version: 67.00
glider: 141
mission: 2
dive: 156
start: 7 4 123 3 30 43
data:
$ID,141
$MISSION,2
$DIVE,156
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$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,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,56286
$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,525
$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,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3850
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,40
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$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,0.5
$ROLL_MIN,270
$ROLL_MAX,3950
$ROLL_DEG,80
$C_ROLL_DIVE,2776
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3400
$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,2
$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,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,12.953795
$FG_AHR_24V,35.956501
$PHONE_SUPPLY,2
$PRESSURE_YINT,-168.94141
$PRESSURE_SLOPE,0.0002278641
$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,-1.6
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,10
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,6
$LOGGERDEVICE2,19
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,34
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,41
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044295886
$SEABIRD_T_H,0.00065532577
$SEABIRD_T_I,2.8345568e-05
$SEABIRD_T_J,3.6250033e-06
$SEABIRD_C_G,-9.9769049
$SEABIRD_C_H,1.1305982
$SEABIRD_C_I,-0.0023154924
$SEABIRD_C_J,0.00025580821
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,300.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,040723,031731,1916.697,14147.792,25,0.8,26,-2.1
$_CALLS,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-69.6
$GPS2,040723,033023,1916.440,14148.014,2,0.6,5,-2.0
$SPEED_LIMITS,0.092,0.226
$TGT_NAME,T1
$TGT_LATLONG,1918.000,14115.000
$TGT_RADIUS,3000.000
$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,303.6,57778,-18.4,-9.167,-22.07,1929,0.131
$D_GRID,1000
$IRON,1.000000,0.010826,-0.011328,0.008553,1.037143,0.045584,0.013183,-0.040175,1.032239,-40.597057,17.868464,28.943691
$OSC,8000348
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
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$GC,948.73,3205,-116.79,-0.39,0.00,3885.3,4071.1,3699.6,1881.2,3959.7,156.79,-13.02,186,955.28,0.00,0.06,1.91,0.000,0.195,0.020,3885.19,4071.06,3699.31,1923.44,2766.00,0,0,0,30.00,16.00,16.09
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$GC,1386.53,5253,-116.79,-0.58,0.00,3885.2,4071.1,3699.2,1890.9,256.8,196.80,-7.58,273,1396.29,0.00,0.12,4.22,0.000,0.088,0.058,3885.09,4071.44,3698.75,1837.12,2780.25,0,0,0,30.00,16.05,16.11
$GC,1699.36,2437,-116.79,-0.54,80.00,3884.2,4071.6,3696.8,1836.8,2781.7,233.24,-12.11,335,1705.97,0.00,0.05,1.94,0.000,0.304,0.061,3883.94,4071.19,3696.69,1873.12,3960.19,0,0,0,30.00,16.00,16.05
$GC,1759.37,1156,-116.79,-0.62,0.00,3884.1,4071.5,3696.7,1871.9,3959.4,238.67,-8.04,347,1765.85,0.00,0.00,1.91,0.000,0.000,0.021,3883.81,4071.12,3696.50,1871.94,2752.44,0,0,0,30.00,30.00,16.14
$GC,2074.27,0,-116.79,-0.62,0.00,3882.9,4071.2,3694.7,1870.9,2748.1,272.59,-11.55,390,2076.08,0.00,0.00,0.00,0.000,0.000,0.000,3881.84,4070.56,3693.12,1871.06,2748.12,0,0,0,30.00,30.00,30.00
$GC,2384.32,516,-116.79,-0.62,-80.00,3881.2,4071.0,3691.5,1870.9,2747.2,309.29,-11.98,421,2392.71,0.00,0.00,4.01,0.000,0.000,0.034,3880.44,4071.06,3689.81,1870.56,258.50,0,0,0,30.00,30.00,16.17
