version: 67.01
glider: 252
mission: 4
dive: 46
start: 6 27 123 16 25 53
data:
$ID,252
$MISSION,4
$DIVE,46
$N_DIVES,58
$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,2.8474946
$FG_AHR_24V,18.880823
$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
$GPS1,270623,162202,4736.347,-12256.445,5,0.8,28,15.4
$_CALLS,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-61.7
$GPS2,270623,162515,4736.355,-12256.446,2,0.6,4,15.4
$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,345.8,325,-27.2,-10.000,-30.00,969,0.170
$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,8000307
$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,7.04,16386,-63.69,-2.02,0.00,494.5,517.2,471.7,188.1,2011.7,0.00,0.00,0,56.55,44.77,0.00,0.00,0.005,0.000,0.000,1835.06,1852.69,1817.44,188.56,2012.06,0,0,0,15.89,30.00,30.00
$MODEM_MSG,CACST,8,1,20230627160000.417521,18,2058,33,0102,0000,216,03,03,00,03,-1,-01,-01,1,3,0,0,150,-29.4,0.48,-100,2.52,-01,0.08,46,925,0025,0,-1,00,00*1D
$MODEM_MSG,CACST,8,1,20230627161007.780261,18,5052,31,0134,0000,216,03,03,01,03,-1,-01,-01,1,3,0,0,150,-27.7,0.73,-100,2.27,-01,0.06,43,925,0025,0,-1,00,00*1F
$MODEM_MSG,CACST,8,1,20230627162000.495702,18,3882,35,0317,0000,216,03,03,00,03,-1,-01,-01,1,3,0,0,150,-25.6,0.47,-100,2.53,-01,0.08,39,925,0025,0,-1,00,00*14
$MODEM_MSG,CARFP,2023-06-27T16:27:04.735364,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;3a1d0b4f55,*22
$MODEM_MSG,CACST,8,0,20230627162500.618546,18,32412,27,0176,0000,246,02,02,03,04,1,029,121,0,5,1,0,150,4.4,4.87,-100,-1.87,-01,-0.04,60,925,0025,0,1,00,00*35
$NAV,1687883233,5.3,4,stop
$GC,57.08,18727,-116.67,-2.09,80.00,1836.2,1855.2,1817.2,187.7,2011.5,3.16,-4.40,9,139.29,54.88,6.85,3.67,0.005,0.256,0.128,3826.00,3830.06,3821.94,1094.44,3489.50,0,0,0,15.90,15.77,15.85
$GC,362.28,3205,-116.67,-1.91,0.00,3828.2,3834.2,3822.2,1094.5,3489.3,57.26,-21.11,68,370.39,0.00,0.29,3.52,0.000,0.216,0.077,3828.16,3833.69,3822.62,1137.88,2013.62,0,0,0,30.00,15.90,15.94
$GC,554.29,644,-116.67,-1.83,-80.00,3828.5,3834.6,3822.3,1137.3,2013.1,90.78,-18.63,87,566.21,0.00,0.00,3.84,0.000,0.000,0.166,3829.16,3835.06,3823.25,1137.62,560.12,0,0,0,30.00,30.00,15.97
$NET,CARFP,2023-06-27T16:35:20.203492,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027cabe0;1;13;813e80c87cabe08d1f87915c37;1;1;50,*2C
$NET,CACST,8,0,20230627163519.354875,18,32767,45,0103,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,15.0,3.35,-100,-0.35,-01,-0.19,66,10000,5000,0,1,00,00*58
$GC,795.09,3205,-116.67,-1.69,0.00,3828.8,3835.4,3822.2,1137.4,560.0,143.01,-21.62,135,804.29,0.00,0.38,3.51,0.000,0.213,0.077,3828.28,3834.88,3821.69,1192.81,2035.88,0,0,0,30.00,16.00,16.04
$STATE,840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,840,begin apogee
