version: 67.00
glider: 236
mission: 2
dive: 289
start: 12 3 120 15 47 11
data:
$ID,236
$MISSION,2
$DIVE,289
$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,0
$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,30.805395
$FG_AHR_24V,76.7687
$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
$GPS1,031220,154140,4751.643,-12513.890,10,0.9,20,15.8
$_CALLS,1
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.2
$GPS2,031220,154654,4751.672,-12513.937,3,0.8,6,15.8
$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,68.2,4581,-20.4,-8.049,-24.07
$D_GRID,990
$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,6.83,16386,-77.86,-1.25,0.00,762.7,765.9,759.5,174.1,2082.8,0.00,0.00,0,80.07,72.58,0.00,0.00,0.005,0.000,0.000,2376.75,2360.25,2393.25,174.12,2082.44,0,0,0,15.64,30.00,30.00
$GC,80.34,18727,-77.86,-1.25,80.00,2375.9,2359.0,2392.8,174.1,2082.8,3.11,-3.74,14,116.75,11.61,13.82,3.78,0.007,0.261,0.117,2817.28,2815.75,2818.81,1835.06,3473.00,0,0,0,15.68,15.66,15.63
$GC,339.60,1028,-77.86,-1.25,0.00,2816.9,2814.9,2818.9,1835.6,3473.8,57.62,-19.71,66,345.28,0.00,0.00,3.46,0.000,0.000,0.063,2817.25,2815.50,2819.00,1835.88,2083.12,0,0,0,30.00,30.00,15.83
$GC,524.59,260,-77.86,-1.25,80.00,2816.3,2814.4,2818.2,1835.9,2083.6,82.86,-12.39,103,530.38,0.00,0.00,3.76,0.000,0.000,0.114,2817.59,2815.62,2819.56,1836.00,3473.56,0,0,0,30.00,30.00,15.87
$GC,559.60,1028,-77.86,-1.25,0.00,2816.5,2814.4,2818.6,1836.1,3473.9,88.03,-15.03,110,565.33,0.00,0.00,3.42,0.000,0.000,0.061,2817.66,2815.62,2819.69,1835.38,2083.12,0,0,0,30.00,30.00,15.89
$GC,749.61,516,-77.86,-1.25,-80.00,2816.4,2814.3,2818.6,1835.6,2083.5,111.05,-12.33,139,755.44,0.00,0.00,4.05,0.000,0.000,0.159,2815.38,2813.75,2817.00,1835.69,662.94,0,0,0,30.00,30.00,15.89
$GC,824.70,1028,-77.86,-1.25,0.00,2816.8,2814.6,2819.0,1835.4,662.9,121.25,-13.78,154,830.23,0.00,0.00,3.49,0.000,0.000,0.056,2814.69,2812.69,2816.69,1835.25,2118.25,0,0,0,30.00,30.00,15.92
$GC,1129.65,260,-77.86,-1.25,80.00,2816.3,2814.6,2818.1,1836.1,2118.5,155.38,-10.70,185,1134.38,0.00,0.00,3.59,0.000,0.000,0.116,2818.28,2816.31,2820.25,1835.00,3473.12,0,0,0,30.00,30.00,15.96
$GC,1189.67,1028,-77.86,-1.25,0.00,2817.0,2814.9,2819.2,1836.2,3473.8,163.26,-13.66,197,1194.23,0.00,0.00,3.39,0.000,0.000,0.060,2817.22,2814.88,2819.56,1836.12,2081.19,0,0,0,30.00,30.00,15.97
$GC,1499.71,260,-77.86,-1.25,80.00,2816.9,2814.9,2819.0,1835.4,2080.6,200.86,-11.69,229,1505.47,0.00,0.00,3.69,0.000,0.000,0.117,2816.47,2814.50,2818.44,1835.75,3473.50,0,0,0,30.00,30.00,16.00
$GC,1534.73,1028,-77.86,-1.25,0.00,2817.2,2815.4,2818.9,1835.9,3473.3,205.45,-13.71,236,1539.60,0.00,0.00,3.38,0.000,0.000,0.060,2817.94,2815.75,2820.12,1836.38,2082.88,0,0,0,30.00,30.00,15.99
