version: 67.01
glider: 252
mission: 4
dive: 21
start: 6 26 123 14 28 54
data:
$ID,252
$MISSION,4
$DIVE,21
$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,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,1.6623243
$FG_AHR_24V,12.630941
$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
$GPS1,260623,142504,4736.363,-12256.552,0,0.9,2,15.4
$_CALLS,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-59.8
$GPS2,260623,142822,4736.376,-12256.510,2,0.9,4,15.4
$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,196.5,869,-17.6,-10.000,-21.21,2209,0.132
$D_GRID,169
$IRON,1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909
$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
$NAV,1687789748,1.5,0,stop
$GC,6.74,16386,-146.63,-1.44,0.00,495.1,517.1,473.1,191.6,2011.3,0.00,0.00,0,69.39,56.86,0.00,0.00,0.005,0.000,0.000,2135.56,2153.62,2117.50,191.62,2011.50,0,0,0,15.88,30.00,30.00
$GC,69.93,18727,-146.63,-1.44,80.00,2135.6,2153.8,2117.4,191.4,2011.9,3.45,-3.58,11,141.83,44.60,7.97,3.71,0.005,0.268,0.134,3948.09,3952.31,3943.88,1253.19,3489.25,0,0,0,15.93,15.78,15.86
$GC,275.57,3205,-146.63,-1.24,0.00,3950.2,3956.4,3944.1,1253.4,3490.2,35.27,-17.83,50,284.02,0.00,0.32,3.48,0.000,0.197,0.078,3949.97,3956.50,3943.44,1302.06,2010.38,0,0,0,30.00,15.91,15.93
$GC,472.73,388,-146.63,-1.14,80.00,3950.6,3958.0,3943.2,1302.2,2010.2,62.31,-13.28,80,481.76,0.00,0.00,3.73,0.000,0.000,0.134,3950.25,3957.19,3943.31,1302.00,3491.44,0,0,0,30.00,30.00,15.98
$NET,CACMR,PNR,2023-06-26T14:37:41.828423,29,252,0.233305,12.1,3.34,0,0,1;15;1;2261595367*7B
$NET_PING,1687790263,29,349.957520,12.100000,-0.466282
$NET,CAXST,7,20230626,143743.599775,3,0,200,5000,10000,1,252,29,0,0,6,5,192,10000*6D
$NET,CARFP,2023-06-26T14:37:53.936837,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011100;1;4;00bf00ff,*28
$NET,CAXST,7,20230626,143754.633344,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*6D
$NET,CARFP,2023-06-26T14:38:01.976797,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac321f1f90;1;7;0b47e1b4570e13,*7B
$NET,CACST,8,0,20230626143801.230228,18,32767,45,0102,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,12.2,4.68,-100,-1.68,-01,-0.21,72,10000,5000,0,1,00,00*53
$NET,CARFP,2023-06-26T14:38:04.940955,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011100;1;4;007f01ff,*75
$NET,CAXST,7,20230626,143805.637129,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*6B
$NET,CARFP,2023-06-26T14:38:10.976836,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac321f1f90;1;7;5b47e1b4570e12,*7B
$NET,CACST,8,0,20230626143810.228988,18,32767,45,0102,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,11.8,4.36,-100,-1.36,-01,-0.17,72,10000,5000,0,1,00,00*57
$NET,CARFP,2023-06-26T14:38:14.936642,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011100;1;4;003f02ff,*7B
$NET,CAXST,7,20230626,143815.626641,3,0,200,5000,10000,1,252,29,0,0,5,5,192,10000*63
$NET,CARFP,2023-06-26T14:38:20.972706,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac321f1f90;1;7;ab47e1b4570e13,*25
$NET,CACST,8,0,20230626143820.227836,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,12.9,3.21,-100,-0.21,-01,-0.14,72,10000,5000,0,1,00,00*5B
$NET,CARFP,2023-06-26T14:38:26.936645,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011100;1;4;00ff02ff,*28
