version: 67.00
glider: 236
mission: 2
dive: 990
start: 3 29 121 21 35 27
data:
$ID,236
$MISSION,2
$DIVE,990
$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,71.86869
$FG_AHR_24V,237.58496
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$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
$GPS1,290321,212732,4705.920,-12459.702,6,1.4,21,15.5
$_CALLS,2
$_SM_DEPTHo,-1.39
$_SM_ANGLEo,-56.1
$GPS2,290321,213508,4705.877,-12459.776,4,1.1,8,15.5
$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,46.1,8271,-18.7,-11.111,-22.02
$D_GRID,185
$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,7.61,16386,-155.72,-1.40,0.00,558.0,562.0,554.0,166.6,2085.6,0.00,0.00,0,89.77,81.63,0.00,0.00,0.005,0.000,0.000,2495.25,2473.81,2516.69,166.62,2085.19,0,0,0,14.53,30.00,30.00
$GC,90.01,18983,-155.72,-1.40,-80.00,2494.3,2472.4,2516.1,166.5,2085.6,3.80,-8.10,8,126.12,13.85,14.19,3.99,0.006,0.242,0.154,3135.34,3130.06,3140.62,1799.81,661.94,0,0,0,14.85,15.11,14.58
$GC,189.80,1028,-155.72,-1.40,0.00,3134.6,3129.4,3139.8,1799.9,661.8,24.51,-18.96,28,194.97,0.00,0.00,3.47,0.000,0.000,0.052,3134.59,3129.94,3139.25,1799.62,2120.94,0,0,0,30.00,30.00,15.62
$GC,254.41,260,-155.72,-1.40,80.00,3134.3,3129.4,3139.2,1799.9,2121.2,36.29,-18.11,35,259.98,0.00,0.00,3.55,0.000,0.000,0.109,3134.44,3129.81,3139.06,1799.69,3475.31,0,0,0,30.00,30.00,15.47
$GC,309.37,1028,-155.72,-1.40,0.00,3134.1,3129.4,3138.9,1799.8,3475.4,46.53,-17.89,46,313.96,0.00,0.00,3.34,0.000,0.000,0.057,3135.06,3129.94,3140.19,1800.00,2082.19,0,0,0,30.00,30.00,15.59
$GC,379.36,516,-155.72,-1.40,-80.00,3134.5,3129.2,3139.8,1799.9,2082.2,58.49,-16.73,54,385.07,0.00,0.00,3.92,0.000,0.000,0.150,3134.88,3129.56,3140.19,1799.81,662.81,0,0,0,30.00,30.00,15.35
$GC,408.28,1028,-155.72,-1.40,0.00,3134.4,3129.9,3138.9,1799.8,662.8,63.96,-18.72,60,415.28,0.00,0.00,3.47,0.000,0.000,0.050,3134.91,3130.19,3139.62,1799.94,2123.00,0,0,0,30.00,30.00,15.64
$GC,474.43,260,-155.72,-1.40,80.00,3134.5,3129.6,3139.3,1799.9,2123.1,74.61,-16.30,67,480.01,0.00,0.00,3.52,0.000,0.000,0.108,3133.78,3128.81,3138.75,1799.75,3475.25,0,0,0,30.00,30.00,15.49
$GC,563.32,1028,-155.72,-1.40,0.00,3134.8,3129.8,3139.8,1799.9,3474.8,87.30,-13.54,85,570.09,0.00,0.00,3.32,0.000,0.000,0.055,3135.28,3130.69,3139.88,1799.75,2079.31,0,0,0,30.00,30.00,15.62
$GC,629.45,516,-155.72,-1.40,-80.00,3134.6,3129.4,3139.8,1799.7,2079.1,96.55,-14.31,92,635.08,0.00,0.00,3.89,0.000,0.000,0.149,3133.31,3128.75,3137.88,1799.88,662.81,0,0,0,30.00,30.00,15.36
$GC,658.30,1028,-155.72,-1.40,0.00,3134.6,3129.2,3139.9,1799.8,662.6,100.77,-14.09,98,665.11,0.00,0.00,3.44,0.000,0.000,0.048,3135.38,3130.81,3139.94,1798.88,2123.38,0,0,0,30.00,30.00,15.67
$GC,725.03,260,-155.72,-1.40,80.00,3134.6,3130.1,3139.0,1800.2,2123.4,108.79,-11.86,105,730.03,0.00,0.00,3.52,0.000,0.000,0.107,3135.09,3130.06,3140.12,1800.06,3475.38,0,0,0,30.00,30.00,15.51
