version: 67.00
glider: 240
mission: 6
dive: 450
start: 11 27 122 20 3 32
data:
$ID,240
$MISSION,6
$DIVE,450
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,450
$D_BOOST,0
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,4
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,500
$T_ABORT,2880
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,240
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.07
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72877
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,692.53918
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,9
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,129
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,10
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,10800
$RAFOS_MMODEM,0
$PITCH_MIN,205
$PITCH_MAX,3600
$C_PITCH,1792.9501
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,15.649799
$PITCH_TIMEOUT,40
$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,0.5
$PITCH_GAIN_AUTO_MAX,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,210
$ROLL_MAX,3810
$ROLL_DEG,80
$C_ROLL_DIVE,2025.8605
$C_ROLL_CLIMB,1918.9105
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,30
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3275.7913
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,400
$VBD_MAXERRORS,2
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,5
$FG_AHR_10V,77.841736
$FG_AHR_24V,148.90321
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.63458
$PRESSURE_SLOPE,0.00022403029
$COMPASS_USE,16388
$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,13
$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,-0.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,96
$NAV_DEVICE,6
$NAV2_DEVICE,6
$NETWORK_DEVICE,1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,-1
$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,2
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,271122,162546,7513.646,-14231.584,0,3510.0,0,16.2
$_CALLS,0
$_SM_DEPTHo,26.54
$_SM_ANGLEo,-26.4
$GPS2,271122,162546,7513.646,-14231.584,0,3510.0,0,16.2
$SPEED_LIMITS,0.159,0.226
$TGT_NAME,Bs
$TGT_LATLONG,7530.000,-14408.000
$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,288.0,54002,-18.4,-9.167,-22.07,1929,0.118
$D_GRID,990
$IRON,1.000000,-0.171338,-0.016294,0.130106,0.062943,0.951422,-0.151583,-0.373088,0.807910,102.726830,264.967529,-859.393799
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6.36,16386,-116.79,-1.32,0.00,1511.8,1584.2,1439.4,1912.1,2000.8,0.00,0.00,0,17.35,9.94,0.00,0.00,0.007,0.000,0.000,2239.88,2317.88,2161.88,1912.38,2001.06,0,0,0,15.68,30.00,30.00
$GC,17.65,20515,-116.79,-1.32,0.00,2240.6,2319.0,2162.2,1912.2,2001.3,30.96,0.00,1,42.13,18.67,2.87,0.00,0.006,0.057,0.000,3751.88,3798.94,3704.81,1455.50,2000.56,0,0,0,15.71,15.53,30.00
$GC,406.83,260,-116.79,-1.32,80.00,3757.6,3805.4,3709.9,1456.3,2001.3,124.29,-19.33,14,413.61,0.00,0.00,3.78,0.000,0.000,0.106,3758.78,3806.69,3710.88,1455.44,3490.38,0,0,0,30.00,30.00,15.54
