version: 67.00
glider: 236
mission: 2
dive: 1081
start: 4 8 121 1 19 3
data:
$ID,236
$MISSION,2
$DIVE,1081
$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,74.502373
$FG_AHR_24V,257.702
$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
$GPS1,080421,010701,4708.444,-12501.930,7,1.2,29,15.6
$_CALLS,4
$_SM_DEPTHo,-1.60
$_SM_ANGLEo,-60.9
$GPS2,080421,011845,4708.389,-12501.967,2,0.8,4,15.6
$SPEED_LIMITS,0.192,0.290
$TGT_NAME,HOLD
$TGT_LATLONG,4708.000,-12502.000
$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,167.7,721,-27.4,-11.111,-30.00
$D_GRID,1000
$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,8.34,16386,-74.33,-1.59,0.00,558.7,560.1,557.2,167.7,2081.9,0.00,0.00,0,90.33,81.51,0.00,0.00,0.005,0.000,0.000,2427.09,2410.56,2443.62,167.81,2082.25,0,0,0,14.72,30.00,30.00
$GC,90.57,18727,-110.16,-1.70,80.00,2426.3,2410.0,2442.7,167.6,2081.7,3.44,-7.51,8,126.62,11.84,13.83,3.85,0.007,0.248,0.111,2948.19,2946.50,2949.88,1727.19,3474.81,0,0,0,14.86,14.93,14.71
$GC,240.31,1028,-110.16,-1.70,0.00,2948.6,2945.8,2951.4,1727.3,3474.9,38.12,-20.30,38,245.48,0.00,0.00,3.43,0.000,0.000,0.057,2947.84,2945.44,2950.25,1727.19,2081.62,0,0,0,30.00,30.00,15.40
$GC,304.92,516,-110.16,-1.70,-80.00,2948.7,2946.0,2951.3,1727.4,2082.3,49.26,-16.53,45,310.59,0.00,0.00,4.05,0.000,0.000,0.146,2948.12,2945.50,2950.75,1727.00,662.62,0,0,0,30.00,30.00,15.10
$GC,330.31,1028,-110.16,-1.70,0.00,2948.5,2945.9,2951.1,1727.1,662.9,53.52,-17.07,50,335.51,0.00,0.00,3.55,0.000,0.000,0.048,2947.50,2945.75,2949.25,1727.38,2122.50,0,0,0,30.00,30.00,15.49
$GC,394.88,0,-110.16,-1.70,0.00,2948.2,2945.5,2951.0,1727.3,2122.2,64.03,-15.92,57,396.20,0.00,0.00,0.00,0.000,0.000,0.000,2949.22,2947.25,2951.19,1727.19,2122.12,0,0,0,30.00,30.00,30.00
$GC,454.88,260,-110.16,-1.70,80.00,2948.8,2945.9,2951.6,1727.1,2121.8,73.93,-16.62,63,460.53,0.00,0.00,3.64,0.000,0.000,0.103,2946.72,2944.69,2948.75,1726.94,3474.62,0,0,0,30.00,30.00,15.27
$GC,530.38,1028,-110.16,-1.70,0.00,2948.5,2945.4,2951.5,1727.4,3475.0,86.26,-15.88,78,535.49,0.00,0.00,3.37,0.000,0.000,0.052,2949.56,2946.81,2952.31,1727.31,2080.88,0,0,0,30.00,30.00,15.44
$GC,594.95,0,-110.16,-1.70,0.00,2948.4,2945.8,2951.0,1727.4,2080.6,95.08,-13.09,85,596.28,0.00,0.00,0.00,0.000,0.000,0.000,2949.19,2946.38,2952.00,1727.12,2081.62,0,0,0,30.00,30.00,30.00
$GC,654.92,260,-110.16,-1.70,80.00,2948.5,2945.9,2951.1,1727.0,2080.9,103.12,-13.43,91,660.56,0.00,0.00,3.76,0.000,0.000,0.102,2948.25,2946.00,2950.50,1726.88,3476.50,0,0,0,30.00,30.00,15.28
$GC,700.35,1028,-110.16,-1.70,0.00,2948.4,2945.4,2951.4,1727.2,3475.5,109.40,-13.80,100,705.50,0.00,0.00,3.38,0.000,0.000,0.053,2948.06,2945.25,2950.88,1727.19,2080.25,0,0,0,30.00,30.00,15.44
