version: 67.00
glider: 236
mission: 4
dive: 80
start: 3 28 122 15 17 4
data:
$ID,236
$MISSION,4
$DIVE,80
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1000
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72604
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099900002
$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,605.40039
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,190
$PITCH_MAX,3920
$C_PITCH,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,20
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$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,810
$ROLL_MAX,3630
$ROLL_DEG,80
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2200
$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,2968
$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
$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,150
$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,1.5
$FG_AHR_10V,13.810988
$FG_AHR_24V,27.201574
$PHONE_SUPPLY,2
$PRESSURE_YINT,-166.76357
$PRESSURE_SLOPE,0.00022638284
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,13.5
$XPDR_REP,11.5
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$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,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$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,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$GPS1,280322,150910,4642.938,-12503.485,3,1.6,10,15.6
$_CALLS,3
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-57.5
$GPS2,280322,151647,4642.931,-12503.580,4,1.6,13,15.6
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,273.6,150405,-19.9,-10.000,-23.24,1773,0.583
$D_GRID,811
$IRON,1.000000,-0.070697,-0.073739,-0.037418,1.070137,-0.018118,0.021715,-0.020855,1.041310,-557.200989,-559.408813,-276.885132
$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,8.40,16386,-116.79,-1.34,0.00,497.0,499.9,494.1,169.1,2826.4,0.00,0.00,0,140.91,132.17,0.00,0.00,0.005,0.000,0.000,3096.72,3069.69,3123.75,169.19,2826.62,0,0,0,14.77,30.00,30.00
$GC,141.16,18727,-116.79,-1.34,80.00,3096.9,3070.4,3123.3,169.0,2826.4,4.01,-2.96,13,173.14,8.39,16.08,2.13,0.008,0.259,0.123,3444.06,3433.88,3454.25,2113.56,3641.12,0,0,0,15.95,15.93,15.89
$GC,305.52,3205,-116.79,-1.24,0.00,3444.8,3433.8,3455.8,2113.1,3641.1,33.67,-17.06,46,311.83,0.00,0.17,2.13,0.000,0.184,0.059,3445.31,3433.94,3456.69,2139.12,2765.44,0,0,0,30.00,15.95,16.01
$GC,501.31,516,-116.79,-1.24,-80.00,3445.2,3434.4,3456.1,2139.2,2765.3,60.19,-12.83,66,506.27,0.00,0.00,3.72,0.000,0.000,0.110,3447.16,3436.06,3458.25,2139.62,1332.94,0,0,0,30.00,30.00,16.01
$GC,641.33,1028,-116.79,-1.24,0.00,3444.5,3433.9,3455.0,2139.6,1333.1,76.56,-10.88,94,646.30,0.00,0.00,3.64,0.000,0.000,0.068,3445.50,3435.12,3455.88,2139.88,2817.19,0,0,0,30.00,30.00,16.02
