version: 67.00
glider: 236
mission: 2
dive: 1237
start: 4 25 121 6 0 59
data:
$ID,236
$MISSION,2
$DIVE,1237
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,180
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$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,45
$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,475
$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,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,2100
$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,79.489853
$FG_AHR_24V,293.68341
$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,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,250421,055408,4706.541,-12457.509,2,1.8,5,15.5
$_CALLS,1
$_SM_DEPTHo,-1.64
$_SM_ANGLEo,-64.6
$GPS2,250421,060040,4706.532,-12457.452,24,1.1,25,15.5
$SPEED_LIMITS,0.208,0.328
$TGT_NAME,HEADING
$TGT_LATLONG,4714.168,-12446.206
$TGT_RADIUS,1852.000
$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,29.5,20000,-16.7,-12.000,-20.09
$D_GRID,143
$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,8.64,16386,-218.98,-1.49,0.00,559.5,557.3,561.6,166.6,2079.5,0.00,0.00,0,90.33,81.19,0.00,0.00,0.005,0.000,0.000,2437.88,2419.69,2456.06,166.56,2079.81,0,0,0,13.04,30.00,30.00
$GC,90.57,18983,-218.98,-1.49,-80.00,2436.9,2418.9,2455.0,166.4,2079.3,3.21,-7.51,8,137.11,20.66,15.24,4.10,0.006,0.267,0.141,3394.31,3384.94,3403.69,1777.62,661.88,0,0,0,13.03,14.68,14.31
$GC,170.53,1028,-218.98,-1.49,0.00,3393.3,3383.4,3403.3,1777.9,661.7,19.61,-19.06,24,175.97,0.00,0.00,3.55,0.000,0.000,0.042,3394.47,3384.56,3404.38,1777.81,2122.94,0,0,0,30.00,30.00,15.20
$GC,235.33,260,-218.98,-1.49,80.00,3393.3,3383.8,3402.9,1777.5,2122.6,30.92,-17.43,31,240.99,0.00,0.00,3.62,0.000,0.000,0.099,3393.06,3383.12,3403.00,1777.44,3475.62,0,0,0,30.00,30.00,15.03
$GC,274.25,1028,-218.98,-1.49,0.00,3393.4,3382.9,3404.0,1777.9,3476.2,37.70,-16.86,39,281.06,0.00,0.00,3.45,0.000,0.000,0.046,3394.06,3383.81,3404.31,1777.81,2080.88,0,0,0,30.00,30.00,15.16
$GC,340.40,516,-218.98,-1.49,-80.00,3393.8,3384.0,3403.7,1777.9,2080.9,48.77,-16.60,46,346.07,0.00,0.00,4.09,0.000,0.000,0.139,3392.88,3382.50,3403.25,1778.06,660.69,0,0,0,30.00,30.00,14.96
$GC,369.26,1028,-218.98,-1.49,0.00,3393.6,3383.4,3403.7,1777.9,660.6,53.68,-15.68,52,376.08,0.00,0.00,3.51,0.000,0.000,0.038,3393.84,3384.00,3403.69,1778.31,2125.88,0,0,0,30.00,30.00,15.25
$GC,435.42,260,-218.98,-1.49,80.00,3393.5,3384.1,3402.9,1777.8,2125.4,62.63,-13.41,59,441.01,0.00,0.00,3.62,0.000,0.000,0.100,3394.44,3385.12,3403.75,1776.81,3474.50,0,0,0,30.00,30.00,15.07
$GC,470.36,1028,-218.98,-1.49,0.00,3393.6,3383.8,3403.3,1778.0,3474.3,68.20,-16.34,66,474.98,0.00,0.00,3.41,0.000,0.000,0.045,3393.31,3383.56,3403.06,1777.62,2080.62,0,0,0,30.00,30.00,15.21
$GC,540.37,516,-218.98,-1.49,-80.00,3393.3,3383.1,3403.4,1778.0,2080.5,78.06,-13.91,74,546.08,0.00,0.00,4.05,0.000,0.000,0.138,3392.62,3382.44,3402.81,1777.81,661.81,0,0,0,30.00,30.00,15.00
$GC,565.81,1028,-218.98,-1.49,0.00,3393.8,3383.9,3403.6,1778.0,661.8,81.31,-13.92,79,571.04,0.00,0.00,3.49,0.000,0.000,0.037,3392.72,3383.12,3402.31,1778.06,2126.25,0,0,0,30.00,30.00,15.30
