version: 67.00
glider: 236
mission: 2
dive: 686
start: 2 25 121 1 12 46
data:
$ID,236
$MISSION,2
$DIVE,686
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,215
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,180
$T_LOITER,7200
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,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,61.323082
$FG_AHR_24V,169.75784
$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
$GPS1,250221,010540,4748.149,-12512.718,9,1.1,21,15.7
$_CALLS,1
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.7
$GPS2,250221,011226,4748.120,-12512.632,2,0.9,5,15.7
$SPEED_LIMITS,0.173,0.276
$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,6.8,7643,-16.2,-10.000,-19.95
$D_GRID,417
$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,7.58,16386,-170.32,-1.32,0.00,761.8,764.2,759.4,170.4,2081.9,0.00,0.00,0,87.84,79.69,0.00,0.00,0.005,0.000,0.000,2502.50,2481.25,2523.75,170.44,2081.19,0,0,0,14.88,30.00,30.00
$GC,88.11,18983,-170.32,-1.32,-80.00,2501.6,2480.6,2522.6,170.6,2081.7,3.47,-3.88,15,130.29,16.97,14.66,4.11,0.006,0.250,0.150,3193.69,3185.38,3202.00,1819.75,664.19,0,0,0,15.06,15.23,14.86
$GC,283.18,1028,-170.32,-1.32,0.00,3193.5,3184.8,3202.3,1819.5,664.1,42.44,-19.81,54,288.88,0.00,0.00,3.57,0.000,0.000,0.054,3194.59,3185.69,3203.50,1819.25,2118.19,0,0,0,30.00,30.00,15.60
$GC,468.23,260,-170.32,-1.32,80.00,3193.4,3184.6,3202.2,1820.2,2118.9,77.79,-15.42,91,473.93,0.00,0.00,3.67,0.000,0.000,0.111,3194.28,3185.12,3203.44,1819.62,3473.62,0,0,0,30.00,30.00,15.49
$GC,543.25,1028,-170.32,-1.32,0.00,3193.7,3184.8,3202.6,1819.5,3474.6,90.22,-15.99,106,548.92,0.00,0.00,3.42,0.000,0.000,0.057,3194.06,3184.88,3203.25,1819.75,2082.31,0,0,0,30.00,30.00,15.60
$GC,733.29,0,-170.32,-1.32,0.00,3193.9,3184.4,3203.3,1819.8,2082.4,117.42,-13.99,132,734.62,0.00,0.00,0.00,0.000,0.000,0.000,3193.72,3184.56,3202.88,1819.88,2081.88,0,0,0,30.00,30.00,30.00
$GC,1033.24,260,-170.32,-1.32,80.00,3193.8,3184.6,3203.0,1819.4,2082.1,158.20,-13.18,162,1038.86,0.00,0.00,3.80,0.000,0.000,0.110,3194.16,3184.56,3203.75,1819.88,3475.12,0,0,0,30.00,30.00,15.53
$GC,1082.09,1028,-170.32,-1.32,0.00,3193.2,3184.1,3202.3,1820.2,3473.8,165.00,-14.18,172,1089.00,0.00,0.00,3.42,0.000,0.000,0.057,3194.84,3185.88,3203.81,1819.50,2081.00,0,0,0,30.00,30.00,15.63
$GC,1388.29,0,-170.32,-1.32,0.00,3194.2,3185.2,3203.2,1820.0,2080.8,203.81,-12.27,203,1389.62,0.00,0.00,0.00,0.000,0.000,0.000,3193.88,3184.50,3203.25,1819.62,2081.06,0,0,0,30.00,30.00,30.00