$GC,793.33,1028,-155.72,-1.40,0.00,3134.5,3129.6,3139.4,1799.5,3476.8,117.50,-12.64,119,800.10,0.00,0.00,3.32,0.000,0.000,0.053,3134.72,3130.19,3139.25,1799.56,2079.69,0,0,0,30.00,30.00,15.63
$GC,859.41,260,-155.72,-1.40,80.00,3134.2,3129.2,3139.2,1799.6,2079.6,126.19,-13.31,126,865.07,0.00,0.00,3.64,0.000,0.000,0.104,3133.72,3128.06,3139.38,1799.94,3475.06,0,0,0,30.00,30.00,15.52
$GC,914.42,1028,-155.72,-1.40,0.00,3134.4,3129.2,3139.6,1799.9,3475.0,133.30,-13.32,137,919.02,0.00,0.00,3.33,0.000,0.000,0.054,3134.66,3129.69,3139.62,1800.38,2081.81,0,0,0,30.00,30.00,15.63
$GC,985.07,516,-155.72,-1.40,-80.00,3134.7,3129.6,3139.9,1800.6,2081.6,141.86,-12.11,145,990.14,0.00,0.00,3.93,0.000,0.000,0.149,3134.94,3129.62,3140.25,1799.06,662.62,0,0,0,30.00,30.00,15.36
$GC,1019.88,1028,-155.72,-1.40,0.00,3134.2,3129.2,3139.1,1799.5,662.8,146.36,-13.71,152,1024.68,0.00,0.00,3.44,0.000,0.000,0.047,3133.88,3128.56,3139.19,1799.38,2123.25,0,0,0,30.00,30.00,15.62
$GC,1089.44,260,-155.72,-1.40,80.00,3134.6,3129.8,3139.3,1800.1,2124.1,154.73,-11.66,160,1094.12,0.00,0.00,3.53,0.000,0.000,0.107,3135.59,3130.88,3140.31,1799.50,3476.62,0,0,0,30.00,30.00,15.51
$GC,1159.46,1028,-155.72,-1.40,0.00,3134.4,3129.4,3139.4,1800.2,3476.4,163.66,-13.76,174,1164.05,0.00,0.00,3.33,0.000,0.000,0.054,3135.81,3130.62,3141.00,1799.50,2081.75,0,0,0,30.00,30.00,15.64
$GC,1289.47,0,-155.72,-1.40,0.00,3134.8,3129.8,3139.8,1800.0,2081.0,178.35,-11.63,188,1290.80,0.00,0.00,0.00,0.000,0.000,0.000,3134.81,3130.12,3139.50,1800.25,2081.81,0,0,0,30.00,30.00,30.00
$STATE,1350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1350,begin apogee
$GC,1351.29,10243,0.00,-0.25,0.00,3134.5,3129.8,3139.2,1799.8,2122.5,185.24,-11.72,194,1477.39,122.82,2.11,0.09,1.240,0.142,0.201,2496.00,2504.56,2487.44,2080.19,2081.19,0,0,0,10.80,15.51,14.94
$STATE,1480,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1480.29,10243,155.72,1.40,0.00,2496.7,2505.9,2487.5,2080.5,2081.3,190.20,0.00,206,1616.70,129.16,2.88,0.00,1.193,0.088,0.000,1864.22,1890.94,1837.50,2484.25,2081.12,0,0,0,11.64,15.23,30.00
$GC,1733.77,10791,235.42,1.64,-80.00,1856.3,1886.2,1826.4,2485.1,2081.5,177.10,7.26,237,1806.41,66.50,0.34,3.96,1.161,0.063,0.135,1539.28,1570.44,1508.12,2550.00,661.69,0,0,0,11.40,15.47,15.00
$GC,1835.07,1028,235.42,1.64,0.00,1536.8,1566.8,1506.8,2550.3,662.0,166.83,11.47,257,1840.24,0.00,0.00,3.50,0.000,0.000,0.044,1537.75,1568.12,1507.38,2548.81,2126.75,0,0,0,30.00,30.00,15.39
$GC,1959.65,260,235.42,1.64,80.00,1533.8,1566.9,1500.8,2550.3,2127.3,151.78,11.18,270,1964.26,0.00,0.00,3.55,0.000,0.000,0.105,1533.19,1566.06,1500.31,2550.06,3475.75,0,0,0,30.00,30.00,15.44
$GC,1989.70,1028,235.42,1.64,0.00,1532.6,1565.5,1499.8,2550.0,3476.0,148.49,11.20,276,1994.24,0.00,0.00,3.34,0.000,0.000,0.051,1533.84,1566.62,1501.06,2548.88,2077.06,0,0,0,30.00,30.00,15.56
$GC,2059.66,516,235.42,1.64,-80.00,1532.5,1565.6,1499.4,2550.4,2076.8,140.47,11.25,284,2065.34,0.00,0.00,3.83,0.000,0.000,0.133,1531.53,1565.06,1498.00,2549.88,662.69,0,0,0,30.00,30.00,15.40
