version: 67.00
glider: 236
mission: 2
dive: 843
start: 3 16 121 21 47 41
data:
$ID,236
$MISSION,2
$DIVE,843
$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,180
$T_MISSION,200
$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,120
$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,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,67.70224
$FG_AHR_24V,205.16641
$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
$GPS1,160321,214017,4751.002,-12515.417,3,1.9,10,15.7
$_CALLS,1
$_SM_DEPTHo,-1.65
$_SM_ANGLEo,-62.8
$GPS2,160321,214722,4751.003,-12515.465,3,2.0,8,15.7
$SPEED_LIMITS,0.160,0.227
$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,59.4,6679,-18.6,-9.259,-22.19
$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,7.89,16386,-116.79,-1.28,0.00,763.2,766.2,760.1,171.5,2120.4,0.00,0.00,0,88.82,80.29,0.00,0.00,0.005,0.000,0.000,2561.84,2542.06,2581.62,171.44,2119.94,0,0,0,14.62,30.00,30.00
$GC,89.09,18695,-116.79,-1.28,80.00,2560.9,2541.5,2580.3,171.4,2119.9,3.06,-8.76,15,121.90,9.34,14.60,3.71,0.007,0.253,0.118,2975.81,2969.62,2982.00,1829.19,3474.44,0,0,0,14.87,15.15,14.67
$GC,285.23,1028,-116.79,-1.28,0.00,2975.6,2969.1,2982.0,1829.2,3474.8,44.58,-19.67,54,290.97,0.00,0.00,3.43,0.000,0.000,0.062,2975.97,2969.50,2982.44,1828.69,2082.00,0,0,0,30.00,30.00,15.57
$GC,470.38,260,-116.79,-1.28,80.00,2975.3,2968.8,2981.8,1828.5,2082.1,70.17,-12.27,91,476.51,0.00,0.00,3.78,0.000,0.000,0.111,2976.88,2970.50,2983.25,1829.50,3473.69,0,0,0,30.00,30.00,15.48
$GC,510.32,1028,-116.79,-1.28,0.00,2975.7,2969.2,2982.1,1829.3,3472.8,75.40,-13.46,99,516.05,0.00,0.00,3.39,0.000,0.000,0.058,2976.34,2969.94,2982.75,1829.38,2081.44,0,0,0,30.00,30.00,15.61
$GC,695.48,516,-116.79,-1.28,-80.00,2975.4,2969.1,2981.8,1829.3,2081.4,96.84,-11.50,136,701.67,0.00,0.00,4.03,0.000,0.000,0.153,2976.09,2969.75,2982.44,1828.31,663.00,0,0,0,30.00,30.00,15.37
$GC,759.32,1028,-116.79,-1.28,0.00,2975.2,2968.6,2981.8,1829.3,663.1,105.29,-13.09,149,766.15,0.00,0.00,3.49,0.000,0.000,0.052,2975.88,2969.31,2982.44,1829.06,2122.06,0,0,0,30.00,30.00,15.67
$GC,1065.48,260,-116.79,-1.28,80.00,2975.6,2969.1,2982.2,1829.1,2122.4,137.75,-10.29,180,1071.14,0.00,0.00,3.63,0.000,0.000,0.113,2973.97,2966.88,2981.06,1829.62,3474.88,0,0,0,30.00,30.00,15.52
$GC,1144.38,1028,-116.79,-1.28,0.00,2975.7,2969.4,2981.9,1829.2,3474.3,147.04,-12.16,196,1151.22,0.00,0.00,3.37,0.000,0.000,0.058,2976.00,2969.44,2982.56,1829.06,2079.75,0,0,0,30.00,30.00,15.63