$GC,1688.33,260,-170.32,-1.32,80.00,3193.9,3184.5,3203.3,1819.8,2080.6,240.96,-12.51,233,1693.96,0.00,0.00,3.81,0.000,0.000,0.112,3192.69,3183.88,3201.50,1819.50,3474.81,0,0,0,30.00,30.00,15.53
$GC,1763.48,1028,-170.32,-1.32,0.00,3194.1,3184.4,3203.8,1819.9,3474.6,251.42,-14.12,248,1768.90,0.00,0.00,3.43,0.000,0.000,0.059,3193.53,3183.12,3203.94,1819.81,2083.44,0,0,0,30.00,30.00,15.63
$GC,2068.39,260,-170.32,-1.32,80.00,3193.9,3184.7,3203.2,1820.1,2083.3,290.65,-12.35,279,2074.13,0.00,0.00,3.80,0.000,0.000,0.112,3193.50,3184.00,3203.00,1819.81,3474.56,0,0,0,30.00,30.00,15.52
$GC,2163.40,1028,-170.32,-1.32,0.00,3194.0,3184.2,3203.7,1819.5,3475.1,303.82,-13.80,298,2167.96,0.00,0.00,3.43,0.000,0.000,0.059,3194.16,3184.94,3203.38,1820.00,2083.25,0,0,0,30.00,30.00,15.63
$GC,2473.51,516,-170.32,-1.32,-80.00,3194.2,3184.8,3203.7,1819.6,2083.4,341.44,-11.61,330,2479.26,0.00,0.00,4.10,0.000,0.000,0.154,3193.38,3183.56,3203.19,1819.56,662.88,0,0,0,30.00,30.00,15.38
$GC,2508.43,1028,-170.32,-1.32,0.00,3194.2,3184.9,3203.4,1820.2,663.1,345.97,-12.97,337,2513.15,0.00,0.00,3.52,0.000,0.000,0.050,3195.22,3185.62,3204.81,1819.31,2122.31,0,0,0,30.00,30.00,15.70
$GC,2818.48,260,-170.32,-1.32,80.00,3193.8,3184.2,3203.2,1819.6,2122.3,381.54,-11.44,369,2824.07,0.00,0.00,3.64,0.000,0.000,0.115,3195.59,3185.62,3205.56,1818.31,3472.00,0,0,0,30.00,30.00,15.49
$GC,2857.16,1028,-170.32,-1.32,0.00,3193.7,3184.2,3203.2,1819.6,3473.2,386.05,-10.42,377,2864.23,0.00,0.00,3.40,0.000,0.000,0.059,3194.91,3185.31,3204.50,1819.50,2081.69,0,0,0,30.00,30.00,15.63
$STATE,3133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3133,begin apogee
$GC,3134.71,10243,0.00,-0.25,0.00,3194.4,3184.8,3204.1,1819.6,2120.9,417.09,-11.76,405,3276.86,138.49,2.00,0.09,1.535,0.135,0.227,2499.25,2506.31,2492.19,2079.38,2086.19,0,0,0,10.95,15.54,14.95
$STATE,3279,end apogee,CONTROL_FINISHED_OK
$STATE,3279,begin climb
$GC,3279.24,10243,170.32,1.32,0.00,2497.3,2504.2,2490.4,2080.5,2086.2,421.19,0.00,419,3430.94,147.35,2.81,0.00,1.481,0.080,0.000,1804.34,1844.81,1763.88,2464.19,2087.00,0,0,0,11.95,15.10,30.00
$GC,3733.78,16902,170.32,1.32,-80.00,1795.4,1841.4,1749.3,2464.2,2086.7,383.86,10.72,471,3739.55,0.00,0.00,4.08,0.000,0.000,0.143,1796.53,1842.12,1750.94,2463.19,663.31,0,0,0,30.00,30.00,15.41
$GC,3758.76,17414,170.32,1.32,0.00,1794.8,1840.2,1749.5,2463.9,663.1,381.36,10.27,476,3763.47,0.00,0.00,3.54,0.000,0.000,0.049,1795.66,1841.31,1750.00,2463.75,2122.88,0,0,0,30.00,30.00,15.56
