version: 67.00
glider: 236
mission: 2
dive: 399
start: 12 29 120 17 37 51
data:
$ID,236
$MISSION,2
$DIVE,399
$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,40.558834
$FG_AHR_24V,103.48675
$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
$GPS1,291220,173202,4751.521,-12515.953,2,1.0,26,15.8
$_CALLS,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-55.3
$GPS2,291220,173733,4751.532,-12515.910,2,0.7,4,15.8
$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,68.2,7047,-20.4,-8.049,-24.07
$D_GRID,360
$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,7.04,16386,-77.86,-1.25,0.00,762.7,769.1,756.3,172.7,2114.4,0.00,0.00,0,85.40,77.74,0.00,0.00,0.005,0.000,0.000,2509.75,2491.31,2528.19,172.81,2114.38,0,0,0,15.41,30.00,30.00
$GC,85.67,18727,-77.86,-1.25,80.00,2508.9,2490.4,2527.4,172.8,2114.1,3.41,-3.74,15,117.43,7.53,14.04,3.73,0.008,0.259,0.115,2816.59,2811.56,2821.62,1835.12,3474.06,0,0,0,15.48,15.54,15.43
$GC,270.21,1028,-77.86,-1.25,0.00,2816.0,2811.0,2821.1,1836.2,3473.9,46.41,-21.54,52,275.95,0.00,0.00,3.49,0.000,0.000,0.060,2816.62,2811.81,2821.44,1836.44,2084.12,0,0,0,30.00,30.00,15.72
$GC,455.26,260,-77.86,-1.25,80.00,2816.7,2811.6,2821.8,1836.1,2084.3,79.94,-12.91,89,461.06,0.00,0.00,3.81,0.000,0.000,0.110,2817.62,2812.50,2822.75,1835.69,3475.25,0,0,0,30.00,30.00,15.79
$GC,570.28,1028,-77.86,-1.25,0.00,2816.8,2811.8,2821.8,1835.6,3474.6,95.01,-12.02,112,576.03,0.00,0.00,3.45,0.000,0.000,0.058,2818.03,2812.94,2823.12,1835.62,2081.00,0,0,0,30.00,30.00,15.81
$GC,760.30,516,-77.86,-1.25,-80.00,2816.6,2811.4,2821.8,1836.4,2081.6,115.69,-11.02,136,766.00,0.00,0.00,4.01,0.000,0.000,0.150,2816.78,2811.81,2821.75,1835.25,663.00,0,0,0,30.00,30.00,15.82
$GC,815.33,1028,-77.86,-1.25,0.00,2816.6,2811.7,2821.6,1836.1,662.5,122.08,-11.98,147,820.91,0.00,0.00,3.48,0.000,0.000,0.050,2816.97,2812.12,2821.81,1836.19,2120.19,0,0,0,30.00,30.00,15.85
$GC,1120.36,260,-77.86,-1.25,80.00,2816.6,2811.8,2821.5,1835.9,2119.9,155.86,-11.44,178,1125.09,0.00,0.00,3.60,0.000,0.000,0.113,2817.53,2813.25,2821.81,1835.69,3473.81,0,0,0,30.00,30.00,15.88
$GC,1224.29,1028,-77.86,-1.25,0.00,2816.8,2811.7,2821.9,1835.8,3474.1,169.11,-12.42,199,1231.12,0.00,0.00,3.40,0.000,0.000,0.057,2817.44,2812.56,2822.31,1836.12,2080.69,0,0,0,30.00,30.00,15.91
$GC,1530.41,516,-77.86,-1.25,-80.00,2817.3,2813.1,2821.4,1836.1,2080.4,200.12,-10.37,230,1536.23,0.00,0.00,3.96,0.000,0.000,0.153,2816.66,2812.31,2821.00,1836.12,662.56,0,0,0,30.00,30.00,15.89
