version: 67.00
glider: 236
mission: 2
dive: 1230
start: 4 24 121 22 55 58
data:
$ID,236
$MISSION,2
$DIVE,1230
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$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,150
$T_MISSION,195
$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,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,2100
$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,79.398926
$FG_AHR_24V,292.34128
$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,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,240421,224912,4706.923,-12500.071,0,1.7,4,15.5
$_CALLS,1
$_SM_DEPTHo,-1.68
$_SM_ANGLEo,-63.9
$GPS2,240421,225540,4706.903,-12500.104,2,1.7,5,15.5
$SPEED_LIMITS,0.192,0.290
$TGT_NAME,ONSHELF
$TGT_LATLONG,4708.000,-12454.000
$TGT_RADIUS,3000.000
$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,59.7,7955,-17.6,-11.111,-21.00
$D_GRID,169
$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,8.69,16386,-175.18,-1.40,0.00,561.2,560.0,562.4,170.6,2117.8,0.00,0.00,0,100.62,91.46,0.00,0.00,0.005,0.000,0.000,2756.66,2737.88,2775.44,170.44,2117.94,0,0,0,13.09,30.00,30.00
$GC,100.84,18695,-175.18,-1.40,80.00,2755.9,2737.6,2774.1,170.4,2117.8,5.19,-11.03,9,133.53,8.77,15.17,3.69,0.007,0.250,0.107,3214.62,3209.00,3220.25,1798.44,3476.75,0,0,0,13.36,14.78,14.45
$GC,211.81,1028,-175.18,-1.40,0.00,3214.4,3207.8,3221.0,1798.9,3476.1,27.47,-15.28,31,216.36,0.00,0.00,3.45,0.000,0.000,0.051,3215.97,3209.31,3222.62,1798.56,2080.50,0,0,0,30.00,30.00,15.21
$GC,281.76,516,-175.18,-1.40,-80.00,3214.9,3209.1,3220.7,1798.6,2080.6,37.46,-13.85,39,287.49,0.00,0.00,4.09,0.000,0.000,0.140,3215.06,3209.19,3220.94,1798.81,662.12,0,0,0,30.00,30.00,14.98
$GC,310.67,1028,-175.18,-1.40,0.00,3215.0,3208.8,3221.1,1798.7,662.1,41.96,-14.61,45,317.49,0.00,0.00,3.54,0.000,0.000,0.042,3214.28,3208.00,3220.56,1799.06,2123.44,0,0,0,30.00,30.00,15.27
$GC,376.83,260,-175.18,-1.40,80.00,3214.8,3208.1,3221.4,1798.8,2123.6,50.93,-13.05,52,382.42,0.00,0.00,3.64,0.000,0.000,0.101,3214.97,3208.88,3221.06,1798.06,3475.19,0,0,0,30.00,30.00,15.07
$GC,415.68,1028,-175.18,-1.40,0.00,3214.5,3208.6,3220.5,1799.0,3475.2,56.35,-12.79,60,422.48,0.00,0.00,3.40,0.000,0.000,0.047,3214.59,3208.56,3220.62,1798.56,2079.69,0,0,0,30.00,30.00,15.20
$GC,481.83,516,-175.18,-1.40,-80.00,3214.4,3208.4,3220.4,1798.1,2080.3,64.20,-11.87,67,487.49,0.00,0.00,4.08,0.000,0.000,0.140,3214.09,3207.06,3221.12,1798.81,661.88,0,0,0,30.00,30.00,14.98
$GC,537.24,1028,-175.18,-1.40,0.00,3214.5,3208.4,3220.6,1798.4,661.8,71.24,-12.34,78,542.43,0.00,0.00,3.52,0.000,0.000,0.040,3213.50,3206.69,3220.31,1798.19,2123.94,0,0,0,30.00,30.00,15.30
