version: 67.00
glider: 236
mission: 2
dive: 525
start: 1 24 121 16 39 2
data:
$ID,236
$MISSION,2
$DIVE,525
$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,50.454956
$FG_AHR_24V,132.12706
$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
$GPS1,240121,163239,4751.006,-12514.735,41,0.9,42,15.8
$_CALLS,1
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-62.7
$GPS2,240121,163844,4750.994,-12514.663,3,0.9,7,15.8
$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,56.6,5728,-20.4,-8.049,-24.07
$D_GRID,318
$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,7.29,16386,-77.86,-1.25,0.00,762.4,765.5,759.4,173.9,2115.2,0.00,0.00,0,91.53,83.60,0.00,0.00,0.005,0.000,0.000,2599.62,2573.62,2625.62,174.12,2119.06,0,0,0,15.19,30.00,30.00
$GC,91.79,18951,-77.86,-1.25,-80.00,2598.9,2576.1,2621.8,174.1,2118.8,3.80,-6.75,16,119.57,5.28,14.39,4.18,0.009,0.258,0.150,2814.72,2808.12,2821.31,1835.69,662.62,0,0,0,15.29,15.40,15.20
$GC,342.36,1028,-77.86,-1.25,0.00,2815.4,2809.2,2821.6,1835.9,662.3,60.64,-25.10,66,348.21,0.00,0.00,3.57,0.000,0.000,0.053,2816.38,2810.69,2822.06,1836.06,2119.19,0,0,0,30.00,30.00,15.67
$GC,527.41,516,-77.86,-1.25,-80.00,2815.3,2809.8,2820.8,1836.5,2119.0,93.12,-13.16,103,533.27,0.00,0.00,4.11,0.000,0.000,0.146,2816.34,2810.44,2822.25,1835.38,662.81,0,0,0,30.00,30.00,15.62
$GC,647.44,1028,-77.86,-1.25,0.00,2815.4,2809.7,2821.1,1835.5,663.1,108.75,-11.75,127,653.05,0.00,0.00,3.53,0.000,0.000,0.049,2815.25,2809.38,2821.12,1836.19,2122.25,0,0,0,30.00,30.00,15.74
$GC,952.47,0,-77.86,-1.25,0.00,2816.1,2810.4,2821.9,1835.9,2122.1,138.41,-10.34,158,953.80,0.00,0.00,0.00,0.000,0.000,0.000,2816.75,2810.88,2822.62,1835.88,2122.00,0,0,0,30.00,30.00,30.00
$GC,1252.51,516,-77.86,-1.25,-80.00,2816.0,2810.6,2821.4,1835.7,2122.1,168.67,-9.90,188,1258.38,0.00,0.00,4.12,0.000,0.000,0.146,2814.81,2809.31,2820.31,1835.81,662.31,0,0,0,30.00,30.00,15.70
$GC,1337.53,1028,-77.86,-1.25,0.00,2816.0,2810.5,2821.5,1836.0,662.2,178.72,-12.00,205,1343.14,0.00,0.00,3.52,0.000,0.000,0.050,2814.16,2808.75,2819.56,1836.00,2121.69,0,0,0,30.00,30.00,15.81
$GC,1642.57,0,-77.86,-1.25,0.00,2816.4,2811.3,2821.5,1836.4,2122.0,209.41,-9.91,236,1643.89,0.00,0.00,0.00,0.000,0.000,0.000,2816.47,2811.31,2821.62,1836.12,2122.31,0,0,0,30.00,30.00,30.00
$GC,1942.61,260,-77.86,-1.25,80.00,2816.1,2810.8,2821.4,1835.2,2122.1,239.89,-10.35,266,1947.36,0.00,0.00,3.62,0.000,0.000,0.114,2816.28,2810.62,2821.94,1836.69,3476.44,0,0,0,30.00,30.00,15.78
$GC,2052.70,1028,-77.86,-1.25,0.00,2816.1,2810.9,2821.3,1835.9,3476.4,252.23,-11.63,288,2057.23,0.00,0.00,3.38,0.000,0.000,0.058,2817.25,2811.75,2822.75,1835.94,2082.88,0,0,0,30.00,30.00,15.84
$GC,2362.69,260,-77.86,-1.25,80.00,2815.9,2810.6,2821.2,1836.1,2083.9,285.33,-10.52,320,2368.47,0.00,0.00,3.72,0.000,0.000,0.112,2814.91,2809.94,2819.88,1836.25,3473.69,0,0,0,30.00,30.00,15.79
