version: 67.00
glider: 236
mission: 2
dive: 91
start: 10 17 120 16 15 3
data:
$ID,236
$MISSION,2
$DIVE,91
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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,410
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,180
$T_LOITER,7200
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72660
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099900002
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,190
$PITCH_MAX,3920
$C_PITCH,2140
$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
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,670
$ROLL_MAX,3465
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2200
$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,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,150
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,12.780759
$FG_AHR_24V,29.257566
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.66119
$PRESSURE_SLOPE,0.00022638284
$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,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
$DEVICE1,120
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$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,21
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$GPS1,171020,160639,4751.027,-12511.199,4,0.8,25,15.8
$_CALLS,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-63.3
$GPS2,171020,161445,4750.950,-12510.991,3,0.6,5,15.8
$SPEED_LIMITS,0.139,0.180
$TGT_NAME,OUT9
$TGT_LATLONG,4747.280,-12520.390
$TGT_RADIUS,7000.000
$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,224.0,13526,-20.4,-8.049,-24.07
$D_GRID,990
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.34,16386,-77.86,-1.25,0.00,763.0,766.3,759.6,178.9,2119.4,0.00,0.00,0,74.42,67.50,0.00,0.00,0.005,0.000,0.000,2325.25,2313.25,2337.25,178.88,2120.69,0,0,0,15.69,30.00,30.00
$GC,74.69,18727,-77.86,-1.25,80.00,2324.3,2311.6,2337.0,179.0,2120.7,3.09,-3.61,13,111.16,12.65,13.55,3.42,0.007,0.268,0.131,2817.06,2817.00,2817.12,1835.12,3475.56,0,0,0,15.71,15.62,15.66
$GC,143.90,1028,-77.86,-1.25,0.00,2816.2,2816.1,2816.2,1837.1,3475.2,17.57,-22.10,27,149.65,0.00,0.00,3.44,0.000,0.000,0.068,2815.91,2815.38,2816.44,1837.00,2085.06,0,0,0,30.00,30.00,15.75
$GC,328.96,260,-77.86,-1.25,80.00,2816.8,2816.4,2817.2,1837.0,2085.4,46.12,-14.61,64,334.71,0.00,0.00,3.53,0.000,0.000,0.126,2816.38,2815.31,2817.44,1836.56,3474.19,0,0,0,30.00,30.00,15.82
$GC,459.00,1028,-77.86,-1.25,0.00,2816.9,2816.5,2817.2,1836.8,3474.2,63.81,-12.58,90,464.74,0.00,0.00,3.41,0.000,0.000,0.067,2817.84,2817.44,2818.25,1835.38,2083.62,0,0,0,30.00,30.00,15.86
$GC,644.06,260,-77.86,-1.25,80.00,2816.7,2816.7,2816.7,1836.3,2084.2,85.01,-11.34,127,649.79,0.00,0.00,3.47,0.000,0.000,0.127,2818.28,2818.12,2818.44,1835.25,3474.25,0,0,0,30.00,30.00,15.88
$GC,794.11,1028,-77.86,-1.25,0.00,2817.2,2817.3,2817.0,1837.2,3474.8,102.41,-10.60,157,798.77,0.00,0.00,3.41,0.000,0.000,0.067,2817.78,2817.62,2817.94,1836.88,2084.00,0,0,0,30.00,30.00,15.93
$GC,1104.13,0,-77.86,-1.25,0.00,2817.8,2818.2,2817.3,1836.9,2083.8,136.57,-11.04,189,1105.46,0.00,0.00,0.00,0.000,0.000,0.000,2817.91,2818.75,2817.06,1836.69,2083.62,0,0,0,30.00,30.00,30.00
$GC,1404.16,516,-77.86,-1.25,-80.00,2818.2,2818.9,2817.4,1836.6,2083.5,169.85,-11.31,219,1409.88,0.00,0.00,3.86,0.000,0.000,0.171,2816.97,2816.00,2817.94,1835.50,662.31,0,0,0,30.00,30.00,15.96
