version: 67.00
glider: 236
mission: 6
dive: 150
start: 5 27 122 0 0 55
data:
$ID,236
$MISSION,6
$DIVE,150
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,400
$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,130
$T_MISSION,160
$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,2215.9927
$C_ROLL_CLIMB,2436.1357
$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,31.864231
$FG_AHR_24V,74.045883
$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
$GPS1,260522,235636,4653.296,-12456.071,42,1.2,42,15.6
$_CALLS,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-69.1
$GPS2,270522,000043,4653.282,-12456.028,4,1.2,7,15.6
$SPEED_LIMITS,0.178,0.188
$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,58.8,623,-22.6,-10.256,-30.00,1755,1.125
$D_GRID,486
$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,2,end surface,CONTROL_FINISHED_OK
$STATE,2,begin dive
$GC,4.35,16386,-82.73,-1.38,0.00,1055.3,1044.4,1066.2,167.9,2239.0,0.00,0.00,0,59.84,54.97,0.00,0.00,0.005,0.000,0.000,2173.62,2166.88,2180.38,167.81,2239.50,0,0,0,14.39,30.00,30.00
$GC,60.04,18727,-82.73,-1.38,80.00,2171.8,2166.0,2177.5,167.7,2239.1,3.52,-3.93,10,107.76,23.51,15.60,3.72,0.006,0.262,0.101,3017.88,3011.81,3023.94,2034.69,3640.19,0,0,0,15.74,15.75,15.69
$GC,335.63,1028,-82.73,-1.38,0.00,3017.3,3011.1,3023.4,2034.4,3640.4,76.50,-20.45,65,341.36,0.00,0.00,3.56,0.000,0.000,0.057,3018.75,3012.69,3024.81,2034.06,2195.44,0,0,0,30.00,30.00,15.90
$GC,525.68,260,-82.73,-1.38,80.00,3016.8,3011.0,3022.7,2034.5,2196.2,106.76,-13.97,103,531.43,0.00,0.00,3.78,0.000,0.000,0.094,3016.91,3011.12,3022.69,2034.75,3638.88,0,0,0,30.00,30.00,15.95
$GC,575.68,1028,-82.73,-1.38,-0.09,3016.7,3010.9,3022.6,2034.7,3639.4,115.11,-18.41,113,581.41,0.00,0.00,3.53,0.000,0.000,0.054,3017.50,3011.19,3023.81,2034.69,2194.75,0,0,0,30.00,30.00,15.96
$GC,885.77,0,-82.73,-1.38,-0.09,3016.7,3011.0,3022.3,2035.2,2194.1,160.14,-15.35,175,889.77,0.00,0.00,0.00,0.000,0.000,0.000,3017.72,3011.62,3023.81,2034.62,2193.94,0,0,0,30.00,30.00,30.00
$GC,1190.79,516,-82.73,-1.38,-80.00,3017.2,3011.4,3023.1,2035.0,2193.3,205.24,-13.58,236,1196.56,0.00,0.00,3.84,0.000,0.000,0.155,3017.28,3011.62,3022.94,2034.31,803.00,0,0,0,30.00,30.00,16.00
$GC,1245.80,1028,-82.73,-1.38,-0.07,3016.8,3010.8,3022.9,2034.4,802.9,214.17,-17.85,247,1251.51,0.00,0.00,3.47,0.000,0.000,0.056,3016.91,3010.69,3023.12,2034.62,2243.25,0,0,0,30.00,30.00,16.03
$GC,1555.88,516,-82.73,-1.38,-80.00,3017.0,3010.9,3023.1,2034.5,2242.8,257.73,-12.94,309,1561.64,0.00,0.00,3.94,0.000,0.000,0.151,3017.97,3011.81,3024.12,2034.81,802.38,0,0,0,30.00,30.00,16.03
$GC,1595.86,1028,-82.73,-1.38,-0.10,3017.3,3010.9,3023.7,2034.6,802.2,263.41,-15.16,317,1601.56,0.00,0.00,3.43,0.000,0.000,0.055,3018.28,3012.38,3024.19,2034.44,2242.56,0,0,0,30.00,30.00,16.05
$GC,1902.46,516,-82.73,-1.38,-80.00,3017.1,3010.8,3023.4,2035.4,2243.1,306.00,-14.39,373,1917.00,0.00,0.00,3.91,0.000,0.000,0.151,3018.12,3012.12,3024.12,2034.50,804.06,0,0,0,30.00,30.00,16.04
