version: 67.00
glider: 226
mission: 9
dive: 6
start: 5 21 121 20 55 51
data:
$ID,226
$MISSION,9
$DIVE,6
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,160
$D_NO_BLEED,50
$D_BOOST,2
$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,65
$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,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72353
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026799999
$HD_B,0.0139
$HD_C,5.7000002e-06
$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,578.71997
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$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,155
$PITCH_MAX,3800
$C_PITCH,3400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041975998
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,270
$ROLL_MAX,3950
$ROLL_DEG,80
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3860
$C_VBD,1800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,100
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,22.22403
$FG_AHR_24V,21.308865
$PHONE_SUPPLY,2
$PRESSURE_YINT,-141.22678
$PRESSURE_SLOPE,0.00022445236
$COMPASS_USE,16388
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,104
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0043572416
$SEABIRD_T_H,0.00062480406
$SEABIRD_T_I,2.3841247e-05
$SEABIRD_T_J,2.6398654e-06
$SEABIRD_C_G,-9.9228802
$SEABIRD_C_H,1.0930159
$SEABIRD_C_I,-0.0024585677
$SEABIRD_C_J,0.00023529222
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,210521,205213,4743.795,-12224.281,2,1.6,5,15.5
$_CALLS,2
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-77.6
$GPS2,210521,205526,4743.816,-12224.251,2,1.6,5,15.5
$SPEED_LIMITS,0.173,0.224
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$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,107.8,1544,-19.1,-10.000,-24.10
$D_GRID,173
$IRON,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-300.000000,-880.000000,180.000000
$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,5.96,16386,-146.63,-1.39,0.00,501.0,412.2,589.8,137.5,1947.1,0.00,0.00,0,58.62,52.19,0.00,0.00,0.005,0.000,0.000,1673.56,1899.19,1447.94,137.50,1947.38,0,0,0,15.79,30.00,30.00
$GC,58.83,18727,-146.63,-1.39,80.00,1673.1,1898.4,1447.7,137.5,1947.0,3.43,-4.28,5,101.25,21.35,12.44,4.97,0.006,0.348,0.053,2398.03,2700.44,2095.62,3046.50,3711.81,0,0,0,15.82,15.74,15.81
$NAV,1621630745,30.2,start
$GC,263.35,3205,-146.63,-0.49,0.00,2398.2,2702.1,2094.2,3046.8,3711.2,45.04,-20.15,46,270.91,0.00,0.76,4.74,0.000,0.241,0.027,2396.44,2700.44,2092.44,3284.31,1966.50,0,0,0,30.00,15.85,15.93
$GC,453.86,160,-146.63,-0.58,0.00,2398.4,2702.4,2094.3,3284.0,1965.9,63.67,-8.47,66,455.19,0.00,0.00,0.00,0.000,0.000,0.000,2400.62,2704.69,2096.56,3283.19,1965.81,0,0,0,30.00,30.00,30.00
$GC,643.89,4257,-146.63,-0.69,0.00,2398.2,2701.9,2094.5,3283.4,1966.1,80.51,-8.77,85,645.34,0.00,0.17,0.00,0.000,0.081,0.000,2401.12,2705.12,2097.12,3206.62,1964.94,0,0,0,30.00,15.95,30.00
$GC,833.97,2693,-146.63,-0.50,-80.00,2398.1,2702.2,2093.9,3206.4,1965.4,103.41,-12.36,104,840.44,0.00,0.25,4.72,0.000,0.199,0.059,2396.69,2701.06,2092.31,3303.44,291.00,0,0,0,30.00,15.92,15.94
$GC,913.50,5285,-146.63,-0.69,0.00,2398.3,2702.3,2094.2,3304.1,291.0,111.68,-9.77,120,919.91,0.00,0.16,4.77,0.000,0.077,0.027,2400.59,2704.31,2096.88,3204.56,2029.44,0,0,0,30.00,15.95,15.96
