version: 67.00
glider: 236
mission: 2
dive: 46
start: 10 7 120 16 29 43
data:
$ID,236
$MISSION,2
$DIVE,46
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,80
$T_MISSION,220
$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,100
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72660
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0039810701
$HD_B,0.0094307503
$HD_C,5.7000002e-06
$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,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,670
$ROLL_MAX,3465
$ROLL_DEG,80
$C_ROLL_DIVE,2110
$C_ROLL_CLIMB,2150
$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,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,8.6121788
$FG_AHR_24V,18.659021
$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
$GPS1,071020,162001,4707.600,-12646.180,40,1.5,41,15.8
$_CALLS,2
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.1
$GPS2,071020,162926,4707.581,-12646.079,2,1.6,5,15.8
$SPEED_LIMITS,0.144,0.211
$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,39.6,144626,-18.9,-8.333,-21.53
$D_GRID,200
$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,6.32,16386,-97.32,-1.23,0.00,764.2,771.4,757.1,181.4,2123.1,0.00,0.00,0,69.34,62.51,0.00,0.00,0.005,0.000,0.000,2258.38,2241.25,2275.50,181.50,2124.12,0,0,0,15.70,30.00,30.00
$GC,69.59,18983,-97.32,-1.23,-80.00,2257.5,2240.3,2274.7,181.4,2124.2,3.30,-4.53,12,106.75,15.00,13.64,3.99,0.006,0.281,0.172,2897.25,2895.50,2899.00,1839.12,662.81,0,0,0,15.71,15.61,15.67
$GC,209.45,1028,-97.32,-1.23,0.00,2894.8,2893.7,2896.0,1840.9,662.6,45.67,-34.51,40,215.19,0.00,0.00,3.42,0.000,0.000,0.069,2895.09,2894.50,2895.69,1840.50,2127.12,0,0,0,30.00,30.00,15.78
$GC,394.52,260,-97.32,-1.23,80.00,2895.6,2896.1,2895.1,1840.7,2127.6,80.17,-14.67,77,400.17,0.00,0.00,3.30,0.000,0.000,0.126,2897.00,2897.06,2896.94,1840.00,3476.00,0,0,0,30.00,30.00,15.79
$GC,614.57,1028,-97.32,-1.23,0.00,2896.2,2896.9,2895.6,1840.6,3476.7,117.42,-15.32,121,619.10,0.00,0.00,3.34,0.000,0.000,0.063,2898.06,2898.50,2897.62,1840.19,2091.44,0,0,0,30.00,30.00,15.88
$GC,924.59,516,-97.32,-1.23,-80.00,2897.6,2899.1,2896.1,1840.4,2091.3,154.83,-10.83,153,930.35,0.00,0.00,3.80,0.000,0.000,0.166,2897.19,2898.94,2895.44,1840.81,662.94,0,0,0,30.00,30.00,15.90
$GC,1019.80,1028,-97.32,-1.23,0.00,2897.1,2899.0,2895.2,1840.8,662.8,167.03,-12.97,172,1025.16,0.00,0.00,3.38,0.000,0.000,0.064,2897.44,2898.25,2896.62,1840.31,2130.94,0,0,0,30.00,30.00,15.94
$GC,1324.64,260,-97.32,-1.23,80.00,2897.5,2899.4,2895.6,1840.5,2131.1,198.81,-10.65,203,1329.17,0.00,0.00,3.27,0.000,0.000,0.131,2900.03,2901.62,2898.44,1839.62,3473.88,0,0,0,30.00,30.00,15.92
