version: 67.00
glider: 236
mission: 2
dive: 296
start: 12 4 120 8 1 36
data:
$ID,236
$MISSION,2
$DIVE,296
$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,31.100624
$FG_AHR_24V,77.991508
$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
$GPS1,041220,075258,4751.192,-12515.815,31,1.5,31,15.8
$_CALLS,3
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-64.0
$GPS2,041220,080117,4751.242,-12515.887,2,0.6,3,15.8
$SPEED_LIMITS,0.139,0.180
$TGT_NAME,OUT9
$TGT_LATLONG,4747.280,-12520.390
$TGT_RADIUS,7000.000
$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,201.6,9233,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.82,16386,-77.86,-1.25,0.00,763.1,769.5,756.6,172.9,2121.4,0.00,0.00,0,85.28,77.89,0.00,0.00,0.005,0.000,0.000,2519.34,2499.75,2538.94,172.81,2120.38,0,0,0,15.67,30.00,30.00
$GC,85.55,18983,-77.86,-1.25,-80.00,2518.5,2499.6,2537.5,172.6,2120.7,3.66,-4.09,15,117.34,7.41,13.76,4.20,0.008,0.261,0.159,2817.28,2812.12,2822.44,1837.12,663.56,0,0,0,15.69,15.69,15.65
$GC,180.10,1028,-77.86,-1.25,0.00,2816.4,2811.6,2821.1,1836.7,663.8,26.51,-23.79,34,185.86,0.00,0.00,3.59,0.000,0.000,0.059,2817.62,2812.94,2822.31,1836.38,2117.81,0,0,0,30.00,30.00,15.80
$GC,365.18,0,-77.86,-1.25,0.00,2816.4,2811.7,2821.1,1837.2,2117.5,61.36,-16.78,71,366.51,0.00,0.00,0.00,0.000,0.000,0.000,2816.75,2812.19,2821.31,1836.88,2117.69,0,0,0,30.00,30.00,30.00
$GC,545.22,0,-77.86,-1.25,0.00,2816.2,2812.1,2820.3,1837.1,2117.0,85.92,-11.22,107,546.55,0.00,0.00,0.00,0.000,0.000,0.000,2816.72,2811.69,2821.75,1837.38,2117.19,0,0,0,30.00,30.00,30.00
$GC,730.26,516,-77.86,-1.25,-80.00,2816.8,2812.6,2821.1,1836.5,2117.5,105.70,-10.87,139,736.06,0.00,0.00,4.11,0.000,0.000,0.153,2816.06,2811.81,2820.31,1836.44,663.50,0,0,0,30.00,30.00,15.90
$GC,825.29,1028,-77.86,-1.25,0.00,2816.5,2812.2,2820.7,1837.0,663.5,118.08,-13.46,158,830.89,0.00,0.00,3.49,0.000,0.000,0.055,2816.38,2812.31,2820.44,1837.00,2120.81,0,0,0,30.00,30.00,15.94
$GC,1130.33,260,-77.86,-1.25,80.00,2816.8,2812.6,2821.0,1836.8,2120.5,150.97,-10.44,189,1136.02,0.00,0.00,3.59,0.000,0.000,0.118,2815.91,2811.75,2820.06,1836.56,3474.62,0,0,0,30.00,30.00,15.96
$GC,1195.35,1028,-77.86,-1.25,0.00,2817.0,2813.4,2820.6,1837.1,3473.6,158.70,-12.05,202,1200.00,0.00,0.00,3.40,0.000,0.000,0.061,2818.03,2814.06,2822.00,1836.25,2083.12,0,0,0,30.00,30.00,15.97
$GC,1505.38,516,-77.86,-1.25,-80.00,2816.7,2812.3,2821.0,1837.1,2082.8,192.16,-10.78,234,1511.13,0.00,0.00,4.00,0.000,0.000,0.159,2815.41,2811.50,2819.31,1836.88,663.75,0,0,0,30.00,30.00,15.98
$GC,1564.25,1028,-77.86,-1.25,0.00,2816.9,2813.3,2820.6,1837.1,663.7,199.61,-12.44,246,1571.15,0.00,0.00,3.51,0.000,0.000,0.056,2817.00,2812.62,2821.38,1836.81,2120.88,0,0,0,30.00,30.00,16.00
