version: 67.00
glider: 236
mission: 2
dive: 430
start: 12 31 120 14 20 22
data:
$ID,236
$MISSION,2
$DIVE,430
$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,41.445282
$FG_AHR_24V,108.2199
$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
$GPS1,311220,141409,4751.047,-12517.694,23,1.1,24,15.8
$_CALLS,1
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-64.3
$GPS2,311220,142005,4751.022,-12517.716,2,0.6,5,15.8
$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,189.9,7687,-20.4,-8.049,-24.07
$D_GRID,458
$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,7.12,16386,-77.86,-1.25,0.00,762.9,766.3,759.6,171.4,2114.8,0.00,0.00,0,80.48,72.81,0.00,0.00,0.005,0.000,0.000,2357.03,2337.81,2376.25,170.50,2118.56,0,0,0,15.38,30.00,30.00
$GC,80.75,18727,-77.86,-1.25,80.00,2356.4,2337.2,2375.7,170.5,2118.2,3.03,-3.53,14,117.73,12.35,14.28,3.80,0.007,0.261,0.114,2816.19,2813.44,2818.94,1835.88,3474.69,0,0,0,15.45,15.52,15.40
$GC,210.50,1028,-77.86,-1.25,0.00,2815.8,2813.2,2818.4,1835.8,3475.0,29.66,-22.57,40,216.25,0.00,0.00,3.55,0.000,0.000,0.062,2817.69,2814.62,2820.75,1836.12,2084.50,0,0,0,30.00,30.00,15.68
$GC,395.55,0,-77.86,-1.25,0.00,2815.6,2812.6,2818.6,1835.8,2084.8,63.61,-16.82,77,396.87,0.00,0.00,0.00,0.000,0.000,0.000,2816.06,2812.69,2819.44,1835.94,2084.00,0,0,0,30.00,30.00,30.00
$GC,575.58,260,-77.86,-1.25,80.00,2816.3,2813.1,2819.5,1835.8,2084.3,89.88,-13.09,113,581.39,0.00,0.00,3.83,0.000,0.000,0.112,2816.38,2813.19,2819.56,1835.12,3472.75,0,0,0,30.00,30.00,15.80
$GC,715.61,1028,-77.86,-1.25,0.00,2816.2,2812.7,2819.8,1836.4,3472.8,108.22,-11.91,141,720.27,0.00,0.00,3.49,0.000,0.000,0.060,2816.59,2813.12,2820.06,1835.50,2083.88,0,0,0,30.00,30.00,15.83
$GC,1025.65,0,-77.86,-1.25,0.00,2815.8,2812.6,2819.1,1835.7,2083.6,144.86,-12.63,173,1026.97,0.00,0.00,0.00,0.000,0.000,0.000,2816.62,2813.00,2820.25,1836.12,2083.62,0,0,0,30.00,30.00,30.00
$GC,1325.68,0,-77.86,-1.25,0.00,2816.6,2813.2,2819.9,1835.6,2083.8,182.69,-12.65,203,1327.02,0.00,0.00,0.00,0.000,0.000,0.000,2815.72,2812.62,2818.81,1835.81,2083.75,0,0,0,30.00,30.00,30.00
$GC,1625.75,0,-77.86,-1.25,0.00,2816.7,2812.9,2820.4,1835.6,2083.7,215.69,-10.42,233,1627.08,0.00,0.00,0.00,0.000,0.000,0.000,2816.66,2813.06,2820.25,1835.69,2083.50,0,0,0,30.00,30.00,30.00
$GC,1925.81,0,-77.86,-1.25,0.00,2816.4,2812.9,2819.9,1836.3,2083.4,248.01,-11.58,263,1927.14,0.00,0.00,0.00,0.000,0.000,0.000,2816.59,2812.81,2820.38,1836.38,2083.69,0,0,0,30.00,30.00,30.00
$GC,2225.88,516,-77.86,-1.25,-80.00,2816.5,2813.0,2819.9,1835.9,2083.5,284.63,-11.69,293,2231.64,0.00,0.00,4.07,0.000,0.000,0.156,2817.25,2813.56,2820.94,1835.75,663.50,0,0,0,30.00,30.00,15.90