$GC,2507.74,1028,-77.86,-1.25,0.00,2816.2,2810.6,2821.7,1836.2,3473.9,302.57,-12.53,349,2512.31,0.00,0.00,3.37,0.000,0.000,0.059,2818.12,2813.25,2823.00,1835.06,2083.19,0,0,0,30.00,30.00,15.85
$STATE,2667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2667,begin apogee
$GC,2669.05,10243,0.00,-0.25,0.00,2816.4,2811.1,2821.8,1836.6,2222.3,318.91,-10.69,366,2735.16,62.90,1.79,0.09,1.380,0.144,0.215,2499.41,2505.88,2492.94,2080.62,2182.81,0,0,0,12.03,15.77,15.37
$STATE,2736,end apogee,CONTROL_FINISHED_OK
$STATE,2737,begin climb
$GC,2737.23,10243,77.86,1.25,0.00,2498.3,2504.9,2491.6,2081.0,2183.6,321.25,0.00,372,2808.13,67.13,2.57,0.00,1.335,0.090,0.000,2180.62,2195.12,2166.12,2447.12,2183.06,0,0,0,12.47,15.43,30.00
$GC,3100.96,10791,127.15,1.40,-80.00,2172.6,2191.8,2153.3,2448.2,2182.6,306.51,4.60,409,3152.81,43.33,0.20,4.13,1.317,0.089,0.132,1979.66,2002.19,1957.12,2487.75,736.00,0,0,0,12.10,15.56,15.28
$GC,3170.98,1092,127.15,1.45,0.00,1977.7,1999.7,1955.6,2488.6,735.9,302.27,6.39,423,3176.70,0.00,0.00,3.65,0.000,0.000,0.048,1977.59,2000.31,1954.88,2487.06,2223.81,0,0,0,30.00,30.00,15.40
$GC,3476.03,16966,127.15,1.50,-80.00,1972.4,1999.4,1945.4,2488.6,2223.7,280.37,6.43,454,3481.85,0.00,0.00,4.14,0.000,0.000,0.129,1972.88,1999.62,1946.12,2488.06,737.25,0,0,0,30.00,30.00,15.60
$GC,3544.94,17414,127.15,1.50,0.00,1971.1,1996.6,1945.5,2487.5,737.1,275.09,8.12,468,3551.79,0.00,0.00,3.59,0.000,0.000,0.047,1971.50,1996.75,1946.25,2487.88,2223.50,0,0,0,30.00,30.00,15.68
$GC,3851.11,10535,161.82,1.60,80.00,1969.5,1996.4,1942.6,2488.5,2223.0,256.79,5.62,499,3886.39,30.12,0.25,3.42,1.279,0.075,0.113,1839.00,1868.12,1809.88,2539.19,3474.12,0,0,0,12.17,15.72,15.50
$GC,3944.96,1028,161.82,1.60,0.00,1836.7,1864.9,1808.4,2539.2,3474.2,248.71,10.13,518,3951.81,0.00,0.00,3.16,0.000,0.000,0.050,1836.88,1865.56,1808.19,2539.81,2178.75,0,0,0,30.00,30.00,15.52
$GC,4251.17,260,161.82,1.60,80.00,1833.3,1864.8,1801.8,2539.2,2178.5,219.00,9.32,549,4256.78,0.00,0.00,3.50,0.000,0.000,0.111,1835.47,1867.12,1803.81,2539.31,3473.88,0,0,0,30.00,30.00,15.68
$GC,4316.20,1028,161.82,1.60,0.00,1833.4,1864.9,1802.0,2539.1,3474.1,211.72,11.49,562,4320.72,0.00,0.00,3.12,0.000,0.000,0.050,1835.62,1867.12,1804.12,2539.44,2179.00,0,0,0,30.00,30.00,15.72
$GC,4626.23,516,161.82,1.60,-80.00,1832.2,1865.1,1799.3,2539.5,2179.2,178.51,10.83,594,4632.03,0.00,0.00,3.97,0.000,0.000,0.129,1834.22,1866.75,1801.69,2539.50,735.94,0,0,0,30.00,30.00,15.69
$GC,4651.24,1028,161.82,1.60,0.00,1832.2,1864.5,1799.9,2539.4,735.9,175.56,10.82,599,4655.97,0.00,0.00,3.56,0.000,0.000,0.047,1832.50,1865.12,1799.88,2539.25,2223.25,0,0,0,30.00,30.00,15.76
$GC,4961.27,16902,161.82,1.60,-80.00,1831.2,1864.8,1797.7,2539.2,2223.6,145.28,9.08,631,4967.10,0.00,0.00,4.07,0.000,0.000,0.126,1830.88,1864.62,1797.12,2538.81,735.12,0,0,0,30.00,30.00,15.62
