version: 67.00
glider: 236
mission: 2
dive: 1268
start: 4 26 121 11 17 1
data:
$ID,236
$MISSION,2
$DIVE,1268
$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,79.879593
$FG_AHR_24V,299.76312
$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
$GPS1,260421,111012,4705.764,-12452.663,1,0.7,4,15.5
$_CALLS,1
$_SM_DEPTHo,-1.61
$_SM_ANGLEo,-62.6
$GPS2,260421,111643,4705.792,-12452.677,2,0.7,4,15.5
$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,95.5,14431,-15.9,-10.000,-19.73
$D_GRID,132
$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,8.74,16386,-175.18,-1.32,0.00,559.4,558.6,560.2,171.4,2082.6,0.00,0.00,0,100.59,91.37,0.00,0.00,0.005,0.000,0.000,2687.22,2666.88,2707.56,171.69,2082.75,0,0,0,12.43,30.00,30.00
$GC,100.80,18695,-175.18,-1.32,80.00,2686.4,2666.2,2706.6,171.6,2083.1,4.39,-9.36,9,137.55,10.61,16.55,4.17,0.007,0.247,0.106,3213.91,3209.75,3218.06,1818.44,3473.25,0,0,0,12.58,13.88,13.57
$GC,214.69,1028,-175.18,-1.32,0.00,3213.7,3208.9,3218.5,1818.8,3473.4,25.43,-14.15,32,221.53,0.00,0.00,3.74,0.000,0.000,0.053,3213.66,3208.81,3218.50,1817.88,2083.69,0,0,0,30.00,30.00,14.20
$GC,280.77,516,-175.18,-1.32,-80.00,3213.8,3209.1,3218.4,1818.8,2084.2,34.36,-13.91,39,286.56,0.00,0.00,4.48,0.000,0.000,0.145,3214.12,3209.31,3218.94,1818.38,664.00,0,0,0,30.00,30.00,14.08
$GC,306.22,1028,-175.18,-1.32,0.00,3213.6,3208.9,3218.2,1818.7,664.1,37.86,-14.32,44,311.46,0.00,0.00,3.83,0.000,0.000,0.045,3212.34,3207.88,3216.81,1818.50,2120.00,0,0,0,30.00,30.00,14.29
$GC,370.78,260,-175.18,-1.32,80.00,3213.7,3208.5,3218.8,1818.7,2120.4,46.17,-12.38,51,376.49,0.00,0.00,3.97,0.000,0.000,0.102,3212.22,3207.25,3217.19,1818.75,3474.06,0,0,0,30.00,30.00,14.19
$GC,436.24,1028,-175.18,-1.32,0.00,3213.4,3208.9,3217.9,1818.9,3473.8,54.76,-13.51,64,441.45,0.00,0.00,3.70,0.000,0.000,0.051,3214.34,3209.50,3219.19,1818.56,2084.38,0,0,0,30.00,30.00,14.28
$GC,500.79,516,-175.18,-1.32,-80.00,3213.6,3208.9,3218.2,1818.7,2084.1,62.90,-12.50,71,506.58,0.00,0.00,4.47,0.000,0.000,0.143,3214.53,3210.06,3219.00,1817.56,665.06,0,0,0,30.00,30.00,14.14
$GC,546.31,1028,-175.18,-1.32,0.00,3213.5,3208.6,3218.3,1818.7,664.9,68.76,-13.34,80,551.48,0.00,0.00,3.77,0.000,0.000,0.044,3212.69,3207.94,3217.44,1818.81,2122.31,0,0,0,30.00,30.00,14.34
$GC,610.80,260,-175.18,-1.32,80.00,3214.1,3209.4,3218.8,1818.6,2121.9,76.42,-11.52,87,616.48,0.00,0.00,3.87,0.000,0.000,0.102,3213.66,3208.94,3218.38,1817.81,3473.56,0,0,0,30.00,30.00,14.22
$GC,636.25,1028,-175.18,-1.32,0.00,3213.8,3208.7,3218.9,1818.2,3473.2,79.52,-12.64,92,641.46,0.00,0.00,3.66,0.000,0.000,0.047,3214.03,3209.81,3218.25,1818.38,2083.75,0,0,0,30.00,30.00,14.31
$GC,700.81,516,-175.18,-1.32,-80.00,3213.6,3208.5,3218.6,1818.4,2083.3,86.21,-10.04,99,706.60,0.00,0.00,4.41,0.000,0.000,0.141,3214.41,3209.81,3219.00,1818.38,662.62,0,0,0,30.00,30.00,14.16
$GC,729.73,1028,-175.18,-1.32,0.00,3213.8,3209.1,3218.4,1818.5,662.9,89.28,-10.82,105,737.02,0.00,0.00,3.78,0.000,0.000,0.042,3214.66,3209.81,3219.50,1818.00,2122.25,0,0,0,30.00,30.00,14.35
$GC,795.82,260,-175.18,-1.32,80.00,3213.8,3209.1,3218.4,1818.4,2122.5,95.65,-9.75,112,801.50,0.00,0.00,3.88,0.000,0.000,0.101,3214.34,3209.38,3219.31,1817.69,3473.19,0,0,0,30.00,30.00,14.23
