1821.31,1828.25,1814.38,169.12,2232.88,0,0,0,15.76,30.00,30.00
$GC,44.76,18983,-82.73,-1.32,-80.00,1820.7,1827.7,1813.8,168.9,2232.2,3.18,-4.08,7,102.98,33.47,15.52,3.97,0.005,0.261,0.144,3017.50,3011.00,3024.00,2049.00,802.75,0,0,0,15.77,15.79,15.73
$GC,190.84,1028,-82.73,-1.32,0.00,3017.2,3010.5,3023.8,2048.6,803.1,39.84,-33.60,36,196.55,0.00,0.00,3.46,0.000,0.000,0.054,3018.50,3011.69,3025.31,2048.44,2231.88,0,0,0,30.00,30.00,15.91
$GC,380.90,516,-82.73,-1.32,-80.00,3016.8,3010.7,3022.9,2048.6,2232.0,78.84,-15.18,74,386.68,0.00,0.00,3.94,0.000,0.000,0.137,3017.50,3011.12,3023.88,2048.81,801.94,0,0,0,30.00,30.00,15.92
$GC,465.89,1028,-82.73,-1.32,-0.14,3016.4,3010.7,3022.1,2048.3,802.0,92.99,-15.09,91,471.60,0.00,0.00,3.41,0.000,0.000,0.052,3017.03,3011.25,3022.81,2048.44,2232.56,0,0,0,30.00,30.00,15.96
$GC,655.93,260,-82.73,-1.32,80.00,3016.1,3010.8,3021.3,2048.5,2232.4,118.78,-16.36,129,661.67,0.00,0.00,3.64,0.000,0.000,0.097,3018.00,3012.12,3023.88,2047.75,3640.56,0,0,0,30.00,30.00,15.98
$GC,845.96,1028,-82.73,-1.32,0.04,3015.6,3010.2,3021.0,2049.0,3640.1,150.89,-15.31,167,851.69,0.00,0.00,3.53,0.000,0.000,0.055,3017.25,3012.12,3022.38,2048.44,2184.50,0,0,0,30.00,30.00,16.02
$GC,1156.05,0,-82.73,-1.32,0.04,3015.8,3010.6,3021.1,2048.4,2183.8,195.44,-14.55,229,1160.06,0.00,0.00,0.00,0.000,0.000,0.000,3017.22,3012.19,3022.25,2048.38,2184.19,0,0,0,30.00,30.00,30.00
$GC,1461.07,516,-82.73,-1.32,-80.00,3015.7,3010.4,3020.9,2048.3,2183.9,238.77,-14.40,290,1466.83,0.00,0.00,3.79,0.000,0.000,0.145,3017.25,3012.06,3022.44,2048.12,802.94,0,0,0,30.00,30.00,16.04
$GC,1571.08,1028,-82.73,-1.32,-0.01,3016.2,3010.9,3021.6,2048.8,803.1,256.79,-17.47,312,1576.80,0.00,0.00,3.41,0.000,0.000,0.054,3016.78,3011.19,3022.38,2048.44,2234.44,0,0,0,30.00,30.00,16.06
$GC,1881.17,0,-82.73,-1.32,-0.01,3015.9,3010.5,3021.2,2049.1,2235.0,300.67,-14.62,374,1882.53,0.00,0.00,0.00,0.000,0.000,0.000,3016.81,3011.38,3022.25,2048.88,2235.38,0,0,0,30.00,30.00,30.00
$GC,2187.71,516,-82.73,-1.32,-80.00,3015.8,3010.1,3021.4,2048.9,2235.0,343.00,-13.72,404,2202.24,0.00,0.00,3.90,0.000,0.000,0.141,3016.00,3010.88,3021.12,2048.75,802.88,0,0,0,30.00,30.00,16.07
$GC,2289.89,1028,-82.73,-1.32,-0.03,3016.4,3011.2,3021.7,2048.7,802.9,359.73,-16.84,419,2302.70,0.00,0.00,3.39,0.000,0.000,0.056,3016.88,3011.31,3022.44,2048.25,2232.94,0,0,0,30.00,30.00,16.09
$STATE,2562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2562,begin apogee
$GC,2563.32,10243,0.00,-0.25,0.00,3016.2,3011.0,3021.3,2048.5,2456.0,393.91,-12.26,446,2634.62,63.88,1.88,0.12,1.391,0.158,0.163,2678.12,2684.94,2671.31,2310.12,2383.00,0,0,0,12.89,16.04,15.74
$STATE,2637,end apogee,CONTROL_FINISHED_OK
$STATE,2637,begin climb
$GC,2639.61,10759,82.73,1.32,-80.00,2678.4,2685.1,2671.8,2310.2,2382.6,398.97,0.00,453,2727.27,69.36,2.72,3.90,1.348,0.141,0.127,2343.75,2347.88,2339.62,2691.75,955.62,0,0,0,12.88,15.76,15.81
$GC,2786.53,11303,136.43,1.48,0.00,2341.5,2345.4,2337.5,2692.1,955.8,393.95,4.28,474,2842.96,43.33,0.24,3.66,1.308,0.065,0.056,2122.84,2135.25,2110.44,2745.19,2447.12,0,0,0,12.82,15.69,15.70
