version: 67.00
glider: 237
mission: 6
dive: 132
start: 4 29 121 5 43 14
data:
$ID,237
$MISSION,6
$DIVE,132
$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,35.41172
$FG_AHR_24V,106.42653
$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,307.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$GPS1,290421,053931,4841.091,-1925.242,17,0.9,18,-6.6
$_CALLS,1
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-38.0
$GPS2,290421,054247,4841.115,-1925.254,2,0.7,4,-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,260.7,48100,-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,45.78,16386,-243.31,-1.12,0.00,498.5,454.4,542.6,177.1,2033.6,0.00,0.00,0,184.82,138.32,0.00,0.00,0.005,0.000,0.000,3296.75,3308.75,3284.75,177.06,2035.38,0,0,0,15.21,30.00,30.00
$GC,185.10,18727,-243.31,-1.12,80.00,3296.1,3307.9,3284.2,177.0,2035.1,3.03,-1.64,27,225.40,19.03,11.80,2.99,0.006,0.306,0.117,3959.84,3943.31,3976.38,1528.31,3187.38,0,0,0,15.43,15.31,15.30
$GC,447.99,1156,-243.31,-1.08,0.00,3960.9,3944.6,3977.2,1528.2,3188.4,44.78,-16.03,80,453.58,0.00,0.00,2.83,0.000,0.000,0.039,3961.59,3945.75,3977.44,1528.44,1973.38,0,0,0,30.00,30.00,15.88
$GC,633.10,2437,-243.31,-1.02,80.00,3960.7,3944.6,3976.9,1528.4,1973.8,75.66,-16.77,117,638.76,0.00,0.18,3.15,0.000,0.190,0.106,3960.44,3944.12,3976.75,1555.31,3187.12,0,0,0,30.00,15.73,15.58
$GC,683.05,1028,-243.31,-1.02,0.00,3960.7,3944.5,3976.9,1555.4,3186.9,83.19,-14.56,127,688.66,0.00,0.00,2.79,0.000,0.000,0.036,3960.84,3945.31,3976.38,1554.94,1973.44,0,0,0,30.00,30.00,15.75
$GC,873.16,0,-243.31,-1.02,0.00,3960.7,3943.9,3977.4,1555.2,1974.1,110.30,-14.43,158,874.49,0.00,0.00,0.00,0.000,0.000,0.000,3960.19,3944.00,3976.38,1555.19,1973.81,0,0,0,30.00,30.00,30.00
$GC,1173.21,0,-243.31,-1.02,0.00,3960.6,3943.9,3977.2,1554.7,1974.1,154.23,-14.71,188,1174.54,0.00,0.00,0.00,0.000,0.000,0.000,3960.72,3944.75,3976.69,1554.88,1974.31,0,0,0,30.00,30.00,30.00
$GC,1473.26,260,-243.31,-1.02,80.00,3960.4,3943.7,3977.1,1555.1,1974.0,197.83,-14.54,218,1478.54,0.00,0.00,3.16,0.000,0.000,0.105,3960.41,3944.19,3976.62,1555.06,3187.12,0,0,0,30.00,30.00,15.56
$GC,1513.21,1028,-243.31,-1.02,0.00,3960.7,3944.4,3976.9,1555.1,3187.7,203.62,-14.29,226,1518.48,0.00,0.00,2.78,0.000,0.000,0.038,3960.94,3944.81,3977.06,1555.06,1975.12,0,0,0,30.00,30.00,15.88
$GC,1823.50,0,-243.31,-1.02,0.00,3960.6,3944.8,3976.4,1555.1,1974.9,245.87,-13.66,258,1824.83,0.00,0.00,0.00,0.000,0.000,0.000,3960.03,3943.81,3976.25,1555.12,1974.44,0,0,0,30.00,30.00,30.00
$GC,2123.37,0,-243.31,-1.02,0.00,3960.5,3943.9,3977.1,1554.9,1974.9,286.31,-13.51,288,2124.70,0.00,0.00,0.00,0.000,0.000,0.000,3960.44,3943.69,3977.19,1555.06,1975.06,0,0,0,30.00,30.00,30.00
$GC,2423.43,0,-243.31,-1.02,0.00,3960.0,3943.2,3976.8,1555.3,1975.2,326.47,-13.05,318,2424.76,0.00,0.00,0.00,0.000,0.000,0.000,3960.25,3943.38,3977.12,1555.06,1975.06,0,0,0,30.00,30.00,30.00
