version: 67.00
glider: 236
mission: 2
dive: 1240
start: 4 25 121 8 44 32
data:
$ID,236
$MISSION,2
$DIVE,1240
$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,490.59998
$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,79.525352
$FG_AHR_24V,294.26727
$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
$GPS1,250421,083300,4706.382,-12457.067,3,1.7,31,15.5
$_CALLS,5
$_SM_DEPTHo,-1.58
$_SM_ANGLEo,-63.4
$GPS2,250421,084414,4706.278,-12456.968,3,0.6,5,15.5
$SPEED_LIMITS,0.208,0.328
$TGT_NAME,HEADING
$TGT_LATLONG,4713.914,-12445.723
$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,139
$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,8.69,16386,-218.98,-1.49,0.00,559.0,556.6,561.3,166.6,2080.8,0.00,0.00,0,95.45,86.35,0.00,0.00,0.005,0.000,0.000,2545.12,2524.31,2565.94,166.50,2080.31,0,0,0,13.01,30.00,30.00
$GC,95.73,18983,-218.98,-1.49,-80.00,2544.1,2523.9,2564.2,166.9,2080.6,3.40,-7.56,9,138.77,17.95,15.18,4.12,0.006,0.258,0.143,3393.38,3384.88,3401.88,1777.50,662.81,0,0,0,13.03,14.68,14.30
$GC,187.43,1028,-218.98,-1.49,0.00,3392.7,3384.2,3401.2,1778.2,662.9,21.36,-17.58,27,192.63,0.00,0.00,3.56,0.000,0.000,0.042,3392.56,3383.62,3401.50,1777.25,2124.50,0,0,0,30.00,30.00,15.20
$GC,251.99,260,-218.98,-1.49,80.00,3392.7,3383.6,3401.8,1778.4,2124.6,31.71,-15.70,34,257.65,0.00,0.00,3.65,0.000,0.000,0.102,3392.03,3383.62,3400.44,1778.00,3474.38,0,0,0,30.00,30.00,14.99
$GC,300.92,1028,-218.98,-1.49,0.00,3393.0,3384.4,3401.6,1778.1,3475.2,40.01,-15.85,44,307.71,0.00,0.00,3.46,0.000,0.000,0.049,3393.97,3384.88,3403.06,1777.31,2080.12,0,0,0,30.00,30.00,15.12
$GC,367.06,516,-218.98,-1.49,-80.00,3392.3,3383.5,3401.1,1777.9,2080.2,50.01,-15.05,51,372.75,0.00,0.00,4.12,0.000,0.000,0.142,3392.91,3383.62,3402.19,1778.19,660.88,0,0,0,30.00,30.00,14.91
$GC,412.46,1028,-218.98,-1.49,0.00,3392.9,3383.8,3402.0,1778.3,661.3,57.19,-14.68,60,417.65,0.00,0.00,3.53,0.000,0.000,0.040,3393.62,3384.69,3402.56,1778.31,2125.25,0,0,0,30.00,30.00,15.23
$GC,477.01,260,-218.98,-1.49,80.00,3393.0,3383.8,3402.2,1778.3,2124.9,65.77,-13.08,67,482.67,0.00,0.00,3.63,0.000,0.000,0.101,3391.88,3382.44,3401.31,1778.06,3476.19,0,0,0,30.00,30.00,15.02
$GC,532.03,1028,-218.98,-1.49,0.00,3392.5,3383.6,3401.4,1778.3,3475.6,73.56,-14.47,78,536.64,0.00,0.00,3.42,0.000,0.000,0.048,3392.69,3383.50,3401.88,1777.88,2079.75,0,0,0,30.00,30.00,15.16
$GC,602.03,516,-218.98,-1.49,-80.00,3392.8,3383.9,3401.6,1778.1,2079.5,82.89,-13.31,86,607.75,0.00,0.00,4.06,0.000,0.000,0.139,3393.38,3384.75,3402.00,1777.56,662.00,0,0,0,30.00,30.00,14.95
$GC,640.95,1028,-218.98,-1.49,0.00,3392.6,3383.7,3401.5,1778.4,662.0,88.24,-14.52,94,647.75,0.00,0.00,3.49,0.000,0.000,0.039,3392.69,3384.25,3401.12,1778.06,2124.44,0,0,0,30.00,30.00,15.24
$GC,707.10,260,-218.98,-1.49,80.00,3392.6,3383.6,3401.6,1778.1,2124.2,96.34,-12.13,101,712.68,0.00,0.00,3.59,0.000,0.000,0.100,3391.88,3382.94,3400.81,1778.25,3476.94,0,0,0,30.00,30.00,15.05
