version: 67.00
glider: 236
mission: 2
dive: 989
start: 3 29 121 20 28 9
data:
$ID,236
$MISSION,2
$DIVE,989
$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,71.854881
$FG_AHR_24V,237.39548
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$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
$GPS1,290321,202105,4706.076,-12459.964,53,0.9,54,15.5
$_CALLS,1
$_SM_DEPTHo,-1.60
$_SM_ANGLEo,-55.5
$GPS2,290321,202751,4706.046,-12500.025,3,1.0,5,15.5
$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,49.0,8410,-18.7,-11.111,-22.02
$D_GRID,185
$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,7.61,16386,-155.72,-1.40,0.00,559.0,566.8,551.3,166.6,2118.8,0.00,0.00,0,99.98,91.93,0.00,0.00,0.005,0.000,0.000,2709.03,2691.50,2726.56,166.75,2119.06,0,0,0,14.57,30.00,30.00
$GC,100.22,18983,-155.72,-1.40,-80.00,2708.2,2690.2,2726.1,166.6,2119.2,3.87,-8.04,9,132.40,9.04,14.27,4.14,0.007,0.245,0.152,3135.19,3128.31,3142.06,1799.38,662.75,0,0,0,14.85,15.11,14.62
$GC,200.64,1028,-155.72,-1.40,0.00,3133.8,3127.0,3140.6,1799.9,662.9,25.76,-18.42,29,205.25,0.00,0.00,3.49,0.000,0.000,0.049,3134.88,3128.25,3141.50,1799.56,2121.75,0,0,0,30.00,30.00,15.62
$GC,270.64,260,-155.72,-1.40,80.00,3133.8,3126.8,3140.8,1800.1,2121.7,37.58,-17.40,37,275.26,0.00,0.00,3.56,0.000,0.000,0.106,3135.53,3129.12,3141.94,1800.06,3474.88,0,0,0,30.00,30.00,15.47
$GC,334.58,1028,-155.72,-1.40,0.00,3133.7,3126.4,3141.0,1799.9,3476.2,50.40,-19.76,50,341.35,0.00,0.00,3.35,0.000,0.000,0.053,3135.41,3128.00,3142.81,1800.12,2080.00,0,0,0,30.00,30.00,15.59
$GC,400.72,516,-155.72,-1.40,-80.00,3134.1,3127.1,3141.1,1800.1,2080.1,62.39,-18.59,57,406.37,0.00,0.00,3.96,0.000,0.000,0.148,3132.91,3126.06,3139.75,1800.31,663.94,0,0,0,30.00,30.00,15.34
$GC,426.12,1028,-155.72,-1.40,0.00,3134.0,3127.0,3141.0,1800.1,663.9,67.25,-19.38,62,431.29,0.00,0.00,3.45,0.000,0.000,0.046,3134.59,3127.19,3142.00,1800.06,2121.19,0,0,0,30.00,30.00,15.66
$GC,490.73,260,-155.72,-1.40,80.00,3133.8,3127.0,3140.5,1800.1,2121.6,76.95,-14.37,69,496.32,0.00,0.00,3.57,0.000,0.000,0.106,3132.88,3125.69,3140.06,1799.38,3475.12,0,0,0,30.00,30.00,15.49
$GC,590.25,1028,-155.72,-1.40,0.00,3133.5,3127.2,3139.8,1800.0,3474.9,91.49,-15.96,89,596.39,0.00,0.00,3.36,0.000,0.000,0.053,3135.19,3128.19,3142.19,1799.75,2080.12,0,0,0,30.00,30.00,15.62
$GC,655.76,516,-155.72,-1.40,-80.00,3134.3,3127.6,3141.1,1800.2,2080.4,101.54,-15.47,96,661.03,0.00,0.00,3.96,0.000,0.000,0.147,3132.94,3126.00,3139.88,1799.88,662.81,0,0,0,30.00,30.00,14.88