$GC,841.28,1028,-175.18,-1.32,0.00,3213.8,3209.1,3218.5,1818.6,3473.2,100.16,-9.71,121,846.50,0.00,0.00,3.65,0.000,0.000,0.047,3212.28,3207.44,3217.12,1818.62,2082.38,0,0,0,30.00,30.00,14.32
$GC,905.83,516,-175.18,-1.32,-80.00,3213.7,3208.8,3218.6,1818.4,2082.4,106.14,-8.88,128,911.61,0.00,0.00,4.36,0.000,0.000,0.141,3212.22,3207.75,3216.69,1818.44,662.88,0,0,0,30.00,30.00,14.16
$GC,921.34,1028,-175.18,-1.32,0.00,3213.9,3208.9,3218.9,1818.8,662.7,107.85,-9.23,131,926.51,0.00,0.00,3.76,0.000,0.000,0.040,3212.88,3208.12,3217.62,1818.75,2121.25,0,0,0,30.00,30.00,14.37
$GC,985.84,260,-175.18,-1.32,80.00,3213.6,3209.0,3218.2,1818.2,2121.1,113.48,-8.69,138,991.54,0.00,0.00,3.94,0.000,0.000,0.102,3212.97,3208.50,3217.44,1818.25,3473.69,0,0,0,30.00,30.00,14.24
$GC,1031.30,1028,-175.18,-1.32,0.00,3213.5,3208.9,3218.1,1818.8,3473.2,117.80,-9.44,147,1036.50,0.00,0.00,3.67,0.000,0.000,0.047,3214.84,3209.56,3220.12,1818.62,2081.19,0,0,0,30.00,30.00,14.33
$GC,1095.85,516,-175.18,-1.32,-80.00,3213.5,3208.8,3218.2,1818.4,2081.1,123.55,-8.73,154,1101.62,0.00,0.00,4.39,0.000,0.000,0.142,3214.00,3208.75,3219.25,1818.38,662.94,0,0,0,30.00,30.00,14.17
$GC,1134.83,1028,-175.18,-1.32,0.00,3213.8,3208.9,3218.7,1818.9,662.9,127.39,-9.96,162,1142.07,0.00,0.00,3.78,0.000,0.000,0.041,3213.78,3209.00,3218.56,1818.44,2122.00,0,0,0,30.00,30.00,14.37
$STATE,1191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1191,begin apogee
$GC,1192.12,10243,0.00,-0.25,0.00,3213.9,3209.2,3218.7,1818.7,1982.7,132.35,-8.64,168,1344.29,149.15,2.20,0.08,1.111,0.134,0.182,2499.59,2507.56,2491.62,2079.19,2022.19,0,0,0,10.76,14.25,13.41
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1347.70,10759,175.18,1.32,-80.00,2497.2,2505.6,2488.8,2079.9,2022.9,137.62,0.00,183,1520.19,162.35,3.20,4.61,1.059,0.083,0.128,1782.09,1810.25,1753.94,2462.25,665.00,0,0,0,10.63,13.55,13.06
$GC,1538.93,11303,240.60,1.52,0.00,1781.1,1808.4,1753.9,2462.2,665.4,128.02,7.46,220,1610.61,63.54,0.34,3.80,1.013,0.050,0.037,1519.28,1550.31,1488.25,2518.38,2022.06,0,0,0,10.40,13.26,13.28
$GC,1668.53,260,240.60,1.52,80.00,1514.4,1547.8,1481.1,2519.1,2023.1,114.89,10.77,240,1675.28,0.00,0.00,4.56,0.000,0.000,0.100,1514.19,1546.88,1481.50,2517.56,3462.94,0,0,0,30.00,30.00,13.32
$GC,1677.45,1028,240.60,1.52,0.00,1513.6,1546.4,1480.9,2518.3,3462.9,113.84,10.84,242,1684.33,0.00,0.00,4.22,0.000,0.000,0.047,1513.94,1546.81,1481.06,2518.88,1984.50,0,0,0,30.00,30.00,13.36
$GC,1743.50,516,240.60,1.52,-80.00,1513.0,1546.1,1479.9,2519.4,1984.3,107.00,10.63,249,1749.28,0.00,0.00,4.32,0.000,0.000,0.128,1513.31,1546.44,1480.19,2517.81,664.50,0,0,0,30.00,30.00,13.40
$GC,1768.94,1028,240.60,1.52,0.00,1512.9,1546.1,1479.8,2518.8,664.7,104.28,10.55,254,1774.15,0.00,0.00,3.69,0.000,0.000,0.036,1513.12,1546.19,1480.06,2519.25,2023.12,0,0,0,30.00,30.00,13.61
$GC,1833.50,260,240.60,1.52,80.00,1512.2,1545.6,1478.7,2518.9,2023.4,97.96,9.59,261,1839.27,0.00,0.00,4.39,0.000,0.000,0.098,1511.28,1545.19,1477.38,2518.88,3463.50,0,0,0,30.00,30.00,13.61
$GC,1872.43,1028,240.60,1.52,0.00,1511.1,1544.2,1478.0,2519.6,3463.3,93.70,10.30,269,1879.32,0.00,0.00,4.07,0.000,0.000,0.048,1512.06,1545.31,1478.81,2518.69,1982.69,0,0,0,30.00,30.00,13.76
