version: 67.00
glider: 237
mission: 6
dive: 130
start: 4 29 121 1 18 20
data:
$ID,237
$MISSION,6
$DIVE,130
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,260
$T_MISSION,290
$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,250
$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,500
$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,22
$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,2000
$C_ROLL_CLIMB,1450
$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,0.0015
$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,35.356117
$FG_AHR_24V,106.01157
$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,281.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$GPS1,290421,011310,4840.497,-1923.709,21,1.3,23,-6.6
$_CALLS,2
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-40.0
$GPS2,290421,011753,4840.518,-1923.706,4,1.3,6,-6.6
$SPEED_LIMITS,0.220,0.350
$TGT_NAME,A1_E
$TGT_LATLONG,4834.000,-2003.000
$TGT_RADIUS,4000.000
$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,262.5,49646,-16.6,-12.692,-19.91
$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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,45.86,16386,-243.31,-1.12,0.00,498.8,456.9,540.7,173.1,2036.9,0.00,0.00,0,189.99,143.51,0.00,0.00,0.005,0.000,0.000,3412.78,3422.38,3403.19,172.19,2036.62,0,0,0,15.32,30.00,30.00
$GC,190.27,18983,-243.31,-1.12,-80.00,3412.2,3421.3,3403.0,172.2,2036.1,3.28,-1.73,28,226.44,14.57,12.06,3.95,0.006,0.329,0.119,3960.66,3944.62,3976.69,1528.38,534.81,0,0,0,15.48,15.28,15.36
$GC,449.03,1156,-243.31,-1.05,0.00,3961.1,3944.0,3978.1,1528.8,534.8,50.09,-17.88,80,454.75,0.00,0.00,3.45,0.000,0.000,0.036,3961.12,3944.19,3978.06,1528.38,2026.31,0,0,0,30.00,30.00,15.87
$GC,634.09,2693,-243.31,-1.00,-80.00,3960.9,3943.8,3978.1,1528.6,2026.7,80.00,-16.15,117,639.97,0.00,0.21,3.95,0.000,0.183,0.116,3962.47,3945.06,3979.88,1559.81,535.38,0,0,0,30.00,15.74,15.64
$GC,664.11,1156,-243.31,-0.96,0.00,3961.1,3944.5,3977.7,1560.4,535.6,84.69,-15.85,123,669.82,0.00,0.00,3.45,0.000,0.000,0.033,3961.25,3944.19,3978.31,1560.38,2028.75,0,0,0,30.00,30.00,15.79
$GC,849.12,0,-243.31,-0.96,0.00,3961.3,3944.6,3978.1,1560.5,2029.1,110.34,-13.84,153,850.45,0.00,0.00,0.00,0.000,0.000,0.000,3961.25,3944.00,3978.50,1560.50,2029.25,0,0,0,30.00,30.00,30.00
$GC,1149.24,0,-243.31,-0.96,0.00,3961.2,3944.3,3978.1,1560.6,2029.3,151.48,-13.76,183,1150.58,0.00,0.00,0.00,0.000,0.000,0.000,3960.72,3943.81,3977.62,1560.75,2029.06,0,0,0,30.00,30.00,30.00
$GC,1449.36,0,-243.31,-0.96,0.00,3961.5,3944.9,3978.1,1560.6,2029.0,194.29,-14.17,213,1450.68,0.00,0.00,0.00,0.000,0.000,0.000,3961.16,3943.69,3978.62,1560.44,2029.12,0,0,0,30.00,30.00,30.00
$GC,1749.34,0,-243.31,-0.96,0.00,3961.1,3944.4,3977.7,1560.4,2028.4,237.34,-14.17,243,1750.67,0.00,0.00,0.00,0.000,0.000,0.000,3960.72,3943.69,3977.75,1560.44,2028.88,0,0,0,30.00,30.00,30.00
$GC,2049.39,516,-243.31,-0.96,-80.00,3961.2,3943.8,3978.6,1560.7,2029.0,279.84,-13.80,273,2054.80,0.00,0.00,3.97,0.000,0.000,0.119,3961.12,3944.00,3978.25,1560.38,535.25,0,0,0,30.00,30.00,15.65
