version: 67.00
glider: 234
mission: 4
dive: 20
start: 10 7 120 2 3 59
data:
$ID,234
$MISSION,4
$DIVE,20
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,850
$D_NO_BLEED,200
$D_BOOST,3
$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,250
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,74686
$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,550
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3990
$C_PITCH,1620
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,20
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,700
$ROLL_MAX,3350
$ROLL_DEG,80
$C_ROLL_DIVE,2670
$C_ROLL_CLIMB,2400
$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,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$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,529
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,78.160698
$FG_AHR_24V,90.084526
$PHONE_SUPPLY,1
$PRESSURE_YINT,-151.86571
$PRESSURE_SLOPE,0.00022809372
$COMPASS_USE,4
$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,11
$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,1.6
$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,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0044194036
$SEABIRD_T_H,0.00064707285
$SEABIRD_T_I,2.5773305e-05
$SEABIRD_T_J,3.16363e-06
$SEABIRD_C_G,-9.7533598
$SEABIRD_C_H,1.1145387
$SEABIRD_C_I,-0.0013247415
$SEABIRD_C_J,0.00018679495
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,071020,015340,5822.336,-2122.393,20,1.4,21,-10.5
$_CALLS,2
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-26.7
$GPS2,071020,020334,5822.381,-2122.390,2,0.8,5,-10.5
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SG234_TGT
$TGT_LATLONG,5822.623,-2116.795
$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,58.7,5452,-17.6,-10.000,-21.24
$D_GRID,750
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,4.28,16386,-145.99,-1.06,0.00,653.8,737.8,569.8,185.8,2636.0,0.00,0.00,0,148.90,144.48,0.00,0.00,0.005,0.000,0.000,3439.00,3500.75,3377.25,185.75,2634.38,0,0,0,15.50,30.00,30.00
$GC,149.14,18983,-145.99,-1.06,-80.00,3437.6,3499.4,3375.8,185.5,2634.4,3.44,-2.42,28,169.31,1.66,9.20,3.64,0.018,0.292,0.150,3494.62,3563.06,3426.19,1363.06,1205.25,0,0,0,15.57,15.42,15.49
$GC,391.85,1188,-145.99,-1.11,0.00,3495.1,3564.2,3426.0,1363.1,1205.1,26.81,-9.02,77,397.50,0.00,0.00,3.56,0.000,0.000,0.100,3495.53,3564.81,3426.25,1362.50,2680.50,0,0,0,30.00,30.00,15.67
$GC,576.81,32,-145.99,-1.11,0.00,3495.2,3565.0,3425.5,1362.9,2680.1,42.94,-9.47,114,578.14,0.00,0.00,0.00,0.000,0.000,0.000,3494.03,3563.56,3424.50,1362.69,2680.50,0,0,0,30.00,30.00,30.00
$GC,756.91,4517,-145.99,-1.16,80.00,3494.9,3563.9,3425.9,1363.2,2680.1,60.79,-9.10,150,762.25,0.00,0.27,1.75,0.000,0.085,0.171,3496.09,3566.06,3426.12,1323.88,3357.38,0,0,0,30.00,15.75,15.72
