version: 67.01
glider: 236
mission: 2
dive: 275
start: 8 5 123 10 45 1
data:
$ID,236
$MISSION,2
$DIVE,275
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$D_NO_BLEED,50
$D_BOOST,0
$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,470
$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,1000
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72293
$NAV_MODE,0
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$NETBOX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3920
$C_PITCH,2340
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.0041299998
$PITCH_GAIN,12
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,700
$ROLL_MAX,3350
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2150
$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,3020
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,3
$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,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,28.073004
$FG_AHR_24V,72.138031
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.23515
$PRESSURE_SLOPE,0.00022672296
$COMPASS_USE,32772
$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,-1
$XPDR_REP,-1
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3.0999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$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
$NAV_DEVICE,-1
$NAV2_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
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,050823,103908,4752.491,-12518.057,39,0.9,39,15.8
$_CALLS,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-65.4
$GPS2,050823,104442,4752.467,-12518.093,3,1.0,6,15.8
$SPEED_LIMITS,0.139,0.208
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$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,80.0,9771,-17.1,-8.049,-21.16,2007,0.250
$D_GRID,358
$IRON,1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.572571,-595.407471,-574.239685
$OSC,8000266
$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,9.02,16386,-107.06,-1.56,0.00,1089.0,1095.8,1082.2,185.1,2050.2,0.00,0.00,0,65.59,55.12,0.00,0.00,0.005,0.000,0.000,2279.06,2258.31,2299.81,184.88,2050.12,0,0,0,15.67,30.00,30.00
$GC,66.03,18983,-107.06,-1.56,-80.00,2278.1,2258.4,2297.7,184.9,2050.6,3.31,-3.45,11,124.22,29.13,16.32,3.58,0.006,0.235,0.111,3457.06,3440.12,3474.00,1958.94,688.50,0,0,0,15.68,15.70,15.61
$GC,332.76,1028,-107.06,-1.56,0.00,3458.0,3439.8,3476.2,1961.2,688.2,49.44,-15.70,63,339.34,0.00,0.00,3.35,0.000,0.000,0.042,3460.00,3441.12,3478.88,1961.44,2133.56,0,0,0,30.00,30.00,15.95
$GC,522.78,0,-107.06,-1.56,0.00,3459.5,3441.3,3477.8,1961.4,2133.2,72.54,-10.61,101,527.21,0.00,0.00,0.00,0.000,0.000,0.000,3459.44,3441.31,3477.56,1961.12,2133.38,0,0,0,30.00,30.00,30.00
$GC,707.83,516,-107.06,-1.56,-80.00,3460.8,3442.0,3479.6,1960.9,2133.7,91.61,-9.57,138,714.78,0.00,0.00,3.74,0.000,0.000,0.101,3461.84,3442.81,3480.88,1960.69,687.81,0,0,0,30.00,30.00,15.95
$GC,783.37,1028,-107.06,-1.56,0.00,3461.2,3442.1,3480.4,1960.9,687.6,99.57,-10.76,153,790.08,0.00,0.00,3.33,0.000,0.000,0.040,3461.19,3442.25,3480.12,1961.00,2137.44,0,0,0,30.00,30.00,16.01
$GC,978.39,260,-107.06,-1.56,80.00,3462.2,3443.1,3481.4,1961.0,2137.8,117.01,-9.23,173,984.19,0.00,0.00,3.08,0.000,0.000,0.091,3462.47,3442.50,3482.44,1961.56,3362.81,0,0,0,30.00,30.00,16.00
$GC,1112.64,1028,-107.06,-1.56,0.00,3462.9,3444.9,3480.9,1960.4,3363.6,130.65,-10.15,200,1119.92,0.00,0.00,3.00,0.000,0.000,0.037,3464.16,3445.38,3482.94,1961.06,2064.81,0,0,0,30.00,30.00,16.04
