version: 67.00
glider: 236
mission: 2
dive: 6
start: 9 28 120 1 39 45
data:
$ID,236
$MISSION,2
$DIVE,6
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,175
$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,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72660
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,605.89099
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,2150
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,25
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,670
$ROLL_MAX,3465
$ROLL_DEG,80
$C_ROLL_DIVE,2067
$C_ROLL_CLIMB,2067
$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,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,4.8404002
$FG_AHR_24V,6.6104584
$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,3
$ALTIM_SENSITIVITY,2
$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,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,280920,013754,4742.965,-12532.801,1,0.8,2,15.8
$_CALLS,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.1
$GPS2,280920,013927,4742.991,-12532.831,3,0.8,5,15.8
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,185.6,135872,-17.6,-10.000,-21.24
$D_GRID,990
$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,6.15,16386,-145.99,-0.88,0.00,500.6,523.4,477.8,191.7,2079.3,0.00,0.00,0,79.46,72.82,0.00,0.00,0.005,0.000,0.000,2335.72,2318.38,2353.06,191.38,2079.88,0,0,0,14.69,30.00,30.00
$GC,79.69,18983,-145.99,-0.88,-80.00,2334.2,2316.4,2351.9,191.8,2079.7,3.93,-4.52,14,122.68,22.32,12.84,3.72,0.006,0.266,0.205,3392.91,3389.44,3396.38,1934.62,663.81,0,0,0,14.86,15.94,15.94
$GC,230.42,1156,-145.99,-0.82,0.00,3394.3,3390.9,3397.8,1935.0,664.1,33.55,-12.05,44,236.08,0.00,0.00,3.31,0.000,0.000,0.089,3395.28,3391.62,3398.94,1935.19,2082.31,0,0,0,30.00,30.00,16.04
$GC,415.47,676,-145.99,-0.88,-80.00,3394.1,3390.3,3397.8,1935.3,2081.9,52.97,-9.19,81,421.18,0.00,0.00,3.69,0.000,0.000,0.195,3393.94,3390.75,3397.12,1935.12,662.69,0,0,0,30.00,30.00,16.00
$GC,465.49,1188,-145.99,-0.92,0.00,3394.0,3391.2,3396.8,1934.9,662.8,58.02,-9.76,91,471.12,0.00,0.00,3.30,0.000,0.000,0.087,3394.84,3391.50,3398.19,1935.25,2081.19,0,0,0,30.00,30.00,16.03
$GC,650.53,4517,-145.99,-1.02,80.00,3394.2,3391.1,3397.4,1935.0,2081.4,74.81,-8.96,128,656.25,0.00,0.29,3.37,0.000,0.087,0.140,3393.97,3391.06,3396.88,1887.44,3473.44,0,0,0,30.00,16.04,16.03
$GC,835.53,1028,-145.99,-1.02,0.00,3394.4,3391.1,3397.6,1887.8,3473.8,99.76,-12.05,165,841.22,0.00,0.00,3.33,0.000,0.000,0.085,3395.69,3392.62,3398.75,1887.75,2052.62,0,0,0,30.00,30.00,16.05
$GC,1020.77,260,-145.99,-1.02,80.00,3394.0,3390.8,3397.2,1887.8,2052.8,119.41,-10.71,184,1026.34,0.00,0.00,3.46,0.000,0.000,0.143,3392.88,3389.75,3396.00,1887.38,3475.12,0,0,0,30.00,30.00,16.07
$GC,1069.52,1156,-145.99,-1.05,0.00,3394.1,3390.8,3397.4,1887.5,3474.6,125.18,-11.55,194,1076.38,0.00,0.00,3.33,0.000,0.000,0.085,3394.41,3391.56,3397.25,1888.12,2054.00,0,0,0,30.00,30.00,16.07
$GC,1375.61,128,-145.99,-1.09,0.00,3393.6,3390.3,3396.9,1887.7,2053.8,159.17,-10.89,225,1376.93,0.00,0.00,0.00,0.000,0.000,0.000,3394.09,3391.19,3397.00,1887.88,2053.94,0,0,0,30.00,30.00,30.00
