version: 67.00
glider: 236
mission: 2
dive: 1256
start: 4 25 121 23 17 46
data:
$ID,236
$MISSION,2
$DIVE,1256
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,2000
$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,79.72007
$FG_AHR_24V,297.41479
$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
$GPS1,250421,230931,4705.891,-12454.844,26,1.1,26,15.5
$_CALLS,2
$_SM_DEPTHo,-1.54
$_SM_ANGLEo,-62.0
$GPS2,250421,231728,4705.835,-12454.783,2,0.7,4,15.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,ONSHELF
$TGT_LATLONG,4703.000,-12442.000
$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,92.5,16964,-15.9,-10.000,-19.73
$D_GRID,137
$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,8.75,16386,-175.18,-1.32,0.00,558.9,556.2,561.6,166.8,2081.5,0.00,0.00,0,100.62,91.40,0.00,0.00,0.005,0.000,0.000,2769.69,2749.81,2789.56,166.69,2081.75,0,0,0,12.68,30.00,30.00
$GC,100.84,18951,-175.18,-1.32,-80.00,2768.6,2748.9,2788.2,166.4,2081.9,5.44,-11.24,9,134.39,8.31,16.30,4.39,0.007,0.248,0.147,3213.50,3207.44,3219.56,1818.62,662.75,0,0,0,12.83,14.22,13.82
$GC,201.61,1028,-175.18,-1.32,0.00,3214.4,3208.1,3220.7,1818.3,662.7,27.85,-16.80,29,208.90,0.00,0.00,3.72,0.000,0.000,0.046,3215.12,3209.31,3220.94,1818.19,2122.12,0,0,0,30.00,30.00,14.60
$GC,267.70,260,-175.18,-1.32,80.00,3214.3,3208.4,3220.3,1818.4,2121.6,37.94,-15.30,36,273.37,0.00,0.00,3.80,0.000,0.000,0.103,3213.38,3206.88,3219.88,1818.00,3474.56,0,0,0,30.00,30.00,14.47
$GC,316.63,1028,-175.18,-1.32,0.00,3214.2,3208.1,3220.4,1818.7,3473.9,45.01,-13.99,46,323.43,0.00,0.00,3.58,0.000,0.000,0.048,3215.41,3209.50,3221.31,1818.56,2081.56,0,0,0,30.00,30.00,14.58
$GC,382.77,516,-175.18,-1.32,-80.00,3214.4,3208.2,3220.6,1818.6,2081.9,53.23,-12.35,53,388.47,0.00,0.00,4.28,0.000,0.000,0.141,3213.66,3207.56,3219.75,1818.69,662.50,0,0,0,30.00,30.00,14.39
$GC,428.17,1028,-175.18,-1.32,0.00,3214.7,3208.5,3220.8,1818.8,662.6,59.68,-14.00,62,433.38,0.00,0.00,3.67,0.000,0.000,0.041,3213.19,3207.25,3219.12,1818.25,2122.12,0,0,0,30.00,30.00,14.66
$GC,492.73,260,-175.18,-1.32,80.00,3214.1,3208.1,3220.0,1818.3,2121.9,66.75,-10.49,69,498.39,0.00,0.00,3.77,0.000,0.000,0.100,3216.25,3210.50,3222.00,1817.69,3474.56,0,0,0,30.00,30.00,14.50
$GC,508.20,1028,-175.18,-1.32,0.00,3214.3,3208.4,3220.2,1818.6,3473.8,68.55,-10.63,72,513.37,0.00,0.00,3.56,0.000,0.000,0.046,3214.41,3208.50,3220.31,1817.38,2079.75,0,0,0,30.00,30.00,14.62
$GC,572.73,516,-175.18,-1.32,-80.00,3214.6,3208.4,3220.8,1818.4,2080.1,75.70,-11.14,79,578.54,0.00,0.00,4.28,0.000,0.000,0.141,3213.69,3208.00,3219.38,1818.94,663.06,0,0,0,30.00,30.00,14.40
$GC,608.19,1028,-175.18,-1.32,0.00,3214.7,3208.5,3220.9,1818.4,662.5,80.03,-12.75,86,613.39,0.00,0.00,3.65,0.000,0.000,0.041,3214.28,3207.94,3220.62,1818.69,2121.62,0,0,0,30.00,30.00,14.67