$GC,1108.98,2437,-146.63,-0.51,80.00,2398.3,2702.4,2094.2,3204.1,2052.4,134.91,-12.17,140,1115.48,0.00,0.25,4.66,0.000,0.201,0.058,2399.16,2703.25,2095.06,3261.31,3708.06,0,0,0,30.00,15.93,15.97
$GC,1143.99,1156,-146.63,-0.58,0.00,2398.0,2701.9,2094.1,3261.6,3709.2,138.68,-10.76,147,1150.46,0.00,0.00,4.74,0.000,0.000,0.028,2399.03,2703.12,2094.94,3279.69,1972.06,0,0,0,30.00,30.00,15.94
$STATE,1279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1279,begin apogee
$GC,1280.10,10243,0.00,-0.25,0.00,2398.3,2702.1,2094.5,3280.9,2052.7,150.75,-8.92,161,1410.88,127.92,0.19,0.20,1.255,0.185,0.075,1798.72,1890.06,1707.38,3343.88,1964.62,0,0,0,12.51,15.89,15.47
$STATE,1412,end apogee,CONTROL_FINISHED_OK
$STATE,1412,begin climb
$GC,1411.43,10243,146.63,1.39,0.00,1797.4,1888.0,1706.9,3344.4,1964.3,158.86,0.00,174,1532.59,119.11,1.30,0.00,1.217,0.175,0.000,1201.34,1178.00,1224.69,3735.94,1962.62,0,0,0,12.43,15.50,30.00
$GC,1719.09,10663,190.85,1.69,80.00,1200.2,1175.2,1225.1,3735.2,1962.8,138.97,7.97,215,1764.61,36.86,0.19,5.07,1.171,0.068,0.056,1021.41,985.12,1057.69,3806.44,3708.38,0,0,0,12.43,15.69,15.53
$GC,1819.08,5253,190.85,1.51,0.00,1021.2,984.8,1057.5,3805.8,3709.2,127.11,13.04,235,1825.62,0.00,0.26,4.84,0.000,0.232,0.029,1021.44,984.69,1058.19,3753.12,1970.38,0,0,0,30.00,15.59,15.65
$GC,2014.13,10663,196.08,1.70,80.00,1020.3,983.4,1057.2,3754.2,1969.9,107.77,9.76,255,2029.83,6.93,0.14,5.00,0.859,0.080,0.058,998.44,952.94,1043.94,3806.44,3709.19,0,0,0,12.54,15.78,15.70
$GC,2058.66,5253,196.08,1.54,0.00,997.9,952.6,1043.2,3806.8,3708.8,102.06,13.41,264,2065.12,0.00,0.23,4.77,0.000,0.226,0.029,997.97,952.69,1043.25,3761.62,1971.19,0,0,0,30.00,15.71,15.74
$GC,2254.18,10663,211.54,1.73,80.00,997.7,952.3,1043.0,3761.3,1971.1,83.26,9.29,284,2275.47,14.01,0.12,4.99,1.064,0.086,0.059,937.47,894.06,980.88,3808.56,3707.88,0,0,0,12.56,15.85,15.76
$GC,2284.15,1028,211.54,1.73,0.00,937.2,893.9,980.6,3808.1,3707.8,79.80,10.70,290,2290.63,0.00,0.00,4.80,0.000,0.000,0.032,937.59,894.25,980.94,3828.88,1976.25,0,0,0,30.00,30.00,15.83
$MODEM_MSG,CACST,6,1,20210507232513.121782,05,32767,45,0112,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3A
$MODEM_MSG,CACST,6,1,20210507233040.562646,05,32767,45,0104,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*37
$MODEM_MSG,CACST,6,1,20210507233049.302669,05,32767,45,0117,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*39
$MODEM_MSG,CACST,6,1,20210507233058.022692,05,32767,45,0142,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*31
$MODEM_MSG,CACST,6,1,20210507233519.294200,05,19948,42,0275,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*32
$MODEM_MSG,CACST,6,1,20210507234241.599712,05,4123,36,0126,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*00
$MODEM_MSG,CACST,6,1,20210507234359.498452,05,2700,34,0102,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*00
$MODEM_MSG,CACST,6,1,20210507234420.091631,05,7795,38,0213,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*08
$MODEM_MSG,CACST,6,1,20210508002238.688027,05,11487,40,0212,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*31
$MODEM_MSG,CACST,6,1,20210508002936.591565,05,32767,45,0142,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0E
