version: 67.00
glider: 236
mission: 2
dive: 1259
start: 4 26 121 2 13 23
data:
$ID,236
$MISSION,2
$DIVE,1259
$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,79.759491
$FG_AHR_24V,297.99139
$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
$GPS1,260421,020639,4705.784,-12453.667,21,1.1,22,15.5
$_CALLS,1
$_SM_DEPTHo,-1.63
$_SM_ANGLEo,-63.3
$GPS2,260421,021305,4705.691,-12453.676,2,0.6,4,15.5
$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,93.2,15554,-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,8.77,16386,-175.18,-1.32,0.00,558.8,555.5,562.1,166.6,2082.7,0.00,0.00,0,100.63,91.43,0.00,0.00,0.005,0.000,0.000,2725.44,2707.00,2743.88,166.56,2082.81,0,0,0,12.64,30.00,30.00
$GC,100.85,18951,-175.18,-1.32,-80.00,2724.2,2705.6,2742.9,166.4,2083.4,5.00,-10.55,9,137.40,9.66,16.30,4.39,0.007,0.244,0.144,3214.84,3209.88,3219.81,1818.50,664.06,0,0,0,12.77,14.20,13.80
$GC,194.54,1028,-175.18,-1.32,0.00,3213.9,3208.8,3219.0,1818.6,663.9,23.17,-15.11,28,201.84,0.00,0.00,3.77,0.000,0.000,0.046,3214.22,3208.88,3219.56,1818.56,2120.44,0,0,0,30.00,30.00,14.55
$GC,260.63,260,-175.18,-1.32,80.00,3214.4,3209.4,3219.4,1818.4,2120.8,33.20,-15.44,35,266.32,0.00,0.00,3.85,0.000,0.000,0.103,3216.22,3211.06,3221.38,1817.00,3473.19,0,0,0,30.00,30.00,14.45
$GC,299.56,1028,-175.18,-1.32,0.00,3214.4,3209.6,3219.1,1818.6,3474.1,39.25,-14.99,43,306.39,0.00,0.00,3.62,0.000,0.000,0.049,3215.19,3210.50,3219.88,1818.56,2082.31,0,0,0,30.00,30.00,14.55
$GC,365.65,516,-175.18,-1.32,-80.00,3214.4,3209.2,3219.7,1818.8,2082.6,48.28,-13.68,50,371.43,0.00,0.00,4.32,0.000,0.000,0.142,3214.47,3209.19,3219.75,1818.06,663.88,0,0,0,30.00,30.00,14.37
$GC,411.11,1028,-175.18,-1.32,0.00,3214.5,3209.1,3219.9,1818.3,663.9,54.94,-14.84,59,416.34,0.00,0.00,3.70,0.000,0.000,0.041,3214.44,3209.56,3219.31,1818.31,2122.75,0,0,0,30.00,30.00,14.62
$GC,475.67,260,-175.18,-1.32,80.00,3214.3,3209.2,3219.3,1818.6,2122.6,63.77,-13.26,66,481.35,0.00,0.00,3.82,0.000,0.000,0.101,3213.38,3208.62,3218.12,1818.44,3473.38,0,0,0,30.00,30.00,14.48
$GC,514.59,1028,-175.18,-1.32,0.00,3214.4,3209.2,3219.6,1818.4,3473.6,68.49,-12.86,74,521.40,0.00,0.00,3.57,0.000,0.000,0.047,3215.31,3210.50,3220.12,1818.75,2082.31,0,0,0,30.00,30.00,14.59
$GC,580.68,516,-175.18,-1.32,-80.00,3214.4,3209.2,3219.6,1818.7,2082.5,75.76,-11.05,81,586.43,0.00,0.00,4.29,0.000,0.000,0.142,3215.16,3210.06,3220.25,1817.38,662.44,0,0,0,30.00,30.00,14.39
$GC,626.14,1028,-175.18,-1.32,0.00,3214.4,3209.6,3219.3,1818.8,662.8,81.12,-11.87,90,631.35,0.00,0.00,3.67,0.000,0.000,0.041,3213.16,3208.69,3217.62,1818.25,2123.12,0,0,0,30.00,30.00,14.64
$GC,690.70,260,-175.18,-1.32,80.00,3214.8,3209.4,3220.1,1818.8,2123.1,87.06,-9.05,97,696.51,0.00,0.00,3.79,0.000,0.000,0.102,3214.78,3209.38,3220.19,1817.88,3473.19,0,0,0,30.00,30.00,14.50
$GC,736.16,1028,-175.18,-1.32,0.00,3214.2,3209.2,3219.2,1818.7,3473.8,91.66,-9.76,106,741.35,0.00,0.00,3.56,0.000,0.000,0.047,3213.56,3209.00,3218.12,1818.69,2081.75,0,0,0,30.00,30.00,14.60
