version: 67.00
glider: 236
mission: 2
dive: 398
start: 12 29 120 15 20 35
data:
$ID,236
$MISSION,2
$DIVE,398
$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,-1
$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,40.51823
$FG_AHR_24V,103.31188
$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
$GPS1,291220,151432,4751.299,-12517.056,4,0.7,22,15.8
$_CALLS,1
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-62.2
$GPS2,291220,152017,4751.320,-12517.049,2,0.6,4,15.8
$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,66.6,8499,-20.4,-8.049,-24.07
$D_GRID,383
$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,7.02,16386,-77.86,-1.25,0.00,762.7,764.8,760.6,174.1,2081.0,0.00,0.00,0,80.29,72.65,0.00,0.00,0.005,0.000,0.000,2389.66,2371.75,2407.56,173.81,2079.94,0,0,0,15.41,30.00,30.00
$GC,80.57,18727,-77.86,-1.25,80.00,2388.5,2370.1,2406.9,173.8,2079.9,3.04,-3.64,14,113.51,11.08,14.04,3.88,0.007,0.259,0.117,2815.31,2812.12,2818.50,1835.75,3473.12,0,0,0,15.47,15.52,15.42
$GC,336.30,1028,-77.86,-1.25,0.00,2816.4,2812.5,2820.2,1835.5,3474.7,58.80,-21.10,65,342.04,0.00,0.00,3.48,0.000,0.000,0.062,2817.12,2813.06,2821.19,1835.50,2082.19,0,0,0,30.00,30.00,15.74
$GC,521.37,260,-77.86,-1.25,80.00,2816.7,2812.4,2820.9,1836.1,2082.1,85.34,-13.25,102,527.28,0.00,0.00,3.79,0.000,0.000,0.111,2817.34,2813.19,2821.50,1835.56,3473.75,0,0,0,30.00,30.00,15.80
$GC,596.38,1028,-77.86,-1.25,0.00,2816.2,2811.9,2820.6,1836.4,3473.5,95.70,-13.31,117,602.25,0.00,0.00,3.45,0.000,0.000,0.059,2816.66,2812.62,2820.69,1835.81,2079.88,0,0,0,30.00,30.00,15.81
$GC,781.39,260,-77.86,-1.25,80.00,2816.8,2812.6,2820.9,1836.0,2080.3,117.74,-11.26,139,787.17,0.00,0.00,3.75,0.000,0.000,0.110,2816.31,2812.00,2820.62,1835.06,3474.44,0,0,0,30.00,30.00,15.85
$GC,866.48,1028,-77.86,-1.25,0.00,2816.7,2812.4,2821.1,1835.9,3474.8,129.29,-14.14,156,872.00,0.00,0.00,3.42,0.000,0.000,0.059,2816.31,2812.50,2820.12,1836.44,2082.00,0,0,0,30.00,30.00,15.86
$GC,1171.45,260,-77.86,-1.25,80.00,2816.7,2812.4,2820.9,1835.4,2081.2,165.29,-12.20,187,1177.24,0.00,0.00,3.74,0.000,0.000,0.111,2815.25,2811.50,2819.00,1835.56,3474.81,0,0,0,30.00,30.00,15.90
$GC,1206.46,1028,-77.86,-1.25,0.00,2816.9,2812.6,2821.2,1835.5,3474.3,170.44,-14.73,194,1211.04,0.00,0.00,3.42,0.000,0.000,0.059,2816.97,2812.25,2821.69,1835.75,2081.00,0,0,0,30.00,30.00,15.90
$GC,1516.50,516,-77.86,-1.25,-80.00,2816.5,2812.4,2820.6,1835.8,2081.1,207.09,-12.29,226,1522.17,0.00,0.00,3.99,0.000,0.000,0.154,2814.75,2810.25,2819.25,1836.00,663.50,0,0,0,30.00,30.00,15.89