$GC,630.44,260,-218.98,-1.49,80.00,3393.7,3383.9,3403.4,1777.9,2126.4,89.45,-12.38,86,636.04,0.00,0.00,3.62,0.000,0.000,0.101,3392.91,3383.69,3402.12,1777.38,3474.88,0,0,0,30.00,30.00,15.08
$GC,689.30,1028,-218.98,-1.49,0.00,3393.3,3383.7,3402.9,1778.3,3474.2,97.00,-12.01,98,696.10,0.00,0.00,3.40,0.000,0.000,0.044,3393.91,3383.81,3404.00,1778.06,2079.19,0,0,0,30.00,30.00,15.21
$GC,755.45,516,-218.98,-1.49,-80.00,3393.4,3383.4,3403.5,1778.2,2078.9,104.28,-11.06,105,761.11,0.00,0.00,4.04,0.000,0.000,0.138,3394.84,3385.12,3404.56,1777.75,661.81,0,0,0,30.00,30.00,15.02
$GC,810.86,1028,-218.98,-1.49,0.00,3393.5,3383.6,3403.4,1777.9,662.2,111.03,-13.04,116,816.02,0.00,0.00,3.48,0.000,0.000,0.038,3392.34,3382.94,3401.75,1777.88,2123.25,0,0,0,30.00,30.00,15.32
$GC,875.47,260,-218.98,-1.49,80.00,3393.6,3383.6,3403.6,1778.4,2123.8,118.40,-11.56,123,881.08,0.00,0.00,3.62,0.000,0.000,0.100,3393.69,3383.75,3403.62,1777.19,3476.69,0,0,0,30.00,30.00,15.10
$GC,904.32,1028,-218.98,-1.49,0.00,3393.0,3382.9,3403.1,1777.6,3476.2,122.08,-12.28,129,911.11,0.00,0.00,3.38,0.000,0.000,0.045,3393.97,3383.56,3404.38,1777.19,2079.00,0,0,0,30.00,30.00,15.22
$GC,970.47,0,-218.98,-1.49,0.00,3393.5,3383.6,3403.4,1778.0,2079.1,129.56,-11.63,136,971.80,0.00,0.00,0.00,0.000,0.000,0.000,3393.75,3383.75,3403.75,1778.31,2078.56,0,0,0,30.00,30.00,30.00
$GC,1030.43,516,-218.98,-1.49,-80.00,3393.1,3382.8,3403.4,1777.9,2079.4,136.61,-11.90,142,1036.14,0.00,0.00,4.05,0.000,0.000,0.139,3392.22,3381.88,3402.56,1777.62,663.00,0,0,0,30.00,30.00,15.01
$GC,1045.88,1028,-218.98,-1.49,0.00,3393.6,3383.6,3403.6,1778.2,662.5,138.48,-11.97,145,1051.04,0.00,0.00,3.48,0.000,0.000,0.038,3393.00,3382.62,3403.38,1777.94,2126.56,0,0,0,30.00,30.00,15.33
$STATE,1090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1090,begin apogee
$GC,1091.62,10243,0.00,-0.25,0.00,3393.4,3383.8,3403.0,1778.2,2079.1,143.79,-11.63,150,1265.31,170.59,2.38,0.08,1.137,0.139,0.189,2498.50,2506.25,2490.75,2079.81,2120.44,0,0,0,11.27,15.07,14.36
$STATE,1268,end apogee,CONTROL_FINISHED_OK
$STATE,1268,begin climb
$GC,1268.66,10503,218.98,1.49,80.00,2496.9,2504.9,2488.9,2079.9,2121.5,152.33,0.00,167,1465.82,186.77,3.22,3.94,1.089,0.076,0.104,1604.44,1634.81,1574.06,2506.81,3473.44,0,0,0,11.13,14.53,14.04
$GC,1498.04,1092,218.98,1.53,0.00,1601.1,1632.1,1570.2,2506.9,3474.0,140.72,10.75,212,1504.78,0.00,0.00,3.65,0.000,0.000,0.046,1601.78,1632.69,1570.88,2505.69,2078.88,0,0,0,30.00,30.00,14.41
$GC,1564.05,10791,273.79,1.69,-80.00,1600.1,1632.1,1568.2,2506.5,2078.8,134.32,9.96,219,1619.87,49.17,0.29,4.16,1.038,0.056,0.126,1383.16,1415.19,1351.12,2569.00,662.44,0,0,0,10.98,14.73,14.30
$GC,1647.96,1028,273.79,1.69,0.00,1381.1,1411.7,1350.5,2568.5,662.4,122.90,15.88,236,1654.79,0.00,0.00,3.65,0.000,0.000,0.037,1380.72,1411.69,1349.75,2569.56,2128.31,0,0,0,30.00,30.00,14.67
$GC,1714.11,516,273.79,1.69,-80.00,1378.8,1411.2,1346.4,2568.9,2128.6,114.96,12.01,243,1719.80,0.00,0.00,4.18,0.000,0.000,0.119,1378.91,1411.81,1346.00,2568.69,660.38,0,0,0,30.00,30.00,14.65
