version: 67.00
glider: 236
mission: 2
dive: 524
start: 1 24 121 13 59 23
data:
$ID,236
$MISSION,2
$DIVE,524
$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,50.406891
$FG_AHR_24V,131.94324
$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
$GPS1,240121,135232,4750.492,-12515.844,9,1.2,32,15.8
$_CALLS,1
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-60.1
$GPS2,240121,135904,4750.509,-12515.804,2,0.7,4,15.8
$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,53.3,7363,-20.4,-8.049,-24.07
$D_GRID,416
$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,7.27,16386,-77.86,-1.25,0.00,760.9,764.2,757.6,173.9,2081.8,0.00,0.00,0,91.64,83.66,0.00,0.00,0.005,0.000,0.000,2608.25,2588.31,2628.19,173.75,2082.12,0,0,0,15.17,30.00,30.00
$GC,91.90,18695,-77.86,-1.25,80.00,2606.8,2587.1,2626.5,174.1,2082.4,3.92,-6.75,16,119.57,4.99,14.45,3.80,0.009,0.260,0.108,2813.97,2807.25,2820.69,1835.75,3474.12,0,0,0,15.28,15.37,15.20
$GC,342.42,1028,-77.86,-1.25,0.00,2815.8,2809.1,2822.4,1835.8,3474.6,56.65,-20.89,66,348.13,0.00,0.00,3.44,0.000,0.000,0.061,2817.44,2810.69,2824.19,1835.88,2083.44,0,0,0,30.00,30.00,15.66
$GC,527.40,260,-77.86,-1.25,80.00,2816.2,2809.8,2822.6,1835.6,2083.6,84.68,-13.07,103,533.19,0.00,0.00,3.76,0.000,0.000,0.109,2818.78,2812.25,2825.31,1836.00,3473.56,0,0,0,30.00,30.00,15.67
$GC,687.44,1028,-77.86,-1.25,0.00,2816.4,2809.6,2823.2,1835.9,3473.6,106.59,-13.72,135,692.00,0.00,0.00,3.38,0.000,0.000,0.057,2818.94,2812.56,2825.31,1835.50,2082.44,0,0,0,30.00,30.00,15.75
$GC,997.48,0,-77.86,-1.25,0.00,2816.6,2810.2,2822.9,1835.8,2082.4,141.21,-11.57,167,998.80,0.00,0.00,0.00,0.000,0.000,0.000,2817.00,2810.69,2823.31,1835.19,2082.50,0,0,0,30.00,30.00,30.00
$GC,1297.52,260,-77.86,-1.25,80.00,2816.7,2810.8,2822.7,1835.5,2082.3,176.22,-12.51,197,1303.31,0.00,0.00,3.76,0.000,0.000,0.110,2816.53,2811.12,2821.94,1835.75,3474.00,0,0,0,30.00,30.00,15.76
$GC,1426.38,1028,-77.86,-1.25,0.00,2816.8,2810.9,2822.8,1835.9,3474.4,193.38,-12.34,223,1433.27,0.00,0.00,3.38,0.000,0.000,0.058,2818.06,2811.94,2824.19,1835.81,2080.50,0,0,0,30.00,30.00,15.82
$GC,1732.57,516,-77.86,-1.25,-80.00,2816.5,2810.6,2822.4,1835.4,2080.8,229.77,-11.91,254,1738.39,0.00,0.00,3.99,0.000,0.000,0.152,2816.38,2810.31,2822.44,1835.75,662.38,0,0,0,30.00,30.00,15.71
$GC,1801.57,1028,-77.86,-1.25,0.00,2816.7,2810.5,2822.9,1835.9,662.2,238.92,-13.89,268,1808.34,0.00,0.00,3.51,0.000,0.000,0.052,2816.78,2810.69,2822.88,1835.56,2120.50,0,0,0,30.00,30.00,15.83
$GC,2107.63,260,-77.86,-1.25,80.00,2816.7,2810.2,2823.2,1835.6,2121.2,271.52,-10.53,299,2112.38,0.00,0.00,3.62,0.000,0.000,0.114,2815.00,2809.19,2820.81,1836.25,3475.56,0,0,0,30.00,30.00,15.78
