version: 67.00
glider: 241
mission: 9
dive: 2
start: 8 22 122 20 22 19
data:
$ID,241
$MISSION,9
$DIVE,2
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1030
$D_NO_BLEED,450
$D_BOOST,0
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,15
$SURFACE_URGENCY_TRY,15
$SURFACE_URGENCY_FORCE,30
$T_DIVE,60
$T_MISSION,100
$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,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0257
$MASS,72789
$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,7
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,129
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,10800
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3628
$C_PITCH,1847.5867
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,17.296249
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$C_PITCH_AUTO_DELTA,0.5
$C_PITCH_AUTO_MAX,200
$PITCH_GAIN_AUTO_DELTA,0.5
$PITCH_GAIN_AUTO_MAX,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,215
$ROLL_MAX,3820
$ROLL_DEG,80
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2148.4861
$HEAD_ERRBAND,20
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,30
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3364
$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,0.5
$C_VBD_AUTO_MAX,100
$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,43.092503
$FG_AHR_24V,50.007011
$PHONE_SUPPLY,2
$PRESSURE_YINT,-189.60248
$PRESSURE_SLOPE,0.00022588584
$COMPASS_USE,49156
$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,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,69
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,96
$NAV_DEVICE,6
$NAV2_DEVICE,6
$NETWORK_DEVICE,1
$PRESSURE_DEVICE,37
$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
$EXED,cmdfile,1,dive1
$EXED,pdoscmds,1,dive1
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,220822,201706,7435.990,-14532.229,23,1.5,25,16.1
$_CALLS,2
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.7
$GPS2,220822,202143,7436.001,-14532.307,4,1.4,7,16.1
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,IGBH
$TGT_LATLONG,7448.192,-14226.389
$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,59.9,93040,-17.6,-10.000,-21.23,2209,0.142
$D_GRID,180
$IRON,1.000000,-0.014647,0.011516,-0.009792,1.097700,0.010681,0.037311,-0.056866,0.857331,506.888397,-1504.940674,-138.967773
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,6.60,16386,-146.24,-1.20,0.00,496.4,555.2,437.6,201.0,2172.3,0.00,0.00,0,70.90,61.17,0.00,0.00,0.005,0.000,0.000,1587.53,1475.00,1700.06,201.00,2172.75,0,0,0,15.83,30.00,30.00
$GC,71.29,18983,-146.24,-1.20,-80.00,1588.6,1478.1,1699.0,201.1,2172.7,3.20,-4.36,6,152.02,55.15,11.18,3.81,0.005,0.321,0.138,3962.59,3921.12,4004.06,1555.00,682.25,0,0,0,15.85,15.59,15.73
$GC,234.45,3205,-146.24,-1.06,0.00,3962.4,3938.6,3986.2,1554.0,682.1,56.61,-25.89,38,241.14,0.00,0.24,3.52,0.000,0.231,0.071,3962.81,3939.06,3986.56,1588.31,2168.81,0,0,0,30.00,15.67,15.79
$GC,615.32,388,-146.24,-1.01,80.00,3962.1,3944.0,3980.1,1587.8,2168.9,118.76,-14.98,54,622.38,0.00,0.00,3.63,0.000,0.000,0.136,3962.38,3944.12,3980.62,1588.50,3613.56,0,0,0,30.00,30.00,15.80
$GC,654.91,3205,-146.24,-0.94,0.04,3962.1,3944.1,3980.1,1588.1,3615.4,125.42,-16.82,62,661.87,0.00,0.22,3.53,0.000,0.216,0.075,3962.56,3944.81,3980.31,1619.69,2127.88,0,0,0,30.00,15.73,15.84
