version: 67.00
glider: 236
mission: 2
dive: 293
start: 12 4 120 0 24 44
data:
$ID,236
$MISSION,2
$DIVE,293
$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,8
$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,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,30.965912
$FG_AHR_24V,77.451805
$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
$GPS1,041220,001905,4752.417,-12512.779,3,1.7,9,15.8
$_CALLS,1
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-63.9
$GPS2,041220,002427,4752.411,-12512.755,3,1.7,6,15.8
$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,209.2,13437,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,6.83,16386,-77.86,-1.25,0.00,761.8,766.3,757.2,175.2,2117.9,0.00,0.00,0,80.10,72.61,0.00,0.00,0.005,0.000,0.000,2401.09,2380.00,2422.19,175.31,2118.50,0,0,0,15.64,30.00,30.00
$GC,80.37,18983,-77.86,-1.25,-80.00,2400.5,2379.8,2421.1,175.2,2118.8,3.25,-4.03,14,113.34,10.60,13.72,4.20,0.007,0.257,0.160,2814.47,2811.62,2817.31,1835.88,662.75,0,0,0,15.68,15.67,15.64
$GC,236.13,1028,-77.86,-1.25,0.00,2815.8,2813.0,2818.5,1835.6,662.8,37.26,-23.26,45,241.88,0.00,0.00,3.59,0.000,0.000,0.058,2817.09,2814.44,2819.75,1835.50,2119.25,0,0,0,30.00,30.00,15.81
$GC,421.27,260,-77.86,-1.25,80.00,2816.1,2813.6,2818.6,1836.1,2119.4,67.74,-15.20,82,426.97,0.00,0.00,3.64,0.000,0.000,0.116,2816.53,2813.31,2819.75,1835.75,3474.38,0,0,0,30.00,30.00,15.85
$GC,576.23,1028,-77.86,-1.25,0.00,2816.1,2813.0,2819.2,1836.0,3474.2,91.16,-16.83,113,581.97,0.00,0.00,3.42,0.000,0.000,0.061,2818.22,2814.62,2821.81,1835.38,2082.19,0,0,0,30.00,30.00,15.90
$GC,761.25,0,-77.86,-1.25,0.00,2816.3,2813.1,2819.5,1836.0,2081.9,114.11,-12.36,139,762.58,0.00,0.00,0.00,0.000,0.000,0.000,2815.31,2812.31,2818.31,1835.50,2082.62,0,0,0,30.00,30.00,30.00
$GC,1061.29,0,-77.86,-1.25,0.00,2816.0,2813.0,2818.9,1835.8,2082.2,146.82,-10.00,169,1062.62,0.00,0.00,0.00,0.000,0.000,0.000,2816.72,2813.75,2819.69,1835.94,2082.00,0,0,0,30.00,30.00,30.00
$GC,1361.32,260,-77.86,-1.25,80.00,2816.2,2813.3,2819.2,1835.7,2081.7,180.85,-12.28,199,1367.04,0.00,0.00,3.74,0.000,0.000,0.118,2814.72,2811.88,2817.56,1835.94,3474.12,0,0,0,30.00,30.00,16.00
$GC,1566.38,1028,-77.86,-1.25,0.00,2816.6,2813.8,2819.3,1835.4,3474.4,208.35,-12.66,240,1571.03,0.00,0.00,3.43,0.000,0.000,0.063,2817.62,2814.31,2820.94,1835.50,2082.50,0,0,0,30.00,30.00,16.02
$GC,1876.41,516,-77.86,-1.25,-80.00,2816.4,2813.4,2819.4,1835.9,2083.4,241.75,-10.49,272,1882.15,0.00,0.00,3.99,0.000,0.000,0.160,2818.56,2815.06,2822.06,1835.12,663.38,0,0,0,30.00,30.00,16.01
$GC,1911.60,1028,-77.86,-1.25,0.00,2816.2,2812.9,2819.5,1835.4,663.8,245.95,-12.35,279,1917.00,0.00,0.00,3.49,0.000,0.000,0.057,2815.75,2812.88,2818.62,1836.06,2120.88,0,0,0,30.00,30.00,16.04
$GC,2216.45,0,-77.86,-1.25,0.00,2816.4,2813.1,2819.8,1836.0,2120.8,277.16,-9.10,310,2217.78,0.00,0.00,0.00,0.000,0.000,0.000,2816.72,2813.94,2819.50,1835.38,2120.62,0,0,0,30.00,30.00,30.00
