version: 67.00
glider: 236
mission: 2
dive: 1233
start: 4 25 121 2 5 58
data:
$ID,236
$MISSION,2
$DIVE,1233
$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,79.4394
$FG_AHR_24V,292.9183
$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
$GPS1,250421,015846,4706.631,-12459.093,2,1.9,5,15.5
$_CALLS,1
$_SM_DEPTHo,-1.71
$_SM_ANGLEo,-64.4
$GPS2,250421,020539,4706.637,-12459.059,20,0.9,20,15.5
$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,52.9,6855,-17.6,-11.111,-21.00
$D_GRID,156
$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,8.66,16386,-175.18,-1.40,0.00,558.9,556.6,561.3,168.9,2119.1,0.00,0.00,0,100.57,91.48,0.00,0.00,0.005,0.000,0.000,2751.56,2731.88,2771.25,169.06,2119.00,0,0,0,13.12,30.00,30.00
$GC,100.79,18695,-175.18,-1.40,80.00,2750.8,2731.1,2770.5,169.1,2118.6,5.38,-11.37,9,133.47,8.81,15.06,3.70,0.007,0.255,0.111,3214.84,3208.88,3220.81,1799.50,3475.19,0,0,0,13.21,14.81,14.45
$GC,215.61,1028,-175.18,-1.40,0.00,3214.4,3208.3,3220.5,1799.2,3474.6,29.16,-15.26,32,222.41,0.00,0.00,3.47,0.000,0.000,0.053,3214.59,3208.25,3220.94,1798.94,2079.88,0,0,0,30.00,30.00,15.22
$GC,281.76,0,-175.18,-1.40,0.00,3214.1,3208.1,3220.1,1799.6,2079.6,38.57,-14.20,39,283.08,0.00,0.00,0.00,0.000,0.000,0.000,3214.22,3207.75,3220.69,1798.56,2080.12,0,0,0,30.00,30.00,30.00
$GC,341.72,0,-175.18,-1.40,0.00,3214.0,3207.9,3220.2,1799.3,2080.4,47.08,-14.17,45,343.04,0.00,0.00,0.00,0.000,0.000,0.000,3214.31,3208.31,3220.31,1799.31,2079.81,0,0,0,30.00,30.00,30.00
$GC,401.87,260,-175.18,-1.40,80.00,3214.0,3207.8,3220.3,1799.0,2079.9,55.93,-14.94,51,407.39,0.00,0.00,3.81,0.000,0.000,0.101,3215.09,3209.12,3221.06,1797.06,3474.44,0,0,0,30.00,30.00,15.10
$GC,420.68,1028,-175.18,-1.40,0.00,3214.1,3207.6,3220.5,1799.1,3475.3,58.84,-15.51,55,427.42,0.00,0.00,3.44,0.000,0.000,0.051,3215.19,3208.94,3221.44,1799.19,2079.12,0,0,0,30.00,30.00,15.23
$GC,486.77,516,-175.18,-1.40,-80.00,3214.3,3208.1,3220.5,1799.1,2079.2,68.32,-14.54,62,492.44,0.00,0.00,4.07,0.000,0.000,0.140,3213.34,3207.75,3218.94,1799.06,661.69,0,0,0,30.00,30.00,15.02
$GC,522.17,1028,-175.18,-1.40,0.00,3214.4,3208.5,3220.4,1799.2,661.8,73.87,-16.86,69,527.36,0.00,0.00,3.51,0.000,0.000,0.041,3212.84,3206.44,3219.25,1798.88,2125.44,0,0,0,30.00,30.00,15.33
$GC,586.73,260,-175.18,-1.40,80.00,3214.3,3208.0,3220.7,1799.1,2125.1,82.85,-13.72,76,592.38,0.00,0.00,3.63,0.000,0.000,0.101,3213.84,3207.62,3220.06,1799.94,3475.25,0,0,0,30.00,30.00,15.11
$GC,641.74,1028,-175.18,-1.40,0.00,3214.0,3207.8,3220.2,1799.3,3475.0,90.36,-13.22,87,646.35,0.00,0.00,3.41,0.000,0.000,0.047,3214.78,3208.88,3220.69,1799.06,2079.62,0,0,0,30.00,30.00,15.25
