version: 67.00
glider: 237
mission: 6
dive: 98
start: 4 23 121 8 47 12
data:
$ID,237
$MISSION,6
$DIVE,98
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,500
$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,260
$T_MISSION,290
$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,250
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,74630
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,10
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,190
$PITCH_MAX,3950
$C_PITCH,1800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,22
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,465
$ROLL_MAX,3180
$ROLL_DEG,80
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1450
$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,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$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,510
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,32.628426
$FG_AHR_24V,94.183411
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.10413
$PRESSURE_SLOPE,0.00022584078
$COMPASS_USE,4
$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,14
$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,-1.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,65
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044171116
$SEABIRD_T_H,0.00064316206
$SEABIRD_T_I,2.5361865e-05
$SEABIRD_T_J,3.0211725e-06
$SEABIRD_C_G,-9.9751892
$SEABIRD_C_H,1.1606171
$SEABIRD_C_I,-0.0016447038
$SEABIRD_C_J,0.0002149943
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ES_RECORDABOVE,2000.0
$ES_PROFILE,3.0
$ES_XMITPROFILE,0.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,194.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$GPS1,230421,083433,4845.624,-1836.555,48,1.1,49,-6.3
$_CALLS,3
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-48.8
$GPS2,230421,084648,4845.547,-1836.658,3,1.1,6,-6.3
$SPEED_LIMITS,0.220,0.350
$TGT_NAME,A1_1
$TGT_LATLONG,4845.780,-1848.770
$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,323.0,14793,-16.6,-12.692,-19.91
$D_GRID,1000
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,11.30,16386,-243.31,-1.12,0.00,727.5,685.4,769.6,173.1,1957.4,0.00,0.00,0,145.35,133.51,0.00,0.00,0.005,0.000,0.000,3375.91,3387.00,3364.81,172.06,1955.38,0,0,0,15.14,30.00,30.00
$GC,145.63,18727,-243.31,-1.12,80.00,3375.0,3385.9,3364.0,172.1,1955.2,3.52,-2.04,26,181.59,15.74,11.72,3.24,0.006,0.297,0.110,3960.22,3941.88,3978.56,1528.62,3185.56,0,0,0,15.28,15.24,15.13
$GC,364.48,1156,-243.31,-1.07,0.00,3960.3,3942.2,3978.3,1528.8,3185.6,37.45,-15.07,70,369.88,0.00,0.00,2.84,0.000,0.000,0.040,3960.78,3941.62,3979.94,1529.00,1975.38,0,0,0,30.00,30.00,15.56
$GC,549.38,2437,-243.31,-1.01,80.00,3960.2,3941.4,3979.1,1529.1,1976.0,66.48,-16.05,107,555.04,0.00,0.19,3.19,0.000,0.188,0.111,3960.84,3942.38,3979.31,1557.19,3185.94,0,0,0,30.00,15.58,15.52
$GC,599.31,1028,-243.31,-1.01,0.00,3960.6,3942.2,3978.9,1556.7,3186.1,73.75,-14.14,117,604.94,0.00,0.00,2.83,0.000,0.000,0.040,3961.09,3942.75,3979.44,1555.88,1972.62,0,0,0,30.00,30.00,15.73
