version: 67.00
glider: 236
mission: 2
dive: 1231
start: 4 25 121 0 0 13
data:
$ID,236
$MISSION,2
$DIVE,1231
$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,180
$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,79.412468
$FG_AHR_24V,292.53665
$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,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,240421,235331,4706.770,-12459.845,1,0.8,29,15.5
$_CALLS,1
$_SM_DEPTHo,-1.69
$_SM_ANGLEo,-61.5
$GPS2,240421,235955,4706.771,-12459.847,2,0.6,3,15.5
$SPEED_LIMITS,0.192,0.290
$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,57.3,7710,-17.6,-11.111,-21.00
$D_GRID,169
$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,8.69,16386,-175.18,-1.40,0.00,560.7,558.9,562.4,168.9,2117.4,0.00,0.00,0,95.48,86.35,0.00,0.00,0.005,0.000,0.000,2568.12,2549.19,2587.06,169.00,2117.00,0,0,0,13.15,30.00,30.00
$GC,95.76,18727,-175.18,-1.40,80.00,2566.9,2548.1,2585.6,169.1,2117.1,3.76,-8.32,9,132.00,13.44,15.30,3.65,0.007,0.256,0.106,3215.31,3210.38,3220.25,1799.44,3477.00,0,0,0,13.13,14.78,14.47
$GC,219.16,1028,-175.18,-1.40,0.00,3214.1,3208.9,3219.2,1798.9,3477.6,27.62,-16.59,34,225.95,0.00,0.00,3.45,0.000,0.000,0.051,3216.38,3211.69,3221.06,1797.94,2080.38,0,0,0,30.00,30.00,15.21
$GC,285.31,516,-175.18,-1.40,-80.00,3214.2,3209.2,3219.2,1799.1,2079.9,38.03,-15.99,41,290.97,0.00,0.00,4.07,0.000,0.000,0.138,3214.72,3208.81,3220.62,1799.31,662.06,0,0,0,30.00,30.00,15.00
$GC,310.70,1028,-175.18,-1.40,0.00,3214.3,3209.2,3219.3,1799.4,662.1,42.56,-18.14,46,315.89,0.00,0.00,3.51,0.000,0.000,0.039,3212.81,3207.38,3218.25,1799.44,2124.25,0,0,0,30.00,30.00,15.31
$GC,375.26,260,-175.18,-1.40,80.00,3214.1,3208.8,3219.4,1799.4,2124.5,53.13,-16.05,53,380.92,0.00,0.00,3.63,0.000,0.000,0.100,3213.59,3209.50,3217.69,1799.56,3474.56,0,0,0,30.00,30.00,15.09
$GC,424.19,1028,-175.18,-1.40,0.00,3213.7,3208.7,3218.7,1799.1,3475.3,60.97,-15.88,63,430.96,0.00,0.00,3.39,0.000,0.000,0.046,3213.97,3208.81,3219.12,1799.38,2079.38,0,0,0,30.00,30.00,15.22
$GC,490.34,516,-175.18,-1.40,-80.00,3213.9,3208.8,3219.0,1799.0,2078.9,69.78,-13.31,70,496.00,0.00,0.00,4.03,0.000,0.000,0.138,3214.69,3209.75,3219.62,1798.00,661.81,0,0,0,30.00,30.00,15.00
$GC,555.76,1028,-175.18,-1.40,0.00,3214.3,3208.9,3219.6,1799.1,661.8,78.43,-12.91,83,560.91,0.00,0.00,3.47,0.000,0.000,0.038,3214.03,3208.88,3219.19,1798.88,2125.38,0,0,0,30.00,30.00,15.32
$GC,620.35,260,-175.18,-1.40,80.00,3214.1,3208.7,3219.4,1798.9,2125.2,85.15,-10.50,90,625.93,0.00,0.00,3.59,0.000,0.000,0.100,3214.88,3210.19,3219.56,1798.06,3475.38,0,0,0,30.00,30.00,15.08
$GC,665.30,1028,-175.18,-1.40,0.00,3214.3,3209.2,3219.4,1798.7,3476.3,90.03,-10.98,99,669.90,0.00,0.00,3.38,0.000,0.000,0.044,3214.75,3209.50,3220.00,1799.62,2078.94,0,0,0,30.00,30.00,15.24