$GC,831.38,676,-116.79,-1.31,-80.00,3445.2,3434.6,3455.9,2140.1,2817.1,92.60,-7.81,114,836.34,0.00,0.00,3.84,0.000,0.000,0.104,3445.62,3434.81,3456.44,2139.94,1332.94,0,0,0,30.00,30.00,16.04
$GC,1035.63,1060,-116.79,-1.31,0.00,3445.2,3433.8,3456.6,2139.2,1333.2,110.73,-7.96,155,1042.15,0.00,0.00,3.61,0.000,0.000,0.068,3445.00,3434.12,3455.88,2139.44,2817.94,0,0,0,30.00,30.00,16.04
$GC,1231.50,4773,-116.79,-1.38,-80.00,3444.7,3433.8,3455.6,2139.9,2818.0,123.34,-6.05,175,1237.51,0.00,0.32,3.85,0.000,0.073,0.103,3444.84,3434.94,3454.75,2087.44,1332.12,0,0,0,30.00,16.05,16.06
$GC,1440.69,1028,-116.79,-1.38,0.00,3445.1,3434.0,3456.1,2087.2,1332.1,145.77,-11.62,217,1447.19,0.00,0.00,3.60,0.000,0.000,0.069,3446.81,3435.50,3458.12,2086.69,2817.69,0,0,0,30.00,30.00,16.06
$GC,1636.54,548,-116.79,-1.38,-80.00,3445.1,3434.2,3456.0,2087.6,2817.9,165.72,-9.75,237,1641.48,0.00,0.00,3.82,0.000,0.000,0.103,3446.19,3435.25,3457.12,2087.00,1332.75,0,0,0,30.00,30.00,16.07
$GC,1770.76,3205,-116.79,-1.30,0.00,3445.4,3434.1,3456.7,2087.1,1333.3,180.18,-10.77,264,1777.36,0.00,0.34,3.63,0.000,0.173,0.069,3444.72,3433.56,3455.88,2125.19,2817.94,0,0,0,30.00,16.03,16.08
$GC,1966.56,548,-116.79,-1.30,-80.00,3444.9,3434.0,3455.8,2124.8,2818.1,196.46,-7.64,284,1971.53,0.00,0.00,3.84,0.000,0.000,0.104,3445.78,3435.06,3456.50,2124.88,1331.38,0,0,0,30.00,30.00,16.08
$GC,2016.57,1060,-116.79,-1.30,0.00,3444.7,3433.6,3455.7,2125.1,1331.2,200.65,-8.57,294,2021.51,0.00,0.00,3.64,0.000,0.000,0.069,3446.66,3435.81,3457.50,2124.81,2817.19,0,0,0,30.00,30.00,16.08
$GC,2206.74,676,-116.79,-1.37,-80.00,3444.8,3434.2,3455.4,2124.6,2817.1,215.12,-7.23,314,2212.57,0.00,0.00,3.84,0.000,0.000,0.104,3444.53,3433.75,3455.31,2124.50,1331.25,0,0,0,30.00,30.00,16.09
$GC,2285.81,1060,-116.79,-1.37,0.00,3445.3,3434.8,3455.9,2125.3,1331.2,221.78,-8.38,330,2292.33,0.00,0.00,3.62,0.000,0.000,0.069,3445.19,3434.75,3455.62,2125.06,2816.94,0,0,0,30.00,30.00,16.08
$GC,2481.67,4773,-116.79,-1.43,-80.00,3444.7,3434.3,3455.0,2125.2,2816.6,236.66,-7.20,350,2487.67,0.00,0.29,3.84,0.000,0.074,0.104,3445.66,3434.06,3457.25,2072.50,1332.31,0,0,0,30.00,16.09,16.08
$GC,2650.88,3205,-116.79,-1.37,0.00,3445.1,3433.6,3456.5,2075.1,1333.4,254.19,-10.86,384,2657.49,0.00,0.31,3.63,0.000,0.169,0.071,3445.53,3434.88,3456.19,2107.81,2816.62,0,0,0,30.00,16.05,16.09
$GC,2976.67,548,-116.79,-1.37,-80.00,3444.8,3434.1,3455.4,2108.6,2816.3,283.87,-9.14,401,2981.65,0.00,0.00,3.86,0.000,0.000,0.106,3444.47,3433.00,3455.94,2108.81,1332.56,0,0,0,30.00,30.00,16.10
$GC,3176.72,1060,-116.79,-1.37,0.00,3445.0,3434.8,3455.2,2108.6,1333.1,302.93,-9.70,441,3181.66,0.00,0.00,3.62,0.000,0.000,0.071,3445.41,3434.81,3456.00,2108.69,2818.12,0,0,0,30.00,30.00,16.11
$GC,3496.79,676,-116.79,-1.43,-80.00,3445.0,3434.2,3455.9,2109.0,2817.8,329.95,-8.29,460,3502.72,0.00,0.00,3.85,0.000,0.000,0.107,3443.34,3433.06,3453.62,2109.06,1333.81,0,0,0,30.00,30.00,16.11