$GC,784.44,128,-243.31,-0.98,0.00,3960.6,3941.4,3979.8,1557.2,1972.5,100.12,-13.89,154,785.78,0.00,0.00,0.00,0.000,0.000,0.000,3959.94,3941.75,3978.12,1556.81,1972.44,0,0,0,30.00,30.00,30.00
$GC,1084.43,260,-243.31,-0.98,80.00,3960.6,3942.2,3978.9,1557.1,1972.6,143.69,-14.11,184,1089.70,0.00,0.00,3.20,0.000,0.000,0.109,3961.56,3943.25,3979.88,1556.31,3186.50,0,0,0,30.00,30.00,15.61
$GC,1109.03,1028,-243.31,-0.98,0.00,3960.4,3941.8,3979.1,1557.0,3186.2,147.27,-13.88,189,1114.99,0.00,0.00,2.82,0.000,0.000,0.038,3960.03,3941.69,3978.38,1557.06,1974.88,0,0,0,30.00,30.00,15.72
$GC,1414.46,0,-243.31,-0.98,0.00,3960.4,3942.1,3978.8,1557.0,1974.9,189.91,-13.94,220,1415.79,0.00,0.00,0.00,0.000,0.000,0.000,3960.47,3942.81,3978.12,1556.44,1974.56,0,0,0,30.00,30.00,30.00
$GC,1714.48,260,-243.31,-0.98,80.00,3960.6,3942.2,3978.9,1557.0,1975.1,232.05,-13.93,250,1719.77,0.00,0.00,3.22,0.000,0.000,0.111,3961.22,3942.06,3980.38,1556.94,3185.94,0,0,0,30.00,30.00,15.63
$GC,1734.43,1028,-243.31,-0.98,0.00,3960.5,3942.1,3978.9,1557.6,3185.8,234.86,-13.95,254,1739.71,0.00,0.00,2.83,0.000,0.000,0.039,3961.41,3942.94,3979.88,1556.38,1975.31,0,0,0,30.00,30.00,15.73
$GC,2044.53,0,-243.31,-0.98,0.00,3960.1,3941.9,3978.2,1556.8,1975.3,277.78,-14.11,286,2045.86,0.00,0.00,0.00,0.000,0.000,0.000,3960.31,3941.69,3978.94,1557.06,1975.88,0,0,0,30.00,30.00,30.00
$GC,2344.53,260,-243.31,-0.98,80.00,3960.3,3941.6,3979.0,1557.0,1975.7,320.14,-13.95,316,2349.82,0.00,0.00,3.20,0.000,0.000,0.112,3961.12,3943.06,3979.19,1557.12,3186.94,0,0,0,30.00,30.00,15.64
$GC,2369.14,1028,-243.31,-0.98,0.00,3960.0,3941.6,3978.4,1556.3,3186.7,323.61,-13.80,321,2375.10,0.00,0.00,2.82,0.000,0.000,0.041,3960.53,3941.38,3979.69,1556.81,1973.81,0,0,0,30.00,30.00,15.77
$GC,2674.57,0,-243.31,-0.98,0.00,3960.1,3941.5,3978.6,1556.6,1974.6,365.55,-13.83,352,2675.90,0.00,0.00,0.00,0.000,0.000,0.000,3960.09,3941.44,3978.75,1556.75,1974.62,0,0,0,30.00,30.00,30.00
$GC,2974.58,260,-243.31,-0.98,80.00,3960.6,3941.8,3979.4,1557.1,1975.1,406.90,-13.84,382,2979.87,0.00,0.00,3.20,0.000,0.000,0.113,3960.34,3941.69,3979.00,1556.69,3185.00,0,0,0,30.00,30.00,15.64
$GC,2999.18,1028,-243.31,-0.98,0.00,3959.9,3941.1,3978.6,1556.4,3185.8,410.44,-13.52,387,3005.14,0.00,0.00,2.82,0.000,0.000,0.042,3960.56,3941.31,3979.81,1556.50,1976.81,0,0,0,30.00,30.00,15.85
$GC,3304.67,0,-243.31,-0.98,0.00,3960.7,3941.9,3979.4,1556.4,1977.1,451.36,-13.40,418,3306.00,0.00,0.00,0.00,0.000,0.000,0.000,3960.44,3941.94,3978.94,1557.19,1977.00,0,0,0,30.00,30.00,30.00
$GC,3604.69,0,-243.31,-0.98,0.00,3960.8,3942.2,3979.3,1556.4,1977.5,491.85,-13.46,448,3606.02,0.00,0.00,0.00,0.000,0.000,0.000,3959.94,3941.94,3977.94,1556.56,1976.81,0,0,0,30.00,30.00,30.00
$GC,3904.71,260,-243.31,-0.98,80.00,3959.8,3941.1,3978.4,1556.4,1977.6,533.37,-13.81,478,3909.99,0.00,0.00,3.23,0.000,0.000,0.119,3960.97,3942.19,3979.75,1556.44,3185.88,0,0,0,30.00,30.00,15.63