$GC,1450.59,516,-116.79,-1.28,-80.00,2975.8,2969.4,2982.1,1829.2,2080.2,179.18,-10.45,227,1456.29,0.00,0.00,4.02,0.000,0.000,0.153,2974.28,2967.25,2981.31,1829.50,663.81,0,0,0,30.00,30.00,15.39
$GC,1485.99,1028,-116.79,-1.28,0.00,2975.9,2969.1,2982.8,1829.7,663.9,183.61,-12.45,234,1491.19,0.00,0.00,3.49,0.000,0.000,0.053,2977.00,2970.50,2983.50,1829.12,2124.00,0,0,0,30.00,30.00,15.71
$GC,1790.64,260,-116.79,-1.28,80.00,2975.6,2969.5,2981.7,1829.1,2123.1,215.87,-10.26,265,1796.29,0.00,0.00,3.61,0.000,0.000,0.115,2974.88,2968.88,2980.88,1829.12,3473.31,0,0,0,30.00,30.00,15.51
$GC,1869.54,1028,-116.79,-1.28,0.00,2975.6,2969.2,2981.9,1828.9,3473.3,225.71,-12.62,281,1876.37,0.00,0.00,3.36,0.000,0.000,0.060,2975.53,2969.06,2982.00,1829.25,2082.62,0,0,0,30.00,30.00,15.63
$GC,2175.72,260,-116.79,-1.28,80.00,2975.9,2969.4,2982.5,1828.9,2082.3,257.42,-10.86,312,2181.42,0.00,0.00,3.74,0.000,0.000,0.115,2976.72,2970.12,2983.31,1828.88,3473.88,0,0,0,30.00,30.00,15.49
$GC,2210.72,1028,-116.79,-1.28,0.00,2975.8,2968.9,2982.8,1829.2,3474.2,261.75,-12.36,319,2215.33,0.00,0.00,3.35,0.000,0.000,0.060,2976.56,2970.00,2983.12,1828.88,2080.00,0,0,0,30.00,30.00,15.64
$GC,2520.79,260,-116.79,-1.28,80.00,2975.9,2969.6,2982.2,1829.6,2079.9,294.52,-10.81,351,2526.46,0.00,0.00,3.76,0.000,0.000,0.114,2974.53,2968.38,2980.69,1829.12,3474.50,0,0,0,30.00,30.00,15.51
$GC,2555.78,1028,-116.79,-1.28,0.00,2976.4,2969.0,2983.8,1829.4,3474.4,298.06,-10.11,358,2560.39,0.00,0.00,3.38,0.000,0.000,0.060,2976.97,2970.50,2983.44,1828.56,2081.00,0,0,0,30.00,30.00,15.64
$GC,2865.86,516,-116.79,-1.28,-80.00,2975.6,2969.2,2982.0,1829.4,2081.1,332.21,-10.51,390,2871.58,0.00,0.00,4.05,0.000,0.000,0.157,2975.38,2968.56,2982.19,1828.50,662.94,0,0,0,30.00,30.00,15.35
$GC,2924.78,1028,-116.79,-1.28,0.00,2975.8,2969.1,2982.4,1829.7,662.8,338.92,-11.38,402,2931.61,0.00,0.00,3.51,0.000,0.000,0.055,2977.84,2970.94,2984.75,1829.25,2121.25,0,0,0,30.00,30.00,15.69
$STATE,3140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3140,begin apogee
$GC,3142.12,10243,0.00,-0.25,0.00,2975.7,2969.0,2982.4,1829.0,2083.2,360.65,-10.02,424,3243.32,96.76,1.86,0.07,1.457,0.141,0.237,2498.38,2506.50,2490.25,2080.25,2116.00,0,0,0,10.57,15.53,14.94
$STATE,3245,end apogee,CONTROL_FINISHED_OK
$STATE,3245,begin climb
$GC,3246.01,10759,116.79,1.28,-80.00,2497.4,2505.6,2489.2,2080.4,2115.1,364.48,0.00,434,3361.88,102.95,2.69,4.23,1.409,0.085,0.141,2021.44,2047.00,1995.88,2454.12,663.44,0,0,0,11.64,15.21,14.82
