version: 67.00
glider: 236
mission: 2
dive: 50
start: 10 8 120 3 22 19
data:
$ID,236
$MISSION,2
$DIVE,50
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,80
$T_MISSION,200
$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,100
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72660
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0039810701
$HD_B,0.0094307503
$HD_C,5.7000002e-06
$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,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,670
$ROLL_MAX,3465
$ROLL_DEG,80
$C_ROLL_DIVE,2110
$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,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,1
$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,8.7903357
$FG_AHR_24V,19.414282
$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
$GPS1,081020,031907,4707.529,-12645.650,1,1.0,4,15.8
$_CALLS,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.1
$GPS2,081020,032202,4707.530,-12645.665,3,1.0,3,15.8
$SPEED_LIMITS,0.144,0.211
$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,39.4,144256,-18.9,-8.333,-21.53
$D_GRID,200
$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,6.32,16386,-97.32,-1.23,0.00,501.3,501.6,501.1,191.2,2090.4,0.00,0.00,0,74.44,67.65,0.00,0.00,0.005,0.000,0.000,2252.75,2235.50,2270.00,191.62,2090.81,0,0,0,15.94,30.00,30.00
$GC,74.84,18983,-97.32,-1.23,-80.00,2252.0,2234.8,2269.2,191.5,2090.9,3.12,-3.96,13,111.64,15.10,12.69,3.82,0.006,0.273,0.163,2897.22,2893.56,2900.88,1839.50,662.06,0,0,0,15.93,15.87,15.89
$GC,194.35,1028,-97.32,-1.23,0.00,2894.7,2891.3,2898.0,1840.4,662.0,34.96,-31.53,37,200.04,0.00,0.00,3.38,0.000,0.000,0.065,2894.69,2891.62,2897.75,1839.94,2127.94,0,0,0,30.00,30.00,15.96
$GC,379.40,260,-97.32,-1.23,80.00,2895.2,2892.4,2897.9,1840.4,2127.9,64.02,-13.45,74,385.06,0.00,0.00,3.24,0.000,0.000,0.125,2896.34,2893.56,2899.12,1840.12,3473.38,0,0,0,30.00,30.00,15.97
$GC,554.43,1028,-97.32,-1.23,0.00,2894.6,2892.0,2897.2,1840.8,3473.7,92.09,-17.87,109,560.12,0.00,0.00,3.38,0.000,0.000,0.062,2897.12,2893.31,2900.94,1838.94,2090.50,0,0,0,30.00,30.00,16.01
$GC,739.46,0,-97.32,-1.23,0.00,2895.0,2891.9,2898.1,1841.1,2090.4,117.49,-11.56,133,740.78,0.00,0.00,0.00,0.000,0.000,0.000,2895.50,2893.12,2897.88,1840.75,2090.62,0,0,0,30.00,30.00,30.00
$GC,1039.49,516,-97.32,-1.23,-80.00,2894.7,2891.9,2897.5,1840.4,2090.6,152.17,-10.60,163,1045.26,0.00,0.00,3.76,0.000,0.000,0.166,2895.28,2892.06,2898.50,1840.50,661.62,0,0,0,30.00,30.00,16.02
$GC,1268.48,1028,-97.32,-1.23,0.00,2894.0,2891.7,2896.4,1840.9,661.4,181.36,-13.21,209,1275.23,0.00,0.00,3.35,0.000,0.000,0.066,2894.75,2892.38,2897.12,1840.25,2130.12,0,0,0,30.00,30.00,16.06
$STATE,1445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1445,begin apogee