$GC,672.74,260,-175.18,-1.32,80.00,3214.6,3208.1,3221.1,1818.9,2122.1,87.26,-11.00,93,678.56,0.00,0.00,3.75,0.000,0.000,0.102,3216.66,3210.38,3222.94,1817.88,3475.12,0,0,0,30.00,30.00,14.51
$GC,698.25,1028,-175.18,-1.32,0.00,3214.7,3208.8,3220.6,1818.7,3475.9,90.27,-10.32,98,703.38,0.00,0.00,3.55,0.000,0.000,0.047,3216.62,3210.06,3223.19,1817.50,2079.94,0,0,0,30.00,30.00,14.62
$GC,762.75,516,-175.18,-1.32,-80.00,3214.6,3208.6,3220.6,1818.3,2080.6,97.14,-10.38,105,768.50,0.00,0.00,4.24,0.000,0.000,0.140,3215.84,3209.31,3222.38,1817.69,662.38,0,0,0,30.00,30.00,14.41
$GC,798.20,1028,-175.18,-1.32,0.00,3214.4,3208.2,3220.7,1818.6,662.7,101.21,-11.65,112,803.41,0.00,0.00,3.64,0.000,0.000,0.041,3215.47,3209.50,3221.44,1818.00,2121.00,0,0,0,30.00,30.00,14.68
$GC,862.75,260,-175.18,-1.32,80.00,3214.6,3208.2,3220.9,1818.4,2121.6,108.11,-10.36,119,868.42,0.00,0.00,3.76,0.000,0.000,0.102,3213.41,3207.00,3219.81,1817.75,3475.31,0,0,0,30.00,30.00,14.52
$GC,911.68,1028,-175.18,-1.32,0.00,3214.5,3208.4,3220.6,1818.6,3474.6,113.52,-11.17,129,918.49,0.00,0.00,3.55,0.000,0.000,0.048,3215.03,3209.00,3221.06,1817.94,2080.44,0,0,0,30.00,30.00,14.63
$GC,977.83,516,-175.18,-1.32,-80.00,3214.6,3208.4,3220.8,1818.8,2080.4,119.36,-8.74,136,983.52,0.00,0.00,4.24,0.000,0.000,0.141,3215.56,3209.12,3222.00,1818.44,662.94,0,0,0,30.00,30.00,14.43
$GC,1013.22,1028,-175.18,-1.32,0.00,3214.4,3208.4,3220.4,1818.8,662.9,123.22,-11.05,143,1018.42,0.00,0.00,3.64,0.000,0.000,0.041,3216.66,3210.06,3223.25,1817.44,2122.12,0,0,0,30.00,30.00,14.69
$GC,1077.78,260,-175.18,-1.32,80.00,3214.6,3208.2,3221.0,1818.6,2121.9,129.14,-8.77,150,1083.45,0.00,0.00,3.76,0.000,0.000,0.103,3214.22,3207.81,3220.62,1818.38,3474.12,0,0,0,30.00,30.00,14.53
$GC,1136.76,1028,-175.18,-1.32,0.00,3214.8,3208.6,3220.9,1818.7,3474.2,135.08,-10.04,162,1143.51,0.00,0.00,3.56,0.000,0.000,0.047,3215.41,3209.69,3221.12,1818.19,2081.19,0,0,0,30.00,30.00,14.64
$STATE,1163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1163,begin apogee
$GC,1163.96,10243,0.00,-0.25,0.00,3214.5,3208.4,3220.6,1818.9,1982.4,137.40,-8.93,165,1311.12,144.27,2.15,0.08,1.119,0.129,0.177,2498.16,2505.81,2490.50,2080.25,2024.56,0,0,0,10.77,14.55,13.86
$STATE,1315,end apogee,CONTROL_FINISHED_OK
$STATE,1315,begin climb
$GC,1314.51,10243,175.18,1.32,0.00,2497.2,2505.3,2489.1,2079.8,2025.2,141.73,0.00,179,1475.49,156.38,3.03,0.00,1.066,0.071,0.000,1784.66,1813.50,1755.81,2464.19,2024.75,0,0,0,10.95,14.01,30.00
$GC,1538.83,10791,238.31,1.51,-80.00,1779.2,1809.9,1748.6,2463.9,2024.8,128.87,7.55,208,1604.54,58.83,0.29,4.39,1.022,0.047,0.131,1525.84,1557.31,1494.38,2522.19,664.19,0,0,0,10.57,13.87,13.51