$GC,2177.66,1028,-77.86,-1.25,0.00,2817.0,2810.9,2823.0,1835.4,3475.1,279.72,-12.01,313,2182.22,0.00,0.00,3.37,0.000,0.000,0.057,2819.41,2813.31,2825.50,1836.12,2082.50,0,0,0,30.00,30.00,15.84
$GC,2487.71,260,-77.86,-1.25,80.00,2817.4,2811.7,2823.2,1835.9,2083.1,313.79,-10.43,345,2493.49,0.00,0.00,3.73,0.000,0.000,0.111,2815.59,2809.44,2821.75,1835.81,3475.06,0,0,0,30.00,30.00,15.78
$GC,2552.74,1028,-77.86,-1.25,0.00,2817.1,2810.9,2823.4,1835.7,3475.2,321.23,-11.86,358,2557.30,0.00,0.00,3.36,0.000,0.000,0.059,2818.44,2813.00,2823.88,1834.81,2080.88,0,0,0,30.00,30.00,15.85
$GC,2862.80,516,-77.86,-1.25,-80.00,2816.7,2810.7,2822.6,1836.2,2081.6,350.13,-8.71,390,2868.61,0.00,0.00,3.96,0.000,0.000,0.152,2819.16,2812.94,2825.38,1835.88,663.06,0,0,0,30.00,30.00,15.71
$GC,2957.83,1028,-77.86,-1.25,0.00,2816.7,2810.6,2822.8,1835.9,663.1,360.27,-10.93,409,2962.43,0.00,0.00,3.47,0.000,0.000,0.054,2816.97,2811.38,2822.56,1835.62,2117.19,0,0,0,30.00,30.00,15.85
$GC,3267.90,260,-77.86,-1.25,80.00,2816.8,2811.0,2822.6,1835.6,2119.8,388.16,-8.67,441,3272.66,0.00,0.00,3.61,0.000,0.000,0.116,2814.75,2808.81,2820.69,1836.00,3474.88,0,0,0,30.00,30.00,15.77
$GC,3337.94,1028,-77.86,-1.25,0.00,2816.3,2810.3,2822.2,1835.7,3474.7,395.75,-10.91,455,3342.52,0.00,0.00,3.37,0.000,0.000,0.058,2816.66,2811.44,2821.88,1836.19,2082.69,0,0,0,30.00,30.00,15.85
$STATE,3557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3557,begin apogee
$GC,3559.29,10243,0.00,-0.25,0.00,2816.4,2810.9,2821.9,1835.9,2222.1,416.14,-9.26,478,3626.17,64.07,1.79,0.09,1.519,0.142,0.222,2500.38,2507.00,2493.75,2080.00,2182.19,0,0,0,12.01,15.76,15.32
$STATE,3628,end apogee,CONTROL_FINISHED_OK
$STATE,3628,begin climb
$GC,3628.26,10503,77.86,1.25,80.00,2497.8,2504.4,2491.2,2080.1,2182.4,417.71,0.00,484,3706.35,68.86,2.55,3.67,1.467,0.077,0.115,2180.84,2195.00,2166.69,2448.62,3473.12,0,0,0,12.46,15.38,15.06
$GC,3723.63,11303,128.35,1.40,0.00,2179.2,2193.1,2165.4,2449.4,3472.8,413.80,4.51,503,3775.38,46.49,0.20,3.24,1.431,0.084,0.050,1975.84,1997.50,1954.19,2490.31,2179.56,0,0,0,12.23,15.17,15.21
$GC,4079.85,16902,128.35,1.40,-80.00,1965.5,1992.1,1938.8,2490.9,2179.2,381.58,9.77,544,4085.66,0.00,0.00,4.02,0.000,0.000,0.135,1964.31,1991.31,1937.31,2491.69,734.94,0,0,0,30.00,30.00,15.53
$GC,4118.76,17414,128.35,1.40,0.00,1964.6,1990.4,1938.8,2491.8,735.3,377.42,10.63,552,4125.61,0.00,0.00,3.61,0.000,0.000,0.050,1965.09,1991.38,1938.81,2491.81,2222.25,0,0,0,30.00,30.00,15.59
$GC,4424.90,16646,128.35,1.40,80.00,1962.9,1990.2,1935.6,2491.7,2222.8,349.35,8.92,583,4429.47,0.00,0.00,3.37,0.000,0.000,0.116,1963.78,1990.94,1936.62,2491.38,3474.62,0,0,0,30.00,30.00,15.66