$NET,CAXST,7,20230626,143829.265750,3,0,200,5000,10000,1,252,29,0,0,4,5,120,10000*66
$NET,CACST,8,1,20230626143836.226487,18,32767,45,0101,0113,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,14.0,3.78,-100,-0.78,-01,-0.09,71,10000,5000,0,-1,00,00*57
$GC,575.34,3205,-146.63,-1.05,0.00,3951.5,3959.1,3943.9,1301.7,3490.6,77.90,-15.52,99,587.72,0.00,0.29,3.56,0.000,0.178,0.079,3951.44,3958.19,3944.69,1348.25,2007.94,0,0,0,30.00,15.87,15.49
$NET,CAXST,7,20230626,143849.125626,3,0,200,5000,10000,1,252,29,0,0,4,5,120,10000*67
$NET,CAXST,7,20230626,143909.123498,3,0,200,5000,10000,1,252,29,0,0,4,5,120,10000*63
$NET,xmit part outbox0017.n 888 12
$GC,774.68,388,-146.63,-1.00,80.00,3951.7,3959.1,3944.3,1347.9,2008.8,101.66,-11.64,120,783.59,0.00,0.00,3.73,0.000,0.000,0.136,3951.16,3957.81,3944.50,1348.12,3491.69,0,0,0,30.00,30.00,15.95
$GC,856.69,3205,-146.63,-0.92,0.00,3951.2,3958.8,3943.7,1347.9,3491.9,112.77,-13.73,136,865.08,0.00,0.20,3.50,0.000,0.180,0.081,3951.41,3958.69,3944.12,1380.44,2009.94,0,0,0,30.00,15.96,15.98
$NAV,1687790646,118.6,start
$GC,1047.30,292,-146.63,-0.92,80.00,3952.5,3960.4,3944.5,1380.2,2009.8,131.87,-9.80,155,1056.29,0.00,0.00,3.73,0.000,0.000,0.137,3952.62,3961.19,3944.06,1380.25,3490.50,0,0,0,30.00,30.00,16.00
$NAV,1687790833,138.0,0,stop
$GC,1169.62,1156,-146.63,-0.87,0.00,3952.6,3960.7,3944.5,1380.2,3490.5,146.46,-12.11,179,1177.72,0.00,0.00,3.50,0.000,0.000,0.083,3952.69,3960.94,3944.44,1380.06,2009.56,0,0,0,30.00,30.00,16.04
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1207.13,10243,0.00,-0.36,0.00,3952.5,3961.4,3943.7,1380.1,2040.8,150.29,-10.95,183,1337.29,115.00,0.88,0.06,1.352,0.137,0.302,3348.53,3387.62,3309.44,1516.31,2011.62,0,0,0,11.96,16.02,15.61
$STATE,1338,end apogee,CONTROL_FINISHED_OK
$STATE,1339,begin climb
$NET,CACMR,PNR,2023-06-26T14:52:37.777520,29,252,0.198518,4.5,3.85,0,0,1;15;1;3157581919*4E
$NET_PING,1687791160,29,297.776978,4.500000,-0.394282
$NET,CAXST,7,20230626,145240.097727,3,0,200,5000,10000,1,252,29,0,0,5,5,120,10000*6B
$NET,CARFP,2023-06-26T14:52:47.902767,0,29,252,1,1,0,0,1;8;081dfc03203000ff,1;5;f208011100;1;4;037703ff,*27
$NET,CACST,8,0,20230626145247.195592,18,32767,45,0102,0113,07,00,00,00,00,1,029,252,0,5,2,0,150,4.5,3.28,-100,-0.28,-01,0.02,82,10000,5000,0,1,00,00*45
$NET,CACST,8,1,20230626145301.195520,18,32767,45,0103,0113,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,4.8,2.12,-100,0.88,-01,-0.07,82,10000,5000,0,-1,00,00*4F
$NET,xmit ok outbox0017.n 888 14
$GC,1338.83,10759,146.63,1.44,-80.00,3348.6,3387.6,3309.6,1516.1,2011.9,157.13,0.00,195,1489.22,122.08,2.82,4.05,1.311,0.111,0.186,2749.75,2798.75,2700.75,1951.75,561.00,0,0,0,11.86,15.65,15.39
$GC,1507.46,11431,198.24,1.55,0.00,2748.6,2796.1,2701.1,1952.0,560.9,149.18,7.61,224,1566.10,44.83,0.15,3.62,1.267,0.096,0.077,2540.38,2597.12,2483.62,1990.69,2039.38,0,0,0,11.83,15.56,15.56
$GC,1750.05,8614,213.12,1.64,80.00,2536.7,2591.5,2481.8,1990.6,2039.3,127.45,9.31,253,1774.28,13.99,0.00,3.74,1.170,0.000,0.148,2481.50,2538.56,2424.44,1991.31,3489.75,0,0,0,11.91,30.00,15.70
$NAV,1687791541,121.5,start
$GC,1856.65,1156,213.12,1.69,0.00,2479.0,2534.5,2423.5,1991.0,3489.3,116.12,11.03,272,1865.01,0.00,0.00,3.59,0.000,0.000,0.083,2478.56,2533.69,2423.44,1991.94,2009.88,0,0,0,30.00,30.00,15.78
