version: 67.00
glider: 237
mission: 6
dive: 6
start: 4 4 121 18 9 13
data:
$ID,237
$MISSION,6
$DIVE,6
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,0
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,74630
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$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,605.40039
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$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,10
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,190
$PITCH_MAX,3950
$C_PITCH,1800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,18
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,465
$ROLL_MAX,3180
$ROLL_DEG,80
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,510
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,23.591915
$FG_AHR_24V,67.814926
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.10413
$PRESSURE_SLOPE,0.00022584078
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-1.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,65
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044171116
$SEABIRD_T_H,0.00064316206
$SEABIRD_T_I,2.5361865e-05
$SEABIRD_T_J,3.0211725e-06
$SEABIRD_C_G,-9.9751892
$SEABIRD_C_H,1.1606171
$SEABIRD_C_I,-0.0016447038
$SEABIRD_C_J,0.0002149943
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ES_RECORDABOVE,2000.0
$ES_PROFILE,3.0
$ES_XMITPROFILE,0.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,10.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$GPS1,040421,180602,4850.119,-1632.367,2,0.7,26,-5.5
$_CALLS,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-46.1
$GPS2,040421,180849,4850.108,-1632.381,3,0.7,3,-5.5
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,PAP
$TGT_LATLONG,4856.140,-1626.520
$TGT_RADIUS,3000.000
$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,40.3,13253,-17.6,-10.000,-21.24
$D_GRID,1000
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,9.69,16386,-145.99,-1.27,0.00,498.5,471.5,525.5,177.0,2320.3,0.00,0.00,0,154.12,143.95,0.00,0.00,0.005,0.000,0.000,3406.47,3419.12,3393.81,177.12,2320.19,0,0,0,12.94,30.00,30.00
$GC,154.41,18727,-145.99,-1.27,80.00,3405.7,3417.6,3393.8,177.3,2320.2,3.30,-1.65,28,175.92,4.74,11.23,2.18,0.009,0.317,0.131,3561.62,3556.19,3567.06,1491.31,3187.00,0,0,0,15.42,15.23,15.30
$GC,398.43,3205,-145.99,-1.14,0.00,3562.1,3556.4,3567.8,1491.6,3187.2,44.00,-16.96,77,404.01,0.00,0.25,2.13,0.000,0.222,0.059,3562.88,3557.25,3568.50,1525.31,2272.88,0,0,0,30.00,15.43,15.67
$GC,583.53,644,-145.99,-1.06,-80.00,3562.1,3556.4,3567.9,1525.6,2273.9,70.63,-14.49,114,589.20,0.00,0.00,3.64,0.000,0.000,0.137,3562.34,3556.69,3568.00,1525.94,834.44,0,0,0,30.00,30.00,15.49
$GC,648.49,3205,-145.99,-0.96,0.00,3562.3,3555.9,3568.8,1525.6,834.4,81.56,-16.92,127,654.28,0.00,0.31,3.49,0.000,0.215,0.065,3563.00,3556.75,3569.25,1567.56,2315.19,0,0,0,30.00,15.42,15.57
$GC,838.49,644,-145.99,-0.93,-80.00,3562.2,3555.6,3568.9,1567.8,2314.9,106.32,-12.60,160,843.91,0.00,0.00,3.71,0.000,0.000,0.133,3563.47,3557.00,3569.94,1568.12,833.44,0,0,0,30.00,30.00,15.55
$GC,918.51,1156,-145.99,-0.87,0.00,3562.0,3555.0,3569.1,1567.6,833.3,117.72,-14.42,176,923.87,0.00,0.00,3.48,0.000,0.000,0.067,3561.78,3555.25,3568.31,1567.44,2314.56,0,0,0,30.00,30.00,15.66
