version: 67.00
glider: 237
mission: 6
dive: 134
start: 4 29 121 10 12 35
data:
$ID,237
$MISSION,6
$DIVE,134
$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,35.467247
$FG_AHR_24V,106.83829
$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,332.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$GPS1,290421,100700,4842.007,-1927.667,27,1.1,27,-6.6
$_CALLS,2
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-47.1
$GPS2,290421,101207,4842.034,-1927.662,3,0.8,5,-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,257.7,45794,-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,45.89,16386,-243.31,-1.12,0.00,499.4,456.2,542.6,175.9,2037.1,0.00,0.00,0,184.91,138.46,0.00,0.00,0.005,0.000,0.000,3310.94,3323.00,3298.88,176.19,2036.75,0,0,0,15.32,30.00,30.00
$GC,185.19,18983,-243.31,-1.12,-80.00,3310.3,3321.9,3298.6,175.8,2036.8,3.09,-1.70,27,225.68,18.41,11.88,4.01,0.006,0.315,0.119,3960.44,3943.00,3977.88,1527.62,533.25,0,0,0,15.46,15.27,15.32
$GC,238.19,1156,-243.31,-1.03,0.00,3960.8,3943.9,3977.7,1527.4,533.2,11.62,-16.05,38,243.93,0.00,0.00,3.45,0.000,0.000,0.035,3961.06,3943.81,3978.31,1527.75,2028.50,0,0,0,30.00,30.00,15.86
$GC,423.25,2693,-243.31,-0.96,-80.00,3961.2,3944.1,3978.4,1527.6,2028.4,41.95,-16.02,75,429.12,0.00,0.28,3.98,0.000,0.181,0.118,3962.19,3944.56,3979.81,1569.06,536.25,0,0,0,30.00,15.71,15.62
$GC,623.32,1028,-243.31,-0.96,0.00,3960.9,3943.9,3977.9,1568.8,536.2,70.89,-14.36,115,629.05,0.00,0.00,3.45,0.000,0.000,0.035,3960.81,3943.00,3978.62,1569.12,2026.88,0,0,0,30.00,30.00,15.81
$GC,808.38,32,-243.31,-0.96,0.00,3961.2,3943.4,3979.1,1568.8,2027.5,94.73,-12.17,152,809.71,0.00,0.00,0.00,0.000,0.000,0.000,3960.53,3943.19,3977.88,1569.06,2026.88,0,0,0,30.00,30.00,30.00
$GC,993.44,32,-243.31,-0.96,0.00,3961.5,3943.8,3979.2,1569.7,2027.4,116.71,-11.79,175,994.77,0.00,0.00,0.00,0.000,0.000,0.000,3960.66,3943.06,3978.25,1569.44,2026.88,0,0,0,30.00,30.00,30.00
$GC,1293.53,32,-243.31,-0.96,0.00,3961.8,3944.6,3979.0,1569.4,2027.2,153.17,-12.54,205,1294.86,0.00,0.00,0.00,0.000,0.000,0.000,3960.66,3942.69,3978.62,1569.19,2026.88,0,0,0,30.00,30.00,30.00
$GC,1593.54,548,-243.31,-0.96,-80.00,3961.3,3943.2,3979.4,1569.4,2027.2,190.44,-12.27,235,1598.94,0.00,0.00,3.99,0.000,0.000,0.117,3961.66,3943.81,3979.50,1569.12,533.50,0,0,0,30.00,30.00,15.60
$GC,1618.14,1028,-243.31,-0.96,0.00,3961.6,3943.8,3979.4,1569.4,533.9,193.77,-12.85,240,1624.21,0.00,0.00,3.43,0.000,0.000,0.033,3961.22,3943.81,3978.62,1569.31,2029.31,0,0,0,30.00,30.00,15.87
$GC,1923.49,0,-243.31,-0.96,0.00,3961.2,3943.7,3978.6,1569.0,2029.2,232.08,-12.75,271,1924.82,0.00,0.00,0.00,0.000,0.000,0.000,3960.62,3942.50,3978.75,1569.19,2029.69,0,0,0,30.00,30.00,30.00
$GC,2223.59,516,-243.31,-0.96,-80.00,3961.2,3943.3,3979.1,1569.2,2029.8,271.44,-13.33,301,2229.05,0.00,0.00,3.97,0.000,0.000,0.118,3961.47,3944.19,3978.75,1569.12,533.62,0,0,0,30.00,30.00,15.65
$GC,2243.53,1028,-243.31,-0.96,0.00,3960.8,3942.9,3978.7,1569.4,533.8,274.39,-13.40,305,2248.92,0.00,0.00,3.44,0.000,0.000,0.033,3961.81,3944.06,3979.56,1569.62,2027.81,0,0,0,30.00,30.00,15.78