$GC,1445.74,10243,0.00,-0.25,0.00,2893.8,2891.7,2895.9,1840.3,2170.4,200.06,-10.79,227,1520.38,71.42,1.63,0.08,1.161,0.159,0.224,2495.78,2507.94,2483.62,2081.06,2130.31,0,0,0,13.27,16.02,15.77
$STATE,1522,end apogee,CONTROL_FINISHED_OK
$STATE,1522,begin loiter
$GC,1814.61,8226,29.36,-0.16,0.00,2492.3,2506.9,2477.7,2081.7,2130.1,208.41,-1.68,264,1839.11,23.69,0.00,0.00,1.115,0.000,0.000,2380.66,2397.00,2364.31,2079.12,2129.56,0,0,0,13.25,30.00,30.00
$GC,2134.63,10275,52.65,-0.09,0.00,2373.4,2392.4,2354.4,2080.4,2130.0,212.72,-1.33,296,2155.14,19.61,0.23,0.00,1.112,0.144,0.000,2284.28,2306.12,2262.44,2120.38,2130.25,0,0,0,13.27,15.92,30.00
$GC,2454.66,0,52.65,-0.09,0.00,2278.6,2302.6,2254.6,2120.4,2129.9,209.99,1.17,328,2455.99,0.00,0.00,0.00,0.000,0.000,0.000,2279.16,2303.12,2255.19,2121.06,2130.31,0,0,0,30.00,30.00,30.00
$GC,2754.69,0,52.65,-0.09,0.00,2277.4,2302.2,2252.6,2120.4,2130.2,205.03,1.68,358,2756.02,0.00,0.00,0.00,0.000,0.000,0.000,2278.06,2302.81,2253.31,2120.50,2130.06,0,0,0,30.00,30.00,30.00
$GC,3054.76,16386,52.65,-0.09,0.00,2276.8,2301.8,2251.8,2120.6,2129.9,203.91,0.36,388,3056.09,0.00,0.00,0.00,0.000,0.000,0.000,2277.53,2302.88,2252.19,2120.69,2130.25,0,0,0,30.00,30.00,30.00
$GC,3354.82,16386,52.65,-0.09,0.00,2276.2,2301.9,2250.6,2120.7,2130.0,202.09,0.61,418,3356.16,0.00,0.00,0.00,0.000,0.000,0.000,2276.81,2302.56,2251.06,2120.75,2129.88,0,0,0,30.00,30.00,30.00
$GC,3654.89,16386,52.65,-0.09,0.00,2275.4,2301.1,2249.7,2120.6,2130.1,200.05,0.61,448,3656.22,0.00,0.00,0.00,0.000,0.000,0.000,2276.12,2301.62,2250.62,2120.06,2130.38,0,0,0,30.00,30.00,30.00
$GC,3954.96,8226,60.71,-0.07,0.00,2275.2,2301.4,2249.1,2120.8,2130.2,201.41,-0.46,478,3965.13,7.57,0.00,0.00,0.954,0.000,0.000,2251.56,2277.00,2226.12,2120.38,2129.88,0,0,0,13.27,30.00,30.00
$GC,4265.02,0,60.71,-0.07,0.00,2248.7,2275.2,2222.1,2120.6,2129.9,201.29,0.12,509,4266.35,0.00,0.00,0.00,0.000,0.000,0.000,2248.84,2275.31,2222.38,2120.75,2130.25,0,0,0,30.00,30.00,30.00
$GC,4565.08,0,60.71,-0.07,0.00,2248.0,2275.3,2220.6,2120.2,2129.7,197.30,1.33,539,4566.41,0.00,0.00,0.00,0.000,0.000,0.000,2248.53,2275.44,2221.62,2120.56,2129.50,0,0,0,30.00,30.00,30.00
$GC,4865.14,0,60.71,-0.07,0.00,2247.7,2275.2,2220.1,2121.0,2129.9,191.81,1.77,569,4866.47,0.00,0.00,0.00,0.000,0.000,0.000,2248.16,2275.50,2220.81,2120.81,2130.06,0,0,0,30.00,30.00,30.00
$GC,5165.20,0,60.71,-0.07,0.00,2247.5,2275.6,2219.4,2120.2,2129.9,190.33,0.43,599,5166.53,0.00,0.00,0.00,0.000,0.000,0.000,2247.97,2275.69,2220.25,2121.06,2129.94,0,0,0,30.00,30.00,30.00
$GC,5465.24,0,60.71,-0.07,0.00,2247.3,2275.4,2219.2,2120.9,2130.4,189.16,0.45,629,5466.57,0.00,0.00,0.00,0.000,0.000,0.000,2247.69,2275.88,2219.50,2120.81,2130.00,0,0,0,30.00,30.00,30.00
