version: 67.00
glider: 236
mission: 2
dive: 288
start: 12 3 120 13 17 49
data:
$ID,236
$MISSION,2
$DIVE,288
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,410
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,180
$T_LOITER,7200
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$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,425
$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,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,2200
$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,30.761538
$FG_AHR_24V,76.586937
$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,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$GPS1,031220,131202,4751.182,-12514.852,26,0.9,27,15.8
$_CALLS,1
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-62.6
$GPS2,031220,131731,4751.181,-12514.888,2,0.8,4,15.8
$SPEED_LIMITS,0.139,0.180
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$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,60.6,5904,-20.4,-8.049,-24.07
$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,6.81,16386,-77.86,-1.25,0.00,762.7,766.8,758.6,173.9,2117.2,0.00,0.00,0,80.04,72.61,0.00,0.00,0.005,0.000,0.000,2376.78,2359.25,2394.31,174.19,2117.00,0,0,0,15.62,30.00,30.00
$GC,80.31,18727,-77.86,-1.25,80.00,2375.7,2358.3,2393.0,174.0,2117.6,3.25,-3.75,14,113.17,11.55,13.76,3.69,0.007,0.258,0.120,2815.94,2813.38,2818.50,1837.12,3472.75,0,0,0,15.64,15.65,15.61
$GC,336.00,1028,-77.86,-1.25,0.00,2815.4,2812.8,2818.0,1836.9,3472.2,56.10,-15.79,65,341.73,0.00,0.00,3.46,0.000,0.000,0.063,2816.47,2813.56,2819.38,1837.62,2082.44,0,0,0,30.00,30.00,15.83
$GC,521.07,516,-77.86,-1.25,-80.00,2815.5,2813.1,2817.9,1836.6,2082.2,82.94,-11.86,102,526.91,0.00,0.00,4.06,0.000,0.000,0.159,2816.12,2813.69,2818.56,1836.81,663.88,0,0,0,30.00,30.00,15.84
$GC,651.12,1028,-77.86,-1.25,0.00,2815.8,2813.2,2818.2,1836.8,663.8,101.14,-13.34,128,656.73,0.00,0.00,3.51,0.000,0.000,0.055,2813.97,2811.25,2816.69,1836.88,2119.56,0,0,0,30.00,30.00,15.90
$GC,956.17,260,-77.86,-1.25,80.00,2816.2,2814.0,2818.5,1836.8,2119.8,137.20,-11.08,159,960.91,0.00,0.00,3.62,0.000,0.000,0.116,2817.12,2815.06,2819.19,1835.00,3473.44,0,0,0,30.00,30.00,15.93
$GC,990.02,1028,-77.86,-1.25,0.00,2816.2,2813.4,2818.9,1836.4,3472.4,141.29,-11.68,166,996.88,0.00,0.00,3.36,0.000,0.000,0.058,2817.34,2815.00,2819.69,1836.94,2081.00,0,0,0,30.00,30.00,15.95
$GC,1296.19,260,-77.86,-1.25,80.00,2816.8,2814.1,2819.4,1837.0,2081.0,174.08,-11.30,197,1301.97,0.00,0.00,3.73,0.000,0.000,0.117,2814.91,2812.00,2817.81,1836.88,3475.00,0,0,0,30.00,30.00,15.98
$GC,1381.28,1028,-77.86,-1.25,0.00,2816.6,2813.9,2819.2,1837.1,3474.6,184.74,-13.48,214,1386.78,0.00,0.00,3.39,0.000,0.000,0.062,2815.09,2812.12,2818.06,1836.94,2082.75,0,0,0,30.00,30.00,15.97
