version: 67.01
glider: 252
mission: 4
dive: 34
start: 6 27 123 4 9 56
data:
$ID,252
$MISSION,4
$DIVE,34
$N_DIVES,40
$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,2.2533166
$FG_AHR_24V,15.915192
$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
$GPS1,270623,040539,4736.257,-12256.741,20,1.4,21,15.4
$_CALLS,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-62.2
$GPS2,270623,040923,4736.271,-12256.742,2,0.8,4,15.4
$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,19.8,588,-20.5,-10.000,-23.87,1659,0.143
$D_GRID,168
$IRON,1.000000,0.031484,-0.032928,-0.010108,1.045478,-0.062488,0.002039,-0.013247,0.921834,-196.850296,-1213.832397,-653.799561
$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,7.00,16386,-109.73,-1.60,0.00,494.4,517.1,471.8,186.9,2011.5,0.00,0.00,0,56.54,44.76,0.00,0.00,0.005,0.000,0.000,1824.62,1838.00,1811.25,186.50,2011.62,0,0,0,15.89,30.00,30.00
$GC,57.08,18727,-146.63,-1.65,80.00,1825.7,1840.6,1810.8,186.8,2011.9,3.04,-3.94,9,144.76,59.47,7.51,3.68,0.005,0.256,0.133,3948.66,3953.75,3943.56,1202.00,3488.56,0,0,0,15.91,15.78,15.83
$GC,372.74,3205,-146.63,-1.46,0.00,3951.0,3958.0,3943.9,1202.0,3488.2,54.09,-19.33,70,380.99,0.00,0.31,3.48,0.000,0.200,0.077,3950.62,3957.56,3943.69,1246.56,2009.69,0,0,0,30.00,15.89,15.93
$GC,568.53,388,-146.63,-1.36,80.00,3951.1,3958.5,3943.7,1247.4,2009.5,84.57,-15.89,90,577.44,0.00,0.00,3.65,0.000,0.000,0.130,3950.38,3957.50,3943.25,1247.44,3490.56,0,0,0,30.00,30.00,15.96
$NET,CACMR,PNR,2023-06-27T04:22:39.884846,29,252,0.263175,12.4,2.49,0,0,1;15;1;1359621279*7C
$NET_PING,1687839761,29,394.762512,12.400000,-0.526815
$NET,CAXST,7,20230627,042241.777679,3,0,200,5000,10000,1,252,29,0,0,6,5,192,10000*64
$NET,CARFP,2023-06-27T04:22:51.909092,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f204001bff,*41
$NET,CAXST,7,20230627,042252.515261,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*6E
$NET,CARFP,2023-06-27T04:23:01.977030,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011b00;1;4;00bf00ff,*73
$GC,780.32,1028,-146.63,-1.36,0.00,3951.5,3958.8,3944.2,1247.5,3490.2,123.60,-18.05,131,792.59,0.00,0.00,3.47,0.000,0.000,0.079,3951.31,3958.75,3943.88,1248.06,2009.62,0,0,0,30.00,30.00,15.94
$NET,CAXST,7,20230627,042302.673335,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*69
$NET,CARFP,2023-06-27T04:23:12.206918,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027c966d;1;13;a13e54c87c966d4d1f85e15c39;1;8;4c09f259b704f930,*28
$NET,CACST,8,0,20230627042311.269361,18,32767,45,0106,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,11.2,3.49,-100,-0.49,-01,0.25,65,10000,5000,0,1,00,00*77
$NET,CACST,8,1,20230627042313.269751,18,32767,45,0105,0113,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,12.3,4.21,-100,-1.21,-01,0.45,65,10000,5000,0,-1,00,00*7E
$NET,CARFP,2023-06-27T04:23:21.122997,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027c966e;1;13;c13e50c87c966e8d1f85e15c39;1;1;48,*2E
$NET,CAXST,7,20230627,042321.915645,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*65
$NET,CARFP,2023-06-27T04:23:31.982985,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011b00;1;4;003f01ff,*2D
$NET,CAXST,7,20230627,042332.679491,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*69
$NET,CACST,8,1,20230627042342.276037,18,32767,45,0135,0112,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,8.4,4.19,-100,-1.19,-01,0.38,65,10000,5000,0,-1,00,00*47