$GC,5765.28,8226,74.29,-0.03,0.00,2246.7,2274.5,2218.9,2120.9,2129.8,191.30,-0.78,659,5779.05,12.61,0.00,0.00,1.124,0.000,0.000,2195.59,2224.25,2166.94,2119.69,2129.94,0,0,0,13.34,30.00,30.00
$GC,6075.30,0,74.29,-0.03,0.00,2192.3,2221.8,2162.9,2120.5,2130.4,188.92,0.93,690,6076.62,0.00,0.00,0.00,0.000,0.000,0.000,2192.72,2222.00,2163.44,2120.44,2130.12,0,0,0,30.00,30.00,30.00
$GC,6375.33,0,74.29,-0.03,0.00,2192.1,2221.4,2162.8,2120.8,2130.0,183.38,1.91,720,6376.66,0.00,0.00,0.00,0.000,0.000,0.000,2192.44,2221.94,2162.94,2120.94,2130.44,0,0,0,30.00,30.00,30.00
$GC,6675.36,0,74.29,-0.03,0.00,2191.6,2220.9,2162.2,2120.1,2130.6,180.75,0.86,750,6676.69,0.00,0.00,0.00,0.000,0.000,0.000,2192.12,2221.75,2162.50,2120.38,2129.94,0,0,0,30.00,30.00,30.00
$GC,6975.40,0,74.29,-0.03,0.00,2191.2,2221.0,2161.3,2120.1,2129.9,177.48,1.13,780,6976.72,0.00,0.00,0.00,0.000,0.000,0.000,2191.66,2221.25,2162.06,2120.31,2130.06,0,0,0,30.00,30.00,30.00
$GC,7275.43,0,74.29,-0.03,0.00,2191.1,2220.8,2161.4,2120.7,2130.2,174.27,1.04,810,7276.76,0.00,0.00,0.00,0.000,0.000,0.000,2191.88,2222.00,2161.75,2120.94,2130.44,0,0,0,30.00,30.00,30.00
$GC,7575.47,0,74.29,-0.03,0.00,2191.2,2220.8,2161.6,2120.9,2130.0,172.15,0.68,840,7576.79,0.00,0.00,0.00,0.000,0.000,0.000,2191.41,2220.94,2161.88,2120.38,2129.94,0,0,0,30.00,30.00,30.00
$GC,7875.50,0,74.29,-0.03,0.00,2190.7,2221.1,2160.2,2120.4,2130.3,169.03,1.03,870,7876.83,0.00,0.00,0.00,0.000,0.000,0.000,2191.34,2222.00,2160.69,2120.44,2130.31,0,0,0,30.00,30.00,30.00
$GC,8175.54,0,74.29,-0.03,0.00,2190.3,2221.1,2159.6,2120.7,2130.2,165.05,1.28,900,8176.86,0.00,0.00,0.00,0.000,0.000,0.000,2190.75,2221.19,2160.31,2120.62,2129.88,0,0,0,30.00,30.00,30.00
$GC,8475.59,8226,78.27,-0.02,0.00,2190.3,2221.2,2159.4,2120.6,2130.3,165.86,-0.23,930,8481.08,4.86,0.00,0.00,0.711,0.000,0.000,2179.09,2209.38,2148.81,2120.06,2130.44,0,0,0,13.38,30.00,30.00
$STATE,8716,end loiter,LOITER_COMPLETE
$STATE,8716,begin climb
$GC,8715.66,10759,97.32,1.23,-80.00,2179.2,2209.4,2149.0,2120.6,2130.5,163.37,0.00,954,8742.24,18.20,2.10,3.82,1.171,0.114,0.158,2100.50,2129.12,2071.88,2442.19,685.75,0,0,0,13.35,16.09,16.00
$GC,8964.58,11303,164.23,1.44,0.00,2097.2,2123.2,2071.2,2441.6,685.6,154.30,4.50,1004,9025.84,54.18,0.28,3.42,1.229,0.088,0.065,1829.31,1868.00,1790.62,2497.25,2178.44,0,0,0,13.31,16.05,16.08
$GC,9330.70,16966,164.23,1.46,-80.00,1820.3,1864.0,1776.6,2497.4,2177.4,127.49,6.93,1047,9336.33,0.00,0.00,3.90,0.000,0.000,0.153,1820.59,1864.19,1777.00,2497.81,686.81,0,0,0,30.00,30.00,15.92
$GC,9559.77,11303,213.33,1.61,0.00,1818.6,1861.4,1775.8,2497.6,686.6,114.60,5.52,1093,9603.67,38.56,0.19,3.41,1.160,0.099,0.065,1629.31,1675.25,1583.38,2539.31,2177.75,0,0,0,13.17,15.96,15.99
