version: 67.01
glider: 246
mission: 4
dive: 21
start: 6 24 123 19 5 40
data:
$ID,246
$MISSION,4
$DIVE,21
$N_DIVES,25
$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,72348
$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,686.83997
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3610
$C_PITCH,1600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,15
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$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
$ROLL_MIN,265
$ROLL_MAX,3880
$ROLL_DEG,80
$C_ROLL_DIVE,2540
$C_ROLL_CLIMB,2550
$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,3300
$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,0.12127575
$FG_AHR_24V,9.848587
$PHONE_SUPPLY,2
$PRESSURE_YINT,-171.01021
$PRESSURE_SLOPE,0.00022436336
$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,2.2
$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
$GPS1,240623,190157,4736.599,-12256.431,9,1.1,11,15.4
$_CALLS,1
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-63.2
$GPS2,240623,190510,4736.609,-12256.407,2,0.8,20,15.4
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,S
$TGT_LATLONG,4735.950,-12256.800
$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,190.4,1315,-17.6,-10.000,-21.21,2209,0.176
$D_GRID,169
$IRON,1.000000,0.027139,0.015273,-0.020746,1.037745,-0.058205,0.006569,-0.048895,0.944787,353.119629,-606.368530,-590.530945
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,6.60,16386,-146.63,-1.35,0.00,493.7,451.0,536.4,181.1,2563.0,0.00,0.00,0,54.53,45.70,0.00,0.00,0.005,0.000,0.000,1652.22,1623.50,1680.94,181.06,2563.06,0,0,0,15.55,30.00,30.00
$GC,54.81,18727,-146.63,-1.35,80.00,1652.8,1623.8,1681.9,181.1,2562.2,3.23,-2.68,9,144.15,67.99,8.26,3.32,0.005,0.248,0.106,3898.47,3862.50,3934.44,1272.81,3890.38,0,0,0,15.56,15.41,15.50
$GC,242.48,3205,-146.63,-1.13,0.00,3899.5,3863.1,3936.0,1273.4,3890.1,28.18,-21.21,46,248.40,0.00,0.38,3.12,0.000,0.178,0.015,3900.31,3863.44,3937.19,1326.94,2489.19,0,0,0,30.00,15.51,15.59
$GC,437.51,128,-146.63,-1.08,0.00,3900.8,3863.3,3938.2,1327.2,2488.9,53.63,-12.12,82,439.04,0.00,0.00,0.00,0.000,0.000,0.000,3900.12,3862.12,3938.12,1326.38,2489.25,0,0,0,30.00,30.00,30.00
$NET,CARFP,2023-06-24T19:15:20.992815,0,12,121,1,1,0,0,1;8;080c7903203000ff,1;5;ac017c3200;1;13;ad1f83915c39d8037c02c1f918;1;13;8726bb8bb8fa242a00e02ef864;1;13;0140000000088072c187c3200a;1;13;5c65f0c80282157c3200a43c0d;1;13;000dbe190035e34f864016d7e3;1;2;38b0,*2F
$NET,CACST,8,0,20230624191519.402676,18,32767,45,0109,0150,07,00,00,00,00,1,012,121,0,5,7,0,150,16.8,2.84,-100,0.16,-01,-0.28,70,10000,5000,0,1,00,00*77
$NET,CARFP,2023-06-24T19:15:32.248568,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027c3202;1;13;013f6cc87c32016d1f83715c39;1;1;d8,*2C
$GC,627.51,388,-146.63,-1.05,80.00,3900.9,3863.0,3938.8,1327.3,2488.9,77.24,-12.49,101,633.67,0.00,0.00,3.54,0.000,0.000,0.103,3901.88,3863.75,3940.00,1326.81,3891.19,0,0,0,30.00,30.00,15.59
$GC,682.52,3205,-146.63,-0.94,0.00,3900.8,3863.2,3938.5,1327.1,3891.4,85.78,-16.08,112,688.69,0.00,0.28,3.12,0.000,0.155,0.015,3901.69,3863.56,3939.81,1371.38,2487.88,0,0,0,30.00,15.61,15.66
