version: 67.01
glider: 252
mission: 4
dive: 20
start: 6 26 123 13 24 25
data:
$ID,252
$MISSION,4
$DIVE,20
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$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,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,60
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72278
$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,699.10498
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$NETBOX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3615
$C_PITCH,1600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,14
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,275
$ROLL_MAX,3885
$ROLL_DEG,80
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$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,3350
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$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,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,1.6110374
$FG_AHR_24V,12.372331
$PHONE_SUPPLY,2
$PRESSURE_YINT,-179.75725
$PRESSURE_SLOPE,0.00022626969
$COMPASS_USE,114692
$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,2
$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,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,96
$NAV_DEVICE,6
$NAV2_DEVICE,6
$NAV3_DEVICE,-1
$NAV4_DEVICE,-1
$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,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,260623,132032,4735.952,-12256.768,1,0.9,22,15.4
$_CALLS,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.9
$GPS2,260623,132353,4735.962,-12256.729,2,0.6,3,15.4
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,N
$TGT_LATLONG,4736.530,-12256.470
$TGT_RADIUS,300.000
$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,355.1,1100,-17.6,-10.000,-21.21,2209,0.126
$D_GRID,166
$IRON,1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909
$OSC,8000266
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.75,16386,-146.63,-1.44,0.00,495.1,517.7,472.4,190.9,2012.1,0.00,0.00,0,67.15,54.76,0.00,0.00,0.005,0.000,0.000,2052.78,2039.25,2066.31,190.81,2011.50,0,0,0,15.89,30.00,30.00
$GC,67.68,18983,-146.63,-1.44,-80.00,2085.7,2104.9,2066.5,190.9,2011.9,3.13,-3.26,11,145.04,49.88,7.91,3.84,0.005,0.262,0.172,3949.44,3953.31,3945.56,1252.06,559.62,0,0,0,15.91,15.77,15.83
$NAV,1687786033,16.6,0,stop
$GC,303.82,3205,-146.63,-1.22,0.00,3950.7,3956.2,3945.2,1252.5,559.7,43.63,-19.94,56,312.34,0.00,0.35,3.54,0.000,0.200,0.079,3950.31,3956.12,3944.50,1305.06,2037.19,0,0,0,30.00,15.90,15.94
$GC,496.04,388,-146.63,-1.13,80.00,3951.7,3958.2,3945.2,1305.3,2037.1,71.04,-13.87,79,504.93,0.00,0.00,3.66,0.000,0.000,0.145,3952.09,3957.44,3946.75,1305.12,3490.56,0,0,0,30.00,30.00,15.98
$GC,603.80,3205,-146.63,-1.01,0.00,3951.7,3958.3,3945.0,1305.6,3490.1,87.36,-15.22,100,613.02,0.00,0.34,3.53,0.000,0.173,0.079,3951.25,3957.88,3944.62,1358.44,2011.50,0,0,0,30.00,16.00,16.02
$NET,CACMR,PNR,2023-06-26T13:37:39.229473,29,252,0.435082,14.1,4.02,0,0,1;15;1;2258794473*7E
$NET_PING,1687786662,29,652.622986,14.100000,-0.870078
$NET,CAXST,7,20230626,133742.027079,3,0,200,5000,10000,1,252,29,0,0,6,5,192,10000*60
$NET,CACST,8,1,20230626133753.433892,18,32767,45,0103,0113,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,17.3,3.40,-100,-0.40,-01,-0.12,67,10000,5000,0,-1,00,00*59
$GC,800.81,388,-146.63,-0.97,80.00,3951.9,3959.0,3944.9,1358.2,2011.0,109.22,-10.87,120,812.90,0.00,0.00,3.71,0.000,0.000,0.139,3952.34,3959.62,3945.06,1359.38,3493.12,0,0,0,30.00,30.00,16.01
$NET,CAXST,7,20230626,133817.322836,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*69