$GC,2069.34,1028,-243.31,-0.96,0.00,3960.9,3943.8,3978.1,1560.3,535.5,282.84,-14.23,277,2074.73,0.00,0.00,3.44,0.000,0.000,0.033,3960.78,3943.69,3977.88,1560.44,2026.56,0,0,0,30.00,30.00,15.89
$GC,2379.37,0,-243.31,-0.96,0.00,3960.8,3943.3,3978.3,1560.1,2025.9,325.96,-13.81,309,2380.70,0.00,0.00,0.00,0.000,0.000,0.000,3961.03,3944.12,3977.94,1559.88,2025.94,0,0,0,30.00,30.00,30.00
$GC,2679.50,516,-243.31,-0.96,-80.00,3961.0,3943.2,3978.8,1560.4,2026.2,367.95,-13.85,339,2684.89,0.00,0.00,3.96,0.000,0.000,0.120,3962.09,3945.25,3978.94,1560.19,534.56,0,0,0,30.00,30.00,15.65
$GC,2709.43,1028,-243.31,-0.96,0.00,3960.6,3943.5,3977.6,1560.1,534.8,372.51,-15.45,345,2714.82,0.00,0.00,3.43,0.000,0.000,0.033,3960.72,3943.44,3978.00,1560.00,2026.75,0,0,0,30.00,30.00,15.90
$GC,3019.45,0,-243.31,-0.96,0.00,3960.8,3943.8,3977.8,1560.2,2027.3,415.18,-13.53,377,3020.78,0.00,0.00,0.00,0.000,0.000,0.000,3960.09,3942.44,3977.75,1560.56,2027.50,0,0,0,30.00,30.00,30.00
$GC,3319.54,516,-243.31,-0.96,-80.00,3960.4,3942.4,3978.4,1560.0,2027.2,456.06,-13.89,407,3324.95,0.00,0.00,3.94,0.000,0.000,0.123,3961.38,3943.38,3979.38,1560.12,535.69,0,0,0,30.00,30.00,15.64
$GC,3344.15,1028,-243.31,-0.96,0.00,3960.0,3942.0,3978.0,1560.2,536.1,459.68,-14.48,412,3350.20,0.00,0.00,3.41,0.000,0.000,0.033,3960.66,3942.50,3978.81,1560.62,2025.69,0,0,0,30.00,30.00,15.90
$GC,3649.50,0,-243.31,-0.96,0.00,3960.2,3942.8,3977.8,1560.2,2025.1,500.57,-13.12,443,3650.82,0.00,0.00,0.00,0.000,0.000,0.000,3960.25,3942.81,3977.69,1560.19,2025.56,0,0,0,30.00,30.00,30.00
$GC,3949.59,516,-243.31,-0.96,-80.00,3960.1,3942.2,3978.0,1560.1,2025.6,540.42,-13.06,473,3955.01,0.00,0.00,3.99,0.000,0.000,0.127,3960.31,3942.25,3978.38,1560.50,535.38,0,0,0,30.00,30.00,15.63
$GC,3984.20,1028,-243.31,-0.96,0.00,3959.9,3941.8,3978.0,1560.3,535.7,545.37,-14.47,480,3990.26,0.00,0.00,3.43,0.000,0.000,0.034,3960.12,3942.12,3978.12,1560.75,2023.06,0,0,0,30.00,30.00,15.90
$GC,4289.56,32,-243.31,-0.96,0.00,3959.6,3941.2,3978.0,1560.4,2022.6,583.19,-11.81,511,4290.89,0.00,0.00,0.00,0.000,0.000,0.000,3959.81,3941.12,3978.50,1560.25,2022.69,0,0,0,30.00,30.00,30.00
$GC,4589.64,0,-243.31,-0.96,0.00,3960.1,3941.4,3978.8,1560.6,2022.4,620.26,-12.86,541,4590.97,0.00,0.00,0.00,0.000,0.000,0.000,3959.53,3941.06,3978.00,1560.38,2022.56,0,0,0,30.00,30.00,30.00
$GC,4889.70,548,-243.31,-0.96,-80.00,3960.2,3941.3,3979.1,1560.1,2022.9,656.71,-11.96,571,4895.10,0.00,0.00,4.02,0.000,0.000,0.134,3959.94,3942.12,3977.75,1560.06,536.75,0,0,0,30.00,30.00,15.60
$GC,4929.62,1028,-243.31,-0.96,0.00,3959.6,3941.1,3978.1,1560.2,536.4,661.96,-13.39,579,4935.01,0.00,0.00,3.45,0.000,0.000,0.038,3959.19,3940.62,3977.75,1560.44,2020.00,0,0,0,30.00,30.00,15.81
$GC,5239.64,548,-243.31,-0.96,-80.00,3959.6,3940.8,3978.4,1560.2,2019.9,698.33,-11.39,611,5245.13,0.00,0.00,4.02,0.000,0.000,0.137,3959.97,3941.44,3978.50,1560.38,537.44,0,0,0,30.00,30.00,15.60
$GC,5259.66,1060,-243.31,-0.96,0.00,3959.2,3940.5,3977.9,1560.1,537.5,700.92,-12.18,615,5265.02,0.00,0.00,3.44,0.000,0.000,0.038,3960.28,3941.75,3978.81,1560.00,2020.62,0,0,0,30.00,30.00,15.81