$GC,1561.52,1028,-77.86,-1.25,0.00,2816.7,2813.1,2820.2,1835.9,663.5,213.62,-14.59,235,1567.13,0.00,0.00,3.49,0.000,0.000,0.053,2815.75,2811.56,2819.94,1835.38,2120.88,0,0,0,30.00,30.00,15.92
$GC,1866.55,260,-77.86,-1.25,80.00,2816.6,2812.6,2820.7,1835.8,2121.7,250.49,-12.12,266,1871.31,0.00,0.00,3.62,0.000,0.000,0.116,2817.34,2813.44,2821.25,1836.56,3474.38,0,0,0,30.00,30.00,15.92
$GC,1906.56,1028,-77.86,-1.25,0.00,2816.6,2812.3,2820.8,1835.7,3474.6,255.86,-13.56,274,1911.14,0.00,0.00,3.40,0.000,0.000,0.058,2817.50,2813.50,2821.50,1835.38,2082.00,0,0,0,30.00,30.00,15.94
$GC,2216.60,516,-77.86,-1.25,-80.00,2816.5,2812.7,2820.4,1835.7,2082.6,295.19,-12.37,306,2222.28,0.00,0.00,3.97,0.000,0.000,0.153,2816.12,2811.94,2820.31,1835.38,662.50,0,0,0,30.00,30.00,15.92
$GC,2251.61,1028,-77.86,-1.25,0.00,2817.0,2812.6,2821.5,1835.8,662.3,299.97,-14.24,313,2257.20,0.00,0.00,3.48,0.000,0.000,0.052,2816.06,2811.75,2820.38,1835.94,2118.50,0,0,0,30.00,30.00,15.94
$GC,2556.64,0,-77.86,-1.25,0.00,2816.9,2812.7,2821.1,1835.7,2119.3,334.72,-10.83,344,2557.97,0.00,0.00,0.00,0.000,0.000,0.000,2817.16,2812.69,2821.62,1835.56,2119.00,0,0,0,30.00,30.00,30.00
$GC,2856.69,0,-77.86,-1.25,0.00,2816.9,2813.5,2820.4,1835.7,2118.9,366.56,-10.62,374,2858.02,0.00,0.00,0.00,0.000,0.000,0.000,2815.28,2811.62,2818.94,1835.81,2118.94,0,0,0,30.00,30.00,30.00
$STATE,3016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3016,begin apogee
$GC,3017.98,10243,0.00,-0.25,0.00,2816.8,2812.6,2821.1,1835.6,2222.9,383.71,-10.50,390,3083.75,62.71,1.76,0.09,1.510,0.146,0.219,2498.03,2504.75,2491.31,2080.50,2184.38,0,0,0,12.56,15.90,15.38
$STATE,3085,end apogee,CONTROL_FINISHED_OK
$STATE,3085,begin climb
$GC,3085.58,10759,77.86,1.25,-80.00,2498.1,2504.5,2491.8,2080.3,2184.1,386.34,0.00,396,3162.18,67.79,2.54,4.22,1.463,0.093,0.136,2182.12,2195.56,2168.69,2446.44,737.25,0,0,0,12.45,15.44,15.08
$GC,3163.96,11303,130.87,1.41,0.00,2179.5,2193.2,2165.7,2448.0,737.6,383.20,4.34,410,3217.67,48.27,0.22,3.73,1.416,0.080,0.049,1966.09,1988.69,1943.50,2493.25,2221.75,0,0,0,12.34,15.20,15.21
$GC,3515.00,16646,130.87,1.41,80.00,1955.7,1982.4,1928.9,2494.2,2221.9,352.19,9.09,450,3519.56,0.00,0.00,3.46,0.000,0.000,0.120,1954.78,1981.12,1928.44,2494.31,3470.62,0,0,0,30.00,30.00,15.61
$GC,3605.03,17414,130.87,1.41,0.00,1954.9,1980.9,1928.9,2494.9,3471.2,342.76,10.63,468,3609.58,0.00,0.00,3.22,0.000,0.000,0.056,1955.03,1980.75,1929.31,2495.69,2180.12,0,0,0,30.00,30.00,15.67