$GC,686.15,1028,-155.72,-1.40,0.00,3134.1,3127.4,3140.8,1799.8,662.8,105.77,-14.38,102,691.33,0.00,0.00,3.42,0.000,0.000,0.044,3132.78,3125.88,3139.69,1800.06,2123.44,0,0,0,30.00,30.00,15.70
$GC,751.35,260,-155.72,-1.40,80.00,3133.6,3126.9,3140.2,1799.9,2123.9,113.71,-11.36,109,756.35,0.00,0.00,3.54,0.000,0.000,0.106,3133.28,3126.81,3139.75,1799.94,3476.75,0,0,0,30.00,30.00,15.51
$GC,805.74,1028,-155.72,-1.40,0.00,3134.2,3127.9,3140.5,1799.8,3475.5,120.97,-13.60,120,810.33,0.00,0.00,3.33,0.000,0.000,0.053,3134.44,3128.19,3140.69,1799.50,2080.56,0,0,0,30.00,30.00,15.64
$GC,876.37,0,-155.72,-1.40,0.00,3133.8,3126.8,3140.8,1799.9,2080.2,129.69,-12.87,128,877.70,0.00,0.00,0.00,0.000,0.000,0.000,3134.38,3127.50,3141.25,1799.75,2080.56,0,0,0,30.00,30.00,30.00
$GC,935.76,260,-155.72,-1.40,80.00,3134.3,3127.8,3140.8,1799.8,2079.4,136.70,-11.82,134,941.40,0.00,0.00,3.67,0.000,0.000,0.103,3134.69,3127.19,3142.19,1799.88,3475.94,0,0,0,30.00,30.00,15.51
$GC,994.69,1028,-155.72,-1.40,0.00,3134.0,3127.5,3140.6,1800.0,3476.3,144.16,-12.53,146,1001.45,0.00,0.00,3.34,0.000,0.000,0.052,3134.38,3127.44,3141.31,1800.31,2081.38,0,0,0,30.00,30.00,15.63
$GC,1060.76,0,-155.72,-1.40,0.00,3133.7,3127.2,3140.2,1800.0,2081.9,151.92,-11.52,153,1062.09,0.00,0.00,0.00,0.000,0.000,0.000,3134.47,3127.75,3141.19,1800.38,2081.19,0,0,0,30.00,30.00,30.00
$GC,1180.79,260,-155.72,-1.40,80.00,3134.5,3127.8,3141.1,1800.1,2081.2,165.42,-11.02,165,1186.43,0.00,0.00,3.66,0.000,0.000,0.104,3132.31,3124.94,3139.69,1799.94,3473.94,0,0,0,30.00,30.00,15.51
$GC,1239.71,1028,-155.72,-1.40,0.00,3134.1,3127.4,3140.8,1799.9,3475.2,173.00,-12.17,177,1246.48,0.00,0.00,3.33,0.000,0.000,0.053,3134.53,3127.69,3141.38,1800.31,2080.81,0,0,0,30.00,30.00,15.63
$STATE,1346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1346,begin apogee
$GC,1347.58,10243,0.00,-0.25,0.00,3134.0,3127.1,3140.9,1800.0,2124.6,186.24,-12.98,188,1473.74,122.61,2.11,0.09,1.245,0.140,0.200,2496.88,2505.50,2488.25,2080.19,2082.19,0,0,0,10.79,15.51,14.93
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1476.64,10503,155.72,1.40,80.00,2497.5,2507.1,2487.9,2079.8,2081.9,190.53,0.00,200,1616.25,129.44,2.80,3.82,1.194,0.086,0.106,1862.50,1889.38,1835.62,2484.38,3474.88,0,0,0,11.59,15.23,14.89
$GC,1839.95,17478,155.72,1.43,0.00,1855.0,1885.8,1824.1,2484.4,3474.9,160.07,10.18,270,1845.27,0.00,0.00,3.37,0.000,0.000,0.051,1855.16,1886.38,1823.94,2484.12,2076.69,0,0,0,30.00,30.00,15.58
$GC,1964.52,10535,213.97,1.60,80.00,1853.3,1885.6,1821.0,2484.4,2077.2,149.16,8.30,283,2020.24,48.44,0.28,3.74,1.141,0.074,0.105,1625.59,1655.94,1595.25,2540.50,3474.44,0,0,0,11.08,15.62,15.11