$STATE,1339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1339,begin apogee
$GC,1343.23,10243,0.00,-0.25,0.00,2897.8,2899.8,2895.8,1840.5,2130.9,200.27,-10.44,206,1419.10,72.60,1.71,0.06,1.206,0.168,0.254,2498.62,2511.62,2485.62,2080.50,2173.56,0,0,0,13.21,15.93,15.66
$STATE,1420,end apogee,CONTROL_FINISHED_OK
$STATE,1420,begin loiter
$GC,1715.18,10275,34.08,-0.15,0.00,2493.2,2508.6,2477.9,2079.8,2173.1,209.52,-1.95,244,1744.90,27.22,0.16,0.00,1.162,0.151,0.000,2359.78,2377.75,2341.81,2106.69,2173.06,0,0,0,13.11,15.83,30.00
$GC,2045.11,8226,44.17,-0.12,0.00,2356.2,2375.8,2336.7,2106.8,2172.9,211.95,-0.58,277,2056.33,9.86,0.00,0.00,0.997,0.000,0.000,2316.81,2337.44,2296.19,2106.38,2172.88,0,0,0,13.15,30.00,30.00
$GC,2355.17,0,44.17,-0.12,0.00,2316.0,2337.4,2294.6,2107.0,2172.9,211.21,0.24,308,2356.50,0.00,0.00,0.00,0.000,0.000,0.000,2315.81,2337.75,2293.88,2107.31,2172.81,0,0,0,30.00,30.00,30.00
$GC,2655.29,8226,47.54,-0.11,0.00,2315.2,2337.2,2293.1,2106.9,2173.2,211.80,-0.19,338,2660.67,4.70,0.00,0.00,0.662,0.000,0.000,2304.34,2326.00,2282.69,2106.81,2173.12,0,0,0,13.16,30.00,30.00
$GC,2955.27,0,47.54,-0.11,0.00,2303.7,2326.6,2280.9,2106.7,2173.2,208.89,1.04,368,2956.59,0.00,0.00,0.00,0.000,0.000,0.000,2303.75,2326.62,2280.88,2106.94,2173.19,0,0,0,30.00,30.00,30.00
$GC,3255.37,32,47.56,-0.11,0.00,2303.6,2327.0,2280.2,2106.5,2172.8,209.15,-0.00,398,3256.70,0.00,0.00,0.00,0.000,0.000,0.000,2304.16,2327.94,2280.38,2107.31,2172.88,0,0,0,30.00,30.00,30.00
$GC,3555.41,8226,57.66,-0.08,0.00,2302.3,2326.8,2277.8,2106.2,2172.7,210.61,-0.58,428,3566.59,10.24,0.00,0.00,1.065,0.000,0.000,2263.22,2288.31,2238.12,2106.69,2172.56,0,0,0,13.24,30.00,30.00
$GC,3865.38,0,57.66,-0.08,0.00,2260.7,2286.1,2235.3,2107.1,2172.9,208.59,0.70,459,3866.71,0.00,0.00,0.00,0.000,0.000,0.000,2261.41,2286.19,2236.62,2107.06,2172.50,0,0,0,30.00,30.00,30.00
$GC,4165.48,0,57.66,-0.08,0.00,2260.1,2286.1,2234.1,2107.1,2173.1,208.18,0.08,489,4166.81,0.00,0.00,0.00,0.000,0.000,0.000,2260.00,2286.31,2233.69,2106.88,2172.62,0,0,0,30.00,30.00,30.00
$GC,4465.52,8226,70.63,-0.04,0.00,2259.7,2286.1,2233.2,2106.6,2172.6,210.49,-0.74,519,4478.74,12.11,0.00,0.00,1.133,0.000,0.000,2210.84,2238.88,2182.81,2106.75,2173.00,0,0,0,13.31,30.00,30.00
$GC,4775.50,2049,70.63,-0.04,0.00,2208.1,2236.9,2179.2,2106.1,2172.5,207.56,1.14,550,4776.93,0.00,0.16,0.00,0.000,0.157,0.000,2207.34,2235.38,2179.31,2134.12,2172.81,0,0,0,30.00,16.06,30.00
$GC,5075.53,0,70.63,-0.04,0.00,2207.4,2236.2,2178.6,2133.8,2172.7,202.86,1.66,580,5076.85,0.00,0.00,0.00,0.000,0.000,0.000,2207.47,2236.25,2178.69,2134.56,2172.50,0,0,0,30.00,30.00,30.00