$GC,3934.65,1028,-243.31,-0.98,0.00,3960.2,3941.2,3979.1,1556.5,3185.4,537.52,-13.83,484,3939.94,0.00,0.00,2.84,0.000,0.000,0.048,3960.97,3942.50,3979.44,1556.94,1977.94,0,0,0,30.00,30.00,15.79
$GC,4244.78,0,-243.31,-0.98,0.00,3960.4,3941.8,3979.1,1557.2,1977.8,579.29,-13.26,516,4246.10,0.00,0.00,0.00,0.000,0.000,0.000,3959.75,3941.12,3978.38,1556.75,1977.56,0,0,0,30.00,30.00,30.00
$GC,4544.84,0,-243.31,-0.98,0.00,3959.8,3940.4,3979.2,1556.9,1978.1,619.80,-13.54,546,4546.17,0.00,0.00,0.00,0.000,0.000,0.000,3959.62,3941.25,3978.00,1556.88,1977.81,0,0,0,30.00,30.00,30.00
$GC,4844.87,0,-243.31,-0.98,0.00,3959.9,3940.8,3979.1,1556.9,1978.0,660.16,-13.55,576,4846.20,0.00,0.00,0.00,0.000,0.000,0.000,3959.72,3940.44,3979.00,1556.69,1978.56,0,0,0,30.00,30.00,30.00
$GC,5144.93,0,-243.31,-0.98,0.00,3959.6,3940.5,3978.8,1557.0,1978.6,699.65,-12.82,606,5146.26,0.00,0.00,0.00,0.000,0.000,0.000,3960.00,3941.06,3978.94,1556.88,1978.25,0,0,0,30.00,30.00,30.00
$GC,5444.97,0,-243.31,-0.98,0.00,3959.5,3940.2,3978.8,1556.9,1978.2,738.51,-12.95,636,5446.30,0.00,0.00,0.00,0.000,0.000,0.000,3959.12,3940.06,3978.19,1556.62,1978.12,0,0,0,30.00,30.00,30.00
$GC,5745.06,32,-243.31,-0.98,0.00,3959.5,3940.2,3978.8,1557.4,1978.8,776.98,-12.45,666,5746.39,0.00,0.00,0.00,0.000,0.000,0.000,3959.16,3939.25,3979.06,1556.75,1978.62,0,0,0,30.00,30.00,30.00
$GC,6045.10,32,-243.31,-0.98,0.00,3959.2,3939.1,3979.4,1557.1,1978.9,812.31,-11.11,696,6046.43,0.00,0.00,0.00,0.000,0.000,0.000,3958.94,3940.00,3977.88,1557.38,1978.56,0,0,0,30.00,30.00,30.00
$GC,6345.16,32,-243.31,-0.98,0.00,3959.2,3939.4,3979.0,1557.1,1978.6,844.53,-10.69,726,6346.49,0.00,0.00,0.00,0.000,0.000,0.000,3959.22,3939.31,3979.12,1557.06,1978.31,0,0,0,30.00,30.00,30.00
$GC,6645.20,32,-243.31,-0.98,0.00,3959.0,3939.0,3979.0,1556.6,1979.0,874.12,-9.36,756,6646.53,0.00,0.00,0.00,0.000,0.000,0.000,3958.53,3938.75,3978.31,1556.81,1978.62,0,0,0,30.00,30.00,30.00
$GC,6945.26,292,-243.31,-0.98,80.00,3958.7,3938.2,3979.1,1556.8,1978.8,900.64,-8.63,786,6950.55,0.00,0.00,3.32,0.000,0.000,0.138,3959.53,3939.38,3979.69,1556.06,3185.12,0,0,0,30.00,30.00,15.54
$GC,6965.20,1060,-243.31,-0.98,0.00,3958.3,3937.9,3978.6,1556.9,3184.6,902.40,-8.65,790,6970.47,0.00,0.00,2.90,0.000,0.000,0.064,3958.78,3938.50,3979.06,1556.56,1981.75,0,0,0,30.00,30.00,15.81
$GC,7275.31,548,-243.31,-0.98,-80.00,3958.0,3936.9,3979.0,1557.1,1982.3,930.57,-9.57,822,7280.72,0.00,0.00,4.03,0.000,0.000,0.165,3958.00,3937.06,3978.94,1556.94,537.19,0,0,0,30.00,30.00,15.53
$GC,7295.26,1060,-243.31,-0.98,0.00,3958.1,3936.8,3979.3,1556.8,537.1,932.70,-9.68,826,7300.66,0.00,0.00,3.54,0.000,0.000,0.044,3958.34,3937.12,3979.56,1556.38,2017.00,0,0,0,30.00,30.00,15.81
$GC,7605.29,548,-243.31,-0.98,-80.00,3958.0,3935.8,3980.2,1556.6,2017.6,965.66,-11.25,858,7610.79,0.00,0.00,4.20,0.000,0.000,0.157,3958.22,3936.69,3979.75,1555.81,537.69,0,0,0,30.00,30.00,15.53