$GC,2553.54,0,-243.31,-0.96,0.00,3960.9,3942.9,3978.9,1569.1,2027.9,315.36,-12.98,337,2554.87,0.00,0.00,0.00,0.000,0.000,0.000,3960.59,3943.06,3978.12,1569.38,2028.25,0,0,0,30.00,30.00,30.00
$GC,2853.66,548,-243.31,-0.96,-80.00,3960.9,3943.5,3978.2,1569.5,2027.9,352.58,-11.72,367,2859.05,0.00,0.00,3.98,0.000,0.000,0.121,3961.06,3943.12,3979.00,1569.31,534.25,0,0,0,30.00,30.00,15.64
$GC,2873.60,1060,-243.31,-0.96,0.00,3961.3,3943.7,3978.9,1569.6,534.1,355.10,-11.92,371,2878.97,0.00,0.00,3.45,0.000,0.000,0.033,3961.50,3943.19,3979.81,1569.31,2026.06,0,0,0,30.00,30.00,15.83
$GC,3183.61,32,-243.31,-0.96,0.00,3960.6,3942.5,3978.8,1568.9,2026.0,391.47,-11.63,403,3184.95,0.00,0.00,0.00,0.000,0.000,0.000,3961.16,3943.19,3979.12,1569.69,2026.19,0,0,0,30.00,30.00,30.00
$GC,3483.70,548,-243.31,-0.96,-80.00,3960.8,3942.6,3979.0,1569.3,2026.6,427.70,-12.64,433,3489.10,0.00,0.00,3.98,0.000,0.000,0.124,3961.09,3943.12,3979.06,1569.00,537.38,0,0,0,30.00,30.00,15.63
$GC,3508.30,1028,-243.31,-0.96,0.00,3960.3,3942.2,3978.4,1569.1,537.3,431.09,-13.43,438,3514.36,0.00,0.00,3.41,0.000,0.000,0.033,3960.84,3942.75,3978.94,1569.50,2024.69,0,0,0,30.00,30.00,15.89
$GC,3813.64,0,-243.31,-0.96,0.00,3960.2,3941.6,3978.8,1569.4,2024.9,469.57,-12.77,469,3814.97,0.00,0.00,0.00,0.000,0.000,0.000,3960.44,3942.25,3978.62,1569.75,2024.50,0,0,0,30.00,30.00,30.00
$GC,4113.73,516,-243.31,-0.96,-80.00,3960.1,3941.3,3978.9,1569.1,2024.9,508.54,-13.24,499,4119.15,0.00,0.00,4.00,0.000,0.000,0.126,3960.97,3942.19,3979.75,1569.25,535.25,0,0,0,30.00,30.00,15.62
$GC,4138.37,1028,-243.31,-0.96,0.00,3959.9,3941.9,3977.9,1569.2,535.3,511.99,-13.79,504,4144.41,0.00,0.00,3.42,0.000,0.000,0.034,3960.97,3942.19,3979.75,1569.00,2022.12,0,0,0,30.00,30.00,15.89
$GC,4443.72,0,-243.31,-0.96,0.00,3960.3,3941.4,3979.2,1569.3,2023.3,551.57,-12.76,535,4445.05,0.00,0.00,0.00,0.000,0.000,0.000,3959.94,3941.25,3978.62,1569.38,2023.06,0,0,0,30.00,30.00,30.00
$GC,4743.87,548,-243.31,-0.96,-80.00,3960.0,3941.4,3978.5,1569.4,2022.9,590.05,-12.48,565,4749.28,0.00,0.00,4.02,0.000,0.000,0.130,3960.75,3941.81,3979.69,1568.62,535.56,0,0,0,30.00,30.00,15.60
$GC,4783.80,1028,-243.31,-0.96,0.00,3959.8,3941.2,3978.4,1569.2,535.7,595.47,-13.80,573,4789.18,0.00,0.00,3.43,0.000,0.000,0.036,3960.34,3941.62,3979.06,1569.38,2022.94,0,0,0,30.00,30.00,15.90
$GC,5093.85,32,-243.31,-0.96,0.00,3960.7,3942.2,3979.1,1569.2,2022.9,633.78,-12.16,605,5095.18,0.00,0.00,0.00,0.000,0.000,0.000,3959.88,3940.19,3979.56,1569.44,2022.56,0,0,0,30.00,30.00,30.00
$GC,5393.96,32,-243.31,-0.96,0.00,3959.7,3941.0,3978.4,1569.2,2023.1,669.67,-11.70,635,5395.29,0.00,0.00,0.00,0.000,0.000,0.000,3959.66,3940.88,3978.44,1569.31,2022.75,0,0,0,30.00,30.00,30.00
$GC,5694.02,548,-243.31,-0.96,-80.00,3959.3,3939.9,3978.8,1569.4,2022.6,703.93,-11.38,665,5699.44,0.00,0.00,4.07,0.000,0.000,0.137,3959.94,3941.19,3978.69,1568.44,537.56,0,0,0,30.00,30.00,15.58
$GC,5763.97,1028,-243.31,-0.96,0.00,3959.3,3940.7,3978.0,1569.1,537.4,713.01,-12.77,679,5769.36,0.00,0.00,3.44,0.000,0.000,0.040,3959.94,3941.00,3978.88,1568.62,2019.06,0,0,0,30.00,30.00,15.90
