version: 67.00
glider: 236
mission: 6
dive: 152
start: 5 27 122 3 53 19
data:
$ID,236
$MISSION,6
$DIVE,152
$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,2218.9492
$C_ROLL_CLIMB,2431.0969
$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,31.915846
$FG_AHR_24V,74.374519
$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
$GPS1,270522,034939,4653.359,-12455.433,4,1.0,46,15.6
$_CALLS,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-66.8
$GPS2,270522,035307,4653.353,-12455.422,3,1.0,7,15.6
$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,248.3,162,-22.6,-10.256,-30.00,1755,0.979
$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,4.33,16386,-82.73,-1.38,0.00,1055.5,1046.9,1064.1,166.6,2248.4,0.00,0.00,0,54.72,49.88,0.00,0.00,0.005,0.000,0.000,2062.06,2061.38,2062.75,166.38,2248.81,0,0,0,15.73,30.00,30.00
$GC,54.92,18983,-82.73,-1.38,-80.00,2059.0,2059.7,2058.4,166.5,2249.6,3.20,-3.42,9,108.92,30.28,15.52,4.01,0.006,0.256,0.142,3017.09,3010.00,3024.19,2034.81,801.56,0,0,0,15.75,15.78,15.71
$GC,196.76,1028,-82.73,-1.38,0.00,3016.9,3009.8,3024.0,2034.3,801.9,38.86,-30.95,37,202.47,0.00,0.00,3.48,0.000,0.000,0.054,3017.59,3010.44,3024.75,2034.75,2249.44,0,0,0,30.00,30.00,15.89
$GC,386.83,260,-82.73,-1.38,80.00,3016.2,3009.4,3023.1,2034.9,2249.7,78.74,-15.99,75,392.55,0.00,0.00,3.62,0.000,0.000,0.097,3017.72,3011.19,3024.25,2034.56,3639.38,0,0,0,30.00,30.00,15.93
$GC,621.85,1028,-82.73,-1.38,0.08,3016.2,3010.0,3022.3,2034.6,3639.0,121.95,-17.51,122,627.55,0.00,0.00,3.49,0.000,0.000,0.055,3016.25,3009.88,3022.62,2034.75,2199.69,0,0,0,30.00,30.00,15.97
$GC,931.93,260,-82.73,-1.38,80.00,3016.5,3010.2,3022.8,2034.6,2199.6,167.92,-14.91,184,937.65,0.00,0.00,3.73,0.000,0.000,0.094,3016.44,3010.12,3022.75,2035.12,3640.25,0,0,0,30.00,30.00,16.01
$GC,1161.94,1028,-82.73,-1.38,0.08,3016.3,3009.6,3023.1,2034.8,3640.4,202.59,-14.12,230,1167.66,0.00,0.00,3.52,0.000,0.000,0.055,3016.66,3009.81,3023.50,2035.06,2199.06,0,0,0,30.00,30.00,16.03
$GC,1472.03,260,-82.73,-1.38,80.00,3016.9,3010.8,3023.1,2034.4,2197.8,243.81,-13.68,292,1477.74,0.00,0.00,3.73,0.000,0.000,0.095,3017.84,3010.88,3024.81,2033.62,3639.12,0,0,0,30.00,30.00,16.05
$GC,1642.04,1028,-82.73,-1.38,0.25,3016.9,3010.4,3023.4,2034.5,3638.9,270.21,-15.47,326,1647.74,0.00,0.00,3.49,0.000,0.000,0.055,3019.03,3012.44,3025.62,2033.06,2202.56,0,0,0,30.00,30.00,16.06
$GC,1953.69,0,-82.73,-1.38,0.25,3017.1,3010.4,3023.8,2034.6,2202.9,309.75,-13.14,380,1963.67,0.00,0.00,0.00,0.000,0.000,0.000,3017.59,3010.25,3024.94,2034.50,2202.94,0,0,0,30.00,30.00,30.00
$GC,2273.73,516,-82.73,-1.38,-80.00,3016.8,3009.8,3023.8,2035.2,2202.2,355.34,-13.60,412,2288.27,0.00,0.00,3.85,0.000,0.000,0.157,3017.78,3011.50,3024.06,2034.62,803.06,0,0,0,30.00,30.00,16.06