$GC,1629.34,1028,-77.86,-1.25,0.00,2817.3,2812.7,2821.9,1835.6,662.6,212.45,-12.27,250,1636.17,0.00,0.00,3.49,0.000,0.000,0.053,2817.12,2812.62,2821.62,1835.81,2119.19,0,0,0,30.00,30.00,15.94
$GC,1935.47,260,-77.86,-1.25,80.00,2816.8,2812.2,2821.4,1836.0,2118.6,243.76,-10.76,281,1940.23,0.00,0.00,3.62,0.000,0.000,0.116,2816.09,2811.44,2820.75,1836.06,3476.62,0,0,0,30.00,30.00,15.94
$GC,1995.49,1028,-77.86,-1.25,0.00,2817.2,2812.9,2821.6,1835.8,3477.2,250.73,-12.62,293,2000.05,0.00,0.00,3.39,0.000,0.000,0.059,2817.56,2813.56,2821.56,1836.56,2082.50,0,0,0,30.00,30.00,15.96
$GC,2305.53,516,-77.86,-1.25,-80.00,2817.2,2812.5,2821.9,1835.7,2082.8,283.62,-10.17,325,2311.20,0.00,0.00,3.95,0.000,0.000,0.153,2817.09,2812.75,2821.44,1836.00,663.62,0,0,0,30.00,30.00,15.92
$GC,2364.46,1028,-77.86,-1.25,0.00,2816.9,2812.6,2821.2,1835.7,663.5,290.92,-12.67,337,2371.28,0.00,0.00,3.46,0.000,0.000,0.053,2816.91,2812.31,2821.50,1836.00,2120.44,0,0,0,30.00,30.00,15.96
$GC,2670.57,260,-77.86,-1.25,80.00,2816.8,2812.5,2821.2,1836.4,2119.9,322.27,-9.31,368,2676.33,0.00,0.00,3.61,0.000,0.000,0.117,2817.31,2812.81,2821.81,1834.69,3473.38,0,0,0,30.00,30.00,15.95
$GC,2725.59,1028,-77.86,-1.25,0.00,2817.2,2813.1,2821.4,1836.2,3473.8,328.33,-12.44,379,2730.15,0.00,0.00,3.38,0.000,0.000,0.060,2817.28,2812.88,2821.69,1835.75,2081.62,0,0,0,30.00,30.00,15.96
$STATE,3035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3035,begin apogee
$GC,3036.88,10243,0.00,-0.25,0.00,2817.0,2812.7,2821.3,1836.1,2222.9,360.93,-10.76,411,3103.28,62.90,1.75,0.09,1.481,0.149,0.219,2497.91,2504.75,2491.06,2080.69,2183.44,0,0,0,12.61,15.90,15.39
$STATE,3104,end apogee,CONTROL_FINISHED_OK
$STATE,3104,begin climb
$GC,3105.12,10503,77.86,1.25,80.00,2497.5,2503.9,2491.2,2081.1,2182.7,362.98,0.00,417,3180.59,67.38,2.54,3.70,1.437,0.088,0.117,2180.47,2194.75,2166.19,2447.88,3474.31,0,0,0,12.45,15.45,15.10
$GC,3273.36,11303,121.08,1.38,0.00,2176.7,2191.8,2161.6,2448.0,3473.7,355.90,5.02,450,3318.67,38.99,0.17,3.21,1.387,0.099,0.052,2005.16,2027.38,1982.94,2485.00,2178.56,0,0,0,12.40,15.45,15.46
$GC,3623.40,16966,121.08,1.41,-80.00,1996.7,2023.4,1969.9,2485.0,2178.5,330.37,7.18,490,3629.22,0.00,0.00,4.01,0.000,0.000,0.134,1997.34,2023.81,1970.88,2484.44,735.44,0,0,0,30.00,30.00,15.61
$GC,3712.32,17414,121.08,1.41,0.00,1995.4,2021.1,1969.7,2484.8,735.8,322.28,8.74,508,3719.16,0.00,0.00,3.59,0.000,0.000,0.049,1996.88,2022.38,1971.38,2485.38,2223.25,0,0,0,30.00,30.00,15.72
$GC,4018.43,16646,121.08,1.41,80.00,1994.5,2021.1,1967.9,2484.8,2223.4,293.47,9.55,539,4022.99,0.00,0.00,3.38,0.000,0.000,0.115,1994.78,2020.94,1968.62,2484.62,3475.00,0,0,0,30.00,30.00,15.80