$GC,2516.48,260,-77.86,-1.25,80.00,2816.2,2813.2,2819.2,1836.1,2120.6,307.19,-10.61,340,2522.18,0.00,0.00,3.62,0.000,0.000,0.121,2815.59,2812.94,2818.25,1835.38,3474.31,0,0,0,30.00,30.00,16.04
$GC,2541.49,1028,-77.86,-1.25,0.00,2815.8,2812.7,2818.9,1835.9,3474.3,310.05,-11.48,345,2546.12,0.00,0.00,3.36,0.000,0.000,0.062,2816.12,2813.81,2818.44,1836.12,2082.31,0,0,0,30.00,30.00,16.05
$GC,2851.52,0,-77.86,-1.25,0.00,2816.4,2813.6,2819.2,1835.8,2082.3,340.71,-6.77,377,2852.85,0.00,0.00,0.00,0.000,0.000,0.000,2816.47,2813.38,2819.56,1835.81,2082.19,0,0,0,30.00,30.00,30.00
$GC,3151.57,548,-77.86,-1.25,-80.00,2816.2,2813.3,2819.2,1835.8,2082.1,340.90,-0.04,407,3157.31,0.00,0.00,3.95,0.000,0.000,0.154,2816.81,2814.12,2819.50,1834.88,662.88,0,0,0,30.00,30.00,16.04
$STATE,3281,end dive,NO_VERTICAL_VELOCITY
$STATE,3281,begin apogee
$GC,3285.91,10243,0.00,-0.25,0.00,2816.0,2813.5,2818.4,1835.9,2222.6,340.85,0.00,433,3350.54,61.44,1.62,0.09,1.470,0.097,0.223,2500.03,2507.88,2492.19,2083.88,2178.50,0,0,0,12.95,16.04,15.74
$STATE,3352,end apogee,CONTROL_FINISHED_OK
$STATE,3352,begin climb
$GC,3352.18,10503,77.86,1.25,80.00,2498.1,2506.2,2490.0,2084.1,2178.7,340.56,0.00,440,3426.77,65.90,2.39,3.62,1.429,0.073,0.119,2180.84,2196.94,2164.75,2450.75,3472.06,0,0,0,12.92,15.78,15.51
$GC,3648.43,17478,77.86,1.30,0.00,2173.3,2191.2,2155.4,2451.0,3471.8,326.07,6.40,499,3655.32,0.00,0.00,3.19,0.000,0.000,0.056,2172.69,2191.62,2153.75,2450.88,2179.94,0,0,0,30.00,30.00,15.76
$GC,3954.61,10535,143.35,1.50,80.00,2169.9,2190.5,2149.4,2450.1,2180.6,311.73,3.46,530,4016.59,55.84,0.34,3.60,1.406,0.077,0.121,1913.56,1940.19,1886.94,2513.88,3472.12,0,0,0,12.81,15.86,15.59
$GC,4238.48,17414,143.35,1.50,0.00,1906.8,1934.3,1879.3,2513.8,3472.1,282.95,11.75,587,4245.34,0.00,0.00,3.18,0.000,0.000,0.057,1907.41,1935.56,1879.25,2513.69,2182.44,0,0,0,30.00,30.00,15.78
$GC,4544.69,16646,143.35,1.50,80.00,1904.3,1934.8,1873.8,2514.1,2182.9,252.75,8.89,618,4550.33,0.00,0.00,3.53,0.000,0.000,0.119,1902.44,1932.88,1872.00,2513.56,3473.06,0,0,0,30.00,30.00,15.88
$GC,4733.76,17414,143.35,1.50,0.00,1904.0,1934.1,1873.9,2513.6,3473.2,232.95,10.21,656,4740.46,0.00,0.00,3.18,0.000,0.000,0.057,1903.91,1934.62,1873.19,2513.75,2181.69,0,0,0,30.00,30.00,15.92
$GC,5039.83,16902,143.35,1.50,-80.00,1903.3,1934.5,1872.2,2514.1,2181.6,202.27,10.27,687,5045.65,0.00,0.00,3.99,0.000,0.000,0.138,1902.06,1933.44,1870.69,2513.50,736.75,0,0,0,30.00,30.00,15.90
$GC,5184.89,17414,143.35,1.50,0.00,1903.0,1934.0,1872.0,2514.0,737.1,184.78,13.01,716,5189.62,0.00,0.00,3.58,0.000,0.000,0.056,1903.41,1933.75,1873.06,2513.88,2221.31,0,0,0,30.00,30.00,15.96
$GC,5495.02,16386,143.35,1.50,0.00,1901.6,1933.1,1870.2,2514.3,2220.9,154.30,9.81,748,5496.35,0.00,0.00,0.00,0.000,0.000,0.000,1901.75,1933.38,1870.12,2514.12,2221.62,0,0,0,30.00,30.00,30.00
$GC,5795.02,16646,143.35,1.50,80.00,1901.4,1933.9,1868.8,2514.3,2221.3,128.50,8.15,778,5799.60,0.00,0.00,3.41,0.000,0.000,0.121,1901.47,1933.75,1869.19,2513.88,3473.19,0,0,0,30.00,30.00,16.00
