version: 67.00
glider: 236
mission: 6
dive: 149
start: 5 26 122 21 22 18
data:
$ID,236
$MISSION,6
$DIVE,149
$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,2212.3562
$C_ROLL_CLIMB,2428.1799
$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,31.829184
$FG_AHR_24V,73.87635
$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
$GPS1,260522,211810,4653.756,-12455.157,15,1.1,16,15.6
$_CALLS,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.4
$GPS2,260522,212206,4653.764,-12455.063,4,1.1,7,15.6
$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,220.0,968,-21.5,-7.857,-30.00,1542,1.149
$D_GRID,431
$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,4.36,16386,-79.81,-1.31,0.00,502.5,485.6,519.4,169.1,2237.2,0.00,0.00,0,64.94,60.10,0.00,0.00,0.005,0.000,0.000,1845.28,1844.00,1846.56,169.00,2237.31,0,0,0,15.68,30.00,30.00
$GC,65.14,18983,-82.73,-1.32,-80.00,1843.6,1842.7,1844.4,169.1,2237.5,3.23,-2.22,11,128.07,37.10,15.70,3.97,0.005,0.262,0.144,3017.41,3009.50,3025.31,2047.62,803.69,0,0,0,15.71,15.72,15.67
$GC,130.91,1028,-82.73,-1.32,0.00,3016.4,3008.2,3024.6,2048.2,804.2,11.11,-15.30,24,136.62,0.00,0.00,3.47,0.000,0.000,0.051,3017.22,3008.56,3025.88,2048.19,2240.31,0,0,0,30.00,30.00,15.81
$GC,320.96,260,-82.73,-1.32,80.00,3016.7,3008.5,3024.9,2048.2,2239.6,55.56,-21.63,62,326.69,0.00,0.00,3.66,0.000,0.000,0.097,3017.47,3010.06,3024.88,2046.75,3638.06,0,0,0,30.00,30.00,15.88
$GC,360.96,1028,-82.73,-1.32,-0.05,3016.2,3008.1,3024.2,2048.0,3638.2,64.19,-21.20,70,366.68,0.00,0.00,3.54,0.000,0.000,0.055,3016.66,3008.75,3024.56,2048.25,2193.00,0,0,0,30.00,30.00,15.90
$GC,550.99,260,-82.73,-1.32,80.00,3016.0,3008.2,3023.8,2048.1,2192.4,95.30,-16.54,108,556.74,0.00,0.00,3.77,0.000,0.000,0.092,3016.56,3009.12,3024.00,2048.31,3639.62,0,0,0,30.00,30.00,15.94
$GC,786.02,1028,-82.73,-1.32,0.10,3015.9,3008.1,3023.7,2047.8,3639.7,135.40,-13.20,155,791.75,0.00,0.00,3.51,0.000,0.000,0.053,3016.22,3008.56,3023.88,2048.94,2194.25,0,0,0,30.00,30.00,15.98
$GC,1096.12,260,-82.73,-1.32,80.00,3016.2,3008.4,3024.0,2048.4,2193.9,174.24,-12.92,217,1101.83,0.00,0.00,3.76,0.000,0.000,0.093,3017.62,3009.50,3025.75,2046.69,3638.81,0,0,0,30.00,30.00,16.02
$GC,1331.12,1028,-82.73,-1.32,0.13,3016.3,3008.2,3024.4,2047.9,3638.5,209.58,-16.12,264,1336.85,0.00,0.00,3.52,0.000,0.000,0.055,3017.22,3009.19,3025.25,2048.38,2197.69,0,0,0,30.00,30.00,16.04
$GC,1641.23,260,-82.73,-1.32,80.00,3016.3,3008.1,3024.5,2048.3,2197.5,250.88,-13.75,326,1646.94,0.00,0.00,3.77,0.000,0.000,0.095,3016.94,3009.00,3024.88,2048.12,3639.06,0,0,0,30.00,30.00,16.06