$GC,1844.78,516,-77.86,-1.25,-80.00,2817.2,2815.1,2819.3,1835.7,2082.9,244.42,-11.89,268,1850.47,0.00,0.00,4.01,0.000,0.000,0.160,2818.34,2815.81,2820.88,1835.00,662.81,0,0,0,30.00,30.00,15.99
$GC,1909.88,1028,-77.86,-1.25,0.00,2817.2,2814.8,2819.6,1835.6,663.1,253.12,-14.16,281,1915.39,0.00,0.00,3.50,0.000,0.000,0.056,2815.97,2813.81,2818.12,1835.56,2117.44,0,0,0,30.00,30.00,16.01
$GC,2214.85,516,-77.86,-1.25,-80.00,2817.0,2814.4,2819.6,1835.2,2118.1,287.16,-10.73,312,2220.68,0.00,0.00,4.09,0.000,0.000,0.157,2819.69,2817.81,2821.56,1833.88,662.75,0,0,0,30.00,30.00,16.01
$GC,2289.96,1028,-77.86,-1.25,0.00,2817.1,2814.9,2819.2,1835.4,662.6,296.13,-12.36,327,2295.50,0.00,0.00,3.51,0.000,0.000,0.058,2816.91,2814.38,2819.44,1835.88,2120.06,0,0,0,30.00,30.00,16.03
$GC,2594.94,260,-77.86,-1.25,80.00,2817.5,2815.1,2820.0,1835.8,2119.9,327.02,-9.57,358,2599.68,0.00,0.00,3.56,0.000,0.000,0.121,2818.66,2816.56,2820.75,1835.75,3473.50,0,0,0,30.00,30.00,16.03
$GC,2654.98,1028,-77.86,-1.25,0.00,2817.3,2814.8,2819.8,1835.8,3473.2,333.44,-10.01,370,2659.53,0.00,0.00,3.38,0.000,0.000,0.062,2817.66,2815.75,2819.56,1836.06,2081.44,0,0,0,30.00,30.00,16.05
$GC,2965.02,260,-77.86,-1.25,80.00,2817.0,2814.8,2819.2,1835.6,2081.2,364.51,-9.48,402,2970.82,0.00,0.00,3.70,0.000,0.000,0.120,2815.59,2813.88,2817.31,1835.81,3475.06,0,0,0,30.00,30.00,16.05
$GC,3080.06,1028,-77.86,-1.25,0.00,2817.2,2815.4,2819.1,1835.9,3475.3,378.24,-11.41,425,3084.78,0.00,0.00,3.38,0.000,0.000,0.064,2818.34,2816.25,2820.44,1835.69,2080.62,0,0,0,30.00,30.00,16.05
$GC,3390.15,548,-77.86,-1.25,-80.00,2817.1,2815.3,2818.9,1835.8,2081.9,378.85,-0.12,457,3395.88,0.00,0.00,3.93,0.000,0.000,0.156,2816.03,2814.31,2817.75,1835.69,663.56,0,0,0,30.00,30.00,16.03
$GC,3435.18,1060,-77.86,-1.25,0.00,2817.2,2815.2,2819.1,1835.9,663.4,378.77,-0.07,466,3439.87,0.00,0.00,3.45,0.000,0.000,0.050,2818.06,2816.19,2819.94,1835.00,2125.62,0,0,0,30.00,30.00,16.06
$STATE,3516,end dive,NO_VERTICAL_VELOCITY
$STATE,3516,begin apogee
$GC,3516.41,10243,0.00,-0.25,0.00,2817.2,2815.5,2819.0,1835.6,2223.2,378.50,0.00,475,3582.08,62.33,1.64,0.09,1.507,0.102,0.232,2498.78,2506.56,2491.00,2083.62,2178.25,0,0,0,12.91,16.03,15.72
$STATE,3584,end apogee,CONTROL_FINISHED_OK
$STATE,3584,begin climb
$GC,3583.74,10759,77.86,1.25,-80.00,2497.7,2505.6,2489.8,2083.4,2178.2,378.49,0.00,481,3659.46,66.80,2.37,4.07,1.459,0.061,0.139,2178.06,2193.50,2162.62,2453.19,737.44,0,0,0,12.89,15.77,15.46
$GC,3882.31,17478,77.86,1.27,0.00,2170.1,2187.6,2152.7,2452.8,737.3,363.69,7.41,540,3887.90,0.00,0.00,3.62,0.000,0.000,0.055,2169.88,2187.62,2152.12,2452.62,2221.81,0,0,0,30.00,30.00,15.74
