version: 67.00
glider: 248
mission: 4
dive: 76
start: 10 28 122 6 51 18
data:
$ID,248
$MISSION,4
$DIVE,76
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,1010
$D_NO_BLEED,500
$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,160
$T_MISSION,190
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,75305
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,131
$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,205
$PITCH_MAX,3600
$C_PITCH,2470
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,20
$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,265
$ROLL_MAX,3870
$ROLL_DEG,80
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,2300
$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,3135
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,3
$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,27.222832
$FG_AHR_24V,27.792336
$PHONE_SUPPLY,2
$PRESSURE_YINT,-180.43257
$PRESSURE_SLOPE,0.00022536858
$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,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,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,19
$LOGGERDEVICE3,72
$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,0.0044151177
$SEABIRD_T_H,0.00064099889
$SEABIRD_T_I,2.58445e-05
$SEABIRD_T_J,3.0430085e-06
$SEABIRD_C_G,-9.9848051
$SEABIRD_C_H,1.1086454
$SEABIRD_C_I,-0.0025343813
$SEABIRD_C_J,0.00025995917
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$CP_RECORDABOVE,0.0
$CP_PROFILE,0.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,0.0
$CP_STARTS,0.0
$CP_NDIVE,1.0
$GPS1,281022,064410,3635.862,-12445.896,20,1.8,21,13.3
$_CALLS,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-69.4
$GPS2,281022,065053,3635.859,-12445.820,2,0.7,3,13.3
$SPEED_LIMITS,0.180,0.283
$TGT_NAME,pickup
$TGT_LATLONG,3636.000,-12446.000
$TGT_RADIUS,2000.000
$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,286.7,373,-27.3,-10.417,-30.00,991,0.172
$D_GRID,1000
$IRON,1.000000,0.050867,-0.027148,-0.041418,1.036505,-0.047304,-0.041761,-0.061604,1.038738,751.954590,-987.656311,313.353058
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,16.24,16386,-67.60,-1.46,0.00,1278.0,1399.1,1156.9,187.8,2844.3,0.00,0.00,0,69.93,50.75,0.00,0.00,0.005,0.000,0.000,2735.28,2754.69,2715.88,187.69,2845.25,0,0,0,15.80,30.00,30.00
$GC,70.15,18727,-136.14,-1.55,80.00,2736.0,2756.4,2715.6,187.8,2844.9,3.12,-3.31,10,114.45,20.13,14.98,2.64,0.006,0.258,0.117,3691.66,3731.19,3652.12,2089.19,3877.88,0,0,0,15.81,15.70,15.79
$GC,262.48,1028,-136.14,-1.55,0.00,3696.2,3731.8,3660.6,2090.4,3877.8,60.15,-26.40,48,268.66,0.00,0.00,2.35,0.000,0.000,0.030,3696.72,3732.69,3660.75,2091.31,2825.12,0,0,0,30.00,30.00,15.91
$GC,452.52,8194,-136.14,-1.55,0.00,3698.4,3735.9,3660.9,2091.2,2825.8,95.09,-15.99,86,457.99,0.00,0.00,0.00,0.000,0.000,0.000,3698.97,3736.94,3661.00,2090.81,2826.12,0,0,0,30.00,30.00,30.00