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$GC,3475.86,128,-116.79,-0.75,0.00,3874.8,4070.1,3679.6,1821.1,2746.7,427.71,-9.74,546,3477.67,0.00,0.00,0.00,0.000,0.000,0.000,3874.69,4070.00,3679.38,1821.44,2745.88,0,0,0,30.00,30.00,30.00
$GC,3785.88,388,-116.79,-0.74,80.00,3872.8,4070.1,3675.6,1821.2,2746.3,461.41,-11.56,577,3792.41,0.00,0.00,2.04,0.000,0.000,0.063,3873.16,4071.12,3675.19,1820.69,3959.31,0,0,0,30.00,30.00,16.15
$GC,3840.87,1156,-116.79,-0.80,0.00,3871.8,4069.2,3674.3,1820.6,3959.4,466.88,-9.31,588,3847.35,0.00,0.00,1.92,0.000,0.000,0.021,3871.94,4069.38,3674.50,1820.75,2753.88,0,0,0,30.00,30.00,16.17
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$GC,5654.74,2177,-116.79,-0.81,0.00,3855.7,4053.8,3657.6,1775.8,2748.1,658.55,-12.68,796,5656.82,0.00,0.10,0.00,0.000,0.264,0.000,3854.91,4053.06,3656.75,1803.88,2747.62,0,0,0,30.00,16.02,30.00
$GC,5964.60,516,-116.79,-0.81,-80.00,3854.0,4052.0,3655.9,1804.1,2747.4,687.67,-8.73,827,5972.98,0.00,0.00,4.07,0.000,0.000,0.039,3853.59,4052.00,3655.19,1803.81,258.25,0,0,0,30.00,30.00,16.15
$GC,5991.01,1156,-116.79,-0.87,0.00,3852.9,4049.7,3656.1,1803.9,257.1,689.80,-8.63,832,6000.61,0.00,0.00,4.32,0.000,0.000,0.072,3852.09,4049.06,3655.12,1804.12,2781.81,0,0,0,30.00,30.00,16.12
$GC,6303.63,388,-116.79,-0.88,80.00,3849.7,4045.8,3653.5,1803.5,2781.7,716.05,-8.86,864,6310.06,0.00,0.00,1.98,0.000,0.000,0.072,3850.34,4046.81,3653.88,1803.38,3955.00,0,0,0,30.00,30.00,16.12
$GC,6343.83,5253,-116.79,-0.92,0.00,3849.2,4045.1,3653.3,1803.4,3954.4,719.30,-8.33,872,6350.25,0.00,0.09,1.95,0.000,0.106,0.028,3851.03,4045.75,3656.31,1765.44,2766.44,0,0,0,30.00,16.05,16.16
$GC,6653.66,644,-116.79,-0.88,-80.00,3846.5,4041.3,3651.8,1765.8,2763.9,755.51,-11.93,904,6663.06,0.00,0.00,4.11,0.000,0.000,0.042,3845.94,4040.62,3651.25,1766.06,260.19,0,0,0,30.00,30.00,16.15
$GC,6671.12,3205,-116.79,-0.85,0.00,3846.4,4040.4,3652.3,1765.6,258.6,757.67,-12.18,907,6680.87,0.00,0.09,4.32,0.000,0.198,0.072,3846.41,4039.88,3652.94,1794.44,2776.38,0,0,0,30.00,15.98,16.12
$GC,6986.01,260,-116.79,-0.85,80.00,3843.3,4038.3,3648.4,1794.2,2777.3,786.39,-9.14,939,6992.61,0.00,0.00,2.00,0.000,0.000,0.075,3843.47,4038.62,3648.31,1793.88,3954.56,0,0,0,30.00,30.00,16.12
$GC,7036.18,1156,-116.79,-0.91,0.00,3842.5,4036.6,3648.4,1794.4,3954.7,790.56,-8.27,949,7042.62,0.00,0.00,1.95,0.000,0.000,0.029,3842.53,4036.69,3648.38,1794.06,2755.31,0,0,0,30.00,30.00,16.14
$GC,7346.08,516,-116.79,-0.91,-80.00,3840.3,4035.2,3645.5,1794.1,2751.3,819.20,-9.12,981,7354.55,0.00,0.00,4.11,0.000,0.000,0.042,3840.69,4035.19,3646.19,1793.94,260.12,0,0,0,30.00,30.00,16.15
$GC,7377.60,5253,-116.79,-0.96,0.00,3839.7,4033.7,3645.6,1793.9,258.7,821.88,-8.87,987,7387.34,0.00,0.09,4.34,0.000,0.100,0.073,3839.31,4034.25,3644.38,1754.94,2781.31,0,0,0,30.00,16.03,16.12
$GC,7692.65,388,-116.79,-0.92,80.00,3837.5,4029.6,3645.4,1756.5,2782.4,859.08,-12.17,1019,7699.11,0.00,0.00,1.99,0.000,0.000,0.074,3838.47,4030.50,3646.44,1749.94,3957.62,0,0,0,30.00,30.00,16.11
$GC,7752.50,3077,-116.79,-0.92,0.00,3837.0,4029.1,3645.0,1750.2,3957.9,866.00,-11.03,1031,7759.34,0.00,0.10,1.96,0.000,0.216,0.029,3840.22,4031.50,3648.94,1779.38,2767.94,0,0,0,30.00,15.98,16.14
