version: 67.00
glider: 236
mission: 2
dive: 178
start: 11 7 120 6 16 6
data:
$ID,236
$MISSION,2
$DIVE,178
$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,0
$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,4
$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,20.904629
$FG_AHR_24V,50.226803
$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
$GPS1,071120,060939,4752.897,-12513.421,28,1.6,29,15.8
$_CALLS,1
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-60.5
$GPS2,071120,061548,4752.884,-12513.423,3,1.2,6,15.8
$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,98.5,4298,-21.1,-8.049,-24.73
$D_GRID,990
$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,6.53,16386,-72.86,-1.27,0.00,760.9,764.1,757.6,176.4,2082.7,0.00,0.00,0,84.71,77.59,0.00,0.00,0.005,0.000,0.000,2513.41,2493.62,2533.19,176.38,2082.25,0,0,0,15.69,30.00,30.00
$GC,84.99,18983,-77.86,-1.29,-80.00,2512.5,2492.3,2532.8,176.4,2081.8,3.88,-5.10,15,116.21,7.06,13.32,4.07,0.008,0.259,0.167,2816.44,2812.25,2820.62,1827.12,663.31,0,0,0,15.73,15.68,15.66
$GC,339.05,1028,-77.86,-1.29,0.00,2817.0,2813.3,2820.6,1827.6,662.9,64.25,-19.01,66,344.83,0.00,0.00,3.55,0.000,0.000,0.062,2818.53,2814.75,2822.31,1826.69,2119.12,0,0,0,30.00,30.00,15.86
$GC,524.11,260,-77.86,-1.29,80.00,2817.1,2814.0,2820.1,1827.1,2119.1,91.10,-12.15,103,529.88,0.00,0.00,3.61,0.000,0.000,0.121,2818.59,2815.12,2822.06,1826.62,3472.56,0,0,0,30.00,30.00,15.89
$GC,674.13,1028,-77.86,-1.29,0.00,2817.4,2815.1,2819.8,1826.9,3472.8,110.46,-12.40,133,678.85,0.00,0.00,3.40,0.000,0.000,0.062,2818.91,2816.00,2821.81,1826.69,2080.44,0,0,0,30.00,30.00,15.93
$GC,984.15,516,-77.86,-1.29,-80.00,2817.8,2815.8,2819.8,1826.9,2081.3,140.81,-9.55,165,989.90,0.00,0.00,3.97,0.000,0.000,0.160,2816.47,2813.81,2819.12,1826.69,663.06,0,0,0,30.00,30.00,15.95
$GC,1089.18,1028,-77.86,-1.29,0.00,2818.0,2815.4,2820.7,1826.8,663.2,153.53,-12.20,186,1093.93,0.00,0.00,3.54,0.000,0.000,0.060,2819.53,2816.75,2822.31,1827.00,2117.88,0,0,0,30.00,30.00,15.99
$GC,1399.22,260,-77.86,-1.29,80.00,2818.3,2816.2,2820.4,1827.2,2118.6,187.55,-11.00,218,1403.96,0.00,0.00,3.60,0.000,0.000,0.123,2817.84,2815.50,2820.19,1827.44,3473.31,0,0,0,30.00,30.00,16.00
$GC,1443.22,1028,-77.86,-1.29,0.00,2817.8,2815.6,2820.1,1826.4,3473.6,193.26,-12.10,227,1449.95,0.00,0.00,3.38,0.000,0.000,0.063,2818.53,2815.81,2821.25,1826.75,2082.62,0,0,0,30.00,30.00,16.01
$GC,1749.24,516,-77.86,-1.29,-80.00,2818.3,2816.2,2820.5,1826.9,2082.6,226.44,-11.67,258,1754.94,0.00,0.00,3.95,0.000,0.000,0.163,2817.72,2816.12,2819.31,1826.56,662.81,0,0,0,30.00,30.00,16.00
$GC,1814.27,1028,-77.86,-1.29,0.00,2818.1,2815.8,2820.4,1826.8,662.9,234.89,-13.38,271,1818.92,0.00,0.00,3.53,0.000,0.000,0.060,2818.62,2816.50,2820.75,1825.75,2117.69,0,0,0,30.00,30.00,16.04
$GC,2124.29,0,-77.86,-1.29,0.00,2818.1,2815.8,2820.4,1827.3,2118.8,269.30,-11.37,303,2125.62,0.00,0.00,0.00,0.000,0.000,0.000,2818.50,2816.38,2820.62,1826.69,2118.69,0,0,0,30.00,30.00,30.00