$GC,2052.53,10663,233.53,1.80,80.00,2477.6,2533.6,2421.6,1991.3,2009.4,97.64,9.05,292,2082.98,18.90,0.26,3.80,1.213,0.069,0.145,2394.50,2451.88,2337.12,2054.94,3488.94,0,0,0,12.00,15.89,15.79
$GC,2121.79,1028,233.53,1.80,0.00,2395.2,2452.8,2337.6,2055.3,3488.9,89.20,12.91,305,2130.80,0.00,0.00,3.56,0.000,0.000,0.083,2393.03,2451.12,2334.94,2055.50,2009.56,0,0,0,30.00,30.00,15.83
$GC,2323.27,388,233.53,1.85,80.00,2393.5,2452.4,2334.5,2055.4,2010.2,67.03,11.30,325,2335.41,0.00,0.00,3.77,0.000,0.000,0.143,2394.03,2454.06,2334.00,2055.25,3488.88,0,0,0,30.00,30.00,15.88
$GC,2374.13,1028,233.53,1.85,0.00,2393.8,2452.5,2335.1,2055.6,3489.1,60.30,11.93,335,2383.25,0.00,0.00,3.53,0.000,0.000,0.082,2391.53,2450.88,2332.19,2055.44,2008.94,0,0,0,30.00,30.00,15.91
$GC,2564.35,388,233.53,1.89,80.00,2393.2,2451.9,2334.4,2055.1,2008.4,39.73,10.60,364,2573.23,0.00,0.00,3.77,0.000,0.000,0.143,2391.19,2450.12,2332.25,2055.50,3489.31,0,0,0,30.00,30.00,15.94
$GC,2621.96,1028,233.53,1.89,0.00,2393.1,2452.5,2333.7,2055.4,3489.5,33.03,11.53,375,2630.83,0.00,0.00,3.52,0.000,0.000,0.082,2391.41,2450.88,2331.94,2055.31,2010.19,0,0,0,30.00,30.00,15.96
$GC,2814.76,8354,257.00,1.98,0.00,2392.7,2451.8,2333.7,2055.1,2009.8,14.82,8.91,413,2840.95,22.64,0.00,0.00,1.191,0.000,0.000,2302.19,2361.50,2242.88,2054.31,2009.44,0,0,0,12.12,30.00,30.00
$GC,3024.98,10663,415.96,2.29,80.00,2297.0,2358.4,2235.6,2055.6,2009.4,5.44,2.64,455,3145.55,108.50,0.62,0.00,1.212,0.058,0.000,1779.56,1858.31,1700.81,2169.19,2010.31,0,0,0,11.95,15.97,30.00
$FREEZE,4.66,15.336,-1.469,0,1,0
$STATE,3146,end climb,NO_VERTICAL_VELOCITY
$STATE,3146,begin surface
$SURF,forcing
$SM_CCo,3425.37,252.10,1.158,0,500.9,526.6,475.2,698.88
$SM_GC,1.41,0.00,12.30,0.06,0.000,0.056,0.203,497.9,522.6,473.2,194.0,2039.4,0,0,0,30.00,15.55,15.54
$MODEM_MSG,CACST,8,1,20230626150000.288900,18,11187,40,0142,0000,216,03,03,00,03,-1,-01,-01,1,3,0,0,150,-27.3,0.47,-100,2.53,-01,0.00,42,925,0025,0,-1,00,00*2B
$MODEM_MSG,CACST,8,1,20230626151000.411284,18,5846,37,0310,0000,216,00,00,00,01,-1,-01,-01,1,3,0,0,150,-19.6,0.61,-100,2.39,-01,0.06,39,925,0025,0,-1,00,00*12
$NAV,1687793279,0.1,2,stop
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4735.53,-12254.47,260623,132147
$TCM_TEMP,-86.33
$SC_FREEKB,3872064
$RAFOS_CLK,0
$MODEM,1,1687792200,47.60500,-122.95000,0.411,602.5
$MODEM,0,1687791600,47.60500,-122.95000,0.289,423.2
$RAFOS_FIX,4736.606445,-12257.000000,260623,151500,2,510,0.30
$HUMID,52.40
$TEMP,11.20
$INTERNAL_PRESSURE,7.98491
$24V_AH,14.92,13.602
$10V_AH,14.95,0.000
$FG_AHR_24Vo,12.883
$FG_AHR_10Vo,1.705
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,799.510,25.805,66.145,127.738,0.000,14.006,2140.244,0.903,0.000,1294.672,1006.738,2167.668,0.000,0.000,174.931
$DEVICE_MAMPS,1351.768,268.384,301.512,162.122,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3151.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.470,0.000,0.000,0.000
$MEM0,59804,1,0,0
$MEM1,65508,1,0,0
$MEM2,945388,29,101120,74
$DATA_FILE_SIZE,12950,477
$CAP_FILE_SIZE,190669,0
$SDSIZE,3887104,3866048
$SDFILEDIR,212,22
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.010,109.2,1
$IMPLIED_C_PITCH,1764,13.06,218,0.0,0.00
$IMPLIED_C_VBD,3314,16.218561,218,0
$GPS,260623,152839,4736.031,-12256.817,1,1.1,15,15.4