$GC,1870.43,0,-77.86,-1.25,0.00,2817.2,2813.2,2821.1,1836.9,2120.6,234.12,-10.77,277,1871.76,0.00,0.00,0.00,0.000,0.000,0.000,2817.53,2813.06,2822.00,1836.69,2120.69,0,0,0,30.00,30.00,30.00
$GC,2170.46,260,-77.86,-1.25,80.00,2816.8,2813.0,2820.7,1836.8,2120.8,266.95,-10.68,307,2176.16,0.00,0.00,3.62,0.000,0.000,0.122,2816.06,2811.94,2820.19,1836.56,3474.31,0,0,0,30.00,30.00,16.02
$GC,2239.42,1028,-77.86,-1.25,0.00,2816.7,2812.8,2820.5,1837.4,3473.8,275.96,-13.08,321,2246.22,0.00,0.00,3.42,0.000,0.000,0.063,2817.28,2813.38,2821.19,1836.62,2083.00,0,0,0,30.00,30.00,16.04
$GC,2545.51,0,-77.86,-1.25,0.00,2816.8,2813.1,2820.5,1836.9,2082.4,309.31,-10.93,352,2546.84,0.00,0.00,0.00,0.000,0.000,0.000,2817.00,2813.12,2820.88,1836.88,2082.81,0,0,0,30.00,30.00,30.00
$GC,2845.55,0,-77.86,-1.25,0.00,2816.9,2812.6,2821.1,1836.6,2082.5,341.18,-10.27,382,2846.88,0.00,0.00,0.00,0.000,0.000,0.000,2817.12,2813.62,2820.62,1836.81,2082.19,0,0,0,30.00,30.00,30.00
$GC,3145.58,0,-77.86,-1.25,0.00,2816.6,2812.7,2820.4,1837.3,2082.6,369.54,-9.55,412,3146.91,0.00,0.00,0.00,0.000,0.000,0.000,2816.16,2812.06,2820.25,1837.56,2082.50,0,0,0,30.00,30.00,30.00
$GC,3445.62,0,-77.86,-1.25,0.00,2816.7,2812.6,2820.8,1836.9,2082.4,399.38,-9.83,442,3446.95,0.00,0.00,0.00,0.000,0.000,0.000,2815.22,2812.06,2818.38,1837.06,2082.31,0,0,0,30.00,30.00,30.00
$GC,3745.65,260,-77.86,-1.25,80.00,2816.6,2812.9,2820.4,1836.8,2082.4,428.16,-10.30,472,3751.36,0.00,0.00,3.78,0.000,0.000,0.124,2815.81,2812.00,2819.62,1836.56,3473.94,0,0,0,30.00,30.00,16.07
$GC,3894.62,1028,-77.86,-1.25,0.00,2816.1,2812.5,2819.8,1836.6,3474.4,446.10,-12.45,502,3901.45,0.00,0.00,3.45,0.000,0.000,0.067,2816.12,2812.75,2819.50,1836.94,2083.94,0,0,0,30.00,30.00,16.08
$GC,4200.79,548,-77.86,-1.25,-80.00,2815.8,2812.8,2818.8,1836.9,2084.2,465.34,-2.76,533,4206.53,0.00,0.00,3.99,0.000,0.000,0.162,2814.88,2811.69,2818.06,1836.12,663.75,0,0,0,30.00,30.00,16.04
$GC,4429.87,1060,-77.86,-1.25,0.00,2815.5,2812.8,2818.2,1837.2,663.6,465.46,0.24,579,4436.60,0.00,0.00,3.47,0.000,0.000,0.055,2815.84,2813.38,2818.31,1836.44,2121.50,0,0,0,30.00,30.00,16.07
$STATE,4455,end dive,NO_VERTICAL_VELOCITY
$STATE,4455,begin apogee
$GC,4457.11,10243,0.00,-0.25,0.00,2815.0,2812.9,2817.0,1836.8,2224.2,465.35,0.00,582,4522.66,62.29,1.62,0.09,1.638,0.091,0.224,2497.88,2506.06,2489.69,2083.75,2180.19,0,0,0,12.92,16.06,15.71
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4524.31,10503,77.86,1.25,80.00,2498.0,2506.4,2489.6,2083.9,2180.4,465.37,0.00,588,4598.88,66.43,2.38,3.64,1.585,0.065,0.126,2181.62,2197.56,2165.69,2451.38,3471.38,0,0,0,12.92,15.76,15.45