$GC,1513.11,1028,-77.86,-1.25,0.00,2817.2,2818.1,2816.4,1836.9,662.4,183.92,-12.75,241,1519.91,0.00,0.00,3.46,0.000,0.000,0.067,2818.41,2819.19,2817.62,1836.50,2120.38,0,0,0,30.00,30.00,16.01
$GC,1819.21,0,-77.86,-1.25,0.00,2817.9,2818.5,2817.2,1837.1,2120.1,218.66,-11.75,272,1820.54,0.00,0.00,0.00,0.000,0.000,0.000,2818.44,2818.38,2818.50,1836.75,2120.69,0,0,0,30.00,30.00,30.00
$GC,2119.23,0,-77.86,-1.25,0.00,2817.8,2818.6,2817.0,1837.2,2120.2,250.38,-10.22,302,2120.55,0.00,0.00,0.00,0.000,0.000,0.000,2818.22,2819.31,2817.12,1836.88,2120.31,0,0,0,30.00,30.00,30.00
$GC,2419.25,0,-77.86,-1.25,0.00,2817.4,2818.4,2816.4,1836.2,2119.9,280.08,-10.74,332,2420.58,0.00,0.00,0.00,0.000,0.000,0.000,2817.81,2818.88,2816.75,1836.62,2120.06,0,0,0,30.00,30.00,30.00
$GC,2719.27,516,-77.86,-1.25,-80.00,2817.1,2817.8,2816.4,1836.8,2120.5,309.91,-9.77,362,2725.03,0.00,0.00,4.01,0.000,0.000,0.172,2816.31,2817.38,2815.25,1836.19,663.81,0,0,0,30.00,30.00,16.05
$GC,2788.20,1028,-77.86,-1.25,0.00,2817.0,2817.8,2816.2,1837.3,663.9,317.90,-11.44,376,2795.03,0.00,0.00,3.44,0.000,0.000,0.070,2818.06,2819.00,2817.12,1837.12,2118.31,0,0,0,30.00,30.00,16.08
$GC,3094.32,548,-77.86,-1.25,-80.00,2817.1,2818.5,2815.6,1836.8,2117.9,330.81,-2.10,407,3100.03,0.00,0.00,3.99,0.000,0.000,0.166,2815.44,2817.38,2813.50,1836.94,662.25,0,0,0,30.00,30.00,16.06
$STATE,3319,end dive,NO_VERTICAL_VELOCITY
$STATE,3319,begin apogee
$GC,3324.30,10243,0.00,-0.25,0.00,2816.3,2817.8,2814.9,1836.9,2219.9,330.67,0.00,452,3390.82,61.01,1.64,0.08,1.412,0.113,0.235,2499.62,2511.69,2487.56,2081.69,2178.94,0,0,0,13.25,16.07,15.77
$STATE,3391,end apogee,CONTROL_FINISHED_OK
$STATE,3391,begin climb
$GC,3392.03,10503,77.86,1.25,80.00,2497.1,2509.5,2484.8,2082.9,2178.7,330.40,0.00,459,3466.94,65.11,2.42,3.42,1.373,0.086,0.134,2180.59,2201.88,2159.31,2449.00,3475.56,0,0,0,13.01,15.79,15.54
$GC,3688.62,9254,112.02,1.35,0.00,2173.8,2195.2,2152.3,2449.2,3476.4,318.31,5.66,518,3725.72,29.60,0.00,3.20,1.313,0.000,0.064,2043.09,2071.75,2014.44,2447.94,2181.25,0,0,0,13.01,30.00,15.77
$GC,4024.83,16710,112.02,1.37,80.00,2033.9,2065.3,2002.4,2449.0,2181.3,293.76,7.42,555,4029.37,0.00,0.00,3.36,0.000,0.000,0.134,2034.84,2066.00,2003.69,2448.56,3472.25,0,0,0,30.00,30.00,15.81
$GC,4254.90,17414,112.02,1.37,0.00,2033.2,2063.6,2002.8,2448.8,3472.6,273.63,8.03,601,4259.42,0.00,0.00,3.17,0.000,0.000,0.065,2033.75,2064.44,2003.06,2448.50,2181.44,0,0,0,30.00,30.00,15.89
$GC,4564.96,18759,112.02,1.40,80.00,2031.1,2062.9,1999.4,2449.1,2181.6,250.71,7.17,633,4569.72,0.00,0.18,3.32,0.000,0.102,0.135,2031.41,2063.69,1999.12,2492.69,3473.44,0,0,0,30.00,15.94,15.94
$GC,4624.97,17414,112.02,1.40,0.00,2031.2,2062.8,1999.8,2492.6,3474.6,245.73,8.32,645,4629.63,0.00,0.00,3.13,0.000,0.000,0.064,2032.34,2064.12,2000.56,2492.50,2181.00,0,0,0,30.00,30.00,15.95
$GC,4935.01,16386,112.02,1.40,0.00,2030.1,2061.8,1998.5,2492.8,2181.0,221.95,7.92,677,4936.34,0.00,0.00,0.00,0.000,0.000,0.000,2030.50,2062.25,1998.75,2492.62,2181.56,0,0,0,30.00,30.00,30.00
$GC,5235.06,16386,112.02,1.40,0.00,2030.2,2061.9,1998.5,2493.1,2181.6,198.07,8.21,707,5236.39,0.00,0.00,0.00,0.000,0.000,0.000,2030.28,2061.94,1998.62,2492.50,2181.56,0,0,0,30.00,30.00,30.00
$GC,5535.13,16966,112.02,1.42,-80.00,2029.7,2061.9,1997.6,2492.8,2181.6,175.22,7.47,737,5540.92,0.00,0.00,3.88,0.000,0.000,0.150,2027.94,2060.06,1995.81,2492.50,735.56,0,0,0,30.00,30.00,16.02
$GC,5583.99,17414,112.02,1.42,0.00,2028.6,2059.3,1997.8,2492.7,735.4,170.65,9.52,747,5590.88,0.00,0.00,3.51,0.000,0.000,0.062,2030.00,2061.31,1998.69,2492.62,2222.44,0,0,0,30.00,30.00,16.04