$GC,1686.24,260,-77.86,-1.25,80.00,2816.6,2813.8,2819.4,1836.9,2082.9,218.41,-11.53,245,1692.02,0.00,0.00,3.72,0.000,0.000,0.118,2817.50,2814.50,2820.50,1836.38,3474.25,0,0,0,30.00,30.00,16.00
$GC,1785.11,1028,-77.86,-1.25,0.00,2816.3,2813.4,2819.2,1836.8,3474.8,230.66,-12.23,265,1791.98,0.00,0.00,3.38,0.000,0.000,0.062,2817.62,2814.50,2820.75,1836.88,2081.00,0,0,0,30.00,30.00,16.01
$GC,2091.29,516,-77.86,-1.25,-80.00,2816.9,2814.2,2819.6,1837.0,2081.8,264.81,-10.74,296,2097.10,0.00,0.00,3.99,0.000,0.000,0.160,2818.06,2815.19,2820.94,1835.75,662.62,0,0,0,30.00,30.00,16.00
$GC,2180.22,1028,-77.86,-1.25,0.00,2816.7,2813.5,2819.9,1837.1,662.5,275.75,-12.06,314,2187.05,0.00,0.00,3.49,0.000,0.000,0.056,2817.53,2814.75,2820.31,1836.62,2120.56,0,0,0,30.00,30.00,16.02
$GC,2486.33,516,-77.86,-1.25,-80.00,2817.0,2813.9,2820.1,1837.1,2120.3,307.82,-10.27,345,2492.16,0.00,0.00,4.07,0.000,0.000,0.157,2815.38,2811.88,2818.88,1837.25,662.56,0,0,0,30.00,30.00,16.01
$GC,2555.26,1028,-77.86,-1.25,0.00,2816.3,2813.4,2819.2,1836.9,662.5,316.06,-11.81,359,2562.09,0.00,0.00,3.48,0.000,0.000,0.056,2817.31,2814.44,2820.19,1837.25,2119.81,0,0,0,30.00,30.00,16.04
$GC,2861.37,260,-77.86,-1.25,80.00,2816.4,2813.8,2819.1,1837.2,2119.1,346.96,-10.55,390,2866.12,0.00,0.00,3.59,0.000,0.000,0.122,2817.88,2815.19,2820.56,1836.25,3474.19,0,0,0,30.00,30.00,16.04
$GC,2925.24,1028,-77.86,-1.25,0.00,2816.5,2813.6,2819.5,1836.9,3474.4,354.16,-11.03,403,2932.11,0.00,0.00,3.39,0.000,0.000,0.063,2817.38,2814.50,2820.25,1837.00,2082.38,0,0,0,30.00,30.00,16.05
$GC,3231.42,516,-77.86,-1.25,-80.00,2816.3,2813.8,2818.9,1835.9,2082.7,382.63,-9.37,434,3237.22,0.00,0.00,3.99,0.000,0.000,0.163,2816.38,2813.69,2819.06,1836.50,662.62,0,0,0,30.00,30.00,16.03
$GC,3256.42,1028,-77.86,-1.25,0.00,2815.8,2813.2,2818.5,1837.1,662.6,385.20,-9.33,439,3261.12,0.00,0.00,3.48,0.000,0.000,0.058,2817.28,2814.00,2820.56,1835.44,2116.50,0,0,0,30.00,30.00,16.05
$GC,3566.44,260,-77.86,-1.25,80.00,2816.1,2813.7,2818.5,1837.1,2117.8,414.72,-10.05,471,3571.17,0.00,0.00,3.57,0.000,0.000,0.124,2817.56,2814.88,2820.25,1836.69,3473.31,0,0,0,30.00,30.00,16.04
$GC,3796.50,1060,-77.86,-1.25,0.00,2815.8,2813.2,2818.4,1836.5,3472.9,421.55,-0.13,517,3801.04,0.00,0.00,3.34,0.000,0.000,0.060,2817.88,2815.38,2820.38,1837.12,2082.00,0,0,0,30.00,30.00,16.07
$STATE,3956,end dive,NO_VERTICAL_VELOCITY
$STATE,3956,begin apogee
$GC,3957.82,10243,0.00,-0.25,0.00,2815.7,2813.4,2817.9,1836.8,2221.0,421.60,0.00,534,4023.55,62.31,1.63,0.09,1.566,0.106,0.236,2498.66,2506.62,2490.69,2082.56,2181.75,0,0,0,12.79,16.03,15.72
$STATE,4024,end apogee,CONTROL_FINISHED_OK
$STATE,4024,begin climb
$GC,4025.18,10759,77.86,1.25,-80.00,2497.9,2506.1,2489.6,2083.4,2182.1,421.71,0.00,540,4099.90,66.06,2.42,4.16,1.523,0.086,0.143,2181.69,2197.81,2165.56,2447.75,737.06,0,0,0,12.88,15.75,15.46