$GC,735.31,0,-175.18,-1.40,0.00,3214.2,3209.2,3219.2,1798.9,2079.0,97.31,-10.80,107,736.64,0.00,0.00,0.00,0.000,0.000,0.000,3215.06,3209.94,3220.19,1798.94,2079.38,0,0,0,30.00,30.00,30.00
$GC,795.33,260,-175.18,-1.40,80.00,3214.1,3209.0,3219.2,1799.4,2079.0,103.32,-9.79,113,800.99,0.00,0.00,3.73,0.000,0.000,0.097,3212.69,3207.69,3217.69,1799.12,3475.81,0,0,0,30.00,30.00,15.07
$GC,820.38,1028,-175.18,-1.40,0.00,3214.2,3209.0,3219.4,1799.6,3474.9,105.78,-10.02,118,824.92,0.00,0.00,3.38,0.000,0.000,0.044,3215.47,3210.25,3220.69,1799.12,2079.12,0,0,0,30.00,30.00,15.23
$GC,890.33,516,-175.18,-1.40,-80.00,3214.2,3208.9,3219.4,1798.8,2080.2,112.95,-10.06,126,896.05,0.00,0.00,4.04,0.000,0.000,0.138,3215.28,3209.62,3220.94,1798.81,662.06,0,0,0,30.00,30.00,14.99
$GC,909.30,1028,-175.18,-1.40,0.00,3214.2,3209.1,3219.2,1799.2,662.1,115.02,-10.43,130,916.04,0.00,0.00,3.48,0.000,0.000,0.037,3215.28,3210.12,3220.44,1799.44,2126.56,0,0,0,30.00,30.00,15.30
$GC,975.42,260,-175.18,-1.40,80.00,3214.2,3209.2,3219.2,1799.1,2126.8,121.78,-10.30,137,980.99,0.00,0.00,3.61,0.000,0.000,0.100,3214.09,3209.19,3219.00,1799.12,3474.56,0,0,0,30.00,30.00,15.08
$GC,1024.26,1028,-175.18,-1.40,0.00,3214.7,3209.3,3220.0,1799.1,3474.9,127.44,-11.40,147,1031.05,0.00,0.00,3.38,0.000,0.000,0.045,3214.28,3208.94,3219.62,1799.19,2079.25,0,0,0,30.00,30.00,15.20
$GC,1090.41,516,-175.18,-1.40,-80.00,3214.2,3208.8,3219.7,1799.2,2079.1,133.99,-9.54,154,1096.08,0.00,0.00,4.04,0.000,0.000,0.138,3212.66,3207.50,3217.81,1799.19,661.88,0,0,0,30.00,30.00,14.98
$GC,1115.80,1028,-175.18,-1.40,0.00,3214.4,3209.2,3219.6,1799.2,661.8,136.85,-10.03,159,1120.98,0.00,0.00,3.46,0.000,0.000,0.037,3214.19,3209.12,3219.25,1799.69,2126.44,0,0,0,30.00,30.00,15.31
$GC,1180.36,260,-175.18,-1.40,80.00,3214.4,3209.1,3219.6,1799.4,2126.0,143.72,-10.75,166,1186.02,0.00,0.00,3.61,0.000,0.000,0.101,3213.72,3208.69,3218.75,1799.31,3476.19,0,0,0,30.00,30.00,15.07
$GC,1215.37,1028,-175.18,-1.40,0.00,3214.3,3208.6,3220.0,1799.1,3476.7,147.72,-11.42,173,1219.96,0.00,0.00,3.38,0.000,0.000,0.045,3214.91,3209.88,3219.94,1799.12,2078.31,0,0,0,30.00,30.00,15.21
$GC,1285.38,516,-175.18,-1.40,-80.00,3214.4,3209.2,3219.5,1799.0,2077.9,155.13,-10.46,181,1291.11,0.00,0.00,4.04,0.000,0.000,0.139,3212.62,3207.31,3217.94,1799.50,662.12,0,0,0,30.00,30.00,14.98
$GC,1304.36,1028,-175.18,-1.40,0.00,3214.0,3208.9,3219.1,1799.2,662.2,157.51,-10.68,185,1311.10,0.00,0.00,3.48,0.000,0.000,0.038,3214.50,3209.25,3219.75,1799.50,2125.19,0,0,0,30.00,30.00,15.29
$STATE,1421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1421,begin apogee