$GC,800.71,516,-175.18,-1.32,-80.00,3214.6,3209.8,3219.4,1818.5,2082.1,97.64,-9.04,113,806.47,0.00,0.00,4.30,0.000,0.000,0.142,3214.97,3209.56,3220.38,1818.75,662.69,0,0,0,30.00,30.00,14.39
$GC,866.23,1028,-175.18,-1.32,0.00,3214.1,3209.0,3219.2,1819.1,662.8,104.64,-11.31,126,871.40,0.00,0.00,3.66,0.000,0.000,0.042,3214.00,3209.06,3218.94,1818.62,2121.94,0,0,0,30.00,30.00,14.66
$GC,930.74,260,-175.18,-1.32,80.00,3214.5,3209.5,3219.4,1818.7,2122.5,111.14,-9.73,133,936.41,0.00,0.00,3.76,0.000,0.000,0.101,3214.00,3208.50,3219.50,1818.75,3476.19,0,0,0,30.00,30.00,14.50
$GC,946.19,1028,-175.18,-1.32,0.00,3214.5,3209.1,3219.9,1818.9,3476.2,112.77,-9.75,136,951.38,0.00,0.00,3.57,0.000,0.000,0.047,3213.19,3208.38,3218.00,1818.31,2081.62,0,0,0,30.00,30.00,14.61
$GC,1010.74,516,-175.18,-1.32,-80.00,3214.4,3209.2,3219.6,1818.6,2081.4,118.67,-9.14,143,1016.50,0.00,0.00,4.28,0.000,0.000,0.141,3214.38,3209.00,3219.75,1819.06,662.56,0,0,0,30.00,30.00,14.40
$GC,1049.66,1028,-175.18,-1.32,0.00,3214.5,3208.9,3220.1,1819.4,662.6,122.76,-10.82,151,1056.50,0.00,0.00,3.68,0.000,0.000,0.042,3215.16,3209.88,3220.44,1818.62,2123.44,0,0,0,30.00,30.00,14.66
$GC,1115.75,260,-175.18,-1.32,80.00,3214.3,3209.1,3219.5,1818.4,2123.4,128.36,-8.88,158,1121.42,0.00,0.00,3.79,0.000,0.000,0.103,3213.47,3209.00,3217.94,1819.00,3473.00,0,0,0,30.00,30.00,14.49
$STATE,1175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1175,begin apogee
$GC,1180.06,10243,0.00,-0.25,0.00,3214.4,3209.4,3219.4,1818.8,1983.2,134.33,-9.82,170,1327.78,144.72,2.15,0.08,1.119,0.127,0.195,2499.12,2506.44,2491.81,2080.19,2023.62,0,0,0,10.74,14.51,13.77
$STATE,1331,end apogee,CONTROL_FINISHED_OK
$STATE,1331,begin climb
$GC,1331.19,10503,175.18,1.32,80.00,2497.2,2505.2,2489.2,2080.2,2024.4,139.09,0.00,185,1497.82,156.90,3.05,4.45,1.068,0.073,0.100,1782.84,1811.50,1754.19,2464.62,3464.00,0,0,0,10.89,13.92,13.39
$GC,1529.95,1092,175.18,1.37,0.00,1779.8,1809.6,1750.0,2464.3,3463.7,128.23,8.37,220,1536.87,0.00,0.00,4.11,0.000,0.000,0.048,1779.38,1809.75,1749.00,2464.31,1983.75,0,0,0,30.00,30.00,13.69
$GC,1596.05,580,175.18,1.41,-80.00,1778.0,1809.1,1747.0,2464.8,1983.4,122.66,8.66,227,1601.78,0.00,0.00,4.20,0.000,0.000,0.130,1777.12,1808.31,1745.94,2464.88,662.75,0,0,0,30.00,30.00,13.75
$GC,1611.55,19527,175.18,1.44,0.00,1777.5,1808.1,1746.9,2464.8,662.9,121.50,8.89,230,1616.73,0.00,0.17,3.60,0.000,0.064,0.037,1777.62,1808.44,1746.81,2507.00,2025.00,0,0,0,30.00,13.81,13.95
$GC,1676.06,16710,175.18,1.47,80.00,1776.3,1808.1,1744.6,2506.2,2024.8,115.38,9.01,237,1681.79,0.00,0.00,4.24,0.000,0.000,0.100,1774.56,1806.25,1742.88,2506.69,3463.06,0,0,0,30.00,30.00,13.95
$GC,1701.12,17478,175.18,1.50,0.00,1775.6,1807.3,1743.8,2507.1,3463.3,112.74,9.29,242,1706.75,0.00,0.00,3.97,0.000,0.000,0.049,1775.22,1807.00,1743.44,2506.75,1983.25,0,0,0,30.00,30.00,14.08
$GC,1766.07,16966,175.18,1.55,-80.00,1775.2,1806.9,1743.5,2506.8,1983.6,107.21,8.16,249,1771.78,0.00,0.00,4.03,0.000,0.000,0.128,1775.22,1807.38,1743.06,2506.06,663.19,0,0,0,30.00,30.00,14.06