$GC,8062.68,128,-116.79,-0.90,0.00,3835.8,4028.9,3642.6,1779.2,2765.2,898.02,-10.27,1063,8064.50,0.00,0.00,0.00,0.000,0.000,0.000,3835.16,4028.94,3641.38,1779.12,2764.75,0,0,0,30.00,30.00,30.00
$GC,8372.70,644,-116.79,-0.89,-80.00,3833.8,4025.6,3642.1,1779.2,2765.2,928.49,-9.59,1094,8382.12,0.00,0.00,4.14,0.000,0.000,0.043,3832.19,4024.31,3640.06,1779.00,261.62,0,0,0,30.00,30.00,16.14
$GC,8390.00,1028,-116.79,-0.89,0.00,3832.8,4024.1,3641.6,1779.2,260.1,930.19,-9.74,1097,8399.72,0.00,0.00,4.34,0.000,0.000,0.074,3833.41,4024.25,3642.56,1777.75,2779.31,0,0,0,30.00,30.00,16.10
$GC,8705.05,260,-116.79,-0.89,80.00,3831.9,4023.4,3640.4,1778.9,2781.4,958.47,-9.02,1129,8711.64,0.00,0.00,2.00,0.000,0.000,0.078,3831.47,4022.50,3640.44,1779.38,3954.38,0,0,0,30.00,30.00,16.09
$GC,8785.23,1156,-116.79,-0.94,0.00,3831.3,4022.4,3640.1,1779.2,3954.8,964.83,-7.42,1145,8791.68,0.00,0.00,1.96,0.000,0.000,0.033,3831.31,4022.81,3639.81,1779.00,2757.06,0,0,0,30.00,30.00,16.13
$STATE,9085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9085,begin apogee
$GC,9086.79,10243,0.00,-0.12,0.00,3830.6,4021.9,3639.3,1779.2,2670.6,990.17,-8.59,1176,9185.67,90.60,0.50,0.09,2.072,0.198,0.219,3397.34,3529.06,3265.62,1966.62,2712.50,0,0,0,11.86,15.96,15.32
$STATE,9187,end apogee,CONTROL_FINISHED_OK
$STATE,9187,begin climb
$GC,9187.10,10243,116.79,0.60,0.00,3396.8,3527.4,3266.1,1966.2,2713.2,990.74,0.00,1185,9299.93,101.82,0.52,0.00,1.957,0.044,0.000,2921.28,2945.56,2897.00,2171.25,2712.19,0,0,0,12.41,15.46,30.00
$GC,9602.96,21127,116.79,0.48,-80.00,2908.2,2933.9,2882.4,2170.9,2712.7,939.43,14.45,1227,9612.62,0.00,0.16,4.19,0.000,0.263,0.049,2907.00,2932.69,2881.31,2125.12,260.19,0,0,0,30.00,15.70,15.76
$GC,9620.66,21639,116.79,0.39,0.00,2902.1,2922.1,2882.2,2125.3,260.2,937.21,13.76,1230,9630.51,0.00,0.12,4.32,0.000,0.201,0.078,2903.25,2923.31,2883.19,2090.75,2702.44,0,0,0,30.00,15.73,15.82
$GC,9935.68,16774,116.79,0.34,80.00,2902.3,2922.8,2881.8,2091.7,2704.0,905.13,9.95,1262,9942.29,0.00,0.00,2.15,0.000,0.000,0.075,2903.22,2923.31,2883.12,2090.00,3957.88,0,0,0,30.00,30.00,15.93
$GC,9965.68,21639,116.79,0.28,0.00,2901.7,2922.4,2881.0,2091.2,3957.8,901.86,10.53,1268,9972.57,0.00,0.15,2.13,0.000,0.249,0.042,2902.62,2923.12,2882.12,2053.12,2692.31,0,0,0,30.00,15.78,15.96
$GC,10275.63,10791,156.17,0.32,-80.00,2900.0,2922.4,2877.6,2053.3,2689.8,879.00,7.07,1300,10318.09,31.50,0.03,4.16,1.782,0.255,0.054,2766.84,2799.81,2733.88,2085.88,259.12,0,0,0,12.33,15.98,15.67
$GC,10321.12,5253,156.17,0.18,0.00,2756.6,2785.6,2727.5,2086.7,258.7,875.46,7.85,1308,10331.08,0.00,0.22,4.35,0.000,0.180,0.078,2756.28,2784.12,2728.44,2017.62,2703.88,0,0,0,30.00,15.69,15.75
$GC,10634.19,10663,240.69,0.35,80.00,2751.8,2784.6,2718.9,2017.4,2704.9,860.11,4.66,1340,10718.58,73.85,0.13,2.23,1.811,0.082,0.078,2416.38,2441.25,2391.50,2086.19,3954.44,0,0,0,12.42,15.92,15.33
$GC,10736.70,1156,240.69,0.38,0.00,2414.5,2439.0,2390.1,2086.1,3955.1,851.55,9.39,1359,10743.25,0.00,0.00,2.20,0.000,0.000,0.043,2414.34,2439.25,2389.44,2074.19,2686.06,0,0,0,30.00,30.00,15.57
$GC,11046.67,17030,240.69,0.40,-80.00,2405.5,2438.8,2372.2,2074.6,2683.6,823.07,9.27,1391,11056.08,0.00,0.00,4.14,0.000,0.000,0.058,2404.34,2438.56,2370.12,2089.00,258.56,0,0,0,30.00,30.00,15.86
$GC,11199.23,11431,278.34,0.62,0.00,2396.8,2421.9,2371.8,2089.2,258.4,811.95,7.16,1421,11245.76,32.76,0.16,4.28,1.706,0.104,0.075,2266.00,2290.31,2241.69,2150.75,2703.56,0,0,0,12.36,15.84,15.91
$RESTART_TIME,Tue Jul  4 06:50:34 2023