version: 67.00
glider: 236
mission: 2
dive: 986
start: 3 29 121 16 42 9
data:
$ID,236
$MISSION,2
$DIVE,986
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$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,150
$T_MISSION,195
$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,160
$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,2100
$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,71.801025
$FG_AHR_24V,236.78723
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$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
$GPS1,290321,162710,4707.019,-12501.149,44,1.0,47,15.6
$_CALLS,5
$_SM_DEPTHo,-1.49
$_SM_ANGLEo,-57.6
$GPS2,290321,164151,4706.794,-12501.223,3,1.4,6,15.6
$SPEED_LIMITS,0.192,0.275
$TGT_NAME,ONSHELF
$TGT_LATLONG,4708.000,-12454.000
$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,60.7,9370,-18.7,-11.111,-22.02
$D_GRID,227
$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,7.57,16386,-155.72,-1.40,0.00,557.2,563.6,550.8,171.4,2075.4,0.00,0.00,0,108.49,100.45,0.00,0.00,0.005,0.000,0.000,2824.09,2806.75,2841.44,171.56,2076.88,0,0,0,14.60,30.00,30.00
$GC,108.73,18951,-155.72,-1.40,-80.00,2823.3,2805.9,2840.7,171.8,2077.6,3.67,-13.20,19,141.36,6.62,14.45,4.09,0.008,0.248,0.157,3135.28,3129.56,3141.00,1799.50,664.00,0,0,0,14.85,15.01,14.67
$GC,224.65,1028,-155.72,-1.40,0.00,3134.2,3128.4,3140.0,1799.9,663.9,28.86,-19.60,42,230.33,0.00,0.00,3.57,0.000,0.000,0.055,3134.78,3129.06,3140.50,1800.25,2119.00,0,0,0,30.00,30.00,15.52
$GC,289.63,260,-155.72,-1.40,80.00,3134.3,3128.0,3140.6,1800.2,2119.0,41.05,-17.78,55,295.37,0.00,0.00,3.67,0.000,0.000,0.109,3134.09,3127.88,3140.31,1800.19,3475.56,0,0,0,30.00,30.00,15.36
$GC,319.67,1028,-155.72,-1.40,0.00,3134.0,3127.6,3140.5,1800.1,3475.6,46.31,-17.61,61,325.33,0.00,0.00,3.40,0.000,0.000,0.055,3135.09,3128.81,3141.38,1800.31,2081.56,0,0,0,30.00,30.00,15.50
$GC,384.63,516,-155.72,-1.40,-80.00,3133.8,3127.8,3139.9,1799.2,2081.3,57.59,-16.86,74,390.86,0.00,0.00,3.99,0.000,0.000,0.148,3135.78,3129.50,3142.06,1799.25,662.94,0,0,0,30.00,30.00,15.23
$GC,400.09,1028,-155.72,-1.40,0.00,3134.5,3128.3,3140.6,1799.5,662.9,59.74,-15.75,77,405.41,0.00,0.00,3.51,0.000,0.000,0.047,3135.38,3129.38,3141.38,1800.19,2123.06,0,0,0,30.00,30.00,15.58
$GC,464.65,260,-155.72,-1.40,80.00,3134.3,3127.8,3140.8,1800.0,2123.3,69.12,-14.22,90,470.80,0.00,0.00,3.60,0.000,0.000,0.107,3135.59,3129.62,3141.56,1799.25,3474.31,0,0,0,30.00,30.00,15.38
$GC,494.70,1028,-155.72,-1.40,0.00,3134.9,3128.6,3141.2,1799.9,3473.5,73.24,-13.71,96,500.33,0.00,0.00,3.36,0.000,0.000,0.053,3134.84,3129.06,3140.62,1799.81,2079.75,0,0,0,30.00,30.00,15.54