$GC,877.58,388,-146.63,-0.96,80.00,3901.5,3863.1,3939.8,1373.0,2488.6,106.99,-10.26,132,883.90,0.00,0.00,3.53,0.000,0.000,0.105,3900.91,3862.50,3939.31,1373.12,3890.94,0,0,0,30.00,30.00,15.63
$GC,922.58,1156,-146.63,-0.92,0.00,3901.5,3863.1,3939.9,1373.1,3891.1,112.50,-12.87,141,928.72,0.00,0.00,3.13,0.000,0.000,0.014,3902.78,3864.38,3941.19,1372.44,2486.25,0,0,0,30.00,30.00,15.69
$GC,1117.65,160,-146.63,-0.94,0.00,3901.6,3862.9,3940.2,1372.8,2485.4,132.10,-9.79,161,1119.23,0.00,0.00,0.00,0.000,0.000,0.000,3901.03,3862.56,3939.50,1372.62,2485.38,0,0,0,30.00,30.00,30.00
$MODEM_MSG,CACST,8,1,20230624191000.418607,18,7364,38,0338,0000,246,02,02,00,04,-1,-01,-01,1,3,0,0,150,-35.2,0.70,-100,2.30,-01,0.27,52,925,0025,0,-1,00,00*12
$MODEM_MSG,CACST,8,1,20230624192000.359814,18,1514,31,0118,0000,07,01,01,00,03,-1,-01,-01,1,3,0,0,150,11.9,0.65,-100,2.35,-01,0.48,31,925,0025,0,-1,00,00*08
$MODEM_MSG,CACST,8,1,20230624192500.275438,18,32767,45,0232,0000,07,00,00,00,02,-1,-01,-01,2,3,1,0,150,2.1,3.54,-100,-0.54,-01,-0.24,46,925,0025,0,-1,00,00*0B
$NAV,1687634838,149.4,3,stop
$GC,1300.95,420,-146.63,-0.97,80.00,3901.7,3863.0,3940.3,1372.8,2485.6,149.35,-9.53,179,1306.97,0.00,0.00,3.54,0.000,0.000,0.106,3901.31,3862.75,3939.88,1372.88,3889.62,0,0,0,30.00,30.00,15.67
$STATE,1310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1310,begin apogee
$GC,1315.45,10243,0.00,-0.33,0.00,3901.5,3863.1,3939.9,1372.6,2498.3,150.62,-9.63,181,1428.52,105.76,0.96,0.14,1.073,0.123,0.144,3298.38,3251.25,3345.50,1520.69,2567.88,0,0,0,11.73,15.68,15.34
$STATE,1430,end apogee,CONTROL_FINISHED_OK
$STATE,1430,begin climb
$NET,CARFP,2023-06-24T19:30:12.806718,0,12,121,1,1,0,0,1;8;080c7903202006ff,1;5;ac017c3270;0;13;;0;13;;0;13;;0;13;;0;13;;1;2;69f0,0;6;*78
$NET,CACST,8,1,20230624193010.260430,14,32767,45,0105,0150,07,00,00,00,00,1,012,121,3,5,7,5,150,3.9,2.67,-100,0.33,-01,-0.10,82,10000,5000,0,1,01,01*45
$NET,CACST,8,1,20230624193019.259739,18,32767,45,0106,0150,07,00,00,00,00,-1,-01,-01,2,3,7,0,150,4.2,1.62,-100,1.38,-01,-0.06,82,10000,5000,0,-1,00,00*47
$GC,1429.94,10759,146.63,1.35,-80.00,3296.7,3248.7,3344.7,1521.9,2567.6,155.50,0.00,192,1559.10,110.74,2.64,3.65,1.040,0.087,0.070,2699.88,2633.00,2766.75,1930.69,1080.88,0,0,0,11.61,15.34,15.16
$GC,1602.51,21639,146.63,1.21,0.00,2693.5,2628.1,2758.9,1930.8,1080.9,137.94,16.48,224,1610.13,0.00,0.37,3.56,0.000,0.179,0.036,2692.22,2627.38,2757.06,1888.31,2565.44,0,0,0,30.00,15.27,15.30
$GC,1797.76,17030,146.63,1.12,-80.00,2689.8,2622.6,2757.1,1888.8,2566.0,110.08,13.55,244,1803.88,0.00,0.00,3.59,0.000,0.000,0.068,2688.97,2622.50,2755.44,1888.62,1079.69,0,0,0,30.00,30.00,15.49
$GC,1816.78,21639,146.63,1.04,0.00,2688.8,2622.6,2754.9,1889.0,1078.6,107.40,13.33,248,1823.99,0.00,0.30,3.50,0.000,0.178,0.035,2689.22,2623.25,2755.19,1846.81,2566.31,0,0,0,30.00,15.47,15.52
$GC,2012.79,16514,146.63,1.00,0.00,2687.8,2621.0,2754.7,1846.8,2566.9,85.46,11.02,268,2014.37,0.00,0.00,0.00,0.000,0.000,0.000,2686.38,2619.38,2753.38,1846.44,2566.88,0,0,0,30.00,30.00,30.00
$GC,2202.62,17062,147.69,0.96,-80.00,2687.2,2620.4,2754.1,1846.4,2567.0,65.75,9.95,287,2208.92,0.00,0.00,3.57,0.000,0.000,0.070,2685.53,2618.75,2752.31,1846.94,1079.56,0,0,0,30.00,30.00,15.63
$GC,2247.60,17542,147.69,0.92,0.00,2686.4,2620.2,2752.6,1846.9,1079.6,61.23,10.09,296,2253.90,0.00,0.00,3.46,0.000,0.000,0.037,2684.72,2618.19,2751.25,1846.75,2565.12,0,0,0,30.00,30.00,15.66