$GC,5375.61,0,70.63,-0.04,0.00,2207.3,2236.6,2178.1,2134.3,2172.8,198.73,1.31,610,5376.94,0.00,0.00,0.00,0.000,0.000,0.000,2207.31,2236.94,2177.69,2134.50,2172.88,0,0,0,30.00,30.00,30.00
$GC,5675.68,0,70.63,-0.04,0.00,2206.6,2235.6,2177.6,2134.3,2172.7,195.07,1.22,640,5677.01,0.00,0.00,0.00,0.000,0.000,0.000,2206.34,2235.31,2177.38,2134.12,2173.06,0,0,0,30.00,30.00,30.00
$GC,5975.75,0,70.63,-0.04,0.00,2206.3,2234.9,2177.6,2134.5,2173.1,191.62,1.19,670,5977.08,0.00,0.00,0.00,0.000,0.000,0.000,2206.06,2234.62,2177.50,2134.69,2173.56,0,0,0,30.00,30.00,30.00
$GC,6275.82,0,70.63,-0.04,0.00,2206.3,2235.3,2177.4,2134.1,2173.1,188.97,0.90,700,6277.15,0.00,0.00,0.00,0.000,0.000,0.000,2206.38,2235.06,2177.69,2134.56,2172.81,0,0,0,30.00,30.00,30.00
$GC,6575.88,0,70.63,-0.04,0.00,2205.6,2234.6,2176.5,2133.8,2173.1,183.82,1.68,730,6577.21,0.00,0.00,0.00,0.000,0.000,0.000,2206.12,2235.75,2176.50,2133.81,2173.38,0,0,0,30.00,30.00,30.00
$GC,6875.95,0,70.63,-0.04,0.00,2205.5,2235.0,2176.0,2134.2,2173.2,180.71,0.97,760,6877.28,0.00,0.00,0.00,0.000,0.000,0.000,2205.59,2235.62,2175.56,2134.38,2173.44,0,0,0,30.00,30.00,30.00
$GC,7176.01,0,70.63,-0.04,0.00,2205.1,2234.8,2175.4,2133.7,2173.0,179.31,0.50,790,7177.34,0.00,0.00,0.00,0.000,0.000,0.000,2205.22,2234.56,2175.88,2134.38,2173.38,0,0,0,30.00,30.00,30.00
$GC,7476.06,0,70.63,-0.04,0.00,2205.1,2235.3,2174.8,2133.9,2173.8,176.66,0.86,820,7477.39,0.00,0.00,0.00,0.000,0.000,0.000,2205.19,2235.44,2174.94,2134.38,2173.44,0,0,0,30.00,30.00,30.00
$GC,7776.13,0,70.63,-0.04,0.00,2204.6,2234.5,2174.6,2134.1,2173.2,175.15,0.46,850,7777.46,0.00,0.00,0.00,0.000,0.000,0.000,2205.06,2235.12,2175.00,2134.12,2172.88,0,0,0,30.00,30.00,30.00
$GC,8076.20,8226,75.16,-0.02,0.00,2204.6,2235.1,2174.1,2134.4,2172.7,175.96,-0.26,880,8082.79,5.27,0.00,0.00,0.771,0.000,0.000,2191.03,2221.31,2160.75,2133.44,2173.38,0,0,0,13.37,30.00,30.00
$GC,8376.21,0,75.16,-0.02,0.00,2191.8,2222.8,2160.8,2133.7,2173.4,173.38,0.80,910,8377.53,0.00,0.00,0.00,0.000,0.000,0.000,2192.34,2222.88,2161.81,2134.50,2173.50,0,0,0,30.00,30.00,30.00
$STATE,8617,end loiter,LOITER_COMPLETE
$STATE,8617,begin climb
$GC,8616.32,10759,97.32,1.23,-80.00,2191.6,2222.4,2160.8,2133.9,2172.8,170.54,0.00,934,8645.30,20.43,2.01,3.94,1.198,0.107,0.159,2101.03,2131.12,2070.94,2442.44,688.12,0,0,0,13.32,16.17,16.06
$GC,8773.40,11303,150.72,1.39,0.00,2097.8,2124.7,2070.9,2442.6,688.2,163.65,5.28,965,8825.05,44.08,0.20,3.39,1.242,0.098,0.064,1884.34,1920.50,1848.19,2488.75,2177.94,0,0,0,13.32,16.08,16.10
$GC,9123.43,16646,150.72,1.39,80.00,1876.3,1914.4,1838.2,2488.6,2178.0,135.43,7.84,1005,9128.09,0.00,0.00,3.16,0.000,0.000,0.136,1875.69,1913.75,1837.62,2489.06,3475.75,0,0,0,30.00,30.00,15.96
