version: 67.00
glider: 234
mission: 4
dive: 6
start: 10 4 120 19 7 38
data:
$ID,234
$MISSION,4
$DIVE,6
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,400
$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,120
$T_MISSION,135
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,2500
$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,74.584129
$FG_AHR_24V,86.448814
$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,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,041020,185619,5824.841,-2117.654,2,1.3,7,-10.4
$_CALLS,1
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-35.3
$GPS2,041020,190714,5824.825,-2117.594,2,0.7,4,-10.4
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SG234_TGT
$TGT_LATLONG,5824.830,-2118.018
$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,299.1,411,-24.2,-10.000,-27.24
$D_GRID,360
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,12.31,16386,-79.78,-1.31,0.00,856.6,941.0,772.2,185.7,2471.2,0.00,0.00,0,142.13,126.59,0.00,0.09,0.005,0.000,0.326,3222.56,3277.94,3167.19,185.69,2512.06,0,0,0,14.17,30.00,15.46
$GC,142.36,18983,-145.99,-1.39,-80.00,3222.2,3278.1,3166.4,185.8,2512.8,2.28,-1.37,25,169.11,9.99,8.62,3.76,0.007,0.302,0.157,3494.16,3574.50,3413.81,1282.94,1035.25,0,0,0,15.55,15.48,15.49
$GC,391.68,1156,-145.99,-1.47,0.00,3494.0,3573.9,3414.1,1283.1,1035.0,30.38,-11.74,75,399.09,0.00,0.00,3.54,0.000,0.000,0.100,3493.47,3573.62,3413.31,1283.25,2510.50,0,0,0,30.00,30.00,15.50
$GC,576.65,4741,-145.99,-1.55,-80.00,3494.5,3574.3,3414.6,1282.8,2510.4,51.13,-11.03,112,584.26,0.00,0.34,3.73,0.000,0.079,0.152,3496.62,3576.69,3416.56,1230.69,1035.00,0,0,0,30.00,15.68,15.68
$GC,586.70,1156,-145.99,-1.61,0.00,3494.5,3574.4,3414.6,1231.1,1034.8,52.28,-10.74,114,593.17,0.00,0.00,3.54,0.000,0.000,0.100,3495.66,3576.12,3415.19,1230.75,2509.94,0,0,0,30.00,30.00,15.51
$GC,771.70,260,-145.99,-1.61,80.00,3494.6,3574.7,3414.5,1231.0,2510.2,78.86,-13.39,151,777.89,0.00,0.00,2.16,0.000,0.000,0.173,3495.25,3575.06,3415.44,1231.19,3358.19,0,0,0,30.00,30.00,15.64
$GC,871.71,1028,-145.99,-1.61,0.00,3494.7,3574.6,3414.7,1231.1,3357.6,94.28,-15.68,171,878.26,0.00,0.00,2.05,0.000,0.000,0.069,3494.91,3575.06,3414.75,1231.06,2477.56,0,0,0,30.00,30.00,15.70
$GC,1056.74,260,-145.99,-1.61,80.00,3494.5,3574.5,3414.4,1230.8,2477.4,119.55,-14.17,194,1062.93,0.00,0.00,2.24,0.000,0.000,0.169,3495.97,3575.81,3416.12,1230.62,3356.19,0,0,0,30.00,30.00,15.64
$GC,1166.74,1028,-145.99,-1.61,0.00,3494.8,3575.1,3414.6,1230.9,3356.8,136.54,-15.55,216,1172.63,0.00,0.00,2.04,0.000,0.000,0.072,3496.84,3576.00,3417.69,1231.06,2478.38,0,0,0,30.00,30.00,15.75
$GC,1476.77,260,-145.99,-1.61,80.00,3494.7,3575.1,3414.3,1231.0,2478.5,179.59,-13.89,248,1482.68,0.00,0.00,2.26,0.000,0.000,0.173,3494.62,3575.25,3414.00,1230.75,3357.19,0,0,0,30.00,30.00,15.65
$GC,1626.81,1028,-145.99,-1.61,0.00,3494.9,3575.0,3414.8,1230.9,3357.7,203.20,-16.48,278,1632.66,0.00,0.00,2.07,0.000,0.000,0.081,3496.12,3576.44,3415.81,1230.69,2480.38,0,0,0,30.00,30.00,15.76