$GC,647.50,8194,-136.14,-1.55,0.00,3700.5,3738.5,3662.5,2091.0,2825.8,124.28,-14.14,109,650.21,0.00,0.00,0.00,0.000,0.000,0.000,3699.66,3737.75,3661.56,2090.94,2825.56,0,0,0,30.00,30.00,30.00
$GC,957.52,8194,-136.14,-1.55,0.00,3702.0,3739.1,3664.9,2091.2,2825.6,167.38,-14.26,140,960.23,0.00,0.00,0.00,0.000,0.000,0.000,3701.69,3739.75,3663.62,2090.69,2825.94,0,0,0,30.00,30.00,30.00
$WARN,HTMICL TMICL logging already stopped
$GC,1267.54,8454,-136.14,-1.55,80.00,3702.1,3739.2,3665.1,2091.3,2825.4,213.42,-14.83,171,1272.41,0.00,0.00,2.80,0.000,0.000,0.117,3702.56,3740.00,3665.12,2091.25,3881.00,0,0,0,30.00,30.00,16.00
$GC,1371.84,9222,-136.14,-1.55,0.00,3702.2,3739.4,3665.1,2091.1,3880.9,232.58,-18.66,192,1378.10,0.00,0.00,2.33,0.000,0.000,0.031,3702.44,3739.31,3665.56,2091.06,2824.00,0,0,0,30.00,30.00,16.04
$GC,1687.60,8710,-136.14,-1.55,-80.00,3702.8,3739.6,3665.9,2091.2,2823.9,277.63,-14.30,224,1692.58,0.00,0.00,3.41,0.000,0.000,0.057,3703.03,3740.19,3665.88,2090.25,1422.75,0,0,0,30.00,30.00,16.06
$GC,1747.62,9222,-136.14,-1.55,0.00,3702.3,3739.3,3665.2,2091.1,1423.2,285.92,-13.37,236,1752.63,0.00,0.00,3.63,0.000,0.000,0.062,3702.41,3739.69,3665.12,2090.88,2915.50,0,0,0,30.00,30.00,16.07
$GC,2057.63,8194,-136.14,-1.55,0.00,3702.1,3739.0,3665.1,2091.2,2915.3,331.95,-14.92,268,2058.97,0.00,0.00,0.00,0.000,0.000,0.000,3701.69,3739.38,3664.00,2090.62,2915.19,0,0,0,30.00,30.00,30.00
$GC,2367.64,8454,-136.14,-1.55,80.00,3701.3,3739.3,3663.3,2091.1,2915.7,378.07,-14.76,299,2372.49,0.00,0.00,2.54,0.000,0.000,0.123,3702.06,3739.62,3664.50,2090.00,3878.62,0,0,0,30.00,30.00,16.09
$GC,2451.96,9222,-136.14,-1.55,0.00,3700.7,3739.3,3662.0,2091.3,3879.4,393.45,-18.64,316,2458.19,0.00,0.00,2.30,0.000,0.000,0.030,3700.62,3739.00,3662.25,2090.88,2819.06,0,0,0,30.00,30.00,16.11
$GC,2767.70,8454,-136.14,-1.55,80.00,3699.3,3739.0,3659.6,2090.9,2818.3,438.37,-13.85,348,2772.57,0.00,0.00,2.78,0.000,0.000,0.120,3700.44,3739.75,3661.12,2090.75,3877.62,0,0,0,30.00,30.00,16.09
$GC,2841.99,9222,-136.14,-1.55,0.00,3698.8,3738.7,3658.9,2090.8,3876.9,450.86,-17.42,363,2848.22,0.00,0.00,2.28,0.000,0.000,0.030,3699.81,3738.44,3661.19,2090.25,2814.50,0,0,0,30.00,30.00,16.12
$GC,3157.74,8454,-136.14,-1.55,80.00,3698.4,3738.8,3658.1,2090.7,2815.9,493.65,-13.32,395,3162.62,0.00,0.00,2.81,0.000,0.000,0.120,3699.81,3740.50,3659.12,2088.94,3878.75,0,0,0,30.00,30.00,16.10
$STATE,3202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3202,begin apogee
$GC,3207.38,10243,0.00,-0.25,0.00,3698.2,3738.7,3657.6,2091.0,2260.2,500.75,-16.39,404,3319.19,107.45,2.20,0.13,1.530,0.162,0.185,3132.47,3231.06,3033.88,2409.31,2335.12,0,0,0,13.12,16.08,15.58
$STATE,3320,end apogee,CONTROL_FINISHED_OK
$STATE,3320,begin climb
$GC,3320.24,10759,136.14,1.55,-80.00,3132.6,3231.3,3033.8,2409.8,2334.4,503.56,0.00,415,3437.51,105.68,2.89,3.92,1.483,0.079,0.087,2575.47,2675.06,2475.88,2852.25,831.06,0,0,0,12.90,15.62,15.34
