version: 67.00
glider: 236
mission: 2
dive: 1260
start: 4 26 121 3 12 37
data:
$ID,236
$MISSION,2
$DIVE,1260
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,2000
$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,79.772682
$FG_AHR_24V,298.18677
$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
$GPS1,260421,030409,4705.717,-12453.336,1,0.7,3,15.5
$_CALLS,2
$_SM_DEPTHo,-1.62
$_SM_ANGLEo,-64.3
$GPS2,260421,031219,4705.625,-12453.379,2,0.7,4,15.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,ONSHELF
$TGT_LATLONG,4703.000,-12442.000
$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,93.2,15160,-15.9,-10.000,-19.73
$D_GRID,134
$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,8.78,16386,-175.18,-1.32,0.00,560.3,557.0,563.6,167.9,2114.8,0.00,0.00,0,95.52,86.28,0.00,0.00,0.005,0.000,0.000,2568.59,2548.81,2588.38,167.69,2114.81,0,0,0,12.66,30.00,30.00
$GC,95.79,18951,-175.18,-1.32,-80.00,2568.0,2548.0,2587.9,167.8,2114.8,3.76,-8.10,9,134.46,13.64,16.24,4.53,0.006,0.245,0.145,3212.66,3208.56,3216.75,1818.81,663.88,0,0,0,12.77,14.21,13.81
$GC,196.60,1028,-175.18,-1.32,0.00,3213.6,3208.6,3218.6,1819.0,663.8,22.13,-14.78,29,203.88,0.00,0.00,3.78,0.000,0.000,0.048,3215.03,3210.44,3219.62,1819.00,2120.25,0,0,0,30.00,30.00,14.55
$GC,262.69,260,-175.18,-1.32,80.00,3213.7,3208.7,3218.8,1819.1,2120.1,31.31,-14.24,36,268.38,0.00,0.00,3.90,0.000,0.000,0.105,3214.78,3209.94,3219.62,1818.25,3475.12,0,0,0,30.00,30.00,14.43
$GC,301.61,1028,-175.18,-1.32,0.00,3213.9,3208.2,3219.6,1819.2,3474.1,37.29,-14.71,44,308.44,0.00,0.00,3.64,0.000,0.000,0.051,3214.28,3208.94,3219.62,1819.12,2082.56,0,0,0,30.00,30.00,14.54
$GC,367.70,516,-175.18,-1.32,-80.00,3213.8,3208.7,3218.9,1819.0,2082.4,46.55,-13.92,51,373.48,0.00,0.00,4.37,0.000,0.000,0.143,3214.53,3209.38,3219.69,1818.81,662.62,0,0,0,30.00,30.00,14.37
$GC,403.16,1028,-175.18,-1.32,0.00,3213.9,3209.2,3218.6,1819.0,662.6,51.52,-14.44,58,408.39,0.00,0.00,3.73,0.000,0.000,0.044,3212.84,3207.56,3218.12,1819.19,2120.44,0,0,0,30.00,30.00,14.60
$GC,467.72,260,-175.18,-1.32,80.00,3214.0,3208.9,3219.1,1819.1,2120.9,60.71,-13.73,65,473.40,0.00,0.00,3.86,0.000,0.000,0.103,3213.53,3208.44,3218.62,1818.88,3473.44,0,0,0,30.00,30.00,14.47
$GC,516.65,1028,-175.18,-1.32,0.00,3213.4,3208.1,3218.6,1819.1,3474.0,67.43,-13.58,75,523.48,0.00,0.00,3.61,0.000,0.000,0.049,3214.44,3209.75,3219.12,1818.62,2082.38,0,0,0,30.00,30.00,14.57
$GC,582.74,516,-175.18,-1.32,-80.00,3213.8,3208.8,3218.9,1818.6,2082.2,74.81,-11.21,82,588.51,0.00,0.00,4.34,0.000,0.000,0.142,3214.94,3210.00,3219.88,1818.38,662.69,0,0,0,30.00,30.00,14.38
$GC,601.65,1028,-175.18,-1.32,0.00,3214.0,3209.2,3218.8,1818.8,663.0,77.34,-11.21,86,608.94,0.00,0.00,3.70,0.000,0.000,0.042,3214.09,3209.38,3218.81,1819.44,2121.25,0,0,0,30.00,30.00,14.62
$GC,667.75,260,-175.18,-1.32,80.00,3213.9,3208.7,3219.1,1819.2,2121.2,84.47,-10.75,93,673.44,0.00,0.00,3.85,0.000,0.000,0.103,3212.75,3208.06,3217.44,1819.12,3474.69,0,0,0,30.00,30.00,14.48
$GC,723.21,1028,-175.18,-1.32,0.00,3214.0,3209.4,3218.6,1819.4,3474.7,90.57,-11.66,104,728.39,0.00,0.00,3.58,0.000,0.000,0.048,3212.66,3207.25,3218.06,1819.06,2080.94,0,0,0,30.00,30.00,14.60