$GC,745.96,1028,-218.98,-1.49,0.00,3392.9,3384.1,3401.7,1778.3,3476.8,101.64,-13.59,109,752.74,0.00,0.00,3.38,0.000,0.000,0.045,3393.50,3384.50,3402.50,1778.06,2080.81,0,0,0,30.00,30.00,15.18
$GC,812.11,516,-218.98,-1.49,-80.00,3392.4,3383.5,3401.2,1778.3,2080.0,109.76,-12.10,116,817.77,0.00,0.00,4.03,0.000,0.000,0.139,3391.69,3382.81,3400.56,1778.44,662.31,0,0,0,30.00,30.00,14.97
$GC,837.50,1028,-218.98,-1.49,0.00,3392.6,3383.6,3401.6,1778.1,662.1,112.88,-11.49,121,842.67,0.00,0.00,3.48,0.000,0.000,0.038,3392.69,3383.81,3401.56,1778.31,2125.19,0,0,0,30.00,30.00,15.28
$GC,902.13,516,-218.98,-1.49,-80.00,3392.3,3383.4,3401.2,1778.1,2125.4,120.70,-11.81,128,907.80,0.00,0.00,4.16,0.000,0.000,0.137,3392.97,3384.00,3401.94,1778.50,662.19,0,0,0,30.00,30.00,14.98
$GC,930.97,1028,-218.98,-1.49,0.00,3392.1,3382.8,3401.4,1778.5,662.3,124.77,-13.59,134,937.77,0.00,0.00,3.47,0.000,0.000,0.037,3393.28,3384.50,3402.06,1777.88,2124.81,0,0,0,30.00,30.00,15.27
$GC,997.12,260,-218.98,-1.49,80.00,3392.7,3383.8,3401.5,1777.9,2124.9,133.39,-12.92,141,1002.70,0.00,0.00,3.57,0.000,0.000,0.101,3392.06,3383.25,3400.88,1777.94,3476.31,0,0,0,30.00,30.00,15.06
$STATE,1036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1036,begin apogee
$GC,1040.76,10243,0.00,-0.25,0.00,3393.0,3383.9,3402.1,1778.3,2079.2,139.10,-14.21,149,1218.08,172.51,2.40,0.09,1.130,0.138,0.179,2500.00,2507.06,2492.94,2079.81,2127.00,0,0,0,11.16,15.03,14.28
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1221.45,10503,218.98,1.49,80.00,2497.0,2505.1,2489.0,2080.4,2127.0,149.87,0.00,167,1419.08,187.32,3.26,3.92,1.082,0.077,0.103,1605.12,1635.88,1574.38,2505.56,3473.81,0,0,0,11.11,14.45,13.94
$GC,1487.33,1092,218.98,1.51,0.00,1600.2,1631.4,1569.1,2505.5,3474.1,134.98,11.44,219,1492.96,0.00,0.00,3.61,0.000,0.000,0.048,1599.66,1630.69,1568.62,2506.62,2078.06,0,0,0,30.00,30.00,14.45
$GC,1552.33,580,218.98,1.54,-80.00,1599.5,1631.8,1567.1,2505.8,2078.2,127.97,10.91,226,1558.05,0.00,0.00,4.16,0.000,0.000,0.129,1599.16,1631.56,1566.75,2505.62,662.50,0,0,0,30.00,30.00,14.48
$GC,1697.79,17414,218.98,1.54,0.00,1598.8,1630.7,1567.0,2506.0,662.1,106.92,16.06,255,1702.98,0.00,0.00,3.57,0.000,0.000,0.042,1599.22,1630.81,1567.62,2505.88,2128.00,0,0,0,30.00,30.00,15.04
$GC,1762.36,16646,218.98,1.54,80.00,1598.2,1630.7,1565.6,2505.3,2127.4,98.95,11.58,262,1768.02,0.00,0.00,3.66,0.000,0.000,0.101,1598.56,1631.12,1566.00,2506.19,3475.12,0,0,0,30.00,30.00,14.87
$GC,1791.26,17414,218.98,1.54,0.00,1597.4,1629.7,1565.2,2505.8,3474.6,95.00,13.16,268,1798.07,0.00,0.00,3.44,0.000,0.000,0.045,1597.56,1629.88,1565.25,2505.75,2075.88,0,0,0,30.00,30.00,15.01
$GC,1857.43,10791,274.59,1.71,-80.00,1597.4,1629.8,1565.1,2505.8,2075.8,88.73,9.93,275,1924.44,60.51,0.31,4.06,0.996,0.056,0.126,1379.28,1411.12,1347.44,2573.12,661.94,0,0,0,11.12,15.22,14.57
$GC,1993.12,1028,274.59,1.71,0.00,1378.2,1409.0,1347.4,2572.9,662.0,73.04,13.20,302,1998.29,0.00,0.00,3.60,0.000,0.000,0.041,1378.41,1409.56,1347.25,2571.81,2129.06,0,0,0,30.00,30.00,14.98