$GC,841.75,10243,0.00,-0.36,0.00,3829.6,3837.2,3822.0,1192.9,2009.1,151.13,-17.87,140,950.27,92.95,2.18,0.05,1.308,0.167,0.295,3351.12,3386.69,3315.56,1515.00,2040.00,0,0,0,12.13,16.02,15.70
$STATE,951,end apogee,CONTROL_FINISHED_OK
$STATE,951,begin climb
$GC,951.84,10243,116.67,2.09,0.00,3348.1,3384.2,3312.0,1515.2,2039.9,157.84,0.00,150,1068.46,97.00,3.83,0.00,1.278,0.100,0.000,2873.84,2920.75,2826.94,2109.06,2040.19,0,0,0,12.00,15.72,30.00
$NAV,1687884245,148.0,start
$GC,1256.68,388,116.67,2.16,80.00,2867.0,2914.5,2819.4,2109.3,2040.2,128.28,12.05,189,1265.69,0.00,0.00,3.65,0.000,0.000,0.136,2865.69,2912.88,2818.50,2109.88,3491.62,0,0,0,30.00,30.00,15.75
$NAV,1687884431,125.5,0,stop
$GC,1324.64,17414,116.67,2.16,0.00,2866.2,2913.0,2819.4,2109.7,3491.8,119.45,13.38,202,1333.72,0.00,0.00,3.52,0.000,0.000,0.075,2865.84,2911.56,2820.12,2109.38,2008.12,0,0,0,30.00,30.00,15.82
$NET,CACMR,PNR,2023-06-27T16:50:07.955084,29,252,0.287834,13.5,4.05,0,0,1;15;1;3007669346*7F
$NET_PING,1687884612,29,431.750977,13.500000,-0.573664
$NET,CAXST,7,20230627,165012.009371,3,0,200,5000,10000,1,252,29,0,0,6,5,192,10000*67
$NET,CARFP,2023-06-27T16:50:22.929684,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f2040027ff,*16
$NET,CAXST,7,20230627,165023.548272,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*64
$NET,CARFP,2023-06-27T16:50:32.997845,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208012700;1;4;00bf00ff,*26
$NET,CAXST,7,20230627,165033.706548,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*63
$NET,CARFP,2023-06-27T16:50:42.993647,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208012700;1;4;007f01ff,*7D
$NET,CAXST,7,20230627,165043.702268,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*65
$NET,CARFP,2023-06-27T16:50:52.995547,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208012700;1;4;003f02ff,*7E
$NET,CAXST,7,20230627,165053.698564,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*6D
$NET,CARFP,2023-06-27T16:51:03.999711,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208012700;1;4;00ff02ff,*23
$NET,CAXST,7,20230627,165104.617312,3,0,200,5000,10000,1,252,29,0,0,4,5,124,10000*62
$NET,CARFP,2023-06-27T16:51:12.999646,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208012700;1;4;007b03ff,*74
$NET,CACST,8,0,20230627165112.288826,18,32767,45,0103,0113,07,00,00,00,00,1,029,252,0,5,2,0,150,13.5,3.90,-100,-0.90,-01,0.08,68,10000,5000,0,1,00,00*71
$GC,1517.83,18563,116.67,2.24,0.00,2863.8,2910.9,2816.6,2109.4,2008.0,97.59,10.67,222,1527.13,0.00,0.20,0.00,0.000,0.079,0.000,2864.56,2910.75,2818.38,2160.12,2008.00,0,0,0,30.00,15.80,30.00
$NET,xmit ok outbox0039.n 892 14
$GC,1717.85,16774,116.67,2.29,80.00,2863.0,2909.3,2816.7,2160.8,2007.8,73.78,11.42,242,1726.84,0.00,0.00,3.68,0.000,0.000,0.132,2862.31,2907.81,2816.81,2158.44,3490.19,0,0,0,30.00,30.00,15.90