$GC,1428.42,516,-107.06,-1.56,-80.00,3462.8,3444.6,3480.9,1961.3,2064.9,159.89,-9.23,232,1434.48,0.00,0.00,3.60,0.000,0.000,0.110,3463.41,3444.50,3482.31,1959.31,687.81,0,0,0,30.00,30.00,16.01
$GC,1458.42,1028,-107.06,-1.56,0.00,3463.2,3444.6,3481.9,1961.0,687.6,162.99,-9.89,238,1464.39,0.00,0.00,3.35,0.000,0.000,0.041,3464.66,3445.56,3483.75,1960.94,2137.06,0,0,0,30.00,30.00,16.05
$GC,1768.44,0,-107.06,-1.56,0.00,3463.0,3444.2,3481.8,1961.1,2136.8,195.25,-11.11,270,1770.01,0.00,0.00,0.00,0.000,0.000,0.000,3462.44,3443.69,3481.19,1960.81,2136.56,0,0,0,30.00,30.00,30.00
$GC,2078.46,516,-107.06,-1.56,-80.00,3462.8,3444.1,3481.6,1961.2,2136.4,228.01,-10.48,301,2085.66,0.00,0.00,3.76,0.000,0.000,0.107,3463.09,3444.69,3481.50,1960.81,689.19,0,0,0,30.00,30.00,16.01
$GC,2124.14,1028,-107.06,-1.56,0.00,3462.8,3444.1,3481.6,1961.9,689.1,233.43,-11.79,310,2130.09,0.00,0.00,3.31,0.000,0.000,0.042,3463.75,3445.69,3481.81,1961.56,2134.69,0,0,0,30.00,30.00,16.07
$GC,2434.16,0,-107.06,-1.56,0.00,3462.9,3444.4,3481.5,1960.9,2135.1,262.95,-9.18,342,2435.73,0.00,0.00,0.00,0.000,0.000,0.000,3462.47,3444.31,3480.62,1961.12,2135.12,0,0,0,30.00,30.00,30.00
$GC,2744.18,0,-107.06,-1.56,0.00,3462.8,3444.1,3481.6,1961.0,2135.2,292.92,-10.07,373,2745.76,0.00,0.00,0.00,0.000,0.000,0.000,3462.59,3444.00,3481.19,1961.12,2135.31,0,0,0,30.00,30.00,30.00
$GC,3054.20,260,-107.06,-1.56,80.00,3462.8,3444.3,3481.2,1961.1,2135.2,321.11,-8.71,404,3060.03,0.00,0.00,3.08,0.000,0.000,0.095,3462.53,3444.56,3480.50,1960.88,3363.81,0,0,0,30.00,30.00,16.09
$GC,3154.20,1028,-107.06,-1.56,0.00,3462.9,3444.6,3481.1,1961.0,3363.9,330.70,-9.66,424,3160.25,0.00,0.00,3.02,0.000,0.000,0.039,3464.41,3445.94,3482.88,1961.12,2066.38,0,0,0,30.00,30.00,16.10
$STATE,3464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3464,begin apogee
$GC,3466.07,10243,0.00,-0.42,0.00,3462.6,3444.1,3481.1,1961.2,2194.1,358.72,-9.35,456,3555.90,82.03,2.35,0.14,1.362,0.117,0.159,3018.34,2986.19,3050.50,2240.19,2110.12,0,0,0,12.34,16.07,15.75
$STATE,3567,end apogee,CONTROL_FINISHED_OK
$STATE,3567,begin climb
$GC,3570.23,10503,107.06,1.56,80.00,3018.2,2988.7,3047.8,2240.6,2110.2,360.67,0.00,464,3671.49,86.86,3.72,3.25,1.312,0.063,0.089,2580.47,2550.44,2610.50,2728.75,3364.06,0,0,0,12.79,15.86,15.57
$GC,3680.10,11303,212.83,1.70,0.00,2579.4,2547.4,2611.4,2727.9,3362.6,358.45,2.63,478,3775.25,83.88,0.19,2.96,1.289,0.060,0.037,2152.22,2119.06,2185.38,2764.56,2114.31,0,0,0,12.73,15.69,15.70
$GC,4080.09,20483,212.83,1.70,0.00,2140.8,2105.8,2175.8,2765.1,2114.1,308.49,14.13,527,4081.90,0.00,0.28,0.00,0.000,0.131,0.000,2141.88,2107.44,2176.31,2747.50,2113.88,0,0,0,30.00,15.86,30.00
$GC,4390.61,16646,212.83,1.70,80.00,2138.8,2103.8,2173.8,2748.5,2113.5,270.81,11.34,558,4396.00,0.00,0.00,3.14,0.000,0.000,0.090,2137.88,2103.00,2172.75,2747.50,3365.56,0,0,0,30.00,30.00,15.94
$GC,4474.40,17414,212.83,1.70,0.00,2138.2,2102.5,2173.8,2748.4,3366.6,260.12,12.85,575,4481.67,0.00,0.00,2.91,0.000,0.000,0.038,2138.41,2102.69,2174.12,2748.19,2116.75,0,0,0,30.00,30.00,16.00
$GC,4790.42,16646,212.83,1.70,80.00,2137.8,2101.8,2173.9,2748.2,2116.8,223.29,11.24,607,4796.03,0.00,0.00,3.12,0.000,0.000,0.088,2139.03,2103.00,2175.06,2748.44,3363.75,0,0,0,30.00,30.00,15.98
$GC,4824.44,17414,212.83,1.70,0.00,2137.5,2101.8,2173.3,2749.1,3363.8,219.00,12.61,614,4831.65,0.00,0.00,2.88,0.000,0.000,0.039,2137.50,2101.38,2173.62,2747.44,2116.38,0,0,0,30.00,30.00,16.02