$GC,1789.51,1028,273.79,1.69,0.00,1378.5,1410.5,1346.4,2569.4,660.5,103.59,15.81,258,1794.69,0.00,0.00,3.56,0.000,0.000,0.037,1378.56,1410.69,1346.44,2567.81,2129.25,0,0,0,30.00,30.00,15.06
$GC,1854.07,516,273.79,1.69,-80.00,1377.4,1410.2,1344.6,2569.2,2129.2,94.48,13.58,265,1859.82,0.00,0.00,4.14,0.000,0.000,0.118,1376.94,1410.12,1343.75,2568.88,661.81,0,0,0,30.00,30.00,14.83
$GC,1913.00,1028,273.79,1.69,0.00,1377.7,1410.8,1344.6,2568.4,661.6,85.68,14.50,277,1919.81,0.00,0.00,3.52,0.000,0.000,0.036,1377.81,1410.81,1344.81,2568.94,2129.62,0,0,0,30.00,30.00,15.15
$GC,1979.08,260,273.79,1.69,80.00,1377.4,1410.5,1344.2,2569.1,2129.9,77.32,12.64,284,1984.75,0.00,0.00,3.62,0.000,0.000,0.099,1377.59,1410.50,1344.69,2569.12,3475.56,0,0,0,30.00,30.00,14.96
$GC,1998.00,1028,273.79,1.69,0.00,1377.0,1409.9,1344.1,2568.8,3476.0,74.71,12.75,288,2004.80,0.00,0.00,3.43,0.000,0.000,0.043,1377.44,1410.19,1344.69,2569.06,2076.19,0,0,0,30.00,30.00,15.10
$GC,2064.15,516,273.79,1.69,-80.00,1377.1,1409.9,1344.3,2569.1,2075.8,66.66,12.06,295,2069.80,0.00,0.00,3.95,0.000,0.000,0.123,1376.09,1409.12,1343.06,2568.94,662.25,0,0,0,30.00,30.00,14.92
$GC,2089.54,1028,273.79,1.69,0.00,1377.1,1409.8,1344.4,2569.4,662.2,63.69,12.27,300,2094.71,0.00,0.00,3.49,0.000,0.000,0.037,1376.41,1409.19,1343.62,2569.31,2130.38,0,0,0,30.00,30.00,15.24
$GC,2154.11,8742,333.62,1.87,-80.00,1376.8,1409.5,1344.1,2569.5,2130.6,57.11,9.77,307,2226.73,65.42,0.00,4.18,0.985,0.000,0.123,1140.56,1173.75,1107.38,2568.56,661.75,0,0,0,11.20,30.00,14.69
$GC,2395.44,3141,333.62,1.90,0.00,1138.1,1170.0,1106.2,2569.4,661.7,31.47,10.99,354,2400.68,0.00,0.21,3.53,0.000,0.058,0.040,1138.03,1170.19,1105.88,2620.88,2130.69,0,0,0,30.00,14.95,15.17
$GC,2459.99,10791,404.01,2.11,-80.00,1137.0,1169.9,1104.1,2622.1,2130.5,25.30,9.38,361,2542.81,74.17,0.20,4.19,0.957,0.066,0.120,853.19,882.44,823.94,2670.00,661.62,0,0,0,11.17,15.20,14.63
$STATE,2644,end climb,SURFACE_DEPTH_REACHED
$STATE,2644,begin surface coast
$STATE,2654,end surface coast,CONTROL_FINISHED_OK
$STATE,2654,begin surface
$SM_CCo,2759.10,67.18,0.960,0,564.2,561.9,566.4,474.86
$SM_CCo,2760.20,0.00,0.011,0,563.9,561.2,566.6,474.92
$SM_CCo,2761.22,0.00,0.000,0,563.8,561.2,566.4,474.95
$SM_GC,-0.43,0.00,17.89,3.52,0.000,0.068,0.038,563.8,561.2,566.4,176.6,2122.3,0,0,0,30.00,14.89,15.13
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4707.10,-12459.52,250421,050410
$TCM_TEMP,176.88
$XPDR_PINGS,12,14.0,11.5
$SC_FREEKB,3385056
$HUMID,59.64
$TEMP,8.98
$INTERNAL_PRESSURE,7.82772
$24V_AH,13.75,335.165
$10V_AH,14.35,0.000
$FG_AHR_24Vo,293.869
$FG_AHR_10Vo,79.500
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,715.165,39.430,127.015,146.787,3.000,33.999,1980.063,1043.649,799.829,0.000,0.000,0.000
$DEVICE_MAMPS,1137.256,267.072,188.680,187.752,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2724.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.479,0.000,0.000,0.000
$MEM,1103616,41,73472,56
$DATA_FILE_SIZE,13029,400
$CAP_FILE_SIZE,287892,0
$SDSIZE,3918848,3580832
$SDFILEDIR,6211,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250421,064712,4706.524,-12457.317,0,0.8,3,15.5