$GC,601.79,260,-175.18,-1.40,80.00,3214.5,3207.9,3221.1,1798.6,2123.6,78.04,-10.41,85,607.44,0.00,0.00,3.64,0.000,0.000,0.100,3214.75,3208.94,3220.56,1798.88,3476.06,0,0,0,30.00,30.00,15.06
$GC,660.72,1028,-175.18,-1.40,0.00,3214.0,3208.1,3219.9,1798.6,3475.8,84.93,-11.94,97,667.51,0.00,0.00,3.41,0.000,0.000,0.045,3214.75,3208.69,3220.81,1798.88,2078.31,0,0,0,30.00,30.00,15.19
$GC,726.86,260,-175.18,-1.40,80.00,3214.4,3208.1,3220.7,1798.5,2077.6,92.32,-11.36,104,732.47,0.00,0.00,3.80,0.000,0.000,0.097,3215.00,3207.88,3222.12,1797.44,3476.94,0,0,0,30.00,30.00,15.06
$GC,751.86,1028,-175.18,-1.40,0.00,3214.8,3208.9,3220.7,1798.7,3475.9,95.46,-11.33,109,756.43,0.00,0.00,3.41,0.000,0.000,0.044,3215.91,3209.44,3222.38,1797.88,2078.12,0,0,0,30.00,30.00,15.21
$GC,821.81,516,-175.18,-1.40,-80.00,3214.4,3208.4,3220.4,1798.5,2079.2,103.17,-10.98,117,827.54,0.00,0.00,4.09,0.000,0.000,0.138,3213.69,3207.56,3219.81,1799.00,660.69,0,0,0,30.00,30.00,14.97
$GC,847.26,1028,-175.18,-1.40,0.00,3214.6,3208.4,3220.8,1799.0,660.8,106.22,-11.67,122,852.43,0.00,0.00,3.49,0.000,0.000,0.038,3216.06,3209.69,3222.44,1798.44,2124.50,0,0,0,30.00,30.00,15.30
$GC,911.88,260,-175.18,-1.40,80.00,3214.5,3208.4,3220.7,1798.8,2125.1,114.01,-11.60,129,917.49,0.00,0.00,3.63,0.000,0.000,0.100,3214.16,3207.62,3220.69,1798.62,3475.06,0,0,0,30.00,30.00,15.05
$GC,956.82,1028,-175.18,-1.40,0.00,3214.4,3208.0,3220.9,1798.3,3474.9,119.81,-13.40,138,961.42,0.00,0.00,3.39,0.000,0.000,0.045,3215.66,3209.44,3221.88,1798.50,2078.31,0,0,0,30.00,30.00,15.20
$GC,1026.83,516,-175.18,-1.40,-80.00,3214.5,3208.2,3220.7,1798.9,2078.9,128.18,-12.21,146,1032.55,0.00,0.00,4.07,0.000,0.000,0.138,3215.84,3208.69,3223.00,1798.88,662.06,0,0,0,30.00,30.00,14.95
$GC,1055.75,1028,-175.18,-1.40,0.00,3214.6,3208.3,3220.8,1798.6,662.2,132.15,-13.23,152,1062.55,0.00,0.00,3.48,0.000,0.000,0.037,3216.56,3209.81,3223.31,1798.56,2125.31,0,0,0,30.00,30.00,15.27
$GC,1121.90,260,-175.18,-1.40,80.00,3214.8,3208.2,3221.4,1799.2,2125.6,139.85,-11.72,159,1127.49,0.00,0.00,3.63,0.000,0.000,0.101,3213.25,3207.62,3218.88,1798.75,3475.38,0,0,0,30.00,30.00,15.05
$GC,1166.84,1028,-175.18,-1.40,0.00,3214.5,3208.3,3220.6,1798.6,3475.9,145.17,-11.96,168,1171.44,0.00,0.00,3.38,0.000,0.000,0.045,3215.22,3209.06,3221.38,1798.44,2080.25,0,0,0,30.00,30.00,15.19
$GC,1236.86,516,-175.18,-1.40,-80.00,3214.4,3208.1,3220.7,1798.8,2080.4,153.60,-12.07,176,1242.57,0.00,0.00,4.06,0.000,0.000,0.140,3214.47,3208.69,3220.25,1798.81,662.31,0,0,0,30.00,30.00,14.94
$GC,1275.77,1028,-175.18,-1.40,0.00,3214.3,3207.8,3220.9,1799.0,662.2,158.89,-14.37,184,1282.58,0.00,0.00,3.48,0.000,0.000,0.037,3215.19,3208.75,3221.62,1798.56,2126.19,0,0,0,30.00,30.00,15.26