$GC,3440.61,17414,116.79,1.28,0.00,2015.6,2042.9,1988.3,2454.0,663.4,354.16,9.40,472,3445.82,0.00,0.00,3.59,0.000,0.000,0.051,2013.91,2041.56,1986.25,2454.62,2125.00,0,0,0,30.00,30.00,15.39
$GC,3745.25,10535,187.32,1.49,80.00,2011.4,2042.4,1980.4,2453.9,2124.9,334.44,5.47,503,3812.32,61.35,0.31,3.72,1.380,0.068,0.118,1733.22,1768.75,1697.69,2512.75,3474.94,0,0,0,11.20,15.62,15.04
$GC,3904.49,1028,187.32,1.49,0.00,1729.8,1764.9,1694.7,2513.4,3474.6,317.92,11.35,535,3911.34,0.00,0.00,3.45,0.000,0.000,0.059,1731.34,1767.00,1695.69,2512.88,2078.81,0,0,0,30.00,30.00,15.47
$GC,4210.67,16902,187.32,1.49,-80.00,1726.4,1764.9,1687.9,2512.3,2079.6,286.79,10.08,566,4216.38,0.00,0.00,3.97,0.000,0.000,0.143,1727.09,1765.19,1689.00,2512.88,662.88,0,0,0,30.00,30.00,15.41
$GC,4269.58,17414,187.32,1.49,0.00,1726.3,1764.6,1688.1,2512.9,662.7,279.36,12.41,578,4276.44,0.00,0.00,3.53,0.000,0.000,0.052,1726.91,1765.06,1688.75,2512.31,2124.25,0,0,0,30.00,30.00,15.67
$GC,4575.76,16386,187.32,1.49,0.00,1725.0,1764.4,1685.7,2513.2,2124.3,247.47,9.83,609,4577.10,0.00,0.00,0.00,0.000,0.000,0.000,1724.16,1763.44,1684.88,2513.19,2124.38,0,0,0,30.00,30.00,30.00
$GC,4875.78,16902,187.32,1.49,-80.00,1724.7,1764.6,1684.8,2513.0,2124.8,215.23,9.62,639,4881.50,0.00,0.00,4.05,0.000,0.000,0.137,1723.25,1763.12,1683.38,2513.12,663.56,0,0,0,30.00,30.00,15.43
$GC,4894.74,17414,187.32,1.49,0.00,1724.6,1764.2,1685.1,2512.7,663.4,212.60,11.56,643,4901.52,0.00,0.00,3.49,0.000,0.000,0.052,1724.59,1764.50,1684.69,2512.56,2127.94,0,0,0,30.00,30.00,15.74
$GC,5200.84,16902,187.32,1.49,-80.00,1723.9,1764.2,1683.7,2513.3,2127.9,181.33,10.56,674,5206.56,0.00,0.00,4.07,0.000,0.000,0.138,1722.78,1763.31,1682.25,2512.38,662.69,0,0,0,30.00,30.00,15.42
$GC,5246.27,17414,187.32,1.49,0.00,1724.1,1764.2,1683.9,2512.9,662.6,176.23,12.12,683,5251.49,0.00,0.00,3.53,0.000,0.000,0.054,1724.34,1764.12,1684.56,2512.75,2126.00,0,0,0,30.00,30.00,15.74
$GC,5550.90,16902,187.32,1.49,-80.00,1723.6,1764.1,1683.1,2512.7,2126.6,145.18,9.88,714,5556.62,0.00,0.00,4.08,0.000,0.000,0.137,1725.44,1765.81,1685.06,2512.56,662.69,0,0,0,30.00,30.00,15.42
$GC,5639.80,17414,187.32,1.49,0.00,1723.8,1763.8,1683.8,2512.7,662.4,134.70,11.34,732,5646.66,0.00,0.00,3.51,0.000,0.000,0.053,1724.72,1764.94,1684.50,2512.81,2124.62,0,0,0,30.00,30.00,15.73
$GC,5945.97,16646,187.32,1.49,80.00,1723.4,1763.8,1683.1,2512.9,2124.4,105.59,9.90,763,5951.62,0.00,0.00,3.64,0.000,0.000,0.115,1722.31,1762.81,1681.81,2512.88,3473.50,0,0,0,30.00,30.00,15.50
