version: 67.00
glider: 236
mission: 6
dive: 153
start: 5 27 122 5 53 24
data:
$ID,236
$MISSION,6
$DIVE,153
$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,2224.4331
$C_ROLL_CLIMB,2427.9392
$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,31.942463
$FG_AHR_24V,74.538383
$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
$GPS1,270522,054937,4653.706,-12456.421,36,1.8,49,15.6
$_CALLS,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.3
$GPS2,270522,055312,4653.708,-12456.392,3,1.0,7,15.6
$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,130.7,1246,-21.0,-10.256,-28.66,1952,0.819
$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,2,end surface,CONTROL_FINISHED_OK
$STATE,2,begin dive
$GC,4.34,16386,-82.73,-1.30,0.00,1054.0,1045.8,1062.2,171.4,2196.6,0.00,0.00,0,70.01,65.19,0.00,0.00,0.005,0.000,0.000,2322.69,2308.50,2336.88,171.25,2196.75,0,0,0,15.74,30.00,30.00
$GC,70.22,18727,-82.73,-1.30,80.00,2321.4,2307.0,2335.8,171.6,2196.6,3.52,-3.41,12,112.61,18.47,15.20,3.79,0.006,0.260,0.101,3018.16,3013.19,3023.12,2054.88,3639.31,0,0,0,15.76,15.78,15.73
$GC,255.46,1028,-82.73,-1.30,0.00,3017.8,3012.1,3023.6,2054.9,3638.7,50.90,-24.37,49,261.24,0.00,0.00,3.51,0.000,0.000,0.056,3018.03,3012.25,3023.81,2055.00,2203.94,0,0,0,30.00,30.00,15.91
$GC,445.51,260,-82.73,-1.30,80.00,3017.4,3012.9,3021.9,2054.9,2204.2,85.22,-17.28,87,451.27,0.00,0.00,3.71,0.000,0.000,0.096,3018.44,3013.31,3023.56,2055.00,3639.62,0,0,0,30.00,30.00,15.95
$GC,495.52,1028,-82.73,-1.30,0.08,3017.3,3012.3,3022.4,2054.8,3639.6,94.21,-18.79,97,501.23,0.00,0.00,3.47,0.000,0.000,0.055,3017.41,3012.50,3022.31,2055.06,2204.12,0,0,0,30.00,30.00,15.96
$GC,685.55,260,-82.73,-1.30,80.00,3016.8,3012.7,3021.0,2055.5,2204.0,124.36,-17.16,135,691.30,0.00,0.00,3.68,0.000,0.000,0.094,3016.72,3012.62,3020.81,2054.94,3639.88,0,0,0,30.00,30.00,15.99
$GC,795.56,1028,-82.73,-1.30,0.13,3016.4,3012.1,3020.6,2054.7,3640.2,145.05,-17.83,157,801.27,0.00,0.00,3.47,0.000,0.000,0.054,3016.53,3012.31,3020.75,2055.06,2205.25,0,0,0,30.00,30.00,16.00
$GC,1105.65,0,-82.73,-1.30,0.13,3016.0,3011.9,3020.2,2054.6,2205.7,188.09,-12.23,219,1109.66,0.00,0.00,0.00,0.000,0.000,0.000,3017.41,3013.69,3021.12,2055.06,2205.56,0,0,0,30.00,30.00,30.00
$GC,1410.68,0,-82.73,-1.30,0.13,3016.3,3012.1,3020.6,2055.0,2205.9,224.42,-13.40,280,1414.69,0.00,0.00,0.00,0.000,0.000,0.000,3017.12,3013.19,3021.06,2054.88,2205.94,0,0,0,30.00,30.00,30.00
$GC,1715.73,0,-82.73,-1.30,0.13,3015.7,3011.8,3019.6,2055.0,2205.9,263.39,-13.88,341,1719.74,0.00,0.00,0.00,0.000,0.000,0.000,3017.19,3012.75,3021.62,2054.38,2205.44,0,0,0,30.00,30.00,30.00
$GC,2027.33,0,-82.73,-1.30,0.13,3015.8,3012.4,3019.1,2055.2,2204.9,304.10,-13.05,399,2037.32,0.00,0.00,0.00,0.000,0.000,0.000,3016.41,3013.00,3019.81,2054.81,2205.88,0,0,0,30.00,30.00,30.00
