version: 67.00
glider: 237
mission: 10
dive: 70
start: 4 28 123 8 19 4
data:
$ID,237
$MISSION,10
$DIVE,70
$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,58.045807
$FG_AHR_24V,119.75222
$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
$GPS1,280423,081139,3650.695,-12431.241,22,1.1,22,13.2
$_CALLS,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.4
$GPS2,280423,081839,3650.659,-12431.489,2,0.6,5,13.2
$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,52.3,1077,-21.1,-10.000,-26.76,2232,0.122
$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,8000348
$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,15.77,16386,-145.99,-1.18,0.00,855.8,912.7,798.8,170.9,2032.4,0.00,0.00,0,118.81,96.39,0.00,0.00,0.005,0.000,0.000,2736.56,2730.81,2742.31,170.44,2032.81,0,0,0,15.27,30.00,30.00
$GC,119.24,18983,-145.99,-1.18,-80.00,2735.2,2729.6,2740.8,170.6,2032.7,3.20,-2.25,19,173.24,19.70,13.32,4.39,0.006,0.282,0.107,3494.41,3505.81,3483.00,1694.75,535.44,0,0,0,15.42,15.13,15.30
$GC,176.85,1028,-145.99,-1.18,0.00,3495.1,3506.0,3484.2,1694.8,535.2,14.67,-19.19,28,186.35,0.00,0.00,3.66,0.000,0.000,0.035,3495.19,3505.94,3484.44,1694.69,2022.44,0,0,0,30.00,30.00,15.35
$GC,369.82,260,-145.99,-1.18,80.00,3495.5,3507.6,3483.4,1694.8,2022.6,51.98,-17.96,66,377.98,0.00,0.00,3.14,0.000,0.000,0.085,3496.38,3508.25,3484.50,1695.06,3190.50,0,0,0,30.00,30.00,15.57
$GC,466.49,1028,-145.99,-1.18,0.00,3495.9,3507.9,3484.0,1694.8,3190.2,70.31,-18.55,85,474.50,0.00,0.00,3.03,0.000,0.000,0.041,3496.88,3508.44,3485.31,1694.38,1980.94,0,0,0,30.00,30.00,15.63
$GC,662.98,260,-145.99,-1.18,80.00,3496.2,3508.4,3484.1,1694.9,1980.9,105.62,-18.21,121,671.46,0.00,0.00,3.29,0.000,0.000,0.084,3495.09,3506.69,3483.50,1694.50,3190.31,0,0,0,30.00,30.00,15.28
$GC,771.69,1028,-145.99,-1.18,0.00,3496.2,3508.2,3484.2,1694.8,3190.2,125.12,-18.24,142,780.00,0.00,0.00,3.03,0.000,0.000,0.040,3497.56,3509.12,3486.00,1694.69,1980.50,0,0,0,30.00,30.00,15.30
$GC,1086.72,0,-145.99,-1.18,0.00,3496.6,3509.6,3483.5,1695.2,1980.5,174.56,-15.58,174,1089.85,0.00,0.00,0.00,0.000,0.000,0.000,3496.19,3509.62,3482.75,1695.31,1980.31,0,0,0,30.00,30.00,30.00
$GC,1396.74,0,-145.99,-1.18,0.00,3496.7,3509.5,3483.9,1694.8,1981.1,223.48,-15.04,205,1399.91,0.00,0.00,0.00,0.000,0.000,0.000,3496.34,3509.12,3483.56,1694.62,1981.06,0,0,0,30.00,30.00,30.00
$GC,1706.78,260,-145.99,-1.18,80.00,3497.2,3510.4,3484.1,1695.0,1980.8,267.58,-13.72,236,1715.24,0.00,0.00,3.30,0.000,0.000,0.086,3496.19,3508.75,3483.62,1695.12,3187.69,0,0,0,30.00,30.00,15.69
