version: 67.00
glider: 236
mission: 2
dive: 185
start: 11 7 120 20 2 57
data:
$ID,236
$MISSION,2
$DIVE,185
$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,4
$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,21.172064
$FG_AHR_24V,51.362881
$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
$GPS1,071120,195606,4751.897,-12513.380,62,0.8,67,15.8
$_CALLS,1
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-60.3
$GPS2,071120,200240,4751.831,-12513.448,2,0.7,4,15.8
$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,209.9,12068,-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,6.61,16386,-77.86,-1.25,0.00,763.2,771.4,755.1,171.4,2116.8,0.00,0.00,0,79.60,72.51,0.00,0.00,0.005,0.000,0.000,2386.41,2371.38,2401.44,171.38,2117.44,0,0,0,15.68,30.00,30.00
$GC,79.93,18727,-77.86,-1.25,80.00,2385.8,2370.5,2401.1,171.1,2117.5,3.47,-4.54,14,111.78,10.55,13.69,3.75,0.007,0.263,0.122,2816.00,2813.81,2818.19,1835.69,3474.00,0,0,0,15.73,15.68,15.68
$GC,334.57,1028,-77.86,-1.25,0.00,2816.0,2813.8,2818.2,1835.7,3474.1,55.85,-15.64,65,340.33,0.00,0.00,3.43,0.000,0.000,0.064,2818.06,2815.56,2820.56,1835.94,2084.00,0,0,0,30.00,30.00,15.85
$GC,519.61,260,-77.86,-1.25,80.00,2816.8,2814.9,2818.8,1836.0,2083.8,79.63,-12.84,102,525.39,0.00,0.00,3.78,0.000,0.000,0.118,2818.19,2816.06,2820.31,1835.81,3473.56,0,0,0,30.00,30.00,15.89
$GC,749.68,1028,-77.86,-1.25,0.00,2817.0,2815.1,2818.8,1836.0,3473.5,112.19,-12.54,148,754.33,0.00,0.00,3.42,0.000,0.000,0.064,2817.50,2815.88,2819.12,1835.88,2083.75,0,0,0,30.00,30.00,15.94
$GC,1059.72,260,-77.86,-1.25,80.00,2817.4,2815.9,2818.8,1835.8,2083.8,143.79,-9.52,180,1065.43,0.00,0.00,3.74,0.000,0.000,0.119,2816.75,2815.25,2818.25,1835.44,3472.25,0,0,0,30.00,30.00,15.97
$GC,1228.64,1028,-77.86,-1.25,0.00,2817.8,2816.4,2819.2,1836.0,3471.8,163.34,-12.30,214,1235.53,0.00,0.00,3.41,0.000,0.000,0.064,2818.97,2817.38,2820.56,1835.69,2084.06,0,0,0,30.00,30.00,16.00
$GC,1534.86,260,-77.86,-1.25,80.00,2817.1,2815.8,2818.5,1835.8,2083.6,196.61,-11.38,245,1540.57,0.00,0.00,3.73,0.000,0.000,0.120,2815.56,2813.50,2817.62,1835.50,3474.00,0,0,0,30.00,30.00,16.02
$GC,1623.79,1028,-77.86,-1.25,0.00,2817.3,2816.1,2818.5,1835.6,3472.3,208.12,-13.55,263,1630.62,0.00,0.00,3.34,0.000,0.000,0.065,2818.78,2817.06,2820.50,1835.38,2082.44,0,0,0,30.00,30.00,16.03
$GC,1929.96,0,-77.86,-1.25,0.00,2817.3,2815.8,2818.8,1835.6,2082.9,243.11,-11.99,294,1931.28,0.00,0.00,0.00,0.000,0.000,0.000,2818.06,2816.88,2819.25,1835.62,2082.81,0,0,0,30.00,30.00,30.00