$GC,1865.58,17414,116.67,2.29,0.00,2862.6,2908.1,2817.0,2160.1,3489.9,55.79,12.13,271,1874.56,0.00,0.00,3.47,0.000,0.000,0.073,2860.50,2906.62,2814.38,2160.44,2008.56,0,0,0,30.00,30.00,15.97
$NAV,1687885143,43.2,start
$GC,2055.78,8614,125.02,2.35,80.00,2861.9,2907.9,2815.9,2160.2,2008.9,37.43,9.12,302,2074.27,7.82,0.00,3.66,0.983,0.000,0.132,2839.12,2880.81,2797.44,2160.44,3490.38,0,0,0,12.12,30.00,15.95
$GC,2253.13,9254,138.55,2.37,0.00,2838.2,2879.0,2797.4,2160.5,3490.4,20.23,8.57,341,2277.31,14.53,0.00,3.45,1.115,0.000,0.072,2783.88,2824.06,2743.69,2160.44,2009.06,0,0,0,12.02,30.00,16.00
$NET,CARFP,2023-06-27T17:05:12.186318,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027cacc0;1;13;813e6c09f2b30284f9c321f2b3;1;8;00b47e1e0570dff0,*78
$NET,CACST,8,0,20230627170511.250146,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,16.0,11.18,-100,-8.18,-01,0.09,70,10000,5000,0,1,00,00*4F
$NET,CARFP,2023-06-27T17:05:21.102271,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027cacc1;1;13;a13e68c87cacc16d1f87815c37;1;1;f8,*2D
$NET,CACST,8,0,20230627170520.250826,18,32767,45,0103,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,11.1,7.96,-100,-4.96,-01,0.11,69,10000,5000,0,1,00,00*7C
$GC,2460.49,10403,189.41,2.51,0.00,2781.8,2823.4,2740.2,2160.2,2009.3,7.42,4.63,381,2514.38,45.83,0.29,0.00,1.171,0.061,0.000,2576.59,2622.94,2530.25,2221.06,2009.06,0,0,0,12.01,15.99,30.00
$FREEZE,5.35,12.287,-1.574,0,1,0
$STATE,2678,end climb,NO_VERTICAL_VELOCITY
$STATE,2678,begin surface
$SURF,forcing
$SM_CCo,3130.47,410.64,1.132,0,500.6,527.9,473.4,698.95
$SM_GC,1.65,0.00,12.72,0.06,0.000,0.050,0.197,497.3,523.8,470.9,186.5,2042.6,0,0,0,30.00,15.57,15.56
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4736.87,-12256.21,270623,152538
$TCM_TEMP,-86.12
$SC_FREEKB,3864064
$RAFOS_CLK,0
$MODEM,3,1687883100,47.60640,-122.94840,0.619,906.2
$MODEM,2,1687882800,47.60500,-122.95000,0.496,726.2
$MODEM,1,1687882207,47.60500,-122.95000,7.780,11398.1
$MODEM,0,1687881600,47.60500,-122.95000,0.418,611.7
$RAFOS_FIX,4735.678711,-12256.976562,270623,151500,3,255,-7.79
$HUMID,51.99
$TEMP,11.61
$INTERNAL_PRESSURE,8.01003
$24V_AH,14.87,20.379
$10V_AH,14.93,0.000
$FG_AHR_24Vo,19.110
$FG_AHR_10Vo,2.884
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,768.415,26.750,36.230,126.219,0.000,13.495,1854.220,1.837,0.000,1117.815,906.230,504.109,0.000,0.000,140.803
$DEVICE_MAMPS,1308.144,256.248,295.280,149.856,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2685.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.574,0.000,0.000,0.000
$MEM0,59804,1,0,0
$MEM1,65508,1,0,0
$MEM2,945336,31,101132,74
$DATA_FILE_SIZE,9727,424
$CAP_FILE_SIZE,158783,0
$SDSIZE,3887104,3857920
$SDFILEDIR,417,47
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.019,207.8,1
$IMPLIED_C_PITCH,1738,14.49,189,0.0,0.00
$IMPLIED_C_VBD,3217,27.134699,156,0
$GPS,270623,172039,4736.463,-12256.579,1,0.8,3,15.4