$GC,4820.55,9254,108.93,1.35,0.00,2172.8,2190.8,2154.8,2451.4,3471.7,450.75,5.87,647,4852.83,27.50,0.00,3.22,1.510,0.000,0.059,2056.47,2078.25,2034.69,2450.25,2180.88,0,0,0,12.77,30.00,15.73
$GC,5151.77,16710,108.93,1.38,80.00,2047.0,2073.2,2020.8,2452.2,2181.2,429.30,6.77,683,5157.36,0.00,0.00,3.56,0.000,0.000,0.126,2045.59,2072.06,2019.12,2451.56,3471.62,0,0,0,30.00,30.00,15.79
$GC,5316.81,17414,108.93,1.38,0.00,2047.0,2072.9,2021.2,2451.9,3471.3,415.85,8.66,716,5321.36,0.00,0.00,3.22,0.000,0.000,0.061,2047.84,2073.81,2021.88,2451.94,2181.88,0,0,0,30.00,30.00,15.84
$GC,5626.88,16646,108.93,1.38,80.00,2044.3,2072.4,2016.2,2451.8,2182.2,390.91,8.04,748,5632.49,0.00,0.00,3.55,0.000,0.000,0.126,2043.19,2071.38,2015.00,2451.50,3472.19,0,0,0,30.00,30.00,15.90
$GC,5675.96,17414,108.93,1.38,0.00,2044.2,2071.7,2016.7,2452.2,3472.0,386.91,8.09,758,5682.61,0.00,0.00,3.20,0.000,0.000,0.059,2044.62,2072.50,2016.75,2452.06,2178.88,0,0,0,30.00,30.00,15.91
$GC,5981.97,10791,148.08,1.50,-80.00,2043.6,2072.1,2015.0,2452.0,2179.2,368.22,5.31,789,6023.66,33.87,0.32,4.07,1.491,0.085,0.143,1894.88,1923.75,1866.00,2513.62,736.12,0,0,0,12.85,15.93,15.73
$GC,6082.00,1028,148.08,1.50,0.00,1891.8,1921.4,1862.2,2513.2,736.1,358.90,11.05,809,6087.77,0.00,0.00,3.64,0.000,0.000,0.058,1891.59,1921.06,1862.12,2511.81,2219.94,0,0,0,30.00,30.00,15.82
$GC,6387.07,260,148.08,1.50,80.00,1888.4,1920.5,1856.3,2513.4,2220.3,326.14,11.07,840,6391.71,0.00,0.00,3.46,0.000,0.000,0.126,1887.97,1920.44,1855.50,2513.94,3473.81,0,0,0,30.00,30.00,15.88
$GC,6497.17,17414,148.08,1.50,0.00,1887.6,1919.3,1855.8,2513.1,3474.1,311.72,13.20,862,6501.65,0.00,0.00,3.17,0.000,0.000,0.058,1887.78,1919.19,1856.38,2513.19,2182.19,0,0,0,30.00,30.00,15.91
$GC,6807.17,16386,148.08,1.50,0.00,1886.9,1919.7,1854.1,2513.0,2182.2,278.15,10.57,894,6808.50,0.00,0.00,0.00,0.000,0.000,0.000,1886.88,1919.50,1854.25,2512.81,2182.56,0,0,0,30.00,30.00,30.00
$GC,7107.72,16386,148.08,1.50,0.00,1886.4,1919.6,1853.3,2513.1,2182.1,247.68,10.13,924,7109.05,0.00,0.00,0.00,0.000,0.000,0.000,1886.31,1919.50,1853.12,2513.81,2183.00,0,0,0,30.00,30.00,30.00
$GC,7407.23,16386,148.08,1.50,0.00,1885.7,1919.0,1852.3,2513.3,2182.0,218.28,9.32,954,7408.56,0.00,0.00,0.00,0.000,0.000,0.000,1886.44,1920.00,1852.88,2513.31,2182.38,0,0,0,30.00,30.00,30.00
$GC,7707.27,16386,148.08,1.50,0.00,1885.5,1919.2,1851.9,2513.3,2183.0,189.76,9.31,984,7708.60,0.00,0.00,0.00,0.000,0.000,0.000,1885.09,1918.50,1851.69,2513.12,2182.50,0,0,0,30.00,30.00,30.00
$GC,8007.30,16386,148.08,1.50,0.00,1885.3,1919.1,1851.5,2513.1,2182.3,161.32,9.30,1014,8008.63,0.00,0.00,0.00,0.000,0.000,0.000,1885.38,1919.12,1851.62,2513.25,2182.62,0,0,0,30.00,30.00,30.00
$GC,8307.33,16902,148.08,1.50,-80.00,1885.3,1919.5,1851.1,2512.9,2182.6,135.60,8.23,1044,8313.09,0.00,0.00,4.01,0.000,0.000,0.138,1884.53,1918.81,1850.25,2513.44,736.31,0,0,0,30.00,30.00,16.01
