version: 67.00
glider: 236
mission: 2
dive: 291
start: 12 3 120 20 34 54
data:
$ID,236
$MISSION,2
$DIVE,291
$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,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,30.893694
$FG_AHR_24V,77.118614
$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
$GPS1,031220,202938,4752.265,-12512.575,13,1.3,13,15.8
$_CALLS,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-63.1
$GPS2,031220,203437,4752.307,-12512.536,4,1.7,8,15.8
$SPEED_LIMITS,0.139,0.180
$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,88.1,2902,-26.9,-8.049,-30.00
$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,6.83,16386,-46.04,-1.48,0.00,763.6,771.8,755.4,172.9,2121.7,0.00,0.00,0,80.23,72.79,0.00,0.00,0.005,0.000,0.000,2413.72,2396.75,2430.69,172.94,2121.88,0,0,0,15.63,30.00,30.00
$GC,80.50,18727,-75.98,-1.57,80.00,2412.8,2395.2,2430.4,172.9,2121.7,3.46,-4.52,14,112.23,10.18,13.12,3.68,0.007,0.259,0.119,2807.91,2804.88,2810.94,1759.12,3473.88,0,0,0,15.69,15.65,15.63
$GC,335.07,1028,-75.98,-1.57,0.00,2808.8,2804.7,2812.9,1758.9,3474.1,69.15,-22.19,65,340.79,0.00,0.00,3.42,0.000,0.000,0.063,2808.84,2804.88,2812.81,1759.25,2084.38,0,0,0,30.00,30.00,15.83
$GC,520.15,260,-75.98,-1.57,80.00,2808.7,2804.8,2812.6,1758.9,2084.3,99.54,-14.34,102,525.94,0.00,0.00,3.74,0.000,0.000,0.114,2808.59,2804.56,2812.62,1759.06,3473.50,0,0,0,30.00,30.00,15.88
$GC,654.03,1028,-75.98,-1.57,0.00,2808.6,2804.2,2812.9,1759.0,3474.1,119.27,-14.52,129,660.91,0.00,0.00,3.40,0.000,0.000,0.063,2808.75,2804.62,2812.88,1759.25,2082.50,0,0,0,30.00,30.00,15.90
$GC,960.22,260,-75.98,-1.57,80.00,2808.8,2804.4,2813.2,1758.6,2082.6,158.67,-14.25,160,965.99,0.00,0.00,3.71,0.000,0.000,0.116,2809.06,2804.75,2813.38,1758.81,3473.75,0,0,0,30.00,30.00,15.95
$GC,1019.09,1028,-75.98,-1.57,0.00,2809.3,2804.8,2813.8,1759.5,3474.7,168.22,-16.30,172,1025.95,0.00,0.00,3.40,0.000,0.000,0.063,2810.25,2805.75,2814.75,1758.25,2082.50,0,0,0,30.00,30.00,15.95
$GC,1325.40,0,-75.98,-1.57,0.00,2809.0,2804.0,2814.0,1758.9,2081.8,210.83,-12.95,203,1326.72,0.00,0.00,0.00,0.000,0.000,0.000,2809.72,2805.50,2813.94,1758.62,2082.44,0,0,0,30.00,30.00,30.00
$GC,1625.29,260,-75.98,-1.57,80.00,2809.2,2804.9,2813.4,1758.7,2082.6,249.97,-12.70,233,1631.00,0.00,0.00,3.72,0.000,0.000,0.118,2807.38,2803.25,2811.50,1759.00,3475.19,0,0,0,30.00,30.00,16.01
$GC,1750.31,1028,-75.98,-1.57,0.00,2808.8,2804.4,2813.1,1758.9,3474.4,267.84,-15.14,258,1754.88,0.00,0.00,3.40,0.000,0.000,0.066,2809.62,2804.75,2814.50,1759.06,2083.12,0,0,0,30.00,30.00,16.01
$GC,2060.36,292,-77.86,-1.58,80.00,2809.3,2805.4,2813.1,1759.2,2083.1,294.34,-2.92,290,2066.14,0.00,0.00,3.71,0.000,0.000,0.117,2810.25,2806.12,2814.38,1758.19,3475.25,0,0,0,30.00,30.00,16.03
$GC,2289.40,1060,-77.86,-1.58,0.00,2809.3,2805.6,2813.1,1758.6,3475.2,294.33,-0.03,336,2296.11,0.00,0.00,3.37,0.000,0.000,0.060,2810.97,2807.38,2814.56,1759.25,2081.50,0,0,0,30.00,30.00,16.03