$GC,1613.21,1092,238.31,1.53,0.00,1526.4,1557.5,1495.2,2522.0,664.5,122.36,9.44,222,1618.41,0.00,0.00,3.64,0.000,0.000,0.038,1525.75,1556.81,1494.69,2521.75,2023.44,0,0,0,30.00,30.00,13.73
$GC,1677.76,0,238.31,1.53,0.00,1523.6,1556.1,1491.0,2521.7,2023.7,116.03,9.66,229,1679.09,0.00,0.00,0.00,0.000,0.000,0.000,1523.84,1556.69,1491.00,2522.06,2023.06,0,0,0,30.00,30.00,30.00
$GC,1737.78,516,238.31,1.53,-80.00,1522.8,1555.5,1490.2,2522.0,2023.1,110.11,9.69,235,1743.52,0.00,0.00,4.23,0.000,0.000,0.126,1522.19,1554.88,1489.50,2521.69,663.62,0,0,0,30.00,30.00,13.95
$GC,1766.68,1028,238.31,1.53,0.00,1522.4,1554.8,1490.1,2521.9,663.9,107.30,10.09,241,1773.49,0.00,0.00,3.53,0.000,0.000,0.038,1523.62,1555.50,1491.75,2521.00,2024.38,0,0,0,30.00,30.00,14.15
$GC,1832.79,580,238.31,1.56,-80.00,1521.6,1554.2,1488.9,2522.2,2024.6,101.48,8.92,248,1838.53,0.00,0.00,4.16,0.000,0.000,0.126,1522.03,1554.69,1489.38,2521.81,662.69,0,0,0,30.00,30.00,14.11
$GC,1878.24,1028,238.31,1.56,0.00,1521.8,1554.6,1489.1,2522.2,662.7,96.98,10.44,257,1883.42,0.00,0.00,3.48,0.000,0.000,0.040,1521.81,1554.38,1489.25,2521.62,2024.94,0,0,0,30.00,30.00,14.36
$GC,1942.81,580,238.31,1.60,-80.00,1521.2,1554.0,1488.4,2521.9,2024.8,90.94,8.79,264,1948.54,0.00,0.00,4.12,0.000,0.000,0.126,1521.31,1554.06,1488.56,2521.38,662.56,0,0,0,30.00,30.00,14.22
$GC,1981.71,1028,238.31,1.60,0.00,1521.0,1553.8,1488.1,2522.1,662.5,86.87,10.05,272,1988.51,0.00,0.00,3.43,0.000,0.000,0.038,1521.34,1554.50,1488.19,2521.81,2024.94,0,0,0,30.00,30.00,14.48
$GC,2047.88,10791,293.49,1.76,-80.00,1520.8,1553.7,1487.9,2521.7,2025.2,81.51,7.85,279,2115.95,61.65,0.31,4.16,0.989,0.054,0.125,1302.19,1334.75,1269.62,2581.56,663.19,0,0,0,10.73,14.53,14.03
$GC,2144.61,1028,293.49,1.76,0.00,1301.8,1333.8,1269.9,2581.0,662.9,71.82,10.77,293,2149.78,0.00,0.00,3.48,0.000,0.000,0.037,1302.16,1333.88,1270.44,2581.00,2024.62,0,0,0,30.00,30.00,14.26
$GC,2209.17,0,293.49,1.76,0.00,1301.0,1333.6,1268.4,2580.9,2024.6,64.91,10.06,300,2210.50,0.00,0.00,0.00,0.000,0.000,0.000,1301.06,1333.88,1268.25,2581.19,2025.25,0,0,0,30.00,30.00,30.00
$GC,2269.20,260,293.49,1.76,80.00,1300.6,1333.6,1267.5,2581.4,2024.9,59.12,9.69,306,2275.03,0.00,0.00,4.06,0.000,0.000,0.099,1300.00,1333.25,1266.75,2581.25,3464.44,0,0,0,30.00,30.00,14.38
$GC,2304.20,1092,293.49,1.79,0.00,1299.5,1332.9,1266.1,2582.0,3464.6,56.16,9.21,313,2309.87,0.00,0.00,3.86,0.000,0.000,0.048,1298.84,1332.44,1265.25,2580.81,1978.94,0,0,0,30.00,30.00,14.50
$GC,2369.20,10791,353.58,1.97,-80.00,1299.4,1333.0,1265.8,2580.8,1978.9,51.17,7.66,320,2445.37,67.93,0.23,4.02,0.971,0.057,0.130,1058.62,1091.12,1026.12,2632.88,662.56,0,0,0,10.84,14.53,14.02
