version: 67.00
glider: 236
mission: 2
dive: 534
start: 1 25 121 10 23 58
data:
$ID,236
$MISSION,2
$DIVE,534
$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,50.792618
$FG_AHR_24V,133.62663
$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
$GPS1,250121,101708,4750.978,-12517.033,30,1.0,30,15.8
$_CALLS,1
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-57.4
$GPS2,250121,102340,4750.968,-12517.012,2,0.7,4,15.8
$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,195.8,8020,-20.4,-8.049,-24.07
$D_GRID,449
$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,7.32,16386,-77.86,-1.25,0.00,762.0,761.2,762.8,173.9,2116.0,0.00,0.00,0,86.53,78.60,0.00,0.00,0.005,0.000,0.000,2493.12,2471.94,2514.31,174.06,2118.38,0,0,0,15.16,30.00,30.00
$GC,86.80,18727,-77.86,-1.25,80.00,2492.6,2471.4,2513.9,174.0,2118.8,3.94,-5.88,15,118.61,7.55,14.31,3.79,0.008,0.251,0.115,2817.78,2812.38,2823.19,1835.69,3472.88,0,0,0,15.26,15.37,15.17
$GC,331.45,1028,-77.86,-1.25,0.00,2816.4,2811.0,2821.9,1835.5,3471.9,56.48,-20.07,64,337.14,0.00,0.00,3.47,0.000,0.000,0.059,2818.97,2813.75,2824.19,1835.56,2083.44,0,0,0,30.00,30.00,15.66
$GC,516.46,260,-77.86,-1.25,80.00,2816.8,2811.3,2822.2,1835.8,2083.1,87.25,-13.85,101,522.26,0.00,0.00,3.84,0.000,0.000,0.107,2817.66,2813.00,2822.31,1836.25,3473.56,0,0,0,30.00,30.00,15.69
$GC,646.48,1028,-77.86,-1.25,0.00,2816.3,2811.6,2821.1,1835.6,3474.1,105.20,-14.25,127,651.14,0.00,0.00,3.45,0.000,0.000,0.056,2819.19,2813.81,2824.56,1835.88,2081.94,0,0,0,30.00,30.00,15.74
$GC,956.53,260,-77.86,-1.25,80.00,2816.6,2811.4,2821.8,1835.8,2081.8,141.60,-10.43,159,962.25,0.00,0.00,3.82,0.000,0.000,0.108,2815.41,2810.31,2820.50,1835.62,3474.81,0,0,0,30.00,30.00,15.75
$GC,1025.47,1028,-77.86,-1.25,0.00,2816.3,2811.4,2821.3,1836.1,3474.3,149.43,-10.57,173,1032.29,0.00,0.00,3.45,0.000,0.000,0.054,2816.94,2812.00,2821.88,1835.88,2080.75,0,0,0,30.00,30.00,15.79
$GC,1331.57,0,-77.86,-1.25,0.00,2817.0,2812.2,2821.9,1835.9,2080.4,180.82,-9.99,204,1332.90,0.00,0.00,0.00,0.000,0.000,0.000,2815.41,2810.44,2820.38,1835.94,2081.00,0,0,0,30.00,30.00,30.00
$GC,1631.60,0,-77.86,-1.25,0.00,2816.8,2811.8,2821.9,1835.7,2081.0,212.83,-11.17,234,1632.92,0.00,0.00,0.00,0.000,0.000,0.000,2816.81,2811.62,2822.00,1836.00,2080.44,0,0,0,30.00,30.00,30.00
$GC,1931.63,0,-77.86,-1.25,0.00,2817.2,2812.2,2822.1,1835.9,2080.4,243.02,-10.16,264,1932.96,0.00,0.00,0.00,0.000,0.000,0.000,2816.88,2811.94,2821.81,1835.50,2080.88,0,0,0,30.00,30.00,30.00
$GC,2231.67,0,-77.86,-1.25,0.00,2816.7,2811.8,2821.6,1835.5,2080.4,274.36,-11.18,294,2233.00,0.00,0.00,0.00,0.000,0.000,0.000,2815.44,2810.56,2820.31,1835.81,2080.19,0,0,0,30.00,30.00,30.00