$GC,9353.49,11303,221.04,1.61,0.00,1875.3,1912.7,1837.9,2489.2,3476.0,120.92,4.31,1051,9415.33,55.01,0.24,3.22,1.200,0.092,0.066,1599.12,1643.44,1554.81,2536.12,2130.62,0,0,0,13.27,15.99,16.01
$GC,9713.59,16966,221.04,1.63,-80.00,1590.5,1636.1,1544.9,2537.2,2130.9,94.14,6.96,1101,9719.31,0.00,0.00,3.81,0.000,0.000,0.161,1590.97,1636.44,1545.50,2537.31,686.12,0,0,0,30.00,30.00,15.88
$GC,9943.57,17414,221.04,1.63,0.00,1589.0,1633.2,1544.7,2537.4,686.0,73.73,9.02,1147,9949.27,0.00,0.00,3.42,0.000,0.000,0.064,1590.09,1634.00,1546.19,2535.31,2177.31,0,0,0,30.00,30.00,15.93
$GC,10128.63,10791,270.52,1.78,-80.00,1587.2,1632.9,1541.4,2537.4,2176.8,62.98,5.50,1184,10175.28,38.53,0.21,3.94,1.125,0.102,0.152,1397.16,1444.62,1349.69,2579.94,688.06,0,0,0,13.28,15.95,15.79
$GC,10398.68,11303,355.08,2.04,0.00,1392.2,1440.8,1343.7,2581.5,687.7,46.26,3.49,1238,10470.79,64.36,0.33,3.41,1.113,0.086,0.060,1052.97,1096.62,1009.31,2640.75,2180.12,0,0,0,13.19,15.88,15.90
$GC,10648.73,580,355.08,2.06,-80.00,1048.3,1093.1,1003.6,2640.7,2180.1,33.29,6.88,1288,10654.50,0.00,0.00,3.91,0.000,0.000,0.150,1048.16,1093.00,1003.31,2640.75,686.75,0,0,0,30.00,30.00,15.76
$GC,10878.79,1028,355.08,2.06,0.00,1046.9,1090.4,1003.3,2641.4,686.8,9.87,12.37,1334,10884.48,0.00,0.00,3.39,0.000,0.000,0.061,1046.84,1090.75,1002.94,2641.75,2176.75,0,0,0,30.00,30.00,15.86
$STATE,10959,end climb,SURFACE_DEPTH_REACHED
$STATE,10959,begin surface coast
$STATE,10979,end surface coast,CONTROL_FINISHED_OK
$STATE,10979,begin surface
$SM_CCo,11054.66,52.84,1.061,0,768.3,767.8,768.8,424.79
$SM_CCo,11055.76,0.00,0.013,0,767.7,770.2,765.1,424.94
$SM_CCo,11056.85,0.00,0.012,0,767.1,769.4,764.8,425.09
$SM_GC,1.16,0.00,15.68,0.19,0.012,0.071,0.114,767.1,769.4,764.8,180.2,2078.7,0,0,0,30.36,15.86,15.89
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4706.43,-12643.97,071020,162220
$TCM_TEMP,200.38
$XPDR_PINGS,0,14.0,11.5
$SC_FREEKB,3859744
$HUMID,54.84
$TEMP,10.65
$INTERNAL_PRESSURE,7.91146
$24V_AH,15.04,18.116
$10V_AH,15.00,0.000
$FG_AHR_24Vo,18.812
$FG_AHR_10Vo,8.650
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,494.785,34.340,63.580,383.898,0.000,13.987,3326.942,8161.125,1494.682,0.000,0.000,0.000
$DEVICE_MAMPS,1241.560,280.520,253.624,235.812,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3808.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.338,0.000,0.000,0.000
$MEM,1104476,26,72972,53
$DATA_FILE_SIZE,51324,1354
$CAP_FILE_SIZE,223979,0
$SDSIZE,3918848,3896640
$SDFILEDIR,256,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071020,193430,4707.973,-12645.627,23,1.1,23,15.8