version: 67.00
glider: 236
mission: 2
dive: 898
start: 3 23 121 5 6 18
data:
$ID,236
$MISSION,2
$DIVE,898
$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,160
$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,69.708961
$FG_AHR_24V,218.54573
$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,450
$ALTIM_PING_DELTA,20
$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
$GPS1,230321,045832,4706.735,-12503.206,28,0.9,29,15.6
$_CALLS,1
$_SM_DEPTHo,-1.54
$_SM_ANGLEo,-61.4
$GPS2,230321,050559,4706.743,-12503.227,2,0.6,5,15.6
$SPEED_LIMITS,0.192,0.275
$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,63.1,11856,-18.7,-11.111,-22.02
$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,7.42,16386,-155.72,-1.40,0.00,558.9,567.9,549.9,169.2,2114.9,0.00,0.00,0,103.47,95.55,0.00,0.00,0.005,0.000,0.000,2718.78,2699.19,2738.38,169.12,2115.69,0,0,0,14.53,30.00,30.00
$GC,103.70,18951,-155.72,-1.40,-80.00,2718.0,2698.4,2737.6,169.1,2115.7,3.68,-10.92,18,136.00,8.81,14.44,4.26,0.007,0.251,0.152,3134.12,3124.88,3143.38,1799.06,663.00,0,0,0,14.84,15.12,14.66
$GC,234.24,1028,-155.72,-1.40,0.00,3134.2,3124.2,3144.1,1799.2,662.9,34.66,-22.12,44,240.00,0.00,0.00,3.64,0.000,0.000,0.055,3135.84,3126.31,3145.38,1799.44,2119.75,0,0,0,30.00,30.00,15.58
$GC,419.32,260,-155.72,-1.40,80.00,3133.7,3124.1,3143.3,1799.4,2119.2,67.30,-15.35,81,425.58,0.00,0.00,3.74,0.000,0.000,0.110,3136.22,3126.25,3146.19,1799.19,3476.06,0,0,0,30.00,30.00,15.46
$GC,559.36,1028,-155.72,-1.40,0.00,3134.2,3125.2,3143.3,1799.1,3475.6,88.53,-15.52,109,565.07,0.00,0.00,3.44,0.000,0.000,0.057,3134.41,3124.81,3144.00,1799.75,2081.69,0,0,0,30.00,30.00,15.59
$GC,744.39,516,-155.72,-1.40,-80.00,3134.3,3124.2,3144.4,1799.3,2081.8,112.68,-12.92,136,750.12,0.00,0.00,4.10,0.000,0.000,0.152,3134.16,3124.75,3143.56,1799.19,664.06,0,0,0,30.00,30.00,15.36
$GC,803.32,1028,-155.72,-1.40,0.00,3134.8,3124.6,3145.0,1799.4,663.4,121.33,-15.31,148,810.13,0.00,0.00,3.54,0.000,0.000,0.050,3134.44,3124.25,3144.62,1798.75,2121.56,0,0,0,30.00,30.00,15.68
$GC,1109.47,260,-155.72,-1.40,80.00,3134.8,3125.2,3144.3,1798.9,2122.1,159.39,-12.27,179,1115.12,0.00,0.00,3.67,0.000,0.000,0.111,3133.62,3123.75,3143.50,1798.94,3472.31,0,0,0,30.00,30.00,15.50
$GC,1204.48,1028,-155.72,-1.40,0.00,3134.2,3124.8,3143.6,1799.1,3472.7,171.35,-12.56,198,1209.09,0.00,0.00,3.40,0.000,0.000,0.057,3134.84,3124.75,3144.94,1799.75,2082.38,0,0,0,30.00,30.00,15.62
$GC,1514.56,0,-155.72,-1.40,0.00,3134.2,3124.4,3144.1,1798.9,2081.9,207.57,-12.12,230,1515.88,0.00,0.00,0.00,0.000,0.000,0.000,3135.22,3125.31,3145.12,1799.31,2082.44,0,0,0,30.00,30.00,30.00