$GC,4488.77,17414,128.35,1.40,0.00,1962.9,1990.1,1935.7,2491.6,3475.3,343.14,9.65,596,4495.62,0.00,0.00,3.13,0.000,0.000,0.052,1962.78,1990.00,1935.56,2492.00,2179.00,0,0,0,30.00,30.00,15.70
$GC,4794.99,16902,128.35,1.40,-80.00,1962.0,1990.0,1934.0,2491.6,2179.8,315.61,8.67,627,4800.66,0.00,0.00,3.96,0.000,0.000,0.134,1959.97,1988.12,1931.81,2491.38,737.25,0,0,0,30.00,30.00,15.68
$GC,5023.99,17414,128.35,1.40,0.00,1960.4,1986.8,1934.1,2491.6,736.9,292.95,9.85,673,5030.83,0.00,0.00,3.56,0.000,0.000,0.050,1962.41,1988.94,1935.88,2492.00,2222.56,0,0,0,30.00,30.00,15.78
$GC,5330.13,16646,128.35,1.40,80.00,1959.9,1987.1,1932.7,2491.8,2222.6,270.29,7.68,704,5334.69,0.00,0.00,3.37,0.000,0.000,0.114,1959.47,1987.12,1931.81,2491.38,3474.94,0,0,0,30.00,30.00,15.75
$GC,5420.19,17414,128.35,1.40,0.00,1959.6,1987.1,1932.1,2491.8,3474.6,262.90,8.85,722,5424.69,0.00,0.00,3.11,0.000,0.000,0.052,1961.47,1988.50,1934.44,2491.88,2177.12,0,0,0,30.00,30.00,15.79
$GC,5730.20,8226,157.14,1.49,0.00,1959.0,1986.9,1931.1,2491.7,2178.4,240.67,6.03,754,5755.04,23.96,0.00,0.00,1.302,0.000,0.000,1860.62,1890.50,1830.75,2490.62,2178.00,0,0,0,12.05,30.00,30.00
$GC,6050.23,260,157.14,1.49,80.00,1853.4,1886.7,1820.1,2491.6,2177.9,215.29,8.43,786,6055.81,0.00,0.00,3.50,0.000,0.000,0.114,1855.41,1888.25,1822.56,2491.50,3474.94,0,0,0,30.00,30.00,15.68
$GC,6095.25,1028,157.14,1.49,0.00,1852.7,1885.6,1819.8,2491.4,3474.6,211.21,9.59,795,6099.77,0.00,0.00,3.13,0.000,0.000,0.052,1853.66,1886.06,1821.25,2491.56,2181.75,0,0,0,30.00,30.00,15.71
$GC,6405.28,516,157.14,1.49,-80.00,1852.7,1885.6,1819.9,2492.2,2181.1,186.22,8.45,827,6411.09,0.00,0.00,3.94,0.000,0.000,0.130,1854.09,1886.38,1821.81,2491.50,736.69,0,0,0,30.00,30.00,15.68
$GC,6454.20,1028,157.14,1.49,0.00,1852.3,1884.9,1819.7,2491.6,736.8,181.59,9.61,837,6461.03,0.00,0.00,3.56,0.000,0.000,0.048,1852.72,1884.56,1820.88,2490.12,2223.44,0,0,0,30.00,30.00,15.74
$GC,6760.32,516,157.14,1.49,-80.00,1851.4,1884.9,1817.9,2492.4,2223.1,158.99,7.76,868,6766.15,0.00,0.00,4.07,0.000,0.000,0.128,1853.22,1887.00,1819.44,2491.31,736.00,0,0,0,30.00,30.00,15.69
$GC,6869.24,1028,157.14,1.49,0.00,1851.3,1884.8,1817.8,2491.5,736.2,149.72,8.67,890,6876.11,0.00,0.00,3.55,0.000,0.000,0.049,1851.72,1885.62,1817.81,2491.62,2224.38,0,0,0,30.00,30.00,15.78
$GC,7175.40,16710,157.14,1.53,80.00,1851.0,1885.1,1816.9,2492.2,2224.3,128.80,6.72,921,7179.94,0.00,0.00,3.38,0.000,0.000,0.113,1851.09,1884.94,1817.25,2492.06,3474.38,0,0,0,30.00,30.00,15.66
$GC,7235.40,17414,157.14,1.53,0.00,1850.8,1884.6,1816.9,2491.7,3475.1,124.12,8.11,933,7240.06,0.00,0.00,3.12,0.000,0.000,0.050,1851.12,1884.88,1817.38,2492.19,2178.62,0,0,0,30.00,30.00,15.78
