version: 67.00
glider: 236
mission: 2
dive: 1234
start: 4 25 121 3 6 25
data:
$ID,236
$MISSION,2
$DIVE,1234
$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,79.452354
$FG_AHR_24V,293.10754
$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
$GPS1,250421,025937,4706.630,-12458.634,2,1.0,6,15.5
$_CALLS,1
$_SM_DEPTHo,-1.56
$_SM_ANGLEo,-64.3
$GPS2,250421,030606,4706.620,-12458.604,4,1.2,9,15.5
$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,50.7,6339,-17.6,-11.111,-21.00
$D_GRID,148
$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,8.63,16386,-175.18,-1.40,0.00,558.5,558.9,558.2,167.9,2081.7,0.00,0.00,0,100.55,91.44,0.00,0.00,0.005,0.000,0.000,2761.41,2741.56,2781.25,167.69,2081.94,0,0,0,13.19,30.00,30.00
$GC,100.78,18695,-175.18,-1.40,80.00,2760.4,2741.0,2779.8,168.1,2082.4,5.54,-12.03,9,133.52,8.42,15.27,3.79,0.007,0.259,0.108,3214.53,3208.81,3220.25,1800.00,3475.94,0,0,0,13.36,14.82,14.48
$GC,201.93,1028,-175.18,-1.40,0.00,3214.3,3208.2,3220.5,1799.8,3475.8,29.00,-17.51,29,207.36,0.00,0.00,3.46,0.000,0.000,0.053,3213.12,3207.00,3219.25,1800.62,2080.69,0,0,0,30.00,30.00,15.26
$GC,267.44,516,-175.18,-1.40,-80.00,3214.5,3208.0,3220.9,1800.1,2080.9,39.48,-15.96,36,273.46,0.00,0.00,4.07,0.000,0.000,0.139,3215.28,3208.38,3222.19,1799.88,660.75,0,0,0,30.00,30.00,15.04
$GC,292.19,1028,-175.18,-1.40,0.00,3214.8,3208.9,3220.8,1800.3,660.7,43.36,-15.58,41,297.38,0.00,0.00,3.50,0.000,0.000,0.041,3214.59,3207.31,3221.88,1798.44,2124.44,0,0,0,30.00,30.00,15.33
$GC,356.81,260,-175.18,-1.40,80.00,3214.6,3208.6,3220.6,1799.8,2124.2,52.45,-13.56,48,362.38,0.00,0.00,3.60,0.000,0.000,0.099,3214.75,3208.38,3221.12,1799.81,3476.19,0,0,0,30.00,30.00,15.13
$GC,401.75,1028,-175.18,-1.40,0.00,3214.4,3208.0,3220.8,1799.8,3475.8,58.51,-13.80,57,406.35,0.00,0.00,3.38,0.000,0.000,0.045,3214.41,3207.94,3220.88,1800.19,2079.50,0,0,0,30.00,30.00,15.27
$GC,471.76,516,-175.18,-1.40,-80.00,3214.8,3208.1,3221.5,1799.8,2079.4,66.62,-11.45,65,477.48,0.00,0.00,4.03,0.000,0.000,0.137,3212.62,3206.44,3218.81,1799.06,661.81,0,0,0,30.00,30.00,15.03
$GC,507.21,1028,-175.18,-1.40,0.00,3214.9,3208.9,3221.0,1799.6,661.9,70.81,-12.18,72,512.41,0.00,0.00,3.47,0.000,0.000,0.039,3215.38,3208.62,3222.12,1799.81,2126.12,0,0,0,30.00,30.00,15.34
$GC,571.85,260,-175.18,-1.40,80.00,3214.7,3208.9,3220.4,1799.6,2126.8,77.73,-10.72,79,577.47,0.00,0.00,3.58,0.000,0.000,0.100,3214.06,3207.56,3220.56,1800.25,3476.69,0,0,0,30.00,30.00,15.12
