version: 67.01
glider: 252
mission: 4
dive: 51
start: 6 27 123 21 41 16
data:
$ID,252
$MISSION,4
$DIVE,51
$N_DIVES,58
$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,3.0680244
$FG_AHR_24V,20.098625
$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
$GPS1,270623,213724,4736.479,-12256.519,23,6.4,63,15.4
$_CALLS,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-61.6
$GPS2,270623,214044,4736.484,-12256.474,2,0.8,3,15.4
$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,190.0,1070,-17.6,-10.000,-21.21,2209,0.141
$D_GRID,168
$IRON,1.000000,0.031484,-0.032928,-0.010108,1.045478,-0.062488,0.002039,-0.013247,0.921834,-196.850296,-1213.832397,-653.799561
$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
$MODEM_MSG,CACST,8,1,20230627210000.187588,18,21124,43,0214,0000,07,01,01,00,01,-1,-01,-01,1,3,0,0,150,-9.0,0.51,-100,2.49,-01,0.06,18,925,0025,0,-1,00,00*28
$MODEM_MSG,CARFP,2023-06-27T21:04:06.253803,0,28,121,1,1,0,0,1;8;081c7903203000ff,1;5;3a1ccb4f5a,*29
$MODEM_MSG,CACST,8,0,20230627210202.164228,18,32767,45,0114,0000,07,00,00,00,00,1,028,121,0,5,1,0,150,-26.2,11.51,-100,-8.51,-01,-0.13,58,925,0025,0,1,00,00*2B
$MODEM_MSG,CACST,8,1,20230627211000.194410,18,10490,40,0187,0000,246,02,02,00,03,-1,-01,-01,1,3,1,0,150,-35.3,0.73,-100,2.27,-01,-0.69,58,925,0025,0,-1,00,00*0D
$MODEM_MSG,CACST,8,1,20230627212000.246868,18,6432,38,0116,0000,07,01,01,00,03,-1,-01,-01,1,3,1,0,150,-14.6,0.74,-100,2.26,-01,0.06,17,925,0025,0,-1,00,00*23
$MODEM_MSG,CARFP,2023-06-27T21:27:04.437944,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;3a1cdb4f5a,*22
$MODEM_MSG,CACST,8,0,20230627212500.348187,18,32767,45,0173,0000,07,01,01,00,01,1,029,121,0,5,1,0,150,2.1,12.04,-100,-9.04,-01,0.02,48,925,0025,0,1,00,00*1E
$NAV,1687902090,1.5,5,stop
$GC,6.80,16386,-146.63,-1.44,0.00,495.9,521.6,470.3,185.4,2010.2,0.00,0.00,0,52.62,41.26,0.00,0.00,0.005,0.000,0.000,1747.12,1765.38,1728.88,185.31,2010.62,0,0,0,15.90,30.00,30.00
$GC,53.15,18727,-146.63,-1.44,80.00,1747.8,1766.7,1728.9,185.2,2010.1,3.23,-4.53,8,140.97,58.47,7.91,3.68,0.005,0.250,0.126,3949.22,3955.19,3943.25,1252.31,3491.50,0,0,0,15.94,15.79,15.88
$NAV,1687902245,14.7,start
$NAV,1687902431,47.7,0,stop
$GC,370.22,3205,-146.63,-1.24,0.00,3951.1,3959.2,3942.9,1252.6,3491.4,50.30,-17.02,67,378.98,0.00,0.33,3.47,0.000,0.190,0.072,3951.28,3958.19,3944.38,1301.44,2007.69,0,0,0,30.00,15.91,15.96
$NET,CACMR,PNR,2023-06-27T21:50:08.106155,27,252,0.376208,13.0,2.75,0,0,1;15;1;3134732155*79
$NET_PING,1687902611,27,564.312012,13.000000,126.249626