$GC,8386.25,17414,148.08,1.50,0.00,1884.1,1916.8,1851.4,2513.8,736.2,127.64,10.30,1060,8393.14,0.00,0.00,3.60,0.000,0.000,0.057,1885.25,1918.50,1852.00,2512.94,2221.56,0,0,0,30.00,30.00,16.02
$GC,8692.38,16386,148.08,1.50,0.00,1884.0,1917.2,1850.8,2513.6,2221.7,102.69,8.30,1091,8693.71,0.00,0.00,0.00,0.000,0.000,0.000,1884.16,1917.62,1850.69,2513.62,2222.00,0,0,0,30.00,30.00,30.00
$GC,8992.53,10535,201.21,1.66,80.00,1883.5,1917.0,1850.1,2513.1,2221.2,81.92,4.33,1148,9040.17,42.60,0.18,3.43,1.197,0.095,0.124,1678.12,1712.81,1643.44,2552.62,3472.19,0,0,0,12.87,15.96,15.81
$GC,9263.03,9254,234.85,1.76,0.00,1673.0,1707.0,1639.1,2552.9,3471.6,62.05,5.69,1202,9298.81,28.24,0.00,3.21,1.137,0.000,0.056,1542.53,1578.81,1506.25,2552.31,2178.38,0,0,0,12.87,30.00,15.88
$GC,9478.11,10791,263.84,1.85,-80.00,1537.1,1575.1,1499.1,2552.6,2178.8,49.83,6.02,1245,9509.54,25.11,0.22,4.07,1.109,0.092,0.138,1422.94,1461.75,1384.12,2598.94,737.44,0,0,0,12.78,15.84,15.70
$GC,9733.17,1028,263.84,1.85,0.00,1420.7,1461.1,1380.4,2598.9,737.6,27.86,9.51,1296,9739.07,0.00,0.00,3.60,0.000,0.000,0.055,1420.62,1461.44,1379.81,2599.50,2222.94,0,0,0,30.00,30.00,15.83
$GC,9918.23,516,263.84,1.85,-80.00,1418.5,1460.6,1376.5,2599.3,2223.1,12.60,9.24,1333,9924.07,0.00,0.00,4.07,0.000,0.000,0.132,1418.91,1460.81,1377.00,2598.88,735.25,0,0,0,30.00,30.00,15.79
$STATE,10033,end climb,SURFACE_DEPTH_REACHED
$STATE,10033,begin surface coast
$STATE,10053,end surface coast,CONTROL_FINISHED_OK
$STATE,10053,begin surface
$SM_CCo,10210.00,130.49,1.101,0,768.6,773.2,763.9,424.72
$SM_CCo,10211.16,0.00,2.758,0,768.6,773.9,763.4,424.71
$SM_CCo,10212.81,0.67,0.144,0,768.4,773.2,763.6,424.75
$SM_GC,0.74,0.67,15.34,3.30,0.144,0.057,0.052,768.4,773.2,763.6,176.4,2132.2,0,0,0,15.48,15.88,15.90
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4751.64,-12513.98,041220,075638
$TCM_TEMP,191.50
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3753952
$HUMID,56.54
$TEMP,8.35
$INTERNAL_PRESSURE,7.80457
$24V_AH,14.57,91.380
$10V_AH,14.95,0.000
$FG_AHR_24Vo,78.166
$FG_AHR_10Vo,31.151
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,502.495,33.820,116.035,271.874,0.250,12.777,4139.659,6546.213,2247.725,0.000,0.000,0.000
$DEVICE_MAMPS,2758.232,261.496,224.104,212.478,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10080.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.681,0.000,0.000,0.000
$MEM,1100272,40,75676,114
$DATA_FILE_SIZE,51414,1360
$CAP_FILE_SIZE,267153,0
$SDSIZE,3918848,3831168
$SDFILEDIR,1506,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041220,105240,4750.916,-12516.761,43,0.9,44,15.8