$GC,641.90,1028,-116.79,-1.32,0.00,3758.1,3805.1,3711.1,1456.1,3491.1,168.12,-17.97,61,647.58,0.00,0.00,3.54,0.000,0.000,0.042,3759.31,3805.81,3712.81,1456.06,2001.75,0,0,0,30.00,30.00,15.62
$GC,1031.90,260,-116.79,-1.32,80.00,3758.1,3805.6,3710.6,1456.8,2002.1,228.83,-15.01,79,1038.72,0.00,0.00,3.83,0.000,0.000,0.106,3757.84,3804.69,3711.00,1456.94,3489.62,0,0,0,30.00,30.00,15.57
$GC,1266.98,1028,-116.79,-1.32,0.00,3758.1,3805.7,3710.5,1456.9,3489.9,262.31,-12.92,126,1272.65,0.00,0.00,3.56,0.000,0.000,0.042,3758.72,3805.69,3711.75,1456.50,2003.00,0,0,0,30.00,30.00,15.65
$GC,1657.05,260,-116.79,-1.32,80.00,3757.8,3805.1,3710.4,1456.4,2001.8,302.25,-10.01,144,1664.31,0.00,0.00,3.81,0.000,0.000,0.106,3758.59,3806.75,3710.44,1457.25,3492.00,0,0,0,30.00,30.00,15.58
$GC,1892.56,1028,-116.79,-1.32,0.00,3758.3,3805.7,3711.0,1456.5,3491.9,328.65,-11.11,191,1898.62,0.00,0.00,3.55,0.000,0.000,0.042,3758.47,3805.19,3711.75,1456.88,2000.88,0,0,0,30.00,30.00,15.67
$MODEM_MSG,CACST,8,1,20221127200528.355575,18,5967,25,0184,0000,246,03,03,02,05,-1,-01,-01,1,3,0,0,150,-35.4,0.67,-100,2.33,-01,-0.02,46,925,0025,0,-1,00,00*3C
$MODEM_MSG,CACST,8,1,20221127201121.906729,18,6309,31,0412,0000,246,04,04,01,06,-1,-01,-01,1,3,0,0,150,-2.6,0.74,-100,2.26,-01,0.10,41,925,0025,0,-1,00,00*20
$MODEM_MSG,CACST,8,1,20221127202126.278677,18,9775,33,0446,0000,216,02,02,01,02,-1,-01,-01,1,3,0,0,150,-3.8,0.61,-100,2.39,-01,-0.04,39,925,0025,0,-1,00,00*0A
$MODEM_MSG,CACST,8,1,20221127202546.777674,18,2195,15,0111,0000,246,04,04,03,06,-1,-01,-01,1,3,0,0,150,-2.2,0.63,-100,2.37,-01,0.04,41,925,0025,0,-1,00,00*29
$NAV,1669581634,361.4,4,stop
$GC,2282.57,0,-116.79,-1.32,0.00,3757.7,3804.8,3710.6,1456.7,2001.1,367.16,-9.76,209,2284.13,0.00,0.00,0.00,0.000,0.000,0.000,3757.75,3805.50,3710.00,1456.56,2001.19,0,0,0,30.00,30.00,30.00
$GC,2672.59,0,-116.79,-1.32,0.00,3758.3,3805.3,3711.3,1456.8,2001.4,403.77,-9.26,222,2674.15,0.00,0.00,0.00,0.000,0.000,0.000,3757.09,3804.75,3709.44,1456.75,2000.62,0,0,0,30.00,30.00,30.00
$GC,3062.59,0,-116.79,-1.32,0.00,3758.3,3805.8,3710.9,1456.4,2001.4,439.77,-9.28,235,3064.14,0.00,0.00,0.00,0.000,0.000,0.000,3757.16,3804.81,3709.50,1457.00,2001.19,0,0,0,30.00,30.00,30.00
$GC,3452.59,0,-116.79,-1.32,0.00,3758.2,3806.0,3710.3,1456.5,2000.9,476.23,-9.42,248,3454.15,0.00,0.00,0.00,0.000,0.000,0.000,3757.31,3804.38,3710.25,1457.19,2001.12,0,0,0,30.00,30.00,30.00
$GC,3842.60,0,-116.79,-1.32,0.00,3758.1,3805.8,3710.5,1456.8,2001.2,512.51,-9.21,261,3844.17,0.00,0.00,0.00,0.000,0.000,0.000,3757.81,3805.19,3710.44,1456.75,2000.94,0,0,0,30.00,30.00,30.00
$GC,4232.62,0,-116.79,-1.32,0.00,3757.9,3805.5,3710.2,1456.8,2001.6,548.27,-9.18,274,4234.18,0.00,0.00,0.00,0.000,0.000,0.000,3757.38,3804.94,3709.81,1456.75,2001.31,0,0,0,30.00,30.00,30.00
$GC,4622.68,32,-116.79,-1.32,0.00,3758.0,3805.0,3711.1,1456.6,2001.2,583.58,-9.01,287,4624.24,0.00,0.00,0.00,0.000,0.000,0.000,3757.81,3805.62,3710.00,1457.00,2000.81,0,0,0,30.00,30.00,30.00