$GC,2319.05,1028,-82.73,-1.38,0.30,3016.8,3009.9,3023.7,2034.5,803.1,363.00,-15.43,419,2331.82,0.00,0.00,3.47,0.000,0.000,0.057,3017.88,3011.31,3024.44,2034.06,2251.69,0,0,0,30.00,30.00,16.08
$STATE,2581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2581,begin apogee
$GC,2582.43,10243,0.00,-0.25,0.00,3016.5,3009.8,3023.1,2034.9,2458.9,401.36,-14.89,445,2653.78,64.58,2.00,0.10,1.410,0.158,0.176,2678.97,2685.31,2672.62,2310.31,2394.31,0,0,0,12.91,16.04,15.74
$STATE,2657,end apogee,CONTROL_FINISHED_OK
$STATE,2657,begin climb
$GC,2658.77,10503,82.73,1.38,80.00,2677.7,2684.1,2671.3,2309.5,2394.6,407.11,0.00,452,2736.12,69.79,2.77,3.33,1.366,0.118,0.104,2342.56,2349.38,2335.75,2705.50,3638.44,0,0,0,12.91,15.76,15.81
$GC,2866.62,11303,184.61,1.68,0.00,2339.6,2347.7,2331.5,2705.0,3639.6,401.03,4.29,482,2951.97,78.61,0.47,2.99,1.352,0.046,0.049,1927.38,1944.75,1910.00,2792.12,2397.06,0,0,0,12.86,15.73,15.76
$GC,3261.40,516,184.61,1.68,-80.00,1923.7,1942.5,1904.8,2793.4,2396.5,364.33,10.96,524,3275.92,0.00,0.00,3.88,0.000,0.000,0.134,1923.59,1942.88,1904.31,2794.00,966.81,0,0,0,30.00,30.00,15.82
$GC,3392.00,1028,184.61,1.68,-0.03,1922.2,1941.2,1903.1,2794.2,966.9,345.87,13.33,543,3404.82,0.00,0.00,3.65,0.000,0.000,0.058,1924.03,1942.94,1905.12,2792.38,2452.38,0,0,0,30.00,30.00,15.88
$GC,3714.27,0,184.61,1.68,-0.03,1922.6,1942.0,1903.1,2793.1,2452.4,308.30,11.74,575,3724.25,0.00,0.00,0.00,0.000,0.000,0.000,1923.62,1943.06,1904.19,2793.88,2452.19,0,0,0,30.00,30.00,30.00
$GC,4026.26,260,184.61,1.68,80.00,1922.7,1942.1,1903.3,2793.6,2452.3,272.60,10.67,629,4031.91,0.00,0.00,3.12,0.000,0.000,0.108,1922.84,1942.31,1903.38,2793.88,3639.00,0,0,0,30.00,30.00,15.99
$GC,4071.27,1028,184.61,1.68,-0.07,1922.3,1941.8,1902.8,2793.2,3638.8,267.45,10.69,638,4076.92,0.00,0.00,2.94,0.000,0.000,0.051,1922.34,1942.25,1902.44,2793.38,2400.31,0,0,0,30.00,30.00,16.00
$GC,4381.36,516,184.61,1.68,-80.00,1922.2,1941.9,1902.6,2793.6,2399.9,235.97,10.16,700,4387.11,0.00,0.00,3.80,0.000,0.000,0.132,1922.69,1942.38,1903.00,2793.31,966.50,0,0,0,30.00,30.00,16.01
$GC,4431.38,1028,184.61,1.68,-0.09,1922.0,1941.6,1902.4,2793.4,966.6,230.49,10.84,710,4437.09,0.00,0.00,3.58,0.000,0.000,0.058,1922.56,1942.25,1902.88,2793.25,2453.56,0,0,0,30.00,30.00,16.02
$GC,4741.41,260,184.61,1.68,80.00,1921.8,1941.5,1902.1,2794.0,2454.2,202.19,10.58,772,4747.06,0.00,0.00,3.09,0.000,0.000,0.107,1921.91,1941.56,1902.25,2793.00,3637.81,0,0,0,30.00,30.00,16.03
$GC,4926.44,1028,184.61,1.68,-0.02,1921.2,1941.0,1901.4,2794.1,3638.3,182.22,11.56,809,4932.06,0.00,0.00,2.92,0.000,0.000,0.051,1921.84,1941.56,1902.12,2793.88,2399.25,0,0,0,30.00,30.00,16.06