$GC,1814.60,260,-155.72,-1.40,80.00,3134.3,3124.4,3144.1,1798.8,2082.0,243.07,-12.59,260,1820.31,0.00,0.00,3.85,0.000,0.000,0.111,3132.81,3122.25,3143.38,1799.19,3474.06,0,0,0,30.00,30.00,15.51
$GC,1859.62,1028,-155.72,-1.40,0.00,3134.2,3123.9,3144.5,1799.4,3474.6,248.88,-13.39,269,1864.23,0.00,0.00,3.43,0.000,0.000,0.059,3135.66,3125.50,3145.81,1799.00,2081.00,0,0,0,30.00,30.00,15.62
$GC,2169.65,260,-155.72,-1.40,80.00,3134.2,3124.2,3144.1,1799.6,2081.4,286.74,-12.01,281,2175.33,0.00,0.00,3.85,0.000,0.000,0.111,3133.41,3123.56,3143.25,1799.25,3474.19,0,0,0,30.00,30.00,15.50
$GC,2218.57,1028,-155.72,-1.40,0.00,3134.5,3124.4,3144.6,1799.0,3474.9,293.02,-12.15,291,2225.37,0.00,0.00,3.42,0.000,0.000,0.060,3134.59,3124.31,3144.88,1798.94,2081.81,0,0,0,30.00,30.00,15.62
$GC,2524.70,260,-155.72,-1.40,80.00,3134.1,3124.1,3144.1,1799.2,2082.2,328.91,-11.57,302,2530.37,0.00,0.00,3.83,0.000,0.000,0.112,3134.88,3125.25,3144.50,1799.12,3473.81,0,0,0,30.00,30.00,15.50
$GC,2553.58,1028,-155.72,-1.40,0.00,3134.8,3124.6,3145.0,1799.4,3473.3,332.37,-11.20,308,2559.29,0.00,0.00,3.42,0.000,0.000,0.059,3135.06,3125.06,3145.06,1798.88,2081.19,0,0,0,30.00,30.00,15.61
$GC,2879.72,260,-155.72,-1.40,80.00,3134.5,3124.5,3144.5,1799.4,2080.9,371.30,-11.48,323,2885.39,0.00,0.00,3.85,0.000,0.000,0.112,3134.97,3124.44,3145.50,1799.38,3472.81,0,0,0,30.00,30.00,15.49
$GC,2908.61,1028,-155.72,-1.40,0.00,3134.2,3124.1,3144.2,1799.5,3473.7,375.51,-10.87,329,2914.33,0.00,0.00,3.41,0.000,0.000,0.060,3134.50,3124.81,3144.19,1799.31,2082.19,0,0,0,30.00,30.00,15.61
$GC,3234.75,0,-155.72,-1.40,0.00,3134.3,3124.9,3143.7,1799.1,2082.6,412.90,-11.44,344,3236.08,0.00,0.00,0.00,0.000,0.000,0.000,3134.78,3125.19,3144.38,1799.00,2082.12,0,0,0,30.00,30.00,30.00
$GC,3534.76,260,-155.72,-1.40,80.00,3134.1,3124.6,3143.5,1798.8,2082.4,446.68,-11.07,354,3540.44,0.00,0.00,3.88,0.000,0.000,0.115,3133.47,3123.62,3143.31,1798.25,3474.44,0,0,0,30.00,30.00,15.47
$GC,3573.68,1028,-155.72,-1.40,0.00,3134.4,3125.3,3143.5,1799.2,3474.4,451.94,-14.63,362,3579.39,0.00,0.00,3.42,0.000,0.000,0.060,3133.66,3124.62,3142.69,1799.38,2084.12,0,0,0,30.00,30.00,15.59
$GC,3889.80,0,-155.72,-1.40,0.00,3134.0,3125.0,3143.1,1799.7,2083.9,487.08,-11.56,375,3891.13,0.00,0.00,0.00,0.000,0.000,0.000,3133.06,3123.75,3142.38,1798.88,2083.69,0,0,0,30.00,30.00,30.00
$STATE,4010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4010,begin apogee
$GC,4010.96,10243,0.00,-0.25,0.00,3133.6,3124.5,3142.8,1799.2,2121.1,501.07,-11.86,379,4145.78,131.58,2.13,0.09,1.653,0.141,0.233,2499.22,2507.38,2491.06,2080.94,2085.00,0,0,0,10.40,15.50,14.79
$STATE,4148,end apogee,CONTROL_FINISHED_OK
$STATE,4148,begin climb
$GC,4148.57,10759,155.72,1.40,-80.00,2497.7,2506.2,2489.1,2081.6,2084.8,504.68,0.00,383,4300.79,139.66,2.90,4.28,1.594,0.081,0.142,1862.47,1889.94,1835.00,2484.50,661.56,0,0,0,11.54,15.09,14.68