$GC,1771.19,1028,-82.73,-1.32,0.16,3016.3,3008.2,3024.3,2048.5,3639.0,272.41,-16.85,352,1776.92,0.00,0.00,3.51,0.000,0.000,0.055,3016.44,3008.75,3024.12,2047.88,2196.38,0,0,0,30.00,30.00,16.07
$GC,2077.80,0,-82.73,-1.32,0.16,3016.2,3007.9,3024.6,2048.2,2196.1,317.22,-14.40,400,2087.78,0.00,0.00,0.00,0.000,0.000,0.000,3017.16,3009.19,3025.12,2047.75,2196.06,0,0,0,30.00,30.00,30.00
$GC,2397.85,260,-82.73,-1.32,80.00,3016.0,3008.3,3023.6,2047.8,2195.8,360.16,-12.82,432,2412.36,0.00,0.00,3.77,0.000,0.000,0.098,3016.44,3008.81,3024.06,2048.81,3636.94,0,0,0,30.00,30.00,16.09
$GC,2457.36,1028,-82.73,-1.32,0.20,3016.3,3008.2,3024.4,2047.9,3638.0,369.16,-14.90,441,2470.15,0.00,0.00,3.51,0.000,0.000,0.057,3016.78,3009.12,3024.44,2048.25,2197.44,0,0,0,30.00,30.00,16.09
$GC,2779.58,0,-82.73,-1.32,0.20,3016.1,3008.5,3023.8,2049.1,2197.2,409.82,-12.36,473,2789.57,0.00,0.00,0.00,0.000,0.000,0.000,3016.31,3008.50,3024.12,2048.19,2197.00,0,0,0,30.00,30.00,30.00
$STATE,2950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2950,begin apogee
$GC,2951.30,10243,0.00,-0.25,0.00,3016.2,3009.1,3023.2,2047.8,2458.1,431.52,-12.40,490,3022.64,64.56,1.89,0.11,1.440,0.155,0.172,2679.16,2685.12,2673.19,2310.25,2393.88,0,0,0,12.91,16.05,15.74
$STATE,3025,end apogee,CONTROL_FINISHED_OK
$STATE,3025,begin climb
$GC,3027.63,10503,82.73,1.32,80.00,2678.4,2685.1,2671.8,2309.9,2392.6,436.61,0.00,497,3104.97,69.76,2.70,3.37,1.399,0.121,0.103,2340.56,2347.88,2333.25,2691.88,3638.94,0,0,0,12.94,15.77,15.81
$GC,3150.06,11303,136.63,1.48,0.00,2342.1,2348.6,2335.6,2691.1,3638.9,432.05,4.26,515,3206.57,43.67,0.24,3.03,1.352,0.062,0.049,2121.53,2134.50,2108.56,2746.69,2395.81,0,0,0,12.83,15.66,15.68
$GC,3516.02,0,136.63,1.48,0.00,2118.5,2134.1,2102.9,2746.0,2395.2,407.28,7.70,553,3526.01,0.00,0.00,0.00,0.000,0.000,0.000,2119.44,2134.62,2104.25,2746.69,2395.50,0,0,0,30.00,30.00,30.00
$GC,3836.07,516,136.63,1.48,-80.00,2117.5,2133.3,2101.7,2745.7,2395.0,384.02,8.22,585,3850.60,0.00,0.00,3.89,0.000,0.000,0.130,2119.28,2135.25,2103.31,2745.88,964.12,0,0,0,30.00,30.00,15.93
$GC,3952.47,1028,136.63,1.48,-0.03,2116.3,2132.0,2100.6,2745.4,964.0,372.20,9.98,602,3965.34,0.00,0.00,3.67,0.000,0.000,0.058,2117.88,2133.75,2102.00,2746.06,2451.44,0,0,0,30.00,30.00,15.96
$GC,4274.77,260,136.63,1.48,80.00,2117.4,2133.6,2101.2,2746.1,2452.7,345.70,8.44,634,4289.17,0.00,0.00,3.17,0.000,0.000,0.108,2117.97,2133.94,2102.00,2745.38,3637.94,0,0,0,30.00,30.00,15.99
$GC,4374.69,1028,136.63,1.48,0.02,2117.2,2133.2,2101.1,2745.8,3638.2,336.71,8.78,648,4378.84,0.00,0.00,2.98,0.000,0.000,0.052,2117.56,2133.44,2101.69,2745.00,2396.56,0,0,0,30.00,30.00,16.02