$GC,4187.35,16966,77.86,1.31,-80.00,2168.4,2187.6,2149.2,2452.8,2222.1,344.17,6.85,571,4193.08,0.00,0.00,4.07,0.000,0.000,0.138,2168.72,2187.75,2149.69,2453.50,736.06,0,0,0,30.00,30.00,15.76
$GC,4416.35,17478,77.86,1.33,0.00,2166.5,2185.8,2147.2,2452.5,736.4,326.54,7.45,617,4423.10,0.00,0.00,3.57,0.000,0.000,0.058,2168.34,2187.12,2149.56,2451.00,2221.81,0,0,0,30.00,30.00,15.90
$GC,4722.40,10791,123.29,1.46,-80.00,2166.3,2185.7,2147.0,2453.0,2222.1,310.32,4.87,648,4768.09,38.45,0.25,4.12,1.420,0.080,0.139,1995.53,2018.81,1972.25,2504.62,735.56,0,0,0,12.87,15.93,15.72
$GC,4992.45,17414,123.29,1.46,0.00,1989.2,2014.3,1964.2,2505.3,736.0,282.01,12.37,702,4998.08,0.00,0.00,3.57,0.000,0.000,0.059,1988.38,2012.62,1964.12,2504.44,2220.31,0,0,0,30.00,30.00,15.85
$GC,5297.48,16902,123.29,1.46,-80.00,1987.8,2014.7,1960.8,2505.9,2221.4,252.31,8.69,733,5303.31,0.00,0.00,4.05,0.000,0.000,0.136,1987.81,2014.38,1961.25,2505.31,735.56,0,0,0,30.00,30.00,15.85
$GC,5526.46,17414,123.29,1.46,0.00,1986.8,2012.8,1960.8,2505.8,735.4,228.29,11.45,779,5533.28,0.00,0.00,3.55,0.000,0.000,0.058,1987.00,2013.75,1960.25,2505.62,2222.38,0,0,0,30.00,30.00,15.93
$GC,5832.58,16966,123.29,1.48,-80.00,1985.9,2012.6,1959.2,2505.2,2222.2,203.53,7.32,810,5838.25,0.00,0.00,4.05,0.000,0.000,0.135,1987.12,2013.56,1960.69,2505.12,735.56,0,0,0,30.00,30.00,15.96
$GC,6061.53,17414,123.29,1.48,0.00,1985.7,2011.9,1959.4,2505.4,735.4,184.11,8.61,856,6068.35,0.00,0.00,3.56,0.000,0.000,0.058,1985.78,2012.38,1959.19,2505.69,2221.62,0,0,0,30.00,30.00,15.96
$GC,6367.65,16710,123.29,1.54,80.00,1984.8,2011.5,1958.1,2505.8,2221.7,162.68,6.26,887,6372.20,0.00,0.00,3.31,0.000,0.000,0.122,1986.22,2012.94,1959.50,2505.12,3474.31,0,0,0,30.00,30.00,15.99
$GC,6407.66,17478,123.29,1.59,0.00,1984.8,2011.5,1958.1,2505.6,3473.9,159.72,6.42,895,6412.17,0.00,0.00,3.13,0.000,0.000,0.054,1986.22,2013.00,1959.44,2504.62,2177.12,0,0,0,30.00,30.00,15.99
$GC,6717.69,18499,123.29,1.64,0.00,1984.3,2011.8,1956.9,2505.2,2178.4,140.51,6.35,927,6719.16,0.00,0.19,0.00,0.000,0.093,0.000,1983.34,2010.94,1955.75,2546.69,2178.19,0,0,0,30.00,16.00,30.00
$GC,7017.73,16710,123.29,1.67,80.00,1984.3,2011.6,1957.1,2546.4,2178.1,118.35,7.05,957,7023.30,0.00,0.00,3.48,0.000,0.000,0.119,1985.22,2012.75,1957.69,2544.19,3473.25,0,0,0,30.00,30.00,15.99
$GC,7056.58,17414,123.29,1.67,0.00,1984.6,2011.6,1957.6,2546.8,3474.4,114.72,9.05,965,7063.42,0.00,0.00,3.13,0.000,0.000,0.056,1985.62,2012.75,1958.50,2546.38,2178.19,0,0,0,30.00,30.00,16.01
$GC,7362.81,8742,155.08,1.76,-80.00,1984.4,2011.8,1957.1,2546.8,2178.8,97.73,5.82,999,7394.17,26.11,0.00,3.88,1.195,0.000,0.137,1866.28,1896.38,1836.19,2547.31,735.31,0,0,0,12.84,30.00,15.85