$GC,2230.02,0,-77.86,-1.25,0.00,2817.3,2816.3,2818.3,1835.8,2082.8,278.48,-11.46,324,2231.35,0.00,0.00,0.00,0.000,0.000,0.000,2817.69,2816.25,2819.12,1835.44,2082.69,0,0,0,30.00,30.00,30.00
$GC,2530.08,516,-77.86,-1.25,-80.00,2817.1,2815.4,2818.7,1835.6,2083.4,312.32,-10.75,354,2535.83,0.00,0.00,3.92,0.000,0.000,0.169,2817.69,2816.00,2819.38,1835.75,661.81,0,0,0,30.00,30.00,16.04
$GC,2635.12,1028,-77.86,-1.25,0.00,2816.7,2815.5,2817.9,1835.8,661.8,325.37,-12.57,375,2639.80,0.00,0.00,3.51,0.000,0.000,0.063,2818.28,2817.06,2819.50,1835.75,2119.12,0,0,0,30.00,30.00,16.09
$GC,2945.17,0,-77.86,-1.25,0.00,2816.8,2815.7,2818.0,1835.7,2119.6,358.35,-9.70,407,2946.50,0.00,0.00,0.00,0.000,0.000,0.000,2817.22,2815.94,2818.50,1835.88,2119.75,0,0,0,30.00,30.00,30.00
$GC,3245.21,260,-77.86,-1.25,80.00,2816.3,2815.9,2816.7,1835.7,2119.5,390.38,-10.89,437,3250.91,0.00,0.00,3.63,0.000,0.000,0.128,2814.97,2813.94,2816.00,1835.56,3473.56,0,0,0,30.00,30.00,16.08
$GC,3354.16,1060,-77.86,-1.25,0.00,2816.2,2815.4,2817.1,1835.8,3473.3,396.27,-3.87,459,3360.95,0.00,0.00,3.35,0.000,0.000,0.062,2816.81,2816.75,2816.88,1835.62,2080.38,0,0,0,30.00,30.00,16.09
$GC,3660.30,548,-77.86,-1.25,-80.00,2816.2,2815.9,2816.6,1835.9,2080.1,396.29,-0.05,490,3666.03,0.00,0.00,3.94,0.000,0.000,0.164,2818.12,2816.88,2819.38,1834.81,662.00,0,0,0,30.00,30.00,16.07
$STATE,3670,end dive,NO_VERTICAL_VELOCITY
$STATE,3670,begin apogee
$GC,3674.74,10243,0.00,-0.25,0.00,2815.9,2815.5,2816.4,1835.8,2220.9,396.26,0.00,492,3739.34,60.97,1.64,0.08,1.493,0.113,0.241,2498.25,2508.00,2488.50,2081.69,2181.56,0,0,0,13.16,16.07,15.75
$STATE,3741,end apogee,CONTROL_FINISHED_OK
$STATE,3741,begin climb
$GC,3740.77,10503,77.86,1.25,80.00,2497.7,2507.8,2487.7,2081.9,2181.0,396.34,0.00,499,3815.53,65.10,2.45,3.64,1.455,0.089,0.127,2181.78,2200.44,2163.12,2447.75,3472.62,0,0,0,13.00,15.78,15.50
$GC,3913.38,11303,118.80,1.38,0.00,2174.8,2194.1,2155.5,2448.8,3472.7,389.65,5.18,533,3954.78,35.56,0.14,3.20,1.411,0.108,0.058,2014.38,2040.88,1987.88,2482.31,2181.62,0,0,0,12.78,15.66,15.68
$GC,4253.40,16386,118.80,1.38,0.00,2005.1,2034.8,1975.3,2482.5,2181.4,363.28,8.46,571,4254.73,0.00,0.00,0.00,0.000,0.000,0.000,2005.22,2034.81,1975.62,2482.31,2181.44,0,0,0,30.00,30.00,30.00
$GC,4553.36,16386,118.80,1.38,0.00,2002.9,2033.7,1972.1,2482.5,2181.4,336.56,7.99,601,4554.69,0.00,0.00,0.00,0.000,0.000,0.000,2001.59,2032.69,1970.50,2482.75,2181.50,0,0,0,30.00,30.00,30.00
$GC,4853.40,16386,118.80,1.38,0.00,2001.8,2032.8,1970.8,2482.4,2181.4,312.32,8.18,631,4854.73,0.00,0.00,0.00,0.000,0.000,0.000,2001.97,2032.62,1971.31,2482.69,2180.88,0,0,0,30.00,30.00,30.00