$NET,CAXST,7,20230627,042356.685659,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*6E
$NET,CACST,8,1,20230627042406.281737,18,32767,45,0126,0112,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,10.7,4.37,-100,-1.37,-01,0.32,63,10000,5000,0,-1,00,00*7B
$NET,CAXST,7,20230627,042416.688711,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*6D
$NET,CACST,8,1,20230627042427.286917,18,32353,45,0152,0111,07,00,00,00,00,-1,-01,-01,1,3,302,0,150,11.6,0.62,-100,2.38,-01,-2.73,63,10000,5000,0,-1,00,00*7F
$NET,CACST,8,1,20230627042433.288485,18,31837,45,0156,0111,07,01,01,00,01,-1,-01,-01,1,3,302,0,150,5.7,0.34,-100,2.66,-01,3.21,62,10000,5000,0,-1,00,00*6B
$NET,xmit part outbox0027.n 989 5
$STATE,950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,950,begin apogee
$MODEM_MSG,CACST,8,1,20230627041000.300144,18,11223,40,0297,0000,246,04,04,00,06,-1,-01,-01,1,3,0,0,150,-37.2,0.60,-100,2.40,-01,0.04,44,925,0025,0,-1,00,00*22
$MODEM_MSG,CACST,8,1,20230627042000.330719,18,31193,38,0176,0000,246,03,03,01,05,-1,-01,-01,1,3,0,0,150,-36.6,0.46,-100,2.54,-01,0.09,49,925,0025,0,-1,00,00*27
$MODEM_MSG,CACST,8,1,20230627042500.375230,18,32767,45,0223,0000,246,02,02,00,02,-1,-01,-01,2,3,1,0,150,2.6,2.43,-100,0.57,-01,0.38,72,925,0025,0,-1,00,00*3A
$NAV,1687840035,156.6,3,stop
$GC,951.94,10243,0.00,-0.36,0.00,3952.3,3960.8,3943.8,1247.4,2039.7,150.31,-15.56,149,1085.82,118.68,1.78,0.06,1.307,0.156,0.300,3348.50,3386.81,3310.19,1515.75,2012.56,0,0,0,11.96,15.87,15.53
$STATE,1087,end apogee,CONTROL_FINISHED_OK
$STATE,1087,begin climb
$GC,1087.37,10759,146.63,1.65,-80.00,3348.6,3386.2,3311.1,1515.9,2012.4,158.03,0.00,161,1240.76,126.21,3.15,4.11,1.274,0.106,0.183,2752.84,2801.44,2704.25,2004.19,562.12,0,0,0,11.73,15.57,15.37
$GC,1469.72,1156,146.63,1.68,0.00,2744.3,2785.5,2703.2,2003.9,562.3,123.51,11.60,233,1478.63,0.00,0.00,3.56,0.000,0.000,0.073,2743.06,2783.50,2702.62,2001.88,2040.50,0,0,0,30.00,30.00,15.81
$NET,CACMR,PNR,2023-06-27T04:37:38.135087,29,252,0.374309,11.7,3.60,0,0,1;15;1;2257760385*71
$NET_PING,1687840661,29,561.463501,11.700000,-0.748807
$NET,CAXST,7,20230627,043741.584648,3,0,200,5000,10000,1,252,29,0,0,6,5,192,10000*6C
$NET,CACST,8,1,20230627043751.374172,18,32767,45,0105,0113,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,5.6,3.73,-100,-0.73,-01,-0.30,78,10000,5000,0,-1,00,00*61
$GC,1660.48,10403,166.45,1.79,0.00,2742.3,2785.9,2698.8,2003.8,2040.5,106.46,8.78,252,1685.73,16.93,0.17,0.00,1.174,0.083,0.000,2668.97,2713.56,2624.38,2054.06,2040.56,0,0,0,12.05,15.91,30.00
$NET,CARFP,2023-06-27T04:38:02.224843,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027c96dd;1;13;013e54c87c96dc8d1f86915c38;1;1;78,*25
$NET,CACST,8,0,20230627043801.373685,18,32767,45,0102,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,15.5,3.69,-100,-0.69,-01,0.00,66,10000,5000,0,1,00,00*7A
$NET,CARFP,2023-06-27T04:38:11.224917,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027c96de;1;13;013e48c87c96ddcd1f86915c38;1;1;78,*77
$NET,CACST,8,0,20230627043810.373235,18,32767,45,0102,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,15.5,4.17,-100,-1.17,-01,-0.03,66,10000,5000,0,1,00,00*5D
$NET,CARFP,2023-06-27T04:38:20.224865,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027c96df;1;13;213e50c87c96df0d1f86a15c38;1;1;78,*70
