version: 67.01
glider: 250
mission: 2
dive: 22
start: 6 22 123 15 5 35
data:
$ID,250
$MISSION,2
$DIVE,22
$N_DIVES,30
$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,120
$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,72596
$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,564.19
$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,205
$PITCH_MAX,3600
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$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,255
$ROLL_MAX,3865
$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,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$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_10V,575
$MINV_10V,11
$MAXI_10V,3.5
$FG_AHR_10V,7.1488581
$PRESSURE_YINT,-179.93373
$PRESSURE_SLOPE,0.00022860049
$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
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,7
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,6
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,96
$NAV_DEVICE,5
$NAV2_DEVICE,5
$NAV3_DEVICE,24
$NAV4_DEVICE,24
$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
$GPS1,220623,150047,4736.476,-12256.601,1,0.8,3,15.4
$_CALLS,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.8
$GPS2,220623,150456,4736.442,-12256.598,20,0.8,35,15.4
$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,184.3,945,-17.6,-10.000,-21.21,2209,0.151
$D_GRID,168
$IRON,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,736.000000,-977.000000,-422.000000
$OSC,8000020
$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,6.70,16386,-146.63,-1.47,0.00,492.5,481.2,503.7,187.6,2038.8,0.00,0.00,0,80.01,69.38,0.00,0.00,0.011,0.000,0.000,2241.16,2223.56,2258.75,187.69,2039.19,0,0,0,14.34,30.00,30.00
$GC,80.47,18983,-146.63,-1.47,-80.00,2240.2,2222.8,2257.7,187.7,2039.2,3.35,-2.52,11,147.65,34.46,11.77,3.79,0.012,0.280,0.146,3397.25,3364.75,3429.75,1645.31,554.75,0,0,0,14.49,14.92,14.72
$GC,376.10,3205,-146.63,-1.28,0.00,3399.0,3367.9,3430.1,1645.4,554.7,53.54,-19.61,68,384.20,0.00,0.34,3.57,0.000,0.228,0.070,3400.59,3369.62,3431.56,1692.00,2042.69,0,0,0,30.00,15.01,15.05
$GC,584.81,644,-146.63,-1.19,-80.00,3399.4,3369.1,3429.6,1691.8,2042.8,81.24,-13.70,88,596.90,0.00,0.00,3.79,0.000,0.000,0.139,3399.97,3369.50,3430.44,1691.81,556.00,0,0,0,30.00,30.00,15.04
$GC,656.14,3205,-146.63,-1.07,0.00,3399.4,3369.3,3429.6,1691.9,556.1,94.46,-16.07,102,664.98,0.00,0.34,3.56,0.000,0.212,0.070,3399.06,3368.88,3429.25,1741.50,2043.62,0,0,0,30.00,15.05,15.09
$GC,851.17,388,-146.63,-1.04,80.00,3400.0,3370.1,3429.9,1741.4,2043.8,117.80,-11.68,122,859.67,0.00,0.00,3.61,0.000,0.000,0.133,3399.44,3369.81,3429.06,1741.50,3491.62,0,0,0,30.00,30.00,15.09
$GC,933.14,3205,-146.63,-0.97,0.00,3400.2,3370.4,3429.9,1741.4,3491.9,128.80,-13.78,138,941.19,0.00,0.17,3.46,0.000,0.207,0.065,3398.81,3369.25,3428.38,1767.25,2005.06,0,0,0,30.00,15.08,15.11