$STATE,1372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1373.01,10243,0.00,-0.25,0.00,3214.6,3208.7,3220.6,1798.8,2079.6,170.09,-12.40,194,1515.10,137.97,2.21,0.08,1.183,0.136,0.201,2498.94,2506.31,2491.56,2079.06,2122.88,0,0,0,11.27,14.99,14.55
$STATE,1519,end apogee,CONTROL_FINISHED_OK
$STATE,1519,begin climb
$GC,1518.45,10759,175.18,1.40,-80.00,2497.5,2506.4,2488.5,2080.4,2123.3,176.24,0.00,208,1681.71,150.64,3.07,4.37,1.132,0.081,0.126,1784.44,1811.81,1757.06,2482.75,661.75,0,0,0,11.19,14.76,14.18
$GC,1684.00,1092,175.18,1.45,0.00,1782.6,1809.2,1756.0,2484.2,661.6,167.23,9.61,226,1690.70,0.00,0.00,3.71,0.000,0.000,0.038,1781.72,1808.81,1754.62,2484.00,2126.06,0,0,0,30.00,30.00,14.46
$GC,1809.96,0,175.18,1.45,0.00,1778.0,1807.7,1748.2,2484.5,2126.2,153.06,11.72,239,1811.29,0.00,0.00,0.00,0.000,0.000,0.000,1778.16,1807.94,1748.38,2484.56,2126.62,0,0,0,30.00,30.00,30.00
$GC,1929.98,16966,175.18,1.49,-80.00,1776.5,1807.0,1746.0,2484.8,2126.3,140.97,9.64,251,1935.70,0.00,0.00,4.16,0.000,0.000,0.123,1775.91,1806.56,1745.25,2484.06,660.81,0,0,0,30.00,30.00,14.83
$GC,1998.88,17414,175.18,1.49,0.00,1775.5,1805.2,1745.8,2483.9,660.6,133.23,10.98,265,2005.70,0.00,0.00,3.53,0.000,0.000,0.038,1776.03,1805.56,1746.50,2483.75,2129.06,0,0,0,30.00,30.00,15.15
$GC,2064.99,10535,243.01,1.70,80.00,1774.4,1804.5,1744.2,2484.1,2129.6,127.68,8.19,272,2137.15,64.29,0.44,3.65,1.063,0.050,0.104,1507.16,1537.06,1477.25,2563.75,3475.12,0,0,0,11.19,15.29,14.71
$GC,2295.39,1028,243.01,1.70,0.00,1502.9,1534.7,1471.1,2564.2,3474.7,101.71,10.75,316,2300.02,0.00,0.00,3.45,0.000,0.000,0.048,1502.91,1534.62,1471.19,2565.00,2075.81,0,0,0,30.00,30.00,15.15
$GC,2365.39,260,243.01,1.70,80.00,1502.6,1534.8,1470.5,2565.4,2076.6,93.56,11.77,324,2371.07,0.00,0.00,3.77,0.000,0.000,0.099,1502.25,1534.44,1470.06,2563.75,3473.94,0,0,0,30.00,30.00,15.05
$GC,2454.33,1028,243.01,1.70,0.00,1501.5,1533.8,1469.2,2564.1,3475.0,82.35,12.02,342,2461.11,0.00,0.00,3.40,0.000,0.000,0.045,1502.25,1534.00,1470.50,2563.12,2075.81,0,0,0,30.00,30.00,15.23
$GC,2520.47,516,243.01,1.70,-80.00,1501.5,1533.8,1469.1,2564.4,2075.7,74.97,11.23,349,2526.14,0.00,0.00,3.94,0.000,0.000,0.124,1500.94,1533.56,1468.31,2564.44,660.75,0,0,0,30.00,30.00,15.04
$GC,2555.87,1028,243.01,1.70,0.00,1501.4,1533.6,1469.2,2564.0,660.7,70.60,12.67,356,2561.04,0.00,0.00,3.47,0.000,0.000,0.036,1501.28,1533.56,1469.00,2564.00,2132.94,0,0,0,30.00,30.00,15.37
$GC,2620.44,16966,243.01,1.75,-80.00,1501.1,1533.8,1468.4,2564.4,2132.7,64.39,9.22,363,2626.15,0.00,0.00,4.05,0.000,0.000,0.119,1500.47,1532.94,1468.00,2564.75,661.75,0,0,0,30.00,30.00,15.06