$GC,2304.75,1028,-77.86,-1.25,0.00,2816.6,2813.4,2819.7,1835.4,663.2,296.55,-15.20,309,2311.68,0.00,0.00,3.57,0.000,0.000,0.055,2818.84,2815.94,2821.75,1835.94,2117.31,0,0,0,30.00,30.00,15.95
$GC,2610.99,0,-77.86,-1.25,0.00,2816.2,2812.8,2819.6,1835.8,2117.6,331.52,-9.82,340,2612.32,0.00,0.00,0.00,0.000,0.000,0.000,2816.66,2813.19,2820.12,1835.75,2117.62,0,0,0,30.00,30.00,30.00
$GC,2911.03,516,-77.86,-1.25,-80.00,2816.2,2812.4,2820.0,1836.0,2117.5,360.87,-8.98,370,2916.82,0.00,0.00,4.16,0.000,0.000,0.155,2815.09,2811.75,2818.44,1836.12,662.62,0,0,0,30.00,30.00,15.91
$GC,3106.12,1028,-77.86,-1.25,0.00,2816.5,2812.6,2820.4,1836.1,662.4,382.74,-10.94,409,3110.79,0.00,0.00,3.55,0.000,0.000,0.056,2817.19,2813.38,2821.00,1835.69,2114.38,0,0,0,30.00,30.00,15.96
$GC,3416.17,0,-77.86,-1.25,0.00,2816.3,2812.9,2819.6,1835.3,2116.2,411.74,-10.25,441,3417.50,0.00,0.00,0.00,0.000,0.000,0.000,2817.12,2813.81,2820.44,1835.88,2116.88,0,0,0,30.00,30.00,30.00
$GC,3716.20,0,-77.86,-1.25,0.00,2816.0,2812.5,2819.5,1835.9,2116.8,445.59,-11.39,471,3717.53,0.00,0.00,0.00,0.000,0.000,0.000,2817.03,2813.75,2820.31,1835.88,2116.38,0,0,0,30.00,30.00,30.00
$STATE,3827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3827,begin apogee
$GC,3827.48,10243,0.00,-0.25,0.00,2816.0,2812.2,2819.8,1836.0,2219.4,458.66,-11.71,482,3893.78,62.94,1.77,0.08,1.579,0.145,0.235,2501.78,2509.56,2494.00,2081.44,2185.25,0,0,0,12.49,15.89,15.37
$STATE,3896,end apogee,CONTROL_FINISHED_OK
$STATE,3896,begin climb
$GC,3895.82,10243,77.86,1.25,0.00,2497.9,2505.0,2490.9,2081.0,2185.1,461.58,0.00,488,3969.99,67.82,2.56,0.00,1.534,0.086,0.000,2183.78,2198.81,2168.75,2449.81,2184.56,0,0,0,12.45,15.42,30.00
$GC,4268.89,16710,77.86,1.31,80.00,2171.6,2191.5,2151.7,2449.0,2184.4,447.63,6.09,526,4274.57,0.00,0.00,3.66,0.000,0.000,0.122,2170.09,2189.88,2150.31,2449.50,3473.19,0,0,0,30.00,30.00,15.65
$GC,4407.70,17414,77.86,1.31,0.00,2172.0,2192.2,2151.8,2449.4,3473.2,437.81,7.62,554,4414.58,0.00,0.00,3.25,0.000,0.000,0.058,2170.97,2192.31,2149.62,2449.50,2180.00,0,0,0,30.00,30.00,15.71
$GC,4713.93,10791,124.28,1.45,-80.00,2169.2,2190.2,2148.1,2449.4,2180.3,421.93,4.80,585,4760.73,40.08,0.27,4.18,1.507,0.075,0.138,1991.22,2014.31,1968.12,2503.88,736.50,0,0,0,12.50,15.73,15.40
$GC,4849.03,1028,124.28,1.45,0.00,1986.5,2009.1,1963.9,2504.3,736.6,411.65,8.75,612,4854.67,0.00,0.00,3.73,0.000,0.000,0.056,1986.97,2009.62,1964.31,2505.31,2220.00,0,0,0,30.00,30.00,15.59