$GC,640.70,1028,-175.18,-1.40,0.00,3214.6,3208.9,3220.2,1799.6,3477.4,85.54,-11.06,93,647.48,0.00,0.00,3.38,0.000,0.000,0.044,3215.38,3209.56,3221.19,1799.50,2078.94,0,0,0,30.00,30.00,15.25
$GC,706.85,260,-175.18,-1.40,80.00,3214.8,3208.5,3221.0,1799.5,2079.1,92.50,-10.55,100,712.44,0.00,0.00,3.68,0.000,0.000,0.097,3213.09,3207.00,3219.19,1799.94,3475.88,0,0,0,30.00,30.00,15.12
$GC,725.71,1028,-175.18,-1.40,0.00,3214.6,3208.5,3220.6,1799.4,3476.3,94.97,-10.90,104,732.50,0.00,0.00,3.38,0.000,0.000,0.044,3215.03,3208.94,3221.12,1800.25,2080.25,0,0,0,30.00,30.00,15.25
$GC,791.85,516,-175.18,-1.40,-80.00,3214.5,3207.9,3221.0,1799.4,2079.8,102.31,-11.48,111,797.51,0.00,0.00,4.01,0.000,0.000,0.138,3213.38,3206.81,3219.94,1799.94,661.62,0,0,0,30.00,30.00,15.04
$GC,827.24,1028,-175.18,-1.40,0.00,3214.6,3208.2,3220.9,1799.9,661.9,107.05,-13.58,118,832.42,0.00,0.00,3.46,0.000,0.000,0.039,3214.00,3208.19,3219.81,1800.06,2127.62,0,0,0,30.00,30.00,15.34
$GC,891.86,260,-175.18,-1.40,80.00,3214.7,3208.6,3220.9,1800.0,2127.6,115.32,-12.50,125,897.45,0.00,0.00,3.58,0.000,0.000,0.101,3216.44,3209.50,3223.38,1799.38,3475.56,0,0,0,30.00,30.00,15.11
$GC,926.80,1028,-175.18,-1.40,0.00,3214.4,3208.1,3220.8,1799.8,3475.6,119.89,-13.28,132,931.41,0.00,0.00,3.38,0.000,0.000,0.046,3215.56,3208.94,3222.19,1799.69,2080.38,0,0,0,30.00,30.00,15.26
$GC,996.82,516,-175.18,-1.40,-80.00,3214.3,3208.2,3220.5,1799.9,2080.5,128.94,-12.98,140,1002.52,0.00,0.00,3.98,0.000,0.000,0.139,3214.38,3208.44,3220.31,1799.50,662.12,0,0,0,30.00,30.00,15.03
$GC,1022.26,1028,-175.18,-1.40,0.00,3214.8,3208.9,3220.7,1800.1,662.1,132.36,-13.09,145,1027.44,0.00,0.00,3.45,0.000,0.000,0.039,3213.06,3206.50,3219.62,1799.88,2125.62,0,0,0,30.00,30.00,15.35
$GC,1086.83,260,-175.18,-1.40,80.00,3214.4,3208.0,3220.9,1799.4,2125.4,141.18,-13.01,152,1091.45,0.00,0.00,3.56,0.000,0.000,0.101,3214.81,3207.44,3222.19,1799.19,3474.94,0,0,0,30.00,30.00,15.11
$GC,1116.88,1028,-175.18,-1.40,0.00,3214.8,3208.3,3221.4,1799.9,3475.0,144.96,-12.58,158,1121.43,0.00,0.00,3.37,0.000,0.000,0.045,3214.81,3208.69,3220.94,1799.81,2078.88,0,0,0,30.00,30.00,15.25
$STATE,1146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1146,begin apogee
$GC,1147.98,10243,0.00,-0.25,0.00,3214.6,3208.2,3221.0,1800.2,2125.9,148.88,-13.17,162,1290.08,137.35,2.22,0.10,1.158,0.133,0.185,2497.75,2505.19,2490.31,2079.94,2082.38,0,0,0,11.24,15.10,14.52
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1293.43,10503,175.18,1.40,80.00,2497.2,2506.4,2488.0,2079.8,2082.1,156.61,0.00,176,1453.78,149.57,3.07,3.95,1.108,0.078,0.101,1783.41,1811.50,1755.31,2483.62,3470.94,0,0,0,11.18,14.71,14.18
