version: 67.00
glider: 236
mission: 2
dive: 1235
start: 4 25 121 4 4 55
data:
$ID,236
$MISSION,2
$DIVE,1235
$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,79.464882
$FG_AHR_24V,293.29498
$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
$GPS1,250421,035630,4706.588,-12458.209,30,0.8,30,15.5
$_CALLS,2
$_SM_DEPTHo,-1.65
$_SM_ANGLEo,-63.6
$GPS2,250421,040437,4706.583,-12458.130,2,0.6,4,15.5
$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,47.7,5828,-17.6,-11.111,-21.00
$D_GRID,148
$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,-1.40,0.00,558.5,560.1,557.0,166.4,2118.0,0.00,0.00,0,100.59,91.46,0.00,0.00,0.005,0.000,0.000,2753.88,2733.44,2774.31,166.50,2118.38,0,0,0,13.14,30.00,30.00
$GC,100.82,18695,-175.18,-1.40,80.00,2752.8,2732.4,2773.1,166.6,2118.3,5.19,-10.81,9,133.59,8.71,15.52,3.67,0.007,0.269,0.108,3214.59,3209.19,3220.00,1799.31,3476.06,0,0,0,13.28,14.80,14.45
$GC,225.73,1028,-175.18,-1.40,0.00,3214.2,3208.2,3220.2,1799.0,3475.8,29.73,-14.77,34,232.53,0.00,0.00,3.45,0.000,0.000,0.051,3214.66,3208.69,3220.62,1799.25,2080.25,0,0,0,30.00,30.00,15.23
$GC,291.88,516,-175.18,-1.40,-80.00,3214.4,3208.4,3220.3,1798.9,2080.5,38.80,-13.85,41,297.54,0.00,0.00,4.07,0.000,0.000,0.140,3214.00,3208.06,3219.94,1799.12,662.25,0,0,0,30.00,30.00,15.02
$GC,307.27,1028,-175.18,-1.40,0.00,3214.4,3208.3,3220.5,1798.9,662.2,40.81,-14.07,44,312.45,0.00,0.00,3.52,0.000,0.000,0.043,3214.00,3208.06,3219.94,1799.25,2123.00,0,0,0,30.00,30.00,15.33
$GC,371.83,260,-175.18,-1.40,80.00,3214.3,3208.4,3220.2,1799.0,2123.3,49.26,-12.90,51,377.47,0.00,0.00,3.63,0.000,0.000,0.101,3214.78,3208.94,3220.62,1798.81,3475.38,0,0,0,30.00,30.00,15.13
$GC,420.75,1028,-175.18,-1.40,0.00,3214.4,3208.4,3220.4,1799.4,3475.6,55.88,-13.58,61,427.55,0.00,0.00,3.42,0.000,0.000,0.048,3215.16,3209.88,3220.44,1799.38,2079.94,0,0,0,30.00,30.00,15.24
$GC,486.89,516,-175.18,-1.40,-80.00,3214.2,3208.3,3220.2,1798.9,2080.2,63.32,-11.53,68,492.55,0.00,0.00,4.06,0.000,0.000,0.140,3214.88,3208.75,3221.00,1798.25,660.56,0,0,0,30.00,30.00,15.04
$GC,532.31,1028,-175.18,-1.40,0.00,3214.5,3208.2,3220.7,1799.2,660.6,69.20,-13.43,77,537.47,0.00,0.00,3.50,0.000,0.000,0.042,3213.22,3207.00,3219.44,1798.94,2124.81,0,0,0,30.00,30.00,15.33
$GC,596.91,260,-175.18,-1.40,80.00,3214.1,3208.1,3220.2,1799.0,2124.4,76.80,-11.60,84,602.51,0.00,0.00,3.61,0.000,0.000,0.101,3215.28,3209.06,3221.50,1797.69,3475.25,0,0,0,30.00,30.00,15.13