$GC,5154.02,16902,124.28,1.45,-80.00,1983.4,2008.8,1958.1,2504.4,2219.6,385.57,9.01,643,5159.88,0.00,0.00,4.21,0.000,0.000,0.136,1982.91,2008.38,1957.44,2504.31,737.50,0,0,0,30.00,30.00,15.73
$GC,5262.98,17414,124.28,1.45,0.00,1982.7,2007.1,1958.2,2504.0,737.9,374.94,10.66,665,5269.85,0.00,0.00,3.69,0.000,0.000,0.056,1983.47,2008.12,1958.81,2504.12,2221.62,0,0,0,30.00,30.00,15.78
$GC,5569.12,16902,124.28,1.45,-80.00,1981.7,2007.1,1956.3,2504.4,2221.8,348.89,9.62,696,5574.97,0.00,0.00,4.17,0.000,0.000,0.136,1980.12,2006.00,1954.25,2504.19,736.06,0,0,0,30.00,30.00,15.81
$GC,5734.19,17414,124.28,1.45,0.00,1981.5,2006.9,1956.1,2503.9,736.6,330.31,11.22,729,5739.95,0.00,0.00,3.66,0.000,0.000,0.057,1981.28,2006.06,1956.50,2504.19,2222.12,0,0,0,30.00,30.00,15.79
$GC,6039.22,16386,124.28,1.45,0.00,1980.2,2006.2,1954.1,2504.4,2221.8,299.59,8.47,760,6040.55,0.00,0.00,0.00,0.000,0.000,0.000,1980.62,2006.75,1954.50,2504.75,2222.12,0,0,0,30.00,30.00,30.00
$GC,6339.25,16646,124.28,1.45,80.00,1979.9,2006.4,1953.3,2504.6,2222.5,276.44,7.65,790,6343.98,0.00,0.00,3.47,0.000,0.000,0.122,1980.25,2007.38,1953.12,2504.50,3474.44,0,0,0,30.00,30.00,15.88
$GC,6429.29,17414,124.28,1.45,0.00,1979.6,2006.4,1952.8,2505.1,3475.1,268.23,9.17,808,6433.81,0.00,0.00,3.17,0.000,0.000,0.057,1979.69,2006.50,1952.88,2504.62,2178.44,0,0,0,30.00,30.00,15.89
$GC,6739.35,16966,124.28,1.48,-80.00,1979.2,2006.4,1952.0,2504.6,2178.7,246.24,6.99,840,6745.13,0.00,0.00,3.99,0.000,0.000,0.137,1980.75,2007.19,1954.31,2504.81,737.31,0,0,0,30.00,30.00,15.88
$GC,6858.24,17414,124.28,1.48,0.00,1979.0,2005.6,1952.4,2504.8,737.6,236.16,8.56,864,6865.11,0.00,0.00,3.62,0.000,0.000,0.055,1978.75,2005.25,1952.25,2504.50,2221.25,0,0,0,30.00,30.00,15.90
$GC,7164.37,16902,124.28,1.48,-80.00,1978.8,2005.6,1951.9,2504.6,2221.9,212.97,7.56,895,7170.20,0.00,0.00,4.10,0.000,0.000,0.132,1977.16,2003.94,1950.38,2505.06,735.25,0,0,0,30.00,30.00,15.89
$GC,7249.39,17414,124.28,1.48,0.00,1978.2,2005.0,1951.4,2504.9,735.6,205.29,9.46,912,7255.16,0.00,0.00,3.62,0.000,0.000,0.053,1977.28,2004.38,1950.19,2505.19,2223.06,0,0,0,30.00,30.00,15.92
$GC,7554.45,16710,124.28,1.54,80.00,1978.3,2005.0,1951.6,2504.6,2222.8,182.84,6.13,943,7559.01,0.00,0.00,3.43,0.000,0.000,0.117,1978.84,2005.56,1952.12,2505.62,3473.12,0,0,0,30.00,30.00,15.91
$GC,7784.50,17478,124.28,1.59,0.00,1978.2,2004.8,1951.6,2505.0,3473.6,166.85,6.48,989,7789.02,0.00,0.00,3.18,0.000,0.000,0.054,1978.09,2004.62,1951.56,2505.00,2177.94,0,0,0,30.00,30.00,15.91
$GC,8094.53,10791,154.34,1.68,-80.00,1978.2,2005.1,1951.2,2505.2,2178.4,149.02,5.94,1021,8125.97,24.68,0.26,4.05,1.214,0.076,0.133,1869.62,1898.12,1841.12,2556.88,736.38,0,0,0,12.51,15.89,15.68