$GC,1030.63,260,-146.24,-0.94,80.00,3961.9,3945.4,3978.5,1619.4,2127.0,172.40,-12.24,77,1037.82,0.00,0.00,3.76,0.000,0.000,0.137,3961.75,3945.75,3977.75,1619.62,3615.06,0,0,0,30.00,30.00,15.81
$GC,1040.27,1028,-146.24,-0.94,0.16,3962.4,3946.4,3978.4,1619.1,3614.5,173.68,-12.28,79,1047.09,0.00,0.00,3.51,0.000,0.000,0.072,3962.97,3946.06,3979.88,1619.06,2127.38,0,0,0,30.00,30.00,15.86
$MODEM_MSG,CACST,8,1,20220822201054.065284,18,335,19,0136,0000,216,00,00,01,03,-1,-01,-01,1,3,0,0,150,-26.2,0.52,-100,2.48,-01,0.06,40,925,0025,0,-1,00,00*22
$MODEM_MSG,CACST,8,1,20220822201613.972107,18,18172,18,0163,0000,216,04,04,04,04,-1,-01,-01,1,3,0,0,150,-28.2,0.71,-100,2.29,-01,0.02,38,925,0025,0,-1,00,00*21
$MODEM_MSG,CACST,8,1,20220822202701.554810,18,579,21,0334,0000,216,02,02,01,02,-1,-01,-01,1,3,0,0,150,3.0,0.78,-100,2.22,-01,-0.03,37,925,0025,0,-1,00,00*1B
$MODEM_MSG,CARFP,2022-08-22T20:38:10.344561,0,25,121,1,1,0,0,1;8;08197903203000ff,1;5;5b4d8a9129,*28
$MODEM_MSG,CACST,8,0,20220822203606.223922,18,1988,32,0356,0000,246,03,03,00,03,1,025,121,0,5,1,0,150,4.5,12.18,-100,-9.18,-01,-0.40,66,925,0025,0,1,00,00*32
$NAV,1661200825,179.1,4,stop
$STATE,1116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1116,begin apogee
$GC,1117.40,10243,0.00,-0.29,0.00,3962.4,3946.5,3978.3,1618.8,2167.8,182.68,-11.82,84,1242.52,115.06,1.12,0.08,1.486,0.184,0.265,3365.47,3415.56,3315.38,1776.06,2126.69,0,0,0,10.91,15.80,15.37
$STATE,1244,end apogee,CONTROL_FINISHED_OK
$STATE,1244,begin climb
$GC,1243.68,11271,146.24,1.20,0.00,3361.8,3412.0,3311.7,1777.1,2126.6,189.04,0.00,88,1370.73,115.62,2.57,0.06,1.358,0.151,0.183,2766.00,2836.44,2695.56,2136.88,2166.50,0,0,0,10.89,15.41,15.44
$GC,1753.54,8614,224.54,1.21,80.00,2755.2,2817.1,2693.2,2137.1,2165.9,160.02,6.36,125,1825.22,62.19,0.00,3.79,1.348,0.000,0.146,2447.06,2521.06,2373.06,2137.00,3611.19,0,0,0,10.91,30.00,15.41
$GC,1847.81,9382,253.30,1.16,0.07,2443.2,2514.4,2372.1,2137.9,3610.8,153.12,8.66,142,1880.89,24.53,0.00,3.61,1.260,0.000,0.076,2329.75,2407.88,2251.62,2138.94,2127.38,0,0,0,10.97,30.00,15.52
$GC,2244.13,8742,290.98,1.21,-80.00,2321.2,2392.8,2249.8,2138.4,2127.2,117.53,8.25,161,2282.91,30.78,0.00,3.75,1.292,0.000,0.151,2178.03,2260.62,2095.44,2138.62,682.75,0,0,0,10.99,30.00,15.55
$GC,2335.42,9254,297.79,1.22,-0.06,2173.6,2254.4,2092.7,2138.6,683.1,109.29,9.68,179,2351.77,7.68,0.00,3.59,1.008,0.000,0.073,2148.94,2231.12,2066.75,2137.94,2163.25,0,0,0,11.05,30.00,15.66
$GC,2721.27,10403,364.21,1.34,-0.06,2143.5,2221.8,2065.2,2138.2,2162.9,80.27,6.92,196,2779.56,54.34,0.22,0.00,1.284,0.113,0.000,1879.12,1978.81,1779.44,2175.94,2163.69,0,0,0,11.21,15.78,30.00
$GC,3142.83,10919,447.98,1.51,-80.00,1869.4,1961.0,1777.9,2175.9,2163.2,50.43,6.11,210,3229.20,76.04,0.23,3.91,1.246,0.118,0.150,1536.91,1648.50,1425.31,2215.25,683.00,0,0,0,10.96,15.77,15.45
$GC,3281.80,11431,500.96,1.63,-0.17,1533.1,1642.0,1424.2,2215.6,683.3,40.53,7.54,237,3345.50,52.21,0.15,3.61,1.189,0.128,0.074,1321.28,1436.88,1205.69,2245.50,2164.06,0,0,0,11.10,15.56,15.58
$GC,3713.83,10403,665.05,1.94,-0.17,1312.7,1419.6,1205.9,2245.2,2163.5,26.72,2.38,273,3907.28,181.84,0.47,0.00,1.172,0.112,0.000,653.12,739.31,566.94,2320.69,2163.69,0,0,0,10.99,15.69,30.00