$GC,5012.69,32,-116.79,-1.32,0.00,3757.8,3805.1,3710.4,1457.2,2001.1,617.79,-8.48,300,5014.25,0.00,0.00,0.00,0.000,0.000,0.000,3757.25,3803.75,3710.75,1456.62,2000.62,0,0,0,30.00,30.00,30.00
$GC,5402.70,32,-116.79,-1.32,0.00,3758.4,3805.9,3710.9,1456.9,2001.6,652.36,-8.81,313,5404.26,0.00,0.00,0.00,0.000,0.000,0.000,3757.50,3804.81,3710.19,1456.56,2001.12,0,0,0,30.00,30.00,30.00
$GC,5792.71,32,-116.79,-1.32,0.00,3758.3,3805.5,3711.1,1457.4,2001.1,686.53,-8.73,326,5794.27,0.00,0.00,0.00,0.000,0.000,0.000,3757.59,3804.94,3710.25,1457.25,2000.94,0,0,0,30.00,30.00,30.00
$GC,6182.73,32,-116.79,-1.32,0.00,3758.6,3806.8,3710.5,1457.1,2000.7,717.41,-8.63,339,6184.29,0.00,0.00,0.00,0.000,0.000,0.000,3757.84,3804.56,3711.12,1456.94,2001.12,0,0,0,30.00,30.00,30.00
$GC,6572.73,32,-116.79,-1.32,0.00,3758.6,3805.9,3711.3,1457.2,2001.6,750.62,-8.43,352,6574.29,0.00,0.00,0.00,0.000,0.000,0.000,3758.16,3805.31,3711.00,1456.88,2000.69,0,0,0,30.00,30.00,30.00
$NAV,1669586345,761.0,start
$GC,6942.86,32,-116.79,-1.32,0.00,3758.6,3806.4,3710.7,1456.7,2000.1,760.97,4.89,364,6944.42,0.00,0.00,0.00,0.000,0.000,0.000,3757.78,3805.56,3710.00,1456.81,2000.75,0,0,0,30.00,30.00,30.00
$GC,7322.76,32,-116.79,-1.32,0.00,3758.3,3806.0,3710.6,1456.2,2000.5,791.89,-8.13,377,7324.34,0.00,0.00,0.00,0.000,0.000,0.000,3758.19,3806.00,3710.38,1456.75,2000.44,0,0,0,30.00,30.00,30.00
$NAV,1669587035,816.2,0,stop
$GC,7712.81,32,-116.79,-1.32,0.00,3758.7,3806.4,3711.1,1456.9,2000.5,823.24,-7.83,390,7714.42,0.00,0.00,0.00,0.000,0.000,0.000,3758.25,3806.31,3710.19,1457.00,2000.75,0,0,0,30.00,30.00,30.00
$GC,8102.81,32,-116.79,-1.32,0.00,3758.8,3807.1,3710.5,1457.4,2000.9,881.37,-8.19,403,8104.41,0.00,0.00,0.00,0.000,0.000,0.000,3758.81,3807.06,3710.56,1456.81,2000.25,0,0,0,30.00,30.00,30.00
$GC,8492.83,32,-116.79,-1.32,0.00,3759.5,3807.1,3711.8,1457.0,2000.5,912.89,-8.03,416,8494.42,0.00,0.00,0.00,0.000,0.000,0.000,3758.84,3806.31,3711.38,1457.00,2000.75,0,0,0,30.00,30.00,30.00
$GC,8882.84,32,-116.79,-1.32,0.00,3759.3,3807.1,3711.5,1457.3,2000.6,941.67,-6.43,429,8884.44,0.00,0.00,0.00,0.000,0.000,0.000,3758.38,3806.12,3710.62,1456.69,2000.62,0,0,0,30.00,30.00,30.00
$GC,9272.85,32,-116.79,-1.32,0.00,3759.0,3806.9,3711.1,1456.9,2000.8,972.26,-7.85,442,9274.46,0.00,0.00,0.00,0.000,0.000,0.000,3758.00,3805.88,3710.12,1456.75,2000.50,0,0,0,30.00,30.00,30.00
$STATE,9513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9513,begin apogee
$GC,9514.30,10243,0.00,-0.32,0.00,3759.5,3806.6,3712.3,1456.8,1893.4,991.13,-7.88,450,9618.92,96.25,1.94,0.09,2.303,0.157,0.252,3275.88,3335.88,3215.88,1716.69,1958.88,0,0,0,10.27,15.59,15.34
$WARN,HSCICON missed fuel gauge read
$STATE,9630,end apogee,CONTROL_FINISHED_OK
$STATE,9630,begin climb
$GC,9631.12,10503,116.79,1.32,80.00,3274.9,3334.4,3215.4,1716.2,1960.8,992.50,0.00,453,9753.62,102.57,2.80,3.83,2.222,0.104,0.112,2797.12,2857.06,2737.19,2113.25,3382.00,0,0,0,11.40,15.33,14.98
$GC,9981.17,1028,116.79,1.32,0.00,2792.0,2852.4,2731.6,2112.7,3382.1,943.17,17.02,522,9988.21,0.00,0.00,3.63,0.000,0.000,0.048,2793.25,2853.44,2733.06,2111.94,1899.00,0,0,0,30.00,30.00,15.38
