version: 67.00
glider: 236
mission: 2
dive: 14
start: 9 29 120 7 42 47
data:
$ID,236
$MISSION,2
$DIVE,14
$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,380
$T_MISSION,410
$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,130
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72660
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,525
$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,2180
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,25
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,670
$ROLL_MAX,3465
$ROLL_DEG,80
$C_ROLL_DIVE,2067
$C_ROLL_CLIMB,2067
$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,2750
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$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,5.3380866
$FG_AHR_24V,9.1806393
$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,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,290920,073601,4737.879,-12550.320,28,0.7,29,15.8
$_CALLS,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-63.8
$GPS2,290920,074228,4737.962,-12550.470,3,0.6,5,15.8
$SPEED_LIMITS,0.150,0.230
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,241.2,112496,-16.7,-8.684,-20.69
$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,6.11,16386,-126.52,-0.82,0.00,497.6,503.5,491.7,181.4,2081.9,0.00,0.00,0,79.41,72.82,0.00,0.00,0.005,0.000,0.000,2161.91,2146.44,2177.38,181.44,2081.75,0,0,0,15.66,30.00,30.00
$GC,79.64,18727,-126.52,-0.82,80.00,2161.4,2146.8,2176.0,181.6,2081.8,3.22,-3.78,14,127.82,26.28,13.96,3.50,0.006,0.274,0.143,3264.72,3262.00,3267.44,1979.56,3473.44,0,0,0,15.69,15.62,15.64
$GC,210.52,1028,-126.52,-0.82,0.00,3265.0,3261.4,3268.6,1979.9,3473.8,26.06,-15.44,40,216.25,0.00,0.00,3.40,0.000,0.000,0.082,3265.53,3262.31,3268.75,1980.19,2050.44,0,0,0,30.00,30.00,15.75
$GC,395.62,676,-126.52,-0.90,-80.00,3265.0,3261.6,3268.5,1979.6,2049.8,48.13,-8.52,77,401.33,0.00,0.00,3.63,0.000,0.000,0.188,3265.62,3262.56,3268.69,1979.94,663.50,0,0,0,30.00,30.00,15.76
$GC,510.64,5253,-126.52,-0.98,0.00,3265.1,3261.7,3268.5,1980.4,663.5,60.83,-10.82,100,516.41,0.00,0.34,3.33,0.000,0.082,0.072,3265.88,3262.62,3269.12,1927.75,2084.00,0,0,0,30.00,15.81,15.83
$GC,695.72,260,-126.52,-0.98,80.00,3265.7,3263.0,3268.4,1926.8,2084.8,83.05,-12.77,137,701.41,0.00,0.00,3.43,0.000,0.000,0.138,3266.47,3263.88,3269.06,1927.75,3472.69,0,0,0,30.00,30.00,15.83
$GC,735.73,1028,-126.52,-0.98,0.00,3265.8,3262.8,3268.8,1927.0,3473.2,87.96,-12.06,145,741.42,0.00,0.00,3.35,0.000,0.000,0.074,3266.03,3262.94,3269.12,1927.06,2049.38,0,0,0,30.00,30.00,15.85
$GC,920.78,516,-126.52,-0.98,-80.00,3266.2,3263.7,3268.8,1927.2,2049.2,107.97,-11.12,175,926.45,0.00,0.00,3.62,0.000,0.000,0.195,3269.16,3266.00,3272.31,1927.38,662.69,0,0,0,30.00,30.00,15.87