$GC,1675.66,388,-145.99,-1.15,80.00,3392.7,3390.6,3394.9,1887.7,2053.9,191.86,-11.20,255,1680.28,0.00,0.00,3.48,0.000,0.000,0.149,3395.09,3393.25,3396.94,1887.94,3475.19,0,0,0,30.00,30.00,16.08
$GC,1709.61,5253,-145.99,-1.19,0.00,3392.9,3390.7,3395.1,1888.0,3475.5,195.90,-11.54,262,1716.40,0.00,0.18,3.34,0.000,0.106,0.089,3393.09,3391.06,3395.12,1846.12,2052.12,0,0,0,30.00,16.07,16.10
$GC,2015.72,0,-145.99,-1.19,0.00,3391.7,3389.9,3393.5,1845.8,2051.5,235.51,-13.65,293,2017.05,0.00,0.00,0.00,0.000,0.000,0.000,3392.28,3390.69,3393.88,1845.50,2051.75,0,0,0,30.00,30.00,30.00
$GC,2315.78,260,-145.99,-1.19,80.00,3390.8,3388.9,3392.6,1846.0,2051.8,277.72,-14.30,323,2320.42,0.00,0.00,3.49,0.000,0.000,0.155,3390.72,3389.31,3392.12,1845.38,3474.12,0,0,0,30.00,30.00,16.08
$GC,2345.79,1028,-145.99,-1.19,0.00,3390.4,3388.8,3392.1,1845.7,3473.7,282.23,-15.12,329,2350.41,0.00,0.00,3.34,0.000,0.000,0.093,3390.47,3389.00,3391.94,1845.38,2053.94,0,0,0,30.00,30.00,16.09
$GC,2655.87,0,-145.99,-1.19,0.00,3389.5,3387.9,3391.0,1846.1,2054.1,326.09,-13.43,361,2657.20,0.00,0.00,0.00,0.000,0.000,0.000,3389.75,3388.19,3391.31,1846.12,2054.12,0,0,0,30.00,30.00,30.00
$STATE,2915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2915,begin apogee
$GC,2917.08,10243,0.00,-0.20,0.00,3388.8,3387.6,3390.0,1846.4,2078.7,360.16,-12.34,387,3030.50,110.04,1.78,0.06,1.576,0.153,0.341,2798.88,2812.88,2784.88,2103.69,2056.31,0,0,0,12.94,16.07,15.56
$STATE,3031,end apogee,CONTROL_FINISHED_OK
$STATE,3031,begin climb
$GC,3031.56,10759,145.99,0.88,-80.00,2797.1,2810.9,2783.2,2103.8,2055.9,363.79,0.00,398,3157.71,118.50,1.71,3.87,1.502,0.100,0.218,2203.34,2234.69,2172.00,2367.81,663.56,0,0,0,12.71,15.60,15.25
$GC,3200.45,11431,348.06,1.20,0.00,2196.1,2227.2,2165.0,2368.6,663.6,362.48,0.60,430,3369.30,163.54,0.46,3.45,1.478,0.083,0.091,1381.81,1443.56,1320.06,2446.06,2080.75,0,0,0,12.57,15.45,15.47
$GC,3665.46,18823,348.06,1.34,80.00,1371.8,1433.3,1310.3,2446.6,2080.4,313.83,12.25,493,3671.24,0.00,0.17,3.51,0.000,0.113,0.152,1370.84,1432.31,1309.38,2483.00,3473.31,0,0,0,30.00,15.70,15.67
$GC,3730.52,17542,348.06,1.39,0.00,1370.9,1431.7,1310.2,2482.7,3473.2,304.50,14.96,506,3735.02,0.00,0.00,3.42,0.000,0.000,0.091,1371.84,1432.75,1310.94,2482.69,2053.88,0,0,0,30.00,30.00,15.73
$GC,4040.51,18563,348.06,1.47,0.00,1370.4,1431.1,1309.6,2482.4,2053.2,264.80,12.62,538,4041.94,0.00,0.14,0.00,0.000,0.121,0.000,1371.09,1431.88,1310.31,2514.75,2053.00,0,0,0,30.00,15.87,30.00
$GC,4340.54,16774,348.06,1.51,80.00,1370.5,1430.8,1310.2,2514.5,2053.1,224.61,13.20,568,4346.11,0.00,0.00,3.52,0.000,0.000,0.149,1370.00,1430.44,1309.56,2514.88,3473.44,0,0,0,30.00,30.00,15.93
$GC,4389.41,17414,348.06,1.51,0.00,1369.7,1429.4,1309.9,2515.9,3473.6,217.10,14.89,578,4396.23,0.00,0.00,3.38,0.000,0.000,0.093,1370.44,1430.38,1310.50,2515.38,2051.56,0,0,0,30.00,30.00,15.92
$GC,4695.58,16774,348.06,1.54,80.00,1369.9,1429.9,1309.9,2515.6,2052.0,176.44,13.46,609,4700.27,0.00,0.00,3.50,0.000,0.000,0.147,1370.16,1430.31,1310.00,2515.06,3474.12,0,0,0,30.00,30.00,15.97