$GC,671.92,1028,-175.18,-1.40,0.00,3214.2,3208.4,3219.9,1799.2,3476.4,85.79,-11.58,99,676.48,0.00,0.00,3.41,0.000,0.000,0.048,3214.75,3208.81,3220.69,1798.75,2080.56,0,0,0,30.00,30.00,15.25
$GC,741.87,260,-175.18,-1.40,80.00,3214.4,3208.4,3220.4,1799.4,2081.4,93.33,-10.69,107,747.52,0.00,0.00,3.70,0.000,0.000,0.098,3215.06,3209.38,3220.75,1798.81,3475.56,0,0,0,30.00,30.00,15.12
$GC,776.86,1028,-175.18,-1.40,0.00,3214.3,3208.4,3220.3,1799.1,3476.0,97.11,-10.79,114,781.46,0.00,0.00,3.40,0.000,0.000,0.048,3215.72,3209.94,3221.50,1799.25,2079.19,0,0,0,30.00,30.00,15.25
$GC,846.87,516,-175.18,-1.40,-80.00,3214.4,3208.8,3220.1,1799.7,2078.4,104.57,-10.86,122,852.60,0.00,0.00,4.07,0.000,0.000,0.141,3215.75,3209.12,3222.38,1799.31,661.38,0,0,0,30.00,30.00,15.03
$GC,895.80,1028,-175.18,-1.40,0.00,3214.4,3208.1,3220.7,1799.2,661.3,110.06,-10.64,132,902.61,0.00,0.00,3.48,0.000,0.000,0.041,3215.25,3209.06,3221.44,1798.94,2124.62,0,0,0,30.00,30.00,15.32
$GC,961.94,260,-175.18,-1.40,80.00,3214.4,3208.8,3220.0,1799.3,2124.3,116.66,-9.59,139,967.52,0.00,0.00,3.60,0.000,0.000,0.101,3213.78,3208.00,3219.56,1799.44,3475.44,0,0,0,30.00,30.00,15.12
$GC,1010.81,1028,-175.18,-1.40,0.00,3214.2,3208.6,3219.9,1799.2,3475.9,121.97,-10.85,149,1017.58,0.00,0.00,3.39,0.000,0.000,0.047,3215.81,3209.38,3222.25,1798.69,2079.06,0,0,0,30.00,30.00,15.24
$GC,1076.95,0,-175.18,-1.40,0.00,3214.2,3208.3,3220.2,1799.2,2078.9,128.30,-9.54,156,1078.28,0.00,0.00,0.00,0.000,0.000,0.000,3214.44,3208.38,3220.50,1799.12,2078.88,0,0,0,30.00,30.00,30.00
$GC,1136.97,516,-175.18,-1.40,-80.00,3214.4,3208.4,3220.4,1799.4,2078.6,134.30,-9.79,162,1142.63,0.00,0.00,4.03,0.000,0.000,0.140,3214.88,3209.06,3220.69,1798.62,661.88,0,0,0,30.00,30.00,15.02
$GC,1162.35,1028,-175.18,-1.40,0.00,3214.4,3208.5,3220.4,1799.4,662.1,137.19,-10.12,167,1167.52,0.00,0.00,3.47,0.000,0.000,0.039,3215.12,3209.12,3221.12,1798.94,2123.75,0,0,0,30.00,30.00,15.34
$GC,1226.91,260,-175.18,-1.40,80.00,3214.8,3209.1,3220.4,1799.2,2124.8,143.98,-10.91,174,1232.55,0.00,0.00,3.57,0.000,0.000,0.100,3214.47,3208.19,3220.75,1799.19,3476.00,0,0,0,30.00,30.00,15.12
$GC,1261.91,1028,-175.18,-1.40,0.00,3214.3,3208.2,3220.3,1799.6,3476.5,147.88,-11.15,181,1266.51,0.00,0.00,3.38,0.000,0.000,0.045,3214.75,3209.75,3219.75,1799.81,2077.56,0,0,0,30.00,30.00,15.26
$STATE,1272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1272,begin apogee