$GC,969.74,1028,-126.52,-0.98,0.00,3266.9,3264.4,3269.4,1926.9,662.7,113.96,-12.19,185,976.49,0.00,0.00,3.34,0.000,0.000,0.078,3266.09,3263.44,3268.75,1927.31,2083.25,0,0,0,30.00,30.00,15.91
$GC,1275.88,128,-126.52,-1.02,0.00,3266.7,3264.6,3268.7,1926.8,2083.0,141.86,-9.87,216,1277.21,0.00,0.00,0.00,0.000,0.000,0.000,3267.44,3265.00,3269.88,1926.88,2082.56,0,0,0,30.00,30.00,30.00
$GC,1575.95,128,-126.52,-1.07,0.00,3266.3,3263.7,3268.9,1927.1,2082.4,172.48,-9.11,246,1577.27,0.00,0.00,0.00,0.000,0.000,0.000,3267.25,3265.44,3269.06,1927.19,2082.62,0,0,0,30.00,30.00,30.00
$GC,1876.01,128,-126.52,-1.13,0.00,3265.8,3263.7,3267.9,1927.8,2083.1,201.23,-10.28,276,1877.34,0.00,0.00,0.00,0.000,0.000,0.000,3267.31,3265.06,3269.56,1927.31,2082.75,0,0,0,30.00,30.00,30.00
$GC,2176.07,4225,-126.52,-1.19,0.00,3266.7,3264.7,3268.7,1927.2,2082.6,231.77,-10.21,306,2177.52,0.00,0.25,0.00,0.000,0.093,0.000,3268.84,3266.50,3271.19,1875.00,2082.88,0,0,0,30.00,16.01,30.00
$GC,2476.15,0,-126.52,-1.19,0.00,3265.8,3263.9,3267.8,1874.9,2082.8,268.94,-12.89,336,2477.48,0.00,0.00,0.00,0.000,0.000,0.000,3266.41,3264.75,3268.06,1874.75,2082.81,0,0,0,30.00,30.00,30.00
$GC,2776.14,0,-126.52,-1.19,0.00,3265.8,3264.1,3267.5,1874.9,2082.7,302.82,-10.80,366,2777.47,0.00,0.00,0.00,0.000,0.000,0.000,3266.53,3264.88,3268.19,1874.31,2082.81,0,0,0,30.00,30.00,30.00
$GC,3076.17,0,-126.52,-1.19,0.00,3265.2,3264.0,3266.5,1874.6,2082.3,337.10,-11.94,396,3077.50,0.00,0.00,0.00,0.000,0.000,0.000,3265.66,3264.00,3267.31,1874.31,2083.06,0,0,0,30.00,30.00,30.00
$GC,3376.20,0,-126.52,-1.19,0.00,3265.3,3264.1,3266.6,1874.5,2083.2,368.40,-10.23,426,3377.53,0.00,0.00,0.00,0.000,0.000,0.000,3265.72,3264.62,3266.81,1874.69,2082.62,0,0,0,30.00,30.00,30.00
$GC,3676.24,260,-126.52,-1.19,80.00,3264.1,3263.3,3264.8,1874.6,2082.9,399.08,-10.69,456,3680.88,0.00,0.00,3.47,0.000,0.000,0.157,3264.78,3263.50,3266.06,1874.31,3473.06,0,0,0,30.00,30.00,16.06
$GC,3716.26,1028,-126.52,-1.19,0.00,3264.0,3262.6,3265.5,1874.2,3473.4,403.74,-11.30,464,3720.87,0.00,0.00,3.35,0.000,0.000,0.092,3265.31,3263.62,3267.00,1874.88,2050.56,0,0,0,30.00,30.00,16.09
$GC,4026.29,0,-126.52,-1.19,0.00,3263.2,3262.8,3263.7,1874.4,2050.1,438.92,-11.85,496,4027.61,0.00,0.00,0.00,0.000,0.000,0.000,3263.75,3263.56,3263.94,1874.44,2050.50,0,0,0,30.00,30.00,30.00
$GC,4326.32,0,-126.52,-1.19,0.00,3262.9,3262.8,3263.1,1874.4,2050.2,474.29,-12.21,526,4327.65,0.00,0.00,0.00,0.000,0.000,0.000,3263.84,3264.19,3263.50,1874.44,2050.44,0,0,0,30.00,30.00,30.00
$GC,4626.35,0,-126.52,-1.19,0.00,3262.3,3263.0,3261.7,1874.8,2050.1,508.27,-10.83,556,4627.68,0.00,0.00,0.00,0.000,0.000,0.000,3263.50,3263.81,3263.19,1874.25,2050.00,0,0,0,30.00,30.00,30.00
$GC,4926.38,260,-126.52,-1.19,80.00,3261.7,3262.6,3260.8,1874.4,2050.2,540.14,-10.13,586,4931.03,0.00,0.00,3.58,0.000,0.000,0.163,3260.84,3261.81,3259.88,1875.25,3474.81,0,0,0,30.00,30.00,16.10