$GC,8348.40,1028,154.34,1.68,0.00,1866.4,1894.1,1838.8,2557.5,736.6,116.80,14.60,1072,8355.36,0.00,0.00,3.65,0.000,0.000,0.053,1868.22,1896.31,1840.12,2557.44,2223.44,0,0,0,30.00,30.00,15.79
$GC,8654.71,580,154.34,1.71,-80.00,1864.2,1894.3,1834.1,2557.4,2223.3,87.22,7.08,1118,8660.48,0.00,0.00,4.13,0.000,0.000,0.126,1866.38,1896.50,1836.25,2558.00,734.50,0,0,0,30.00,30.00,15.80
$GC,8884.74,11303,201.31,1.85,0.00,1864.3,1893.9,1834.8,2557.7,734.4,72.88,4.76,1164,8931.35,39.27,0.19,3.62,1.148,0.083,0.051,1678.50,1709.06,1647.94,2601.38,2228.69,0,0,0,12.42,15.80,15.81
$GC,9109.73,516,201.31,1.85,-80.00,1672.4,1704.9,1639.8,2601.1,2227.9,61.93,9.05,1209,9115.58,0.00,0.00,4.16,0.000,0.000,0.125,1672.19,1704.94,1639.44,2601.31,735.56,0,0,0,30.00,30.00,15.62
$GC,9134.75,1028,201.31,1.85,0.00,1671.9,1704.0,1639.8,2601.6,735.7,59.79,8.53,1214,9140.51,0.00,0.00,3.62,0.000,0.000,0.049,1672.09,1704.38,1639.81,2601.19,2224.81,0,0,0,30.00,30.00,15.66
$GC,9319.83,10535,260.40,2.02,80.00,1670.6,1703.7,1637.5,2601.1,2224.8,51.75,3.91,1251,9376.31,48.62,0.19,3.48,1.111,0.085,0.113,1437.84,1471.25,1404.44,2642.88,3473.31,0,0,0,12.40,15.75,15.40
$GC,9599.97,1028,260.40,2.02,0.00,1432.5,1464.0,1401.0,2642.8,3473.4,19.83,11.93,1307,9605.61,0.00,0.00,3.23,0.000,0.000,0.053,1433.84,1465.25,1402.44,2642.94,2180.75,0,0,0,30.00,30.00,15.66
$STATE,9775,end climb,SURFACE_DEPTH_REACHED
$STATE,9775,begin surface coast
$STATE,9795,end surface coast,CONTROL_FINISHED_OK
$STATE,9795,begin surface
$SM_CCo,9955.21,136.15,1.049,0,767.6,761.4,773.8,424.97
$SM_CCo,9956.39,0.00,2.678,0,768.5,765.2,771.8,424.74
$SM_CCo,9957.54,0.00,0.014,0,768.5,763.9,773.1,424.73
$SM_GC,0.93,0.00,16.32,0.22,0.014,0.064,0.101,768.5,763.9,773.1,171.5,2076.9,0,0,0,30.36,15.69,15.74
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4752.03,-12518.46,311220,114600
$TCM_TEMP,191.72
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3699680
$HUMID,56.97
$TEMP,8.57
$INTERNAL_PRESSURE,7.81804
$24V_AH,14.19,127.663
$10V_AH,14.68,0.000
$FG_AHR_24Vo,108.394
$FG_AHR_10Vo,41.495
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,504.735,35.830,119.715,228.042,0.750,14.399,3911.622,6213.913,2203.073,0.000,0.000,0.000
$DEVICE_MAMPS,2677.872,261.496,234.600,205.528,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9828.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.922,0.000,0.000,0.000
$MEM,1100100,46,75728,114
$DATA_FILE_SIZE,51375,1346
$CAP_FILE_SIZE,267577,0
$SDSIZE,3918848,3798464
$SDFILEDIR,2176,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311220,170706,4750.043,-12518.937,36,0.9,37,15.8