$GC,4152.30,17414,121.08,1.41,0.00,1994.4,2021.0,1967.9,2485.3,3474.4,280.64,9.18,566,4159.15,0.00,0.00,3.14,0.000,0.000,0.052,1994.38,2021.06,1967.69,2485.50,2179.25,0,0,0,30.00,30.00,15.83
$GC,4458.49,16646,121.08,1.41,80.00,1993.0,2021.0,1964.9,2485.9,2179.9,254.60,8.23,597,4463.08,0.00,0.00,3.46,0.000,0.000,0.112,1992.38,2020.44,1964.31,2485.88,3475.31,0,0,0,30.00,30.00,15.88
$GC,4492.35,17414,121.08,1.41,0.00,1992.7,2020.7,1964.7,2485.3,3475.6,251.37,7.91,604,4499.18,0.00,0.00,3.14,0.000,0.000,0.051,1993.09,2021.19,1965.00,2485.19,2180.12,0,0,0,30.00,30.00,15.88
$GC,4798.53,16902,121.08,1.41,-80.00,1992.4,2020.9,1963.9,2485.3,2181.1,226.31,8.12,635,4804.35,0.00,0.00,3.92,0.000,0.000,0.132,1992.59,2021.31,1963.88,2485.25,735.56,0,0,0,30.00,30.00,15.88
$GC,4887.45,17414,121.08,1.41,0.00,1991.6,2019.2,1963.9,2485.9,735.5,217.85,9.87,653,4894.31,0.00,0.00,3.52,0.000,0.000,0.049,1991.53,2019.19,1963.88,2486.00,2224.56,0,0,0,30.00,30.00,15.90
$GC,5193.60,16710,121.08,1.45,80.00,1991.5,2019.4,1963.6,2485.2,2224.8,196.03,6.79,684,5198.17,0.00,0.00,3.35,0.000,0.000,0.116,1991.41,2019.56,1963.25,2486.06,3475.12,0,0,0,30.00,30.00,15.87
$GC,5253.62,17478,121.08,1.47,0.00,1991.8,2019.7,1963.9,2485.5,3474.8,191.68,7.38,696,5258.12,0.00,0.00,3.12,0.000,0.000,0.051,1992.84,2020.62,1965.06,2485.94,2177.69,0,0,0,30.00,30.00,15.89
$GC,5563.63,16902,121.08,1.47,-80.00,1991.4,2019.6,1963.2,2485.2,2177.9,169.28,7.74,728,5569.44,0.00,0.00,3.93,0.000,0.000,0.130,1989.88,2018.25,1961.50,2485.06,734.38,0,0,0,30.00,30.00,15.88
$GC,5662.56,17414,121.08,1.47,0.00,1990.5,2017.7,1963.4,2485.6,734.4,160.20,9.70,748,5669.41,0.00,0.00,3.54,0.000,0.000,0.048,1991.59,2019.12,1964.06,2485.44,2225.50,0,0,0,30.00,30.00,15.88
$GC,5968.73,16450,121.08,1.51,0.00,1990.1,2017.1,1963.1,2485.6,2225.1,138.47,6.47,779,5970.06,0.00,0.00,0.00,0.000,0.000,0.000,1989.44,2016.88,1962.00,2485.94,2225.62,0,0,0,30.00,30.00,30.00
$GC,6268.77,18759,121.08,1.57,80.00,1990.1,2017.8,1962.4,2485.3,2225.0,119.50,6.25,809,6274.40,0.00,0.21,3.35,0.000,0.084,0.116,1989.88,2017.62,1962.12,2531.88,3474.44,0,0,0,30.00,15.91,15.90
$GC,6393.83,17478,121.08,1.60,0.00,1990.2,2017.2,1963.1,2531.8,3473.6,110.99,6.88,834,6398.34,0.00,0.00,3.12,0.000,0.000,0.051,1990.72,2018.00,1963.44,2532.50,2178.06,0,0,0,30.00,30.00,15.92
$GC,6698.92,10791,173.75,1.76,-80.00,1990.5,2017.8,1963.2,2531.9,2177.9,96.03,4.36,874,6746.75,42.19,0.22,4.01,1.179,0.090,0.130,1790.69,1819.75,1761.62,2577.00,735.19,0,0,0,12.53,15.91,15.56