$GC,559.67,516,-155.72,-1.40,-80.00,3134.2,3128.2,3140.2,1799.9,2080.2,81.85,-13.93,109,565.91,0.00,0.00,4.01,0.000,0.000,0.148,3134.44,3128.25,3140.62,1799.94,662.81,0,0,0,30.00,30.00,15.24
$GC,580.17,1028,-155.72,-1.40,0.00,3134.7,3128.2,3141.1,1800.3,662.8,84.78,-14.58,113,585.94,0.00,0.00,3.48,0.000,0.000,0.047,3135.69,3129.12,3142.25,1799.88,2123.44,0,0,0,30.00,30.00,15.60
$GC,644.69,260,-155.72,-1.40,80.00,3134.5,3128.2,3140.8,1799.4,2123.5,93.09,-12.28,126,650.84,0.00,0.00,3.58,0.000,0.000,0.106,3135.41,3128.94,3141.88,1799.44,3475.44,0,0,0,30.00,30.00,15.39
$GC,674.74,1028,-155.72,-1.40,0.00,3134.4,3128.2,3140.7,1799.8,3475.4,96.97,-12.94,132,680.38,0.00,0.00,3.37,0.000,0.000,0.051,3134.59,3128.62,3140.56,1800.12,2080.12,0,0,0,30.00,30.00,15.55
$GC,739.72,516,-155.72,-1.40,-80.00,3134.4,3128.4,3140.4,1800.1,2079.9,104.38,-11.25,145,745.93,0.00,0.00,4.01,0.000,0.000,0.148,3135.69,3129.44,3141.94,1799.19,663.69,0,0,0,30.00,30.00,15.24
$GC,795.16,1028,-155.72,-1.40,0.00,3134.5,3128.4,3140.7,1800.2,663.8,111.73,-13.71,156,800.43,0.00,0.00,3.46,0.000,0.000,0.046,3134.75,3128.25,3141.25,1800.31,2122.88,0,0,0,30.00,30.00,15.62
$GC,859.73,260,-155.72,-1.40,80.00,3134.6,3128.4,3140.9,1800.1,2122.5,119.94,-11.98,169,865.88,0.00,0.00,3.57,0.000,0.000,0.105,3134.78,3128.81,3140.75,1799.75,3474.50,0,0,0,30.00,30.00,15.40
$GC,894.72,1028,-155.72,-1.40,0.00,3134.5,3128.1,3140.9,1799.8,3474.7,124.30,-13.18,176,900.43,0.00,0.00,3.36,0.000,0.000,0.051,3134.44,3128.75,3140.12,1800.56,2080.06,0,0,0,30.00,30.00,15.55
$GC,959.75,0,-155.72,-1.40,0.00,3134.6,3128.4,3140.8,1800.1,2080.6,132.34,-13.09,189,964.07,0.00,0.00,0.00,0.000,0.000,0.000,3135.06,3129.00,3141.12,1800.25,2080.00,0,0,0,30.00,30.00,30.00
$GC,1024.76,260,-155.72,-1.40,80.00,3134.4,3127.8,3141.0,1800.0,2080.1,140.44,-11.97,202,1030.95,0.00,0.00,3.73,0.000,0.000,0.105,3134.19,3127.75,3140.62,1799.50,3473.94,0,0,0,30.00,30.00,15.39
$GC,1089.79,1028,-155.72,-1.40,0.00,3134.4,3127.9,3140.9,1800.4,3474.2,148.57,-12.19,215,1095.48,0.00,0.00,3.37,0.000,0.000,0.052,3135.97,3129.94,3142.00,1799.38,2080.56,0,0,0,30.00,30.00,15.56
$GC,1154.79,516,-155.72,-1.40,-80.00,3134.3,3127.9,3140.8,1799.9,2080.5,155.64,-10.52,223,1160.50,0.00,0.00,4.01,0.000,0.000,0.147,3134.34,3127.88,3140.81,1799.81,662.75,0,0,0,30.00,30.00,15.26
$GC,1190.24,1028,-155.72,-1.40,0.00,3134.4,3127.8,3141.1,1799.9,662.8,160.17,-12.78,230,1195.41,0.00,0.00,3.46,0.000,0.000,0.045,3133.00,3126.69,3139.31,1799.75,2122.31,0,0,0,30.00,30.00,15.64
$GC,1494.82,260,-155.72,-1.40,80.00,3134.7,3128.2,3141.2,1800.2,2123.5,195.09,-12.51,261,1500.46,0.00,0.00,3.61,0.000,0.000,0.108,3135.50,3128.56,3142.44,1799.19,3476.00,0,0,0,30.00,30.00,15.40
