version: 67.00
glider: 236
mission: 2
dive: 531
start: 1 25 121 2 57 22
data:
$ID,236
$MISSION,2
$DIVE,531
$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,-1
$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,50.655788
$FG_AHR_24V,133.0905
$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
$GPS1,250121,024907,4751.688,-12514.139,79,1.2,84,15.8
$_CALLS,2
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.2
$GPS2,250121,025704,4751.680,-12514.293,4,1.2,8,15.8
$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,207.2,11133,-20.4,-8.049,-24.07
$D_GRID,343
$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,7.29,16386,-77.86,-1.25,0.00,762.0,766.1,757.9,173.8,2119.9,0.00,0.00,0,76.25,68.43,0.00,0.00,0.005,0.000,0.000,2257.66,2244.31,2271.00,174.06,2121.12,0,0,0,15.24,30.00,30.00
$GC,76.57,18727,-77.86,-1.25,80.00,2256.0,2242.3,2269.8,174.2,2121.2,3.20,-4.62,13,113.68,14.06,14.23,3.77,0.006,0.252,0.117,2818.75,2814.69,2822.81,1835.69,3475.31,0,0,0,15.30,15.43,15.23
$GC,336.47,1028,-77.86,-1.25,0.00,2816.3,2812.1,2820.4,1835.7,3474.9,64.19,-17.13,65,342.25,0.00,0.00,3.45,0.000,0.000,0.058,2816.81,2812.62,2821.00,1835.44,2083.62,0,0,0,30.00,30.00,15.70
$GC,521.52,260,-77.86,-1.25,80.00,2816.4,2812.5,2820.3,1835.8,2082.8,89.72,-12.25,102,527.31,0.00,0.00,3.79,0.000,0.000,0.106,2816.50,2811.62,2821.38,1835.75,3474.94,0,0,0,30.00,30.00,15.72
$GC,655.46,1028,-77.86,-1.25,0.00,2816.5,2812.2,2820.9,1835.8,3475.0,106.93,-12.26,129,662.30,0.00,0.00,3.42,0.000,0.000,0.055,2817.28,2813.25,2821.31,1836.19,2081.75,0,0,0,30.00,30.00,15.78
$GC,961.59,0,-77.86,-1.25,0.00,2816.1,2811.9,2820.2,1835.7,2082.1,138.44,-11.06,160,962.91,0.00,0.00,0.00,0.000,0.000,0.000,2816.88,2812.38,2821.38,1836.06,2081.50,0,0,0,30.00,30.00,30.00
$GC,1261.62,0,-77.86,-1.25,0.00,2816.6,2812.2,2821.0,1835.7,2081.2,167.47,-9.67,190,1262.94,0.00,0.00,0.00,0.000,0.000,0.000,2816.69,2812.19,2821.19,1835.69,2081.44,0,0,0,30.00,30.00,30.00
$GC,1561.67,0,-77.86,-1.25,0.00,2816.5,2812.6,2820.5,1836.4,2081.6,196.06,-9.20,220,1563.00,0.00,0.00,0.00,0.000,0.000,0.000,2815.31,2811.06,2819.56,1835.81,2081.69,0,0,0,30.00,30.00,30.00
$GC,1861.81,260,-77.86,-1.25,80.00,2816.9,2812.9,2820.9,1836.4,2081.7,227.08,-11.76,250,1867.44,0.00,0.00,3.74,0.000,0.000,0.113,2815.97,2811.94,2820.00,1835.56,3474.88,0,0,0,30.00,30.00,15.82
$GC,2006.79,1028,-77.86,-1.25,0.00,2816.4,2812.4,2820.4,1835.9,3474.3,246.36,-13.53,279,2011.45,0.00,0.00,3.42,0.000,0.000,0.059,2819.12,2815.00,2823.25,1834.88,2081.62,0,0,0,30.00,30.00,15.86
$GC,2316.86,516,-77.86,-1.25,-80.00,2816.8,2812.5,2821.2,1836.1,2081.5,278.99,-9.51,311,2322.63,0.00,0.00,4.03,0.000,0.000,0.152,2819.44,2814.75,2824.12,1834.31,661.88,0,0,0,30.00,30.00,15.75
$GC,2375.80,1028,-77.86,-1.25,0.00,2816.5,2812.4,2820.6,1835.6,662.2,285.77,-11.11,323,2382.63,0.00,0.00,3.52,0.000,0.000,0.049,2819.25,2814.88,2823.62,1835.19,2119.56,0,0,0,30.00,30.00,15.86