$GC,1128.82,260,-146.63,-0.97,80.00,3400.3,3370.9,3429.7,1767.2,2005.7,149.87,-10.72,158,1134.71,0.00,0.00,2.76,0.000,0.000,0.125,3401.44,3372.06,3430.81,1767.62,3118.31,0,0,0,30.00,30.00,15.11
$STATE,1135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1135,begin apogee
$GC,1140.97,10243,0.00,-0.33,0.00,3400.4,3371.1,3429.8,1767.2,2005.2,150.33,-10.76,159,1262.12,110.29,1.08,0.08,1.103,0.158,0.424,2797.09,2798.12,2796.06,1920.62,2044.88,0,0,0,12.77,15.10,14.73
$STATE,1263,end apogee,CONTROL_FINISHED_OK
$STATE,1263,begin climb
$MODEM_MSG,CACST,8,1,20230622151000.906636,18,32767,39,0306,0000,216,03,03,01,03,-1,-01,-01,1,3,0,0,150,-24.8,0.58,-100,2.42,-01,0.06,37,925,0025,0,-1,00,00*2F
$MODEM_MSG,CACST,8,1,20230622152000.763019,18,21036,37,0197,0000,246,03,03,01,05,-1,-01,-01,1,3,0,0,150,-34.1,0.86,-100,2.14,-01,0.03,44,925,0025,0,-1,00,00*25
$NAV,1687447632,156.5,2,stop
$MODEM_MSG,CACST,8,2,20230622151000.569738,2,168564,52,39,82,0,0,0,0,0,-1,-1,-1,0,0,0,0,82,0.00,0.00,0,0.00,0,0.00,425546,925,25,0,-1,0,0
$MODEM_MSG,CACST,8,2,20230622152000.524725,2,232148,53,46,83,0,0,0,0,0,-1,-1,-1,0,0,0,0,83,0.00,0.00,0,0.00,0,0.00,498769,925,25,0,-1,0,0
$NAV,1687447635,156.5,2,stop
$GC,1263.49,10759,146.63,1.47,-80.00,2795.6,2795.6,2795.6,1920.8,2045.1,157.29,0.00,170,1402.85,116.86,2.99,3.93,1.068,0.122,0.150,2198.91,2230.06,2167.75,2358.75,558.25,0,0,0,12.55,14.75,14.59
$GC,1421.31,1156,146.63,1.39,0.00,2195.8,2224.4,2167.1,2358.5,558.4,147.04,11.00,197,1429.26,0.00,0.00,3.64,0.000,0.000,0.072,2195.00,2223.75,2166.25,2358.75,2039.94,0,0,0,30.00,30.00,14.72
$GC,1617.10,20871,146.63,1.35,80.00,2193.0,2220.6,2165.4,2358.3,2040.1,125.04,11.59,217,1625.95,0.00,0.28,3.67,0.000,0.183,0.135,2192.25,2220.25,2164.25,2320.56,3491.81,0,0,0,30.00,14.92,14.93
$GC,1675.17,17542,146.63,1.31,0.00,2191.8,2218.1,2165.4,2320.4,3491.4,118.67,10.98,228,1682.60,0.00,0.00,3.51,0.000,0.000,0.069,2192.12,2218.62,2165.62,2320.81,2009.69,0,0,0,30.00,30.00,14.98
$NET,CACMR,PNR,1970-01-01T00:00:10.781507,29,250,0.424586,11.1,3.97,0,0,1;15;1;2115213653*75
$NET_PING,1687448118,29,636.878967,11.100000,-1495.992432
$NET,CAXST,7,19700101,000013.776026,3,0,200,5000,10000,1,250,29,0,0,6,5,192,10000*67
$NET,CACST,8,1,19700101000020.567616,13,32767,45,0101,0113,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,17.3,3.18,-100,-0.18,-01,-0.14,66,10000,5000,0,-1,00,00*59
$NET,CAXST,7,19700101,000053.191677,3,0,200,5000,10000,1,250,29,0,0,5,5,192,10000*6D
$NET,CARFP,1970-01-01T00:01:00.271040,0,29,250,1,1,0,0,1;8;081dfa03203000ff,1;5;f208011400;1;4;00bf00ff,*25
$NET,CAXST,7,19700101,000103.302302,3,0,200,5000,10000,1,250,29,0,0,5,5,192,10000*66
$NET,CARFP,1970-01-01T00:01:10.273082,0,29,250,1,1,0,0,1;8;081dfa03203000ff,1;5;f208011400;1;4;00bf00ff,*28