$GC,4956.39,1028,-126.52,-1.19,0.00,3261.3,3262.6,3260.0,1874.7,3473.9,543.31,-10.18,592,4961.01,0.00,0.00,3.36,0.000,0.000,0.098,3262.88,3263.56,3262.19,1873.25,2053.44,0,0,0,30.00,30.00,16.11
$GC,5266.43,260,-126.52,-1.19,80.00,3260.6,3262.0,3259.1,1874.1,2053.0,572.84,-9.27,624,5271.08,0.00,0.00,3.56,0.000,0.000,0.165,3260.97,3262.31,3259.62,1872.75,3473.31,0,0,0,30.00,30.00,16.10
$GC,5310.38,1028,-126.52,-1.19,0.00,3260.5,3261.6,3259.4,1874.1,3473.0,577.86,-10.89,633,5317.12,0.00,0.00,3.36,0.000,0.000,0.099,3260.69,3261.69,3259.69,1874.00,2052.50,0,0,0,30.00,30.00,16.11
$GC,5616.47,0,-126.52,-1.19,0.00,3260.3,3261.8,3258.9,1874.8,2053.1,609.07,-10.09,664,5617.80,0.00,0.00,0.00,0.000,0.000,0.000,3261.03,3262.69,3259.38,1874.19,2052.94,0,0,0,30.00,30.00,30.00
$GC,5916.50,0,-126.52,-1.19,0.00,3260.0,3261.2,3258.8,1874.5,2053.0,641.38,-11.25,694,5917.83,0.00,0.00,0.00,0.000,0.000,0.000,3258.59,3259.88,3257.31,1874.69,2052.88,0,0,0,30.00,30.00,30.00
$GC,6216.53,0,-126.52,-1.19,0.00,3259.5,3260.5,3258.4,1874.7,2052.4,673.92,-10.07,724,6217.86,0.00,0.00,0.00,0.000,0.000,0.000,3258.84,3259.50,3258.19,1874.38,2052.88,0,0,0,30.00,30.00,30.00
$GC,6516.58,516,-126.52,-1.19,-80.00,3259.1,3259.8,3258.4,1874.4,2052.8,702.51,-9.72,754,6522.26,0.00,0.00,3.70,0.000,0.000,0.234,3259.12,3259.81,3258.44,1872.38,664.06,0,0,0,30.00,30.00,16.07
$GC,6551.62,1028,-126.52,-1.19,0.00,3259.2,3259.9,3258.6,1874.1,663.9,705.88,-9.62,761,6556.22,0.00,0.00,3.40,0.000,0.000,0.116,3259.88,3261.12,3258.62,1874.81,2078.62,0,0,0,30.00,30.00,16.12
$GC,6861.68,128,-126.52,-1.23,0.00,3258.6,3259.4,3257.8,1874.2,2078.1,733.81,-9.16,793,6863.01,0.00,0.00,0.00,0.000,0.000,0.000,3258.19,3259.00,3257.38,1874.12,2078.56,0,0,0,30.00,30.00,30.00
$GC,7161.74,128,-126.52,-1.27,0.00,3258.3,3258.9,3257.7,1874.6,2078.8,760.96,-10.31,823,7163.07,0.00,0.00,0.00,0.000,0.000,0.000,3257.31,3258.12,3256.50,1874.38,2078.44,0,0,0,30.00,30.00,30.00
$GC,7461.80,388,-126.52,-1.31,80.00,3257.9,3258.7,3257.2,1874.5,2077.9,792.42,-10.64,853,7466.44,0.00,0.00,3.51,0.000,0.000,0.171,3260.84,3261.44,3260.25,1874.44,3473.69,0,0,0,30.00,30.00,16.11
$GC,7511.83,1156,-126.52,-1.34,0.00,3257.8,3257.9,3257.6,1875.2,3473.1,798.09,-11.17,863,7516.43,0.00,0.00,3.40,0.000,0.000,0.103,3258.59,3259.12,3258.06,1874.19,2054.19,0,0,0,30.00,30.00,16.13
$GC,7821.91,4257,-126.52,-1.38,0.00,3257.4,3257.8,3257.1,1873.9,2054.2,828.98,-8.31,895,7823.36,0.00,0.20,0.00,0.000,0.105,0.000,3258.66,3258.56,3258.75,1829.44,2053.94,0,0,0,30.00,16.12,30.00
$GC,8121.95,0,-126.52,-1.38,0.00,3257.1,3257.4,3256.8,1830.2,2054.2,862.92,-11.50,925,8123.27,0.00,0.00,0.00,0.000,0.000,0.000,3257.06,3257.50,3256.62,1830.44,2054.00,0,0,0,30.00,30.00,30.00