$GC,2681.94,0,-77.86,-1.25,0.00,2816.8,2813.1,2820.5,1835.9,2119.7,315.86,-9.48,354,2683.26,0.00,0.00,0.00,0.000,0.000,0.000,2816.94,2812.81,2821.06,1835.69,2119.75,0,0,0,30.00,30.00,30.00
$STATE,2971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2971,begin apogee
$GC,2973.24,10243,0.00,-0.25,0.00,2816.4,2812.2,2820.6,1836.2,2220.7,343.23,-8.92,383,3039.75,62.95,1.78,0.09,1.419,0.138,0.215,2501.31,2508.12,2494.50,2077.81,2183.00,0,0,0,12.06,15.78,15.37
$STATE,3041,end apogee,CONTROL_FINISHED_OK
$STATE,3041,begin climb
$GC,3041.85,10243,77.86,1.25,0.00,2497.8,2505.6,2490.1,2080.2,2183.4,345.06,0.00,389,3116.23,67.42,2.55,0.00,1.370,0.081,0.000,2180.81,2195.31,2166.31,2449.31,2183.69,0,0,0,12.52,15.43,30.00
$GC,3414.86,8226,106.76,1.34,0.00,2172.3,2191.9,2152.8,2449.1,2183.7,323.84,6.02,427,3441.51,26.08,0.00,0.00,1.307,0.000,0.000,2063.62,2085.38,2041.88,2448.56,2184.00,0,0,0,12.18,30.00,30.00
$GC,3734.91,2373,106.76,1.38,80.00,2057.0,2081.9,2032.2,2449.1,2183.7,300.45,6.77,459,3740.59,0.00,0.16,3.63,0.000,0.100,0.116,2059.19,2083.88,2034.50,2485.19,3473.94,0,0,0,30.00,15.63,15.62
$GC,3879.96,1028,106.76,1.38,0.00,2056.9,2081.9,2031.9,2486.1,3474.1,287.76,8.22,488,3884.49,0.00,0.00,3.20,0.000,0.000,0.053,2057.66,2082.50,2032.81,2486.62,2179.25,0,0,0,30.00,30.00,15.70
$GC,4190.03,16966,106.76,1.41,-80.00,2055.2,2080.6,2029.8,2487.1,2178.7,265.46,6.80,520,4195.85,0.00,0.00,4.05,0.000,0.000,0.132,2054.84,2080.38,2029.31,2486.44,736.19,0,0,0,30.00,30.00,15.62
$GC,4419.10,17478,106.76,1.43,0.00,2053.3,2077.1,2029.6,2486.6,736.2,247.70,7.52,566,4425.89,0.00,0.00,3.63,0.000,0.000,0.051,2053.47,2077.69,2029.25,2487.38,2221.38,0,0,0,30.00,30.00,15.79
$GC,4725.18,10791,145.82,1.55,-80.00,2053.0,2077.2,2028.9,2487.2,2221.7,229.17,5.31,597,4766.85,33.28,0.17,4.19,1.292,0.086,0.129,1904.62,1930.56,1878.69,2525.00,735.00,0,0,0,12.07,15.79,15.55
$GC,4829.10,1028,145.82,1.55,0.00,1901.5,1927.2,1875.7,2525.2,735.1,220.20,9.97,618,4835.95,0.00,0.00,3.63,0.000,0.000,0.049,1901.69,1928.12,1875.25,2525.50,2222.69,0,0,0,30.00,30.00,15.63
$GC,5135.23,260,145.82,1.55,80.00,1897.9,1927.2,1868.6,2525.9,2222.9,191.71,8.79,649,5139.79,0.00,0.00,3.46,0.000,0.000,0.114,1896.38,1925.88,1866.88,2525.88,3475.12,0,0,0,30.00,30.00,15.68
$GC,5255.24,17414,145.82,1.55,0.00,1897.4,1926.1,1868.6,2525.7,3475.6,179.19,10.21,673,5259.78,0.00,0.00,3.16,0.000,0.000,0.051,1899.47,1928.38,1870.56,2525.00,2178.50,0,0,0,30.00,30.00,15.73
$GC,5565.29,16902,145.82,1.55,-80.00,1896.6,1925.8,1867.4,2526.4,2179.3,150.44,9.23,705,5571.10,0.00,0.00,3.97,0.000,0.000,0.130,1896.03,1925.50,1866.56,2525.81,735.31,0,0,0,30.00,30.00,15.70
$GC,5694.22,17414,145.82,1.55,0.00,1896.4,1925.5,1867.3,2525.6,735.4,137.79,9.61,731,5701.07,0.00,0.00,3.59,0.000,0.000,0.050,1898.25,1927.06,1869.44,2525.81,2222.31,0,0,0,30.00,30.00,15.77
$GC,6000.34,16386,145.82,1.55,0.00,1895.5,1925.1,1865.9,2526.2,2222.2,114.19,7.78,762,6001.67,0.00,0.00,0.00,0.000,0.000,0.000,1895.38,1925.38,1865.38,2525.88,2222.44,0,0,0,30.00,30.00,30.00