$NET,CAXST,7,19700101,000113.370003,3,0,200,5000,10000,1,250,29,0,0,5,5,192,10000*60
$NET,CARFP,1970-01-01T00:01:20.269085,0,29,250,1,1,0,0,1;8;081dfa03203000ff,1;5;f208011400;1;4;007f01ff,*73
$NET,CAXST,7,19700101,000123.304762,3,0,200,5000,10000,1,250,29,0,0,5,5,192,10000*60
$NET,CARFP,1970-01-01T00:01:30.271160,0,29,250,1,1,0,0,1;8;081dfa03203000ff,1;5;f208011400;1;4;00bf01ff,*24
$NET,CAXST,7,19700101,000133.397377,3,0,200,5000,10000,1,250,29,0,0,5,5,192,10000*6B
$NET,CARFP,1970-01-01T00:01:48.659593,0,29,250,1,1,0,0,1;8;081dfa03203000ff,1;5;f208011400;1;4;007f02ff,*7B
$NET,CAXST,7,19700101,000149.739151,3,0,200,5000,10000,1,250,29,0,0,5,5,192,10000*60
$NET,CAXST,7,19700101,000206.862203,3,0,200,5000,10000,1,250,29,0,0,5,5,192,10000*6D
$NET,CARFP,1970-01-01T00:02:13.558375,0,29,250,1,1,0,0,1;8;081dfa03203000ff,1;5;f208011400;1;4;003f03ff,*7F
$GC,1867.01,8486,174.33,1.37,80.00,2190.8,2218.1,2163.5,2320.9,2009.1,101.87,8.72,247,1905.54,22.88,0.00,3.82,0.980,0.000,0.135,2087.09,2114.81,2059.38,2320.75,3490.00,0,0,0,12.67,30.00,14.32
$NET,CAXST,7,19700101,000215.365182,3,0,200,5000,10000,1,250,29,0,0,5,5,160,10000*64
$NET,CARFP,1970-01-01T00:02:29.669556,0,29,250,1,1,0,0,1;8;081dfa03203000ff,1;5;f208011400;1;4;003f03ff,*70
$NET,CACST,8,0,19700101000228.959622,17,32767,45,0101,0113,07,00,00,00,00,1,029,250,0,5,2,0,150,12.9,3.45,-100,-0.45,-01,-0.14,67,10000,5000,0,1,00,00*56
$NET,CARFP,1970-01-01T00:02:48.000484,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac321ef5cf;1;7;bb47db60570d0e,*70
$NET,CACST,8,0,19700101000247.252768,17,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,12.1,3.48,-100,-0.48,-01,-0.16,66,10000,5000,0,1,00,00*5E
$NET,xmit part outbox0020.n 992 13
$GC,1925.29,3237,176.99,1.52,0.00,2085.2,2111.6,2058.8,2320.4,3489.7,95.98,9.88,257,1933.67,0.00,0.32,3.53,0.000,0.077,0.067,2083.34,2110.56,2056.12,2383.06,2007.88,0,0,0,30.00,14.85,14.84
$GC,2119.93,388,176.99,1.49,80.00,2082.3,2110.8,2053.8,2383.1,2007.9,74.21,10.98,277,2128.54,0.00,0.00,3.75,0.000,0.000,0.132,2084.78,2113.06,2056.50,2384.00,3491.81,0,0,0,30.00,30.00,14.97
$GC,2152.00,5253,176.99,1.42,0.00,2082.4,2109.9,2054.9,2383.6,3492.1,70.30,11.84,283,2160.19,0.00,0.32,3.49,0.000,0.183,0.068,2080.62,2108.25,2053.00,2337.00,2007.94,0,0,0,30.00,14.98,15.00
$NAV,1687448642,56.3,start
$NAV,1687448653,56.3,start
$GC,2347.44,8226,208.83,1.49,0.00,2081.3,2109.2,2053.4,2337.3,2007.9,53.00,8.53,301,2381.70,27.77,0.00,0.00,0.966,0.000,0.000,1944.62,1975.94,1913.31,2337.06,2007.75,0,0,0,12.68,30.00,30.00
$NET,CACMR,PNR,1970-01-01T00:00:17.464820,29,250,0.366630,15.4,8.56,0,0,1;15;1;2715712605*7B
$NET_PING,1687448722,29,549.945007,15.400000,-902.118896
$NET,CAXST,7,19700101,000023.510933,3,0,200,5000,10000,1,250,29,0,0,6,5,160,10000*66