$GC,5106.31,17414,161.82,1.60,0.00,1831.1,1864.6,1797.6,2539.1,735.2,129.16,11.12,660,5111.03,0.00,0.00,3.54,0.000,0.000,0.050,1832.81,1865.50,1800.12,2539.44,2224.88,0,0,0,30.00,30.00,15.78
$GC,5416.35,16966,161.82,1.63,-80.00,1830.5,1864.1,1797.0,2539.7,2225.0,104.03,7.02,692,5422.17,0.00,0.00,4.07,0.000,0.000,0.125,1830.97,1864.31,1797.62,2539.25,734.88,0,0,0,30.00,30.00,15.72
$GC,5476.42,17414,161.82,1.63,0.00,1830.5,1864.1,1796.9,2539.7,735.1,99.05,8.46,704,5482.12,0.00,0.00,3.55,0.000,0.000,0.047,1831.28,1865.06,1797.50,2539.50,2224.00,0,0,0,30.00,30.00,15.72
$GC,5661.41,10535,212.41,1.79,80.00,1830.1,1864.2,1795.9,2539.9,2224.4,88.79,4.51,741,5708.08,41.65,0.20,3.39,1.151,0.080,0.111,1633.59,1666.62,1600.56,2584.19,3473.94,0,0,0,12.05,15.77,15.51
$GC,5736.41,1092,212.41,1.83,0.00,1630.2,1662.2,1598.2,2584.5,3474.1,84.56,6.39,756,5742.07,0.00,0.00,3.15,0.000,0.000,0.049,1631.03,1663.12,1598.94,2583.69,2177.12,0,0,0,30.00,30.00,15.54
$GC,5921.45,10535,264.50,1.99,80.00,1628.1,1662.7,1593.4,2584.0,2176.8,74.31,4.40,793,5972.71,43.57,0.25,3.57,1.117,0.078,0.109,1420.53,1455.06,1386.00,2629.50,3473.62,0,0,0,12.11,15.63,15.37
$GC,5976.45,9254,304.83,2.11,0.00,1420.1,1454.9,1385.4,2630.4,3474.2,71.35,5.22,804,6017.82,34.14,0.00,3.17,1.058,0.000,0.047,1257.62,1293.12,1222.12,2630.44,2178.31,0,0,0,12.36,30.00,15.41
$GC,6196.52,516,304.83,2.11,-80.00,1250.9,1288.9,1212.9,2630.2,2178.0,47.70,14.27,848,6202.32,0.00,0.00,4.01,0.000,0.000,0.126,1251.09,1289.12,1213.06,2630.69,736.31,0,0,0,30.00,30.00,15.47
$GC,6426.60,1028,304.83,2.11,0.00,1249.8,1287.0,1212.5,2630.6,736.0,19.53,13.47,894,6432.29,0.00,0.00,3.59,0.000,0.000,0.049,1249.72,1287.12,1212.31,2630.62,2224.50,0,0,0,30.00,30.00,15.59
$STATE,6576,end climb,SURFACE_DEPTH_REACHED
$STATE,6576,begin surface coast
$STATE,6591,end surface coast,CONTROL_FINISHED_OK
$STATE,6591,begin surface
$SM_CCo,6716.60,100.31,1.035,0,768.0,773.4,762.7,424.85
$SM_CCo,6717.76,0.00,0.010,0,768.0,772.8,763.2,424.86
$SM_CCo,6718.92,0.00,0.017,0,766.9,767.7,766.2,425.12
$SM_GC,0.44,0.00,16.55,0.34,0.017,0.077,0.087,766.9,767.7,766.2,175.0,2067.7,0,0,0,30.36,15.62,15.70
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4750.72,-12516.60,240121,135514
$TCM_TEMP,190.50
$XPDR_PINGS,2,14.0,11.5
$SC_FREEKB,3660576
$HUMID,57.12
$TEMP,8.39
$INTERNAL_PRESSURE,7.80555
$24V_AH,14.71,156.731
$10V_AH,14.75,0.000
$FG_AHR_24Vo,132.286
$FG_AHR_10Vo,50.490
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,512.060,36.190,110.325,215.750,0.500,16.618,3071.621,3980.116,1545.275,0.000,0.000,0.000
$DEVICE_MAMPS,1380.304,257.560,214.920,219.649,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6629.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.763,0.000,0.000,0.000
$MEM,1100128,47,75680,114
$DATA_FILE_SIZE,35321,927
$CAP_FILE_SIZE,229671,0
$SDSIZE,3918848,3773472
$SDFILEDIR,2651,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240121,183140,4751.439,-12513.889,30,1.2,32,15.8