$GC,5153.43,16902,118.80,1.38,-80.00,2001.3,2032.8,1969.9,2482.2,2181.4,286.48,8.20,661,5159.18,0.00,0.00,3.98,0.000,0.000,0.146,1999.50,2030.75,1968.25,2482.12,736.25,0,0,0,30.00,30.00,15.95
$GC,5258.46,17414,118.80,1.38,0.00,1999.5,2029.1,1969.9,2482.7,736.4,276.48,10.02,682,5264.21,0.00,0.00,3.61,0.000,0.000,0.061,1999.91,2028.81,1971.00,2482.00,2220.00,0,0,0,30.00,30.00,15.97
$GC,5563.50,16646,118.80,1.38,80.00,1998.9,2028.5,1969.2,2482.5,2219.8,250.54,8.53,713,5568.08,0.00,0.00,3.43,0.000,0.000,0.128,1999.88,2029.50,1970.25,2483.06,3472.56,0,0,0,30.00,30.00,15.99
$GC,5717.50,17414,118.80,1.38,0.00,1998.8,2028.3,1969.2,2482.9,3472.3,236.81,9.42,744,5724.21,0.00,0.00,3.16,0.000,0.000,0.061,1999.12,2029.19,1969.06,2483.00,2181.62,0,0,0,30.00,30.00,16.01
$GC,6023.57,16450,118.80,1.41,0.00,1998.7,2029.1,1968.2,2482.9,2181.5,213.88,6.79,775,6024.90,0.00,0.00,0.00,0.000,0.000,0.000,1998.50,2028.69,1968.31,2483.12,2181.44,0,0,0,30.00,30.00,30.00
$GC,6323.60,16966,118.80,1.45,-80.00,1997.8,2028.4,1967.2,2482.6,2181.2,191.65,6.77,805,6329.33,0.00,0.00,3.93,0.000,0.000,0.144,1996.53,2026.88,1966.19,2483.06,737.00,0,0,0,30.00,30.00,16.02
$GC,6412.51,17414,118.80,1.45,0.00,1997.4,2027.1,1967.8,2483.6,737.4,183.95,8.93,823,6419.38,0.00,0.00,3.60,0.000,0.000,0.058,1997.34,2027.19,1967.50,2482.69,2219.62,0,0,0,30.00,30.00,16.04
$GC,6718.66,16710,118.80,1.47,80.00,1997.3,2027.2,1967.4,2482.9,2219.3,160.43,7.34,854,6723.21,0.00,0.00,3.40,0.000,0.000,0.125,1998.94,2028.50,1969.38,2482.12,3473.12,0,0,0,30.00,30.00,16.01
$GC,6868.66,17414,118.80,1.47,0.00,1997.2,2027.1,1967.3,2483.3,3473.1,148.29,8.55,884,6873.19,0.00,0.00,3.14,0.000,0.000,0.059,1999.47,2028.88,1970.06,2482.19,2180.94,0,0,0,30.00,30.00,16.01
$GC,7178.74,18499,118.80,1.53,0.00,1996.9,2027.2,1966.7,2482.9,2180.3,127.78,6.27,916,7180.20,0.00,0.16,0.00,0.000,0.100,0.000,1997.62,2027.19,1968.06,2520.62,2180.81,0,0,0,30.00,16.02,30.00
$GC,7478.81,8742,157.41,1.64,-80.00,1997.1,2027.3,1966.9,2520.0,2180.5,108.44,5.34,946,7514.14,29.89,0.00,3.97,1.195,0.000,0.142,1856.66,1890.75,1822.56,2519.81,736.00,0,0,0,13.10,30.00,15.87
$GC,7623.85,1028,157.41,1.64,0.00,1853.2,1886.8,1819.7,2520.3,736.3,96.75,9.46,975,7629.61,0.00,0.00,3.63,0.000,0.000,0.059,1853.19,1887.06,1819.31,2520.75,2221.69,0,0,0,30.00,30.00,15.96
$GC,7808.93,2629,157.41,1.67,-80.00,1851.0,1886.6,1815.4,2519.9,2221.7,83.88,6.96,1012,7814.81,0.00,0.16,4.07,0.000,0.101,0.136,1852.06,1887.75,1816.38,2555.19,736.12,0,0,0,30.00,15.93,15.95