$GC,4101.68,11303,154.53,1.48,0.00,2179.1,2194.7,2163.4,2447.4,737.5,419.31,2.68,555,4173.76,66.51,0.32,3.65,1.502,0.073,0.051,1870.06,1899.69,1840.44,2509.88,2223.88,0,0,0,12.79,15.51,15.54
$GC,4477.72,16646,154.53,1.48,80.00,1858.0,1893.5,1822.4,2510.3,2223.6,380.44,11.24,600,4482.42,0.00,0.00,3.40,0.000,0.000,0.124,1859.50,1894.81,1824.19,2509.19,3472.75,0,0,0,30.00,30.00,15.70
$GC,4707.81,17414,154.53,1.48,0.00,1856.1,1889.8,1822.4,2510.4,3473.1,350.02,13.33,646,4712.35,0.00,0.00,3.16,0.000,0.000,0.059,1856.12,1889.88,1822.38,2510.38,2185.00,0,0,0,30.00,30.00,15.81
$GC,5017.86,16646,154.53,1.48,80.00,1854.7,1889.7,1819.8,2510.6,2185.8,316.09,10.56,678,5023.46,0.00,0.00,3.48,0.000,0.000,0.123,1854.75,1888.94,1820.56,2508.06,3471.12,0,0,0,30.00,30.00,15.89
$GC,5072.90,17414,154.53,1.48,0.00,1854.7,1889.4,1820.0,2509.9,3472.4,309.35,12.24,689,5077.44,0.00,0.00,3.13,0.000,0.000,0.058,1855.88,1890.62,1821.12,2510.25,2182.50,0,0,0,30.00,30.00,15.89
$GC,5382.96,16902,154.53,1.48,-80.00,1854.0,1889.2,1818.8,2510.9,2182.8,276.92,9.42,721,5388.77,0.00,0.00,3.99,0.000,0.000,0.143,1853.16,1888.69,1817.62,2510.50,737.25,0,0,0,30.00,30.00,15.88
$GC,5491.92,17414,154.53,1.48,0.00,1853.9,1888.2,1819.6,2509.8,737.5,263.94,13.08,743,5498.76,0.00,0.00,3.57,0.000,0.000,0.057,1854.12,1888.69,1819.56,2510.25,2221.38,0,0,0,30.00,30.00,15.96
$GC,5798.07,16902,154.53,1.48,-80.00,1852.2,1887.8,1816.7,2510.7,2221.2,233.66,9.28,774,5803.90,0.00,0.00,4.07,0.000,0.000,0.139,1851.72,1887.56,1815.88,2509.56,736.31,0,0,0,30.00,30.00,15.96
$GC,5877.01,17414,154.53,1.48,0.00,1852.2,1887.8,1816.5,2509.9,736.5,224.78,11.35,790,5883.86,0.00,0.00,3.56,0.000,0.000,0.057,1852.06,1887.44,1816.69,2510.25,2220.56,0,0,0,30.00,30.00,15.98
$GC,6183.16,16386,154.53,1.48,0.00,1851.4,1887.6,1815.2,2510.1,2220.3,196.43,8.94,821,6184.49,0.00,0.00,0.00,0.000,0.000,0.000,1850.19,1886.19,1814.19,2510.75,2220.38,0,0,0,30.00,30.00,30.00
$GC,6483.20,16646,154.53,1.48,80.00,1851.2,1887.3,1815.0,2510.6,2220.8,165.62,10.97,851,6487.76,0.00,0.00,3.37,0.000,0.000,0.123,1851.66,1887.75,1815.56,2510.44,3474.06,0,0,0,30.00,30.00,15.98
$GC,6547.07,17414,154.53,1.48,0.00,1851.4,1887.1,1815.6,2510.5,3474.8,158.41,11.06,864,6553.90,0.00,0.00,3.15,0.000,0.000,0.056,1851.25,1886.88,1815.62,2510.50,2181.50,0,0,0,30.00,30.00,16.00
$GC,6853.26,16386,154.53,1.48,0.00,1850.7,1886.8,1814.6,2509.8,2180.8,128.93,8.69,895,6854.59,0.00,0.00,0.00,0.000,0.000,0.000,1850.88,1887.25,1814.50,2510.50,2181.25,0,0,0,30.00,30.00,30.00
$GC,7153.29,16902,154.53,1.48,-80.00,1850.2,1886.8,1813.7,2510.8,2182.0,104.36,7.60,925,7159.10,0.00,0.00,3.97,0.000,0.000,0.138,1849.00,1885.25,1812.75,2510.06,736.44,0,0,0,30.00,30.00,15.97