$GC,1914.99,17414,175.18,1.55,0.00,1774.3,1805.4,1743.2,2507.5,662.9,92.14,10.32,279,1921.78,0.00,0.00,3.46,0.000,0.000,0.038,1775.38,1806.12,1744.62,2506.88,2027.56,0,0,0,30.00,30.00,14.44
$GC,1981.14,10535,234.49,1.73,80.00,1774.0,1805.2,1742.8,2507.2,2027.1,87.08,7.69,286,2053.77,64.54,0.36,4.17,1.001,0.054,0.100,1543.25,1573.88,1512.62,2576.50,3463.44,0,0,0,10.72,14.48,13.95
$GC,2132.04,1028,234.49,1.73,0.00,1540.1,1571.6,1508.6,2576.4,3463.0,71.15,10.98,316,2137.68,0.00,0.00,3.90,0.000,0.000,0.049,1539.22,1570.62,1507.81,2576.12,1981.12,0,0,0,30.00,30.00,14.33
$GC,2197.07,516,234.49,1.73,-80.00,1539.3,1571.7,1506.9,2576.4,1981.6,64.43,10.15,323,2202.70,0.00,0.00,3.96,0.000,0.000,0.127,1538.94,1571.38,1506.50,2576.50,661.81,0,0,0,30.00,30.00,14.25
$GC,2282.45,1028,234.49,1.73,0.00,1538.8,1571.1,1506.5,2576.6,662.0,55.84,9.84,340,2287.63,0.00,0.00,3.44,0.000,0.000,0.038,1539.25,1571.19,1507.31,2575.50,2026.94,0,0,0,30.00,30.00,14.50
$GC,2347.02,10275,307.00,1.95,0.00,1538.1,1570.9,1505.2,2576.6,2026.9,51.04,7.18,347,2429.73,81.61,0.25,0.00,0.981,0.058,0.000,1247.69,1278.94,1216.44,2625.31,2026.62,0,0,0,10.79,14.55,30.00
$GC,2492.95,580,307.00,1.99,-80.00,1245.0,1278.1,1212.0,2625.2,2027.3,38.58,8.55,368,2498.67,0.00,0.00,4.15,0.000,0.000,0.125,1245.47,1278.81,1212.12,2623.50,662.75,0,0,0,30.00,30.00,14.15
$GC,2687.97,1028,307.00,1.99,0.00,1244.1,1276.3,1211.9,2624.9,662.8,18.25,9.92,407,2692.59,0.00,0.00,3.46,0.000,0.000,0.041,1244.22,1276.75,1211.69,2625.62,2026.06,0,0,0,30.00,30.00,14.54
$GC,2757.98,10535,376.45,2.20,80.00,1243.4,1276.1,1210.8,2625.5,2025.8,13.05,7.30,415,2840.37,73.78,0.33,4.21,0.950,0.054,0.101,965.53,995.62,935.44,2684.19,3464.12,0,0,0,10.81,14.56,14.00
$STATE,2883,end climb,SURFACE_DEPTH_REACHED
$STATE,2883,begin surface coast
$STATE,2903,end surface coast,CONTROL_FINISHED_OK
$STATE,2903,begin surface
$SM_CCo,3032.21,96.81,0.950,0,564.2,557.4,571.0,474.85
$SM_CCo,3033.33,0.00,2.390,0,564.3,556.6,572.1,474.82
$SM_CCo,3034.43,0.01,0.321,0,564.8,557.6,572.0,474.70
$SM_GC,-0.68,0.01,18.81,3.65,0.321,0.066,0.051,564.8,557.6,572.0,171.4,2080.7,0,0,0,30.36,14.24,14.35
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4705.41,-12453.31,260421,011139
$TCM_TEMP,176.55
$XPDR_PINGS,11,14.0,11.5
$SC_FREEKB,3376608
$HUMID,59.95
$TEMP,8.75
$INTERNAL_PRESSURE,7.82209
$24V_AH,12.82,339.719
$10V_AH,13.57,0.000
$FG_AHR_24Vo,298.177
$FG_AHR_10Vo,79.771
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,719.470,41.405,140.365,156.520,2.750,13.108,2081.569,1174.554,881.820,0.000,0.000,0.000
$DEVICE_MAMPS,2389.560,243.784,194.912,186.749,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2967.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.458,0.000,0.000,0.000
$MEM,1103840,40,73328,53
$DATA_FILE_SIZE,16239,443
$CAP_FILE_SIZE,309448,0
$SDSIZE,3918848,3575872
$SDFILEDIR,6321,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260421,030409,4705.717,-12453.336,1,0.7,3,15.5