$GC,5140.22,16902,212.83,1.70,-80.00,2136.5,2101.0,2172.1,2747.5,2116.8,183.14,11.18,646,5146.92,0.00,0.00,3.65,0.000,0.000,0.106,2134.84,2099.12,2170.56,2748.69,686.81,0,0,0,30.00,30.00,16.00
$GC,5170.49,17414,212.83,1.70,0.00,2135.7,2101.0,2170.3,2747.8,686.9,179.46,12.14,652,5176.52,0.00,0.00,3.47,0.000,0.000,0.047,2136.09,2101.19,2171.00,2746.94,2181.75,0,0,0,30.00,30.00,16.01
$GC,5480.50,16386,212.83,1.70,0.00,2135.1,2099.8,2170.4,2748.0,2182.1,144.67,11.01,684,5482.07,0.00,0.00,0.00,0.000,0.000,0.000,2134.03,2099.12,2168.94,2747.88,2182.38,0,0,0,30.00,30.00,30.00
$GC,5790.53,16386,212.83,1.70,0.00,2135.0,2099.6,2170.4,2747.9,2182.4,110.97,9.75,715,5792.10,0.00,0.00,0.00,0.000,0.000,0.000,2134.50,2099.31,2169.69,2748.12,2182.19,0,0,0,30.00,30.00,30.00
$GC,6095.85,16710,212.83,1.72,80.00,2134.4,2098.2,2170.6,2748.0,2182.3,86.12,7.52,762,6102.07,0.00,0.00,2.97,0.000,0.000,0.090,2135.81,2099.75,2171.88,2747.88,3366.44,0,0,0,30.00,30.00,16.02
$GC,6330.71,19527,212.83,1.79,0.00,2133.1,2096.0,2170.2,2748.2,3365.8,70.75,5.48,809,6337.39,0.00,0.28,2.91,0.000,0.047,0.040,2134.16,2097.12,2171.19,2786.38,2112.88,0,0,0,30.00,16.09,16.02
$GC,6520.89,10535,300.10,1.91,80.00,2133.4,2096.2,2170.6,2787.3,2112.9,63.39,3.58,847,6622.27,89.49,0.13,3.18,0.999,0.068,0.088,1795.56,1768.25,1822.88,2817.31,3363.06,0,0,0,12.38,16.07,15.77
$GC,6651.15,1092,300.10,1.94,0.00,1795.1,1768.0,1822.2,2817.1,3362.8,56.34,6.99,872,6657.37,0.00,0.00,2.93,0.000,0.000,0.038,1796.81,1768.88,1824.75,2816.69,2115.69,0,0,0,30.00,30.00,15.82
$GC,6840.92,516,300.10,1.94,-80.00,1794.4,1766.6,1822.2,2816.6,2115.2,40.86,8.75,910,6847.79,0.00,0.00,3.70,0.000,0.000,0.104,1794.81,1766.88,1822.75,2817.62,688.69,0,0,0,30.00,30.00,15.87
$GC,6896.25,1028,300.10,1.94,0.00,1794.2,1766.7,1821.8,2816.6,688.4,36.24,8.40,921,6903.02,0.00,0.00,3.50,0.000,0.000,0.046,1794.31,1766.81,1821.81,2816.81,2187.00,0,0,0,30.00,30.00,15.89
$GC,7086.78,580,300.10,1.96,-80.00,1794.1,1765.4,1822.7,2817.0,2187.6,21.55,7.37,959,7093.46,0.00,0.00,3.87,0.000,0.000,0.098,1793.66,1765.56,1821.75,2817.31,686.69,0,0,0,30.00,30.00,15.92
$GC,7322.13,11303,421.49,2.12,0.00,1792.8,1765.5,1820.0,2817.2,686.6,14.64,1.83,1006,7455.60,122.47,0.29,3.48,0.944,0.048,0.044,1301.47,1285.81,1317.12,2866.69,2190.31,0,0,0,12.44,15.99,15.94
$STATE,7604,end climb,SURFACE_DEPTH_REACHED
$STATE,7604,begin surface coast
$FINISH,0.0,1.023316
$STATE,7634,end surface coast,CONTROL_FINISHED_OK
$STATE,7634,begin surface
$SURF,forcing
$SM_CCo,7727.16,52.00,0.930,0,1084.0,1093.1,1074.8,474.91
$SM_GC,1.91,52.00,20.45,0.25,0.930,0.041,0.079,1084.0,1093.1,1074.8,184.3,2055.5,0,0,0,12.53,15.90,15.88
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4749.25,-12627.82,050823,081052
$TCM_TEMP,260.52
$XPDR_PINGS,0,14.0,11.5
$SC_FREEKB,3773952
$HUMID,49.79
$TEMP,81.21
$INTERNAL_PRESSURE,8.93676
$24V_AH,15.03,107.154
$10V_AH,15.00,0.000
$FG_AHR_24Vo,72.302
$FG_AHR_10Vo,28.131
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,600.975,44.020,92.855,246.289,0.000,15.171,3895.284,6.330,0.000,4067.082,2258.803,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1361.936,234.600,159.160,213.135,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7648.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.091,0.000,0.000,0.000
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$DATA_FILE_SIZE,28869,1067
$CAP_FILE_SIZE,432415,0
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$IMPLIED_C_PITCH,2383,11.66,741,0.0,0.00
$IMPLIED_C_VBD,3209,41.749344,662,0
$GPS,050823,125440,4752.764,-12517.082,35,1.6,36,15.8