$NET,CAXST,7,20230627,215011.784901,3,0,200,5000,10000,1,252,27,0,0,6,5,192,10000*61
$NET,CARFP,2023-06-27T21:50:18.085319,0,27,252,1,1,0,0,1;8;081bfc03203000ff,1;5;f208012b00;1;4;00bf00ff,*7F
$NET,CAXST,7,20230627,215021.032186,3,0,200,5000,10000,1,252,27,0,0,5,5,192,10000*6C
$NET,CARFP,2023-06-27T21:50:27.085243,0,27,252,1,1,0,0,1;8;081bfc03203000ff,1;5;f208012b00;1;4;007f01ff,*29
$NET,CAXST,7,20230627,215027.776161,3,0,200,5000,10000,1,252,27,0,0,5,5,192,10000*64
$NET,CARFP,2023-06-27T21:50:34.087204,0,27,252,1,1,0,0,1;8;081bfc03203000ff,1;5;f208012b00;1;4;003f02ff,*2D
$NET,CAXST,7,20230627,215034.765933,3,0,200,5000,10000,1,252,27,0,0,5,5,192,10000*6B
$NET,CARFP,2023-06-27T21:50:41.083391,0,27,252,1,1,0,0,1;8;081bfc03203000ff,1;5;f208012b00;1;4;00ff02ff,*73
$NET,CAXST,7,20230627,215042.799917,3,0,200,5000,10000,1,252,27,0,0,5,5,163,10000*61
$NET,CARFP,2023-06-27T21:50:49.087295,0,27,252,1,1,0,0,1;8;081bfc03203000ff,1;5;f208012b00;1;4;00a203ff,*28
$NET,CACST,8,0,20230627215048.377547,18,32767,45,0116,0113,07,00,00,00,00,1,027,252,0,5,2,0,150,12.0,7.05,-100,-4.05,-01,0.06,64,10000,5000,0,1,00,00*7C
$GC,564.94,644,-146.63,-1.15,-80.00,3952.2,3961.2,3943.1,1301.9,2007.2,77.01,-13.60,87,577.95,0.00,0.00,3.90,0.000,0.000,0.163,3913.03,3882.44,3943.62,1301.38,559.69,0,0,0,30.00,30.00,15.27
$NET,xmit ok outbox0043.n 931 15
$GC,676.93,3205,-146.63,-1.00,0.00,3952.2,3961.4,3943.0,1302.1,559.8,95.33,-16.66,109,685.90,0.00,0.37,3.48,0.000,0.173,0.072,3952.16,3960.94,3943.38,1358.62,2034.56,0,0,0,30.00,15.93,15.94
$GC,871.82,388,-146.63,-0.97,80.00,3953.2,3963.3,3943.1,1359.2,2034.6,117.69,-11.04,129,880.63,0.00,0.00,3.62,0.000,0.000,0.132,3953.06,3962.88,3943.25,1359.62,3492.94,0,0,0,30.00,30.00,15.99
$GC,1019.50,1156,-146.63,-0.90,0.00,3953.4,3963.3,3943.5,1359.8,3492.6,135.73,-12.39,158,1028.13,0.00,0.00,3.49,0.000,0.000,0.076,3952.41,3962.44,3942.38,1359.44,2008.88,0,0,0,30.00,30.00,16.03
$NAV,1687903150,141.9,start
$STATE,1148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1148,begin apogee
$GC,1149.93,10243,0.00,-0.36,0.00,3953.3,3963.0,3943.6,1359.1,2042.9,150.02,-10.94,171,1280.04,116.23,1.02,0.07,1.307,0.133,0.291,3349.03,3388.62,3309.44,1516.12,2011.31,0,0,0,12.07,16.02,15.59
$STATE,1281,end apogee,CONTROL_FINISHED_OK
$STATE,1281,begin climb
$GC,1281.69,10759,146.63,1.44,-80.00,3348.6,3387.4,3309.8,1516.1,2011.4,156.60,0.00,183,1430.55,122.42,2.82,4.03,1.272,0.101,0.179,2748.44,2799.25,2697.62,1953.38,561.56,0,0,0,11.73,15.63,15.38
