version: 67.00
glider: 236
mission: 2
dive: 402
start: 12 29 120 23 22 58
data:
$ID,236
$MISSION,2
$DIVE,402
$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,40.668224
$FG_AHR_24V,103.98307
$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
$GPS1,291220,231559,4752.429,-12513.455,2,1.8,6,15.8
$_CALLS,2
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-58.2
$GPS2,291220,232240,4752.468,-12513.493,2,0.9,5,15.8
$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,88.2,4127,-20.4,-8.049,-24.07
$D_GRID,188
$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,7.05,16386,-77.86,-1.25,0.00,761.1,764.7,757.4,173.9,2117.4,0.00,0.00,0,85.41,77.78,0.00,0.00,0.005,0.000,0.000,2497.75,2480.25,2515.25,174.31,2118.88,0,0,0,15.47,30.00,30.00
$GC,85.68,18727,-77.86,-1.25,80.00,2497.3,2479.9,2514.8,174.1,2118.1,3.36,-3.89,15,117.46,7.86,14.03,3.72,0.008,0.260,0.115,2816.75,2812.50,2821.00,1836.94,3472.38,0,0,0,15.52,15.56,15.47
$GC,200.20,1028,-77.86,-1.25,0.00,2816.7,2812.2,2821.2,1836.7,3472.3,27.88,-21.60,38,205.94,0.00,0.00,3.48,0.000,0.000,0.058,2818.75,2813.69,2823.81,1836.31,2082.69,0,0,0,30.00,30.00,15.72
$GC,385.25,260,-77.86,-1.25,80.00,2816.6,2811.9,2821.3,1837.1,2083.3,64.52,-19.66,75,391.04,0.00,0.00,3.78,0.000,0.000,0.108,2816.41,2811.94,2820.88,1836.31,3473.62,0,0,0,30.00,30.00,15.79
$GC,405.26,1028,-77.86,-1.25,0.00,2816.1,2811.7,2820.6,1837.6,3473.2,68.58,-19.87,79,411.00,0.00,0.00,3.44,0.000,0.000,0.056,2817.72,2812.94,2822.50,1836.94,2080.56,0,0,0,30.00,30.00,15.79
$GC,590.29,260,-77.86,-1.25,80.00,2816.7,2812.2,2821.1,1836.3,2081.1,93.41,-13.39,116,596.08,0.00,0.00,3.78,0.000,0.000,0.108,2816.59,2812.38,2820.81,1836.88,3474.19,0,0,0,30.00,30.00,15.84
$GC,700.31,1028,-77.86,-1.25,0.00,2816.5,2812.2,2820.8,1837.2,3474.2,106.69,-11.81,138,704.89,0.00,0.00,3.39,0.000,0.000,0.055,2817.25,2813.19,2821.31,1836.75,2080.62,0,0,0,30.00,30.00,15.85
$GC,1010.35,516,-77.86,-1.25,-80.00,2816.4,2811.9,2820.9,1837.2,2081.0,140.81,-10.93,170,1016.17,0.00,0.00,3.95,0.000,0.000,0.148,2815.44,2811.50,2819.38,1837.00,663.62,0,0,0,30.00,30.00,15.87
$GC,1115.37,1028,-77.86,-1.25,0.00,2816.6,2812.2,2821.1,1836.9,663.7,154.36,-13.64,191,1120.02,0.00,0.00,3.49,0.000,0.000,0.049,2817.81,2813.56,2822.06,1837.00,2119.81,0,0,0,30.00,30.00,15.91
$STATE,1396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1396,begin apogee
$GC,1396.64,10243,0.00,-0.25,0.00,2817.0,2812.3,2821.6,1837.1,2225.5,188.19,-12.53,220,1459.12,59.59,1.75,0.09,1.258,0.148,0.200,2498.97,2505.44,2492.50,2079.88,2182.31,0,0,0,12.60,15.87,15.45
$STATE,1461,end apogee,CONTROL_FINISHED_OK
$STATE,1461,begin climb
$GC,1460.97,10759,77.86,1.25,-80.00,2498.1,2505.1,2491.1,2079.9,2182.7,191.94,0.00,226,1535.43,63.14,2.53,4.08,1.225,0.093,0.126,2182.53,2197.81,2167.25,2447.44,736.75,0,0,0,12.52,15.50,15.18
$GC,1673.21,11303,138.09,1.43,0.00,2171.7,2188.6,2154.8,2447.9,736.5,184.86,3.83,268,1728.96,50.15,0.25,3.62,1.204,0.076,0.047,1936.09,1960.69,1911.50,2500.69,2226.81,0,0,0,12.44,15.53,15.56
$GC,2033.25,16646,138.09,1.43,80.00,1927.5,1957.2,1897.8,2500.8,2226.5,157.09,8.87,310,2037.82,0.00,0.00,3.42,0.000,0.000,0.114,1929.69,1959.56,1899.81,2499.62,3474.88,0,0,0,30.00,30.00,15.69
$GC,2133.34,17414,138.09,1.43,0.00,1926.9,1955.8,1898.1,2500.3,3474.1,147.23,10.37,330,2137.82,0.00,0.00,3.16,0.000,0.000,0.050,1927.72,1956.62,1898.81,2500.88,2178.56,0,0,0,30.00,30.00,15.73