$GC,6030.98,17414,187.32,1.49,0.00,1722.8,1763.2,1682.5,2513.2,3473.8,97.79,10.02,780,6036.72,0.00,0.00,3.38,0.000,0.000,0.056,1723.12,1763.00,1683.25,2512.75,2077.62,0,0,0,30.00,30.00,15.67
$GC,6216.08,16966,187.32,1.52,-80.00,1722.7,1762.8,1682.6,2513.1,2078.2,81.70,8.23,817,6222.29,0.00,0.00,3.93,0.000,0.000,0.138,1723.09,1763.00,1683.19,2513.12,661.75,0,0,0,30.00,30.00,15.40
$GC,6311.50,17414,187.32,1.52,0.00,1722.8,1762.8,1682.9,2513.2,661.8,72.74,9.33,836,6316.81,0.00,0.00,3.48,0.000,0.000,0.051,1723.56,1763.50,1683.62,2513.00,2128.94,0,0,0,30.00,30.00,15.75
$GC,6496.22,10535,264.52,1.75,80.00,1722.2,1762.1,1682.3,2513.4,2129.2,62.71,5.11,873,6583.62,79.75,0.32,3.68,1.114,0.068,0.115,1420.66,1458.12,1383.19,2578.19,3473.56,0,0,0,10.65,15.74,15.09
$GC,6807.07,11303,321.42,1.92,0.00,1416.5,1453.6,1379.3,2577.8,3473.1,40.76,6.20,935,6874.06,59.42,0.18,3.42,1.059,0.083,0.056,1189.53,1224.12,1154.94,2616.94,2079.88,0,0,0,11.29,15.38,15.56
$GC,7052.43,516,321.42,1.92,-80.00,1185.9,1223.4,1148.4,2616.3,2079.6,20.01,9.59,984,7058.23,0.00,0.00,3.96,0.000,0.000,0.138,1186.47,1223.88,1149.06,2616.12,662.94,0,0,0,30.00,30.00,15.34
$GC,7122.96,1028,321.42,1.92,0.00,1185.7,1222.6,1148.8,2617.5,662.9,11.80,12.12,998,7128.44,0.00,0.00,3.52,0.000,0.000,0.050,1186.09,1222.88,1149.31,2617.06,2127.50,0,0,0,30.00,30.00,15.60
$STATE,7222,end climb,SURFACE_DEPTH_REACHED
$STATE,7222,begin surface coast
$STATE,7242,end surface coast,CONTROL_FINISHED_OK
$STATE,7242,begin surface
$SM_CCo,7364.34,96.25,1.035,0,768.1,765.4,770.8,424.83
$SM_CCo,7365.50,0.00,2.614,0,768.9,765.8,772.1,424.64
$SM_CCo,7367.16,0.55,0.139,0,768.3,766.6,770.1,424.78
$SM_GC,-1.01,0.55,16.82,0.10,0.139,0.074,0.138,768.3,766.6,770.1,171.4,2072.5,0,0,0,15.22,15.51,15.66
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4750.72,-12516.60,160321,190649
$TCM_TEMP,175.44
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3536384
$HUMID,57.83
$TEMP,8.09
$INTERNAL_PRESSURE,7.79735
$24V_AH,13.85,239.653
$10V_AH,14.82,0.000
$FG_AHR_24Vo,205.355
$FG_AHR_10Vo,67.730
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,586.675,36.780,139.690,216.431,0.750,17.113,3811.490,3806.770,2289.252,0.000,0.000,0.000
$DEVICE_MAMPS,2613.584,252.968,237.224,201.859,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7291.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.764,0.000,0.000,0.000
$MEM,1100084,49,75684,114
$DATA_FILE_SIZE,38563,1022
$CAP_FILE_SIZE,423439,0
$SDSIZE,3918848,3685568
$SDFILEDIR,4241,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160321,235101,4751.558,-12514.388,24,1.2,25,15.7