$GC,1273.07,10243,0.00,-0.25,0.00,3214.4,3208.5,3220.4,1799.2,2127.9,148.99,-11.03,183,1415.17,137.09,2.23,0.10,1.153,0.138,0.178,2500.69,2508.75,2492.62,2079.88,2082.44,0,0,0,11.25,15.09,14.51
$STATE,1419,end apogee,CONTROL_FINISHED_OK
$STATE,1419,begin climb
$GC,1418.53,10503,175.18,1.40,80.00,2497.4,2506.4,2488.3,2080.2,2082.2,155.30,0.00,197,1578.89,149.68,3.04,3.98,1.103,0.077,0.101,1782.59,1810.81,1754.38,2485.25,3474.12,0,0,0,11.18,14.70,14.19
$GC,1682.13,11303,228.31,1.56,0.00,1778.2,1808.4,1748.1,2484.3,3474.2,141.41,8.82,249,1733.89,46.76,0.22,3.53,1.056,0.059,0.046,1569.38,1599.50,1539.25,2537.38,2079.38,0,0,0,11.11,14.65,14.82
$GC,1792.20,580,228.31,1.58,-80.00,1563.9,1595.6,1532.3,2537.7,2078.9,130.75,10.60,265,1797.85,0.00,0.00,4.07,0.000,0.000,0.125,1564.12,1595.00,1533.25,2534.94,661.88,0,0,0,30.00,30.00,14.68
$GC,1867.58,1028,228.31,1.58,0.00,1563.1,1593.6,1532.5,2537.8,662.1,120.79,14.33,280,1872.77,0.00,0.00,3.55,0.000,0.000,0.038,1562.66,1593.25,1532.06,2538.31,2128.56,0,0,0,30.00,30.00,15.05
$GC,1932.15,260,228.31,1.58,80.00,1561.8,1593.2,1530.4,2538.4,2129.6,112.95,12.21,287,1937.81,0.00,0.00,3.62,0.000,0.000,0.100,1561.28,1592.88,1529.69,2538.00,3476.19,0,0,0,30.00,30.00,14.93
$GC,1961.05,1028,228.31,1.58,0.00,1561.2,1592.6,1529.8,2538.0,3475.9,109.27,12.23,293,1967.88,0.00,0.00,3.42,0.000,0.000,0.043,1562.19,1593.62,1530.75,2538.06,2076.88,0,0,0,30.00,30.00,15.08
$GC,2027.15,16902,228.31,1.58,-80.00,1561.0,1592.6,1529.4,2538.1,2077.1,101.54,11.62,300,2032.86,0.00,0.00,3.93,0.000,0.000,0.123,1560.12,1591.88,1528.38,2538.25,662.12,0,0,0,30.00,30.00,14.91
$GC,2102.62,17414,228.31,1.58,0.00,1561.0,1592.6,1529.4,2537.4,661.9,91.34,14.09,315,2107.79,0.00,0.00,3.48,0.000,0.000,0.036,1562.47,1593.44,1531.50,2538.12,2128.62,0,0,0,30.00,30.00,15.23
$GC,2167.18,16646,228.31,1.58,80.00,1560.8,1592.6,1528.9,2537.8,2129.2,84.02,11.27,322,2172.81,0.00,0.00,3.59,0.000,0.000,0.101,1559.41,1591.38,1527.44,2537.75,3475.62,0,0,0,30.00,30.00,15.00
$GC,2222.20,17414,228.31,1.58,0.00,1560.2,1592.4,1528.1,2537.7,3475.1,77.81,11.40,333,2226.80,0.00,0.00,3.40,0.000,0.000,0.043,1561.00,1592.94,1529.06,2537.81,2074.62,0,0,0,30.00,30.00,15.18
$GC,2292.21,8742,276.92,1.72,-80.00,1560.2,1592.4,1528.1,2537.4,2074.8,71.16,9.02,341,2354.53,53.90,0.00,3.94,1.000,0.000,0.126,1370.47,1402.50,1338.44,2538.00,660.38,0,0,0,11.28,30.00,14.81
$GC,2493.22,11303,328.27,1.88,0.00,1368.3,1398.4,1338.2,2537.8,660.9,50.87,8.90,380,2554.70,56.37,0.38,3.49,0.975,0.054,0.036,1162.09,1193.31,1130.88,2613.75,2131.81,0,0,0,11.20,15.04,15.21