$GC,9900.88,16966,213.33,1.64,-80.00,1621.9,1668.5,1575.4,2538.8,2178.2,93.07,6.80,1141,9906.75,0.00,0.00,3.88,0.000,0.000,0.151,1622.75,1669.25,1576.25,2539.44,685.75,0,0,0,30.00,30.00,15.90
$GC,10010.91,17478,213.33,1.66,0.00,1621.7,1667.7,1575.6,2539.4,686.4,84.93,7.49,1163,10016.59,0.00,0.00,3.43,0.000,0.000,0.064,1621.47,1667.62,1575.31,2540.19,2176.44,0,0,0,30.00,30.00,15.95
$GC,10195.99,10535,266.61,1.82,80.00,1620.1,1667.4,1572.8,2540.2,2176.4,74.48,5.28,1200,10242.57,41.67,0.25,3.21,1.122,0.092,0.135,1412.19,1460.38,1364.00,2589.12,3474.00,0,0,0,13.18,15.96,15.78
$GC,10256.00,1092,266.61,1.86,0.00,1410.2,1456.2,1364.1,2588.7,3474.1,70.46,6.38,1212,10261.77,0.00,0.00,3.23,0.000,0.000,0.065,1410.12,1456.31,1363.94,2588.69,2130.12,0,0,0,30.00,30.00,15.81
$GC,10441.08,10535,317.08,2.01,80.00,1406.9,1454.8,1359.0,2588.9,2129.8,55.61,5.44,1249,10487.65,39.15,0.23,3.35,1.090,0.092,0.132,1206.38,1251.69,1161.06,2635.88,3475.56,0,0,0,13.18,15.88,15.72
$GC,10691.18,11303,375.33,2.18,0.00,1202.0,1244.6,1159.4,2636.8,3474.6,43.61,5.00,1299,10742.96,45.08,0.20,3.24,1.065,0.105,0.065,970.12,1008.88,931.38,2677.44,2128.56,0,0,0,13.19,15.83,15.85
$GC,10921.42,516,375.33,2.18,-80.00,965.5,1005.7,925.4,2676.5,2127.9,24.25,10.64,1345,10926.99,0.00,0.00,3.74,0.000,0.000,0.154,965.84,1006.00,925.69,2677.50,685.25,0,0,0,30.00,30.00,15.79
$GC,11041.24,1028,375.33,2.18,0.00,965.0,1004.9,925.1,2677.4,685.4,7.99,14.22,1369,11046.93,0.00,0.00,3.41,0.000,0.000,0.062,965.62,1005.31,925.94,2676.19,2174.69,0,0,0,30.00,30.00,15.86
$STATE,11092,end climb,SURFACE_DEPTH_REACHED
$STATE,11092,begin surface coast
$STATE,11107,end surface coast,CONTROL_FINISHED_OK
$STATE,11107,begin surface
$SM_CCo,11167.41,37.99,1.033,0,767.9,770.4,765.4,424.89
$SM_CCo,11168.50,0.00,0.010,0,767.4,769.5,765.2,425.01
$SM_GC,0.41,0.00,16.08,0.18,0.010,0.092,0.117,767.4,769.5,765.2,180.2,2078.1,0,0,0,30.36,15.83,15.87
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4709.17,-12645.86,081020,031817
$TCM_TEMP,202.41
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3858176
$HUMID,56.17
$TEMP,10.51
$INTERNAL_PRESSURE,7.92416
$24V_AH,15.07,19.021
$10V_AH,15.00,0.000
$FG_AHR_24Vo,19.564
$FG_AHR_10Vo,8.857
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,497.375,33.900,63.360,0.000,0.250,12.816,3860.535,7343.771,2351.857,0.000,0.000,0.000
$DEVICE_MAMPS,1229.424,272.976,223.776,0.000,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11109.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.638,0.000,0.000,0.000
$MEM,1104484,28,72924,53
$DATA_FILE_SIZE,51435,1382
$CAP_FILE_SIZE,264003,0
$SDSIZE,3918848,3895808
$SDFILEDIR,276,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081020,062935,4707.044,-12645.760,58,1.5,59,15.8