$GC,2531.73,0,-77.86,-1.25,0.00,2816.8,2812.3,2821.3,1835.9,2080.9,308.51,-11.59,324,2533.06,0.00,0.00,0.00,0.000,0.000,0.000,2817.34,2812.62,2822.06,1836.00,2080.50,0,0,0,30.00,30.00,30.00
$GC,2831.80,260,-77.86,-1.25,80.00,2816.8,2812.2,2821.5,1835.8,2080.5,339.20,-9.74,354,2837.53,0.00,0.00,3.87,0.000,0.000,0.115,2815.31,2810.94,2819.69,1835.75,3473.75,0,0,0,30.00,30.00,15.80
$GC,2880.75,1028,-77.86,-1.25,0.00,2816.4,2811.5,2821.4,1835.2,3473.9,344.75,-11.38,364,2887.56,0.00,0.00,3.45,0.000,0.000,0.059,2817.09,2812.81,2821.38,1835.81,2082.00,0,0,0,30.00,30.00,15.86
$GC,3186.88,260,-77.86,-1.25,80.00,2816.8,2811.6,2822.0,1835.8,2082.0,375.24,-9.78,395,3192.61,0.00,0.00,3.85,0.000,0.000,0.114,2819.06,2813.81,2824.31,1835.56,3475.19,0,0,0,30.00,30.00,15.79
$GC,3325.86,1028,-77.86,-1.25,0.00,2816.3,2811.6,2821.1,1835.9,3475.2,390.43,-10.67,423,3332.68,0.00,0.00,3.46,0.000,0.000,0.060,2816.75,2811.56,2821.94,1835.69,2081.88,0,0,0,30.00,30.00,15.86
$GC,3632.00,0,-77.86,-1.25,0.00,2816.6,2811.9,2821.2,1835.7,2081.9,419.26,-10.28,454,3633.33,0.00,0.00,0.00,0.000,0.000,0.000,2817.12,2811.81,2822.44,1835.81,2081.62,0,0,0,30.00,30.00,30.00
$GC,3932.06,0,-77.86,-1.25,0.00,2816.4,2811.4,2821.4,1836.5,2082.5,447.49,-9.76,484,3933.39,0.00,0.00,0.00,0.000,0.000,0.000,2817.28,2812.38,2822.19,1835.69,2081.94,0,0,0,30.00,30.00,30.00
$STATE,3952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3952,begin apogee
$GC,3953.32,10243,0.00,-0.25,0.00,2816.7,2811.7,2821.7,1835.6,2220.1,449.11,-9.54,486,4020.03,63.68,1.77,0.09,1.543,0.142,0.227,2501.56,2508.56,2494.56,2080.25,2183.50,0,0,0,11.95,15.76,15.32
$STATE,4022,end apogee,CONTROL_FINISHED_OK
$STATE,4022,begin climb
$GC,4022.14,10243,77.86,1.25,0.00,2497.9,2504.6,2491.2,2080.1,2183.8,451.16,0.00,492,4097.03,68.28,2.59,0.00,1.501,0.089,0.000,2183.56,2198.06,2169.06,2447.38,2183.88,0,0,0,12.40,15.38,30.00
$GC,4395.14,10535,130.45,1.41,80.00,2172.1,2191.1,2153.0,2447.6,2184.4,433.51,4.37,530,4446.97,46.58,0.22,3.77,1.477,0.086,0.118,1968.44,1990.00,1946.88,2494.50,3473.62,0,0,0,12.11,15.55,15.24
$GC,4485.15,1028,130.45,1.41,0.00,1964.3,1986.4,1942.3,2494.1,3473.9,426.62,8.66,548,4489.71,0.00,0.00,3.32,0.000,0.000,0.053,1966.03,1988.31,1943.75,2494.25,2180.44,0,0,0,30.00,30.00,15.37
$GC,4795.19,16386,130.45,1.41,0.00,1959.0,1985.4,1932.6,2493.7,2180.9,399.58,9.17,580,4796.52,0.00,0.00,0.00,0.000,0.000,0.000,1957.69,1984.38,1931.00,2493.62,2181.25,0,0,0,30.00,30.00,30.00
$GC,5095.22,16902,130.45,1.41,-80.00,1958.1,1985.2,1931.0,2493.6,2181.1,371.69,8.88,610,5100.99,0.00,0.00,4.03,0.000,0.000,0.134,1956.41,1983.00,1929.81,2494.00,735.25,0,0,0,30.00,30.00,15.65