$STATE,2326,end dive,NO_VERTICAL_VELOCITY
$STATE,2326,begin apogee
$GC,2326.67,10243,0.00,-0.25,0.00,2809.3,2805.7,2812.9,1758.6,2224.8,294.53,0.00,340,2390.18,60.33,2.19,0.09,1.395,0.109,0.210,2498.16,2506.38,2489.94,2082.56,2180.44,0,0,0,12.96,15.99,15.73
$STATE,2392,end apogee,CONTROL_FINISHED_OK
$STATE,2392,begin climb
$GC,2391.83,10759,77.86,1.58,-80.00,2498.1,2506.0,2490.2,2083.4,2179.3,294.35,0.00,346,2466.55,64.98,2.95,4.09,1.366,0.082,0.136,2180.09,2193.69,2166.50,2528.06,735.50,0,0,0,12.91,15.76,15.50
$GC,2478.23,9254,110.80,1.68,0.00,2177.7,2190.5,2164.9,2527.4,735.6,291.13,4.17,362,2515.65,29.71,0.00,3.64,1.299,0.000,0.052,2047.19,2067.75,2026.62,2527.44,2224.75,0,0,0,12.72,30.00,15.59
$GC,2814.35,16902,110.80,1.68,-80.00,2037.1,2061.5,2012.8,2527.4,2224.0,258.84,11.27,399,2820.05,0.00,0.00,4.13,0.000,0.000,0.137,2035.94,2060.12,2011.75,2527.62,736.19,0,0,0,30.00,30.00,15.76
$GC,2929.35,17414,110.80,1.68,0.00,2035.5,2058.0,2012.9,2527.5,736.4,244.34,11.59,422,2934.97,0.00,0.00,3.61,0.000,0.000,0.055,2035.91,2058.50,2013.31,2527.44,2221.56,0,0,0,30.00,30.00,15.81
$GC,3234.39,16646,110.80,1.68,80.00,2034.0,2058.1,2010.0,2527.9,2221.6,215.68,9.24,453,3238.96,0.00,0.00,3.40,0.000,0.000,0.118,2035.59,2059.69,2011.50,2527.25,3472.94,0,0,0,30.00,30.00,15.88
$GC,3394.42,17414,110.80,1.68,0.00,2034.0,2057.7,2010.2,2528.0,3473.1,198.58,10.63,485,3398.96,0.00,0.00,3.14,0.000,0.000,0.055,2035.38,2059.38,2011.38,2527.06,2180.19,0,0,0,30.00,30.00,15.91
$GC,3704.45,16902,110.80,1.68,-80.00,2032.5,2058.0,2006.9,2527.7,2180.9,173.05,7.75,517,3710.13,0.00,0.00,3.92,0.000,0.000,0.136,2034.25,2059.06,2009.44,2526.25,736.38,0,0,0,30.00,30.00,15.93
$GC,3779.53,17414,110.80,1.68,0.00,2031.6,2055.9,2007.2,2526.9,736.4,166.93,8.62,532,3785.07,0.00,0.00,3.57,0.000,0.000,0.055,2030.75,2054.94,2006.56,2527.31,2223.31,0,0,0,30.00,30.00,15.92
$GC,4084.70,19015,110.80,1.70,-80.00,2031.2,2056.0,2006.5,2527.2,2222.8,144.61,7.27,563,4090.24,0.00,0.14,4.06,0.000,0.105,0.132,2031.72,2056.06,2007.38,2563.31,736.44,0,0,0,30.00,15.96,15.97
$GC,4169.53,17414,110.80,1.70,0.00,2030.7,2054.9,2006.5,2564.2,736.0,136.29,10.81,580,4175.12,0.00,0.00,3.59,0.000,0.000,0.055,2030.38,2055.06,2005.69,2563.12,2224.00,0,0,0,30.00,30.00,15.94
$GC,4474.55,16646,110.80,1.70,80.00,2030.6,2054.6,2006.6,2563.9,2223.8,109.57,8.39,611,4479.11,0.00,0.00,3.38,0.000,0.000,0.118,2031.03,2055.19,2006.88,2564.12,3475.06,0,0,0,30.00,30.00,15.99
$GC,4649.61,17478,110.80,1.74,0.00,2030.6,2054.5,2006.6,2563.8,3475.7,96.50,6.59,646,4655.28,0.00,0.00,3.12,0.000,0.000,0.055,2030.62,2054.75,2006.50,2564.62,2177.06,0,0,0,30.00,30.00,15.98
$GC,4834.65,10275,150.64,1.86,0.00,2030.3,2054.9,2005.7,2563.9,2176.7,89.68,3.36,683,4869.88,31.43,0.17,0.00,1.168,0.102,0.000,1885.62,1912.81,1858.44,2603.75,2177.00,0,0,0,12.93,15.99,30.00