$GC,2347.35,260,-82.73,-1.30,80.00,3015.2,3012.2,3018.2,2054.8,2206.0,346.53,-14.43,431,2361.86,0.00,0.00,3.71,0.000,0.000,0.099,3015.56,3012.94,3018.19,2055.12,3639.44,0,0,0,30.00,30.00,16.09
$GC,2421.08,1028,-82.73,-1.30,0.18,3014.8,3011.6,3018.0,2054.9,3639.7,358.67,-13.43,442,2433.85,0.00,0.00,3.47,0.000,0.000,0.058,3015.09,3012.38,3017.81,2054.81,2209.00,0,0,0,30.00,30.00,16.10
$STATE,2693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2694,begin apogee
$GC,2694.99,10243,0.00,-0.25,0.00,3014.7,3012.1,3017.3,2055.3,2454.6,393.74,-13.02,469,2766.29,64.05,1.78,0.11,1.413,0.154,0.177,2678.44,2684.94,2671.94,2309.50,2392.44,0,0,0,12.89,16.04,15.74
$STATE,2769,end apogee,CONTROL_FINISHED_OK
$STATE,2769,begin climb
$GC,2771.28,10759,82.73,1.30,-80.00,2678.2,2685.6,2670.8,2310.0,2391.9,398.22,0.00,476,2859.02,69.43,2.68,3.91,1.362,0.135,0.137,2342.66,2345.75,2339.56,2685.50,963.81,0,0,0,12.89,15.75,15.80
$GC,2889.81,11303,196.08,1.64,0.00,2342.2,2345.9,2338.6,2684.9,963.6,394.11,4.29,493,2989.87,87.39,0.52,3.65,1.339,0.042,0.058,1881.31,1899.06,1863.56,2783.25,2453.56,0,0,0,12.81,15.65,15.66
$GC,3299.33,64,196.08,1.68,0.00,1880.3,1899.6,1861.1,2783.8,2454.0,357.96,8.77,537,3309.30,0.00,0.00,0.00,0.000,0.000,0.000,1881.38,1900.12,1862.62,2783.50,2453.81,0,0,0,30.00,30.00,30.00
$GC,3619.36,64,196.08,1.72,0.00,1879.8,1899.4,1860.1,2783.6,2453.9,330.52,8.82,569,3629.33,0.00,0.00,0.00,0.000,0.000,0.000,1880.00,1899.88,1860.12,2783.62,2454.50,0,0,0,30.00,30.00,30.00
$GC,3938.61,0,196.08,1.72,0.00,1879.5,1899.6,1859.4,2784.0,2454.4,298.64,9.97,601,3941.63,0.00,0.00,0.00,0.000,0.000,0.000,1879.44,1899.62,1859.25,2783.50,2453.88,0,0,0,30.00,30.00,30.00
$GC,4246.70,0,196.08,1.72,0.00,1879.0,1899.4,1858.7,2783.8,2454.4,266.87,9.84,663,4250.70,0.00,0.00,0.00,0.000,0.000,0.000,1879.66,1899.88,1859.44,2783.69,2454.62,0,0,0,30.00,30.00,30.00
$GC,4551.75,0,196.08,1.72,0.00,1878.4,1898.5,1858.2,2783.4,2454.4,236.54,10.10,724,4555.75,0.00,0.00,0.00,0.000,0.000,0.000,1879.22,1899.69,1858.75,2783.50,2454.69,0,0,0,30.00,30.00,30.00
$GC,4856.95,10791,239.80,1.86,-80.00,1877.9,1898.6,1857.3,2783.3,2454.6,209.05,7.96,785,4898.38,33.30,0.22,4.03,1.212,0.068,0.128,1700.44,1717.88,1683.00,2837.38,962.44,0,0,0,12.89,16.05,15.86
$GC,4956.80,1028,239.80,1.86,-0.05,1699.4,1716.9,1682.0,2838.4,962.1,197.32,14.20,805,4962.68,0.00,0.00,3.65,0.000,0.000,0.061,1700.00,1716.69,1683.31,2836.75,2449.44,0,0,0,30.00,30.00,15.94
$GC,5266.86,0,239.80,1.86,-0.05,1698.8,1716.8,1680.9,2838.1,2449.8,159.59,10.59,867,5270.86,0.00,0.00,0.00,0.000,0.000,0.000,1699.41,1717.38,1681.44,2837.75,2450.06,0,0,0,30.00,30.00,30.00
$GC,5571.93,0,239.80,1.86,-0.05,1698.4,1716.8,1679.9,2837.8,2449.9,127.99,12.15,928,5575.93,0.00,0.00,0.00,0.000,0.000,0.000,1698.94,1717.50,1680.38,2838.06,2449.94,0,0,0,30.00,30.00,30.00