$GC,4068.85,16966,170.32,1.36,-80.00,1793.7,1839.9,1747.4,2463.8,2123.8,351.26,8.66,508,4074.64,0.00,0.00,4.14,0.000,0.000,0.139,1794.12,1840.00,1748.25,2462.75,662.56,0,0,0,30.00,30.00,15.47
$GC,4133.92,17414,170.32,1.36,0.00,1793.2,1839.1,1747.3,2463.7,662.8,344.37,10.44,521,4138.55,0.00,0.00,3.53,0.000,0.000,0.049,1795.25,1840.88,1749.62,2463.31,2120.38,0,0,0,30.00,30.00,15.69
$GC,4443.93,16710,170.32,1.40,80.00,1791.9,1838.3,1745.5,2463.9,2127.1,316.01,8.74,553,4449.52,0.00,0.00,3.65,0.000,0.000,0.113,1793.38,1839.25,1747.50,2462.31,3473.94,0,0,0,30.00,30.00,15.56
$GC,4508.93,17414,170.32,1.40,0.00,1791.6,1837.1,1746.1,2464.0,3474.2,309.11,10.28,566,4513.48,0.00,0.00,3.41,0.000,0.000,0.057,1793.22,1838.25,1748.19,2463.56,2080.62,0,0,0,30.00,30.00,15.68
$GC,4819.00,16902,170.32,1.40,-80.00,1791.2,1837.1,1745.2,2463.9,2078.8,278.81,10.10,598,4824.77,0.00,0.00,4.00,0.000,0.000,0.140,1790.06,1835.75,1744.38,2463.81,663.88,0,0,0,30.00,30.00,15.47
$GC,4914.02,17414,170.32,1.40,0.00,1791.1,1836.6,1745.6,2463.9,664.0,268.17,11.49,617,4918.70,0.00,0.00,3.49,0.000,0.000,0.048,1791.00,1836.62,1745.38,2464.12,2125.56,0,0,0,30.00,30.00,15.76
$GC,5224.11,16710,170.32,1.43,80.00,1790.1,1836.6,1743.6,2464.1,2125.9,240.35,8.78,649,5229.65,0.00,0.00,3.66,0.000,0.000,0.111,1790.50,1836.50,1744.50,2463.25,3473.81,0,0,0,30.00,30.00,15.55
$GC,5242.98,19527,170.32,1.46,0.00,1789.8,1835.8,1743.8,2464.4,3474.6,238.54,8.98,653,5249.86,0.00,0.19,3.39,0.000,0.085,0.054,1789.84,1836.06,1743.62,2507.38,2078.12,0,0,0,30.00,15.51,15.69
$GC,5549.14,16646,170.32,1.46,80.00,1789.7,1835.6,1743.8,2507.4,2079.1,208.25,10.23,684,5554.74,0.00,0.00,3.79,0.000,0.000,0.110,1790.91,1836.19,1745.62,2506.75,3475.31,0,0,0,30.00,30.00,15.55
$GC,5604.15,17414,170.32,1.46,0.00,1789.8,1835.8,1743.8,2508.1,3474.9,201.70,12.21,695,5608.68,0.00,0.00,3.38,0.000,0.000,0.055,1790.50,1836.38,1744.62,2507.88,2078.44,0,0,0,30.00,30.00,15.67
$GC,5914.19,16966,170.32,1.49,-80.00,1789.6,1835.2,1743.9,2507.2,2079.1,170.71,9.09,727,5919.94,0.00,0.00,3.98,0.000,0.000,0.137,1788.75,1834.69,1742.81,2508.12,662.75,0,0,0,30.00,30.00,15.44
$GC,5933.21,17414,170.32,1.49,0.00,1789.6,1835.4,1743.7,2507.8,663.0,168.52,9.92,731,5939.90,0.00,0.00,3.48,0.000,0.000,0.045,1790.03,1835.88,1744.19,2507.31,2128.00,0,0,0,30.00,30.00,15.75
$GC,6239.22,16710,170.32,1.54,80.00,1789.1,1834.9,1743.2,2507.8,2128.8,141.48,8.28,762,6244.78,0.00,0.00,3.63,0.000,0.000,0.111,1789.69,1835.75,1743.62,2507.25,3473.56,0,0,0,30.00,30.00,15.53