$GC,711.74,516,-175.18,-1.40,-80.00,3214.0,3208.2,3219.8,1798.9,2079.5,98.91,-12.04,95,717.46,0.00,0.00,4.05,0.000,0.000,0.137,3213.38,3207.31,3219.44,1798.88,661.81,0,0,0,30.00,30.00,15.03
$GC,747.19,1028,-175.18,-1.40,0.00,3214.1,3207.9,3220.4,1799.2,661.9,103.65,-13.82,102,752.37,0.00,0.00,3.47,0.000,0.000,0.038,3214.53,3208.56,3220.50,1798.31,2124.88,0,0,0,30.00,30.00,15.34
$GC,811.75,260,-175.18,-1.40,80.00,3214.2,3208.2,3220.2,1799.1,2125.4,110.41,-10.24,109,817.41,0.00,0.00,3.63,0.000,0.000,0.100,3212.78,3207.00,3218.56,1799.25,3474.81,0,0,0,30.00,30.00,15.11
$GC,860.68,1028,-175.18,-1.40,0.00,3214.1,3207.8,3220.4,1799.3,3474.7,115.55,-10.39,119,867.45,0.00,0.00,3.40,0.000,0.000,0.045,3215.84,3210.38,3221.31,1797.81,2079.06,0,0,0,30.00,30.00,15.23
$GC,926.82,516,-175.18,-1.40,-80.00,3214.2,3208.0,3220.3,1799.2,2079.8,121.37,-9.16,126,932.48,0.00,0.00,4.06,0.000,0.000,0.138,3214.25,3208.50,3220.00,1798.06,659.62,0,0,0,30.00,30.00,15.02
$GC,962.22,1028,-175.18,-1.40,0.00,3214.2,3207.8,3220.5,1798.9,659.7,125.03,-10.44,133,967.40,0.00,0.00,3.48,0.000,0.000,0.038,3213.34,3207.25,3219.44,1799.12,2124.12,0,0,0,30.00,30.00,15.34
$GC,1026.78,260,-175.18,-1.40,80.00,3214.0,3208.0,3219.9,1799.3,2124.6,131.09,-9.26,140,1032.42,0.00,0.00,3.61,0.000,0.000,0.100,3213.38,3208.31,3218.44,1798.81,3475.94,0,0,0,30.00,30.00,15.10
$GC,1085.71,1028,-175.18,-1.40,0.00,3214.2,3208.2,3220.1,1799.3,3475.8,137.07,-9.96,152,1092.48,0.00,0.00,3.37,0.000,0.000,0.044,3213.88,3208.12,3219.62,1799.06,2079.81,0,0,0,30.00,30.00,15.23
$GC,1151.85,516,-175.18,-1.40,-80.00,3214.0,3208.1,3219.9,1799.2,2080.3,143.38,-9.63,159,1157.50,0.00,0.00,4.03,0.000,0.000,0.138,3215.84,3209.62,3222.06,1797.19,660.94,0,0,0,30.00,30.00,15.01
$GC,1197.25,1028,-175.18,-1.40,0.00,3214.3,3208.3,3220.4,1798.9,660.3,148.48,-11.75,168,1202.42,0.00,0.00,3.46,0.000,0.000,0.039,3213.25,3207.50,3219.00,1799.00,2125.00,0,0,0,30.00,30.00,15.32
$GC,1261.80,260,-175.18,-1.40,80.00,3214.2,3207.9,3220.5,1799.0,2125.0,155.37,-10.84,175,1267.43,0.00,0.00,3.60,0.000,0.000,0.100,3212.59,3206.38,3218.81,1798.94,3475.50,0,0,0,30.00,30.00,15.08
$STATE,1270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1270,begin apogee
$GC,1275.51,10243,0.00,-0.25,0.00,3214.6,3208.5,3220.7,1799.5,2079.1,156.39,-10.36,177,1416.16,137.63,2.23,0.08,1.166,0.137,0.192,2498.88,2507.12,2490.62,2079.06,2126.31,0,0,0,11.26,15.07,14.54
$STATE,1419,end apogee,CONTROL_FINISHED_OK
$STATE,1419,begin climb
$GC,1419.51,10243,175.18,1.40,0.00,2497.3,2506.3,2488.4,2079.4,2126.7,162.68,0.00,191,1573.75,149.82,3.06,0.00,1.118,0.078,0.000,1784.53,1812.75,1756.31,2484.75,2127.06,0,0,0,11.22,14.72,30.00