$GC,5164.21,17414,130.45,1.41,0.00,1956.6,1982.2,1930.9,2494.1,735.2,364.16,11.02,624,5171.01,0.00,0.00,3.64,0.000,0.000,0.051,1958.59,1984.50,1932.69,2493.50,2221.06,0,0,0,30.00,30.00,15.74
$GC,5470.29,16386,130.45,1.41,0.00,1955.8,1982.8,1928.8,2494.2,2221.3,336.68,9.13,655,5471.62,0.00,0.00,0.00,0.000,0.000,0.000,1954.84,1981.56,1928.12,2493.50,2221.25,0,0,0,30.00,30.00,30.00
$GC,5770.30,16902,130.45,1.41,-80.00,1954.8,1982.2,1927.3,2494.8,2221.8,310.96,8.13,685,5776.14,0.00,0.00,4.07,0.000,0.000,0.132,1956.97,1984.50,1929.44,2494.00,737.50,0,0,0,30.00,30.00,15.71
$GC,5829.30,17414,130.45,1.41,0.00,1954.4,1981.6,1927.2,2494.3,737.2,305.42,9.63,697,5836.10,0.00,0.00,3.64,0.000,0.000,0.051,1954.41,1981.94,1926.88,2494.94,2222.31,0,0,0,30.00,30.00,15.78
$GC,6135.37,16966,130.45,1.45,-80.00,1954.0,1981.4,1926.6,2494.4,2222.2,282.74,6.77,728,6141.18,0.00,0.00,4.10,0.000,0.000,0.129,1952.88,1981.19,1924.56,2493.69,737.12,0,0,0,30.00,30.00,15.71
$GC,6190.36,17414,130.45,1.45,0.00,1953.8,1981.4,1926.3,2494.1,737.1,278.43,7.95,739,6196.12,0.00,0.00,3.62,0.000,0.000,0.050,1952.62,1979.88,1925.38,2494.25,2221.38,0,0,0,30.00,30.00,15.81
$GC,6495.39,16386,130.45,1.45,0.00,1953.7,1981.2,1926.2,2493.8,2221.2,255.90,7.58,770,6496.73,0.00,0.00,0.00,0.000,0.000,0.000,1953.91,1981.50,1926.31,2493.81,2221.94,0,0,0,30.00,30.00,30.00
$GC,6795.42,16386,130.45,1.45,0.00,1953.8,1981.4,1926.1,2494.4,2221.0,231.45,8.54,800,6796.75,0.00,0.00,0.00,0.000,0.000,0.000,1953.00,1980.88,1925.12,2494.12,2221.56,0,0,0,30.00,30.00,30.00
$GC,7095.45,16902,130.45,1.45,-80.00,1953.2,1981.0,1925.3,2494.1,2221.1,204.87,8.60,830,7101.31,0.00,0.00,4.11,0.000,0.000,0.129,1955.31,1983.31,1927.31,2493.94,736.88,0,0,0,30.00,30.00,15.63
$GC,7194.38,17414,130.45,1.45,0.00,1952.6,1979.9,1925.2,2494.5,737.0,194.57,10.51,850,7201.27,0.00,0.00,3.63,0.000,0.000,0.051,1954.50,1981.75,1927.25,2494.31,2223.50,0,0,0,30.00,30.00,15.81
$GC,7500.53,16450,130.45,1.48,0.00,1952.7,1980.5,1924.9,2494.6,2222.8,171.87,7.16,881,7501.86,0.00,0.00,0.00,0.000,0.000,0.000,1952.00,1980.00,1924.00,2494.12,2223.62,0,0,0,30.00,30.00,30.00
$GC,7800.56,16450,130.45,1.51,0.00,1952.3,1980.5,1924.1,2494.2,2223.0,152.18,6.96,911,7801.89,0.00,0.00,0.00,0.000,0.000,0.000,1952.44,1980.44,1924.44,2494.19,2223.50,0,0,0,30.00,30.00,30.00
$GC,8100.59,16710,130.45,1.55,80.00,1952.0,1980.2,1923.8,2493.9,2223.3,131.78,6.53,941,8105.23,0.00,0.00,3.48,0.000,0.000,0.114,1951.88,1980.00,1923.75,2493.94,3473.88,0,0,0,30.00,30.00,15.73