$GC,3731.82,1060,-116.79,-1.43,0.00,3444.5,3434.4,3454.5,2108.9,1333.3,351.59,-9.93,507,3736.74,0.00,0.00,3.64,0.000,0.000,0.072,3444.50,3434.56,3454.44,2108.81,2816.00,0,0,0,30.00,30.00,16.11
$STATE,3832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3832,begin apogee
$GC,3834.65,10243,0.00,-0.25,0.00,3444.8,3434.9,3454.8,2109.1,2176.2,360.44,-8.90,515,3926.41,88.98,1.89,0.08,1.410,0.134,0.218,2968.69,2975.12,2962.25,2381.00,2233.12,0,0,0,13.05,16.08,15.64
$STATE,3930,end apogee,CONTROL_FINISHED_OK
$STATE,3930,begin climb
$GC,3931.93,10503,116.79,1.34,80.00,2964.8,2972.4,2957.1,2380.7,2233.2,362.09,0.00,519,4037.63,97.16,2.51,3.84,1.364,0.062,0.104,2489.41,2497.88,2480.94,2775.88,3639.12,0,0,0,12.77,15.69,15.35
$GC,4110.82,21639,116.79,1.24,0.00,2482.9,2492.5,2473.3,2774.9,3639.1,348.67,11.04,555,4116.86,0.00,0.39,3.81,0.000,0.182,0.063,2483.03,2492.56,2473.50,2735.69,2181.38,0,0,0,30.00,15.51,15.55
$GC,4425.78,16646,116.79,1.24,80.00,2476.1,2488.9,2463.3,2735.5,2181.7,314.75,11.32,573,4430.91,0.00,0.00,3.85,0.000,0.000,0.104,2476.41,2489.56,2463.25,2735.56,3640.88,0,0,0,30.00,30.00,15.77
$GC,4490.17,17414,116.79,1.24,0.00,2475.3,2487.6,2463.1,2734.8,3640.4,306.93,12.37,586,4495.77,0.00,0.00,3.72,0.000,0.000,0.065,2475.47,2488.44,2462.50,2735.88,2179.25,0,0,0,30.00,30.00,15.79
$GC,4805.85,16646,116.79,1.24,80.00,2473.3,2486.4,2460.1,2735.2,2179.9,273.21,10.62,604,4810.81,0.00,0.00,3.83,0.000,0.000,0.104,2474.88,2488.44,2461.31,2735.69,3640.19,0,0,0,30.00,30.00,15.88
$GC,4955.08,17414,116.79,1.24,0.00,2473.2,2486.1,2460.4,2735.2,3640.4,256.69,11.45,634,4960.81,0.00,0.00,3.64,0.000,0.000,0.066,2474.47,2487.69,2461.25,2735.31,2180.69,0,0,0,30.00,30.00,15.91
$GC,5265.90,8486,124.32,1.26,80.00,2472.0,2486.2,2457.8,2735.2,2181.3,225.94,9.56,663,5276.77,5.49,0.00,3.78,0.784,0.000,0.107,2459.94,2473.62,2446.25,2735.81,3639.44,0,0,0,12.98,30.00,15.88
$GC,5330.11,1028,124.32,1.26,0.00,2458.9,2471.8,2446.0,2735.7,3639.0,218.98,11.03,676,5336.64,0.00,0.00,3.67,0.000,0.000,0.065,2459.38,2472.62,2446.12,2735.62,2181.25,0,0,0,30.00,30.00,15.95
$GC,5525.98,10663,141.44,1.37,80.00,2458.0,2471.9,2444.2,2736.0,2180.9,201.91,9.01,696,5548.12,16.80,0.29,3.78,1.151,0.071,0.106,2388.75,2402.75,2374.75,2783.75,3639.75,0,0,0,12.93,15.96,15.85
$GC,5661.27,5253,141.44,1.29,0.00,2385.0,2398.3,2371.8,2786.1,3639.5,185.48,12.81,723,5667.32,0.00,0.34,3.70,0.000,0.179,0.066,2383.16,2396.62,2369.69,2746.50,2178.50,0,0,0,30.00,15.86,15.92
$GC,5856.30,388,141.44,1.36,80.00,2383.3,2398.8,2367.8,2746.6,2179.5,164.52,10.56,743,5861.29,0.00,0.00,3.76,0.000,0.000,0.106,2383.62,2398.69,2368.56,2747.75,3639.62,0,0,0,30.00,30.00,15.94
$GC,5976.31,17414,141.44,1.36,0.00,2382.4,2397.1,2367.6,2746.5,3639.6,150.28,11.92,767,5981.26,0.00,0.00,3.67,0.000,0.000,0.067,2385.91,2400.88,2370.94,2746.81,2178.94,0,0,0,30.00,30.00,15.97