$GC,7545.44,19015,157.14,1.58,-80.00,1850.6,1884.3,1816.8,2491.9,2177.6,102.46,6.31,965,7551.30,0.00,0.20,3.95,0.000,0.090,0.129,1851.41,1885.12,1817.69,2533.06,735.19,0,0,0,30.00,15.77,15.69
$GC,7685.48,17478,157.14,1.60,0.00,1850.7,1884.2,1817.2,2533.2,735.1,91.52,7.32,993,7691.21,0.00,0.00,3.55,0.000,0.000,0.047,1852.66,1886.56,1818.75,2533.12,2225.88,0,0,0,30.00,30.00,15.76
$GC,7870.52,10791,204.18,1.75,-80.00,1850.2,1883.9,1816.6,2533.1,2225.9,82.16,4.75,1030,7917.25,39.42,0.19,4.09,1.155,0.085,0.124,1668.19,1702.75,1633.62,2573.56,736.50,0,0,0,12.04,15.76,15.52
$GC,8135.57,11303,277.06,1.96,0.00,1662.0,1695.6,1628.4,2573.4,736.4,71.61,2.94,1083,8202.68,60.26,0.27,3.58,1.136,0.075,0.046,1370.47,1405.25,1335.69,2624.06,2228.69,0,0,0,12.16,15.55,15.65
$GC,8380.59,516,277.06,1.96,-80.00,1364.2,1401.9,1326.4,2625.6,2228.6,56.99,9.26,1132,8386.45,0.00,0.00,4.16,0.000,0.000,0.126,1364.12,1401.94,1326.31,2625.69,735.00,0,0,0,30.00,30.00,15.50
$GC,8590.65,1028,277.06,1.96,0.00,1362.9,1400.1,1325.6,2625.1,735.0,34.84,9.63,1174,8596.42,0.00,0.00,3.62,0.000,0.000,0.052,1362.59,1400.00,1325.19,2625.62,2223.69,0,0,0,30.00,30.00,15.63
$GC,8775.73,16966,277.06,2.01,-80.00,1362.0,1400.4,1323.7,2625.4,2223.4,20.08,6.65,1211,8781.56,0.00,0.00,4.14,0.000,0.000,0.124,1362.56,1400.69,1324.44,2625.50,734.94,0,0,0,30.00,30.00,15.59
$GC,8845.73,17414,277.06,2.01,0.00,1362.2,1400.2,1324.1,2625.6,735.1,13.16,10.50,1225,8851.51,0.00,0.00,3.62,0.000,0.000,0.049,1362.22,1400.50,1323.94,2625.56,2223.19,0,0,0,30.00,30.00,15.60
$STATE,8970,end climb,SURFACE_DEPTH_REACHED
$STATE,8970,begin surface coast
$STATE,8995,end surface coast,CONTROL_FINISHED_OK
$STATE,8995,begin surface
$SM_CCo,9143.87,123.49,1.042,0,767.8,767.8,767.8,424.91
$SM_CCo,9145.03,0.00,2.676,0,768.6,767.9,769.3,424.71
$SM_CCo,9146.19,0.01,0.353,0,767.9,767.6,768.2,424.87
$SM_GC,0.57,0.01,16.38,0.34,0.353,0.076,0.083,767.9,767.6,768.2,177.8,2070.3,0,0,0,30.36,15.64,15.73
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.66,-12541.59,240121,110031
$TCM_TEMP,190.83
$XPDR_PINGS,2,14.0,11.5
$SC_FREEKB,3660960
$HUMID,56.77
$TEMP,8.57
$INTERNAL_PRESSURE,7.81974
$24V_AH,14.18,156.535
$10V_AH,14.71,0.000
$FG_AHR_24Vo,132.114
$FG_AHR_10Vo,50.454
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,515.230,36.030,152.380,241.380,0.500,13.895,3765.387,5587.619,2070.562,0.000,0.000,0.000
$DEVICE_MAMPS,2675.904,259.856,221.808,216.113,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9034.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.685,0.000,0.000,0.000
$MEM,1100060,47,75748,114
$DATA_FILE_SIZE,48160,1255
$CAP_FILE_SIZE,286480,0
$SDSIZE,3918848,3773664
$SDFILEDIR,2646,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240121,163239,4751.006,-12514.735,41,0.9,42,15.8