$NET,CACMR,PNR,2023-06-27T22:05:17.931908,27,252,0.274560,15.1,3.66,0,0,1;15;1;461659547*4B
$NET_PING,1687903519,27,411.839996,15.100000,143.453079
$NET,CARFP,2023-06-27T22:05:18.604027,0,27,252,1,-1,0,0,1;12;081bfc07000b9f1b845d9bff,,*05
$NET,CACST,8,0,20230627220517.931908,18,32767,45,0105,0113,07,00,00,00,00,1,027,252,0,5,1,0,150,15.1,3.66,-100,-0.66,-01,-0.15,67,10000,5000,0,-1,00,00*7C
$GC,1493.03,9382,175.49,1.51,0.00,2746.2,2791.6,2700.8,1953.5,561.0,144.72,8.66,220,1531.81,26.11,0.00,3.60,1.205,0.000,0.071,2632.34,2682.38,2582.31,1952.88,2040.81,0,0,0,11.83,30.00,15.62
$GC,1715.73,10663,224.97,1.67,80.00,2629.0,2679.9,2578.2,1953.5,2041.2,127.14,7.71,246,1773.31,41.74,0.31,3.74,1.235,0.063,0.139,2390.56,2409.19,2371.94,2022.12,3489.62,0,0,0,12.03,15.78,15.60
$GC,1886.47,1156,224.97,1.70,0.00,2428.2,2488.2,2368.2,2024.2,3489.1,108.06,11.78,279,1894.82,0.00,0.00,3.57,0.000,0.000,0.077,2428.41,2488.06,2368.75,2024.12,2009.56,0,0,0,30.00,30.00,15.75
$GC,2082.26,388,224.97,1.76,80.00,2427.2,2488.1,2366.4,2024.3,2009.6,87.00,10.80,299,2091.36,0.00,0.00,3.77,0.000,0.000,0.135,2426.72,2487.62,2365.81,2022.81,3488.75,0,0,0,30.00,30.00,15.84
$GC,2140.27,1156,224.97,1.80,0.00,2426.7,2487.2,2366.1,2023.9,3488.9,80.56,11.11,310,2149.16,0.00,0.00,3.53,0.000,0.000,0.076,2424.59,2485.06,2364.12,2022.38,2009.06,0,0,0,30.00,30.00,15.87
$GC,2331.25,10663,236.05,1.88,80.00,2425.9,2486.1,2365.7,2024.2,2008.7,62.36,9.49,329,2355.06,11.83,0.19,3.76,1.091,0.076,0.137,2385.50,2443.75,2327.25,2072.81,3489.62,0,0,0,11.84,15.93,15.85
$GC,2388.02,1028,236.05,1.88,0.00,2385.9,2444.8,2327.0,2072.3,3489.8,55.03,12.45,340,2396.56,0.00,0.00,3.51,0.000,0.000,0.076,2385.41,2443.88,2326.94,2072.81,2008.00,0,0,0,30.00,30.00,15.89
$GC,2579.00,388,236.05,1.91,80.00,2385.1,2445.0,2325.1,2072.5,2007.8,33.92,10.77,374,2587.85,0.00,0.00,3.72,0.000,0.000,0.133,2383.62,2443.50,2323.75,2071.94,3490.69,0,0,0,30.00,30.00,15.92
$GC,2631.58,1028,236.05,1.91,0.00,2384.8,2444.6,2325.0,2072.2,3490.6,27.65,12.07,384,2640.43,0.00,0.00,3.51,0.000,0.000,0.075,2382.44,2442.69,2322.19,2072.38,2009.44,0,0,0,30.00,30.00,15.95
$GC,2824.36,8614,263.19,1.99,80.00,2384.3,2444.6,2323.9,2072.6,2008.2,9.06,8.74,422,2864.03,25.75,0.00,3.75,1.155,0.000,0.135,2258.78,2304.00,2213.56,2070.75,3489.88,0,0,0,11.99,30.00,15.87
$GC,2888.02,11431,348.98,2.18,0.00,2274.7,2337.8,2211.5,2072.0,3490.7,5.21,6.03,434,2978.50,73.69,0.34,3.51,1.160,0.057,0.072,1925.78,2000.75,1850.81,2146.25,2006.56,0,0,0,11.87,15.91,15.90
$FREEZE,5.21,15.085,-1.500,0,1,0
$STATE,3072,end climb,NO_VERTICAL_VELOCITY