$NET,CARFP,2023-06-26T13:38:28.140286,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011000;1;4;00bf00ff,*24
$NET,CAXST,7,20230626,133828.841660,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*66
$NET,CAXST,7,20230626,133847.352760,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*67
$NET,CARFP,2023-06-26T13:38:58.133982,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011000;1;4;007f01ff,*7C
$NET,CAXST,7,20230626,133858.835727,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*60
$NET,CACST,8,1,20230626133909.425856,18,32767,45,0102,0113,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,17.0,5.02,-100,-2.02,-01,-0.40,67,10000,5000,0,-1,00,00*56
$NET,CAXST,7,20230626,133917.435277,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*66
$NET,CARFP,2023-06-26T13:39:28.133739,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011000;1;4;003f02ff,*73
$NET,CAXST,7,20230626,133928.818102,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*68
$GC,911.88,3205,-146.63,-0.79,0.00,3951.9,3959.0,3944.8,1359.8,3493.6,123.74,-12.56,142,925.34,0.00,0.34,3.57,0.000,0.167,0.081,3951.78,3958.56,3945.00,1411.88,2010.94,0,0,0,30.00,15.90,15.92
$NET,CAXST,7,20230626,133946.740247,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*60
$NET,CARFP,2023-06-26T13:39:58.127770,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011000;1;4;00ff02ff,*29
$NET,CAXST,7,20230626,133958.662220,3,0,200,5000,10000,1,252,29,0,0,4,5,66,10000*54
$NET,CAXST,7,20230626,134017.272933,3,0,200,5000,10000,1,252,29,0,0,4,5,66,10000*5D
$NET,CAXST,7,20230626,134037.362019,3,0,200,5000,10000,1,252,29,0,0,4,5,66,10000*5E
$NET,xmit part outbox0016.n 834 12
$GC,1111.81,292,-146.63,-0.79,80.00,3952.7,3960.8,3944.6,1411.4,2009.9,141.68,-8.78,163,1120.83,0.00,0.00,3.73,0.000,0.000,0.141,3951.88,3959.31,3944.44,1410.81,3488.75,0,0,0,30.00,30.00,15.94
$NAV,1687787044,148.3,start
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1198,begin apogee
$GC,1206.38,10243,0.00,-0.36,0.00,3952.6,3960.9,3944.4,1411.2,2010.9,150.22,-10.16,178,1334.48,114.36,0.68,0.05,1.355,0.139,0.330,3349.56,3389.31,3309.81,1516.75,2036.75,0,0,0,11.87,15.95,15.56
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1336,begin climb
$NAV,1687787234,156.7,0,stop
$GC,1336.02,10759,146.63,1.44,-80.00,3348.1,3387.2,3308.9,1516.6,2037.1,157.15,0.00,190,1483.98,121.14,2.84,4.14,1.314,0.111,0.188,2749.09,2799.19,2699.00,1950.50,561.25,0,0,0,11.76,15.59,15.38
$GC,1512.98,11431,200.06,1.55,0.00,2747.7,2794.8,2700.6,1950.8,561.2,148.74,7.53,221,1574.16,45.79,0.15,3.63,1.275,0.097,0.077,2533.16,2589.50,2476.81,1989.75,2040.81,0,0,0,11.75,15.58,15.57
$NET,CACMR,PNR,2023-06-26T13:52:38.079084,29,252,0.351433,13.9,4.17,0,0,1;15;1;3157730710*72
$NET_PING,1687787561,29,527.149536,13.900000,-0.699719
$NET,CAXST,7,20230626,135241.317069,3,0,200,5000,10000,1,252,29,0,0,5,5,66,10000*58
$NET,CACST,8,1,20230626135249.346116,18,32767,45,0102,0113,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,16.7,4.73,-100,-1.73,-01,-0.20,68,10000,5000,0,-1,00,00*5D
$NET,CAXST,7,20230626,135320.418168,3,0,200,5000,10000,1,252,29,0,0,4,5,66,10000*57
$NET,CARFP,2023-06-26T13:53:29.045974,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011000;1;4;034103ff,*2B
$NET,CACST,8,0,20230626135328.338425,18,32767,45,0102,0113,07,00,00,00,00,1,029,252,0,5,2,0,150,14.7,3.97,-100,-0.97,-01,-0.32,69,10000,5000,0,1,00,00*5A
$NET,xmit ok outbox0016.n 834 14