$GC,4684.33,516,136.63,1.48,-80.00,2116.6,2133.8,2099.3,2745.8,2397.1,311.66,8.06,679,4698.86,0.00,0.00,3.87,0.000,0.000,0.132,2116.66,2133.44,2099.88,2745.50,963.12,0,0,0,30.00,30.00,16.03
$GC,4798.61,1028,136.63,1.48,-0.03,2115.4,2131.9,2098.9,2746.0,963.0,301.49,8.68,695,4813.11,0.00,0.00,3.65,0.000,0.000,0.060,2117.66,2134.25,2101.06,2746.06,2451.69,0,0,0,30.00,30.00,16.04
$GC,5115.17,0,136.63,1.48,-0.03,2115.5,2132.7,2098.4,2745.7,2451.8,273.82,7.65,756,5119.18,0.00,0.00,0.00,0.000,0.000,0.000,2116.47,2133.81,2099.12,2745.50,2451.88,0,0,0,30.00,30.00,30.00
$GC,5420.24,64,136.63,1.54,-0.03,2115.6,2133.0,2098.1,2745.5,2451.9,253.40,5.88,817,5424.24,0.00,0.00,0.00,0.000,0.000,0.000,2116.41,2134.06,2098.75,2745.56,2451.69,0,0,0,30.00,30.00,30.00
$GC,5725.35,580,136.63,1.59,-80.00,2115.2,2132.9,2097.5,2745.6,2452.1,235.24,6.26,878,5731.12,0.00,0.00,3.97,0.000,0.000,0.127,2115.22,2132.94,2097.50,2745.94,964.12,0,0,0,30.00,30.00,16.07
$GC,5775.41,17478,136.63,1.61,-0.03,2114.6,2132.1,2097.1,2745.8,963.6,231.58,7.31,888,5781.22,0.00,0.00,3.61,0.000,0.000,0.060,2116.06,2133.69,2098.44,2744.31,2451.81,0,0,0,30.00,30.00,16.08
$GC,6085.48,16710,136.63,1.63,80.00,2114.3,2131.6,2096.9,2745.8,2451.8,211.32,7.24,950,6091.11,0.00,0.00,3.14,0.000,0.000,0.108,2114.28,2131.69,2096.88,2745.88,3639.12,0,0,0,30.00,30.00,16.08
$GC,6180.50,17414,136.63,1.63,-0.05,2114.3,2131.6,2097.1,2746.0,3638.7,204.29,7.52,969,6186.11,0.00,0.00,2.95,0.000,0.000,0.051,2115.53,2132.81,2098.25,2745.12,2394.75,0,0,0,30.00,30.00,16.10
$GC,6490.63,10535,172.04,1.73,80.00,2114.2,2131.3,2097.1,2745.8,2395.6,186.49,5.50,1031,6521.85,26.07,0.26,3.30,1.140,0.071,0.105,1976.88,1993.44,1960.31,2803.31,3639.25,0,0,0,12.94,16.09,15.94
$GC,6580.58,1028,172.04,1.73,0.00,1975.8,1994.1,1957.4,2803.1,3639.2,179.09,8.12,1049,6586.21,0.00,0.00,2.98,0.000,0.000,0.051,1976.03,1994.81,1957.25,2803.69,2395.81,0,0,0,30.00,30.00,16.01
$GC,6890.65,260,172.04,1.73,80.00,1975.1,1994.2,1955.9,2803.2,2396.6,153.59,9.44,1111,6896.32,0.00,0.00,3.32,0.000,0.000,0.103,1976.44,1995.44,1957.44,2802.94,3639.81,0,0,0,30.00,30.00,16.03
$GC,6995.72,1028,172.04,1.73,0.08,1975.2,1994.0,1956.5,2803.6,3640.6,142.94,10.14,1132,7001.42,0.00,0.00,2.97,0.000,0.000,0.050,1975.31,1994.38,1956.25,2804.12,2398.44,0,0,0,30.00,30.00,16.05
$GC,7305.76,324,172.04,1.77,80.00,1974.8,1993.9,1955.6,2803.7,2398.1,118.51,6.77,1194,7311.56,0.00,0.00,3.29,0.000,0.000,0.103,1974.53,1993.31,1955.75,2803.38,3638.62,0,0,0,30.00,30.00,16.06