$FREEZE,9.86,-0.848,-1.387,2,1,0
$FREEZE,9.74,-0.848,-1.387,2,1,0
$FREEZE,9.72,-0.842,-1.386,2,1,0
$FREEZE,9.68,-0.842,-1.386,2,1,0
$FREEZE,9.59,-0.817,-1.384,2,1,0
$FREEZE,9.46,-0.817,-1.384,2,1,0
$FREEZE,9.38,-0.791,-1.383,2,1,0
$FREEZE,9.29,-0.791,-1.383,2,1,0
$FREEZE,9.19,-0.755,-1.381,2,1,0
$GC,4210.56,10663,849.93,2.36,80.00,648.3,730.1,566.4,2320.4,2163.8,10.08,1.41,330,4266.27,45.98,0.65,3.80,1.150,0.131,0.145,500.28,571.88,428.69,2418.00,3611.00,0,0,0,11.03,15.61,15.42
$FREEZE,8.92,-0.751,-1.381,2,1,0
$FREEZE,8.78,-0.751,-1.381,2,1,0
$FREEZE,8.66,-0.763,-1.381,2,1,0
$FREEZE,8.51,-0.763,-1.381,2,1,0
$FREEZE,8.34,-0.766,-1.380,2,1,0
$FREEZE,8.18,-0.766,-1.380,2,1,0
$FREEZE,8.00,-0.769,-1.380,2,1,0
$FREEZE,7.81,-0.769,-1.380,2,1,0
$FREEZE,7.61,-0.771,-1.380,2,1,0
$FREEZE,7.41,-0.771,-1.379,2,1,0
$FREEZE,7.19,-0.771,-1.379,2,1,0
$FREEZE,6.97,-0.771,-1.379,2,1,0
$FREEZE,6.78,-0.772,-1.379,2,1,0
$FREEZE,6.53,-0.772,-1.379,2,1,0
$FREEZE,6.31,-0.774,-1.379,2,1,0
$FREEZE,6.06,-0.774,-1.378,2,1,0
$FREEZE,5.81,-0.775,-1.378,2,1,0
$FREEZE,5.58,-0.775,-1.378,2,1,0
$FREEZE,5.32,-0.777,-1.378,2,1,0
$FREEZE,5.06,-0.777,-1.377,2,1,0
$FREEZE,4.73,-0.778,-1.377,2,1,0
$FREEZE,4.45,-0.778,-1.377,2,1,0
$FREEZE,4.20,-0.778,-1.377,2,1,0
$FREEZE,3.95,-0.778,-1.376,2,1,0
$FREEZE,3.71,-0.777,-1.376,2,1,0
$FREEZE,3.44,-0.777,-1.376,2,1,0
$FREEZE,3.19,-0.784,-1.376,2,1,0
$FREEZE,2.96,-0.784,-1.376,2,1,0
$FREEZE,2.70,-0.790,-1.375,2,1,0
$FREEZE,2.49,-0.790,-1.375,2,1,0
$FREEZE,2.22,-0.790,-1.375,2,1,0
$FREEZE,1.98,-0.790,-1.375,2,1,0
$STATE,4426,end climb,SURFACE_DEPTH_REACHED
$STATE,4426,begin surface coast
$FREEZE,1.72,-0.775,-1.375,2,1,0
$FREEZE,1.47,-0.775,-1.375,2,1,0
$FREEZE,1.22,-0.752,-1.374,2,1,0
$FINISH,1.2,1.020264
$STATE,4442,end surface coast,CONTROL_FINISHED_OK
$STATE,4442,begin surface
$SM_CCo,4476.97,0.00,0.000,0,497.6,566.6,428.6,703.14
$SM_GC,2.65,0.00,14.62,3.57,0.000,0.111,0.077,497.6,566.6,428.6,199.8,2130.2,0,0,0,30.00,15.58,15.63
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7438.69,-14547.06,220822,201819
$TCM_TEMP,3.54
$SC_FREEKB,3878144
$RAFOS_CLK,-7
$MODEM,7,1661200566,74.79520,-142.42200,66.224,97018.0
$MODEM,5,1661200021,75.77970,-141.47560,121.555,178077.8
$MODEM,3,1661199373,75.49690,-144.13609,73.972,108369.1
$MODEM,2,1661199054,75.22370,-146.73190,54.065,79205.6
$RAFOS_FIX,7435.077148,-14536.274414,220822,202006,4,255,3.01
$HUMID,53.62
$TEMP,1.30
$INTERNAL_PRESSURE,7.78916
$24V_AH,14.76,16.063
$10V_AH,14.97,0.000
$FG_AHR_24Vo,50.280
$FG_AHR_10Vo,43.118
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,882.595,31.670,51.650,161.485,0.000,16.552,1938.646,0.306,0.000,2791.699,670.313,1388.002,0.000,0.000,55.802
$DEVICE_MAMPS,1485.920,320.864,265.104,203.384,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4449.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.309,0.000,0.000,0.000
$MEM0,60052,1,0,0
$MEM1,65508,1,0,0
$MEM2,979800,30,66328,92
$DATA_FILE_SIZE,9743,375
$CAP_FILE_SIZE,175965,0
$SDSIZE,3887104,3871456
$SDFILEDIR,58,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$MAGCAL,1.000000,-0.006565,-0.104721,0.020856,1.072328,-0.097229,0.023172,-0.049768,0.866632,620.2,-1408.8,-157.0,36,0.1131,1
$GPS,220822,213901,7436.073,-14530.739,94,0.8,95,16.1