$GC,1560.95,1092,175.18,1.42,0.00,1777.9,1808.4,1747.5,2482.5,3472.1,140.20,10.54,229,1567.73,0.00,0.00,3.49,0.000,0.000,0.046,1777.53,1807.38,1747.69,2482.81,2076.62,0,0,0,30.00,30.00,14.82
$GC,1627.10,10791,236.34,1.60,-80.00,1776.5,1808.5,1744.4,2483.4,2077.1,134.28,8.48,236,1689.35,53.02,0.29,4.04,1.060,0.056,0.126,1535.78,1566.81,1504.75,2540.62,660.75,0,0,0,11.05,15.03,14.52
$GC,1728.02,1028,236.34,1.60,0.00,1533.9,1563.3,1504.6,2540.3,660.9,122.83,14.04,256,1733.21,0.00,0.00,3.55,0.000,0.000,0.036,1533.59,1562.88,1504.31,2539.94,2129.50,0,0,0,30.00,30.00,14.86
$GC,1792.58,516,236.34,1.60,-80.00,1531.5,1562.9,1500.1,2540.3,2129.9,115.34,11.01,263,1798.30,0.00,0.00,4.07,0.000,0.000,0.118,1530.72,1562.00,1499.44,2539.94,660.81,0,0,0,30.00,30.00,14.81
$GC,1838.04,1028,236.34,1.60,0.00,1531.4,1562.6,1500.2,2540.1,660.8,109.37,13.72,272,1843.22,0.00,0.00,3.51,0.000,0.000,0.035,1532.16,1563.06,1501.25,2541.06,2130.19,0,0,0,30.00,30.00,15.13
$GC,1902.59,260,236.34,1.60,80.00,1530.4,1562.2,1498.7,2540.7,2130.8,101.79,11.39,279,1908.23,0.00,0.00,3.61,0.000,0.000,0.101,1530.81,1562.44,1499.19,2540.38,3474.75,0,0,0,30.00,30.00,14.95
$GC,1927.66,1092,236.34,1.63,0.00,1529.5,1560.8,1498.2,2540.5,3476.3,99.32,10.20,284,1932.20,0.00,0.00,3.41,0.000,0.000,0.042,1530.00,1560.88,1499.12,2539.44,2075.94,0,0,0,30.00,30.00,15.12
$GC,1997.62,10791,290.50,1.79,-80.00,1529.3,1561.1,1497.6,2540.3,2075.2,92.79,8.78,292,2063.62,59.80,0.23,3.99,1.003,0.074,0.123,1315.28,1346.75,1283.81,2589.69,660.62,0,0,0,11.19,15.24,14.68
$GC,2088.06,1028,290.50,1.79,0.00,1314.8,1345.4,1284.3,2589.6,660.7,82.40,13.85,310,2093.23,0.00,0.00,3.55,0.000,0.000,0.036,1314.16,1344.88,1283.44,2589.31,2130.75,0,0,0,30.00,30.00,14.92
$GC,2152.62,324,290.50,1.82,80.00,1312.9,1345.4,1280.4,2589.9,2130.6,75.65,10.34,317,2158.26,0.00,0.00,3.64,0.000,0.000,0.101,1312.53,1345.00,1280.06,2590.12,3473.06,0,0,0,30.00,30.00,14.90
$GC,2181.51,1028,290.50,1.82,0.00,1312.1,1344.5,1279.7,2590.0,3474.2,72.17,11.56,323,2188.34,0.00,0.00,3.44,0.000,0.000,0.043,1312.22,1345.00,1279.44,2589.81,2076.12,0,0,0,30.00,30.00,15.06
$GC,2247.67,516,290.50,1.82,-80.00,1312.0,1344.9,1279.1,2589.8,2075.8,65.21,10.77,330,2253.32,0.00,0.00,3.93,0.000,0.000,0.122,1312.44,1345.38,1279.50,2589.75,661.06,0,0,0,30.00,30.00,14.92