$GC,1649.85,1028,-155.72,-1.40,0.00,3135.0,3128.0,3142.0,1799.9,3475.9,216.67,-13.92,292,1654.45,0.00,0.00,3.38,0.000,0.000,0.055,3135.16,3128.25,3142.06,1799.75,2082.25,0,0,0,30.00,30.00,15.55
$STATE,1740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1740,begin apogee
$GC,1740.99,10243,0.00,-0.25,0.00,3134.8,3128.1,3141.4,1800.2,2121.9,228.23,-13.53,302,1871.81,125.03,2.11,0.09,1.285,0.136,0.204,2499.00,2507.69,2490.31,2080.12,2083.25,0,0,0,10.64,15.43,14.88
$STATE,1875,end apogee,CONTROL_FINISHED_OK
$STATE,1875,begin climb
$GC,1874.70,10243,155.72,1.40,0.00,2497.1,2505.9,2488.4,2079.7,2083.5,233.26,0.00,315,2013.06,131.96,2.82,0.00,1.240,0.086,0.000,1864.06,1889.00,1839.12,2484.38,2083.31,0,0,0,11.56,15.21,30.00
$GC,2309.89,10535,207.44,1.56,80.00,1853.9,1882.8,1825.1,2484.3,2083.3,200.73,8.61,368,2361.62,44.42,0.20,3.81,1.178,0.078,0.109,1653.34,1682.56,1624.12,2530.50,3475.06,0,0,0,11.15,15.57,15.08
$GC,2373.80,1028,207.44,1.56,0.00,1650.6,1679.6,1621.7,2530.1,3475.1,193.97,10.85,381,2380.57,0.00,0.00,3.40,0.000,0.000,0.052,1651.06,1680.38,1621.75,2529.31,2078.44,0,0,0,30.00,30.00,15.41
$GC,2679.97,260,207.44,1.56,80.00,1646.4,1678.0,1614.8,2530.3,2079.6,159.68,12.05,412,2685.59,0.00,0.00,3.77,0.000,0.000,0.106,1646.84,1677.94,1615.75,2529.50,3473.81,0,0,0,30.00,30.00,15.43
$GC,2708.82,17414,207.44,1.56,0.00,1646.0,1677.2,1614.8,2530.5,3473.1,155.91,12.55,418,2715.64,0.00,0.00,3.37,0.000,0.000,0.052,1646.44,1677.69,1615.19,2530.44,2077.69,0,0,0,30.00,30.00,15.57
$GC,3014.99,16966,207.44,1.57,-80.00,1645.5,1677.1,1613.8,2530.4,2078.4,120.90,10.52,474,3021.21,0.00,0.00,3.92,0.000,0.000,0.135,1646.19,1677.94,1614.44,2530.25,662.75,0,0,0,30.00,30.00,15.35
$GC,3035.49,17414,207.44,1.57,0.00,1645.6,1676.9,1614.2,2529.9,662.6,118.73,10.78,478,3041.12,0.00,0.00,3.45,0.000,0.000,0.043,1646.28,1677.62,1614.94,2530.19,2128.75,0,0,0,30.00,30.00,15.69
$GC,3100.00,16646,207.44,1.57,80.00,1645.3,1676.9,1613.7,2530.6,2128.8,111.19,10.96,491,3105.73,0.00,0.00,3.59,0.000,0.000,0.110,1645.91,1677.19,1614.62,2530.44,3473.38,0,0,0,30.00,30.00,15.45
$GC,3130.05,17414,207.44,1.57,0.00,1644.8,1676.0,1613.7,2529.8,3473.2,107.44,12.50,497,3135.70,0.00,0.00,3.37,0.000,0.000,0.053,1645.03,1676.44,1613.62,2531.12,2078.19,0,0,0,30.00,30.00,15.62
$GC,3195.03,16902,207.44,1.57,-80.00,1644.8,1676.1,1613.6,2531.2,2078.0,100.11,10.71,510,3201.24,0.00,0.00,3.91,0.000,0.000,0.134,1645.56,1677.19,1613.94,2530.88,662.88,0,0,0,30.00,30.00,15.34
$GC,3345.52,17478,207.44,1.61,0.00,1644.6,1675.9,1613.3,2531.1,662.9,82.64,9.91,540,3350.76,0.00,0.00,3.49,0.000,0.000,0.048,1645.31,1676.62,1614.00,2530.25,2126.44,0,0,0,30.00,30.00,15.68