$GC,1421.54,10243,0.00,-0.25,0.00,3214.6,3209.3,3219.8,1798.9,2081.2,169.08,-9.99,197,1563.63,137.98,2.24,0.08,1.180,0.134,0.202,2497.38,2505.88,2488.88,2080.50,2119.94,0,0,0,11.24,15.02,14.55
$STATE,1567,end apogee,CONTROL_FINISHED_OK
$STATE,1567,begin climb
$GC,1566.99,10759,175.18,1.40,-80.00,2497.0,2506.1,2487.8,2079.8,2121.2,173.85,0.00,211,1727.41,149.51,3.06,4.38,1.128,0.081,0.125,1783.25,1810.12,1756.38,2482.88,661.75,0,0,0,11.19,14.74,14.19
$GC,1771.08,1028,175.18,1.40,0.00,1779.9,1806.4,1753.4,2483.8,662.0,159.96,12.00,251,1776.29,0.00,0.00,3.67,0.000,0.000,0.038,1779.19,1805.06,1753.31,2481.56,2126.88,0,0,0,30.00,30.00,14.68
$GC,1895.67,16710,175.18,1.45,80.00,1776.6,1805.4,1747.8,2483.2,2127.6,147.81,9.69,264,1901.31,0.00,0.00,3.72,0.000,0.000,0.101,1777.84,1806.25,1749.44,2483.12,3474.44,0,0,0,30.00,30.00,14.81
$GC,1924.58,11303,231.02,1.61,0.00,1775.3,1804.5,1746.2,2483.8,3473.1,145.19,8.71,270,1978.38,48.25,0.31,3.45,1.078,0.058,0.043,1558.59,1587.62,1529.56,2543.19,2077.06,0,0,0,11.11,14.80,14.98
$GC,2035.72,516,231.02,1.61,-80.00,1554.0,1585.6,1522.4,2543.8,2077.1,133.80,10.87,286,2041.38,0.00,0.00,4.06,0.000,0.000,0.124,1554.41,1585.75,1523.06,2544.50,661.62,0,0,0,30.00,30.00,14.75
$GC,2081.12,1028,231.02,1.61,0.00,1553.6,1584.7,1522.4,2544.6,661.8,127.87,13.76,295,2086.31,0.00,0.00,3.56,0.000,0.000,0.038,1552.75,1583.88,1521.62,2544.50,2128.44,0,0,0,30.00,30.00,15.07
$GC,2145.68,516,231.02,1.61,-80.00,1552.4,1584.2,1520.6,2544.4,2128.5,121.12,10.61,302,2151.42,0.00,0.00,4.14,0.000,0.000,0.120,1551.56,1583.50,1519.62,2544.44,660.81,0,0,0,30.00,30.00,14.88
$GC,2184.60,1028,231.02,1.61,0.00,1552.5,1584.4,1520.6,2545.2,660.7,116.40,12.04,310,2191.42,0.00,0.00,3.53,0.000,0.000,0.037,1552.72,1584.38,1521.06,2545.06,2130.00,0,0,0,30.00,30.00,15.17
$GC,2250.71,324,231.02,1.66,80.00,1551.8,1583.3,1520.2,2544.9,2129.6,110.00,9.57,317,2256.34,0.00,0.00,3.65,0.000,0.000,0.102,1551.59,1583.19,1520.00,2544.81,3473.81,0,0,0,30.00,30.00,15.00
$GC,2279.60,1028,231.02,1.66,0.00,1550.8,1582.0,1519.6,2544.5,3474.7,106.71,10.84,323,2286.41,0.00,0.00,3.43,0.000,0.000,0.045,1551.00,1582.44,1519.56,2545.06,2076.00,0,0,0,30.00,30.00,15.15
$GC,2345.79,580,231.02,1.70,-80.00,1550.7,1582.2,1519.2,2544.8,2075.8,100.13,9.90,330,2351.40,0.00,0.00,3.98,0.000,0.000,0.123,1550.44,1581.19,1519.69,2542.81,660.62,0,0,0,30.00,30.00,14.98
$GC,2394.63,1028,231.02,1.70,0.00,1550.9,1582.8,1518.9,2544.9,660.8,94.45,11.84,340,2401.43,0.00,0.00,3.48,0.000,0.000,0.036,1550.97,1582.50,1519.44,2544.69,2130.75,0,0,0,30.00,30.00,15.28
$GC,2460.79,324,231.02,1.74,80.00,1550.3,1582.1,1518.6,2544.5,2130.4,88.09,9.56,347,2466.37,0.00,0.00,3.62,0.000,0.000,0.101,1550.97,1582.62,1519.31,2543.19,3476.12,0,0,0,30.00,30.00,15.08