$GC,5876.96,516,239.80,1.86,-80.00,1698.2,1717.0,1679.4,2838.0,2450.1,94.85,9.78,989,5882.76,0.00,0.00,3.99,0.000,0.000,0.127,1698.16,1716.94,1679.38,2837.88,964.38,0,0,0,30.00,30.00,16.04
$GC,5911.97,1028,239.80,1.86,-0.08,1698.3,1716.9,1679.6,2837.6,963.9,91.37,9.92,996,5917.69,0.00,0.00,3.59,0.000,0.000,0.058,1698.53,1717.25,1679.81,2837.94,2452.31,0,0,0,30.00,30.00,16.04
$GC,6102.02,8742,288.86,2.00,-80.00,1697.8,1716.6,1679.0,2838.0,2452.3,74.70,7.67,1034,6158.45,48.59,0.00,4.03,0.998,0.000,0.127,1501.06,1519.44,1482.69,2838.00,962.88,0,0,0,12.86,30.00,15.84
$GC,6162.24,11303,352.82,2.19,-0.23,1500.6,1519.1,1482.1,2837.9,963.0,70.66,6.89,1046,6234.09,64.58,0.40,3.58,0.975,0.050,0.056,1241.53,1256.94,1226.12,2923.94,2451.94,0,0,0,12.84,15.89,15.89
$GC,6417.07,260,352.82,2.19,80.00,1244.6,1262.9,1226.4,2923.7,2451.1,40.78,12.20,1097,6422.72,0.00,0.00,3.11,0.000,0.000,0.106,1244.62,1262.38,1226.88,2923.12,3637.19,0,0,0,30.00,30.00,15.84
$GC,6607.15,1092,352.82,2.22,-0.09,1244.1,1262.5,1225.7,2923.4,3637.4,21.72,9.31,1135,6612.76,0.00,0.00,2.99,0.000,0.000,0.050,1244.28,1262.75,1225.81,2923.75,2399.00,0,0,0,30.00,30.00,15.90
$GC,6797.23,10535,423.65,2.44,80.00,1244.0,1262.6,1225.4,2924.0,2398.8,8.21,6.53,1173,6874.31,70.76,0.22,3.30,0.972,0.061,0.105,954.09,966.38,941.81,2980.75,3637.81,0,0,0,12.81,15.94,15.69
$STATE,6877,end climb,SURFACE_DEPTH_REACHED
$STATE,6878,begin surface coast
$FINISH,-0.4,1.024091
$STATE,6907,end surface coast,CONTROL_FINISHED_OK
$STATE,6907,begin surface
$SM_CCo,6997.20,0.00,0.000,0,956.2,962.0,950.5,422.84
$SM_GC,1.22,0.00,18.00,3.51,0.000,0.036,0.053,956.2,962.0,950.5,170.2,2202.9,0,0,0,30.00,15.76,15.77
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4653.82,-12453.07,270522,035046
$TCM_TEMP,176.00
$XPDR_PINGS,19,13.5,11.5
$HUMID,50.24
$TEMP,8.07
$INTERNAL_PRESSURE,8.50906
$24V_AH,15.10,65.973
$10V_AH,15.00,0.000
$FG_AHR_24Vo,74.700
$FG_AHR_10Vo,31.968
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,521.780,39.030,72.915,150.171,4.750,16.547,4867.470,5.870,0.000,2298.233,1737.944,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1412.776,260.184,176.544,202.472,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3537.464,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,968376,28,78332,65
$DATA_FILE_SIZE,54624,1195
$CAP_FILE_SIZE,213227,0
$SDSIZE,3918848,3872224
$SDFILEDIR,765,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 76.6,1
$MAGCAL,1.000000,-0.094484,-0.083751,-0.034529,1.075188,-0.077754,0.009432,0.043548,1.065537,-516.0,-484.6,-297.4,33,0.0315,0
$IMPLIED_C_PITCH,2530,13.43,962,0.0,0.00
$IMPLIED_C_VBD,2727,44.313732,960,0
$GPS,270522,075049,4653.174,-12455.342,41,0.8,42,15.6