version: 67.00
glider: 237
mission: 10
dive: 69
start: 4 28 123 5 43 33
data:
$ID,237
$MISSION,10
$DIVE,69
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$D_ABORT,1000
$D_NO_BLEED,200
$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,180
$T_MISSION,250
$T_ABORT,1440
$T_TURN,300
$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,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,75071
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00281838
$HD_B,0.017708899
$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,500
$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,10
$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,190
$PITCH_MAX,3000
$C_PITCH,1980
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,22
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,465
$ROLL_MAX,3180
$ROLL_DEG,80
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1600
$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,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,5
$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,510
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,57.886681
$FG_AHR_24V,119.49307
$PHONE_SUPPLY,2
$PRESSURE_YINT,-147.82047
$PRESSURE_SLOPE,0.00022584078
$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,14
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,-1
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-1.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,7
$LOGGERDEVICE2,22
$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,0.0044377348
$SEABIRD_T_H,0.00065905828
$SEABIRD_T_I,2.8700548e-05
$SEABIRD_T_J,3.7153247e-06
$SEABIRD_C_G,-10.010999
$SEABIRD_C_H,1.1050601
$SEABIRD_C_I,-0.0026294682
$SEABIRD_C_J,0.00026764351
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,400.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,280423,053502,3650.734,-12430.613,8,0.7,25,13.2
$_CALLS,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.5
$GPS2,280423,054308,3650.699,-12430.939,3,0.6,5,13.2
$SPEED_LIMITS,0.173,0.198
$TGT_NAME,G1
$TGT_LATLONG,3651.000,-12430.900
$TGT_RADIUS,3000.000
$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,29.8,560,-24.8,-10.000,-30.00,1712,0.150
$D_GRID,1000
$IRON,1.000000,-0.076468,-0.079678,-0.025569,1.098439,-0.029688,0.042136,-0.057391,0.946660,-451.660431,-1112.987793,-108.936768
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15.75,16386,-111.81,-1.29,0.00,855.9,912.5,799.2,178.5,2032.6,0.00,0.00,0,118.80,96.33,0.00,0.00,0.005,0.000,0.000,2728.91,2723.75,2734.06,177.50,2033.12,0,0,0,15.25,30.00,30.00
$GC,119.23,18727,-145.99,-1.35,80.00,2728.4,2723.4,2733.5,177.2,2032.4,3.10,-1.95,19,173.02,19.98,13.02,3.12,0.006,0.286,0.087,3496.03,3507.00,3485.06,1652.56,3190.19,0,0,0,15.40,15.12,15.27