$NET,CACST,8,0,20230627043819.373143,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,16.2,4.23,-100,-1.23,-01,0.00,65,10000,5000,0,1,00,00*7C
$NET,CAXST,7,20230627,043821.425318,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*6C
$NET,CACST,8,1,20230627043830.372879,18,32767,45,0102,0113,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,15.7,3.30,-100,-0.30,-01,-0.02,66,10000,5000,0,-1,00,00*54
$NET,xmit part outbox0027.n 989 5
$GC,1874.74,388,166.45,1.84,80.00,2667.6,2714.2,2620.9,2053.4,2040.9,84.21,10.49,274,1883.77,0.00,0.00,3.68,0.000,0.000,0.143,2665.97,2713.38,2618.56,2054.12,3490.38,0,0,0,30.00,30.00,15.89
$GC,1936.73,1028,166.45,1.84,0.00,2667.2,2713.3,2621.0,2053.9,3490.7,76.83,11.99,286,1945.28,0.00,0.00,3.56,0.000,0.000,0.080,2668.88,2715.38,2622.38,2053.62,2010.88,0,0,0,30.00,30.00,15.93
$NAV,1687841048,65.3,start
$GC,2126.75,8614,181.31,1.92,80.00,2666.4,2712.9,2620.0,2054.1,2010.1,58.48,9.08,305,2154.67,15.89,0.00,3.75,1.145,0.000,0.140,2608.97,2655.19,2562.75,2053.62,3490.38,0,0,0,11.95,30.00,15.89
$GC,2212.90,1156,181.31,1.95,0.00,2609.3,2654.9,2563.8,2054.0,3491.1,49.58,10.74,322,2221.18,0.00,0.00,3.54,0.000,0.000,0.078,2608.59,2655.06,2562.12,2054.00,2009.56,0,0,0,30.00,30.00,15.93
$NAV,1687841235,46.9,0,stop
$GC,2405.23,10663,195.94,2.04,80.00,2608.4,2655.2,2561.6,2054.2,2009.9,31.37,9.10,360,2434.32,15.81,0.25,3.72,1.132,0.072,0.139,2549.59,2597.56,2501.62,2113.31,3490.06,0,0,0,12.06,16.02,15.92
$GC,2553.07,1028,195.94,2.04,0.00,2548.8,2597.1,2500.6,2112.8,3490.6,13.66,11.96,389,2566.67,0.00,0.00,3.52,0.000,0.000,0.078,2547.62,2596.75,2498.50,2113.31,2008.75,0,0,0,30.00,30.00,15.53
$GC,2750.61,10919,316.93,2.25,-80.00,2547.2,2597.3,2497.2,2113.2,2008.9,5.24,2.54,427,2848.78,88.79,0.19,0.00,1.179,0.085,0.000,2133.41,2199.69,2067.12,2160.19,2009.88,0,0,0,12.25,16.05,30.00
$FREEZE,4.42,13.370,-1.556,0,1,0
$STATE,2849,end climb,NO_VERTICAL_VELOCITY
$STATE,2849,begin surface
$SURF,forcing
$SM_CCo,3204.12,321.62,1.128,0,500.8,528.1,473.5,698.91
$SM_GC,2.15,0.00,12.23,0.06,0.000,0.056,0.198,497.5,524.0,471.1,190.2,2041.5,0,0,0,30.00,15.58,15.58
$NAV,1687842319,0.0,start
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4736.87,-12256.21,270623,030106
$TCM_TEMP,-86.26
$SC_FREEKB,3867904
$RAFOS_CLK,1
$MODEM,3,1687839900,47.60580,-122.94600,0.375,549.7
$MODEM,2,1687839600,47.60500,-122.95000,0.331,484.5
$MODEM,1,1687839000,47.60500,-122.95000,0.300,439.7
$RAFOS_FIX,4736.748535,-12257.000000,270623,040400,2,510,1.48
$HUMID,52.13
$TEMP,11.06
$INTERNAL_PRESSURE,7.99452
$24V_AH,14.88,17.174
$10V_AH,14.94,0.000
$FG_AHR_24Vo,16.158
$FG_AHR_10Vo,2.290
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,808.180,25.610,43.970,155.111,0.000,13.835,2032.131,1.336,0.000,1133.681,937.259,1488.700,0.000,0.000,222.294
$DEVICE_MAMPS,1306.832,256.248,299.544,147.652,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2856.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.523,0.000,0.000,0.000
$MEM0,59804,1,0,0
$MEM1,65508,1,0,0
$MEM2,945412,27,101136,74
$DATA_FILE_SIZE,12955,445
$CAP_FILE_SIZE,168390,0
$SDSIZE,3887104,3861824
$SDFILEDIR,318,35
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.045,220.7,1
$MAGCAL,1.000000,0.032652,-0.074373,-0.013907,1.059497,-0.147554,-0.025176,0.027588,1.137842,-165.4,-1176.1,-826.5,36,0.0451,0
$IMPLIED_C_PITCH,1748,14.14,205,0.0,0.00
$IMPLIED_C_VBD,3281,27.867313,205,0
$GPS,270623,050602,4736.237,-12256.551,9,0.8,12,15.4