$GC,8330.65,11303,178.51,1.70,0.00,1952.1,1980.2,1924.0,2494.8,3473.2,119.35,4.68,987,8376.14,38.97,0.37,3.21,1.195,0.069,0.050,1771.78,1802.12,1741.44,2562.38,2177.62,0,0,0,11.88,15.68,15.74
$GC,8675.69,580,178.51,1.72,-80.00,1764.9,1799.2,1730.6,2562.1,2177.8,96.51,7.28,1031,8681.51,0.00,0.00,4.07,0.000,0.000,0.129,1765.59,1799.56,1731.62,2562.50,736.94,0,0,0,30.00,30.00,15.60
$GC,8865.75,17414,178.51,1.72,0.00,1763.9,1796.8,1731.1,2563.2,737.2,81.03,7.90,1069,8871.53,0.00,0.00,3.67,0.000,0.000,0.048,1764.88,1797.56,1732.19,2562.81,2224.81,0,0,0,30.00,30.00,15.68
$GC,9050.84,10535,251.92,1.94,80.00,1762.9,1796.6,1729.2,2562.0,2224.8,73.91,2.91,1106,9118.10,60.17,0.31,3.55,1.136,0.068,0.111,1472.97,1507.12,1438.81,2620.69,3472.75,0,0,0,12.11,15.56,15.35
$GC,9340.98,1028,251.92,1.94,0.00,1466.5,1499.2,1433.8,2620.5,3472.9,55.21,9.39,1164,9347.03,0.00,0.00,3.24,0.000,0.000,0.050,1467.44,1500.06,1434.81,2620.69,2180.94,0,0,0,30.00,30.00,15.45
$GC,9526.05,0,251.92,1.94,0.00,1465.3,1499.3,1431.3,2620.7,2180.3,39.64,8.51,1201,9527.38,0.00,0.00,0.00,0.000,0.000,0.000,1465.34,1499.25,1431.44,2620.38,2180.62,0,0,0,30.00,30.00,30.00
$GC,9706.12,16902,251.92,1.94,-80.00,1464.9,1499.4,1430.4,2620.2,2180.9,24.63,7.81,1237,9711.97,0.00,0.00,4.05,0.000,0.000,0.127,1465.03,1499.75,1430.31,2620.31,736.19,0,0,0,30.00,30.00,15.61
$GC,9916.20,17414,251.92,1.94,0.00,1464.8,1499.8,1429.9,2620.8,736.4,5.24,8.16,1279,9921.96,0.00,0.00,3.65,0.000,0.000,0.048,1464.44,1499.81,1429.06,2621.00,2225.38,0,0,0,30.00,30.00,15.72
$STATE,9977,end climb,SURFACE_DEPTH_REACHED
$STATE,9977,begin surface coast
$STATE,10012,end surface coast,CONTROL_FINISHED_OK
$STATE,10012,begin surface
$SM_CCo,10181.96,146.04,1.034,0,768.5,769.4,767.7,424.73
$SM_CCo,10183.14,0.00,2.669,0,768.5,766.4,770.7,424.73
$SM_CCo,10184.30,0.00,0.016,0,768.4,768.0,768.8,424.77
$SM_GC,0.35,0.00,16.54,0.35,0.016,0.083,0.091,768.4,768.0,768.8,176.6,2074.3,0,0,0,30.36,15.65,15.74
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4752.03,-12518.46,250121,074011
$TCM_TEMP,194.50
$XPDR_PINGS,2,14.0,11.5
$SC_FREEKB,3657120
$HUMID,56.96
$TEMP,8.47
$INTERNAL_PRESSURE,7.80578
$24V_AH,14.15,158.497
$10V_AH,14.68,0.000
$FG_AHR_24Vo,133.798
$FG_AHR_10Vo,50.844
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,509.870,36.100,104.170,245.792,0.500,13.885,3898.787,6475.336,2203.950,0.000,0.000,0.000
$DEVICE_MAMPS,2669.344,250.672,227.384,219.041,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.238,0.000,0.000,0.000
$MEM,1099996,49,75772,114
$DATA_FILE_SIZE,48195,1298
$CAP_FILE_SIZE,255251,0
$SDSIZE,3918848,3771712
$SDFILEDIR,2696,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250121,131434,4750.161,-12518.077,9,0.9,43,15.8