$GC,941.87,3205,-145.99,-1.11,0.00,3494.9,3564.4,3425.4,1323.8,3357.7,81.16,-11.20,187,946.84,0.00,0.26,1.64,0.000,0.184,0.055,3495.97,3565.31,3426.62,1352.44,2636.00,0,0,0,30.00,15.73,15.82
$GC,1126.89,32,-145.99,-1.11,0.00,3494.8,3564.2,3425.3,1351.9,2636.1,97.41,-8.85,224,1128.22,0.00,0.00,0.00,0.000,0.000,0.000,3495.69,3565.19,3426.19,1352.44,2635.44,0,0,0,30.00,30.00,30.00
$GC,1306.92,292,-145.99,-1.11,80.00,3495.2,3564.6,3425.9,1352.0,2636.1,113.42,-8.86,245,1311.55,0.00,0.00,1.86,0.000,0.000,0.164,3495.78,3564.88,3426.69,1352.00,3357.00,0,0,0,30.00,30.00,15.81
$GC,1411.65,1060,-145.99,-1.11,0.00,3495.2,3564.6,3425.8,1352.3,3356.9,123.17,-9.38,266,1416.54,0.00,0.00,1.64,0.000,0.000,0.054,3495.25,3565.00,3425.50,1352.31,2631.81,0,0,0,30.00,30.00,15.85
$GC,1717.01,32,-145.99,-1.11,0.00,3495.3,3565.1,3425.5,1352.3,2630.4,148.66,-7.79,297,1718.34,0.00,0.00,0.00,0.000,0.000,0.000,3495.19,3565.19,3425.19,1352.31,2630.94,0,0,0,30.00,30.00,30.00
$GC,2017.11,292,-145.99,-1.11,80.00,3495.2,3564.6,3425.7,1352.1,2630.8,171.95,-8.44,327,2021.74,0.00,0.00,1.88,0.000,0.000,0.164,3495.28,3565.06,3425.50,1351.62,3357.62,0,0,0,30.00,30.00,15.70
$GC,2121.78,1060,-145.99,-1.11,0.00,3495.2,3564.9,3425.5,1352.4,3357.2,181.36,-9.03,348,2128.19,0.00,0.00,1.64,0.000,0.000,0.055,3495.88,3565.75,3426.00,1352.12,2631.12,0,0,0,30.00,30.00,15.86
$GC,2427.14,32,-145.99,-1.11,0.00,3495.3,3565.1,3425.4,1352.1,2630.2,207.94,-8.68,379,2428.47,0.00,0.00,0.00,0.000,0.000,0.000,3495.34,3564.88,3425.81,1351.81,2629.69,0,0,0,30.00,30.00,30.00
$GC,2727.23,32,-145.99,-1.11,0.00,3495.1,3564.8,3425.4,1352.0,2629.2,233.95,-8.86,409,2728.56,0.00,0.00,0.00,0.000,0.000,0.000,3495.38,3564.94,3425.81,1352.00,2629.00,0,0,0,30.00,30.00,30.00
$GC,3027.28,292,-145.99,-1.11,80.00,3495.2,3564.7,3425.6,1352.0,2629.1,259.86,-8.47,439,3031.91,0.00,0.00,1.87,0.000,0.000,0.168,3496.03,3565.19,3426.88,1351.81,3356.00,0,0,0,30.00,30.00,15.85
$GC,3127.25,1060,-145.99,-1.11,0.00,3495.2,3564.6,3425.9,1352.2,3356.9,269.13,-9.81,459,3131.85,0.00,0.00,1.64,0.000,0.000,0.058,3495.94,3565.56,3426.31,1351.69,2634.75,0,0,0,30.00,30.00,15.88
$GC,3437.31,32,-145.99,-1.11,0.00,3495.1,3564.8,3425.5,1352.2,2636.0,294.76,-8.07,491,3438.64,0.00,0.00,0.00,0.000,0.000,0.000,3494.28,3564.12,3424.44,1352.00,2636.19,0,0,0,30.00,30.00,30.00
$GC,3737.41,292,-145.99,-1.11,80.00,3495.1,3565.3,3424.9,1352.1,2636.5,319.04,-7.96,521,3742.04,0.00,0.00,1.87,0.000,0.000,0.170,3495.81,3565.56,3426.06,1352.00,3358.62,0,0,0,30.00,30.00,15.77
$GC,3812.21,1060,-145.99,-1.11,0.00,3495.0,3564.7,3425.3,1352.1,3358.3,325.73,-9.69,536,3817.15,0.00,0.00,1.65,0.000,0.000,0.061,3495.06,3564.50,3425.62,1352.12,2637.31,0,0,0,30.00,30.00,15.93
$GC,4117.43,32,-145.99,-1.11,0.00,3494.8,3564.9,3424.7,1352.0,2637.5,350.49,-7.97,567,4118.76,0.00,0.00,0.00,0.000,0.000,0.000,3493.66,3563.75,3423.56,1352.12,2638.31,0,0,0,30.00,30.00,30.00