$GC,1773.76,1028,-145.99,-1.18,0.00,3497.3,3510.4,3484.3,1694.9,3187.9,277.00,-14.16,249,1782.21,0.00,0.00,3.03,0.000,0.000,0.042,3497.88,3511.38,3484.38,1694.62,1980.19,0,0,0,30.00,30.00,15.73
$GC,2088.81,0,-145.99,-1.18,0.00,3497.1,3510.3,3483.9,1695.1,1980.8,317.60,-12.59,281,2092.00,0.00,0.00,0.00,0.000,0.000,0.000,3496.34,3509.38,3483.31,1694.69,1980.06,0,0,0,30.00,30.00,30.00
$GC,2398.84,260,-145.99,-1.18,80.00,3497.0,3509.7,3484.2,1694.4,1979.9,356.60,-12.74,312,2407.56,0.00,0.00,3.32,0.000,0.000,0.088,3496.06,3508.56,3483.56,1694.88,3188.75,0,0,0,30.00,30.00,15.69
$GC,2486.12,1028,-145.99,-1.18,0.00,3497.0,3509.9,3484.2,1694.2,3189.0,368.14,-13.38,329,2494.59,0.00,0.00,3.02,0.000,0.000,0.042,3498.50,3511.38,3485.62,1694.50,1981.19,0,0,0,30.00,30.00,15.73
$WARN,HTMICL TMICL logging already stopped
$GC,2801.14,0,-145.99,-1.18,0.00,3496.8,3509.8,3483.9,1694.8,1980.9,409.87,-13.59,361,2802.94,0.00,0.00,0.00,0.000,0.000,0.000,3496.16,3509.25,3483.06,1695.44,1980.56,0,0,0,30.00,30.00,30.00
$GC,3111.16,260,-145.99,-1.18,80.00,3497.0,3509.9,3484.0,1695.1,1980.4,453.31,-14.04,392,3119.20,0.00,0.00,3.32,0.000,0.000,0.092,3495.84,3508.88,3482.81,1694.94,3188.69,0,0,0,30.00,30.00,15.70
$GC,3157.76,1028,-145.99,-1.18,0.00,3496.2,3509.2,3483.2,1694.9,3188.9,460.06,-14.66,401,3164.48,0.00,0.00,3.04,0.000,0.000,0.045,3497.75,3510.69,3484.81,1694.88,1981.19,0,0,0,30.00,30.00,15.78
$GC,3467.99,0,-145.99,-1.18,0.00,3496.3,3509.6,3483.0,1694.9,1980.6,503.79,-13.49,433,3469.78,0.00,0.00,0.00,0.000,0.000,0.000,3495.88,3509.44,3482.31,1694.94,1981.50,0,0,0,30.00,30.00,30.00
$STATE,3738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3738,begin apogee
$GC,3741.39,10243,0.00,-0.23,0.00,3496.2,3509.9,3482.5,1694.6,1584.4,540.01,-13.28,460,3874.70,120.66,1.67,0.06,1.573,0.153,0.248,2896.59,2924.94,2868.25,1925.00,1647.12,0,0,0,11.27,15.67,15.38
$STATE,3876,end apogee,CONTROL_FINISHED_OK
$STATE,3876,begin climb
$GC,3877.16,10759,145.99,1.18,-80.00,2895.7,2923.3,2868.1,1925.4,1647.1,545.27,0.00,472,4025.61,124.58,2.35,3.61,1.549,0.097,0.115,2301.41,2338.88,2263.94,2270.19,455.44,0,0,0,12.22,15.46,15.23
$GC,4098.43,17414,145.99,1.18,0.00,2294.9,2330.9,2258.9,2269.6,455.6,527.61,14.31,513,4106.69,0.00,0.00,2.91,0.000,0.000,0.032,2295.69,2332.44,2258.94,2270.31,1647.62,0,0,0,30.00,30.00,15.34
$GC,4414.19,16902,145.99,1.18,-80.00,2290.8,2329.1,2252.5,2269.4,1648.1,492.09,11.31,545,4422.31,0.00,0.00,3.50,0.000,0.000,0.111,2291.38,2329.38,2253.38,2270.12,456.69,0,0,0,30.00,30.00,15.60