$GC,1697.04,10535,239.19,1.60,80.00,1777.6,1808.2,1746.9,2484.1,2127.2,148.91,8.36,234,1758.92,55.76,0.28,3.77,1.077,0.056,0.104,1522.94,1553.75,1492.12,2539.88,3472.94,0,0,0,11.00,14.93,14.43
$GC,1761.07,1092,239.19,1.62,0.00,1522.7,1553.6,1491.8,2540.5,3472.5,142.71,10.34,246,1767.87,0.00,0.00,3.55,0.000,0.000,0.046,1523.09,1554.06,1492.12,2539.12,2078.25,0,0,0,30.00,30.00,14.67
$GC,1827.16,580,239.19,1.64,-80.00,1521.2,1553.3,1489.0,2540.5,2078.4,135.96,10.34,253,1832.87,0.00,0.00,4.08,0.000,0.000,0.125,1520.88,1552.50,1489.25,2538.88,660.75,0,0,0,30.00,30.00,14.69
$GC,1902.61,1028,239.19,1.64,0.00,1520.4,1552.0,1488.8,2540.2,660.8,127.10,11.64,268,1907.81,0.00,0.00,3.53,0.000,0.000,0.037,1519.97,1551.94,1488.00,2540.81,2129.44,0,0,0,30.00,30.00,15.09
$GC,1967.20,324,239.19,1.66,80.00,1519.0,1551.8,1486.2,2540.5,2129.9,120.29,10.57,275,1972.83,0.00,0.00,3.63,0.000,0.000,0.100,1519.16,1552.12,1486.19,2540.25,3474.12,0,0,0,30.00,30.00,14.93
$GC,1982.22,1092,239.19,1.68,0.00,1518.0,1550.5,1485.5,2540.5,3473.9,118.37,10.51,278,1986.78,0.00,0.00,3.43,0.000,0.000,0.043,1519.56,1551.81,1487.31,2540.12,2078.38,0,0,0,30.00,30.00,15.08
$GC,2052.18,516,239.19,1.68,-80.00,1518.1,1550.9,1485.4,2540.0,2078.5,110.72,11.23,286,2057.89,0.00,0.00,3.99,0.000,0.000,0.123,1517.09,1549.44,1484.75,2540.38,661.81,0,0,0,30.00,30.00,14.92
$GC,2127.65,1028,239.19,1.68,0.00,1518.2,1550.9,1485.4,2540.6,661.9,100.64,13.24,301,2132.82,0.00,0.00,3.48,0.000,0.000,0.036,1518.16,1551.06,1485.25,2540.25,2130.06,0,0,0,30.00,30.00,15.22
$GC,2192.21,260,239.19,1.68,80.00,1517.7,1550.6,1484.7,2540.4,2129.9,93.69,10.99,308,2197.87,0.00,0.00,3.62,0.000,0.000,0.101,1516.91,1550.12,1483.69,2540.75,3472.88,0,0,0,30.00,30.00,15.03
$GC,2201.13,1028,239.19,1.68,0.00,1517.2,1550.1,1484.3,2540.9,3473.0,92.60,11.30,310,2207.90,0.00,0.00,3.38,0.000,0.000,0.042,1518.41,1550.88,1485.94,2540.81,2075.75,0,0,0,30.00,30.00,15.18
$GC,2267.28,516,239.19,1.68,-80.00,1517.2,1550.1,1484.2,2541.1,2074.7,85.31,10.92,317,2272.92,0.00,0.00,3.95,0.000,0.000,0.123,1516.47,1549.56,1483.38,2540.88,660.81,0,0,0,30.00,30.00,14.98
$GC,2302.67,1028,239.19,1.68,0.00,1517.2,1550.1,1484.2,2540.8,660.9,80.92,12.97,324,2307.85,0.00,0.00,3.45,0.000,0.000,0.036,1516.66,1549.88,1483.44,2540.12,2129.75,0,0,0,30.00,30.00,15.32
$GC,2367.25,324,239.19,1.70,80.00,1516.9,1549.8,1484.0,2541.2,2130.2,73.97,10.33,331,2372.86,0.00,0.00,3.59,0.000,0.000,0.101,1516.59,1549.62,1483.56,2540.50,3473.94,0,0,0,30.00,30.00,15.07
$GC,2392.31,17478,239.19,1.75,0.00,1516.5,1549.6,1483.5,2541.6,3473.7,71.47,9.27,336,2396.83,0.00,0.00,3.38,0.000,0.000,0.043,1516.81,1550.19,1483.44,2541.44,2074.44,0,0,0,30.00,30.00,15.26