$GC,7248.31,17414,154.53,1.48,0.00,1850.5,1886.7,1814.3,2510.3,736.5,96.02,9.33,944,7254.07,0.00,0.00,3.54,0.000,0.000,0.055,1850.62,1887.12,1814.12,2510.31,2224.19,0,0,0,30.00,30.00,16.03
$GC,7433.37,8486,187.59,1.58,80.00,1849.9,1886.4,1813.3,2510.6,2223.6,83.04,5.73,981,7464.61,25.61,0.00,3.38,1.174,0.000,0.120,1734.47,1770.94,1698.00,2509.38,3473.06,0,0,0,12.89,30.00,15.85
$GC,7468.38,11303,220.11,1.68,0.00,1732.8,1768.8,1696.7,2510.0,3473.5,80.93,5.77,988,7504.20,27.90,0.22,3.12,1.148,0.092,0.052,1602.06,1638.50,1565.62,2556.19,2177.31,0,0,0,12.89,15.90,15.92
$GC,7683.41,516,220.11,1.68,-80.00,1595.6,1632.6,1558.6,2556.1,2176.8,60.49,8.81,1031,7689.24,0.00,0.00,3.98,0.000,0.000,0.136,1596.62,1633.81,1559.44,2554.38,736.81,0,0,0,30.00,30.00,15.83
$GC,7808.43,1028,220.11,1.68,0.00,1595.0,1631.9,1558.0,2556.8,736.7,48.43,9.03,1056,7814.33,0.00,0.00,3.60,0.000,0.000,0.056,1595.16,1632.31,1558.00,2556.25,2223.25,0,0,0,30.00,30.00,15.89
$GC,7993.48,10535,286.81,1.88,80.00,1593.2,1631.9,1554.4,2556.2,2222.5,40.18,3.38,1093,8054.87,53.86,0.25,3.40,1.136,0.082,0.119,1329.94,1367.75,1292.12,2605.50,3473.25,0,0,0,12.87,15.88,15.68
$GC,8248.57,1028,286.81,1.88,0.00,1325.3,1360.6,1289.9,2605.3,3472.6,19.11,10.17,1144,8254.20,0.00,0.00,3.18,0.000,0.000,0.053,1325.53,1361.19,1289.88,2604.56,2179.44,0,0,0,30.00,30.00,15.82
$GC,8433.53,516,286.81,1.88,-80.00,1324.5,1360.8,1288.1,2604.9,2179.0,2.16,9.57,1181,8439.35,0.00,0.00,3.99,0.000,0.000,0.137,1324.53,1360.94,1288.12,2605.00,737.12,0,0,0,30.00,30.00,15.82
$STATE,8443,end climb,SURFACE_DEPTH_REACHED
$STATE,8443,begin surface coast
$STATE,8463,end surface coast,CONTROL_FINISHED_OK
$STATE,8463,begin surface
$SM_CCo,8601.66,111.36,1.093,0,768.1,769.8,766.5,424.83
$SM_CCo,8602.84,0.00,2.763,0,768.8,767.1,770.5,424.66
$SM_CCo,8605.01,1.24,0.139,0,768.4,766.2,770.6,424.76
$SM_GC,0.83,1.24,15.52,3.28,0.139,0.063,0.050,768.4,766.2,770.6,174.1,2126.4,0,0,0,15.50,15.84,15.87
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.64,-12513.98,031220,100623
$TCM_TEMP,189.69
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3757024
$HUMID,56.26
$TEMP,8.33
$INTERNAL_PRESSURE,7.80326
$24V_AH,14.59,89.736
$10V_AH,14.96,0.000
$FG_AHR_24Vo,76.757
$FG_AHR_10Vo,30.804
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,499.010,34.130,150.945,211.125,0.250,13.633,3520.831,5239.604,1946.886,0.000,0.000,0.000
$DEVICE_MAMPS,2762.824,257.888,236.240,211.373,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8492.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.853,0.000,0.000,0.000
$MEM,1100304,39,75664,114
$DATA_FILE_SIZE,45030,1187
$CAP_FILE_SIZE,277183,0
$SDSIZE,3918848,3832832
$SDFILEDIR,1466,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031220,154140,4751.643,-12513.890,10,0.9,20,15.8