$GC,2098.42,1028,213.97,1.60,0.00,1622.0,1653.8,1590.1,2540.9,3474.7,134.10,12.16,310,2105.21,0.00,0.00,3.36,0.000,0.000,0.051,1621.59,1653.75,1589.44,2541.12,2078.31,0,0,0,30.00,30.00,15.52
$GC,2164.58,0,213.97,1.60,0.00,1621.1,1653.9,1588.2,2540.9,2077.9,126.93,10.73,317,2165.90,0.00,0.00,0.00,0.000,0.000,0.000,1621.16,1653.94,1588.38,2540.69,2077.88,0,0,0,30.00,30.00,30.00
$GC,2224.55,324,213.97,1.65,80.00,1620.8,1654.1,1587.5,2540.5,2078.4,120.99,9.75,323,2230.16,0.00,0.00,3.70,0.000,0.000,0.105,1620.91,1654.38,1587.44,2540.25,3476.00,0,0,0,30.00,30.00,15.45
$GC,2269.55,1092,213.97,1.68,0.00,1619.8,1652.6,1586.9,2541.0,3475.7,116.43,9.97,332,2274.12,0.00,0.00,3.34,0.000,0.000,0.051,1620.09,1652.88,1587.31,2540.75,2078.00,0,0,0,30.00,30.00,15.61
$GC,2339.55,10275,262.84,1.83,0.00,1619.4,1652.8,1586.1,2541.1,2078.2,110.22,8.75,340,2384.42,42.08,0.26,0.00,1.095,0.072,0.000,1428.41,1461.94,1394.88,2596.69,2078.31,0,0,0,11.14,15.64,30.00
$GC,2449.54,260,262.84,1.83,80.00,1425.7,1460.4,1390.9,2596.7,2077.9,97.83,11.72,354,2455.21,0.00,0.00,3.71,0.000,0.000,0.104,1425.53,1460.38,1390.69,2596.56,3475.38,0,0,0,30.00,30.00,15.43
$GC,2484.54,1028,262.84,1.83,0.00,1424.0,1458.2,1389.7,2596.8,3475.5,93.56,12.05,361,2489.14,0.00,0.00,3.34,0.000,0.000,0.051,1424.50,1458.38,1390.62,2596.50,2078.12,0,0,0,30.00,30.00,15.56
$GC,2554.57,10791,321.88,2.00,-80.00,1423.7,1457.9,1389.4,2597.0,2078.1,87.23,8.26,369,2617.55,57.72,0.19,3.91,1.054,0.086,0.135,1186.94,1219.31,1154.56,2635.75,661.94,0,0,0,11.35,15.60,15.06
$GC,2621.27,1028,321.88,2.00,0.00,1187.6,1220.2,1154.9,2636.1,661.8,78.76,13.95,382,2626.39,0.00,0.00,3.49,0.000,0.000,0.042,1187.09,1219.62,1154.56,2635.50,2129.12,0,0,0,30.00,30.00,15.40
$GC,2685.77,260,321.88,2.00,80.00,1185.3,1219.6,1151.0,2635.4,2129.2,69.94,13.62,389,2691.40,0.00,0.00,3.60,0.000,0.000,0.108,1185.31,1219.81,1150.81,2635.12,3474.38,0,0,0,30.00,30.00,15.39
$GC,2724.69,1028,321.88,2.00,0.00,1184.2,1218.3,1150.2,2636.0,3474.4,65.10,11.78,397,2731.48,0.00,0.00,3.38,0.000,0.000,0.051,1184.53,1218.62,1150.44,2635.75,2077.25,0,0,0,30.00,30.00,15.53
$GC,2790.85,580,321.88,2.05,-80.00,1184.0,1218.6,1149.4,2635.2,2076.6,58.52,9.72,404,2796.47,0.00,0.00,3.88,0.000,0.000,0.133,1184.09,1218.44,1149.75,2634.81,661.31,0,0,0,30.00,30.00,15.37
$GC,2846.24,1028,321.88,2.05,0.00,1184.0,1218.4,1149.6,2636.2,661.5,52.10,12.28,415,2851.42,0.00,0.00,3.46,0.000,0.000,0.044,1184.12,1218.56,1149.69,2635.88,2129.00,0,0,0,30.00,30.00,15.61
$GC,2910.81,64,321.88,2.08,0.00,1183.8,1218.6,1149.1,2635.6,2128.2,45.50,10.01,422,2912.14,0.00,0.00,0.00,0.000,0.000,0.000,1183.69,1218.62,1148.75,2635.31,2128.88,0,0,0,30.00,30.00,30.00