$GC,1933.55,1028,-82.73,-1.38,-0.13,3017.2,3010.4,3023.9,2034.6,804.0,311.95,-16.09,378,1946.36,0.00,0.00,3.42,0.000,0.000,0.055,3017.53,3010.81,3024.25,2035.00,2241.81,0,0,0,30.00,30.00,16.07
$GC,2255.80,260,-82.73,-1.38,80.00,3016.9,3010.4,3023.4,2034.2,2241.6,358.45,-13.96,410,2270.29,0.00,0.00,3.61,0.000,0.000,0.100,3017.62,3011.25,3024.00,2034.44,3638.81,0,0,0,30.00,30.00,16.07
$GC,2441.20,1028,-82.73,-1.38,-0.06,3017.0,3010.6,3023.4,2034.5,3640.1,388.23,-16.55,436,2455.66,0.00,0.00,3.44,0.000,0.000,0.057,3018.16,3012.19,3024.12,2033.94,2195.25,0,0,0,30.00,30.00,16.08
$STATE,2526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2526,begin apogee
$GC,2527.50,10243,0.00,-0.25,0.00,3017.0,3010.4,3023.7,2034.7,2466.0,400.67,-14.35,445,2598.84,64.62,2.00,0.11,1.407,0.157,0.178,2679.06,2685.44,2672.69,2310.50,2400.69,0,0,0,12.87,16.03,15.72
$STATE,2602,end apogee,CONTROL_FINISHED_OK
$STATE,2602,begin climb
$GC,2603.83,11271,82.73,1.38,0.00,2678.2,2685.4,2670.9,2310.2,2400.8,405.84,0.00,452,2679.59,70.17,2.76,0.10,1.388,0.104,0.125,2342.47,2348.94,2336.00,2704.69,2463.31,0,0,0,12.89,15.76,15.80
$GC,2989.70,10275,169.13,1.64,0.00,2337.7,2347.0,2328.4,2706.1,2463.8,388.16,5.20,494,3061.08,66.46,0.38,0.00,1.340,0.048,0.000,1990.31,2006.19,1974.44,2781.50,2462.75,0,0,0,12.76,15.86,30.00
$GC,3370.52,8226,208.55,1.76,0.00,1987.0,2004.8,1969.2,2783.1,2463.5,357.39,7.95,532,3411.18,32.86,0.00,0.00,1.273,0.000,0.000,1829.91,1849.69,1810.12,2782.12,2463.88,0,0,0,12.78,30.00,30.00
$GC,3720.64,10275,257.69,1.90,0.00,1827.9,1848.5,1807.4,2782.1,2463.8,328.23,7.38,567,3761.49,38.44,0.29,0.00,1.267,0.060,0.000,1629.25,1649.25,1609.25,2846.38,2463.19,0,0,0,12.80,15.88,30.00
$GC,4062.86,260,257.69,1.90,80.00,1626.7,1648.7,1604.8,2847.2,2464.2,283.40,15.03,611,4068.49,0.00,0.00,3.13,0.000,0.000,0.107,1627.59,1649.38,1605.81,2846.25,3637.94,0,0,0,30.00,30.00,15.88
$GC,4127.84,1028,257.69,1.90,-0.03,1626.4,1648.4,1604.4,2846.8,3638.4,273.60,15.39,624,4133.51,0.00,0.00,2.96,0.000,0.000,0.052,1627.06,1649.31,1604.81,2846.44,2406.69,0,0,0,30.00,30.00,15.90
$GC,4437.90,516,257.69,1.90,-80.00,1626.2,1648.4,1604.0,2846.4,2407.1,231.96,12.68,686,4443.67,0.00,0.00,3.89,0.000,0.000,0.133,1626.19,1648.31,1604.06,2846.69,971.56,0,0,0,30.00,30.00,15.95
$GC,4497.91,1028,257.69,1.90,-0.07,1625.9,1647.8,1603.9,2846.8,971.5,223.34,14.46,698,4503.65,0.00,0.00,3.64,0.000,0.000,0.058,1626.50,1648.31,1604.69,2846.62,2456.38,0,0,0,30.00,30.00,15.97
$GC,4808.00,0,257.69,1.90,-0.07,1625.7,1647.1,1604.3,2846.9,2456.2,185.89,12.40,760,4812.00,0.00,0.00,0.00,0.000,0.000,0.000,1626.00,1647.88,1604.12,2846.88,2456.50,0,0,0,30.00,30.00,30.00
$GC,5113.03,516,257.69,1.90,-80.00,1625.0,1646.7,1603.3,2846.8,2456.4,151.05,10.60,821,5118.81,0.00,0.00,3.99,0.000,0.000,0.126,1625.88,1647.56,1604.19,2845.75,972.12,0,0,0,30.00,30.00,16.02