$GC,1936.82,260,-145.99,-1.61,80.00,3494.9,3575.3,3414.4,1230.8,2480.4,246.19,-13.48,310,1942.72,0.00,0.00,2.27,0.000,0.000,0.179,3495.44,3575.56,3415.31,1230.88,3357.25,0,0,0,30.00,30.00,15.66
$GC,2096.84,1028,-145.99,-1.61,0.00,3494.7,3575.3,3414.1,1231.1,3357.3,271.57,-17.31,342,2102.71,0.00,0.00,2.08,0.000,0.000,0.089,3495.47,3574.88,3416.06,1231.31,2480.44,0,0,0,30.00,30.00,15.82
$GC,2406.89,260,-145.99,-1.61,80.00,3494.6,3574.8,3414.4,1230.4,2481.5,315.69,-14.39,374,2412.80,0.00,0.00,2.27,0.000,0.000,0.185,3495.19,3575.50,3414.88,1231.12,3357.06,0,0,0,30.00,30.00,15.72
$GC,2606.99,1028,-145.99,-1.61,0.00,3494.7,3575.0,3414.3,1230.5,3357.4,348.03,-16.35,414,2612.82,0.00,0.00,2.09,0.000,0.000,0.096,3494.66,3575.38,3413.94,1230.81,2482.56,0,0,0,30.00,30.00,15.80
$STATE,2697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2697,begin apogee
$GC,2698.11,10243,0.00,-0.25,0.00,3494.9,3574.9,3414.9,1230.8,2379.1,361.19,-13.76,424,2822.27,119.14,2.34,0.08,1.416,0.178,0.277,2901.16,2983.81,2818.50,1559.62,2411.81,0,0,0,12.04,15.74,15.37
$STATE,2824,end apogee,CONTROL_FINISHED_OK
$STATE,2824,begin climb
$GC,2823.79,10759,145.99,1.39,-80.00,2898.0,2980.9,2815.1,1560.7,2411.0,364.36,0.00,436,2957.84,124.07,2.55,3.89,1.360,0.092,0.159,2301.59,2385.69,2217.50,1961.88,935.44,0,0,0,12.41,15.44,15.18
$GC,3030.35,1156,145.99,1.32,0.00,2297.2,2379.4,2214.9,1962.4,935.5,349.61,12.78,476,3037.49,0.00,0.00,3.59,0.000,0.000,0.096,2297.34,2379.00,2215.69,1962.50,2410.88,0,0,0,30.00,30.00,15.46
$GC,3335.32,16646,145.99,1.32,80.00,2293.8,2378.3,2209.2,1962.8,2411.4,313.99,11.72,507,3341.28,0.00,0.00,2.42,0.000,0.000,0.172,2293.94,2378.62,2209.25,1963.88,3357.12,0,0,0,30.00,30.00,15.65
$GC,3365.48,21639,145.99,1.24,0.00,2292.2,2377.1,2207.2,1962.9,3356.9,310.20,12.61,513,3371.42,0.00,0.43,2.28,0.000,0.214,0.063,2292.16,2377.56,2206.75,1914.69,2373.94,0,0,0,30.00,15.59,15.69
$GC,3675.46,8870,155.58,1.30,-80.00,2291.8,2377.4,2206.2,1914.6,2373.3,280.52,9.19,545,3691.77,8.53,0.00,3.65,1.031,0.000,0.159,2263.56,2350.31,2176.81,1914.62,935.75,0,0,0,12.22,30.00,15.60
$GC,3720.09,1028,155.58,1.30,0.00,2263.1,2349.8,2176.5,1914.4,935.1,276.04,10.39,554,3726.90,0.00,0.00,3.52,0.000,0.000,0.093,2264.25,2351.31,2177.19,1915.69,2413.12,0,0,0,30.00,30.00,15.73
$GC,4025.45,10403,165.57,1.36,0.00,2263.2,2349.2,2177.1,1915.1,2412.8,247.22,9.16,585,4041.44,11.15,0.28,0.00,1.107,0.087,0.000,2223.72,2311.81,2135.62,1958.94,2413.06,0,0,0,12.15,15.77,30.00
$GC,4345.50,0,165.57,1.36,80.00,2221.7,2309.1,2134.4,1958.6,2412.3,210.17,11.60,618,4348.37,0.00,0.00,0.00,0.000,0.000,0.000,2220.06,2308.00,2132.12,1959.50,2413.06,0,0,0,30.00,30.00,30.00
$GC,4645.58,516,165.57,1.36,-80.00,2221.2,2308.2,2134.1,1958.7,2413.2,175.73,11.27,648,4652.78,0.00,0.00,3.71,0.000,0.000,0.147,2219.09,2305.62,2132.56,1958.88,935.25,0,0,0,30.00,30.00,15.62