$GC,3569.77,17414,136.14,1.55,0.00,2565.5,2654.1,2476.8,2851.8,831.2,480.02,13.72,464,3576.23,0.00,0.00,3.56,0.000,0.000,0.041,2565.53,2654.94,2476.12,2852.06,2322.56,0,0,0,30.00,30.00,15.66
$GC,3885.52,16386,136.14,1.55,0.00,2562.6,2654.0,2471.2,2852.8,2322.0,441.45,11.77,496,3886.86,0.00,0.00,0.00,0.000,0.000,0.000,2561.53,2653.19,2469.88,2851.75,2322.38,0,0,0,30.00,30.00,30.00
$GC,4195.54,16902,136.14,1.55,-80.00,2560.8,2652.6,2468.9,2851.9,2322.0,406.55,10.82,527,4200.59,0.00,0.00,3.75,0.000,0.000,0.087,2561.00,2652.19,2469.81,2851.69,829.69,0,0,0,30.00,30.00,15.85
$GC,4249.83,17414,136.14,1.55,0.00,2559.5,2648.3,2470.7,2852.0,828.8,400.13,11.80,538,4256.28,0.00,0.00,3.48,0.000,0.000,0.042,2561.47,2650.38,2472.56,2851.50,2321.75,0,0,0,30.00,30.00,15.97
$GC,4565.59,16386,136.14,1.55,0.00,2558.5,2648.2,2468.9,2852.1,2322.3,367.66,10.28,570,4566.92,0.00,0.00,0.00,0.000,0.000,0.000,2557.88,2647.75,2468.00,2852.38,2322.19,0,0,0,30.00,30.00,30.00
$GC,4875.64,16450,136.14,1.57,0.00,2557.6,2648.7,2466.6,2852.0,2322.6,336.75,9.83,601,4876.97,0.00,0.00,0.00,0.000,0.000,0.000,2557.09,2648.44,2465.75,2852.38,2321.94,0,0,0,30.00,30.00,30.00
$GC,5185.65,16450,136.14,1.58,0.00,2556.7,2648.7,2464.8,2853.0,2322.1,306.19,9.54,632,5186.98,0.00,0.00,0.00,0.000,0.000,0.000,2556.56,2648.62,2464.50,2851.00,2322.19,0,0,0,30.00,30.00,30.00
$GC,5495.67,16450,136.14,1.62,0.00,2556.1,2648.6,2463.7,2851.9,2322.3,277.63,8.52,663,5497.01,0.00,0.00,0.00,0.000,0.000,0.000,2555.34,2648.62,2462.06,2852.12,2321.81,0,0,0,30.00,30.00,30.00
$GC,5805.70,16966,136.14,1.65,-80.00,2554.8,2646.8,2462.9,2852.1,2322.2,250.06,8.87,694,5810.74,0.00,0.00,3.76,0.000,0.000,0.087,2554.62,2645.81,2463.44,2851.94,829.88,0,0,0,30.00,30.00,16.10
$GC,5990.01,19527,136.14,1.68,0.00,2553.2,2641.8,2464.6,2851.9,829.0,233.25,8.97,731,5996.51,0.00,0.16,3.47,0.000,0.095,0.043,2552.91,2642.00,2463.81,2888.50,2323.12,0,0,0,30.00,16.08,16.12
$GC,6305.77,16450,136.14,1.70,0.00,2553.1,2642.0,2464.2,2889.5,2323.1,205.21,9.45,763,6307.11,0.00,0.00,0.00,0.000,0.000,0.000,2553.03,2642.50,2463.56,2888.06,2323.19,0,0,0,30.00,30.00,30.00
$GC,6615.79,16450,136.14,1.73,0.00,2552.7,2641.8,2463.6,2888.8,2323.1,176.53,8.81,794,6617.13,0.00,0.00,0.00,0.000,0.000,0.000,2553.06,2643.06,2463.06,2888.25,2323.19,0,0,0,30.00,30.00,30.00
$GC,6925.83,16966,136.14,1.79,-80.00,2552.5,2642.1,2463.0,2889.4,2322.8,151.08,7.62,825,6930.88,0.00,0.00,3.81,0.000,0.000,0.086,2552.88,2642.19,2463.56,2888.81,829.50,0,0,0,30.00,30.00,16.02
$GC,6955.84,19527,136.14,1.84,0.00,2551.6,2639.4,2463.8,2888.9,828.6,148.42,8.08,831,6960.87,0.00,0.15,3.47,0.000,0.098,0.042,2551.78,2639.62,2463.94,2924.69,2323.19,0,0,0,30.00,16.08,16.03
$GC,7265.86,8226,181.73,1.90,0.00,2551.7,2639.4,2464.1,2924.8,2324.0,127.11,5.69,863,7300.83,32.54,0.00,0.00,1.104,0.000,0.000,2394.34,2498.75,2289.94,2922.88,2323.00,0,0,0,13.17,30.00,30.00