$GC,2057.68,10791,351.28,1.94,-80.00,1376.9,1409.1,1344.7,2573.1,2128.1,67.14,9.15,309,2150.78,85.06,0.23,4.26,0.972,0.059,0.124,1068.12,1099.62,1036.62,2620.31,662.00,0,0,0,11.07,15.12,14.44
$GC,2162.93,1028,351.28,1.94,0.00,1067.6,1098.9,1036.2,2620.3,661.9,54.54,13.14,330,2169.76,0.00,0.00,3.65,0.000,0.000,0.038,1067.84,1099.31,1036.38,2620.50,2128.38,0,0,0,30.00,30.00,14.70
$GC,2229.02,580,351.28,1.98,-80.00,1065.8,1098.8,1032.8,2621.0,2128.2,47.42,10.72,337,2234.74,0.00,0.00,4.19,0.000,0.000,0.121,1065.66,1098.38,1032.94,2621.06,662.81,0,0,0,30.00,30.00,14.70
$GC,2277.93,1028,351.28,1.98,0.00,1065.5,1097.9,1033.0,2621.3,663.0,41.30,12.14,347,2284.74,0.00,0.00,3.57,0.000,0.000,0.040,1065.81,1098.50,1033.12,2619.00,2128.31,0,0,0,30.00,30.00,15.05
$GC,2344.03,324,351.28,2.01,80.00,1064.6,1097.9,1031.3,2620.8,2128.9,34.20,10.89,354,2349.67,0.00,0.00,3.62,0.000,0.000,0.100,1064.09,1097.88,1030.31,2619.44,3475.06,0,0,0,30.00,30.00,14.92
$GC,2372.93,1028,351.28,2.01,0.00,1063.9,1097.8,1030.0,2620.4,3475.8,30.74,11.71,360,2379.73,0.00,0.00,3.42,0.000,0.000,0.043,1063.75,1097.56,1029.94,2620.94,2075.88,0,0,0,30.00,30.00,15.04
$GC,2439.10,580,351.28,2.06,-80.00,1063.7,1097.7,1029.7,2621.2,2075.8,24.06,10.26,367,2444.74,0.00,0.00,3.96,0.000,0.000,0.125,1063.38,1097.69,1029.06,2620.56,662.75,0,0,0,30.00,30.00,14.90
$GC,2558.01,1028,351.28,2.06,0.00,1063.5,1097.6,1029.4,2620.5,662.2,10.50,11.60,391,2564.78,0.00,0.00,3.51,0.000,0.000,0.037,1063.91,1098.06,1029.75,2620.62,2130.50,0,0,0,30.00,30.00,15.21
$GC,2624.06,10791,440.52,2.33,-80.00,1063.1,1097.7,1028.5,2620.8,2130.5,4.44,8.68,398,2648.61,23.39,0.56,0.00,0.911,0.044,0.000,977.19,1009.75,944.62,2715.12,2130.25,0,0,0,11.15,15.29,30.00
$STATE,2649,end climb,SURFACE_DEPTH_REACHED
$STATE,2649,begin surface coast
$STATE,2674,end surface coast,CONTROL_FINISHED_OK
$STATE,2674,begin surface
$SM_CCo,2812.18,110.16,0.962,0,500.2,497.7,502.6,490.56
$SM_CCo,2813.30,0.00,2.490,0,501.6,498.3,504.9,490.20
$SM_CCo,2814.90,0.86,0.120,0,501.2,497.6,504.9,490.30
$SM_GC,-0.71,0.86,17.98,0.11,0.120,0.059,0.126,501.2,497.6,504.9,167.7,2071.6,0,0,0,14.56,14.91,15.10
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4706.71,-12455.12,250421,084207
$TCM_TEMP,175.36
$XPDR_PINGS,14,14.0,11.5
$SC_FREEKB,3383904
$HUMID,59.80
$TEMP,9.06
$INTERNAL_PRESSURE,7.82226
$24V_AH,13.33,335.789
$10V_AH,14.18,0.000
$FG_AHR_24Vo,294.459
$FG_AHR_10Vo,79.536
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,744.125,39.920,126.555,212.204,3.500,14.403,2026.904,1294.219,810.875,0.000,0.000,0.000
$DEVICE_MAMPS,2489.600,257.560,178.840,124.761,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2738.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.490,0.000,0.000,0.000
$MEM,1103596,42,73472,56
$DATA_FILE_SIZE,16194,406
$CAP_FILE_SIZE,293571,0
$SDSIZE,3918848,3580032
$SDFILEDIR,6230,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$GPS,250421,093139,4706.246,-12456.866,1,0.7,4,15.5