$GC,6074.02,548,-243.31,-0.96,-80.00,3959.6,3940.6,3978.7,1569.3,2019.6,748.00,-11.35,711,6079.51,0.00,0.00,4.05,0.000,0.000,0.138,3959.47,3939.94,3979.00,1569.25,536.44,0,0,0,30.00,30.00,15.58
$GC,6114.05,1028,-243.31,-0.96,0.00,3958.9,3939.7,3978.2,1569.1,536.2,753.14,-13.34,719,6119.42,0.00,0.00,3.46,0.000,0.000,0.040,3959.75,3939.81,3979.69,1568.81,2017.94,0,0,0,30.00,30.00,15.80
$GC,6424.08,32,-243.31,-0.96,0.00,3959.1,3939.9,3978.4,1569.2,2018.8,787.76,-10.99,751,6425.42,0.00,0.00,0.00,0.000,0.000,0.000,3958.62,3939.31,3977.94,1569.38,2018.62,0,0,0,30.00,30.00,30.00
$GC,6724.21,548,-243.31,-0.96,-80.00,3958.6,3938.8,3978.5,1569.2,2018.1,819.44,-10.01,781,6729.62,0.00,0.00,4.07,0.000,0.000,0.142,3958.50,3939.12,3977.88,1569.31,537.31,0,0,0,30.00,30.00,15.56
$GC,6784.22,1060,-243.31,-0.96,0.00,3958.6,3938.8,3978.4,1569.4,537.6,826.59,-12.00,793,6789.53,0.00,0.00,3.46,0.000,0.000,0.041,3958.81,3938.31,3979.31,1569.06,2020.94,0,0,0,30.00,30.00,15.89
$GC,7094.20,548,-243.31,-0.96,-80.00,3958.2,3938.1,3978.2,1569.1,2020.6,858.71,-10.20,825,7099.68,0.00,0.00,4.07,0.000,0.000,0.145,3958.56,3937.44,3979.69,1569.12,537.56,0,0,0,30.00,30.00,15.54
$GC,7124.22,1060,-243.31,-0.96,0.00,3957.9,3937.6,3978.2,1568.9,537.5,862.10,-10.84,831,7129.60,0.00,0.00,3.45,0.000,0.000,0.042,3958.75,3938.19,3979.31,1568.44,2017.75,0,0,0,30.00,30.00,15.87
$GC,7434.26,548,-243.31,-0.96,-80.00,3957.2,3936.5,3977.8,1569.0,2017.8,892.86,-10.09,863,7439.76,0.00,0.00,4.12,0.000,0.000,0.146,3958.09,3937.44,3978.75,1569.06,536.44,0,0,0,30.00,30.00,15.54
$GC,7468.95,1060,-243.31,-0.96,0.00,3957.7,3936.8,3978.7,1569.4,536.7,896.83,-11.36,870,7474.99,0.00,0.00,3.46,0.000,0.000,0.043,3957.31,3936.25,3978.38,1569.19,2018.19,0,0,0,30.00,30.00,15.86
$GC,7774.34,160,-243.31,-0.99,0.00,3957.0,3935.8,3978.2,1569.4,2018.2,928.67,-10.79,901,7775.68,0.00,0.00,0.00,0.000,0.000,0.000,3956.94,3936.06,3977.81,1569.38,2018.06,0,0,0,30.00,30.00,30.00
$GC,8074.47,676,-243.31,-1.02,-80.00,3956.8,3935.3,3978.3,1569.2,2018.6,962.01,-11.16,931,8079.89,0.00,0.00,4.11,0.000,0.000,0.151,3956.22,3934.69,3977.75,1569.25,537.75,0,0,0,30.00,30.00,15.52
$GC,8124.41,1060,-243.31,-1.02,0.00,3956.8,3935.3,3978.2,1568.9,537.9,968.31,-12.49,941,8129.78,0.00,0.00,3.48,0.000,0.000,0.044,3956.66,3935.19,3978.12,1569.00,2017.75,0,0,0,30.00,30.00,15.85
$STATE,8325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8325,begin apogee
$GC,8326.95,10243,0.00,-0.23,0.00,3956.0,3934.4,3977.6,1569.1,1438.9,990.67,-10.74,962,8534.00,204.24,1.25,0.05,2.084,0.145,0.374,2969.44,2928.50,3010.38,1747.31,1477.56,0,0,0,10.69,15.71,15.05
$STATE,8535,end apogee,CONTROL_FINISHED_OK
$STATE,8535,begin climb
$GC,8535.33,10759,243.31,1.12,-80.00,2965.8,2925.1,3006.6,1747.4,1477.7,999.03,0.00,982,8773.73,215.45,2.27,3.06,2.023,0.112,0.178,1971.78,1930.50,2013.06,2073.44,459.19,0,0,0,11.95,15.14,14.93
$GC,8987.60,9254,259.37,1.14,0.00,1966.4,1927.9,2005.0,2073.6,459.2,963.48,12.12,992,9031.33,15.94,0.00,2.37,1.698,0.000,0.032,1911.12,1868.88,1953.38,2073.88,1491.62,0,0,0,11.72,30.00,15.49
$RESTART_TIME,Thu Apr 29 12:54:01 2021