$GC,5049.70,8486,196.52,2.00,80.00,1878.2,1907.6,1848.9,2603.9,2177.4,82.30,2.65,726,5092.18,37.75,0.00,3.53,1.162,0.000,0.114,1698.41,1729.19,1667.62,2602.44,3474.06,0,0,0,12.88,30.00,15.74
$GC,5105.03,11303,235.24,2.12,0.00,1695.8,1725.8,1665.7,2603.3,3473.7,80.01,3.49,737,5142.47,32.31,0.32,3.15,1.127,0.079,0.052,1541.00,1572.44,1509.56,2661.19,2178.69,0,0,0,12.86,15.77,15.79
$GC,5320.33,516,235.24,2.12,-80.00,1533.7,1567.1,1500.2,2662.9,2178.4,52.70,14.87,780,5326.07,0.00,0.00,3.97,0.000,0.000,0.135,1534.22,1567.50,1500.94,2662.00,735.44,0,0,0,30.00,30.00,15.75
$GC,5445.27,17414,235.24,2.12,0.00,1532.7,1566.1,1499.2,2662.8,735.8,35.49,11.02,805,5451.03,0.00,0.00,3.58,0.000,0.000,0.054,1533.03,1566.38,1499.69,2662.50,2223.81,0,0,0,30.00,30.00,15.83
$GC,5630.35,16710,235.24,2.15,80.00,1531.1,1566.0,1496.2,2663.2,2224.5,23.81,6.95,842,5636.04,0.00,0.00,3.38,0.000,0.000,0.115,1531.41,1566.12,1496.69,2663.19,3473.12,0,0,0,30.00,30.00,15.84
$GC,5710.34,17414,235.24,2.15,0.00,1530.0,1563.6,1496.5,2663.2,3472.9,17.09,8.36,858,5716.02,0.00,0.00,3.11,0.000,0.000,0.053,1530.50,1564.12,1496.88,2663.19,2178.94,0,0,0,30.00,30.00,15.86
$GC,5895.39,16646,235.24,2.15,80.00,1529.3,1563.3,1495.4,2662.8,2179.0,4.14,9.00,895,5901.11,0.00,0.00,3.44,0.000,0.000,0.112,1530.03,1563.94,1496.12,2662.56,3475.56,0,0,0,30.00,30.00,15.92
$GC,5920.39,17414,235.24,2.15,0.00,1529.1,1562.7,1495.5,2663.6,3475.6,2.06,9.17,900,5926.09,0.00,0.00,3.11,0.000,0.000,0.053,1529.59,1563.00,1496.19,2663.00,2180.12,0,0,0,30.00,30.00,15.90
$STATE,5931,end climb,SURFACE_DEPTH_REACHED
$STATE,5931,begin surface coast
$STATE,5951,end surface coast,CONTROL_FINISHED_OK
$STATE,5951,begin surface
$SM_CCo,6124.19,149.88,1.091,0,767.4,770.4,764.5,425.00
$SM_CCo,6125.37,0.00,2.748,0,768.8,768.9,768.8,424.65
$SM_CCo,6126.53,0.12,0.194,0,768.4,766.4,770.4,424.76
$SM_GC,0.70,0.12,16.09,0.22,0.194,0.085,0.112,768.4,766.4,770.4,172.8,2073.6,0,0,0,15.47,15.86,15.91
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4749.65,-12521.07,031220,181649
$TCM_TEMP,189.75
$XPDR_PINGS,2,14.0,11.5
$SC_FREEKB,3755872
$HUMID,56.52
$TEMP,8.59
$INTERNAL_PRESSURE,7.81921
$24V_AH,14.57,90.333
$10V_AH,14.92,0.000
$FG_AHR_24Vo,77.272
$FG_AHR_10Vo,30.927
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,489.500,35.000,107.190,184.985,0.500,16.918,2925.332,3473.866,1480.864,0.000,0.000,0.000
$DEVICE_MAMPS,2748.064,258.872,210.328,215.628,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5976.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.383,0.000,0.000,0.000
$MEM,1100212,43,75676,114
$DATA_FILE_SIZE,35394,906
$CAP_FILE_SIZE,223891,0
$SDSIZE,3918848,3832224
$SDFILEDIR,1481,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031220,221731,4752.499,-12511.928,21,1.0,22,15.8