$GC,1938.53,16966,240.60,1.55,-80.00,1511.0,1544.4,1477.5,2519.8,1983.0,87.67,9.06,276,1944.28,0.00,0.00,4.22,0.000,0.000,0.128,1511.16,1544.44,1477.88,2518.56,662.81,0,0,0,30.00,30.00,13.71
$GC,2004.03,1028,240.60,1.55,0.00,1511.0,1544.4,1477.7,2518.5,662.9,81.21,10.10,289,2009.17,0.00,0.00,3.60,0.000,0.000,0.038,1511.03,1544.62,1477.44,2518.19,2024.12,0,0,0,30.00,30.00,14.00
$GC,2068.54,10535,299.81,1.72,80.00,1510.7,1544.6,1476.8,2519.1,2023.8,76.24,7.70,296,2144.79,68.42,0.28,4.45,0.983,0.067,0.100,1277.69,1309.81,1245.56,2567.00,3464.25,0,0,0,10.55,14.09,13.41
$GC,2362.50,1092,299.81,1.75,0.00,1273.5,1308.8,1238.2,2567.9,3464.1,49.22,9.04,354,2369.39,0.00,0.00,4.01,0.000,0.000,0.049,1273.84,1309.06,1238.62,2567.56,1982.25,0,0,0,30.00,30.00,13.98
$GC,2428.60,10535,394.43,2.04,80.00,1273.5,1308.9,1238.1,2567.3,1982.5,45.04,6.32,361,2545.67,108.89,0.49,4.61,0.963,0.049,0.098,891.88,923.12,860.62,2647.44,3463.69,0,0,0,10.59,14.11,13.37
$GC,2582.81,1028,394.43,2.04,0.00,890.8,921.9,859.7,2646.1,3463.1,31.70,10.56,392,2589.71,0.00,0.00,4.12,0.000,0.000,0.048,891.00,922.12,859.88,2646.62,1982.94,0,0,0,30.00,30.00,13.66
$GC,2648.89,516,394.43,2.04,-80.00,890.4,922.1,858.6,2646.8,1983.1,25.29,9.93,399,2654.65,0.00,0.00,4.24,0.000,0.000,0.129,889.94,921.69,858.19,2646.31,664.00,0,0,0,30.00,30.00,13.67
$GC,2714.41,1028,394.43,2.04,0.00,890.2,922.2,858.1,2647.0,663.9,17.93,11.98,412,2719.55,0.00,0.00,3.62,0.000,0.000,0.038,889.97,922.12,857.81,2645.50,2024.94,0,0,0,30.00,30.00,13.97
$GC,2778.92,324,394.43,2.07,80.00,889.4,922.2,856.6,2646.5,2025.5,12.00,8.82,419,2784.68,0.00,0.00,4.31,0.000,0.000,0.098,889.41,922.19,856.62,2646.69,3463.19,0,0,0,30.00,30.00,13.88
$GC,2873.97,1092,394.43,2.12,0.00,888.8,921.9,855.8,2646.2,3463.1,3.34,8.26,438,2879.65,0.00,0.00,4.01,0.000,0.000,0.049,889.22,922.19,856.25,2646.06,1983.50,0,0,0,30.00,30.00,14.04
$STATE,2889,end climb,SURFACE_DEPTH_REACHED
$STATE,2889,begin surface coast
$STATE,2909,end surface coast,CONTROL_FINISHED_OK
$STATE,2909,begin surface
$SM_CCo,3025.62,81.48,0.961,0,564.3,569.5,559.1,474.83
$SM_CCo,3026.73,0.00,0.008,0,563.9,564.8,563.1,474.92
$SM_CCo,3027.84,0.00,0.010,0,563.8,564.6,563.0,474.95
$SM_GC,-0.57,0.00,19.16,0.34,0.010,0.061,0.067,563.8,564.6,563.0,170.2,2131.6,0,0,0,30.36,13.98,14.14
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4705.41,-12453.31,260421,101630
$TCM_TEMP,174.80
$XPDR_PINGS,14,14.0,11.5
$SC_FREEKB,3373152
$HUMID,59.88
$TEMP,8.66
$INTERNAL_PRESSURE,7.81613
$24V_AH,12.72,341.591
$10V_AH,13.24,0.000
$FG_AHR_24Vo,299.952
$FG_AHR_10Vo,79.891
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,735.825,42.220,155.045,159.299,3.500,13.346,2102.998,1169.722,873.261,0.000,0.000,0.000
$DEVICE_MAMPS,1111.016,246.736,182.120,198.279,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2979.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.501,0.000,0.000,0.000
$MEM,1103860,39,73328,53
$DATA_FILE_SIZE,16227,442
$CAP_FILE_SIZE,322241,0
$SDSIZE,3918848,3573856
$SDFILEDIR,6366,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260421,120741,4705.848,-12452.488,1,1.0,4,15.5