$GC,5890.17,16710,112.02,1.44,80.00,2028.6,2059.8,1997.4,2492.7,2222.9,146.04,7.47,778,5894.83,0.00,0.00,3.18,0.000,0.000,0.133,2029.00,2059.94,1998.06,2492.44,3474.88,0,0,0,30.00,30.00,16.03
$GC,5960.18,17414,112.02,1.44,0.00,2028.8,2059.7,1997.9,2493.1,3474.4,139.55,9.99,792,5964.78,0.00,0.00,3.12,0.000,0.000,0.062,2029.66,2060.62,1998.69,2492.75,2179.44,0,0,0,30.00,30.00,16.04
$GC,6270.21,16902,112.02,1.44,-80.00,2028.7,2059.8,1997.6,2493.1,2180.2,114.07,7.83,824,6275.99,0.00,0.00,3.84,0.000,0.000,0.147,2027.09,2057.81,1996.38,2492.75,735.62,0,0,0,30.00,30.00,16.05
$GC,6395.23,17414,112.02,1.44,0.00,2027.2,2056.8,1997.8,2493.0,735.9,103.13,8.19,849,6400.83,0.00,0.00,3.52,0.000,0.000,0.061,2027.94,2057.44,1998.44,2492.88,2221.69,0,0,0,30.00,30.00,16.07
$GC,6700.30,10535,154.65,1.56,80.00,2027.5,2057.2,1997.8,2493.2,2221.4,83.60,5.06,906,6741.21,33.57,0.16,3.23,1.155,0.110,0.134,1868.12,1902.69,1833.56,2527.75,3474.69,0,0,0,13.29,16.04,15.89
$GC,6965.32,1092,154.65,1.59,0.00,1862.7,1897.1,1828.3,2527.1,3474.6,62.53,7.26,959,6970.98,0.00,0.00,3.12,0.000,0.000,0.062,1862.25,1895.75,1828.75,2527.00,2179.69,0,0,0,30.00,30.00,15.97
$GC,7150.36,10535,202.38,1.73,80.00,1861.5,1897.6,1825.4,2527.6,2179.8,52.61,4.71,996,7196.44,38.52,0.19,3.32,1.114,0.105,0.129,1672.78,1712.06,1633.50,2567.44,3474.69,0,0,0,13.13,15.96,15.82
$GC,7420.37,17414,202.38,1.73,0.00,1666.8,1703.0,1630.6,2567.6,3474.9,35.24,8.95,1050,7426.04,0.00,0.00,3.15,0.000,0.000,0.062,1667.66,1704.00,1631.31,2567.88,2178.38,0,0,0,30.00,30.00,15.90
$GC,7605.40,10535,276.11,1.95,80.00,1665.5,1702.8,1628.2,2567.2,2178.2,26.89,2.88,1087,7671.87,58.97,0.28,3.36,1.088,0.091,0.127,1372.38,1411.56,1333.19,2620.25,3474.44,0,0,0,13.21,15.94,15.70
$GC,7760.42,1092,276.11,2.00,0.00,1368.7,1405.0,1332.4,2620.1,3473.9,18.56,6.49,1118,7766.08,0.00,0.00,3.18,0.000,0.000,0.061,1368.91,1405.31,1332.50,2620.56,2179.94,0,0,0,30.00,30.00,15.78
$GC,7945.43,0,276.11,2.00,0.00,1367.0,1404.8,1329.2,2620.4,2179.0,4.59,8.01,1155,7946.76,0.00,0.00,0.00,0.000,0.000,0.000,1367.41,1405.31,1329.50,2620.06,2179.62,0,0,0,30.00,30.00,30.00
$STATE,7980,end climb,SURFACE_DEPTH_REACHED
$STATE,7980,begin surface coast
$STATE,8005,end surface coast,CONTROL_FINISHED_OK
$STATE,8005,begin surface
$SM_CCo,8143.76,115.32,1.057,0,767.9,771.4,764.4,424.88
$SM_CCo,8144.92,0.00,2.787,0,768.8,769.8,767.8,424.67
$SM_CCo,8147.08,1.32,0.138,0,767.9,773.1,762.6,424.89
$SM_GC,0.83,1.32,15.72,0.22,0.138,0.080,0.119,767.9,773.1,762.6,180.4,2076.9,0,0,0,15.51,15.83,15.86
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.26,-12509.51,171020,140751
$TCM_TEMP,194.33
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3841376
$HUMID,56.25
$TEMP,8.62
$INTERNAL_PRESSURE,7.82518
$24V_AH,14.73,31.476
$10V_AH,14.93,0.000
$FG_AHR_24Vo,29.410
$FG_AHR_10Vo,12.829
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,483.550,34.145,103.455,409.279,0.250,12.982,3741.499,4868.859,1929.140,0.000,0.000,0.000
$DEVICE_MAMPS,2786.768,267.728,235.256,221.157,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8024.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.420,0.000,0.000,0.000
$MEM,1100968,29,75220,113
$DATA_FILE_SIZE,41842,1167
$CAP_FILE_SIZE,243595,0
$SDSIZE,3918848,3885056
$SDFILEDIR,481,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171020,183106,4750.950,-12511.790,3,1.6,9,15.8