$GC,7625.32,1060,-243.31,-0.98,0.00,3957.4,3936.2,3978.6,1556.9,537.6,968.06,-11.04,862,7630.70,0.00,0.00,3.52,0.000,0.000,0.043,3957.50,3936.50,3978.50,1556.88,2019.50,0,0,0,30.00,30.00,15.84
$STATE,7836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7836,begin apogee
$GC,7838.36,10243,0.00,-0.23,0.00,3957.2,3935.2,3979.1,1556.8,1437.8,990.91,-11.05,884,8043.77,203.02,1.33,0.05,2.045,0.144,0.326,2964.72,2924.94,3004.50,1746.25,1475.50,0,0,0,10.79,15.71,15.05
$STATE,8047,end apogee,CONTROL_FINISHED_OK
$STATE,8047,begin climb
$GC,8046.91,10759,243.31,1.12,-80.00,2965.4,2926.1,3004.8,1746.4,1475.8,998.32,0.00,904,8266.53,212.35,2.29,3.10,1.991,0.112,0.180,1973.47,1928.12,2018.81,2073.06,459.44,0,0,0,12.06,15.07,14.93
$GC,8473.76,9254,269.51,1.16,0.00,1967.0,1924.7,2009.4,2073.3,459.5,961.67,11.76,988,8504.09,24.82,0.00,2.41,1.796,0.000,0.031,1869.81,1824.00,1915.62,2073.25,1490.06,0,0,0,11.76,30.00,15.41
$GC,8809.24,10403,368.76,1.34,0.00,1863.5,1815.9,1911.1,2073.9,1490.6,931.09,9.18,1025,8901.09,90.76,0.31,0.00,1.916,0.067,0.000,1465.22,1413.56,1516.88,2136.00,1492.25,0,0,0,11.69,15.58,30.00
$GC,9199.19,516,368.76,1.34,-80.00,1458.4,1405.2,1511.6,2136.1,1492.0,880.02,13.30,1064,9204.50,0.00,0.00,3.00,0.000,0.000,0.171,1458.66,1405.62,1511.69,2135.88,459.00,0,0,0,30.00,30.00,15.43
$GC,9239.22,1156,368.76,1.29,0.00,1457.2,1405.0,1509.3,2136.1,459.4,873.93,15.82,1072,9244.35,0.00,0.00,2.40,0.000,0.000,0.033,1457.38,1405.38,1509.38,2136.75,1490.06,0,0,0,30.00,30.00,15.57
$GC,9549.27,0,368.76,1.29,0.00,1456.6,1404.1,1509.1,2136.4,1489.2,830.77,13.73,1104,9550.60,0.00,0.00,0.00,0.000,0.000,0.000,1457.00,1404.75,1509.25,2136.69,1489.19,0,0,0,30.00,30.00,30.00
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$STATE,14940,end climb,SURFACE_DEPTH_REACHED
$STATE,14940,begin surface coast
$FINISH,1.9,1.026886
$STATE,14951,end surface coast,CONTROL_FINISHED_OK
$STATE,14951,begin surface
$SM_CCo,15031.12,0.00,0.000,0,924.0,886.8,961.2,501.39
$SM_GC,0.93,0.00,12.67,1.17,0.000,0.075,0.042,924.0,886.8,961.2,184.8,2033.4,0,0,0,30.00,15.74,15.84
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4845.91,-1833.33,230421,083926
$TCM_TEMP,15.36
$XPDR_PINGS,1,13.0,11.5
$SC_FREEKB,3834848
$ES_FREE,15064301568.000000
$ES_POWER,63.440000
$ES_POWER1,0.000000
$HUMID,50.47
$TEMP,11.22
$INTERNAL_PRESSURE,8.66917
$24V_AH,14.36,42.123
$10V_AH,15.00,0.000
$FG_AHR_24Vo,94.523
$FG_AHR_10Vo,32.712
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,796.240,29.850,143.360,463.276,0.250,15.506,5296.186,10446.977,2608.356,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,2044.504,296.920,326.440,208.763,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14970.000,14992.473,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.132,10.000,0.000,0.000
$MEM,1125684,24,50600,127
$DATA_FILE_SIZE,51233,1758
$CAP_FILE_SIZE,328693,0
$SDSIZE,3918848,3878624
$SDFILEDIR,719,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.291,152.6,1
$GPS,230421,125908,4845.635,-1837.756,69,1.1,69,-6.3