$GC,2970.83,580,321.88,2.11,-80.00,1183.4,1218.5,1148.2,2634.7,2128.8,39.57,10.03,428,2976.51,0.00,0.00,3.99,0.000,0.000,0.130,1182.84,1217.94,1147.75,2635.56,662.69,0,0,0,30.00,30.00,15.40
$GC,2999.72,1028,321.88,2.11,0.00,1183.5,1218.8,1148.2,2635.4,662.6,36.25,10.68,434,3006.53,0.00,0.00,3.44,0.000,0.000,0.045,1183.66,1218.69,1148.62,2635.44,2128.31,0,0,0,30.00,30.00,15.68
$GC,3065.89,2113,321.88,2.15,0.00,1183.1,1218.4,1147.7,2635.6,2128.3,29.91,9.83,441,3067.32,0.00,0.16,0.00,0.000,0.083,0.000,1182.97,1218.44,1147.50,2676.25,2128.62,0,0,0,30.00,15.66,30.00
$GC,3125.91,324,321.88,2.18,80.00,1182.9,1218.4,1147.4,2676.2,2129.2,24.09,9.95,447,3131.45,0.00,0.00,3.53,0.000,0.000,0.108,1182.81,1218.56,1147.06,2676.25,3473.06,0,0,0,30.00,30.00,15.50
$GC,3200.91,1092,321.88,2.22,0.00,1182.2,1217.6,1146.8,2676.7,3473.6,16.14,10.01,462,3205.42,0.00,0.00,3.34,0.000,0.000,0.052,1182.38,1217.69,1147.06,2676.38,2074.94,0,0,0,30.00,30.00,15.68
$GC,3270.86,324,321.88,2.25,80.00,1182.1,1217.5,1146.7,2676.5,2075.5,9.31,10.09,470,3276.49,0.00,0.00,3.65,0.000,0.000,0.103,1181.94,1217.06,1146.81,2675.81,3471.94,0,0,0,30.00,30.00,15.51
$GC,3289.77,1028,321.88,2.25,0.00,1182.0,1217.3,1146.6,2676.4,3471.9,7.16,11.33,474,3296.54,0.00,0.00,3.32,0.000,0.000,0.051,1182.28,1217.81,1146.75,2676.44,2075.62,0,0,0,30.00,30.00,15.68
$STATE,3346,end climb,SURFACE_DEPTH_REACHED
$STATE,3346,begin surface coast
$STATE,3366,end surface coast,CONTROL_FINISHED_OK
$STATE,3366,begin surface
$SM_CCo,3531.68,140.00,1.021,0,564.0,563.9,564.1,474.90
$SM_CCo,3532.78,0.00,0.012,0,563.5,564.1,562.9,475.02
$SM_GC,-0.72,0.00,16.74,0.08,0.012,0.071,0.138,563.5,564.1,562.9,167.8,2133.2,0,0,0,30.36,15.55,15.76
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4705.80,-12457.71,290321,191738
$TCM_TEMP,175.53
$XPDR_PINGS,5,14.0,11.5
$SC_FREEKB,3480320
$HUMID,58.12
$TEMP,8.63
$INTERNAL_PRESSURE,7.81229
$24V_AH,14.39,274.516
$10V_AH,14.81,0.000
$FG_AHR_24Vo,237.575
$FG_AHR_10Vo,71.867
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,641.255,36.800,128.830,199.270,6.250,14.814,2159.312,1579.191,967.080,0.000,20.000,0.000
$DEVICE_MAMPS,1244.512,245.096,200.160,205.491,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3426.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.364,0.000,0.000,0.000
$MEM,1103736,37,73432,56
$DATA_FILE_SIZE,16160,482
$CAP_FILE_SIZE,308180,0
$SDSIZE,3918848,3649120
$SDFILEDIR,4971,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290321,212732,4705.920,-12459.702,6,1.4,21,15.5