$GC,4670.54,1028,165.57,1.36,0.00,2220.6,2307.2,2134.0,1958.9,935.3,172.57,12.13,653,4676.73,0.00,0.00,3.49,0.000,0.000,0.088,2221.47,2308.31,2134.62,1959.38,2413.88,0,0,0,30.00,30.00,15.74
$GC,4982.10,0,165.57,1.36,0.00,2220.4,2306.9,2133.8,1959.0,2414.3,136.96,11.55,685,4984.98,0.00,0.00,0.00,0.000,0.000,0.000,2218.69,2305.50,2131.88,1958.81,2414.88,0,0,0,30.00,30.00,30.00
$GC,5280.69,0,165.57,1.36,0.00,2219.7,2306.4,2132.9,1959.1,2413.8,101.07,12.10,715,5283.56,0.00,0.00,0.00,0.000,0.000,0.000,2219.72,2306.75,2132.69,1959.12,2414.31,0,0,0,30.00,30.00,30.00
$GC,5580.68,516,165.57,1.36,-80.00,2219.4,2306.6,2132.2,1959.1,2413.4,65.36,10.24,774,5587.19,0.00,0.00,3.70,0.000,0.000,0.143,2220.22,2307.38,2133.06,1958.94,934.88,0,0,0,30.00,30.00,15.75
$GC,5620.69,1028,165.57,1.36,0.00,2219.0,2306.1,2132.0,1958.7,934.4,60.81,11.35,782,5627.16,0.00,0.00,3.48,0.000,0.000,0.083,2220.84,2306.38,2135.31,1958.12,2414.31,0,0,0,30.00,30.00,15.61
$GC,5805.71,516,165.57,1.36,-80.00,2219.1,2306.1,2132.1,1958.7,2415.1,40.14,11.47,819,5812.23,0.00,0.00,3.69,0.000,0.000,0.141,2218.78,2304.12,2133.44,1959.44,935.12,0,0,0,30.00,30.00,15.74
$GC,5840.71,1028,165.57,1.36,0.00,2219.5,2306.2,2132.8,1958.4,934.8,35.69,13.12,826,5847.19,0.00,0.00,3.47,0.000,0.000,0.082,2221.59,2308.00,2135.19,1958.38,2414.88,0,0,0,30.00,30.00,15.73
$GC,6025.75,8742,180.75,1.38,-80.00,2219.2,2306.4,2132.0,1959.0,2416.0,15.55,8.72,863,6047.60,14.73,0.00,3.71,0.990,0.000,0.144,2161.72,2248.50,2074.94,1958.50,933.56,0,0,0,12.14,30.00,15.67
$GC,6050.75,9254,184.44,1.39,0.00,2161.0,2249.1,2072.9,1959.3,933.3,12.91,9.69,868,6063.34,5.78,0.00,3.46,0.682,0.000,0.078,2145.81,2233.75,2057.88,1958.25,2415.56,0,0,0,12.46,30.00,15.76
$STATE,6141,end climb,SURFACE_DEPTH_REACHED
$STATE,6141,begin surface coast
$FINISH,-0.1,1.026789
$STATE,6156,end surface coast,CONTROL_FINISHED_OK
$STATE,6156,begin surface
$SM_CCo,6417.88,244.26,1.002,0,862.0,954.9,769.1,499.92
$SM_CCo,6418.98,0.00,2.773,0,861.9,953.6,770.2,499.94
$SM_CCo,6420.07,0.00,0.009,0,862.0,953.7,770.4,499.91
$SM_GC,0.51,0.00,10.77,0.21,0.009,0.057,0.160,862.0,953.7,770.4,186.0,2511.8,0,0,0,30.36,15.78,15.78
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,5824.01,-2108.44,041020,165219
$TCM_TEMP,4.61
$XPDR_PINGS,86,-1.0,-1.0
$SC_FREEKB,3875392
$TM_FREEKB,7762144
$HUMID,52.09
$TEMP,10.09
$INTERNAL_PRESSURE,8.10904
$24V_AH,14.41,8.070
$10V_AH,14.77,0.000
$FG_AHR_24Vo,86.640
$FG_AHR_10Vo,74.692
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,664.255,25.320,84.800,566.521,21.500,13.371,3314.855,3756.777,1306.130,0.000,0.000,0.000
$DEVICE_MAMPS,2772.664,301.512,326.112,245.969,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6174.000,6179.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,38.671,18.122,0.000,0.000
$MEM,1162504,25,14908,57
$DATA_FILE_SIZE,25770,889
$CAP_FILE_SIZE,210705,0
$SDSIZE,3918848,3907296
$SDFILEDIR,77,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,123.5,1
$GPS,041020,205457,5824.884,-2118.092,2,0.9,5,-10.5