$GC,7953.98,1028,157.41,1.67,0.00,1851.0,1886.8,1815.1,2557.4,736.2,71.42,8.72,1041,7959.87,0.00,0.00,3.62,0.000,0.000,0.056,1850.59,1886.06,1815.12,2557.56,2222.81,0,0,0,30.00,30.00,15.99
$GC,8139.05,10535,212.21,1.84,80.00,1849.7,1885.8,1813.5,2557.6,2222.7,62.07,4.21,1078,8190.76,43.94,0.17,3.45,1.145,0.095,0.124,1632.44,1668.69,1596.19,2597.19,3472.94,0,0,0,12.97,15.96,15.78
$GC,8239.08,1092,212.21,1.89,0.00,1630.0,1664.1,1595.9,2597.2,3472.9,56.01,6.48,1098,8244.87,0.00,0.00,3.18,0.000,0.000,0.057,1630.66,1664.56,1596.75,2597.31,2178.44,0,0,0,30.00,30.00,15.83
$GC,8424.12,0,212.21,1.89,0.00,1627.7,1664.2,1591.2,2597.7,2178.9,40.87,7.74,1135,8425.44,0.00,0.00,0.00,0.000,0.000,0.000,1627.97,1664.25,1591.69,2597.19,2178.38,0,0,0,30.00,30.00,30.00
$GC,8604.18,10535,253.96,2.01,80.00,1626.2,1663.7,1588.8,2596.9,2178.2,28.56,5.12,1171,8645.68,34.85,0.19,3.58,1.085,0.099,0.121,1463.22,1501.56,1424.88,2636.62,3472.25,0,0,0,12.94,15.90,15.73
$GC,8694.20,9254,290.32,2.12,0.00,1460.9,1496.2,1425.5,2636.6,3472.2,23.98,5.50,1189,8730.66,30.96,0.00,3.18,1.054,0.000,0.057,1316.34,1355.38,1277.31,2636.12,2180.12,0,0,0,12.93,30.00,15.81
$GC,8909.24,0,290.32,2.12,0.00,1311.1,1351.9,1270.3,2637.2,2180.7,9.71,9.42,1232,8910.57,0.00,0.00,0.00,0.000,0.000,0.000,1311.12,1351.81,1270.44,2636.94,2180.06,0,0,0,30.00,30.00,30.00
$STATE,9000,end climb,SURFACE_DEPTH_REACHED
$STATE,9000,begin surface coast
$STATE,9020,end surface coast,CONTROL_FINISHED_OK
$STATE,9020,begin surface
$SM_CCo,9150.37,107.19,1.056,0,768.4,771.6,765.2,424.75
$SM_CCo,9151.54,0.00,2.775,0,768.7,774.7,762.6,424.70
$SM_CCo,9153.19,0.68,0.146,0,768.4,776.9,760.0,424.75
$SM_GC,0.53,0.68,16.07,0.22,0.146,0.096,0.111,768.4,776.9,760.0,175.2,2075.8,0,0,0,15.50,15.80,15.84
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.64,-12513.98,071120,173429
$TCM_TEMP,194.25
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3800288
$HUMID,56.87
$TEMP,8.45
$INTERNAL_PRESSURE,7.81455
$24V_AH,14.63,58.894
$10V_AH,14.95,0.000
$FG_AHR_24Vo,51.522
$FG_AHR_10Vo,21.220
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,492.200,34.685,114.870,289.890,0.250,13.803,3896.936,5625.505,2094.970,0.000,0.000,0.000
$DEVICE_MAMPS,2774.632,263.136,240.832,210.252,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9046.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.728,0.000,0.000,0.000
$MEM,1100320,39,75648,114
$DATA_FILE_SIZE,48217,1254
$CAP_FILE_SIZE,259970,0
$SDSIZE,3918848,3860224
$SDFILEDIR,951,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071120,223600,4751.515,-12514.437,22,0.9,22,15.8