$GC,4635.16,17414,145.99,1.18,0.00,2288.9,2325.4,2252.4,2270.0,456.5,459.96,14.54,589,4643.25,0.00,0.00,2.86,0.000,0.000,0.034,2288.88,2325.81,2251.94,2269.69,1649.25,0,0,0,30.00,30.00,15.73
$GC,4950.95,16902,145.99,1.18,-80.00,2287.9,2325.8,2250.1,2270.0,1649.5,424.99,10.44,621,4959.07,0.00,0.00,3.48,0.000,0.000,0.110,2286.66,2324.88,2248.44,2269.81,455.19,0,0,0,30.00,30.00,15.31
$GC,5121.90,17414,145.99,1.18,0.00,2287.4,2324.6,2250.1,2269.6,454.9,402.28,13.64,655,5129.97,0.00,0.00,2.87,0.000,0.000,0.034,2288.47,2325.56,2251.38,2270.31,1653.31,0,0,0,30.00,30.00,15.42
$GC,5437.66,16902,145.99,1.18,-80.00,2286.5,2324.0,2249.0,2270.4,1653.4,369.37,10.51,687,5445.80,0.00,0.00,3.50,0.000,0.000,0.110,2284.94,2322.69,2247.19,2269.81,456.50,0,0,0,30.00,30.00,15.32
$GC,5608.63,17414,145.99,1.18,0.00,2286.1,2322.9,2249.2,2269.9,456.2,347.77,12.49,721,5616.72,0.00,0.00,2.86,0.000,0.000,0.034,2286.16,2323.00,2249.31,2270.31,1654.44,0,0,0,30.00,30.00,15.39
$GC,5924.41,16902,145.99,1.18,-80.00,2285.1,2321.7,2248.6,2270.6,1654.4,316.50,9.53,753,5932.53,0.00,0.00,3.46,0.000,0.000,0.109,2288.44,2324.81,2252.06,2270.00,455.50,0,0,0,30.00,30.00,15.67
$GC,6071.13,17414,145.99,1.18,0.00,2284.6,2320.9,2248.4,2270.2,455.5,298.14,12.94,782,6077.74,0.00,0.00,2.83,0.000,0.000,0.032,2287.44,2323.75,2251.12,2270.06,1648.94,0,0,0,30.00,30.00,15.36
$GC,6381.32,16966,145.99,1.21,-80.00,2284.5,2321.1,2247.9,2269.4,1651.8,268.89,8.45,814,6389.36,0.00,0.00,3.47,0.000,0.000,0.109,2282.88,2319.12,2246.62,2270.19,455.88,0,0,0,30.00,30.00,15.23
$GC,6592.19,17414,145.99,1.21,0.00,2284.2,2320.1,2248.2,2270.2,455.7,245.92,10.55,856,6601.53,0.00,0.00,2.85,0.000,0.000,0.034,2284.12,2320.12,2248.12,2269.69,1655.06,0,0,0,30.00,30.00,15.34
$GC,6908.08,16966,145.99,1.25,-80.00,2284.1,2320.2,2247.9,2270.4,1654.7,221.08,7.79,888,6916.12,0.00,0.00,3.48,0.000,0.000,0.109,2284.72,2320.25,2249.19,2269.88,455.81,0,0,0,30.00,30.00,15.69
$GC,7159.05,17478,145.99,1.26,0.00,2283.8,2319.6,2248.1,2270.4,455.6,195.85,9.45,938,7166.96,0.00,0.00,2.80,0.000,0.000,0.033,2284.94,2320.50,2249.38,2270.31,1657.25,0,0,0,30.00,30.00,15.73
$GC,7474.91,19015,145.99,1.32,-80.00,2283.3,2318.9,2247.8,2270.3,1656.7,173.18,6.91,970,7483.11,0.00,0.20,3.49,0.000,0.090,0.109,2281.59,2317.62,2245.56,2309.25,456.00,0,0,0,30.00,15.70,15.59
$GC,7611.71,17414,145.99,1.32,0.00,2283.2,2318.8,2247.6,2309.4,455.5,158.68,11.53,997,7618.25,0.00,0.00,2.83,0.000,0.000,0.031,2283.34,2319.44,2247.25,2310.44,1653.94,0,0,0,30.00,30.00,15.29