$GC,4417.52,292,-145.99,-1.11,80.00,3494.5,3564.9,3424.0,1351.9,2638.2,374.98,-8.37,597,4422.16,0.00,0.00,1.87,0.000,0.000,0.174,3495.84,3565.94,3425.75,1352.12,3357.75,0,0,0,30.00,30.00,15.75
$GC,4467.47,1060,-145.99,-1.11,0.00,3494.8,3565.2,3424.5,1352.2,3356.6,379.65,-9.46,607,4472.06,0.00,0.00,1.64,0.000,0.000,0.063,3494.62,3564.75,3424.50,1351.75,2642.12,0,0,0,30.00,30.00,15.94
$GC,4777.56,160,-145.99,-1.15,0.00,3494.2,3564.8,3423.6,1352.4,2642.2,406.69,-9.07,639,4778.89,0.00,0.00,0.00,0.000,0.000,0.000,3493.56,3564.00,3423.12,1351.94,2642.38,0,0,0,30.00,30.00,30.00
$GC,5077.67,420,-145.99,-1.19,80.00,3493.8,3564.4,3423.2,1351.9,2641.6,432.37,-8.74,669,5082.30,0.00,0.00,1.86,0.000,0.000,0.178,3494.97,3565.56,3424.38,1352.19,3357.50,0,0,0,30.00,30.00,15.87
$GC,5152.30,1060,-145.99,-1.19,0.00,3493.8,3564.9,3422.6,1352.0,3356.4,439.48,-9.59,684,5157.19,0.00,0.00,1.65,0.000,0.000,0.066,3494.72,3565.56,3423.88,1352.06,2644.00,0,0,0,30.00,30.00,15.92
$GC,5457.67,4257,-145.99,-1.24,0.00,3493.9,3564.5,3423.4,1352.0,2643.9,466.29,-9.00,715,5459.12,0.00,0.28,0.00,0.000,0.086,0.000,3494.69,3565.62,3423.75,1306.50,2643.94,0,0,0,30.00,15.92,30.00
$GC,5757.68,260,-145.99,-1.24,80.00,3493.4,3564.2,3422.5,1306.7,2643.7,499.29,-11.32,745,5762.31,0.00,0.00,1.87,0.000,0.000,0.181,3493.25,3563.31,3423.19,1306.44,3357.06,0,0,0,30.00,30.00,15.86
$GC,5812.40,3205,-145.99,-1.17,0.00,3492.9,3563.8,3422.1,1306.6,3357.6,506.09,-12.35,756,5818.09,0.00,0.29,1.67,0.000,0.188,0.075,3494.59,3566.25,3422.94,1338.75,2646.75,0,0,0,30.00,15.83,15.91
$GC,6117.73,32,-145.99,-1.17,0.00,3493.2,3564.4,3421.9,1339.4,2647.8,536.10,-9.35,787,6119.06,0.00,0.00,0.00,0.000,0.000,0.000,3492.53,3564.12,3420.94,1339.38,2647.50,0,0,0,30.00,30.00,30.00
$GC,6417.80,32,-145.99,-1.17,0.00,3492.8,3563.9,3421.6,1339.0,2647.3,564.64,-8.73,817,6419.13,0.00,0.00,0.00,0.000,0.000,0.000,3492.19,3563.75,3420.62,1339.06,2646.94,0,0,0,30.00,30.00,30.00
$GC,6717.82,32,-145.99,-1.17,0.00,3492.7,3564.4,3421.0,1339.2,2647.7,592.02,-9.19,847,6719.15,0.00,0.00,0.00,0.000,0.000,0.000,3492.12,3564.12,3420.12,1339.00,2646.56,0,0,0,30.00,30.00,30.00
$GC,7017.84,292,-145.99,-1.17,80.00,3492.5,3564.3,3420.8,1339.4,2646.9,618.39,-8.96,877,7022.47,0.00,0.00,1.86,0.000,0.000,0.190,3493.81,3566.06,3421.56,1339.19,3353.56,0,0,0,30.00,30.00,15.86
$GC,7067.79,1060,-145.99,-1.17,0.00,3492.4,3564.1,3420.7,1339.5,3353.2,623.34,-9.12,887,7072.38,0.00,0.00,1.66,0.000,0.000,0.081,3492.75,3565.31,3420.19,1339.38,2649.31,0,0,0,30.00,30.00,15.93
$GC,7377.83,32,-145.99,-1.17,0.00,3492.0,3564.1,3420.0,1339.2,2648.8,650.18,-8.66,919,7379.15,0.00,0.00,0.00,0.000,0.000,0.000,3492.00,3564.12,3419.88,1338.94,2648.12,0,0,0,30.00,30.00,30.00
$GC,7677.90,32,-145.99,-1.17,0.00,3492.5,3564.7,3420.4,1339.4,2648.6,677.20,-8.85,949,7679.23,0.00,0.00,0.00,0.000,0.000,0.000,3493.91,3566.56,3421.25,1338.94,2649.44,0,0,0,30.00,30.00,30.00