$GC,2443.31,16902,138.09,1.43,-80.00,1925.1,1955.4,1894.8,2500.1,2178.9,115.81,9.04,362,2448.98,0.00,0.00,3.94,0.000,0.000,0.128,1924.16,1953.75,1894.56,2500.25,734.69,0,0,0,30.00,30.00,15.81
$GC,2613.35,17414,138.09,1.43,0.00,1924.0,1953.2,1894.8,2500.2,734.8,97.94,10.82,396,2619.11,0.00,0.00,3.55,0.000,0.000,0.047,1924.34,1953.75,1894.94,2500.25,2225.00,0,0,0,30.00,30.00,15.84
$GC,2798.39,16646,138.09,1.43,80.00,1923.6,1953.3,1893.8,2500.6,2225.0,80.29,9.11,433,2804.10,0.00,0.00,3.38,0.000,0.000,0.113,1923.78,1953.44,1894.12,2501.25,3475.38,0,0,0,30.00,30.00,15.82
$GC,2898.48,9254,187.00,1.58,0.00,1923.7,1953.2,1894.1,2500.9,3475.0,75.04,4.62,453,2944.87,39.31,0.00,3.16,1.114,0.000,0.047,1737.09,1770.88,1703.31,2499.88,2174.69,0,0,0,12.52,30.00,15.83
$GC,3123.54,10791,232.06,1.72,-80.00,1730.8,1767.2,1694.4,2500.7,2174.4,65.09,4.89,498,3169.72,37.24,0.34,4.05,1.089,0.069,0.127,1552.78,1588.88,1516.69,2566.19,735.62,0,0,0,12.49,15.71,15.42
$GC,3298.49,1092,232.06,1.77,0.00,1548.7,1586.5,1510.9,2566.5,735.6,53.19,6.24,533,3304.25,0.00,0.00,3.62,0.000,0.000,0.047,1550.28,1588.56,1512.00,2565.38,2225.56,0,0,0,30.00,30.00,15.62
$GC,3483.53,260,232.06,1.77,80.00,1547.0,1586.5,1507.5,2566.1,2226.1,40.33,7.62,570,3489.26,0.00,0.00,3.41,0.000,0.000,0.112,1547.28,1586.56,1508.00,2567.31,3475.19,0,0,0,30.00,30.00,15.73
$GC,3553.56,17478,232.06,1.80,0.00,1545.4,1584.1,1506.8,2566.9,3474.1,35.29,7.16,584,3559.23,0.00,0.00,3.17,0.000,0.000,0.048,1546.50,1585.38,1507.62,2567.00,2175.81,0,0,0,30.00,30.00,15.75
$GC,3738.61,16966,232.06,1.85,-80.00,1545.6,1584.8,1506.4,2566.9,2176.1,25.16,6.11,621,3744.42,0.00,0.00,3.96,0.000,0.000,0.124,1545.66,1585.19,1506.12,2566.88,734.62,0,0,0,30.00,30.00,15.75
$GC,3798.67,17414,232.06,1.85,0.00,1545.5,1584.8,1506.1,2566.9,734.7,20.69,7.81,633,3804.35,0.00,0.00,3.57,0.000,0.000,0.045,1546.50,1585.62,1507.38,2567.25,2225.81,0,0,0,30.00,30.00,15.76
$GC,3983.67,10535,275.12,1.98,80.00,1544.7,1584.2,1505.1,2567.8,2226.2,9.47,5.03,670,4026.32,36.79,0.34,3.44,1.038,0.072,0.113,1377.19,1415.56,1338.81,2631.38,3474.06,0,0,0,12.49,15.82,15.52
$STATE,4059,end climb,SURFACE_DEPTH_REACHED
$STATE,4059,begin surface coast
$STATE,4074,end surface coast,CONTROL_FINISHED_OK
$STATE,4074,begin surface
$SM_CCo,4221.67,119.90,1.043,0,768.0,777.9,758.1,424.85
$SM_CCo,4222.91,0.00,2.670,0,769.2,772.8,765.6,424.57
$SM_CCo,4224.07,0.38,0.142,0,768.6,773.5,763.7,424.71
$SM_GC,0.87,0.38,16.58,3.49,0.142,0.086,0.054,768.6,773.5,763.7,173.0,2077.8,0,0,0,15.20,15.63,15.67
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4754.02,-12511.36,291220,231804
$TCM_TEMP,190.38
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3710432
$HUMID,56.66
$TEMP,9.03
$INTERNAL_PRESSURE,7.8356
$24V_AH,14.23,122.825
$10V_AH,14.70,0.000
$FG_AHR_24Vo,104.124
$FG_AHR_10Vo,40.694
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,492.135,35.830,86.455,228.344,0.250,14.218,2303.091,2156.608,1160.142,0.000,0.000,0.000
$DEVICE_MAMPS,2670.000,259.856,199.504,189.066,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4104.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.316,0.000,0.000,0.000
$MEM,1100180,45,75668,114
$DATA_FILE_SIZE,25783,688
$CAP_FILE_SIZE,190835,0
$SDSIZE,3918848,3804032
$SDFILEDIR,2036,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301220,003407,4752.530,-12513.155,35,0.9,36,15.8