$GC,7921.84,16966,145.99,1.38,-80.00,2282.9,2318.2,2247.6,2310.2,1656.4,133.86,7.29,1029,7929.89,0.00,0.00,3.47,0.000,0.000,0.107,2281.84,2317.69,2246.00,2309.38,454.88,0,0,0,30.00,30.00,15.18
$GC,8232.74,17414,145.99,1.38,0.00,2282.8,2318.4,2247.2,2309.7,454.4,102.97,10.58,1091,8240.82,0.00,0.00,2.83,0.000,0.000,0.031,2285.34,2320.75,2249.94,2309.88,1656.38,0,0,0,30.00,30.00,15.28
$GC,8543.62,19015,145.99,1.47,-80.00,2283.0,2318.4,2247.6,2309.9,1656.6,83.18,5.30,1150,8551.61,0.00,0.18,3.48,0.000,0.093,0.106,2284.69,2320.25,2249.12,2344.81,455.56,0,0,0,30.00,15.24,15.10
$GC,8855.31,11303,266.45,1.65,0.00,2283.1,2318.6,2247.6,2345.4,455.5,64.70,4.45,1212,9047.32,174.18,0.22,2.82,0.987,0.095,0.030,1814.44,1856.44,1772.44,2386.06,1659.19,0,0,0,11.61,15.56,15.65
$GC,9230.83,260,266.45,1.65,80.00,1806.4,1850.2,1762.6,2387.1,1658.9,25.65,13.68,1284,9238.89,0.00,0.00,3.74,0.000,0.000,0.079,1806.38,1850.38,1762.38,2387.12,3066.25,0,0,0,30.00,30.00,15.24
$STATE,9473,end climb,SURFACE_DEPTH_REACHED
$STATE,9473,begin surface coast
$FINISH,-0.1,1.024797
$STATE,9503,end surface coast,CONTROL_FINISHED_OK
$STATE,9503,begin surface
$SURF,forcing
$SM_CCo,9775.42,221.65,0.911,0,862.0,921.0,803.1,499.91
$SM_GC,1.27,221.65,14.08,2.67,0.911,0.052,0.042,862.0,921.0,803.1,180.9,1976.6,0,0,0,11.67,15.69,15.75
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,3650.20,-12426.21,280423,053640
$TCM_TEMP,13.72
$XPDR_PINGS,0,13.0,11.5
$SC_FREEKB,3720352
$TM_FREEKB,7013184
$HUMID,48.92
$TEMP,9.18
$INTERNAL_PRESSURE,8.70365
$24V_AH,14.81,136.373
$10V_AH,14.88,0.000
$FG_AHR_24Vo,119.989
$FG_AHR_10Vo,58.228
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,757.170,32.025,110.595,345.754,0.000,13.968,4843.679,2.724,0.000,5080.762,2823.610,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1573.168,281.504,247.720,253.263,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9514.000,2742.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,52.301,18.913,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,995512,36,50556,89
$DATA_FILE_SIZE,38500,1338
$CAP_FILE_SIZE,270000,0
$SDSIZE,3887104,3769248
$SDFILEDIR,2303,72
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232,256.1,1
$MAGCAL,1.000000,-0.033404,0.005044,-0.072113,1.102430,0.030242,-0.008508,-0.069382,1.068394,-547.3,-1190.7,-253.9,36,0.0471,0
$IMPLIED_C_PITCH,1977,19.59,912,0.0,0.00
$IMPLIED_C_VBD,2871,42.360184,520,0
$GPS,280423,110222,3650.464,-12431.864,3,1.2,9,13.2