$GC,5569.66,32,-243.31,-0.96,0.00,3959.5,3940.6,3978.4,1560.4,2020.8,738.23,-12.03,647,5570.99,0.00,0.00,0.00,0.000,0.000,0.000,3959.25,3940.44,3978.06,1560.38,2020.75,0,0,0,30.00,30.00,30.00
$GC,5869.79,548,-243.31,-0.96,-80.00,3959.1,3940.8,3977.4,1560.4,2020.2,774.21,-12.13,677,5875.19,0.00,0.00,4.05,0.000,0.000,0.140,3959.72,3940.81,3978.62,1559.94,537.19,0,0,0,30.00,30.00,15.58
$GC,5904.40,1028,-243.31,-0.96,0.00,3958.9,3939.9,3977.9,1560.9,537.1,778.81,-13.59,684,5910.45,0.00,0.00,3.47,0.000,0.000,0.041,3959.00,3939.88,3978.12,1560.62,2016.88,0,0,0,30.00,30.00,15.89
$GC,6209.77,548,-243.31,-0.96,-80.00,3958.6,3939.5,3977.8,1560.2,2017.2,816.41,-12.09,715,6215.26,0.00,0.00,4.03,0.000,0.000,0.142,3959.19,3940.44,3977.94,1560.81,537.62,0,0,0,30.00,30.00,15.58
$GC,6259.81,1028,-243.31,-0.96,0.00,3958.5,3939.2,3977.9,1560.4,537.8,823.18,-13.80,725,6265.18,0.00,0.00,3.45,0.000,0.000,0.040,3959.16,3939.69,3978.62,1560.19,2018.38,0,0,0,30.00,30.00,15.82
$GC,6569.84,32,-243.31,-0.96,0.00,3958.0,3938.3,3977.6,1559.9,2018.8,859.51,-11.20,757,6571.17,0.00,0.00,0.00,0.000,0.000,0.000,3958.03,3938.62,3977.44,1560.38,2018.62,0,0,0,30.00,30.00,30.00
$GC,6869.97,32,-243.31,-0.96,0.00,3957.8,3937.8,3977.9,1560.2,2018.3,894.12,-11.66,787,6871.30,0.00,0.00,0.00,0.000,0.000,0.000,3957.41,3937.38,3977.44,1560.25,2018.38,0,0,0,30.00,30.00,30.00
$GC,7170.02,548,-243.31,-0.96,-80.00,3957.6,3937.5,3977.7,1560.5,2018.1,927.17,-10.57,817,7175.43,0.00,0.00,4.09,0.000,0.000,0.148,3958.41,3937.25,3979.56,1560.12,537.50,0,0,0,30.00,30.00,15.55
$GC,7219.98,1060,-243.31,-0.96,0.00,3957.1,3936.8,3977.4,1560.1,537.7,933.14,-12.06,827,7225.35,0.00,0.00,3.47,0.000,0.000,0.044,3957.44,3937.06,3977.81,1560.50,2016.69,0,0,0,30.00,30.00,15.82
$GC,7530.00,548,-243.31,-0.96,-80.00,3956.7,3935.4,3977.9,1560.4,2017.2,967.00,-10.68,859,7535.51,0.00,0.00,4.11,0.000,0.000,0.152,3957.53,3936.00,3979.06,1559.62,536.75,0,0,0,30.00,30.00,15.53
$GC,7564.70,1060,-243.31,-0.96,0.00,3956.4,3935.8,3977.1,1559.9,536.4,971.22,-12.04,866,7570.73,0.00,0.00,3.47,0.000,0.000,0.044,3956.88,3935.94,3977.81,1560.00,2016.25,0,0,0,30.00,30.00,15.86
$STATE,7740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7740,begin apogee
$GC,7742.52,10243,0.00,-0.23,0.00,3956.6,3936.1,3977.1,1560.3,1437.9,990.02,-10.56,884,7950.53,205.71,1.32,0.05,2.075,0.149,0.338,2969.25,2929.56,3008.94,1747.38,1477.25,0,0,0,10.76,15.71,15.04
$STATE,7952,end apogee,CONTROL_FINISHED_OK
$STATE,7952,begin climb
$GC,7951.87,10759,243.31,1.12,-80.00,2965.7,2925.4,3005.9,1747.5,1477.1,998.21,0.00,904,8175.28,216.41,2.29,3.06,2.017,0.110,0.179,1973.81,1932.00,2015.62,2074.81,459.00,0,0,0,11.98,15.15,14.93
$GC,8461.68,9382,254.65,1.11,0.00,1966.2,1927.6,2004.8,2074.2,459.2,956.38,12.29,915,8505.67,11.66,0.00,2.37,1.574,0.000,0.032,1928.50,1888.44,1968.56,2074.12,1489.75,0,0,0,11.73,30.00,15.53
$RESTART_TIME,Thu Apr 29 03:50:59 2021
$SM_CCo,465903.09,310.42,1.893,0,501.0,456.1,545.8,605.16
$SM_GC,0.84,0.00,11.70,1.17,0.000,0.053,0.034,498.6,449.6,547.7,173.4,2038.2,0,0,0,30.00,15.91,15.96
$SM_CCo,72.37,0.00,0.000,0,498.3,452.6,544.1,605.81
$SM_GC,1.04,0.00,3.11,0.12,0.000,0.072,0.117,498.3,452.6,544.1,177.0,1968.0,0,0,0,30.00,15.88,15.94