$GC,5915.06,17414,143.35,1.50,0.00,1900.8,1933.1,1868.5,2513.6,3473.2,116.46,9.85,802,5919.60,0.00,0.00,3.12,0.000,0.000,0.055,1901.34,1933.50,1869.19,2514.25,2177.50,0,0,0,30.00,30.00,16.00
$GC,6220.19,8486,175.32,1.59,80.00,1900.7,1933.3,1868.1,2513.7,2177.8,93.93,5.81,843,6251.42,25.61,0.00,3.49,1.183,0.000,0.118,1783.47,1817.75,1749.19,2514.88,3474.19,0,0,0,12.92,30.00,15.86
$GC,6325.26,11303,208.29,1.69,0.00,1780.8,1814.6,1747.0,2514.2,3475.1,88.23,5.74,864,6361.03,27.93,0.23,3.15,1.159,0.083,0.054,1651.00,1686.38,1615.62,2558.88,2175.88,0,0,0,12.89,15.92,15.94
$GC,6540.22,260,208.29,1.69,80.00,1645.2,1681.7,1608.8,2560.1,2176.2,72.06,9.19,907,6545.97,0.00,0.00,3.54,0.000,0.000,0.115,1645.12,1681.62,1608.62,2560.69,3474.19,0,0,0,30.00,30.00,15.84
$GC,6605.24,1028,208.29,1.69,0.00,1643.8,1679.1,1608.6,2560.6,3474.1,65.62,10.45,920,6611.05,0.00,0.00,3.16,0.000,0.000,0.054,1644.34,1679.81,1608.88,2560.62,2179.88,0,0,0,30.00,30.00,15.89
$GC,6790.28,8226,239.36,1.79,0.00,1642.8,1679.1,1606.4,2560.6,2179.8,52.03,5.87,957,6820.36,26.14,0.00,0.00,1.115,0.000,0.000,1524.25,1561.94,1486.56,2560.19,2179.62,0,0,0,12.85,30.00,30.00
$GC,7000.54,10535,299.09,1.97,80.00,1519.0,1558.4,1479.6,2560.3,2180.4,42.76,3.87,999,7057.34,48.52,0.36,3.58,1.129,0.074,0.115,1280.41,1317.25,1243.56,2625.00,3473.81,0,0,0,12.85,15.83,15.68
$GC,7195.34,1028,299.09,1.97,0.00,1275.9,1309.4,1242.3,2625.4,3473.8,23.38,13.32,1038,7201.05,0.00,0.00,3.21,0.000,0.000,0.055,1275.97,1309.81,1242.12,2625.56,2181.19,0,0,0,30.00,30.00,15.79
$GC,7380.37,516,299.09,1.97,-80.00,1274.2,1309.6,1238.8,2625.8,2180.8,2.55,12.65,1075,7386.20,0.00,0.00,4.01,0.000,0.000,0.131,1274.84,1310.06,1239.62,2624.62,736.38,0,0,0,30.00,30.00,15.81
$STATE,7391,end climb,SURFACE_DEPTH_REACHED
$STATE,7391,begin surface coast
$STATE,7406,end surface coast,CONTROL_FINISHED_OK
$STATE,7406,begin surface
$SM_CCo,7533.63,101.40,1.093,0,768.3,779.2,757.3,424.79
$SM_CCo,7534.80,0.00,2.758,0,768.2,773.8,762.8,424.80
$SM_CCo,7535.95,0.00,0.009,0,767.9,774.0,761.8,424.89
$SM_GC,0.73,0.00,15.60,3.32,0.009,0.063,0.050,767.9,774.0,761.8,171.8,2127.0,0,0,0,30.36,15.82,15.85
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4752.57,-12511.36,031220,221928
$TCM_TEMP,190.36
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3755104
$HUMID,56.78
$TEMP,8.55
$INTERNAL_PRESSURE,7.82129
$24V_AH,14.60,90.728
$10V_AH,14.97,0.000
$FG_AHR_24Vo,77.613
$FG_AHR_10Vo,31.004
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,496.000,34.270,106.200,214.123,0.250,15.107,3215.432,4490.280,1760.281,0.000,0.000,0.000
$DEVICE_MAMPS,2758.232,256.904,223.448,211.487,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7432.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.244,0.000,0.000,0.000
$MEM,1100220,43,75668,114
$DATA_FILE_SIZE,38555,1080
$CAP_FILE_SIZE,234466,0
$SDSIZE,3918848,3831808
$SDFILEDIR,1491,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041220,023101,4752.036,-12513.558,32,0.9,33,15.8