$GC,4303.08,11303,251.55,1.69,0.00,1861.6,1888.4,1834.8,2484.2,661.6,497.80,6.48,409,4395.63,86.04,0.43,3.70,1.549,0.055,0.046,1474.38,1507.00,1441.75,2560.62,2122.50,0,0,0,11.52,14.99,15.06
$GC,4719.12,516,251.55,1.69,-80.00,1467.8,1503.6,1431.9,2560.1,2122.5,435.39,16.02,442,4724.84,0.00,0.00,4.16,0.000,0.000,0.141,1467.97,1503.88,1432.06,2561.25,662.88,0,0,0,30.00,30.00,15.40
$GC,4788.02,1028,251.55,1.69,0.00,1467.7,1503.1,1432.3,2561.4,662.9,422.14,20.06,456,4793.76,0.00,0.00,3.57,0.000,0.000,0.049,1467.66,1503.44,1431.88,2561.12,2123.19,0,0,0,30.00,30.00,15.64
$GC,5104.15,16902,251.55,1.69,-80.00,1466.3,1502.8,1429.8,2561.8,2123.1,373.70,14.96,469,5109.87,0.00,0.00,4.11,0.000,0.000,0.137,1466.62,1502.69,1430.56,2560.75,663.75,0,0,0,30.00,30.00,15.44
$GC,5153.06,1028,251.55,1.69,0.00,1466.5,1502.8,1430.2,2561.0,663.9,365.17,18.46,479,5159.89,0.00,0.00,3.55,0.000,0.000,0.050,1466.66,1503.00,1430.31,2561.50,2123.69,0,0,0,30.00,30.00,15.71
$GC,5459.18,16902,251.55,1.69,-80.00,1466.0,1502.5,1429.5,2561.1,2123.4,320.64,14.21,490,5464.91,0.00,0.00,4.12,0.000,0.000,0.136,1465.19,1501.81,1428.56,2561.19,662.88,0,0,0,30.00,30.00,15.45
$GC,5488.07,17414,251.55,1.69,0.00,1466.1,1502.7,1429.6,2560.6,662.6,315.99,15.50,496,5493.81,0.00,0.00,3.55,0.000,0.000,0.048,1466.91,1503.38,1430.44,2560.81,2123.56,0,0,0,30.00,30.00,15.72
$GC,5814.25,16902,251.55,1.69,-80.00,1465.7,1502.4,1428.9,2560.9,2124.0,270.91,13.69,511,5819.93,0.00,0.00,4.11,0.000,0.000,0.136,1464.66,1501.38,1427.94,2561.12,661.88,0,0,0,30.00,30.00,15.42
$GC,5858.11,17414,251.55,1.69,0.00,1465.5,1501.9,1429.0,2561.2,661.8,263.51,16.98,520,5863.84,0.00,0.00,3.55,0.000,0.000,0.048,1465.47,1502.31,1428.62,2561.38,2124.31,0,0,0,30.00,30.00,15.74
$GC,6169.25,16902,251.55,1.69,-80.00,1465.1,1501.7,1428.6,2561.6,2124.6,219.67,13.70,546,6174.97,0.00,0.00,4.09,0.000,0.000,0.134,1465.69,1502.31,1429.06,2561.50,662.75,0,0,0,30.00,30.00,15.41
$GC,6218.17,17414,251.55,1.69,0.00,1465.3,1501.9,1428.8,2560.9,662.6,211.17,16.49,556,6224.99,0.00,0.00,3.54,0.000,0.000,0.048,1465.34,1501.94,1428.75,2561.38,2123.75,0,0,0,30.00,30.00,15.71
$GC,6524.33,16902,251.55,1.69,-80.00,1464.7,1500.9,1428.5,2560.9,2123.8,168.52,12.72,587,6530.05,0.00,0.00,4.09,0.000,0.000,0.133,1463.97,1500.12,1427.81,2562.31,662.88,0,0,0,30.00,30.00,15.40
$GC,6573.25,17414,251.55,1.69,0.00,1464.8,1501.1,1428.5,2561.6,663.0,160.75,16.57,597,6580.07,0.00,0.00,3.53,0.000,0.000,0.047,1465.50,1501.75,1429.25,2561.12,2125.38,0,0,0,30.00,30.00,15.71
$GC,6879.40,16902,251.55,1.69,-80.00,1464.6,1501.0,1428.2,2561.0,2126.0,122.23,11.73,628,6885.14,0.00,0.00,4.11,0.000,0.000,0.133,1464.16,1500.69,1427.62,2561.62,661.69,0,0,0,30.00,30.00,15.40