$GC,787.76,516,-175.18,-1.32,-80.00,3213.7,3208.5,3218.9,1818.9,2081.7,97.50,-10.49,111,793.51,0.00,0.00,4.30,0.000,0.000,0.142,3214.19,3209.31,3219.06,1818.75,663.38,0,0,0,30.00,30.00,14.40
$GC,843.23,1028,-175.18,-1.32,0.00,3214.0,3208.8,3219.2,1818.9,663.4,103.33,-10.52,122,848.45,0.00,0.00,3.70,0.000,0.000,0.043,3212.53,3208.19,3216.88,1818.75,2123.12,0,0,0,30.00,30.00,14.65
$GC,907.77,260,-175.18,-1.32,80.00,3213.9,3208.8,3218.9,1819.1,2123.1,109.89,-9.81,129,913.47,0.00,0.00,3.85,0.000,0.000,0.104,3215.69,3210.31,3221.06,1817.75,3473.81,0,0,0,30.00,30.00,14.50
$GC,933.22,1028,-175.18,-1.32,0.00,3213.7,3208.5,3218.8,1819.4,3473.9,112.66,-10.27,134,938.42,0.00,0.00,3.58,0.000,0.000,0.048,3214.38,3208.94,3219.81,1818.81,2079.94,0,0,0,30.00,30.00,14.61
$GC,997.78,516,-175.18,-1.32,-80.00,3214.0,3208.9,3219.1,1819.3,2080.5,118.71,-9.43,141,1003.54,0.00,0.00,4.28,0.000,0.000,0.141,3213.38,3208.62,3218.12,1818.94,663.31,0,0,0,30.00,30.00,14.40
$GC,1053.24,1028,-175.18,-1.32,0.00,3213.7,3208.5,3218.9,1818.6,663.2,124.24,-10.38,152,1058.44,0.00,0.00,3.67,0.000,0.000,0.042,3215.56,3209.62,3221.50,1818.06,2122.56,0,0,0,30.00,30.00,14.66
$GC,1117.79,260,-175.18,-1.32,80.00,3214.1,3208.9,3219.2,1818.8,2122.9,130.16,-8.97,159,1123.49,0.00,0.00,3.82,0.000,0.000,0.103,3215.59,3209.75,3221.44,1817.50,3473.44,0,0,0,30.00,30.00,14.50
$STATE,1157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1157,begin apogee
$GC,1162.08,10243,0.00,-0.25,0.00,3213.8,3208.7,3218.9,1819.0,1983.8,134.20,-10.16,167,1309.80,144.82,2.09,0.08,1.112,0.129,0.183,2499.50,2507.38,2491.62,2079.88,2025.62,0,0,0,10.79,14.51,13.76
$STATE,1313,end apogee,CONTROL_FINISHED_OK
$STATE,1313,begin climb
$GC,1313.20,10759,175.18,1.32,-80.00,2496.9,2505.5,2488.4,2080.0,2025.5,139.06,0.00,182,1480.31,157.60,3.09,4.51,1.057,0.077,0.129,1783.94,1812.25,1755.62,2463.75,664.44,0,0,0,10.79,13.91,13.38
$GC,1498.97,1092,175.18,1.37,0.00,1781.1,1808.5,1753.7,2464.8,664.8,129.53,8.28,218,1504.19,0.00,0.00,3.71,0.000,0.000,0.038,1780.06,1807.94,1752.19,2463.19,2022.94,0,0,0,30.00,30.00,13.61
$GC,1563.54,324,175.18,1.43,80.00,1778.3,1808.1,1748.6,2464.6,2022.8,124.25,8.00,225,1569.29,0.00,0.00,4.35,0.000,0.000,0.099,1779.28,1808.44,1750.12,2462.31,3465.00,0,0,0,30.00,30.00,13.73
$GC,1612.46,19527,175.18,1.45,0.00,1776.5,1807.1,1745.9,2464.0,3464.1,119.65,9.42,235,1619.40,0.00,0.19,4.05,0.000,0.067,0.047,1777.38,1808.12,1746.62,2508.19,1983.25,0,0,0,30.00,13.79,13.92
$GC,1678.56,16966,175.18,1.48,-80.00,1775.8,1806.9,1744.7,2508.0,1983.1,113.59,9.19,242,1684.28,0.00,0.00,4.11,0.000,0.000,0.127,1774.81,1806.44,1743.19,2508.31,663.06,0,0,0,30.00,30.00,13.91
$GC,1764.00,17414,175.18,1.48,0.00,1774.9,1805.5,1744.4,2508.2,662.9,104.70,11.07,259,1769.21,0.00,0.00,3.54,0.000,0.000,0.037,1774.03,1804.81,1743.25,2508.00,2023.06,0,0,0,30.00,30.00,14.23
$GC,1828.57,16710,175.18,1.52,80.00,1774.4,1805.4,1743.4,2507.8,2023.4,99.11,8.66,266,1834.30,0.00,0.00,4.18,0.000,0.000,0.101,1774.38,1805.38,1743.38,2506.44,3464.62,0,0,0,30.00,30.00,14.19