$GC,3152.42,260,136.43,1.48,80.00,2119.4,2134.6,2104.3,2744.0,2447.0,364.74,9.04,512,3156.59,0.00,0.00,3.16,0.000,0.000,0.107,2119.78,2133.75,2105.81,2743.88,3638.75,0,0,0,30.00,30.00,15.85
$GC,3314.21,1028,136.43,1.48,0.07,2119.3,2133.9,2104.8,2744.0,3638.6,348.26,9.47,535,3318.37,0.00,0.00,3.03,0.000,0.000,0.051,2119.47,2133.81,2105.12,2743.50,2392.00,0,0,0,30.00,30.00,15.91
$GC,3623.89,260,136.43,1.48,80.00,2118.6,2133.8,2103.5,2744.6,2391.8,319.10,9.71,566,3638.31,0.00,0.00,3.29,0.000,0.000,0.104,2119.03,2134.50,2103.56,2745.06,3638.88,0,0,0,30.00,30.00,15.97
$GC,3709.59,1028,136.43,1.48,0.14,2118.0,2133.5,2102.5,2744.9,3639.0,310.48,11.65,578,3713.74,0.00,0.00,2.99,0.000,0.000,0.051,2117.91,2133.12,2102.69,2744.00,2392.56,0,0,0,30.00,30.00,15.98
$GC,4016.14,0,136.43,1.48,0.14,2117.8,2133.7,2101.9,2744.1,2392.4,283.36,8.04,627,4020.14,0.00,0.00,0.00,0.000,0.000,0.000,2118.94,2134.56,2103.31,2744.25,2392.56,0,0,0,30.00,30.00,30.00
$GC,4321.32,516,136.43,1.48,-80.00,2117.7,2134.0,2101.4,2744.8,2392.4,258.11,9.37,688,4326.97,0.00,0.00,3.89,0.000,0.000,0.136,2117.66,2133.81,2101.50,2744.62,956.38,0,0,0,30.00,30.00,16.02
$GC,4406.21,1092,136.43,1.52,0.15,2117.6,2133.2,2101.9,2744.6,956.4,252.18,6.81,705,4411.93,0.00,0.00,3.60,0.000,0.000,0.058,2118.50,2134.25,2102.75,2744.25,2450.00,0,0,0,30.00,30.00,16.03
$GC,4716.36,580,136.43,1.53,-80.00,2117.1,2133.4,2100.9,2744.2,2450.2,232.79,7.22,767,4722.51,0.00,0.00,4.01,0.000,0.000,0.129,2117.19,2133.31,2101.06,2744.81,955.38,0,0,0,30.00,30.00,16.05
$GC,4781.50,1028,136.43,1.53,0.15,2116.9,2132.8,2101.1,2744.4,955.6,227.75,7.80,780,4787.06,0.00,0.00,3.58,0.000,0.000,0.058,2116.97,2133.06,2100.88,2744.25,2449.81,0,0,0,30.00,30.00,16.05
$GC,5091.51,580,136.43,1.58,-80.00,2116.6,2132.8,2100.5,2744.6,2449.3,210.28,6.35,842,5097.26,0.00,0.00,3.99,0.000,0.000,0.127,2116.78,2133.25,2100.31,2744.25,955.00,0,0,0,30.00,30.00,16.06
$GC,5206.51,1092,136.43,1.61,0.06,2116.1,2131.8,2100.4,2744.1,955.2,202.36,6.98,865,5212.22,0.00,0.00,3.57,0.000,0.000,0.057,2117.25,2132.94,2101.56,2744.75,2449.44,0,0,0,30.00,30.00,16.07
$GC,5516.62,10791,181.83,1.74,-80.00,2115.8,2131.8,2099.9,2744.1,2449.8,184.86,4.83,927,5558.15,33.21,0.30,4.01,1.165,0.066,0.127,1937.38,1954.00,1920.75,2805.44,954.12,0,0,0,12.95,16.08,15.89
$GC,5601.58,1028,181.83,1.74,-0.03,1936.4,1952.5,1920.3,2805.7,954.0,179.43,7.38,944,5607.44,0.00,0.00,3.60,0.000,0.000,0.059,1937.00,1952.69,1921.31,2805.38,2445.19,0,0,0,30.00,30.00,15.97
$GC,5911.68,0,181.83,1.74,-0.03,1935.2,1952.1,1918.3,2806.2,2444.9,154.23,8.50,1006,5915.68,0.00,0.00,0.00,0.000,0.000,0.000,1935.84,1952.62,1919.06,2806.12,2445.81,0,0,0,30.00,30.00,30.00
$GC,6216.69,516,181.83,1.74,-80.00,1934.8,1952.1,1917.6,2806.1,2445.2,127.74,7.98,1067,6222.49,0.00,0.00,3.96,0.000,0.000,0.126,1935.66,1952.88,1918.44,2805.62,954.19,0,0,0,30.00,30.00,16.03