$GC,7430.74,1092,172.04,1.79,0.13,1974.8,1994.1,1955.6,2804.0,3638.9,108.95,7.02,1219,7436.36,0.00,0.00,2.96,0.000,0.000,0.050,1974.81,1994.38,1955.25,2803.88,2397.75,0,0,0,30.00,30.00,16.07
$GC,7740.84,324,172.04,1.84,80.00,1974.5,1993.9,1955.1,2803.3,2398.5,90.21,6.04,1281,7746.46,0.00,0.00,3.27,0.000,0.000,0.101,1976.03,1995.62,1956.44,2802.31,3639.50,0,0,0,30.00,30.00,16.08
$GC,7975.84,11303,229.59,2.02,0.27,1974.5,1993.9,1955.1,2803.4,3639.1,76.08,4.02,1328,8037.65,57.33,0.33,2.95,1.006,0.066,0.049,1743.59,1763.50,1723.69,2872.75,2395.62,0,0,0,12.90,16.06,16.09
$GC,8220.88,8486,269.68,2.14,80.00,1741.1,1762.3,1719.9,2872.5,2395.6,65.89,5.18,1377,8267.30,39.67,0.00,3.33,0.969,0.000,0.100,1580.41,1599.94,1560.88,2873.06,3638.19,0,0,0,12.84,30.00,15.77
$GC,8495.91,11303,319.71,2.29,0.46,1577.5,1598.9,1556.1,2873.2,3638.2,49.40,4.52,1432,8552.59,49.79,0.31,2.97,0.964,0.064,0.049,1376.25,1394.94,1357.56,2938.12,2403.75,0,0,0,12.79,15.89,15.91
$GC,8736.08,260,319.71,2.29,80.00,1377.7,1397.4,1357.9,2937.5,2403.4,31.26,8.32,1480,8741.61,0.00,0.00,3.29,0.000,0.000,0.100,1377.78,1397.56,1358.00,2937.56,3637.81,0,0,0,30.00,30.00,15.86
$GC,8970.97,1028,319.71,2.29,0.44,1377.3,1396.9,1357.6,2937.0,3638.0,10.30,8.09,1527,8976.60,0.00,0.00,2.95,0.000,0.000,0.049,1377.41,1397.19,1357.62,2937.56,2405.81,0,0,0,30.00,30.00,15.94
$STATE,9081,end climb,SURFACE_DEPTH_REACHED
$STATE,9081,begin surface coast
$FINISH,0.0,1.023863
$STATE,9111,end surface coast,CONTROL_FINISHED_OK
$STATE,9111,begin surface
$SM_CCo,9211.26,72.88,0.952,0,1049.8,1036.4,1063.2,399.88
$SM_GC,2.04,72.88,17.72,0.47,0.952,0.040,0.089,1049.8,1036.4,1063.2,168.5,2192.2,0,0,0,12.81,15.93,15.95
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4655.12,-12454.87,260522,185334
$TCM_TEMP,176.44
$XPDR_PINGS,25,13.5,11.5
$HUMID,50.15
$TEMP,8.29
$INTERNAL_PRESSURE,8.51734
$24V_AH,15.08,65.155
$10V_AH,15.00,0.000
$FG_AHR_24Vo,74.036
$FG_AHR_10Vo,31.863
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,520.920,39.155,123.870,171.216,6.250,15.556,6400.273,5.738,0.000,2928.203,2254.778,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1439.672,261.824,171.624,208.286,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,4202.032,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,968328,30,78340,65
$DATA_FILE_SIZE,70693,1555
$CAP_FILE_SIZE,279246,0
$SDSIZE,3918848,3872800
$SDFILEDIR,749,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,238.3,1
$IMPLIED_C_PITCH,2516,14.16,1282,0.0,0.00
$GPS,260522,235636,4653.296,-12456.071,42,1.2,42,15.6