$GC,2424.34,292,-77.86,-1.29,80.00,2818.3,2815.8,2820.9,1826.7,2118.6,285.35,-2.13,333,2430.00,0.00,0.00,3.59,0.000,0.000,0.126,2817.56,2815.19,2819.94,1826.88,3474.31,0,0,0,30.00,30.00,16.07
$GC,2653.32,1060,-77.86,-1.29,0.00,2818.0,2816.1,2819.9,1826.9,3473.1,285.24,0.04,379,2660.09,0.00,0.00,3.30,0.000,0.000,0.061,2817.94,2815.69,2820.19,1827.00,2079.62,0,0,0,30.00,30.00,16.07
$STATE,2669,end dive,NO_VERTICAL_VELOCITY
$STATE,2669,begin apogee
$GC,2670.65,10243,0.00,-0.25,0.00,2818.0,2815.6,2820.4,1827.4,2224.4,285.25,0.00,381,2734.07,60.52,1.70,0.09,1.357,0.111,0.227,2499.53,2509.00,2490.06,2081.56,2181.81,0,0,0,13.13,16.05,15.76
$STATE,2735,end apogee,CONTROL_FINISHED_OK
$STATE,2735,begin climb
$GC,2735.50,10759,77.86,1.29,-80.00,2497.8,2507.5,2488.1,2082.8,2181.8,285.18,0.00,387,2810.32,63.88,2.46,4.01,1.321,0.092,0.143,2179.41,2196.69,2162.12,2456.31,736.06,0,0,0,12.88,15.79,15.53
$GC,3032.07,17478,77.86,1.32,0.00,2169.7,2189.2,2150.1,2456.8,736.1,268.67,7.01,446,3038.89,0.00,0.00,3.59,0.000,0.000,0.056,2170.19,2190.00,2150.38,2456.81,2221.69,0,0,0,30.00,30.00,15.77
$GC,3338.19,10791,113.25,1.43,-80.00,2168.0,2189.0,2147.1,2457.1,2221.4,250.52,5.40,477,3373.59,29.27,0.17,4.03,1.262,0.104,0.141,2038.00,2063.00,2013.00,2497.50,735.94,0,0,0,12.98,15.86,15.71
$GC,3582.19,1028,113.25,1.43,0.00,2030.2,2055.7,2004.8,2497.9,735.9,229.43,10.05,526,3588.96,0.00,0.00,3.59,0.000,0.000,0.060,2031.00,2056.44,2005.56,2498.25,2220.94,0,0,0,30.00,30.00,15.85
$GC,3888.26,16646,113.25,1.43,80.00,2028.5,2055.7,2001.4,2498.5,2220.6,205.11,8.11,557,3892.80,0.00,0.00,3.38,0.000,0.000,0.128,2028.78,2055.75,2001.81,2498.56,3473.56,0,0,0,30.00,30.00,15.91
$GC,3928.26,17414,113.25,1.43,0.00,2028.8,2055.8,2001.9,2497.7,3472.6,201.23,9.69,565,3932.80,0.00,0.00,3.12,0.000,0.000,0.058,2029.28,2055.25,2003.31,2496.25,2181.12,0,0,0,30.00,30.00,15.92
$GC,4238.29,16646,113.25,1.43,80.00,2027.8,2055.4,2000.1,2498.0,2181.0,175.09,8.25,597,4242.87,0.00,0.00,3.45,0.000,0.000,0.126,2027.84,2055.50,2000.19,2498.25,3473.12,0,0,0,30.00,30.00,15.96
$GC,4268.31,17414,113.25,1.43,0.00,2027.9,2055.4,2000.4,2497.8,3472.7,172.29,8.89,603,4272.81,0.00,0.00,3.09,0.000,0.000,0.057,2029.03,2056.69,2001.38,2496.75,2177.62,0,0,0,30.00,30.00,15.96
$GC,4578.35,16966,113.25,1.46,-80.00,2026.9,2055.4,1998.5,2497.5,2178.5,150.49,6.94,635,4584.15,0.00,0.00,3.91,0.000,0.000,0.141,2027.47,2056.00,1998.94,2497.50,734.88,0,0,0,30.00,30.00,15.97
$GC,4733.44,17414,113.25,1.46,0.00,2026.0,2053.3,1998.6,2498.0,735.1,137.20,9.16,666,4738.97,0.00,0.00,3.56,0.000,0.000,0.056,2024.50,2051.94,1997.06,2498.25,2221.19,0,0,0,30.00,30.00,15.99
$GC,5038.41,8226,143.47,1.55,0.00,2026.0,2053.4,1998.6,2498.0,2221.6,118.86,5.79,697,5064.08,24.78,0.00,0.00,1.172,0.000,0.000,1914.91,1946.06,1883.75,2497.62,2221.62,0,0,0,13.13,30.00,30.00