$GC,2695.90,11303,293.24,1.90,0.00,1501.3,1534.1,1468.6,2564.7,661.8,57.47,8.95,378,2757.32,54.69,0.24,3.47,1.006,0.062,0.036,1304.78,1335.81,1273.75,2616.06,2133.88,0,0,0,11.28,15.15,15.38
$GC,2815.47,580,293.24,1.96,-80.00,1301.2,1333.7,1268.6,2616.2,2133.7,46.86,9.25,396,2821.19,0.00,0.00,4.11,0.000,0.000,0.120,1301.66,1334.31,1269.00,2613.75,661.75,0,0,0,30.00,30.00,15.00
$GC,2860.94,1092,293.24,2.00,0.00,1300.9,1333.4,1268.3,2616.2,661.7,42.49,9.77,405,2866.11,0.00,0.00,3.49,0.000,0.000,0.037,1300.28,1332.56,1268.00,2616.50,2132.06,0,0,0,30.00,30.00,15.32
$GC,2925.48,10275,345.83,2.16,0.00,1300.5,1333.4,1267.6,2616.2,2132.0,36.54,8.85,412,2986.64,57.13,0.31,0.00,0.982,0.055,0.000,1090.31,1121.12,1059.50,2676.19,2131.06,0,0,0,11.25,15.38,30.00
$GC,3045.53,516,345.83,2.16,-80.00,1088.2,1120.9,1055.6,2676.6,2131.8,24.03,11.08,429,3051.22,0.00,0.00,4.13,0.000,0.000,0.120,1088.28,1120.81,1055.75,2676.19,660.62,0,0,0,30.00,30.00,14.98
$GC,3130.94,1028,345.83,2.16,0.00,1087.7,1119.4,1055.9,2676.6,660.7,13.18,12.48,446,3136.12,0.00,0.00,3.51,0.000,0.000,0.037,1087.94,1119.56,1056.31,2674.56,2130.75,0,0,0,30.00,30.00,15.32
$GC,3195.51,324,345.83,2.20,80.00,1086.8,1119.5,1054.0,2677.1,2131.4,6.39,9.59,453,3201.13,0.00,0.00,3.59,0.000,0.000,0.101,1086.38,1119.25,1053.50,2676.75,3473.88,0,0,0,30.00,30.00,15.14
$STATE,3245,end climb,SURFACE_DEPTH_REACHED
$STATE,3245,begin surface coast
$STATE,3255,end surface coast,CONTROL_FINISHED_OK
$STATE,3255,begin surface
$SM_CCo,3412.58,120.99,0.982,0,564.8,559.1,570.4,474.72
$SM_CCo,3413.70,0.00,2.525,0,565.1,560.2,569.9,474.64
$SM_CCo,3414.80,0.00,0.009,0,564.6,560.3,568.9,474.76
$SM_GC,-0.83,0.00,17.86,3.36,0.009,0.072,0.044,564.6,560.3,568.9,174.9,2076.4,0,0,0,30.36,15.10,15.33
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4706.19,-12502.11,240421,214523
$TCM_TEMP,176.58
$XPDR_PINGS,27,14.0,11.5
$SC_FREEKB,3387744
$HUMID,59.03
$TEMP,8.62
$INTERNAL_PRESSURE,7.81225
$24V_AH,13.48,333.742
$10V_AH,14.46,0.000
$FG_AHR_24Vo,292.528
$FG_AHR_10Vo,79.411
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,685.940,39.300,147.840,157.725,6.750,14.441,2167.944,1445.587,946.324,0.000,0.000,0.000
$DEVICE_MAMPS,2525.352,250.016,201.144,187.000,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3323.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.484,0.000,0.000,0.000
$MEM,1103664,40,73444,56
$DATA_FILE_SIZE,16161,465
$CAP_FILE_SIZE,319212,0
$SDSIZE,3918848,3582368
$SDFILEDIR,6176,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240421,235331,4706.770,-12459.845,1,0.8,29,15.5