$GC,6779.54,1092,173.75,1.82,0.00,1787.4,1816.8,1758.1,2578.6,735.3,91.23,6.20,890,6785.27,0.00,0.00,3.59,0.000,0.000,0.048,1787.47,1817.00,1757.94,2578.25,2226.38,0,0,0,30.00,30.00,15.67
$GC,6964.56,260,173.75,1.82,80.00,1784.0,1816.3,1751.6,2577.6,2226.0,80.01,7.56,927,6970.27,0.00,0.00,3.38,0.000,0.000,0.113,1784.34,1816.44,1752.25,2578.31,3473.12,0,0,0,30.00,30.00,15.70
$GC,7194.62,11303,249.47,2.04,0.00,1782.8,1814.2,1751.4,2577.6,3473.8,69.74,2.75,973,7261.62,61.25,0.37,3.14,1.143,0.072,0.048,1482.56,1515.88,1449.25,2644.81,2172.62,0,0,0,12.51,15.75,15.79
$GC,7439.65,0,249.47,2.04,0.00,1476.1,1511.8,1440.3,2644.6,2172.9,55.18,9.19,1022,7440.97,0.00,0.00,0.00,0.000,0.000,0.000,1475.91,1511.62,1440.19,2643.88,2172.81,0,0,0,30.00,30.00,30.00
$GC,7619.72,16646,249.47,2.04,80.00,1474.8,1511.2,1438.2,2644.2,2172.2,39.65,9.61,1058,7625.50,0.00,0.00,3.55,0.000,0.000,0.109,1474.50,1510.62,1438.38,2645.12,3472.88,0,0,0,30.00,30.00,15.65
$GC,7704.95,17414,249.47,2.04,0.00,1473.9,1509.4,1438.5,2644.8,3473.0,31.30,10.00,1075,7710.67,0.00,0.00,3.16,0.000,0.000,0.050,1474.59,1510.06,1439.12,2645.31,2179.00,0,0,0,30.00,30.00,15.75
$GC,7891.10,16902,249.47,2.04,-80.00,1473.5,1509.1,1438.0,2646.0,2179.6,14.98,9.50,1112,7896.80,0.00,0.00,3.98,0.000,0.000,0.126,1474.56,1510.12,1439.00,2645.50,735.56,0,0,0,30.00,30.00,15.75
$STATE,8004,end climb,SURFACE_DEPTH_REACHED
$STATE,8004,begin surface coast
$STATE,8019,end surface coast,CONTROL_FINISHED_OK
$STATE,8019,begin surface
$SM_CCo,8188.79,141.38,1.067,0,768.0,766.2,769.8,424.87
$SM_CCo,8189.97,0.00,2.679,0,768.4,765.1,771.6,424.77
$SM_CCo,8191.12,0.32,0.148,0,768.5,765.8,771.2,424.74
$SM_GC,0.61,0.32,16.42,3.30,0.148,0.079,0.049,768.5,765.8,771.2,178.1,2126.2,0,0,0,15.19,15.75,15.82
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4751.10,-12521.07,291220,151658
$TCM_TEMP,195.33
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3711584
$HUMID,56.63
$TEMP,8.78
$INTERNAL_PRESSURE,7.82055
$24V_AH,14.22,122.289
$10V_AH,14.69,0.000
$FG_AHR_24Vo,103.650
$FG_AHR_10Vo,40.602
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,499.680,35.705,141.935,207.460,0.250,13.505,3432.437,4893.612,1911.785,0.000,0.000,0.000
$DEVICE_MAMPS,2678.856,259.200,218.856,211.169,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.788,0.000,0.000,0.000
$MEM,1100100,47,75708,114
$DATA_FILE_SIZE,41804,1138
$CAP_FILE_SIZE,269255,0
$SDSIZE,3918848,3804512
$SDFILEDIR,2021,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291220,195502,4751.952,-12514.826,31,1.3,32,15.8