$GC,7432.86,1028,155.08,1.76,0.00,1864.0,1893.9,1834.0,2546.4,735.6,93.02,7.76,1013,7438.60,0.00,0.00,3.57,0.000,0.000,0.053,1864.59,1894.56,1834.62,2545.25,2222.44,0,0,0,30.00,30.00,15.91
$GC,7617.89,0,155.08,1.76,0.00,1861.1,1893.4,1828.8,2547.2,2223.1,76.82,7.84,1050,7619.22,0.00,0.00,0.00,0.000,0.000,0.000,1861.28,1893.62,1828.94,2546.81,2223.31,0,0,0,30.00,30.00,30.00
$GC,7797.97,10535,218.25,1.95,80.00,1860.9,1893.8,1827.9,2546.7,2223.4,68.04,3.62,1086,7854.90,51.19,0.41,3.39,1.177,0.070,0.119,1608.62,1641.69,1575.56,2622.44,3473.44,0,0,0,12.84,15.95,15.72
$GC,8023.06,1092,218.25,1.98,0.00,1602.3,1633.1,1571.6,2622.8,3473.3,50.49,7.19,1131,8028.72,0.00,0.00,3.14,0.000,0.000,0.053,1603.38,1634.25,1572.50,2621.81,2176.44,0,0,0,30.00,30.00,15.82
$GC,8208.14,10535,266.94,2.12,80.00,1601.2,1633.1,1569.2,2621.9,2176.2,41.20,4.64,1168,8254.81,39.83,0.20,3.49,1.124,0.089,0.116,1410.12,1444.94,1375.31,2664.25,3473.00,0,0,0,12.82,15.87,15.69
$GC,8363.18,1028,266.94,2.12,0.00,1406.7,1438.2,1375.1,2664.4,3473.6,30.14,8.73,1199,8368.86,0.00,0.00,3.15,0.000,0.000,0.054,1406.53,1438.25,1374.81,2664.00,2180.81,0,0,0,30.00,30.00,15.80
$GC,8548.22,516,266.94,2.12,-80.00,1405.1,1438.2,1371.9,2664.4,2180.6,11.72,9.79,1236,8554.04,0.00,0.00,3.96,0.000,0.000,0.137,1405.44,1438.69,1372.19,2663.56,735.56,0,0,0,30.00,30.00,15.80
$GC,8578.24,1028,266.94,2.12,0.00,1405.3,1438.7,1371.9,2664.5,735.6,8.51,10.12,1242,8583.98,0.00,0.00,3.56,0.000,0.000,0.051,1405.56,1438.88,1372.25,2663.94,2225.12,0,0,0,30.00,30.00,15.85
$STATE,8639,end climb,SURFACE_DEPTH_REACHED
$STATE,8639,begin surface coast
$STATE,8654,end surface coast,CONTROL_FINISHED_OK
$STATE,8654,begin surface
$SM_CCo,8804.14,126.73,1.093,0,768.1,772.8,763.3,424.84
$SM_CCo,8805.31,0.00,2.756,0,768.1,766.8,769.4,424.83
$SM_CCo,8806.47,0.00,0.012,0,768.3,767.9,768.6,424.79
$SM_GC,0.77,0.00,16.32,0.34,0.012,0.098,0.087,768.3,767.9,768.6,174.1,2067.9,0,0,0,30.36,15.83,15.87
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4750.72,-12516.60,031220,131416
$TCM_TEMP,189.85
$XPDR_PINGS,0,14.0,11.5
$SC_FREEKB,3756640
$HUMID,56.32
$TEMP,8.47
$INTERNAL_PRESSURE,7.81454
$24V_AH,14.57,89.945
$10V_AH,14.93,0.000
$FG_AHR_24Vo,76.935
$FG_AHR_10Vo,30.851
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,495.635,35.210,152.670,200.663,0.000,15.035,3628.334,5311.569,2020.063,0.000,0.000,0.000
$DEVICE_MAMPS,2755.936,260.512,231.648,211.434,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8679.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.271,0.000,0.000,0.000
$MEM,1100220,42,75688,114
$DATA_FILE_SIZE,48183,1257
$CAP_FILE_SIZE,285628,0
$SDSIZE,3918848,3832608
$SDFILEDIR,1471,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031220,181439,4751.835,-12513.135,32,0.9,33,15.8