$STATE,3072,begin surface
$SURF,forcing
$SM_CCo,3385.15,283.23,1.132,0,500.8,527.6,473.9,698.91
$SM_GC,1.46,0.00,11.98,0.06,0.000,0.036,0.191,496.9,522.3,471.5,192.8,2041.4,0,0,0,30.00,15.56,15.53
$MODEM_MSG,CACST,8,1,20230627220000.271278,18,32767,45,0208,0000,07,01,01,00,03,-1,-01,-01,1,3,0,0,150,33.4,0.69,-100,2.31,-01,0.06,31,925,0025,0,-1,00,00*3F
$MODEM_MSG,CACST,8,1,20230627222000.285392,18,8304,39,0332,0000,07,00,00,00,02,-1,-01,-01,1,3,0,0,150,20.9,0.19,-100,2.81,-01,0.27,41,925,0025,0,-1,00,00*0B
$MODEM_MSG,CARFP,2023-06-27T22:27:04.350178,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;3a1ceb4f5a,*2F
$MODEM_MSG,CACST,8,0,20230627222500.300490,18,32767,45,0175,0000,07,01,01,00,01,1,029,121,0,5,1,0,150,4.1,12.92,-100,-9.92,-01,0.08,50,925,0025,0,1,00,00*1D
$MODEM_MSG,CACST,8,1,20230627223159.441302,18,4692,36,0241,0000,246,03,03,00,03,-1,-01,-01,1,3,1,0,150,-5.6,1.83,-100,1.17,-01,0.01,70,925,0025,0,-1,00,00*22
$NAV,1687905580,1.8,3,stop
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4736.87,-12256.21,270623,203414
$TCM_TEMP,-86.31
$SC_FREEKB,3862464
$RAFOS_CLK,0
$MODEM,6,1687904700,47.60600,-122.94640,0.300,440.2
$MODEM,4,1687904400,47.60500,-122.95000,0.285,418.1
$MODEM,0,1687903200,47.60500,-122.95000,0.271,397.4
$MODEM,6,1687901100,47.60580,-122.94640,0.348,510.1
$MODEM,4,1687900800,47.60500,-122.95000,0.247,361.7
$MODEM,2,1687900200,47.60500,-122.95000,0.194,284.8
$MODEM,1,1687899722,47.60560,-122.94640,2.164,3170.6
$MODEM,0,1687899600,47.60500,-122.95000,0.188,274.8
$RAFOS_FIX,4736.670410,-12257.472656,270623,222200,3,255,0.49
$HUMID,52.34
$TEMP,11.31
$INTERNAL_PRESSURE,7.99254
$24V_AH,14.92,21.778
$10V_AH,14.95,0.000
$FG_AHR_24Vo,20.343
$FG_AHR_10Vo,3.115
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,800.735,25.250,65.900,130.560,0.000,12.304,2089.911,2.054,0.000,1272.800,985.482,2857.889,0.000,0.000,139.823
$DEVICE_MAMPS,1307.488,249.688,290.688,148.345,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3078.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.472,0.000,0.000,0.000
$MEM0,59804,1,0,0
$MEM1,65508,1,0,0
$MEM2,945384,29,101124,74
$DATA_FILE_SIZE,12942,469
$CAP_FILE_SIZE,187962,0
$SDSIZE,3887104,3856288
$SDFILEDIR,457,52
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.015, 31.0,1
$MAGCAL,1.000000,0.025370,-0.072252,-0.014697,1.082678,-0.153407,-0.099822,0.084950,1.321227,-186.1,-1188.9,-949.4,36,0.0463,0
$IMPLIED_C_PITCH,1769,13.50,217,0.0,0.00
$IMPLIED_C_VBD,3307,21.618849,217,0
$GPS,270623,224013,4736.171,-12256.613,5,1.1,7,15.4