$GC,2489.64,19527,231.02,1.78,0.00,1549.7,1581.2,1518.1,2544.2,3475.4,85.15,9.73,353,2496.48,0.00,0.17,3.39,0.000,0.079,0.044,1550.00,1581.69,1518.31,2587.69,2075.38,0,0,0,30.00,15.04,15.24
$GC,2555.72,16902,231.02,1.78,-80.00,1549.8,1581.4,1518.2,2587.9,2075.0,78.15,10.81,360,2561.42,0.00,0.00,3.95,0.000,0.000,0.122,1549.03,1580.56,1517.50,2587.69,660.69,0,0,0,30.00,30.00,15.04
$GC,2751.21,17414,231.02,1.78,0.00,1549.8,1581.3,1518.2,2587.5,660.8,55.43,10.79,399,2756.39,0.00,0.00,3.48,0.000,0.000,0.037,1550.03,1581.38,1518.69,2588.19,2130.88,0,0,0,30.00,30.00,15.37
$GC,2815.82,10535,300.98,1.99,80.00,1549.8,1581.4,1518.1,2588.0,2131.2,49.97,8.10,406,2898.09,75.04,0.23,3.63,1.017,0.063,0.102,1272.72,1303.44,1242.00,2633.94,3475.06,0,0,0,11.31,15.45,14.86
$GC,2920.23,1092,300.98,2.04,0.00,1271.0,1302.3,1239.8,2634.2,3474.1,40.47,9.55,427,2927.01,0.00,0.00,3.43,0.000,0.000,0.043,1271.38,1302.69,1240.06,2633.62,2075.12,0,0,0,30.00,30.00,15.11
$GC,2986.37,10791,361.56,2.22,-80.00,1270.1,1302.3,1237.8,2634.4,2075.0,34.67,8.50,434,3058.96,65.41,0.30,3.99,0.978,0.060,0.123,1026.47,1056.56,996.38,2689.94,660.75,0,0,0,11.30,15.28,14.77
$GC,3151.11,1028,361.56,2.22,0.00,1024.6,1053.1,996.0,2690.2,660.5,16.56,12.09,467,3157.91,0.00,0.00,3.50,0.000,0.000,0.036,1024.44,1053.12,995.75,2690.25,2130.31,0,0,0,30.00,30.00,15.25
$GC,3217.29,10535,415.17,2.38,80.00,1022.7,1052.9,992.5,2690.3,2130.8,10.70,8.80,474,3279.09,54.68,0.18,3.64,0.952,0.075,0.101,807.94,835.00,780.88,2729.00,3474.88,0,0,0,11.30,15.31,14.84
$STATE,3302,end climb,SURFACE_DEPTH_REACHED
$STATE,3302,begin surface coast
$STATE,3312,end surface coast,CONTROL_FINISHED_OK
$STATE,3312,begin surface
$SM_CCo,3406.72,57.22,0.968,0,563.9,570.7,557.2,474.92
$SM_CCo,3407.88,0.00,0.010,0,563.7,570.2,557.2,474.97
$SM_CCo,3408.98,0.00,0.011,0,563.7,570.2,557.2,474.97
$SM_GC,-0.91,0.00,18.63,3.41,0.011,0.076,0.045,563.7,570.2,557.2,169.1,2075.2,0,0,0,30.36,15.01,15.15
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4706.19,-12502.11,240421,225308
$TCM_TEMP,176.55
$XPDR_PINGS,23,14.0,11.5
$SC_FREEKB,3387360
$HUMID,59.09
$TEMP,8.69
$INTERNAL_PRESSURE,7.81398
$24V_AH,13.90,333.946
$10V_AH,14.55,0.000
$FG_AHR_24Vo,292.719
$FG_AHR_10Vo,79.425
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,687.895,40.440,161.150,158.292,5.750,12.683,2240.619,1428.338,984.776,0.000,0.000,0.000
$DEVICE_MAMPS,1180.224,255.592,202.456,182.940,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3380.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.502,0.000,0.000,0.000
$MEM,1103660,40,73448,56
$DATA_FILE_SIZE,19432,493
$CAP_FILE_SIZE,337821,0
$SDSIZE,3918848,3582112
$SDFILEDIR,6181,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250421,005714,4706.665,-12459.511,1,0.6,4,15.5