$GC,2612.78,324,328.27,1.90,80.00,1159.6,1192.8,1126.3,2614.2,2131.6,39.44,10.29,398,2618.43,0.00,0.00,3.64,0.000,0.000,0.101,1158.38,1191.50,1125.25,2614.38,3472.50,0,0,0,30.00,30.00,14.93
$GC,2697.79,1092,328.27,1.96,0.00,1157.8,1192.0,1123.7,2614.1,3472.6,31.49,9.27,415,2702.39,0.00,0.00,3.42,0.000,0.000,0.044,1158.12,1192.31,1123.94,2613.88,2074.81,0,0,0,30.00,30.00,15.16
$GC,2767.79,10791,383.96,2.13,-80.00,1157.7,1192.2,1123.2,2613.8,2074.9,25.25,8.71,423,2833.75,59.15,0.28,3.95,0.959,0.061,0.125,935.56,966.31,904.81,2672.44,662.06,0,0,0,11.22,15.28,14.76
$GC,2858.24,1028,383.96,2.13,0.00,934.7,964.5,904.8,2671.6,662.3,15.72,11.77,441,2863.42,0.00,0.00,3.53,0.000,0.000,0.036,934.19,964.00,904.38,2672.00,2131.75,0,0,0,30.00,30.00,15.04
$GC,2922.81,580,383.96,2.16,-80.00,933.0,964.4,901.5,2672.6,2131.8,9.21,9.80,448,2928.51,0.00,0.00,4.07,0.000,0.000,0.119,933.19,964.62,901.75,2671.50,662.31,0,0,0,30.00,30.00,14.94
$GC,2988.26,1028,383.96,2.16,0.00,932.7,964.2,901.2,2671.9,662.1,2.24,10.64,461,2992.38,0.00,0.00,3.11,0.000,0.000,0.033,932.66,964.19,901.12,2671.75,1973.12,0,0,0,30.00,30.00,15.26
$STATE,2993,end climb,SURFACE_DEPTH_REACHED
$STATE,2993,begin surface coast
$STATE,2998,end surface coast,CONTROL_FINISHED_OK
$STATE,2998,begin surface
$SM_CCo,3116.84,85.49,0.968,0,564.3,561.2,567.5,474.82
$SM_CCo,3117.96,0.00,0.015,0,563.8,560.4,567.3,474.94
$SM_CCo,3119.06,0.00,0.013,0,563.7,560.2,567.1,474.98
$SM_GC,-0.94,0.00,17.91,0.29,0.013,0.067,0.075,563.7,560.2,567.1,176.4,2137.9,0,0,0,30.36,15.07,15.30
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4705.80,-12457.71,250421,040025
$TCM_TEMP,175.33
$XPDR_PINGS,11,14.0,11.5
$SC_FREEKB,3385824
$HUMID,59.50
$TEMP,8.94
$INTERNAL_PRESSURE,7.82498
$24V_AH,13.88,334.750
$10V_AH,14.42,0.000
$FG_AHR_24Vo,293.476
$FG_AHR_10Vo,79.476
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,688.610,39.585,138.735,201.217,2.750,13.095,2157.377,1300.912,914.603,0.000,0.000,0.000
$DEVICE_MAMPS,1153.328,268.712,177.856,176.069,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3066.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.479,0.000,0.000,0.000
$MEM,1103612,42,73456,56
$DATA_FILE_SIZE,16189,463
$CAP_FILE_SIZE,312080,0
$SDSIZE,3918848,3581248
$SDFILEDIR,6201,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250421,045706,4706.565,-12457.792,1,0.9,4,15.5