$GC,2723.46,0,-243.31,-1.02,0.00,3960.4,3944.1,3976.8,1554.9,1975.1,366.68,-13.48,348,2724.79,0.00,0.00,0.00,0.000,0.000,0.000,3960.47,3943.81,3977.12,1555.38,1974.94,0,0,0,30.00,30.00,30.00
$GC,3023.48,260,-243.31,-1.02,80.00,3960.8,3944.1,3977.5,1555.1,1975.5,405.76,-12.92,378,3028.78,0.00,0.00,3.18,0.000,0.000,0.112,3960.94,3944.25,3977.62,1555.25,3186.38,0,0,0,30.00,30.00,15.56
$GC,3048.09,1028,-243.31,-1.02,0.00,3960.4,3943.9,3976.9,1555.2,3186.3,408.87,-12.97,383,3054.03,0.00,0.00,2.77,0.000,0.000,0.041,3961.00,3944.38,3977.62,1554.94,1974.56,0,0,0,30.00,30.00,15.91
$GC,3353.53,32,-243.31,-1.02,0.00,3959.8,3943.2,3976.4,1555.0,1974.5,446.54,-12.31,414,3354.86,0.00,0.00,0.00,0.000,0.000,0.000,3959.97,3943.44,3976.50,1555.12,1974.62,0,0,0,30.00,30.00,30.00
$GC,3653.55,32,-243.31,-1.02,0.00,3960.0,3943.0,3977.1,1555.6,1974.0,483.77,-12.53,444,3654.88,0.00,0.00,0.00,0.000,0.000,0.000,3958.88,3942.12,3975.62,1555.00,1974.31,0,0,0,30.00,30.00,30.00
$GC,3953.59,548,-243.31,-1.02,-80.00,3959.5,3941.9,3977.1,1554.9,1974.4,521.61,-12.56,474,3958.96,0.00,0.00,3.87,0.000,0.000,0.135,3960.75,3943.44,3978.06,1555.19,535.50,0,0,0,30.00,30.00,15.60
$GC,3973.51,1028,-243.31,-1.02,0.00,3959.4,3941.9,3977.0,1555.6,535.5,524.38,-12.73,478,3978.89,0.00,0.00,3.44,0.000,0.000,0.035,3960.22,3942.56,3977.88,1555.06,2022.75,0,0,0,30.00,30.00,15.90
$GC,4283.53,32,-243.31,-1.02,0.00,3959.3,3942.2,3976.5,1554.9,2023.1,562.77,-12.18,510,4284.86,0.00,0.00,0.00,0.000,0.000,0.000,3959.41,3941.81,3977.00,1555.12,2022.56,0,0,0,30.00,30.00,30.00
$GC,4583.62,32,-243.31,-1.02,0.00,3959.2,3941.4,3976.9,1555.2,2023.1,598.91,-11.79,540,4584.95,0.00,0.00,0.00,0.000,0.000,0.000,3958.94,3941.38,3976.50,1554.56,2022.56,0,0,0,30.00,30.00,30.00
$GC,4883.66,548,-243.31,-1.02,-80.00,3959.1,3941.2,3977.0,1555.5,2022.5,634.20,-11.73,570,4889.07,0.00,0.00,4.02,0.000,0.000,0.133,3959.88,3941.50,3978.25,1555.06,536.62,0,0,0,30.00,30.00,15.60
$GC,4908.26,1060,-243.31,-1.02,0.00,3959.8,3942.0,3977.5,1555.1,537.0,637.53,-12.24,575,4914.31,0.00,0.00,3.46,0.000,0.000,0.038,3958.78,3940.69,3976.88,1555.12,2021.25,0,0,0,30.00,30.00,15.90
$GC,5213.60,32,-243.31,-1.02,0.00,3959.2,3941.1,3977.4,1555.2,2020.5,674.03,-12.06,606,5214.94,0.00,0.00,0.00,0.000,0.000,0.000,3958.75,3941.00,3976.50,1555.12,2021.31,0,0,0,30.00,30.00,30.00
$GC,5513.74,548,-243.31,-1.02,-80.00,3959.1,3940.6,3977.5,1555.1,2021.3,711.49,-12.54,636,5519.13,0.00,0.00,4.03,0.000,0.000,0.136,3959.62,3941.44,3977.81,1555.12,537.62,0,0,0,30.00,30.00,15.59
$GC,5553.66,1028,-243.31,-1.02,0.00,3958.6,3940.8,3976.5,1555.3,537.2,717.19,-14.55,644,5559.04,0.00,0.00,3.46,0.000,0.000,0.040,3959.62,3941.50,3977.75,1554.44,2020.19,0,0,0,30.00,30.00,15.91
$GC,5863.71,32,-243.31,-1.02,0.00,3958.9,3940.6,3977.2,1555.1,2020.3,756.47,-12.53,676,5865.04,0.00,0.00,0.00,0.000,0.000,0.000,3958.75,3940.62,3976.88,1555.25,2020.44,0,0,0,30.00,30.00,30.00