$GC,271.62,1028,-145.99,-1.35,0.00,3496.7,3506.2,3487.1,1652.9,3189.3,35.28,-23.37,47,279.61,0.00,0.00,3.06,0.000,0.000,0.043,3497.22,3506.69,3487.75,1652.88,1980.00,0,0,0,30.00,30.00,15.65
$GC,463.08,260,-145.99,-1.35,80.00,3497.5,3507.2,3487.8,1652.6,1979.9,77.66,-18.88,85,471.30,0.00,0.00,3.31,0.000,0.000,0.082,3499.16,3509.06,3489.25,1652.75,3189.00,0,0,0,30.00,30.00,15.58
$GC,624.84,1028,-145.99,-1.35,0.00,3497.0,3507.4,3486.6,1653.2,3188.9,110.20,-20.34,117,633.24,0.00,0.00,3.03,0.000,0.000,0.041,3497.66,3507.75,3487.56,1652.88,1980.38,0,0,0,30.00,30.00,15.63
$GC,939.86,0,-145.99,-1.35,0.00,3497.4,3507.8,3487.0,1652.8,1980.6,163.12,-16.18,149,943.11,0.00,0.00,0.00,0.000,0.000,0.000,3497.56,3508.06,3487.06,1653.12,1979.94,0,0,0,30.00,30.00,30.00
$GC,1249.89,260,-145.99,-1.35,80.00,3497.7,3508.3,3487.1,1652.8,1980.4,215.80,-16.86,180,1258.34,0.00,0.00,3.28,0.000,0.000,0.084,3496.47,3507.06,3485.88,1653.69,3188.50,0,0,0,30.00,30.00,15.65
$GC,1306.87,1028,-145.99,-1.35,0.00,3497.7,3508.4,3486.9,1653.9,3188.9,225.44,-16.89,191,1315.27,0.00,0.00,3.03,0.000,0.000,0.041,3498.47,3508.81,3488.12,1653.12,1979.31,0,0,0,30.00,30.00,15.71
$GC,1621.88,260,-145.99,-1.35,80.00,3497.8,3508.4,3487.2,1653.4,1979.8,278.59,-16.61,223,1630.33,0.00,0.00,3.30,0.000,0.000,0.087,3499.59,3510.38,3488.81,1652.94,3189.94,0,0,0,30.00,30.00,15.69
$GC,1713.09,1028,-145.99,-1.35,0.00,3498.1,3509.0,3487.2,1653.4,3189.9,294.58,-17.26,241,1721.88,0.00,0.00,3.03,0.000,0.000,0.042,3498.06,3508.88,3487.25,1653.69,1979.81,0,0,0,30.00,30.00,15.72
$GC,2028.89,0,-145.99,-1.35,0.00,3497.7,3509.2,3486.2,1653.6,1979.6,343.94,-14.77,273,2032.08,0.00,0.00,0.00,0.000,0.000,0.000,3497.44,3508.12,3486.75,1653.75,1979.81,0,0,0,30.00,30.00,30.00
$GC,2338.92,260,-145.99,-1.35,80.00,3497.8,3508.9,3486.7,1653.6,1979.7,388.24,-14.00,304,2347.65,0.00,0.00,3.34,0.000,0.000,0.089,3499.28,3509.62,3488.94,1652.62,3189.06,0,0,0,30.00,30.00,15.68
$WARN,HTMICL TMICL logging already stopped
$GC,2446.23,1028,-145.99,-1.35,0.00,3497.6,3508.3,3486.9,1653.4,3189.2,403.51,-14.24,325,2452.94,0.00,0.00,3.04,0.000,0.000,0.043,3498.22,3509.06,3487.38,1653.44,1979.81,0,0,0,30.00,30.00,15.76
$GC,2756.45,260,-145.99,-1.35,80.00,3497.9,3508.9,3487.0,1653.0,1980.1,445.24,-13.38,357,2764.49,0.00,0.00,3.31,0.000,0.000,0.090,3497.06,3508.12,3486.00,1653.38,3189.00,0,0,0,30.00,30.00,15.70
$GC,2807.29,1028,-145.99,-1.35,0.00,3497.5,3508.2,3486.9,1653.3,3188.2,452.38,-13.75,367,2815.60,0.00,0.00,3.04,0.000,0.000,0.045,3497.59,3508.44,3486.75,1654.06,1981.69,0,0,0,30.00,30.00,15.78
$GC,3123.06,260,-145.99,-1.35,80.00,3497.2,3508.0,3486.3,1653.4,1981.9,495.52,-13.86,399,3131.09,0.00,0.00,3.31,0.000,0.000,0.091,3496.97,3507.19,3486.75,1653.00,3187.44,0,0,0,30.00,30.00,15.69