$MODEM_MSG,CACST,6,1,20210508002951.711599,05,32767,45,0107,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0D
$MODEM_MSG,CACST,6,1,20210508003104.711787,05,32767,45,0104,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0C
$MODEM_MSG,CACST,6,1,20210508003210.171957,05,32767,45,0108,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0A
$MODEM_MSG,CACST,6,1,20210508003412.957474,05,32767,45,0171,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*09
$NAV,1621632980,61.3,3,stop
$GC,2479.20,4485,211.54,1.64,80.00,937.3,894.1,980.5,3830.1,1975.2,55.20,12.11,310,2485.77,0.00,0.16,4.95,0.000,0.228,0.056,936.97,893.81,980.12,3762.25,3709.88,0,0,0,30.00,15.81,15.82
$GC,2508.73,3077,211.54,1.64,0.00,937.3,893.8,980.9,3763.5,3709.8,51.82,11.53,316,2515.14,0.00,0.03,4.75,0.000,0.235,0.030,937.38,893.88,980.88,3815.25,1972.25,0,0,0,30.00,15.87,15.83
$GC,2704.23,388,211.54,1.70,80.00,937.3,894.1,980.4,3815.4,1971.4,30.22,10.41,336,2710.71,0.00,0.00,4.97,0.000,0.000,0.061,937.19,893.94,980.44,3806.31,3707.88,0,0,0,30.00,30.00,15.93
$GC,2829.24,1028,211.54,1.70,0.00,937.1,893.6,980.6,3806.6,3707.6,16.45,10.16,361,2835.71,0.00,0.00,4.75,0.000,0.000,0.031,936.81,893.25,980.38,3827.44,1968.75,0,0,0,30.00,30.00,15.89
$GC,3024.29,10663,282.32,2.15,80.00,937.4,894.1,980.8,3827.3,1968.3,2.13,6.75,381,3034.51,9.81,0.00,0.00,0.954,0.000,0.000,904.97,858.69,951.25,3827.12,1968.69,0,0,0,12.62,30.00,30.00
$STATE,3035,end climb,SURFACE_DEPTH_REACHED
$STATE,3035,begin surface coast
$FINISH,1.4,1.020962
$STATE,3075,end surface coast,CONTROL_FINISHED_OK
$STATE,3075,begin surface
$SM_CCo,3174.50,84.04,1.103,0,501.3,408.6,593.9,318.58
$SM_GC,2.68,84.04,10.77,0.17,1.103,0.092,0.049,501.3,408.6,593.9,142.8,2057.9,0,0,0,12.62,15.88,15.94
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4744.97,-12226.80,210521,205243
$TCM_TEMP,12.43
$XPDR_PINGS,0,12.5,10.5
$SC_FREEKB,3876128
$RAFOS_CLK,-4
$MODEM,6,1620430240,48.25000,-122.50000,40.563,59424.3
$MODEM,5,1620429913,47.25000,-122.00000,13.122,19223.4
$MODEM,4,1620433358,48.25000,-123.50000,158.688,232478.0
$MODEM,6,1620430240,48.25000,-122.50000,40.563,59424.3
$MODEM,5,1620429913,47.25000,-122.00000,13.122,19223.4
$MODEM,4,1620433358,48.25000,-123.50000,158.688,232478.0
$RAFOS_FIX,4727.894531,-12136.576172,080521,000038,14,255,-8.70
$HUMID,50.78
$TEMP,10.82
$INTERNAL_PRESSURE,8.59643
$24V_AH,14.97,3.444
$10V_AH,15.00,0.000
$FG_AHR_24Vo,21.446
$FG_AHR_10Vo,22.286
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,472.220,27.415,78.220,0.000,0.000,14.311,1475.937,1862.281,562.035,1414.037,0.000,0.000,0.000
$DEVICE_MAMPS,1255.008,348.416,74.536,0.000,420.000,15.000,11.920,2.920,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3071.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.564,0.000,0.000,0.000
$MEM0,60868,1,0,0
$MEM1,65508,1,0,0
$MEM2,997824,27,49144,53
$DATA_FILE_SIZE,9756,387
$CAP_FILE_SIZE,227068,0
$SDSIZE,3918848,3907744
$SDFILEDIR,65,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.048, 33.6,1
$MAGCAL,1.000000,-0.059596,-0.027923,-0.050602,1.069628,0.013749,-0.003123,-0.026262,1.099755,-314.7,-890.4,172.1,36,0.0217,0
$IMPLIED_C_PITCH,3526,16.96,213
$IMPLIED_C_VBD,1684,19.736860,213
$GPS,210521,215046,4743.738,-12223.735,2,1.7,7,15.5