$GC,2483.11,1028,353.58,1.97,0.00,1057.7,1089.8,1025.6,2631.8,662.7,39.78,12.34,343,2489.90,0.00,0.00,3.47,0.000,0.000,0.038,1057.81,1089.88,1025.75,2632.38,2024.56,0,0,0,30.00,30.00,14.31
$GC,2549.28,0,353.58,1.97,0.00,1056.7,1089.5,1023.9,2633.1,2024.9,33.31,9.94,350,2550.60,0.00,0.00,0.00,0.000,0.000,0.000,1056.72,1089.81,1023.62,2632.56,2024.94,0,0,0,30.00,30.00,30.00
$GC,2609.24,580,353.58,1.98,-80.00,1055.9,1089.6,1022.2,2632.7,2025.2,27.69,9.40,356,2614.96,0.00,0.00,4.11,0.000,0.000,0.126,1056.47,1089.81,1023.12,2631.88,663.94,0,0,0,30.00,30.00,14.31
$GC,2638.13,1028,353.58,1.98,0.00,1055.8,1089.4,1022.1,2632.4,663.2,24.57,10.55,362,2644.92,0.00,0.00,3.42,0.000,0.000,0.038,1056.12,1089.94,1022.31,2632.50,2026.94,0,0,0,30.00,30.00,14.54
$GC,2704.30,580,353.58,2.01,-80.00,1055.2,1089.6,1020.9,2633.1,2027.1,18.63,9.31,369,2709.94,0.00,0.00,4.07,0.000,0.000,0.125,1055.91,1089.62,1022.19,2631.50,662.94,0,0,0,30.00,30.00,14.36
$GC,2743.15,1028,353.58,2.01,0.00,1055.2,1089.5,1020.9,2632.5,663.0,14.62,10.04,377,2749.96,0.00,0.00,3.41,0.000,0.000,0.037,1055.28,1089.62,1020.94,2633.00,2026.88,0,0,0,30.00,30.00,14.58
$GC,2809.25,324,353.58,2.07,80.00,1055.1,1089.8,1020.4,2632.6,2027.0,8.97,8.01,384,2814.96,0.00,0.00,4.01,0.000,0.000,0.099,1054.28,1089.06,1019.50,2631.94,3463.06,0,0,0,30.00,30.00,14.47
$GC,2838.17,1092,353.58,2.11,0.00,1054.5,1089.5,1019.4,2633.2,3464.1,6.65,8.36,390,2845.03,0.00,0.00,3.82,0.000,0.000,0.049,1055.25,1090.19,1020.31,2631.31,1980.31,0,0,0,30.00,30.00,14.58
$STATE,2905,end climb,SURFACE_DEPTH_REACHED
$STATE,2905,begin surface coast
$STATE,2935,end surface coast,CONTROL_FINISHED_OK
$STATE,2935,begin surface
$SM_CCo,3085.93,117.92,0.972,0,564.3,564.1,564.4,474.83
$SM_CCo,3087.06,0.00,2.410,0,564.9,562.9,566.9,474.69
$SM_CCo,3088.17,0.14,0.160,0,564.8,562.9,566.6,474.71
$SM_GC,-0.73,0.14,17.95,0.33,0.160,0.059,0.071,564.8,562.9,566.6,182.8,2133.6,0,0,0,14.06,14.52,14.69
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4706.71,-12455.12,250421,231326
$TCM_TEMP,175.08
$XPDR_PINGS,12,14.0,11.5
$SC_FREEKB,3377760
$HUMID,59.97
$TEMP,8.81
$INTERNAL_PRESSURE,7.8234
$24V_AH,12.94,339.110
$10V_AH,13.68,0.000
$FG_AHR_24Vo,297.598
$FG_AHR_10Vo,79.732
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,706.830,40.270,154.050,189.748,3.000,13.342,2057.069,1329.147,822.340,0.000,0.000,0.000
$DEVICE_MAMPS,2409.896,247.720,176.872,194.008,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3005.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.423,0.000,0.000,0.000
$MEM,1103856,39,73332,53
$DATA_FILE_SIZE,13019,400
$CAP_FILE_SIZE,315042,0
$SDSIZE,3918848,3576544
$SDFILEDIR,6306,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260421,000926,4705.865,-12454.474,1,0.8,3,15.5