$GC,3163.90,1028,-145.99,-1.35,0.00,3497.2,3508.2,3486.2,1653.8,3187.8,501.57,-14.65,407,3172.13,0.00,0.00,3.03,0.000,0.000,0.045,3498.75,3510.12,3487.38,1653.25,1981.88,0,0,0,30.00,30.00,15.73
$STATE,3440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3440,begin apogee
$GC,3443.05,10243,0.00,-0.23,0.00,3496.6,3508.2,3485.0,1653.8,1585.2,540.41,-14.17,435,3575.67,120.01,2.04,0.06,1.574,0.166,0.245,2898.91,2925.88,2871.94,1925.50,1647.56,0,0,0,11.32,15.58,15.37
$STATE,3577,end apogee,CONTROL_FINISHED_OK
$STATE,3577,begin climb
$GC,3578.14,10759,145.99,1.35,-80.00,2895.6,2923.2,2867.9,1926.2,1647.6,544.66,0.00,447,3722.75,123.81,2.63,3.60,1.533,0.098,0.115,2304.38,2341.50,2267.25,2308.69,455.56,0,0,0,12.20,15.45,15.22
$GC,3831.34,17414,145.99,1.35,0.00,2294.1,2329.5,2258.7,2309.8,455.5,518.94,15.77,494,3837.88,0.00,0.00,2.89,0.000,0.000,0.031,2295.00,2330.62,2259.38,2309.75,1645.31,0,0,0,30.00,30.00,15.54
$GC,4141.39,16902,145.99,1.35,-80.00,2290.3,2327.6,2253.1,2310.0,1647.4,481.05,11.63,526,4149.52,0.00,0.00,3.45,0.000,0.000,0.110,2288.25,2325.31,2251.19,2310.38,455.38,0,0,0,30.00,30.00,15.33
$GC,4452.38,17414,145.99,1.35,0.00,2289.0,2324.7,2253.2,2310.5,455.6,434.71,15.41,588,4461.03,0.00,0.00,2.87,0.000,0.000,0.033,2289.75,2325.56,2253.94,2310.19,1647.19,0,0,0,30.00,30.00,15.43
$GC,4768.65,16902,145.99,1.35,-80.00,2288.0,2324.9,2251.1,2309.8,1646.3,397.68,11.86,620,4776.29,0.00,0.00,3.42,0.000,0.000,0.110,2287.53,2322.75,2252.31,2308.94,450.69,0,0,0,30.00,30.00,15.33
$GC,4984.90,17414,145.99,1.35,0.00,2287.0,2322.8,2251.3,2310.1,450.9,366.16,15.03,663,4991.43,0.00,0.00,2.86,0.000,0.000,0.033,2289.12,2324.12,2254.12,2309.69,1647.00,0,0,0,30.00,30.00,15.61
$GC,5294.93,16902,145.99,1.35,-80.00,2285.9,2321.4,2250.3,2309.6,1650.6,330.75,11.23,695,5303.06,0.00,0.00,3.48,0.000,0.000,0.108,2286.75,2323.00,2250.50,2308.25,455.62,0,0,0,30.00,30.00,15.68
$GC,5411.66,17414,145.99,1.35,0.00,2285.6,2321.0,2250.2,2309.8,455.6,313.93,14.45,718,5418.20,0.00,0.00,2.86,0.000,0.000,0.034,2286.19,2321.44,2250.94,2309.94,1648.12,0,0,0,30.00,30.00,15.72
$GC,5721.69,16902,145.99,1.35,-80.00,2284.8,2320.6,2249.1,2309.8,1650.8,279.14,11.10,750,5729.82,0.00,0.00,3.47,0.000,0.000,0.108,2283.25,2319.00,2247.50,2310.06,455.62,0,0,0,30.00,30.00,15.23
$GC,5942.65,17414,145.99,1.35,0.00,2284.5,2319.9,2249.2,2310.4,455.3,250.76,12.59,794,5950.97,0.00,0.00,2.87,0.000,0.000,0.034,2285.41,2320.81,2250.00,2309.75,1651.62,0,0,0,30.00,30.00,15.36
$GC,6258.75,16966,145.99,1.38,-80.00,2284.4,2319.8,2248.9,2309.6,1650.8,222.42,8.37,826,6266.53,0.00,0.00,3.47,0.000,0.000,0.107,2287.47,2322.88,2252.06,2308.81,450.50,0,0,0,30.00,30.00,15.25
$GC,6319.34,17414,145.99,1.38,0.00,2283.8,2319.0,2248.7,2310.4,450.8,215.52,11.72,838,6327.49,0.00,0.00,2.86,0.000,0.000,0.033,2284.31,2319.50,2249.12,2310.25,1651.62,0,0,0,30.00,30.00,15.33