$GC,6326.70,1028,181.83,1.74,-0.06,1934.8,1952.2,1917.4,2806.0,953.8,118.52,7.81,1089,6332.44,0.00,0.00,3.57,0.000,0.000,0.059,1935.75,1953.00,1918.50,2805.81,2445.56,0,0,0,30.00,30.00,16.03
$GC,6636.80,324,181.83,1.80,80.00,1934.4,1951.8,1917.0,2806.3,2445.3,100.32,5.90,1151,6642.54,0.00,0.00,3.11,0.000,0.000,0.107,1935.25,1952.50,1918.00,2805.50,3638.94,0,0,0,30.00,30.00,16.06
$GC,6871.98,9254,214.40,1.90,0.05,1934.2,1951.6,1916.9,2806.1,3639.6,85.73,5.69,1198,6909.05,32.55,0.00,2.97,1.002,0.000,0.051,1805.66,1824.56,1786.75,2805.75,2389.75,0,0,0,12.91,30.00,16.08
$GC,7091.94,260,214.40,1.90,80.00,1806.2,1826.8,1785.7,2806.6,2389.6,72.22,8.06,1242,7097.60,0.00,0.00,3.28,0.000,0.000,0.101,1807.16,1827.31,1787.00,2805.75,3638.25,0,0,0,30.00,30.00,16.00
$GC,7326.98,3141,214.40,1.96,0.23,1806.2,1826.4,1786.0,2806.4,3638.1,55.14,5.91,1289,7332.67,0.00,0.22,2.97,0.000,0.077,0.050,1807.03,1827.06,1787.00,2855.12,2387.38,0,0,0,30.00,16.00,16.03
$GC,7517.02,10275,281.75,2.16,0.23,1806.2,1826.4,1785.9,2855.4,2387.6,47.53,3.37,1327,7584.43,66.25,0.22,0.00,0.967,0.071,0.000,1529.66,1547.75,1511.56,2907.31,2387.81,0,0,0,12.91,16.04,30.00
$GC,7767.41,8226,315.17,2.26,0.23,1528.8,1548.2,1509.4,2907.5,2387.8,35.28,5.63,1377,7803.19,34.52,0.00,0.00,0.962,0.000,0.000,1394.72,1413.62,1375.81,2906.69,2387.25,0,0,0,12.72,30.00,30.00
$GC,7987.43,64,315.17,2.31,0.23,1400.3,1424.7,1376.0,2907.9,2387.7,22.58,6.22,1421,7991.43,0.00,0.00,0.00,0.000,0.000,0.000,1400.81,1425.19,1376.44,2907.88,2387.56,0,0,0,30.00,30.00,30.00
$GC,8172.48,10535,351.37,2.42,80.00,1400.3,1424.9,1375.8,2907.9,2387.8,11.33,5.44,1458,8215.00,37.59,0.29,3.31,0.938,0.066,0.102,1246.44,1265.19,1227.69,2969.31,3638.44,0,0,0,12.82,15.92,15.76
$GC,8442.90,11303,473.59,2.78,0.11,1246.0,1265.8,1226.1,2969.2,3639.1,6.59,-0.29,1512,8489.48,42.04,0.49,2.99,0.927,0.053,0.049,1073.97,1090.44,1057.50,3058.62,2384.12,0,0,0,12.85,15.88,15.90
$FREEZE,5.76,11.528,-1.667,0,1,0
$STATE,8490,end climb,NO_VERTICAL_VELOCITY
$STATE,8490,begin surface
$SM_CCo,8624.86,130.68,0.905,0,501.0,486.2,515.8,534.50
$SM_GC,1.89,0.00,18.60,0.47,0.000,0.043,0.086,501.0,487.8,514.2,168.9,2178.1,0,0,0,30.00,15.62,15.61
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4653.82,-12453.07,260522,072744
$TCM_TEMP,176.64
$XPDR_PINGS,20,13.5,11.5
$HUMID,50.12
$TEMP,8.72
$INTERNAL_PRESSURE,8.5049
$24V_AH,15.03,64.140
$10V_AH,15.00,0.000
$FG_AHR_24Vo,73.231
$FG_AHR_10Vo,31.712
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,626.530,40.480,114.010,246.035,5.000,21.204,5803.302,5.718,0.000,3102.493,2206.156,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1390.800,261.496,162.768,224.387,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3351.591,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,968320,28,78388,65
$DATA_FILE_SIZE,67417,1521
$CAP_FILE_SIZE,278164,0
$SDSIZE,3918848,3873568
$SDFILEDIR,733,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047, 78.8,1
$IMPLIED_C_PITCH,2517,14.28,1211,0.0,0.00
$GPS,260522,123300,4653.366,-12455.112,47,1.1,47,15.6