$GC,7605.89,8486,221.58,1.96,80.00,2383.3,2485.7,2280.9,2924.8,2323.5,101.57,6.29,899,7643.28,31.22,0.00,3.76,1.054,0.000,0.110,2228.56,2339.62,2117.50,2925.19,3764.44,0,0,0,13.01,30.00,15.84
$GC,7726.25,1028,221.58,1.96,0.00,2224.6,2330.8,2118.4,2925.5,3765.1,87.24,13.40,923,7731.99,0.00,0.00,3.53,0.000,0.000,0.031,2225.34,2331.44,2119.25,2926.12,2260.31,0,0,0,30.00,30.00,15.90
$GC,7916.30,10535,253.06,2.00,80.00,2221.2,2326.9,2115.5,2925.7,2258.5,70.91,7.15,961,7947.74,24.56,0.18,3.94,0.997,0.086,0.105,2102.78,2218.00,1987.56,2961.75,3766.00,0,0,0,13.05,15.93,15.80
$GC,7961.34,1092,253.06,2.03,0.00,2099.6,2213.2,1986.0,2962.0,3766.6,67.00,8.87,970,7967.01,0.00,0.00,3.49,0.000,0.000,0.031,2100.84,2213.75,1987.94,2962.50,2258.56,0,0,0,30.00,30.00,15.81
$GC,8151.34,16966,253.06,2.08,-80.00,2095.1,2207.7,1982.4,2962.3,2255.7,50.88,7.67,1008,8157.08,0.00,0.00,3.62,0.000,0.000,0.086,2094.81,2207.25,1982.38,2961.56,830.00,0,0,0,30.00,30.00,15.90
$GC,8206.37,19527,253.06,2.13,0.00,2093.4,2204.2,1982.6,2961.4,830.1,46.45,8.06,1019,8212.11,0.00,0.14,3.49,0.000,0.089,0.038,2093.81,2204.44,1983.19,2996.00,2325.25,0,0,0,30.00,15.93,15.93
$GC,8396.39,8226,311.20,2.21,0.00,2092.5,2203.5,1981.6,2996.0,2325.9,35.98,4.39,1057,8442.25,43.51,0.00,0.00,0.967,0.000,0.000,1866.41,1995.19,1737.62,2996.94,2325.69,0,0,0,12.99,30.00,30.00
$GC,8626.45,10535,357.26,2.28,80.00,1855.1,1978.6,1731.6,2996.7,2325.6,27.25,5.64,1103,8667.94,34.23,0.16,3.77,0.924,0.086,0.106,1677.19,1808.38,1546.00,3032.44,3764.88,0,0,0,13.02,15.87,15.73
$STATE,8812,end climb,SURFACE_DEPTH_REACHED
$STATE,8812,begin surface coast
$FINISH,-0.0,1.023608
$STATE,8827,end surface coast,CONTROL_FINISHED_OK
$STATE,8827,begin surface
$SM_CCo,8919.47,64.78,0.875,0,1300.2,1423.0,1177.3,450.09
$SM_GC,1.16,64.78,17.69,2.06,0.875,0.051,0.032,1300.2,1423.0,1177.3,190.7,2862.9,0,0,0,13.02,15.85,15.88
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,3634.24,-12447.65,281022,034106
$TCM_TEMP,15.27
$XPDR_PINGS,11,10.3,13.6
$SC_FREEKB,3815168
$TM_FREEKB,7402880
$HUMID,49.32
$TEMP,11.73
$INTERNAL_PRESSURE,8.74542
$24V_AH,15.00,35.477
$10V_AH,15.00,0.000
$FG_AHR_24Vo,27.948
$FG_AHR_10Vo,27.302
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,514.850,38.555,90.590,319.577,2.750,12.762,3891.742,6.281,0.000,5334.130,2279.433,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1529.544,257.560,185.072,207.053,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8848.000,1194.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.189,19.280,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,910792,29,135556,82
$DATA_FILE_SIZE,32161,1143
$CAP_FILE_SIZE,237025,0
$SDSIZE,3887104,3850784
$SDFILEDIR,570,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094, 76.8,1
$IMPLIED_C_PITCH,2472,16.10,858,0.0,0.00
$GPS,281022,092032,3636.449,-12446.244,20,0.9,21,13.3