$GC,3410.09,10275,273.75,1.81,0.00,1644.5,1676.0,1613.0,2530.5,2126.2,77.07,7.91,553,3481.57,69.85,0.30,0.00,1.072,0.069,0.000,1384.00,1415.56,1352.44,2592.06,2126.56,0,0,0,10.87,15.69,30.00
$GC,3540.09,324,273.75,1.85,80.00,1380.0,1412.9,1347.2,2592.1,2126.4,64.15,9.62,579,3545.82,0.00,0.00,3.64,0.000,0.000,0.109,1380.22,1413.00,1347.44,2592.25,3472.56,0,0,0,30.00,30.00,15.36
$GC,3610.09,1028,273.75,1.85,0.00,1378.1,1410.9,1345.2,2591.9,3472.0,56.29,10.96,593,3615.82,0.00,0.00,3.39,0.000,0.000,0.052,1378.16,1411.25,1345.06,2592.62,2077.31,0,0,0,30.00,30.00,15.51
$GC,3675.14,10535,346.99,2.07,80.00,1378.0,1411.2,1344.9,2592.4,2077.6,50.86,7.57,606,3761.99,77.24,0.33,3.83,1.029,0.073,0.108,1084.59,1115.31,1053.88,2653.94,3473.25,0,0,0,11.29,15.55,15.02
$GC,3835.26,1028,346.99,2.07,0.00,1081.9,1113.2,1050.6,2654.5,3473.2,32.17,14.10,638,3840.98,0.00,0.00,3.41,0.000,0.000,0.053,1081.91,1113.38,1050.44,2653.88,2077.06,0,0,0,30.00,30.00,15.46
$GC,3900.28,516,346.99,2.07,-80.00,1081.2,1113.5,1048.8,2654.5,2077.6,23.23,14.42,651,3906.06,0.00,0.00,3.92,0.000,0.000,0.134,1082.00,1114.38,1049.62,2653.31,662.69,0,0,0,30.00,30.00,15.28
$GC,3955.73,1028,346.99,2.07,0.00,1081.2,1113.7,1048.8,2654.2,663.0,16.74,12.38,662,3960.99,0.00,0.00,3.48,0.000,0.000,0.046,1081.53,1113.75,1049.31,2654.06,2126.31,0,0,0,30.00,30.00,15.56
$GC,4020.29,0,346.99,2.07,0.00,1080.7,1113.8,1047.7,2654.5,2126.1,8.51,13.05,675,4024.61,0.00,0.00,0.00,0.000,0.000,0.000,1080.94,1114.00,1047.88,2654.69,2126.44,0,0,0,30.00,30.00,30.00
$STATE,4065,end climb,SURFACE_DEPTH_REACHED
$STATE,4065,begin surface coast
$STATE,4075,end surface coast,CONTROL_FINISHED_OK
$STATE,4075,begin surface
$SM_CCo,4218.48,117.23,1.008,0,564.2,562.1,566.3,474.85
$SM_CCo,4219.61,0.00,0.012,0,563.6,559.9,567.2,475.01
$SM_GC,-0.38,0.00,16.67,0.09,0.012,0.079,0.136,563.6,559.9,567.2,166.9,2075.8,0,0,0,30.36,15.43,15.63
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4707.49,-12558.38,290321,163424
$TCM_TEMP,175.50
$XPDR_PINGS,7,14.0,11.5
$ALTIM_BOTTOM_PING,163.1,11.7
$SC_FREEKB,3481472
$HUMID,57.99
$TEMP,8.29
$INTERNAL_PRESSURE,7.79048
$24V_AH,14.30,273.884
$10V_AH,14.80,0.000
$FG_AHR_24Vo,236.980
$FG_AHR_10Vo,71.818
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,672.790,36.875,137.705,419.172,4.250,15.792,3244.583,1800.100,1587.085,0.000,10.000,0.000
$DEVICE_MAMPS,1284.528,248.376,204.424,216.804,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4130.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.375,0.000,0.000,0.000
$MEM,1103784,34,73444,56
$DATA_FILE_SIZE,25816,686
$CAP_FILE_SIZE,362148,0
$SDSIZE,3918848,3649792
$SDFILEDIR,4956,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290321,175301,4706.531,-12500.683,23,0.8,24,15.6