$GC,6894.89,17414,251.55,1.69,0.00,1464.7,1500.9,1428.5,2560.8,661.5,120.25,11.74,631,6900.02,0.00,0.00,3.51,0.000,0.000,0.046,1465.00,1501.00,1429.00,2559.62,2125.94,0,0,0,30.00,30.00,15.75
$GC,7199.49,16902,251.55,1.69,-80.00,1464.7,1501.1,1428.3,2561.1,2126.4,84.37,11.20,675,7205.74,0.00,0.00,4.09,0.000,0.000,0.132,1465.31,1501.62,1429.00,2559.50,662.81,0,0,0,30.00,30.00,15.37
$GC,7284.94,17414,251.55,1.69,0.00,1464.7,1501.2,1428.1,2561.1,662.9,75.12,10.64,692,7290.66,0.00,0.00,3.53,0.000,0.000,0.047,1465.09,1501.81,1428.38,2561.81,2128.94,0,0,0,30.00,30.00,15.74
$GC,7469.58,10535,335.96,1.94,80.00,1464.2,1500.6,1427.8,2561.6,2128.8,61.21,7.03,729,7567.68,92.17,0.31,3.79,1.129,0.066,0.109,1130.38,1163.75,1097.00,2620.25,3473.69,0,0,0,10.59,15.74,14.99
$GC,7705.97,1028,335.96,1.94,0.00,1127.3,1161.2,1093.3,2620.2,3473.4,36.84,12.19,776,7711.67,0.00,0.00,3.46,0.000,0.000,0.053,1127.47,1161.69,1093.25,2620.31,2078.25,0,0,0,30.00,30.00,15.50
$GC,7891.03,580,335.96,1.99,-80.00,1126.4,1161.5,1091.2,2620.8,2078.1,18.43,9.56,813,7896.83,0.00,0.00,3.99,0.000,0.000,0.134,1126.53,1161.56,1091.50,2621.44,661.81,0,0,0,30.00,30.00,15.34
$GC,7976.49,1028,335.96,1.99,0.00,1126.3,1161.3,1091.3,2620.5,661.9,7.84,12.89,830,7981.79,0.00,0.00,3.56,0.000,0.000,0.046,1126.81,1161.56,1092.06,2620.50,2126.50,0,0,0,30.00,30.00,15.63
$STATE,8026,end climb,SURFACE_DEPTH_REACHED
$STATE,8026,begin surface coast
$STATE,8041,end surface coast,CONTROL_FINISHED_OK
$STATE,8041,begin surface
$SM_CCo,8197.12,130.12,1.061,0,563.8,563.6,564.1,474.95
$SM_CCo,8198.25,0.00,2.595,0,564.9,564.9,564.9,474.68
$SM_CCo,8199.36,0.08,0.226,0,564.8,564.6,564.9,474.71
$SM_GC,-0.89,0.08,16.77,0.10,0.226,0.076,0.139,564.8,564.6,564.9,170.2,2076.1,0,0,0,15.17,15.49,15.66
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4706.57,-12506.52,230321,022239
$TCM_TEMP,175.78
$XPDR_PINGS,3,14.0,11.5
$ALTIM_BOTTOM_PING,450.8,6.3
$SC_FREEKB,3515264
$HUMID,57.82
$TEMP,8.16
$INTERNAL_PRESSURE,7.7844
$24V_AH,13.73,254.341
$10V_AH,14.78,0.000
$FG_AHR_24Vo,218.787
$FG_AHR_10Vo,69.739
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,684.020,36.995,150.505,239.423,1.250,14.014,3345.139,5099.475,1818.167,0.000,2.000,0.000
$DEVICE_MAMPS,2594.560,251.000,232.632,206.080,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8093.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.396,0.000,0.000,0.000
$MEM,1102832,39,73996,71
$DATA_FILE_SIZE,32250,843
$CAP_FILE_SIZE,403406,0
$SDSIZE,3918848,3671264
$SDFILEDIR,4516,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$GPS,230321,072313,4706.939,-12501.479,2,1.7,8,15.6