$NAV,1687635843,56.0,start
$NET,CARFP,2023-06-24T19:45:20.756547,0,12,121,1,1,0,0,1;8;080c7903203000ff,1;5;ac017c32e1;1;13;ad1f8c915c389c0008000392b3;1;13;a750bb8bb90132a841e22ef865;1;13;c3400000000010f61157c32e18;1;13;43a0e000c3e1970b2e32f865c2;1;13;dc8dbe1970d6c34f865c36ee52;1;2;1000,*27
$NET,CACST,8,0,20230624194519.167923,18,32767,45,0104,0150,07,00,00,00,00,1,012,121,0,5,7,0,150,13.7,7.16,-100,-4.16,-01,-0.22,75,10000,5000,0,1,00,00*54
$NET,CARFP,2023-06-24T19:45:31.964469,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027c32e3;1;13;413f6cc87c32e26d1f84715c3a;1;1;28,*20
$NET,CACST,8,0,20230624194531.115736,18,32767,45,0101,0150,07,00,00,00,00,1,029,121,0,5,3,0,150,10.2,4.88,-100,-1.88,-01,-0.22,77,10000,5000,0,1,00,00*5A
$GC,2436.91,20611,147.69,0.89,0.00,2686.1,2619.9,2752.2,1846.3,2565.1,43.32,10.09,321,2441.14,0.00,0.24,0.00,0.000,0.161,0.000,2687.50,2621.00,2754.00,1806.94,2565.00,0,0,0,30.00,15.63,30.00
$GC,2621.92,8742,200.75,0.95,-80.00,2685.9,2619.6,2752.2,1807.9,2565.1,28.53,7.54,358,2670.21,40.46,0.00,3.62,0.931,0.000,0.072,2478.16,2403.12,2553.19,1808.19,1079.75,0,0,0,11.68,30.00,15.52
$GC,2703.65,11431,234.97,1.03,0.00,2474.4,2400.0,2548.8,1808.2,1079.4,21.96,8.42,374,2741.05,27.02,0.30,3.52,0.887,0.041,0.036,2338.34,2258.00,2418.69,1861.81,2567.00,0,0,0,11.77,15.56,15.55
$NAV,1687636335,13.1,0,stop
$GC,2925.73,10919,367.10,1.21,-80.00,2331.6,2248.3,2414.9,1861.3,2567.2,5.74,3.88,418,3031.79,93.56,0.20,3.66,0.904,0.053,0.067,1800.41,1707.75,1893.06,1904.75,1079.44,0,0,0,11.67,15.60,15.33
$FREEZE,5.01,14.606,-1.487,0,1,0
$STATE,3096,end climb,NO_VERTICAL_VELOCITY
$STATE,3096,begin surface
$SURF,forcing
$SM_CCo,3331.99,223.97,0.883,0,500.9,456.5,545.3,686.62
$SM_GC,2.75,0.00,10.69,3.55,0.000,0.023,0.036,496.5,453.5,539.6,185.6,2557.3,0,0,0,30.00,15.29,15.28
$NAV,1687636987,0.8,start
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4742.83,-12515.52,240623,181714
$TCM_TEMP,15.17
$SC_FREEKB,3872032
$RAFOS_CLK,1
$MODEM,3,1687634700,47.60500,-122.95000,0.275,388.2
$MODEM,2,1687634400,47.60500,-122.95000,0.360,507.1
$MODEM,1,1687633800,47.60500,-122.95000,0.419,590.0
$RAFOS_FIX,4736.626465,-12257.000000,240623,191900,3,255,0.62
$HUMID,52.02
$TEMP,10.11
$INTERNAL_PRESSURE,8.53647
$24V_AH,14.88,10.547
$10V_AH,14.89,0.000
$FG_AHR_24Vo,10.023
$FG_AHR_10Vo,0.122
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,715.205,24.640,62.305,112.654,0.000,29.399,1940.030,0.827,0.000,1441.657,1004.213,2018.868,0.000,0.000,76.443
$DEVICE_MAMPS,1072.968,248.048,144.400,178.794,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3102.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.201,0.000,0.000,0.000
$MEM0,59828,1,0,0
$MEM1,65508,1,0,0
$MEM2,945636,32,100912,69
$DATA_FILE_SIZE,12953,451
$CAP_FILE_SIZE,258411,0
$SDSIZE,3887104,3865408
$SDFILEDIR,215,22
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.049, 24.6,1
$MAGCAL,1.000000,0.014581,0.056343,-0.012812,1.033168,-0.097489,-0.009701,-0.037266,1.013491,318.6,-575.7,-631.7,25,0.0256,0
$IMPLIED_C_PITCH,1591,19.40,242,0.0,0.00
$IMPLIED_C_VBD,3128,17.948465,242,0
$GPS,240623,200402,4736.385,-12256.653,15,1.2,20,15.4