$GC,1755.15,8614,218.50,1.64,80.00,2528.6,2584.2,2473.0,1988.9,2039.9,127.09,9.15,251,1783.88,16.83,0.00,3.74,1.202,0.000,0.149,2459.31,2515.69,2402.94,1988.94,3491.56,0,0,0,11.75,30.00,15.65
$GC,1877.79,1156,218.50,1.70,0.00,2455.7,2512.8,2398.7,1990.1,3492.0,114.45,10.48,275,1886.68,0.00,0.00,3.60,0.000,0.000,0.083,2452.53,2510.44,2394.62,1989.56,2010.25,0,0,0,30.00,30.00,15.78
$NAV,1687787941,95.8,start
$GC,2072.90,10663,238.22,1.81,80.00,2454.3,2512.6,2396.1,1989.8,2010.1,96.19,9.09,295,2103.00,18.10,0.29,3.78,1.212,0.067,0.143,2376.31,2435.88,2316.75,2057.75,3490.69,0,0,0,11.98,15.92,15.80
$GC,2145.96,1028,238.22,1.81,0.00,2376.5,2435.8,2317.2,2058.1,3489.8,87.49,12.71,307,2154.50,0.00,0.00,3.58,0.000,0.000,0.083,2377.72,2437.06,2318.38,2058.62,2010.06,0,0,0,30.00,30.00,15.83
$GC,2341.92,388,238.22,1.85,80.00,2374.9,2435.5,2314.2,2057.9,2010.6,65.30,11.03,327,2351.01,0.00,0.00,3.77,0.000,0.000,0.143,2376.31,2435.94,2316.69,2057.12,3487.94,0,0,0,30.00,30.00,15.90
$GC,2419.74,1028,238.22,1.85,0.00,2374.6,2435.0,2314.2,2058.4,3488.1,55.77,12.41,342,2428.80,0.00,0.00,3.54,0.000,0.000,0.082,2373.81,2433.62,2314.00,2058.38,2011.56,0,0,0,30.00,30.00,15.93
$NET,CACMR,PNR,2023-06-26T14:07:42.827807,29,252,0.222887,10.6,6.35,0,0,1;15;1;462607827*4E
$NET_PING,1687788464,29,334.330505,10.600000,-0.442867
$NET,CARFP,2023-06-26T14:07:43.501397,0,29,252,1,-1,0,0,1;12;081dfc07000b9f1b92d5d3ff,,*00
$NET,CACST,8,0,20230626140742.827807,18,32767,45,0102,0113,07,00,00,00,00,1,029,252,0,5,1,0,150,10.6,6.35,-100,-3.35,-01,-0.06,73,10000,5000,0,-1,00,00*78
$GC,2614.14,128,238.22,1.90,0.00,2374.0,2434.4,2313.6,2058.7,2011.0,34.77,10.36,375,2618.03,0.00,0.00,0.00,0.000,0.000,0.000,2373.84,2433.88,2313.81,2058.50,2011.19,0,0,0,30.00,30.00,30.00
$GC,2799.25,8614,255.53,1.98,80.00,2373.9,2434.8,2312.9,2057.6,2011.8,16.95,9.20,412,2828.82,17.45,0.00,3.77,1.170,0.000,0.146,2306.25,2366.50,2246.00,2057.94,3488.44,0,0,0,12.02,30.00,15.90
$GC,2897.82,11431,287.80,2.07,0.00,2305.3,2366.1,2244.5,2057.9,3488.6,8.11,8.51,431,2939.98,30.05,0.28,3.54,1.193,0.068,0.081,2175.22,2238.62,2111.81,2121.50,2009.31,0,0,0,11.99,15.96,15.94
$GC,3123.91,10403,510.92,2.43,0.00,2170.9,2234.8,2106.9,2121.8,2009.9,5.51,-0.33,475,3134.30,7.70,0.41,0.00,0.987,0.061,0.000,2148.97,2212.88,2085.06,2207.12,2009.31,0,0,0,11.97,15.94,30.00
$FREEZE,5.46,14.263,-1.512,0,1,0
$STATE,3135,end climb,NO_VERTICAL_VELOCITY
$STATE,3135,begin surface
$SURF,forcing
$SM_CCo,3499.04,329.00,1.176,0,501.0,526.6,475.4,698.87
$SM_GC,1.50,0.00,12.62,0.06,0.000,0.062,0.202,497.5,522.4,472.6,191.6,2040.3,0,0,0,30.00,15.55,15.56
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4735.53,-12254.47,260623,121443
$TCM_TEMP,-86.30
$SC_FREEKB,3872384
$RAFOS_CLK,0
$RAFOS_FIX,4736.460938,-12257.000000,260623,020200,2,510,0.36
$HUMID,52.36
$TEMP,11.36
$INTERNAL_PRESSURE,7.99738
$24V_AH,14.88,13.302
$10V_AH,14.91,0.000
$FG_AHR_24Vo,12.625
$FG_AHR_10Vo,1.659
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,805.065,26.220,66.335,132.015,0.000,13.099,2197.237,0.866,0.000,1229.526,1001.730,592.841,0.000,0.000,334.757
$DEVICE_MAMPS,1354.720,261.824,330.048,136.856,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3141.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.402,0.000,0.000,0.000
$MEM0,59804,1,0,0
$MEM1,65508,1,0,0
$MEM2,945424,26,101144,74
$DATA_FILE_SIZE,12914,477
$CAP_FILE_SIZE,192442,0
$SDSIZE,3887104,3866368
$SDFILEDIR,204,21
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.039, 79.7,1
$IMPLIED_C_PITCH,1771,13.29,222,0.0,0.00
$IMPLIED_C_VBD,3306,15.483612,222,0
$GPS,260623,142504,4736.363,-12256.552,0,0.9,2,15.4