$GC,1837.49,17478,175.18,1.56,0.00,1774.1,1804.6,1743.5,2507.8,3463.9,98.26,8.52,268,1844.36,0.00,0.00,3.91,0.000,0.000,0.049,1774.81,1805.50,1744.12,2508.25,1981.44,0,0,0,30.00,30.00,14.31
$GC,1903.58,10791,249.06,1.78,-80.00,1774.2,1805.1,1743.2,2508.4,1981.9,93.59,7.13,275,1986.55,76.53,0.44,4.12,1.010,0.048,0.128,1483.62,1514.62,1452.62,2586.38,663.94,0,0,0,10.65,14.40,13.81
$GC,2158.75,1028,249.06,1.78,0.00,1480.3,1509.5,1451.1,2586.6,664.1,67.19,11.36,326,2165.51,0.00,0.00,3.50,0.000,0.000,0.038,1480.62,1510.12,1451.12,2587.00,2026.19,0,0,0,30.00,30.00,14.35
$GC,2224.86,324,249.06,1.81,80.00,1478.7,1509.7,1447.8,2586.9,2026.1,60.99,8.94,333,2230.54,0.00,0.00,4.16,0.000,0.000,0.100,1477.50,1508.50,1446.50,2586.81,3463.62,0,0,0,30.00,30.00,14.30
$GC,2249.78,1028,249.06,1.81,0.00,1477.6,1509.1,1446.2,2586.7,3463.1,58.24,9.51,338,2255.49,0.00,0.00,3.88,0.000,0.000,0.048,1478.19,1509.75,1446.62,2586.94,1982.12,0,0,0,30.00,30.00,14.43
$GC,2314.81,324,249.06,1.85,80.00,1477.6,1509.2,1445.9,2587.4,1981.5,52.22,8.85,345,2320.55,0.00,0.00,4.24,0.000,0.000,0.098,1476.28,1508.44,1444.12,2586.50,3463.25,0,0,0,30.00,30.00,14.36
$GC,2349.81,17478,249.06,1.86,0.00,1476.4,1508.9,1443.9,2586.9,3463.1,49.11,9.45,352,2355.49,0.00,0.00,3.85,0.000,0.000,0.048,1475.72,1508.25,1443.19,2586.62,1979.94,0,0,0,30.00,30.00,14.49
$GC,2414.82,10791,310.28,2.05,-80.00,1476.5,1509.1,1443.9,2586.8,1980.1,43.97,7.62,359,2491.04,68.21,0.34,4.05,0.978,0.054,0.128,1235.53,1266.25,1204.81,2649.25,662.88,0,0,0,10.78,14.55,13.97
$GC,2675.30,1092,310.28,2.07,0.00,1233.4,1262.9,1203.9,2649.4,662.7,20.78,9.14,411,2680.45,0.00,0.00,3.46,0.000,0.000,0.039,1233.53,1263.19,1203.88,2649.12,2027.38,0,0,0,30.00,30.00,14.49
$GC,2739.85,10535,384.48,2.30,80.00,1232.1,1263.1,1201.2,2649.4,2026.8,15.93,7.12,418,2826.32,79.40,0.33,4.24,0.952,0.056,0.101,932.59,962.31,902.88,2707.50,3463.88,0,0,0,10.74,14.53,13.95
$STATE,2894,end climb,SURFACE_DEPTH_REACHED
$STATE,2894,begin surface coast
$STATE,2914,end surface coast,CONTROL_FINISHED_OK
$STATE,2914,begin surface
$SM_CCo,3041.19,88.60,0.950,0,563.9,561.7,566.1,474.92
$SM_CCo,3042.34,0.00,0.015,0,563.7,561.2,566.1,474.99
$SM_CCo,3043.36,0.00,0.000,0,563.5,560.8,566.2,475.02
$SM_GC,-0.76,0.00,18.56,3.62,0.000,0.047,0.046,563.5,560.8,566.2,167.8,2077.9,0,0,0,30.00,14.25,14.36
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4705.41,-12453.31,260421,030803
$TCM_TEMP,176.49
$XPDR_PINGS,10,14.0,11.5
$SC_FREEKB,3376224
$HUMID,59.91
$TEMP,8.75
$INTERNAL_PRESSURE,7.82077
$24V_AH,13.17,339.923
$10V_AH,13.57,0.000
$FG_AHR_24Vo,298.371
$FG_AHR_10Vo,79.784
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,715.085,41.270,149.555,202.180,2.500,13.802,2149.318,1229.384,897.079,0.000,0.000,0.000
$DEVICE_MAMPS,1112.000,244.768,183.432,186.318,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2985.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.411,0.000,0.000,0.000
$MEM,1103824,40,73344,53
$DATA_FILE_SIZE,16214,452
$CAP_FILE_SIZE,318675,0
$SDSIZE,3918848,3575648
$SDFILEDIR,6326,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260421,040333,4705.647,-12453.059,0,1.1,3,15.5