$GC,4739.44,17414,348.06,1.54,0.00,1369.2,1428.5,1309.8,2514.9,3473.6,169.96,14.69,618,4746.27,0.00,0.00,3.37,0.000,0.000,0.092,1369.69,1429.00,1310.38,2515.06,2052.88,0,0,0,30.00,30.00,15.98
$GC,5045.64,16514,348.06,1.58,0.00,1369.2,1428.7,1309.7,2515.1,2052.7,127.29,13.79,649,5046.97,0.00,0.00,0.00,0.000,0.000,0.000,1369.44,1428.88,1310.00,2515.62,2052.75,0,0,0,30.00,30.00,30.00
$GC,5345.72,18823,348.06,1.64,80.00,1369.1,1428.7,1309.6,2515.7,2052.8,89.32,12.49,687,5351.47,0.00,0.19,3.47,0.000,0.113,0.144,1369.03,1428.50,1309.56,2555.25,3473.25,0,0,0,30.00,16.02,15.96
$GC,5435.73,17414,348.06,1.64,0.00,1368.2,1427.0,1309.4,2555.3,3472.6,76.69,12.23,705,5441.42,0.00,0.00,3.34,0.000,0.000,0.088,1368.91,1427.44,1310.38,2555.56,2051.25,0,0,0,30.00,30.00,16.01
$GC,5620.81,16646,348.06,1.64,80.00,1368.4,1427.1,1309.7,2555.0,2051.1,57.66,10.50,742,5626.51,0.00,0.00,3.48,0.000,0.000,0.141,1370.06,1428.88,1311.25,2555.50,3474.44,0,0,0,30.00,30.00,16.04
$GC,5652.07,17414,348.06,1.64,0.00,1368.4,1427.1,1309.6,2556.1,3474.5,54.12,11.78,748,5657.74,0.00,0.00,3.33,0.000,0.000,0.086,1368.34,1427.19,1309.50,2555.56,2049.88,0,0,0,30.00,30.00,16.04
$GC,5835.90,17030,348.06,1.69,-80.00,1368.4,1427.1,1309.8,2555.3,2050.1,32.88,11.59,785,5841.60,0.00,0.00,3.58,0.000,0.000,0.195,1368.66,1427.56,1309.75,2555.38,661.81,0,0,0,30.00,30.00,15.98
$GC,6035.98,11303,570.40,1.96,0.00,1368.6,1427.2,1310.1,2555.8,661.6,30.98,-0.34,825,6205.95,165.29,0.42,3.27,1.206,0.089,0.071,500.72,531.19,470.25,2631.38,2090.62,0,0,0,12.96,16.01,16.05
$GC,6383.73,8838,570.40,2.06,-80.00,496.7,531.1,462.3,2631.5,2090.8,4.74,11.08,894,6389.46,0.00,0.00,3.73,0.000,0.000,0.178,496.84,531.19,462.50,2631.12,662.75,0,0,0,30.00,30.00,15.68
$STATE,6408,end climb,SURFACE_DEPTH_REACHED
$STATE,6408,begin surface coast
$STATE,6423,end surface coast,CONTROL_FINISHED_OK
$STATE,6423,begin surface
$SM_CCo,6450.85,0.00,0.000,0,495.6,520.6,470.7,565.26
$SM_CCo,6451.87,0.00,0.000,0,495.6,519.6,471.5,565.28
$SM_CCo,6452.88,0.00,0.000,0,495.7,519.6,471.8,565.25
$SM_GC,2.07,0.00,15.45,3.31,0.000,0.065,0.074,495.7,519.6,471.8,181.4,2084.6,0,0,0,30.00,15.71,15.74
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4743.04,-12531.52,280920,013620
$TCM_TEMP,195.07
$XPDR_PINGS,11,14.0,11.5
$SC_FREEKB,3875872
$HUMID,58.25
$TEMP,9.76
$INTERNAL_PRESSURE,7.86733
$24V_AH,14.87,3.679
$10V_AH,15.00,0.000
$FG_AHR_24Vo,6.838
$FG_AHR_10Vo,4.880
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,652.510,33.640,96.825,0.000,2.750,12.972,2765.124,3697.272,1560.780,0.000,0.000,0.000
$DEVICE_MAMPS,1576.448,265.760,341.200,0.000,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6429.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.996,0.000,0.000,0.000
$MEM,1162748,31,14640,51
$DATA_FILE_SIZE,32200,902
$CAP_FILE_SIZE,243747,0
$SDSIZE,3918848,3907552
$SDFILEDIR,47,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,215.0,1
$GPS,280920,032740,4742.403,-12533.444,11,1.2,15,15.8