$GC,6635.19,16966,145.99,1.40,-80.00,2283.9,2318.8,2248.9,2309.6,1651.0,187.60,9.03,870,6643.22,0.00,0.00,3.47,0.000,0.000,0.107,2282.41,2317.69,2247.12,2309.75,455.25,0,0,0,30.00,30.00,15.60
$GC,6946.08,17414,145.99,1.40,0.00,2283.4,2318.3,2248.4,2310.1,455.2,151.88,11.35,932,6954.17,0.00,0.00,2.85,0.000,0.000,0.033,2285.03,2320.06,2250.00,2309.75,1653.19,0,0,0,30.00,30.00,15.75
$GC,7261.94,16966,145.99,1.44,-80.00,2283.3,2318.1,2248.4,2310.1,1653.6,124.34,7.96,964,7269.97,0.00,0.00,3.47,0.000,0.000,0.107,2284.50,2319.62,2249.38,2308.38,455.25,0,0,0,30.00,30.00,15.16
$GC,7563.66,19527,145.99,1.49,0.00,2283.1,2317.9,2248.2,2310.0,455.4,97.83,7.63,1024,7571.23,0.00,0.20,2.86,0.000,0.103,0.032,2284.81,2319.56,2250.06,2345.06,1657.75,0,0,0,30.00,15.53,15.27
$GC,7754.82,10791,242.72,1.63,-80.00,2283.2,2318.0,2248.4,2345.3,1658.4,87.89,4.20,1062,7919.86,144.33,0.19,3.56,1.014,0.101,0.107,1907.72,1946.50,1868.94,2382.19,455.62,0,0,0,11.63,15.09,15.34
$GC,8223.74,1028,242.72,1.63,0.00,1902.5,1939.9,1865.0,2381.9,455.6,28.95,12.45,1153,8231.04,0.00,0.00,2.87,0.000,0.000,0.031,1902.59,1939.38,1865.81,2381.19,1653.06,0,0,0,30.00,30.00,15.34
$GC,8414.64,16710,242.72,1.65,80.00,1900.3,1939.6,1861.0,2381.7,1653.7,9.40,9.00,1191,8422.69,0.00,0.00,3.76,0.000,0.000,0.077,1901.28,1940.44,1862.12,2381.88,3065.81,0,0,0,30.00,30.00,15.36
$STATE,8516,end climb,SURFACE_DEPTH_REACHED
$STATE,8516,begin surface coast
$FINISH,-0.1,1.025013
$STATE,8551,end surface coast,CONTROL_FINISHED_OK
$STATE,8552,begin surface
$SURF,forcing
$SM_CCo,8849.46,245.07,0.924,0,861.7,922.2,801.2,499.99
$SM_GC,1.23,245.07,14.27,2.59,0.924,0.061,0.039,861.7,922.2,801.2,171.9,1977.5,0,0,0,11.63,15.71,15.78
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,3652.27,-12429.96,280423,021209
$TCM_TEMP,13.67
$XPDR_PINGS,0,13.0,11.5
$SC_FREEKB,3722080
$TM_FREEKB,7021952
$HUMID,49.20
$TEMP,9.11
$INTERNAL_PRESSURE,8.70025
$24V_AH,14.81,135.966
$10V_AH,14.88,0.000
$FG_AHR_24Vo,119.728
$FG_AHR_10Vo,58.044
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,749.540,32.345,108.915,406.998,0.000,13.825,4506.336,3.223,0.000,4528.444,2548.403,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1574.480,285.768,245.096,256.029,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8566.000,2437.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,51.166,18.943,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,995516,36,50552,89
$DATA_FILE_SIZE,35387,1218
$CAP_FILE_SIZE,260748,0
$SDSIZE,3887104,3769632
$SDFILEDIR,2296,71
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.217,244.6,1
$MAGCAL,1.000000,-0.028439,0.036479,-0.062835,1.108303,-0.018967,-0.046000,-0.015355,1.090538,-564.8,-1171.5,-257.7,35,0.0508,0
$IMPLIED_C_PITCH,1975,19.54,793,0.0,0.00
$IMPLIED_C_VBD,2909,29.447178,496,0
$GPS,280423,081139,3650.695,-12431.241,22,1.1,22,13.2