$GC,5358.45,2113,143.47,1.58,0.00,1908.6,1943.2,1874.0,2497.6,2221.4,96.88,6.92,733,5359.91,0.00,0.16,0.00,0.000,0.103,0.000,1908.34,1943.06,1873.62,2535.75,2221.62,0,0,0,30.00,15.96,30.00
$GC,5538.49,8742,180.69,1.70,-80.00,1908.3,1942.9,1873.7,2535.6,2221.6,87.01,5.26,769,5574.97,30.93,0.00,4.11,1.146,0.000,0.138,1761.72,1799.75,1723.69,2535.88,735.94,0,0,0,12.97,30.00,15.78
$GC,5593.48,11303,208.44,1.78,0.00,1759.8,1796.5,1723.1,2535.6,736.2,83.72,5.97,780,5624.81,23.95,0.22,3.60,1.104,0.080,0.055,1650.09,1688.00,1612.19,2583.00,2223.25,0,0,0,12.96,15.86,15.84
$GC,5803.53,260,208.44,1.78,80.00,1642.9,1681.9,1603.9,2584.4,2223.3,66.84,9.95,822,5809.22,0.00,0.00,3.40,0.000,0.000,0.125,1643.50,1682.56,1604.44,2583.50,3472.12,0,0,0,30.00,30.00,15.82
$GC,5918.54,17414,208.44,1.78,0.00,1640.9,1678.1,1603.8,2584.4,3472.4,54.70,9.63,845,5924.23,0.00,0.00,3.12,0.000,0.000,0.056,1640.81,1678.06,1603.56,2584.00,2178.38,0,0,0,30.00,30.00,15.88
$GC,6103.61,16966,208.44,1.81,-80.00,1640.2,1678.4,1602.1,2583.8,2178.1,41.38,7.00,882,6109.42,0.00,0.00,3.94,0.000,0.000,0.140,1640.78,1678.81,1602.75,2583.62,736.00,0,0,0,30.00,30.00,15.87
$GC,6333.90,11303,282.87,2.03,0.00,1639.8,1677.9,1601.8,2583.2,736.1,31.68,2.48,928,6400.73,59.29,0.30,3.57,1.102,0.074,0.054,1346.16,1386.69,1305.62,2643.38,2225.69,0,0,0,13.01,15.93,15.93
$GC,6578.75,580,282.87,2.07,-80.00,1340.2,1381.3,1299.0,2643.0,2225.8,18.84,6.82,977,6584.58,0.00,0.00,4.07,0.000,0.000,0.133,1340.22,1380.88,1299.56,2643.31,734.88,0,0,0,30.00,30.00,15.77
$GC,6743.82,1028,282.87,2.07,0.00,1338.7,1380.2,1297.2,2643.6,735.4,3.59,8.22,1010,6749.56,0.00,0.00,3.59,0.000,0.000,0.056,1338.53,1380.19,1296.88,2643.50,2224.56,0,0,0,30.00,30.00,15.85
$STATE,6773,end climb,SURFACE_DEPTH_REACHED
$STATE,6773,begin surface coast
$STATE,6803,end surface coast,CONTROL_FINISHED_OK
$STATE,6803,begin surface
$SM_CCo,6938.22,111.21,1.055,0,768.2,767.9,768.4,424.82
$SM_CCo,6939.39,0.00,2.776,0,769.2,773.1,765.4,424.55
$SM_CCo,6940.54,0.22,0.163,0,768.6,773.4,763.7,424.72
$SM_GC,0.37,0.22,15.57,0.34,0.163,0.066,0.096,768.6,773.4,763.7,171.8,2077.3,0,0,0,15.52,15.86,15.88
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4752.57,-12511.36,071120,035908
$TCM_TEMP,193.25
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3803200
$HUMID,56.47
$TEMP,8.95
$INTERNAL_PRESSURE,7.83991
$24V_AH,14.66,57.544
$10V_AH,14.96,0.000
$FG_AHR_24Vo,50.376
$FG_AHR_10Vo,20.943
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,488.725,33.895,109.410,267.372,0.250,15.724,3267.918,4019.939,1677.580,0.000,0.000,0.000
$DEVICE_MAMPS,2776.272,259.200,227.384,208.922,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6830.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.591,0.000,0.000,0.000
$MEM,1100300,39,75668,114
$DATA_FILE_SIZE,38636,1022
$CAP_FILE_SIZE,234364,0
$SDSIZE,3918848,3861568
$SDFILEDIR,916,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071120,081224,4752.816,-12512.688,31,1.1,31,15.8