$GC,6163.83,548,-243.31,-1.02,-80.00,3958.5,3940.0,3976.9,1555.2,2020.9,793.44,-12.45,706,6169.25,0.00,0.00,4.05,0.000,0.000,0.141,3958.75,3940.50,3977.00,1555.12,536.56,0,0,0,30.00,30.00,15.58
$GC,6213.78,1028,-243.31,-1.02,0.00,3958.5,3940.1,3977.0,1554.9,536.6,800.30,-13.94,716,6219.16,0.00,0.00,3.47,0.000,0.000,0.042,3958.50,3939.94,3977.06,1555.25,2017.81,0,0,0,30.00,30.00,15.89
$GC,6523.83,32,-243.31,-1.02,0.00,3958.3,3939.3,3977.4,1555.2,2017.8,839.73,-12.45,748,6525.15,0.00,0.00,0.00,0.000,0.000,0.000,3957.91,3938.69,3977.12,1554.94,2018.31,0,0,0,30.00,30.00,30.00
$GC,6823.95,32,-243.31,-1.02,0.00,3957.9,3938.6,3977.2,1555.1,2018.4,875.38,-11.58,778,6825.28,0.00,0.00,0.00,0.000,0.000,0.000,3957.78,3939.06,3976.50,1555.25,2018.31,0,0,0,30.00,30.00,30.00
$GC,7124.01,548,-243.31,-1.02,-80.00,3957.8,3938.1,3977.6,1555.0,2018.4,906.64,-10.51,808,7129.44,0.00,0.00,4.11,0.000,0.000,0.146,3957.66,3937.94,3977.38,1555.06,537.06,0,0,0,30.00,30.00,15.55
$GC,7148.62,1060,-243.31,-1.02,0.00,3956.7,3936.8,3976.6,1555.5,537.4,909.47,-10.65,813,7154.67,0.00,0.00,3.46,0.000,0.000,0.043,3957.53,3937.94,3977.12,1554.88,2018.00,0,0,0,30.00,30.00,15.86
$GC,7453.99,548,-243.31,-1.02,-80.00,3956.8,3936.5,3977.1,1554.8,2018.0,942.08,-10.87,844,7459.50,0.00,0.00,4.11,0.000,0.000,0.148,3956.66,3936.75,3976.56,1555.06,537.19,0,0,0,30.00,30.00,15.54
$GC,7484.01,1060,-243.31,-1.02,0.00,3957.3,3936.8,3977.8,1555.2,537.2,945.88,-12.64,850,7489.38,0.00,0.00,3.48,0.000,0.000,0.044,3957.34,3937.25,3977.44,1555.12,2014.69,0,0,0,30.00,30.00,15.86
$GC,7794.05,548,-243.31,-1.02,-80.00,3956.7,3935.9,3977.4,1555.2,2015.8,979.91,-11.12,882,7799.55,0.00,0.00,4.13,0.000,0.000,0.152,3956.31,3935.62,3977.00,1555.44,537.38,0,0,0,30.00,30.00,15.53
$GC,7834.08,1060,-243.31,-1.02,0.00,3956.2,3935.8,3976.7,1555.2,537.6,984.84,-12.68,890,7839.45,0.00,0.00,3.49,0.000,0.000,0.046,3957.06,3936.88,3977.25,1555.19,2016.38,0,0,0,30.00,30.00,15.85
$STATE,7884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7884,begin apogee
$GC,7886.54,10243,0.00,-0.23,0.00,3955.9,3935.4,3976.4,1554.9,1438.1,990.59,-11.29,896,8092.52,203.91,1.34,0.05,2.068,0.147,0.344,2969.47,2929.00,3009.94,1745.94,1479.31,0,0,0,10.75,15.64,15.05
$STATE,8094,end apogee,CONTROL_FINISHED_OK
$STATE,8094,begin climb
$GC,8093.84,10759,243.31,1.12,-80.00,2965.7,2925.5,3005.9,1746.1,1479.1,998.24,0.00,916,8317.22,215.02,2.28,3.07,2.012,0.115,0.177,1974.62,1932.06,2017.19,2074.56,460.25,0,0,0,12.06,15.15,14.93
$GC,8546.11,9382,254.67,1.11,0.00,1966.2,1927.1,2005.4,2074.0,459.9,961.82,12.29,926,8604.76,11.66,0.00,2.37,1.574,0.000,0.032,1928.69,1888.94,1968.44,2072.50,1488.50,0,0,0,11.74,30.00,15.49
$RESTART_TIME,Thu Apr 29 08:17:18 2021
$SM_CCo,481880.08,308.61,1.899,0,500.6,454.9,546.3,605.25
$SM_GC,0.87,0.00,11.65,1.19,0.000,0.052,0.044,497.3,449.6,545.0,176.6,2032.4,0,0,0,30.00,15.90,15.96
$SM_CCo,72.38,0.00,0.000,0,498.8,454.4,543.2,605.68
$SM_GC,1.02,0.00,3.10,0.10,0.000,0.068,0.119,498.8,454.4,543.2,177.1,1967.6,0,0,0,30.00,15.87,15.94