$GC,6294.23,17478,170.32,1.56,0.00,1789.0,1834.6,1743.4,2508.4,3472.9,136.66,9.41,773,6298.74,0.00,0.00,3.40,0.000,0.000,0.056,1790.03,1835.56,1744.50,2508.06,2079.56,0,0,0,30.00,30.00,15.68
$GC,6604.25,10791,234.41,1.75,-80.00,1789.4,1834.8,1743.9,2507.9,2079.8,113.20,7.44,805,6662.10,52.04,0.36,4.01,1.202,0.067,0.138,1543.88,1582.44,1505.31,2574.06,662.88,0,0,0,11.07,15.74,15.35
$GC,6744.90,1028,234.41,1.75,0.00,1540.7,1578.1,1503.3,2575.2,663.2,95.60,14.25,833,6750.65,0.00,0.00,3.56,0.000,0.000,0.049,1540.16,1578.62,1501.69,2575.50,2126.12,0,0,0,30.00,30.00,15.53
$GC,6929.97,516,234.41,1.75,-80.00,1538.2,1577.8,1498.6,2575.8,2126.4,75.06,9.71,870,6935.85,0.00,0.00,4.12,0.000,0.000,0.131,1538.12,1577.69,1498.56,2575.31,662.62,0,0,0,30.00,30.00,15.39
$GC,6950.05,1028,234.41,1.75,0.00,1538.4,1578.1,1498.7,2575.5,663.0,72.74,10.72,874,6955.75,0.00,0.00,3.52,0.000,0.000,0.046,1539.34,1578.88,1499.81,2575.12,2127.69,0,0,0,30.00,30.00,15.61
$GC,7135.06,10791,345.89,2.09,-80.00,1536.9,1577.5,1496.4,2575.6,2128.0,57.18,5.55,911,7237.50,93.27,0.47,4.19,1.116,0.059,0.132,1090.06,1120.56,1059.56,2655.94,662.94,0,0,0,11.56,15.64,15.15
$GC,7460.40,1028,345.89,2.09,0.00,1085.7,1117.6,1053.8,2656.4,663.0,14.23,16.39,976,7466.15,0.00,0.00,3.54,0.000,0.000,0.050,1085.41,1117.75,1053.06,2656.88,2125.94,0,0,0,30.00,30.00,15.54
$STATE,7550,end climb,SURFACE_DEPTH_REACHED
$STATE,7550,begin surface coast
$STATE,7565,end surface coast,CONTROL_FINISHED_OK
$STATE,7565,begin surface
$SM_CCo,7660.22,70.00,1.045,0,768.5,772.9,764.1,424.74
$SM_CCo,7661.40,0.00,2.666,0,769.1,766.3,771.9,424.59
$SM_CCo,7664.59,2.12,0.295,0,768.3,766.6,769.9,424.79
$SM_GC,0.86,2.12,16.95,0.09,0.295,0.058,0.143,768.3,766.6,769.9,180.9,2077.9,0,0,0,12.12,15.56,15.61
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4747.96,-12514.75,240221,221051
$TCM_TEMP,189.83
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3596704
$HUMID,57.31
$TEMP,8.17
$INTERNAL_PRESSURE,7.79312
$24V_AH,14.11,200.447
$10V_AH,14.83,0.000
$FG_AHR_24Vo,169.960
$FG_AHR_10Vo,61.352
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,599.950,37.450,132.975,218.212,1.000,14.387,3272.830,4646.652,1689.163,0.000,0.000,0.000
$DEVICE_MAMPS,2665.736,250.016,227.056,205.793,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7607.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.527,0.000,0.000,0.000
$MEM,1099952,52,75756,114
$DATA_FILE_SIZE,38622,997
$CAP_FILE_SIZE,414536,0
$SDSIZE,3918848,3730080
$SDFILEDIR,3456,1
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250221,032109,4748.606,-12511.576,31,1.0,31,15.7