$GC,7977.93,292,-145.99,-1.17,80.00,3492.2,3564.2,3420.2,1339.4,2648.8,704.73,-9.30,979,7982.56,0.00,0.00,1.87,0.000,0.000,0.194,3493.59,3565.88,3421.31,1339.12,3357.00,0,0,0,30.00,30.00,15.86
$GC,8027.86,1060,-145.99,-1.17,0.00,3492.4,3564.6,3420.1,1339.4,3356.2,709.60,-9.61,989,8032.46,0.00,0.00,1.68,0.000,0.000,0.087,3492.69,3564.88,3420.50,1339.06,2648.69,0,0,0,30.00,30.00,15.93
$GC,8337.89,32,-145.99,-1.17,0.00,3492.2,3564.8,3419.6,1339.1,2649.8,739.49,-9.21,1021,8339.22,0.00,0.00,0.00,0.000,0.000,0.000,3491.69,3564.31,3419.06,1339.31,2649.06,0,0,0,30.00,30.00,30.00
$STATE,8448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8448,begin apogee
$GC,8449.61,10243,0.00,-0.25,0.00,3492.5,3565.0,3419.9,1339.6,2383.4,750.71,-9.99,1032,8575.89,123.38,1.49,0.06,1.897,0.155,0.324,2896.34,2977.31,2815.38,1561.75,2408.56,0,0,0,12.04,15.64,15.31
$STATE,8577,end apogee,CONTROL_FINISHED_OK
$STATE,8577,begin climb
$GC,8576.79,10759,145.99,1.06,-80.00,2898.3,2978.8,2817.8,1561.8,2409.4,754.53,0.00,1044,8714.14,129.49,2.06,4.03,1.831,0.092,0.174,2301.22,2383.12,2219.31,1884.12,936.25,0,0,0,12.47,15.38,15.08
$GC,8751.35,9382,190.92,1.02,0.00,2299.5,2378.1,2220.9,1883.7,936.6,748.77,7.91,1078,8798.17,41.18,0.00,3.69,1.747,0.000,0.099,2120.84,2208.25,2033.44,1884.88,2409.81,0,0,0,12.41,30.00,15.34
$GC,9096.67,20611,190.92,0.97,0.00,2112.1,2197.8,2026.5,1884.5,2409.3,713.95,10.29,1117,9098.13,0.00,0.30,0.00,0.000,0.186,0.000,2112.94,2198.31,2027.56,1850.19,2409.12,0,0,0,30.00,15.56,30.00
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$STATE,15442,end climb,SURFACE_DEPTH_REACHED
$STATE,15442,begin surface coast
$FINISH,0.9,1.026848
$STATE,15447,end surface coast,CONTROL_FINISHED_OK
$STATE,15447,begin surface
$SM_CCo,15676.72,208.35,1.032,0,658.6,754.6,562.6,549.82
$SM_CCo,15677.83,0.00,2.802,0,658.4,752.2,564.6,549.87
$SM_CCo,15678.93,0.00,0.008,0,658.0,751.6,564.4,549.95
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$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,5821.93,-2125.23,071020,015549
$TCM_TEMP,4.01
$XPDR_PINGS,8,-1.0,-1.0
$SC_FREEKB,3865472
$TM_FREEKB,7313568
$HUMID,51.27
$TEMP,9.44
$INTERNAL_PRESSURE,8.07047
$24V_AH,14.50,14.502
$10V_AH,14.81,0.000
$FG_AHR_24Vo,90.370
$FG_AHR_10Vo,78.313
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,747.725,25.710,102.575,481.780,2.000,14.383,5465.821,10789.337,2719.580,0.000,0.000,0.000
$DEVICE_MAMPS,2802.184,292.328,324.144,240.565,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15470.000,2222.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.630,18.002,0.000,0.000
$MEM,1162472,28,14880,57
$DATA_FILE_SIZE,54502,1881
$CAP_FILE_SIZE,310724,0
$SDSIZE,3918848,3902240
$SDFILEDIR,173,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,178.0,1
$GPS,071020,062608,5822.896,-2119.413,36,1.0,36,-10.4