$GC,3915.09,16902,130.87,1.41,-80.00,1953.3,1980.6,1926.0,2495.8,2181.4,314.27,9.33,500,3920.93,0.00,0.00,4.01,0.000,0.000,0.136,1955.09,1982.12,1928.06,2493.44,735.75,0,0,0,30.00,30.00,15.78
$GC,4110.16,17414,130.87,1.41,0.00,1952.2,1978.6,1925.9,2495.4,735.8,294.91,9.03,539,4114.88,0.00,0.00,3.60,0.000,0.000,0.053,1950.31,1976.56,1924.06,2495.19,2221.44,0,0,0,30.00,30.00,15.82
$GC,4420.22,16450,130.87,1.46,0.00,1950.8,1978.6,1923.0,2495.0,2223.8,272.01,6.60,571,4421.56,0.00,0.00,0.00,0.000,0.000,0.000,1951.25,1979.00,1923.50,2495.75,2223.44,0,0,0,30.00,30.00,30.00
$GC,4720.24,16966,130.87,1.47,-80.00,1950.3,1978.6,1922.1,2495.9,2223.5,250.20,7.50,601,4726.05,0.00,0.00,4.07,0.000,0.000,0.131,1949.34,1977.81,1920.88,2496.12,735.62,0,0,0,30.00,30.00,15.89
$GC,4829.15,17414,130.87,1.47,0.00,1950.0,1977.6,1922.5,2495.4,735.9,239.01,11.17,623,4835.99,0.00,0.00,3.56,0.000,0.000,0.054,1950.44,1978.19,1922.69,2495.19,2222.62,0,0,0,30.00,30.00,15.91
$GC,5135.27,16646,130.87,1.47,80.00,1949.5,1977.8,1921.2,2495.5,2223.5,211.54,9.28,654,5139.82,0.00,0.00,3.38,0.000,0.000,0.116,1951.09,1979.25,1922.94,2494.50,3475.38,0,0,0,30.00,30.00,15.90
$GC,5205.30,17414,130.87,1.47,0.00,1949.3,1977.9,1920.7,2495.6,3474.8,204.12,10.83,668,5209.82,0.00,0.00,3.13,0.000,0.000,0.052,1949.97,1978.06,1921.88,2496.06,2177.81,0,0,0,30.00,30.00,15.91
$GC,5515.33,16902,130.87,1.47,-80.00,1949.2,1977.7,1920.8,2495.3,2177.8,173.52,9.00,700,5521.17,0.00,0.00,3.91,0.000,0.000,0.133,1948.66,1977.25,1920.06,2495.44,736.69,0,0,0,30.00,30.00,15.91
$GC,5554.26,17414,130.87,1.47,0.00,1948.8,1977.0,1920.6,2495.2,736.4,169.55,9.92,708,5561.10,0.00,0.00,3.54,0.000,0.000,0.052,1948.84,1977.25,1920.44,2495.56,2224.38,0,0,0,30.00,30.00,15.89
$GC,5860.39,16450,130.87,1.51,0.00,1948.7,1976.9,1920.4,2495.1,2224.1,145.65,6.79,739,5861.72,0.00,0.00,0.00,0.000,0.000,0.000,1949.19,1977.69,1920.69,2495.69,2223.94,0,0,0,30.00,30.00,30.00
$GC,6160.42,16710,130.87,1.53,80.00,1948.7,1977.4,1919.9,2495.1,2224.2,124.63,7.33,769,6164.97,0.00,0.00,3.34,0.000,0.000,0.116,1948.41,1976.81,1920.00,2495.06,3474.31,0,0,0,30.00,30.00,15.91
$GC,6314.28,17414,130.87,1.53,0.00,1948.5,1976.9,1920.1,2495.4,3473.9,111.75,8.25,800,6321.13,0.00,0.00,3.15,0.000,0.000,0.053,1948.53,1976.62,1920.44,2495.88,2179.00,0,0,0,30.00,30.00,15.92
$GC,6620.50,10535,165.12,1.63,80.00,1948.0,1977.1,1918.9,2495.2,2178.9,94.90,5.65,840,6652.90,27.20,0.25,3.53,1.159,0.081,0.114,1825.44,1856.06,1794.81,2544.06,3473.69,0,0,0,12.49,15.91,15.67