$GC,5236.51,8226,226.53,1.81,-0.02,1921.0,1941.1,1900.9,2793.3,2399.2,153.88,7.80,871,5272.20,34.02,0.00,0.00,1.100,0.000,0.000,1755.16,1775.12,1735.19,2793.62,2399.25,0,0,0,12.90,30.00,30.00
$GC,5576.59,10275,279.43,1.97,-0.02,1753.3,1774.6,1732.0,2793.3,2399.5,128.63,7.16,939,5627.79,49.24,0.32,0.00,1.050,0.058,0.000,1540.12,1559.12,1521.12,2860.12,2398.81,0,0,0,12.85,16.00,30.00
$GC,5931.64,260,279.43,1.97,80.00,1537.8,1558.6,1517.1,2860.5,2399.3,84.26,11.50,1010,5937.28,0.00,0.00,3.27,0.000,0.000,0.103,1538.25,1559.19,1517.31,2860.75,3638.12,0,0,0,30.00,30.00,15.94
$GC,6006.76,1028,279.43,1.97,0.01,1537.7,1558.6,1516.8,2860.2,3637.6,74.69,12.79,1025,6012.24,0.00,0.00,2.96,0.000,0.000,0.050,1537.84,1558.88,1516.81,2860.88,2403.06,0,0,0,30.00,30.00,15.96
$GC,6196.67,64,279.43,1.99,0.01,1537.7,1559.0,1516.4,2860.7,2403.6,53.63,9.42,1063,6200.67,0.00,0.00,0.00,0.000,0.000,0.000,1538.25,1559.56,1516.94,2860.88,2404.25,0,0,0,30.00,30.00,30.00
$GC,6381.69,10535,364.15,2.25,80.00,1537.4,1558.8,1516.0,2860.4,2404.2,41.14,5.30,1100,6474.06,84.93,0.32,3.29,0.965,0.056,0.103,1196.12,1213.25,1179.00,2928.75,3638.88,0,0,0,12.83,16.01,15.69
$GC,6581.93,1092,364.15,2.28,-0.04,1201.0,1218.1,1183.9,2929.8,3639.1,23.88,9.29,1140,6587.57,0.00,0.00,2.98,0.000,0.000,0.049,1201.94,1219.06,1184.81,2930.06,2403.12,0,0,0,30.00,30.00,15.82
$GC,6771.98,580,364.15,2.31,-80.00,1202.4,1220.5,1184.2,2929.9,2402.9,7.94,9.27,1178,6777.74,0.00,0.00,3.87,0.000,0.000,0.131,1202.34,1220.62,1184.06,2930.19,966.81,0,0,0,30.00,30.00,15.88
$STATE,6832,end climb,SURFACE_DEPTH_REACHED
$STATE,6832,begin surface coast
$FINISH,-0.2,1.020725
$STATE,6857,end surface coast,CONTROL_FINISHED_OK
$STATE,6857,begin surface
$SM_CCo,6922.13,34.52,0.949,0,1049.3,1040.0,1058.7,400.00
$SM_GC,2.77,34.52,17.57,3.08,0.949,0.036,0.056,1049.3,1040.0,1058.7,171.6,2263.5,0,0,0,12.87,15.92,15.91
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4653.82,-12453.07,270522,015639
$TCM_TEMP,175.80
$XPDR_PINGS,24,13.5,11.5
$HUMID,50.26
$TEMP,7.98
$INTERNAL_PRESSURE,8.50885
$24V_AH,15.15,65.765
$10V_AH,15.00,0.000
$FG_AHR_24Vo,74.530
$FG_AHR_10Vo,31.941
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,495.850,38.965,89.810,144.935,6.000,15.580,4780.384,5.853,0.000,2268.575,1737.869,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1410.152,255.920,175.560,207.003,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3355.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,968412,26,78336,65
$DATA_FILE_SIZE,54669,1195
$CAP_FILE_SIZE,223677,0
$SDSIZE,3918848,3872384
$SDFILEDIR,761,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,359.5,1
$IMPLIED_C_PITCH,2528,13.69,971,0.0,0.00
$IMPLIED_C_VBD,2754,52.362232,962,0
$GPS,270522,054937,4653.706,-12456.421,36,1.8,49,15.6