$NET,CARFP,1970-01-01T00:00:30.042259,0,29,250,1,1,0,0,1;8;081dfa03203000ff,1;5;f208011400;1;4;00df03ff,*2A
$NET,CACST,8,0,19700101000029.332308,17,32767,45,0101,0113,07,00,00,00,00,1,029,250,0,5,2,0,150,17.1,8.58,-100,-5.58,-01,0.00,69,10000,5000,0,1,00,00*7A
$NET,xmit ok outbox0020.n 992 16
$NAV,1687448834,40.0,0,stop
$NAV,1687448835,40.0,0,stop
$GC,2566.34,10663,232.22,1.57,80.00,1941.8,1975.6,1908.1,2337.1,2007.8,33.99,8.92,340,2595.66,19.55,0.28,3.76,0.926,0.075,0.138,1849.22,1883.94,1814.50,2395.75,3492.19,0,0,0,12.63,15.04,14.95
$GC,2674.90,5253,232.22,1.53,0.00,1848.0,1881.8,1814.1,2395.8,3492.3,21.21,12.20,361,2683.35,0.00,0.22,3.49,0.000,0.186,0.068,1848.34,1882.50,1814.19,2363.12,2008.50,0,0,0,30.00,14.99,15.02
$GC,2867.59,10663,303.00,1.71,80.00,1846.2,1881.9,1810.6,2363.6,2008.3,6.14,6.72,399,2934.81,52.50,0.34,3.78,0.940,0.074,0.134,1563.50,1603.88,1523.12,2428.69,3492.44,0,0,0,12.71,15.10,14.90
$GC,3085.39,11431,519.83,2.21,0.00,1558.8,1600.6,1517.0,2429.2,3492.4,4.43,-0.04,439,3169.23,70.81,0.66,3.48,0.933,0.064,0.064,1165.75,1214.00,1117.50,2547.50,2005.62,0,0,0,12.61,15.02,15.03
$FREEZE,3.61,14.546,-1.474,0,1,0
$STATE,3169,end climb,NO_VERTICAL_VELOCITY
$STATE,3170,begin surface
$SURF,forcing
$SM_CCo,3296.01,115.22,0.910,0,500.0,502.2,497.8,564.19
$SM_GC,1.79,0.00,14.98,0.07,0.000,0.058,0.202,496.9,499.7,494.2,188.0,2042.6,0,0,0,30.00,14.76,14.75
$NAV,1687449753,0.2,start
$NAV,1687449764,0.2,start
$SUPER,55,77,254,1,0,0
$IRIDIUM_FIX,4738.72,-12207.44,220623,140743
$TCM_TEMP,13.52
$SC_FREEKB,3871712
$RAFOS_CLK,1
$MODEM,7,1687447200,47.60500,-122.95000,0.525,768.7
$MODEM,6,1687446600,47.60500,-122.95000,0.570,834.7
$MODEM,2,1687447200,47.60500,-122.95000,0.763,1117.8
$MODEM,1,1687446600,47.60500,-122.95000,0.907,1328.2
$RAFOS_FIX,4141.806641,-12257.000000,220623,141458,3,255,1098.20
$HUMID,45.36
$TEMP,10.74
$VOC,4514.6
$INTERNAL_PRESSURE,8.25822
$10V_AH,14.90,2.399
$FG_AHR_10Vo,7.357
$MAMPS,68.7,94.2,52.4,2672.2,1936.3,762.9
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,639.720,34.095,71.145,144.834,0.000,45.025,2343.467,0.854,0.000,1167.242,954.268,1794.922,0.000,0.000,311.685
$DEVICE_MAMPS,1102.922,280.231,423.912,172.137,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3176.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.606,0.000,0.000,0.000
$MEM0,60172,1,0,0
$MEM1,65508,1,0,0
$MEM2,1991688,27,103416,75
$DATA_FILE_SIZE,12909,454
$CAP_FILE_SIZE,401159,0
$SDSIZE,3887104,3865216
$SDFILEDIR,220,24
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.072, 86.2,1
$MAGCAL,1.000000,0.049181,-0.007618,0.010019,1.091236,-0.044143,-0.117990,-0.069357,1.193645,754.7,-963.2,-562.6,36,0.0472,0
$IMPLIED_C_PITCH,2072,15.92,214,0.0,0.00
$IMPLIED_C_VBD,2624,44.677559,214,0
$GPS,220623,160342,4736.134,-12256.470,1,1.2,3,15.4