$GC,6875.75,1092,165.12,1.65,0.00,1821.1,1852.4,1789.8,2545.3,3474.4,74.16,7.46,891,6881.42,0.00,0.00,3.17,0.000,0.000,0.052,1821.31,1852.50,1790.12,2545.56,2176.56,0,0,0,30.00,30.00,15.80
$GC,7060.84,10535,227.09,1.84,80.00,1820.2,1852.4,1788.1,2545.2,2177.2,64.39,3.71,928,7117.71,50.61,0.25,3.58,1.144,0.080,0.110,1574.59,1607.38,1541.81,2595.44,3472.44,0,0,0,12.56,15.81,15.47
$GC,7120.84,11303,296.01,2.04,0.00,1572.4,1604.4,1540.4,2596.1,3472.7,62.47,3.22,940,7182.91,56.22,0.26,3.23,1.114,0.080,0.049,1292.84,1327.25,1258.44,2644.62,2176.81,0,0,0,12.48,15.47,15.53
$GC,7360.92,0,296.01,2.04,0.00,1286.2,1324.2,1248.2,2644.6,2176.6,41.69,11.54,988,7362.25,0.00,0.00,0.00,0.000,0.000,0.000,1285.97,1323.88,1248.06,2644.19,2176.69,0,0,0,30.00,30.00,30.00
$GC,7540.98,516,296.01,2.04,-80.00,1285.3,1323.2,1247.3,2645.4,2177.0,21.56,11.23,1024,7546.83,0.00,0.00,4.03,0.000,0.000,0.132,1285.25,1323.38,1247.12,2645.69,735.44,0,0,0,30.00,30.00,15.64
$GC,7661.03,17414,296.01,2.04,0.00,1284.9,1322.6,1247.2,2645.2,735.7,5.82,11.98,1048,7666.80,0.00,0.00,3.60,0.000,0.000,0.050,1284.88,1322.44,1247.31,2645.00,2224.06,0,0,0,30.00,30.00,15.74
$STATE,7700,end climb,SURFACE_DEPTH_REACHED
$STATE,7700,begin surface coast
$STATE,7721,end surface coast,CONTROL_FINISHED_OK
$STATE,7721,begin surface
$SM_CCo,7849.43,104.20,1.078,0,767.9,775.8,760.1,424.87
$SM_CCo,7850.61,0.00,2.684,0,768.9,772.1,765.8,424.63
$SM_CCo,7853.30,2.06,0.251,0,768.3,769.9,766.6,424.79
$SM_GC,0.72,2.06,16.05,0.34,0.251,0.054,0.089,768.3,769.9,766.6,172.9,2073.2,0,0,0,12.29,15.74,15.76
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4752.03,-12518.46,291220,123025
$TCM_TEMP,189.77
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3711968
$HUMID,56.68
$TEMP,8.51
$INTERNAL_PRESSURE,7.81226
$24V_AH,14.24,122.085
$10V_AH,14.73,0.000
$FG_AHR_24Vo,103.474
$FG_AHR_10Vo,40.558
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,502.805,35.360,123.130,215.716,0.250,13.588,3249.465,4787.594,1770.402,0.000,0.000,0.000
$DEVICE_MAMPS,2684.104,258.544,219.184,213.901,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7754.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.339,0.000,0.000,0.000
$MEM,1100192,44,75676,114
$DATA_FILE_SIZE,38608,1060
$CAP_FILE_SIZE,250473,0
$SDSIZE,3918848,3804736
$SDFILEDIR,2016,1
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291220,173202,4751.521,-12515.953,2,1.0,26,15.8