$GC,2383.09,1028,290.50,1.82,0.00,1312.1,1345.1,1279.1,2589.8,660.9,46.95,13.70,357,2388.27,0.00,0.00,3.46,0.000,0.000,0.036,1311.62,1344.19,1279.06,2588.00,2131.69,0,0,0,30.00,30.00,15.26
$GC,2447.65,260,290.50,1.82,80.00,1310.9,1344.8,1277.1,2590.2,2131.9,39.79,11.16,364,2453.29,0.00,0.00,3.59,0.000,0.000,0.102,1311.06,1344.94,1277.19,2587.88,3475.06,0,0,0,30.00,30.00,15.06
$GC,2482.65,1028,290.50,1.82,0.00,1310.2,1344.1,1276.4,2590.0,3474.8,36.02,10.78,371,2487.25,0.00,0.00,3.38,0.000,0.000,0.041,1311.19,1344.62,1277.75,2589.44,2075.12,0,0,0,30.00,30.00,15.23
$GC,2552.67,10791,340.22,1.97,-80.00,1310.2,1343.9,1276.5,2589.8,2075.2,29.33,8.97,379,2614.53,53.42,0.17,3.93,0.974,0.082,0.124,1112.88,1145.62,1080.12,2626.00,660.69,0,0,0,11.23,15.39,14.85
$GC,2653.20,1028,340.22,1.97,0.00,1111.8,1143.7,1079.9,2625.6,660.8,19.24,12.06,399,2658.37,0.00,0.00,3.48,0.000,0.000,0.035,1111.41,1143.00,1079.81,2624.25,2132.88,0,0,0,30.00,30.00,15.17
$GC,2717.76,10791,413.02,2.18,-80.00,1110.6,1143.6,1077.6,2625.1,2132.8,13.82,7.98,406,2800.60,74.41,0.28,4.12,0.953,0.054,0.119,816.59,845.00,788.19,2685.56,661.62,0,0,0,11.20,15.28,14.71
$GC,2839.27,1028,413.02,2.18,0.00,815.5,843.1,787.8,2685.8,661.8,2.44,11.50,430,2844.45,0.00,0.00,3.51,0.000,0.000,0.035,814.97,842.81,787.12,2686.25,2130.50,0,0,0,30.00,30.00,15.06
$STATE,2853,end climb,SURFACE_DEPTH_REACHED
$STATE,2853,begin surface coast
$STATE,2873,end surface coast,CONTROL_FINISHED_OK
$STATE,2873,begin surface
$SM_CCo,2966.07,58.60,0.958,0,564.5,566.4,562.5,474.79
$SM_CCo,2967.18,0.00,0.017,0,564.1,566.6,561.6,474.88
$SM_CCo,2968.27,0.00,0.009,0,563.6,566.6,560.6,475.00
$SM_GC,-1.10,0.00,17.63,0.11,0.009,0.048,0.125,563.6,566.6,560.6,166.6,2070.2,0,0,0,30.36,15.05,15.15
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4705.80,-12457.71,250421,020246
$TCM_TEMP,175.30
$XPDR_PINGS,14,14.0,11.5
$SC_FREEKB,3386208
$HUMID,59.36
$TEMP,8.96
$INTERNAL_PRESSURE,7.82212
$24V_AH,13.89,334.549
$10V_AH,14.47,0.000
$FG_AHR_24Vo,293.286
$FG_AHR_10Vo,79.463
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,686.045,39.175,146.230,158.117,3.500,18.372,2065.732,1171.517,861.727,0.000,0.000,0.000
$DEVICE_MAMPS,1157.920,258.544,185.072,185.501,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2942.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.416,0.000,0.000,0.000
$MEM,1103656,40,73452,56
$DATA_FILE_SIZE,16168,434
$CAP_FILE_SIZE,310739,0
$SDSIZE,3918848,3581472
$SDFILEDIR,6196,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250421,035630,4706.588,-12458.209,30,0.8,30,15.5