$GC,8422.00,0,-126.52,-1.38,0.00,3256.3,3255.8,3256.9,1830.1,2054.0,893.92,-9.61,955,8423.33,0.00,0.00,0.00,0.000,0.000,0.000,3255.84,3255.31,3256.38,1830.00,2053.75,0,0,0,30.00,30.00,30.00
$GC,8722.06,0,-126.52,-1.38,0.00,3255.8,3255.9,3255.8,1830.2,2054.5,926.07,-10.88,985,8723.39,0.00,0.00,0.00,0.000,0.000,0.000,3255.31,3255.50,3255.12,1830.31,2053.88,0,0,0,30.00,30.00,30.00
$GC,9022.10,0,-126.52,-1.38,0.00,3255.6,3255.5,3255.8,1830.2,2054.1,958.37,-10.09,1015,9023.43,0.00,0.00,0.00,0.000,0.000,0.000,3254.34,3254.69,3254.00,1830.38,2053.94,0,0,0,30.00,30.00,30.00
$STATE,9322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9322,begin apogee
$GC,9323.30,10243,0.00,-0.20,0.00,3255.5,3255.7,3255.4,1830.1,2077.0,990.83,-11.05,1045,9434.79,105.25,2.12,0.05,2.356,0.164,0.406,2750.69,2763.12,2738.25,2132.81,2057.50,0,0,0,13.16,16.11,15.35
$STATE,9439,end apogee,CONTROL_FINISHED_OK
$STATE,9439,begin climb
$GC,9439.14,10759,126.52,0.82,-80.00,2746.9,2759.8,2734.1,2132.6,2057.2,991.18,0.00,1056,9564.91,115.40,1.65,4.07,2.289,0.091,0.220,2230.34,2256.06,2204.62,2386.19,664.25,0,0,0,12.67,15.42,14.96
$GC,9602.65,9382,220.23,0.85,0.00,2225.8,2250.7,2200.9,2386.2,664.1,989.52,4.30,1088,9694.94,84.74,0.00,3.60,2.239,0.000,0.096,1850.84,1907.50,1794.19,2385.44,2079.44,0,0,0,12.57,30.00,15.23
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$GC,15398.58,1156,260.25,1.06,0.00,1682.1,1738.9,1625.2,2454.2,3471.8,406.59,12.42,1736,15403.15,0.00,0.00,3.40,0.000,0.000,0.093,1682.16,1739.12,1625.19,2454.25,2051.25,0,0,0,30.00,30.00,16.01
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$STATE,19654,end climb,SURFACE_DEPTH_REACHED
$STATE,19654,begin surface coast
$STATE,19679,end surface coast,CONTROL_FINISHED_OK
$STATE,19679,begin surface
$SM_CCo,19751.43,47.03,1.148,0,610.5,606.8,614.3,524.81
$SM_CCo,19752.54,0.00,0.017,0,610.0,606.4,613.6,524.95
$SM_CCo,19753.63,0.00,2.824,0,611.3,607.8,614.8,524.63
$SM_GC,1.20,0.00,15.37,3.37,2.824,0.073,0.070,611.3,607.8,614.8,183.1,2090.2,0,0,0,30.36,15.68,15.72
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4739.52,-12548.24,290920,024039
$TCM_TEMP,190.91
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3872992
$HUMID,54.95
$TEMP,7.96
$INTERNAL_PRESSURE,7.77106
$24V_AH,14.47,6.736
$10V_AH,14.95,0.000
$FG_AHR_24Vo,9.499
$FG_AHR_10Vo,5.426
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,657.445,36.695,183.260,284.873,0.750,14.057,6634.592,13388.012,3969.831,0.000,0.000,0.000
$DEVICE_MAMPS,2824.160,273.960,406.472,242.532,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19703.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.260,0.000,0.000,0.000
$MEM,1162728,31,14660,51
$DATA_FILE_SIZE,86584,2322
$CAP_FILE_SIZE,428275,0
$SDSIZE,3918848,3905536
$SDFILEDIR,86,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.332,251.8,1
$GPS,290920,131231,4736.854,-12555.460,22,1.7,23,15.8