$GC,764.96,0,-110.16,-1.70,0.00,2948.7,2945.6,2951.7,1727.3,2080.1,117.27,-12.26,107,766.29,0.00,0.00,0.00,0.000,0.000,0.000,2949.25,2946.88,2951.62,1727.25,2079.94,0,0,0,30.00,30.00,30.00
$GC,824.92,260,-110.16,-1.70,80.00,2948.4,2945.9,2950.9,1727.4,2080.1,124.37,-12.03,113,830.58,0.00,0.00,3.74,0.000,0.000,0.102,2948.81,2945.94,2951.69,1726.88,3476.25,0,0,0,30.00,30.00,15.27
$GC,880.37,1028,-110.16,-1.70,0.00,2948.7,2945.5,2951.8,1727.1,3476.9,131.74,-12.39,124,885.53,0.00,0.00,3.37,0.000,0.000,0.052,2946.94,2944.25,2949.62,1727.50,2080.19,0,0,0,30.00,30.00,15.45
$GC,944.98,0,-110.16,-1.70,0.00,2948.7,2945.6,2951.8,1727.0,2080.9,139.32,-11.64,131,946.31,0.00,0.00,0.00,0.000,0.000,0.000,2949.22,2946.81,2951.62,1727.12,2080.75,0,0,0,30.00,30.00,30.00
$GC,1004.94,0,-110.16,-1.70,0.00,2948.6,2946.1,2951.1,1727.5,2080.9,146.44,-11.60,137,1006.27,0.00,0.00,0.00,0.000,0.000,0.000,2949.31,2946.44,2952.19,1727.44,2080.44,0,0,0,30.00,30.00,30.00
$GC,1064.94,0,-110.16,-1.70,0.00,2948.8,2946.1,2951.6,1727.3,2080.0,153.70,-12.10,143,1066.28,0.00,0.00,0.00,0.000,0.000,0.000,2947.97,2944.88,2951.06,1727.69,2080.62,0,0,0,30.00,30.00,30.00
$GC,1184.95,260,-110.16,-1.70,80.00,2948.7,2945.7,2951.6,1727.3,2080.4,168.21,-11.78,155,1190.61,0.00,0.00,3.77,0.000,0.000,0.103,2948.19,2945.62,2950.75,1726.44,3474.69,0,0,0,30.00,30.00,15.27
$GC,1230.39,1028,-110.16,-1.70,0.00,2948.7,2945.2,2952.2,1726.9,3475.1,174.16,-13.36,164,1235.56,0.00,0.00,3.37,0.000,0.000,0.053,2947.69,2945.38,2950.00,1727.38,2082.81,0,0,0,30.00,30.00,15.44
$GC,1354.96,260,-110.16,-1.70,80.00,2948.6,2945.9,2951.4,1727.6,2082.2,189.31,-12.15,177,1360.62,0.00,0.00,3.77,0.000,0.000,0.102,2947.25,2944.06,2950.44,1726.69,3476.94,0,0,0,30.00,30.00,15.27
$GC,1390.42,1028,-110.16,-1.70,0.00,2949.1,2946.0,2952.1,1727.2,3477.0,193.99,-13.37,184,1395.57,0.00,0.00,3.37,0.000,0.000,0.053,2947.69,2944.50,2950.88,1727.38,2081.94,0,0,0,30.00,30.00,15.44
$GC,1514.98,0,-110.16,-1.70,0.00,2948.9,2946.0,2951.8,1726.9,2082.1,209.89,-12.53,197,1516.31,0.00,0.00,0.00,0.000,0.000,0.000,2950.19,2947.44,2952.94,1727.12,2082.25,0,0,0,30.00,30.00,30.00
$GC,1634.99,260,-110.16,-1.70,80.00,2949.0,2945.8,2952.3,1727.5,2082.2,224.73,-12.23,209,1640.65,0.00,0.00,3.79,0.000,0.000,0.104,2948.34,2945.56,2951.12,1726.81,3475.25,0,0,0,30.00,30.00,15.26
$GC,1663.89,1028,-110.16,-1.70,0.00,2949.2,2946.1,2952.2,1727.2,3475.3,228.61,-12.91,215,1671.12,0.00,0.00,3.37,0.000,0.000,0.054,2950.00,2946.88,2953.12,1727.06,2081.12,0,0,0,30.00,30.00,15.40
$GC,1790.01,260,-110.16,-1.70,80.00,2949.0,2945.9,2952.1,1727.4,2081.3,245.10,-13.39,228,1795.97,0.00,0.00,3.76,0.000,0.000,0.104,2947.34,2944.06,2950.62,1727.56,3475.69,0,0,0,30.00,30.00,15.25