$GC,1228.53,2693,-145.99,-0.84,-80.00,3562.0,3555.2,3568.7,1568.2,2314.7,156.99,-12.36,208,1234.00,0.00,0.20,3.70,0.000,0.200,0.132,3561.50,3554.31,3568.69,1597.50,834.44,0,0,0,30.00,15.57,15.48
$GC,1358.51,1028,-145.99,-0.84,0.00,3561.3,3553.7,3569.0,1597.6,834.2,174.21,-12.76,234,1363.92,0.00,0.00,3.46,0.000,0.000,0.068,3562.38,3554.12,3570.62,1597.88,2312.81,0,0,0,30.00,30.00,15.67
$GC,1668.55,516,-145.99,-0.84,-80.00,3561.9,3554.1,3569.6,1598.6,2312.1,209.38,-11.34,266,1674.00,0.00,0.00,3.71,0.000,0.000,0.136,3562.34,3553.75,3570.94,1598.12,834.25,0,0,0,30.00,30.00,15.48
$GC,1823.26,1028,-145.99,-0.84,0.00,3560.7,3552.6,3568.7,1598.8,834.2,229.66,-13.21,297,1829.32,0.00,0.00,3.47,0.000,0.000,0.071,3561.38,3553.31,3569.44,1598.25,2314.50,0,0,0,30.00,30.00,15.68
$GC,2128.64,516,-145.99,-0.84,-80.00,3561.5,3553.2,3569.9,1597.9,2314.5,265.93,-11.88,328,2134.09,0.00,0.00,3.71,0.000,0.000,0.138,3563.47,3554.62,3572.31,1598.06,834.31,0,0,0,30.00,30.00,15.54
$GC,2273.35,1028,-145.99,-0.84,0.00,3561.5,3553.1,3569.8,1598.2,834.4,285.06,-13.22,357,2279.40,0.00,0.00,3.47,0.000,0.000,0.073,3562.16,3553.62,3570.69,1598.31,2314.25,0,0,0,30.00,30.00,15.71
$GC,2578.73,516,-145.99,-0.84,-80.00,3561.3,3552.7,3570.0,1598.2,2314.4,320.90,-11.69,388,2584.18,0.00,0.00,3.73,0.000,0.000,0.140,3563.16,3554.50,3571.81,1598.06,833.62,0,0,0,30.00,30.00,15.62
$GC,2733.43,1028,-145.99,-0.84,0.00,3561.4,3552.8,3570.1,1598.3,833.5,340.86,-13.01,419,2739.49,0.00,0.00,3.49,0.000,0.000,0.076,3561.66,3553.19,3570.12,1598.25,2313.44,0,0,0,30.00,30.00,15.67
$STATE,2909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2909,begin apogee
$GC,2911.24,10243,0.00,-0.28,0.00,3561.0,3552.2,3569.8,1598.3,1685.2,361.20,-11.36,437,3031.37,116.70,0.95,0.05,1.376,0.163,0.280,2967.75,2943.62,2991.88,1734.62,1729.19,0,0,0,11.92,15.64,15.32
$STATE,3034,end apogee,CONTROL_FINISHED_OK
$STATE,3034,begin climb
$GC,3034.30,10503,145.99,1.27,80.00,2966.2,2942.8,2989.7,1734.7,1728.6,368.47,0.00,449,3165.94,123.60,2.58,3.71,1.331,0.135,0.125,2367.97,2335.38,2400.56,2110.75,3163.06,0,0,0,12.17,15.31,15.06
$GC,3188.13,11431,226.17,1.39,0.00,2368.3,2337.5,2399.2,2110.4,3161.6,362.25,6.27,479,3265.58,69.44,0.17,3.63,1.286,0.096,0.081,2043.78,2007.25,2080.31,2145.56,1686.69,0,0,0,11.94,15.17,15.14
$GC,3563.51,16902,226.17,1.39,-80.00,2035.8,1998.9,2072.7,2145.9,1686.8,319.45,11.98,524,3568.81,0.00,0.00,3.26,0.000,0.000,0.169,2036.22,1999.75,2072.69,2147.25,457.00,0,0,0,30.00,30.00,15.26
$GC,3768.15,21639,226.17,1.29,0.00,2033.9,1999.1,2068.8,2146.2,456.9,286.51,16.39,565,3774.20,0.00,0.40,2.93,0.000,0.236,0.053,2034.00,1999.50,2068.50,2107.25,1729.12,0,0,0,30.00,15.37,12.71
$GC,4073.51,8870,234.37,1.33,-80.00,2032.9,1997.8,2067.9,2106.8,1729.9,256.44,9.62,596,4088.24,7.70,0.00,3.29,0.920,0.000,0.163,2013.75,1978.00,2049.50,2107.06,456.00,0,0,0,11.83,30.00,15.51
$GC,4218.18,1028,234.37,1.33,0.00,2010.2,1975.5,2044.9,2106.6,456.1,238.56,12.55,625,4224.14,0.00,0.00,2.91,0.000,0.000,0.052,2012.56,1977.06,2048.06,2107.56,1731.69,0,0,0,30.00,30.00,15.63