$GC,5233.06,1028,257.69,1.90,-0.05,1624.6,1646.0,1603.2,2846.6,972.2,136.30,11.62,845,5238.82,0.00,0.00,3.62,0.000,0.000,0.058,1625.44,1646.81,1604.06,2847.19,2459.31,0,0,0,30.00,30.00,16.04
$GC,5543.22,0,257.69,1.90,-0.05,1624.3,1645.8,1602.8,2847.1,2459.3,102.76,11.05,907,5547.22,0.00,0.00,0.00,0.000,0.000,0.000,1624.88,1646.12,1603.62,2846.50,2459.38,0,0,0,30.00,30.00,30.00
$GC,5848.33,324,257.69,1.94,80.00,1623.9,1645.3,1602.5,2846.2,2459.3,70.46,9.08,968,5854.06,0.00,0.00,3.10,0.000,0.000,0.107,1624.16,1645.88,1602.44,2847.12,3637.12,0,0,0,30.00,30.00,16.06
$GC,5998.32,1028,257.69,1.94,0.00,1623.6,1644.9,1602.2,2846.9,3636.9,52.83,10.29,998,6003.96,0.00,0.00,2.93,0.000,0.000,0.050,1623.88,1645.38,1602.38,2846.62,2401.62,0,0,0,30.00,30.00,16.07
$GC,6188.39,10791,363.33,2.26,-80.00,1623.9,1645.8,1602.1,2847.0,2401.6,42.25,4.07,1036,6301.27,105.38,0.41,3.93,0.969,0.048,0.129,1198.88,1215.25,1182.50,2934.12,972.62,0,0,0,12.83,16.08,15.69
$GC,6404.20,1028,363.33,2.26,-0.20,1203.0,1222.8,1183.3,2934.1,972.4,26.66,10.10,1079,6410.08,0.00,0.00,3.63,0.000,0.000,0.055,1203.53,1223.31,1183.75,2934.25,2454.88,0,0,0,30.00,30.00,15.83
$GC,6594.29,324,363.33,2.29,80.00,1203.9,1224.3,1183.6,2934.1,2454.5,10.26,8.93,1117,6600.10,0.00,0.00,3.15,0.000,0.000,0.104,1204.09,1224.38,1183.81,2933.88,3639.94,0,0,0,30.00,30.00,15.90
$GC,6664.33,1092,363.33,2.34,-0.07,1204.0,1224.3,1183.7,2934.6,3640.4,4.14,8.73,1131,6670.05,0.00,0.00,2.97,0.000,0.000,0.048,1204.62,1224.69,1184.56,2932.94,2402.81,0,0,0,30.00,30.00,15.92
$STATE,6704,end climb,SURFACE_DEPTH_REACHED
$STATE,6705,begin surface coast
$FINISH,0.1,1.023878
$STATE,6740,end surface coast,CONTROL_FINISHED_OK
$STATE,6740,begin surface
$SM_CCo,6801.43,35.32,1.002,0,1049.8,1039.4,1060.2,399.88
$SM_GC,4.63,35.32,17.66,0.47,1.002,0.065,0.083,1049.8,1039.4,1060.2,166.8,2191.4,0,0,0,12.78,15.89,15.94
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4653.31,-12500.04,260522,211927
$TCM_TEMP,176.08
$XPDR_PINGS,21,13.5,11.5
$HUMID,50.03
$TEMP,8.04
$INTERNAL_PRESSURE,8.5121
$24V_AH,15.16,65.368
$10V_AH,15.00,0.000
$FG_AHR_24Vo,74.203
$FG_AHR_10Vo,31.889
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,491.730,39.095,85.970,178.375,5.250,16.115,4813.480,6.175,0.000,2152.537,1668.403,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1406.872,261.824,178.184,202.836,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3538.386,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,51448,1146
$CAP_FILE_SIZE,218090,0
$SDSIZE,3918848,3872704
$SDFILEDIR,753,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114, 52.5,1
$MAGCAL,1.000000,0.125309,-0.117290,-0.077660,0.755089,-0.228517,-0.001234,-0.076628,0.778291,-556.4,-96.7,86.1,36,0.1722,0
$IMPLIED_C_PITCH,2536,13.44,926,0.0,0.00
$IMPLIED_C_VBD,2731,53.339645,858,0
$GPS,270522,015531,4653.649,-12454.536,67,1.0,68,15.6