$GC,1833.92,1028,-110.16,-1.70,0.00,2949.1,2945.9,2952.4,1727.0,3475.5,251.68,-13.87,237,1839.60,0.00,0.00,3.36,0.000,0.000,0.054,2950.06,2946.88,2953.25,1726.56,2080.00,0,0,0,30.00,30.00,15.39
$GC,2145.02,260,-110.16,-1.70,80.00,2949.1,2946.1,2952.1,1727.8,2081.5,290.42,-12.50,249,2150.68,0.00,0.00,3.77,0.000,0.000,0.105,2948.31,2945.50,2951.12,1726.50,3476.25,0,0,0,30.00,30.00,15.22
$GC,2208.94,1028,-110.16,-1.70,0.00,2949.1,2946.6,2951.6,1726.9,3476.1,299.49,-13.41,262,2214.62,0.00,0.00,3.37,0.000,0.000,0.055,2949.81,2946.31,2953.31,1727.25,2081.88,0,0,0,30.00,30.00,15.39
$GC,2530.04,516,-110.16,-1.70,-80.00,2949.1,2946.3,2951.9,1727.1,2081.7,337.35,-11.93,276,2535.76,0.00,0.00,4.06,0.000,0.000,0.154,2947.59,2944.44,2950.75,1727.88,660.88,0,0,0,30.00,30.00,15.00
$GC,2549.00,1028,-110.16,-1.70,0.00,2948.7,2945.6,2951.8,1727.7,661.0,339.97,-11.97,280,2556.20,0.00,0.00,3.52,0.000,0.000,0.049,2949.28,2946.19,2952.38,1727.12,2122.81,0,0,0,30.00,30.00,15.48
$GC,2855.05,260,-110.16,-1.70,80.00,2949.0,2945.9,2952.1,1727.5,2122.9,377.49,-12.64,291,2860.72,0.00,0.00,3.65,0.000,0.000,0.110,2951.00,2948.00,2954.00,1727.56,3474.38,0,0,0,30.00,30.00,15.20
$GC,2910.51,1028,-110.16,-1.70,0.00,2948.4,2945.4,2951.3,1727.5,3474.4,385.09,-14.70,302,2915.65,0.00,0.00,3.37,0.000,0.000,0.056,2948.69,2945.19,2952.19,1727.44,2082.44,0,0,0,30.00,30.00,15.38
$GC,3235.07,0,-110.16,-1.70,0.00,2949.1,2945.9,2952.2,1727.1,2082.0,424.88,-12.18,317,3236.41,0.00,0.00,0.00,0.000,0.000,0.000,2947.38,2944.50,2950.25,1727.38,2082.06,0,0,0,30.00,30.00,30.00
$GC,3535.07,260,-110.16,-1.70,80.00,2948.1,2945.5,2950.6,1727.1,2082.4,462.03,-11.98,327,3540.80,0.00,0.00,3.82,0.000,0.000,0.111,2949.25,2946.94,2951.56,1727.12,3475.06,0,0,0,30.00,30.00,15.16
$GC,3599.00,1028,-110.16,-1.70,0.00,2948.3,2945.6,2951.0,1727.1,3474.7,470.47,-11.80,340,3604.68,0.00,0.00,3.40,0.000,0.000,0.058,2950.06,2947.06,2953.06,1727.56,2081.75,0,0,0,30.00,30.00,15.34
$STATE,3889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3890,begin apogee
$GC,3891.24,10243,0.00,-0.25,0.00,2948.1,2945.7,2950.5,1727.3,2119.1,503.48,-11.79,353,3988.54,92.94,2.76,0.09,1.639,0.150,0.241,2498.25,2508.12,2488.38,2080.31,2084.81,0,0,0,10.57,15.14,14.84
$STATE,3991,end apogee,CONTROL_FINISHED_OK
$STATE,3991,begin climb
$GC,3991.61,10759,110.16,1.70,-80.00,2497.9,2507.7,2488.1,2079.9,2084.8,507.31,0.00,356,4102.42,100.06,3.36,4.09,1.586,0.074,0.140,2048.59,2061.88,2035.31,2557.44,662.88,0,0,0,11.43,15.13,14.69
$GC,4159.56,1028,110.16,1.70,0.00,2043.9,2057.1,2030.6,2556.4,662.9,496.59,11.54,390,4165.27,0.00,0.00,3.57,0.000,0.000,0.045,2044.66,2058.00,2031.31,2556.00,2124.00,0,0,0,30.00,30.00,15.32