$GC,6300.40,10791,199.98,1.71,-80.00,1895.1,1925.4,1864.8,2525.9,2222.4,97.93,4.26,796,6352.25,44.58,0.17,4.20,1.173,0.087,0.127,1683.78,1715.50,1652.06,2565.38,735.12,0,0,0,12.04,15.65,15.49
$GC,6440.41,1028,199.98,1.71,0.00,1680.5,1712.1,1648.9,2564.6,735.5,86.25,9.67,824,6446.20,0.00,0.00,3.68,0.000,0.000,0.049,1681.97,1713.31,1650.62,2564.81,2223.31,0,0,0,30.00,30.00,15.48
$GC,6625.47,260,199.98,1.71,80.00,1677.8,1712.2,1643.4,2565.7,2223.1,72.78,8.28,861,6631.19,0.00,0.00,3.46,0.000,0.000,0.112,1677.59,1711.69,1643.50,2565.81,3475.00,0,0,0,30.00,30.00,15.63
$GC,6680.47,17414,199.98,1.71,0.00,1676.6,1710.0,1643.1,2565.4,3475.8,66.98,11.08,872,6686.14,0.00,0.00,3.17,0.000,0.000,0.049,1677.91,1711.12,1644.69,2565.38,2177.94,0,0,0,30.00,30.00,15.55
$GC,6865.51,10791,259.32,1.89,-80.00,1676.1,1710.2,1641.9,2565.6,2177.9,55.05,3.89,909,6922.59,49.23,0.20,4.11,1.109,0.081,0.128,1442.34,1477.69,1407.00,2608.75,735.38,0,0,0,12.20,15.69,15.38
$GC,6940.71,11303,309.50,2.04,0.00,1442.0,1477.4,1406.6,2608.1,735.4,51.79,4.53,924,6991.74,42.45,0.17,3.65,1.063,0.087,0.046,1238.47,1273.94,1203.00,2645.25,2224.56,0,0,0,12.33,15.44,15.45
$GC,7170.54,0,309.50,2.04,0.00,1232.5,1269.3,1195.6,2645.9,2224.8,30.51,11.11,970,7171.87,0.00,0.00,0.00,0.000,0.000,0.000,1232.59,1269.56,1195.62,2644.94,2224.50,0,0,0,30.00,30.00,30.00
$GC,7350.59,8742,357.02,2.18,-80.00,1231.0,1268.7,1193.2,2645.1,2224.6,14.63,4.72,1006,7397.34,41.08,0.00,4.20,1.017,0.000,0.125,1044.38,1078.75,1010.00,2645.06,735.19,0,0,0,12.19,30.00,15.37
$GC,7400.60,11303,393.79,2.29,0.00,1044.3,1078.6,1010.1,2645.4,734.9,11.89,5.47,1016,7442.35,33.56,0.34,3.64,0.980,0.065,0.044,895.12,924.88,865.38,2704.31,2227.88,0,0,0,12.44,15.43,15.43
$STATE,7510,end climb,SURFACE_DEPTH_REACHED
$STATE,7510,begin surface coast
$STATE,7525,end surface coast,CONTROL_FINISHED_OK
$STATE,7525,begin surface
$SM_CCo,7578.37,27.91,1.004,0,767.4,777.1,757.8,425.00
$SM_CCo,7579.53,0.00,2.685,0,768.5,777.8,759.2,424.74
$SM_CCo,7580.69,0.03,0.364,0,768.5,778.4,758.6,424.73
$SM_GC,0.39,0.03,16.84,0.35,0.364,0.059,0.078,768.5,778.4,758.6,176.4,2069.1,0,0,0,15.33,15.43,15.49
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4752.18,-12506.88,250121,005034
$TCM_TEMP,193.27
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3658272
$HUMID,57.64
$TEMP,8.35
$INTERNAL_PRESSURE,7.80957
$24V_AH,14.23,157.848
$10V_AH,14.84,0.000
$FG_AHR_24Vo,133.248
$FG_AHR_10Vo,50.696
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,511.035,36.610,96.560,278.307,0.250,17.210,3378.128,4656.066,1745.216,0.000,0.000,0.000
$DEVICE_MAMPS,2684.760,251.656,214.920,204.109,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7562.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.895,0.000,0.000,0.000
$MEM,1100168,46,75660,114
$DATA_FILE_SIZE,38655,1041
$CAP_FILE_SIZE,229646,0
$SDSIZE,3918848,3772320
$SDFILEDIR,2681,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250121,050449,4751.652,-12515.221,58,1.0,59,15.8