$GC,2462.25,10791,307.86,1.96,-80.00,1516.7,1549.8,1483.5,2540.8,2074.8,65.78,8.16,344,2545.08,74.74,0.50,3.94,1.013,0.051,0.124,1244.78,1276.00,1213.56,2628.38,660.75,0,0,0,11.26,15.42,14.79
$GC,2663.79,1092,307.86,2.00,0.00,1243.0,1272.9,1213.1,2628.0,660.8,44.79,9.79,384,2668.96,0.00,0.00,3.47,0.000,0.000,0.037,1242.34,1272.81,1211.88,2628.75,2131.44,0,0,0,30.00,30.00,15.27
$GC,2728.36,10535,381.37,2.22,80.00,1241.8,1272.9,1210.8,2628.2,2131.8,39.37,7.95,391,2814.65,79.10,0.34,3.65,0.984,0.055,0.103,945.28,973.56,917.00,2690.12,3473.62,0,0,0,11.27,15.33,14.72
$GC,2818.33,1028,381.37,2.22,0.00,944.6,972.8,916.4,2690.1,3473.7,30.49,10.93,409,2822.94,0.00,0.00,3.46,0.000,0.000,0.042,944.69,973.38,916.00,2690.50,2075.94,0,0,0,30.00,30.00,14.97
$GC,2888.34,516,381.37,2.22,-80.00,943.0,973.2,912.9,2690.3,2076.0,22.36,12.03,417,2894.05,0.00,0.00,3.93,0.000,0.000,0.121,942.66,972.75,912.56,2690.25,661.88,0,0,0,30.00,30.00,14.93
$GC,2927.26,1028,381.37,2.22,0.00,942.8,972.9,912.6,2690.1,661.6,16.85,14.35,425,2934.06,0.00,0.00,3.48,0.000,0.000,0.036,942.91,973.00,912.81,2690.31,2132.69,0,0,0,30.00,30.00,15.22
$GC,2993.41,260,381.37,2.22,80.00,941.9,972.9,910.9,2690.1,2133.2,9.24,11.71,432,2998.98,0.00,0.00,3.58,0.000,0.000,0.100,941.84,972.88,910.81,2690.12,3474.69,0,0,0,30.00,30.00,15.10
$GC,3012.28,1028,381.37,2.22,0.00,941.5,972.6,910.4,2690.1,3475.1,7.06,11.81,436,3019.06,0.00,0.00,3.39,0.000,0.000,0.043,941.97,973.19,910.75,2688.25,2073.06,0,0,0,30.00,30.00,15.24
$STATE,3068,end climb,SURFACE_DEPTH_REACHED
$STATE,3068,begin surface coast
$STATE,3088,end surface coast,CONTROL_FINISHED_OK
$STATE,3088,begin surface
$SM_CCo,3203.86,87.79,0.979,0,564.5,565.6,563.4,474.77
$SM_CCo,3204.97,0.00,0.010,0,563.7,564.8,562.6,474.97
$SM_CCo,3206.07,0.00,0.013,0,563.7,564.9,562.4,474.99
$SM_GC,-0.82,0.00,17.99,0.09,0.013,0.070,0.124,563.7,564.9,562.4,168.1,2135.6,0,0,0,30.36,15.08,15.41
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4707.10,-12459.52,250421,010111
$TCM_TEMP,175.13
$XPDR_PINGS,18,14.0,11.5
$SC_FREEKB,3386592
$HUMID,59.34
$TEMP,8.85
$INTERNAL_PRESSURE,7.81979
$24V_AH,13.89,334.350
$10V_AH,14.50,0.000
$FG_AHR_24Vo,293.099
$FG_AHR_10Vo,79.451
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,685.125,39.455,152.550,168.709,4.500,28.886,2118.846,1347.873,893.587,0.000,0.000,0.000
$DEVICE_MAMPS,1166.120,255.264,192.288,182.151,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3152.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.448,0.000,0.000,0.000
$MEM,1103688,39,73440,56
$DATA_FILE_SIZE,16184,444
$CAP_FILE_SIZE,319918,0
$SDSIZE,3918848,3581696
$SDFILEDIR,6191,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250421,025937,4706.630,-12458.634,2,1.0,6,15.5