$GC,6166.39,2469,142.20,1.42,80.00,2382.2,2397.9,2366.5,2747.0,2179.6,131.11,9.96,787,6172.38,0.00,0.29,3.78,0.000,0.074,0.104,2384.91,2400.50,2369.31,2796.25,3639.75,0,0,0,30.00,15.97,15.98
$GC,6245.58,5253,142.20,1.33,0.00,2381.9,2397.4,2366.5,2796.0,3639.4,120.29,14.81,803,6252.18,0.00,0.34,3.67,0.000,0.181,0.066,2382.34,2398.19,2366.50,2756.00,2180.38,0,0,0,30.00,15.93,16.00
$GC,6441.39,160,143.38,1.40,0.00,2381.3,2396.9,2365.8,2755.3,2180.1,99.02,9.93,823,6442.73,0.00,0.00,0.00,0.000,0.000,0.000,2382.19,2398.44,2365.94,2756.19,2180.19,0,0,0,30.00,30.00,30.00
$GC,6631.42,10919,180.49,1.58,-80.00,2381.3,2396.9,2365.7,2755.7,2180.5,82.38,7.85,842,6678.09,40.54,0.47,3.77,1.076,0.065,0.148,2229.81,2245.56,2214.06,2837.69,801.88,0,0,0,13.00,16.00,15.81
$GC,6706.22,5253,180.49,1.44,0.00,2226.7,2241.2,2212.2,2836.6,802.0,75.27,10.02,855,6712.24,0.00,0.44,3.46,0.000,0.179,0.062,2224.66,2239.75,2209.56,2782.94,2236.50,0,0,0,30.00,15.83,15.87
$GC,6901.25,10663,246.76,1.73,80.00,2222.4,2241.2,2203.6,2783.2,2238.1,63.21,6.16,875,6973.37,65.36,0.52,3.70,1.040,0.060,0.108,1959.97,1982.38,1937.56,2871.69,3641.00,0,0,0,12.93,15.91,15.64
$GC,7201.56,21639,246.76,1.67,0.00,1952.5,1977.6,1927.5,2871.8,3640.7,29.59,12.45,935,7207.60,0.00,0.30,3.74,0.000,0.186,0.064,1950.94,1976.06,1925.81,2839.00,2179.25,0,0,0,30.00,15.76,15.81
$GC,7396.59,10403,271.99,1.81,0.00,1951.4,1977.4,1925.4,2839.1,2179.7,11.30,8.54,955,7422.40,24.05,0.29,0.00,0.958,0.075,0.000,1858.28,1885.62,1830.94,2886.38,2179.75,0,0,0,12.92,15.86,30.00
$STATE,7492,end climb,SURFACE_DEPTH_REACHED
$STATE,7492,begin surface coast
$FINISH,-0.1,1.024714
$STATE,7522,end surface coast,CONTROL_FINISHED_OK
$STATE,7522,begin surface
$SM_CCo,7837.92,287.23,0.937,0,500.8,504.8,496.9,605.19
$SM_GC,1.05,287.23,17.68,1.59,0.937,0.051,0.087,500.8,504.8,496.9,173.9,2816.2,0,0,0,12.82,15.82,15.83
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4644.87,-12505.96,280322,150619
$TCM_TEMP,176.41
$XPDR_PINGS,73,13.5,11.5
$SC_FREEKB,3848064
$HUMID,50.32
$TEMP,8.77
$INTERNAL_PRESSURE,8.46727
$24V_AH,14.71,18.545
$10V_AH,14.75,0.000
$FG_AHR_24Vo,27.413
$FG_AHR_10Vo,13.840
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,766.160,43.280,141.810,0.000,18.250,22.039,3107.502,0.013,0.000,4470.766,1892.659,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1410.480,258.544,218.200,0.000,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7519.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.663,0.000,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,990168,29,56680,57
$DATA_FILE_SIZE,28914,969
$CAP_FILE_SIZE,329082,0
$SDSIZE,3918848,3889728
$SDFILEDIR,511,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,294.6,1
$MAGCAL,1.000000,-0.100098,-0.326753,-0.069816,1.045362,-0.041048,0.143477,-0.041067,1.107456,-341.7,-488.4,-349.8,17,0.0472,0
$IMPLIED_C_PITCH,2440,14.39,523,0.0,0.00
$IMPLIED_C_VBD,3341,24.839302,282,0
$GPS,280322,172834,4643.029,-12505.107,34,1.0,43,15.6