$GC,4470.68,16450,110.16,1.74,0.00,2038.0,2055.6,2020.4,2557.3,2124.5,467.28,9.61,402,4472.01,0.00,0.00,0.00,0.000,0.000,0.000,2038.31,2056.00,2020.62,2557.00,2125.00,0,0,0,30.00,30.00,30.00
$GC,4770.70,10791,137.60,1.83,-80.00,2036.1,2055.6,2016.7,2557.2,2124.1,442.41,8.35,412,4802.56,24.87,0.16,4.09,1.466,0.084,0.138,1937.09,1954.75,1919.44,2604.44,660.88,0,0,0,11.33,15.64,15.13
$GC,5024.73,1028,137.60,1.83,0.00,1932.9,1949.2,1916.5,2604.1,661.0,409.42,13.49,463,5030.44,0.00,0.00,3.55,0.000,0.000,0.047,1932.28,1949.44,1915.12,2603.94,2124.75,0,0,0,30.00,30.00,15.55
$GC,5340.83,16902,137.60,1.83,-80.00,1929.8,1948.6,1911.1,2603.4,2124.8,375.05,10.65,476,5346.54,0.00,0.00,4.07,0.000,0.000,0.133,1928.59,1946.94,1910.25,2603.62,661.75,0,0,0,30.00,30.00,15.22
$GC,5419.74,17414,137.60,1.83,0.00,1929.9,1948.2,1911.6,2603.8,661.9,365.20,11.80,492,5426.56,0.00,0.00,3.47,0.000,0.000,0.045,1930.41,1949.19,1911.62,2603.44,2125.19,0,0,0,30.00,30.00,15.56
$GC,5725.85,16902,137.60,1.83,-80.00,1928.9,1948.4,1909.3,2604.4,2124.7,331.92,10.97,503,5731.56,0.00,0.00,4.09,0.000,0.000,0.132,1927.94,1947.69,1908.19,2603.12,661.69,0,0,0,30.00,30.00,15.19
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$GC,7711.02,0,167.86,2.07,0.00,1807.7,1831.0,1784.3,2649.6,2125.8,114.87,10.94,722,7712.34,0.00,0.00,0.00,0.000,0.000,0.000,1807.91,1831.25,1784.56,2649.38,2125.94,0,0,0,30.00,30.00,30.00
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$STATE,8893,end climb,SURFACE_DEPTH_REACHED
$STATE,8893,begin surface coast
$STATE,8912,end surface coast,CONTROL_FINISHED_OK
$STATE,8912,begin surface
$SM_CCo,9092.98,146.83,1.023,0,564.2,565.8,562.8,474.84
$SM_CCo,9094.10,0.00,2.580,0,564.7,562.8,566.6,474.74
$SM_CCo,9095.23,0.00,0.016,0,564.6,562.4,566.8,474.76
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$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4706.19,-12502.11,080421,011407
$TCM_TEMP,174.69
$XPDR_PINGS,5,14.0,11.5
$SC_FREEKB,3444960
$HUMID,58.42
$TEMP,7.76
$INTERNAL_PRESSURE,7.7785
$24V_AH,13.63,296.411
$10V_AH,14.76,0.000
$FG_AHR_24Vo,257.920
$FG_AHR_10Vo,74.533
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,659.200,39.145,183.540,295.756,1.250,13.497,3499.254,6071.658,1775.749,0.000,0.000,0.000
$DEVICE_MAMPS,2579.800,247.720,241.488,199.266,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8976.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.123,0.000,0.000,0.000
$MEM,1103688,39,73440,56
$DATA_FILE_SIZE,35422,913
$CAP_FILE_SIZE,459619,0
$SDSIZE,3918848,3624288
$SDFILEDIR,5431,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080421,035109,4707.412,-12501.818,23,0.9,24,15.6