$GC,10356.91,16646,116.79,1.32,80.00,2787.4,2848.2,2726.5,2112.8,1898.4,885.87,15.16,537,10364.37,0.00,0.00,3.84,0.000,0.000,0.108,2788.97,2850.38,2727.56,2111.25,3380.44,0,0,0,30.00,30.00,15.50
$GC,10592.66,17414,116.79,1.32,0.00,2787.8,2848.2,2727.3,2112.9,3380.6,847.10,16.45,584,10598.91,0.00,0.00,3.54,0.000,0.000,0.047,2785.12,2845.31,2724.94,2113.06,1898.81,0,0,0,30.00,30.00,15.65
$GC,10982.67,16646,116.79,1.32,80.00,2787.2,2848.4,2725.9,2113.1,1898.1,789.24,14.73,602,10990.09,0.00,0.00,3.76,0.000,0.000,0.107,2786.81,2847.94,2725.69,2112.62,3380.44,0,0,0,30.00,30.00,15.63
$GC,11218.35,17414,116.79,1.32,0.00,2787.0,2848.0,2726.0,2112.9,3380.9,751.30,16.19,649,11224.61,0.00,0.00,3.52,0.000,0.000,0.047,2787.41,2848.50,2726.31,2112.75,1896.25,0,0,0,30.00,30.00,15.73
$GC,11608.37,16646,116.79,1.32,80.00,2786.3,2847.6,2725.1,2112.9,1896.4,694.89,14.33,667,11615.79,0.00,0.00,3.77,0.000,0.000,0.106,2786.84,2848.31,2725.38,2110.31,3383.94,0,0,0,30.00,30.00,15.68
$GC,11844.07,17414,116.79,1.32,0.00,2786.4,2847.8,2724.9,2112.8,3383.4,657.77,15.76,714,11850.33,0.00,0.00,3.51,0.000,0.000,0.047,2786.69,2847.88,2725.50,2113.19,1897.62,0,0,0,30.00,30.00,15.75
$GC,12234.08,16646,116.79,1.32,80.00,2785.7,2847.6,2723.8,2112.5,1896.9,602.30,14.10,732,12241.49,0.00,0.00,3.76,0.000,0.000,0.106,2785.16,2847.62,2722.69,2111.75,3381.81,0,0,0,30.00,30.00,15.72
$GC,12469.79,17414,116.79,1.32,0.00,2785.8,2847.5,2724.1,2112.8,3381.8,565.62,15.61,779,12476.02,0.00,0.00,3.51,0.000,0.000,0.047,2788.25,2848.38,2728.12,2111.00,1896.62,0,0,0,30.00,30.00,15.81
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$NAV,1669596018,119.9,5,stop
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$GC,17027.66,9254,323.97,1.57,0.00,2060.4,2145.8,1975.0,2153.8,3383.2,87.30,7.70,1252,17060.93,22.86,0.00,3.56,1.180,0.000,0.047,1956.75,2042.25,1871.25,2153.00,1899.00,0,0,0,10.92,30.00,15.64
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$FREEZE,9.61,-1.440,-1.447,2,306,0
$STATE,18845,end climb,FINISH_DEPTH_REACHED
$STATE,18845,begin subsurface finish
$FINISH1,9.6,1.0213,434
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$FINISH2,9.5
$STATE,18878,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18878,begin surface
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$IRIDIUM_FIX,7521.87,-14415.87,230922,003608
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$SC_FREEKB,3734752
$RAFOS_CLK,-3
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$HUMID,49.23
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$24V_AH,14.38,191.864
$10V_AH,15.00,0.000
$FG_AHR_24Vo,149.178
$FG_AHR_10Vo,77.939
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
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$SDFILEDIR,3659,1
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$SOUNDSPEED,1465.0
$IMPLIED_C_PITCH,1783,15.50,576,0.0,15.57
$IMPLIED_C_VBD,3198,31.728657,318,0
$GPS,281122,003132,7512.312,-14231.114,0,6255.0,0,16.2