$GC,4523.62,10919,256.01,1.41,-80.00,2009.9,1975.1,2044.8,2107.0,1733.6,209.42,8.99,656,4550.43,21.08,0.29,3.28,1.126,0.079,0.160,1921.91,1886.62,1957.19,2153.19,455.94,0,0,0,11.93,15.66,15.56
$GC,4678.57,5253,256.01,1.32,0.00,1919.3,1886.8,1951.9,2153.6,455.8,184.96,17.17,687,4683.96,0.00,0.35,2.92,0.000,0.228,0.051,1920.59,1888.06,1953.12,2115.62,1734.50,0,0,0,30.00,15.41,15.61
$GC,4988.64,676,258.56,1.36,-80.00,1917.2,1882.6,1951.8,2115.6,1736.5,152.82,9.88,719,4993.98,0.00,0.00,3.31,0.000,0.000,0.158,1919.94,1885.25,1954.62,2115.56,455.94,0,0,0,30.00,30.00,15.44
$GC,5113.39,1028,258.56,1.36,0.00,1917.1,1882.4,1951.8,2115.2,456.1,136.68,13.25,744,5119.26,0.00,0.00,2.90,0.000,0.000,0.051,1917.53,1883.12,1951.94,2115.88,1734.94,0,0,0,30.00,30.00,15.67
$GC,5418.79,10919,261.79,1.41,-80.00,1916.9,1882.1,1951.6,2115.5,1737.2,106.06,9.85,775,5430.61,6.48,0.23,3.24,0.782,0.086,0.155,1898.41,1863.62,1933.19,2151.88,456.06,0,0,0,11.95,15.67,15.58
$GC,5573.76,5253,261.79,1.33,0.00,1899.0,1864.8,1933.2,2151.3,456.4,81.76,16.51,806,5579.45,0.00,0.32,2.88,0.000,0.225,0.050,1900.38,1866.00,1934.75,2116.75,1736.31,0,0,0,30.00,15.51,15.69
$GC,5758.83,676,262.76,1.37,-80.00,1898.4,1863.4,1933.4,2116.7,1737.9,62.36,9.95,843,5764.48,0.00,0.00,3.28,0.000,0.000,0.149,1899.62,1864.12,1935.12,2117.19,456.12,0,0,0,30.00,30.00,15.51
$GC,5843.83,1028,262.76,1.37,0.00,1898.2,1863.2,1933.1,2116.9,455.8,51.53,13.04,860,5849.48,0.00,0.00,2.90,0.000,0.000,0.049,1899.44,1864.31,1934.56,2116.81,1737.38,0,0,0,30.00,30.00,15.67
$GC,6028.91,8870,264.89,1.41,-80.00,1898.1,1862.9,1933.3,2117.1,1740.6,32.93,9.90,897,6039.69,5.22,0.00,3.22,0.643,0.000,0.150,1887.00,1850.31,1923.69,2117.00,456.25,0,0,0,12.02,30.00,15.58
$GC,6113.97,3077,264.89,1.41,0.00,1886.0,1850.6,1921.4,2116.9,456.2,22.10,13.69,914,6119.59,0.00,0.22,2.88,0.000,0.097,0.049,1888.41,1853.00,1923.81,2148.56,1740.75,0,0,0,30.00,15.63,15.73
$STATE,6274,end climb,SURFACE_DEPTH_REACHED
$STATE,6274,begin surface coast
$FINISH,0.1,1.027041
$STATE,6289,end surface coast,CONTROL_FINISHED_OK
$STATE,6289,begin surface
$SM_CCo,6575.02,263.65,0.958,0,501.0,482.8,519.2,605.16
$SM_GC,1.16,263.65,12.32,1.28,0.958,0.068,0.065,501.0,482.8,519.2,171.9,2321.5,0,0,0,12.07,15.70,15.74
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4849.46,-1631.31,040421,180343
$TCM_TEMP,14.89
$XPDR_PINGS,102,13.0,11.5
$SC_FREEKB,3876064
$ES_FREE,15856500736.000000
$ES_POWER,63.370000
$ES_POWER1,0.000000
$HUMID,50.49
$TEMP,11.27
$INTERNAL_PRESSURE,8.64976
$24V_AH,14.64,7.348
$10V_AH,14.64,0.000
$FG_AHR_24Vo,68.019
$FG_AHR_10Vo,23.638
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,762.560,29.820,100.875,0.000,25.500,11.867,2864.758,3760.126,1373.889,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1375.712,316.600,279.536,0.000,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6290.000,6296.561,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.926,10.000,0.000,0.000
$MEM,1127496,22,49428,97
$DATA_FILE_SIZE,28917,949
$CAP_FILE_SIZE,261211,0
$SDSIZE,3918848,3907424
$SDFILEDIR,75,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191,209.6,1
$GPS,040421,195932,4850.117,-1632.114,8,0.8,27,-5.5