$GC,2125.13,1028,235.42,1.64,0.00,1532.7,1566.1,1499.3,2550.1,662.9,131.32,14.64,297,2130.29,0.00,0.00,3.43,0.000,0.000,0.043,1532.28,1565.12,1499.44,2549.44,2127.56,0,0,0,30.00,30.00,15.65
$GC,2189.70,260,235.42,1.64,80.00,1532.2,1565.6,1498.9,2550.5,2127.2,123.42,11.62,304,2194.31,0.00,0.00,3.52,0.000,0.000,0.105,1532.69,1566.12,1499.25,2550.06,3475.62,0,0,0,30.00,30.00,15.50
$GC,2233.60,17414,235.42,1.64,0.00,1531.3,1564.3,1498.3,2549.8,3474.9,117.76,12.92,313,2240.39,0.00,0.00,3.33,0.000,0.000,0.050,1532.75,1565.50,1500.00,2549.75,2077.94,0,0,0,30.00,30.00,15.64
$GC,2299.75,16386,235.42,1.64,0.00,1531.3,1564.5,1498.2,2549.9,2077.9,110.45,10.80,320,2301.08,0.00,0.00,0.00,0.000,0.000,0.000,1531.19,1564.25,1498.12,2550.06,2078.06,0,0,0,30.00,30.00,30.00
$GC,2359.71,16646,235.42,1.64,80.00,1531.2,1564.4,1498.0,2550.1,2077.9,103.77,10.63,326,2365.35,0.00,0.00,3.67,0.000,0.000,0.105,1530.66,1563.94,1497.38,2550.19,3475.25,0,0,0,30.00,30.00,15.52
$GC,2434.76,17414,235.42,1.64,0.00,1530.5,1563.7,1497.4,2550.9,3476.2,94.48,13.02,341,2439.30,0.00,0.00,3.32,0.000,0.000,0.052,1531.12,1564.12,1498.12,2550.44,2077.94,0,0,0,30.00,30.00,15.67
$GC,2504.72,16902,235.42,1.64,-80.00,1530.6,1564.2,1497.1,2550.1,2077.9,86.46,11.26,349,2510.38,0.00,0.00,3.80,0.000,0.000,0.132,1530.84,1564.06,1497.62,2549.56,662.00,0,0,0,30.00,30.00,15.43
$GC,2563.65,17414,235.42,1.64,0.00,1530.0,1563.2,1496.9,2550.4,661.9,79.42,11.90,361,2570.42,0.00,0.00,3.40,0.000,0.000,0.042,1530.44,1563.81,1497.06,2549.88,2129.94,0,0,0,30.00,30.00,15.74
$GC,2629.82,16710,235.42,1.69,80.00,1530.4,1563.8,1497.1,2550.1,2129.8,73.27,9.47,368,2635.34,0.00,0.00,3.49,0.000,0.000,0.105,1531.47,1564.88,1498.06,2548.62,3475.75,0,0,0,30.00,30.00,15.53
$GC,2664.74,17478,235.42,1.72,0.00,1530.0,1563.6,1496.4,2550.2,3476.2,69.83,10.16,375,2669.31,0.00,0.00,3.30,0.000,0.000,0.049,1530.56,1564.06,1497.06,2549.75,2073.00,0,0,0,30.00,30.00,15.69
$GC,2734.76,10275,291.30,1.89,0.00,1529.8,1563.4,1496.1,2550.9,2072.8,64.00,8.41,383,2796.05,58.25,0.29,0.00,1.045,0.067,0.000,1312.59,1346.19,1279.00,2609.25,2073.25,0,0,0,10.84,15.69,30.00
$GC,2854.82,10791,365.58,2.11,-80.00,1310.2,1344.6,1275.9,2608.8,2072.8,54.31,7.52,398,2941.06,78.32,0.28,3.90,1.020,0.069,0.135,1009.69,1042.31,977.06,2665.69,662.50,0,0,0,11.51,15.50,14.99
$GC,2995.21,1028,365.58,2.11,0.00,1007.9,1039.0,976.8,2665.8,662.7,38.13,13.76,426,3000.38,0.00,0.00,3.46,0.000,0.000,0.043,1007.72,1038.94,976.50,2665.00,2127.75,0,0,0,30.00,30.00,15.46
$GC,3059.77,516,365.58,2.11,-80.00,1006.3,1039.2,973.4,2665.3,2127.9,30.55,11.71,433,3065.47,0.00,0.00,3.95,0.000,0.000,0.128,1006.16,1039.31,973.00,2663.81,661.69,0,0,0,30.00,30.00,15.35
$GC,3075.22,1028,365.58,2.11,0.00,1006.2,1039.1,973.3,2665.2,661.8,28.49,11.97,436,3080.39,0.00,0.00,3.44,0.000,0.000,0.041,1006.84,1039.56,974.12,2664.81,2127.56,0,0,0,30.00,30.00,15.55
$GC,3139.77,260,365.58,2.11,80.00,1005.3,1039.2,971.4,2665.1,2128.4,21.46,10.79,443,3144.39,0.00,0.00,3.55,0.000,0.000,0.105,1005.22,1039.19,971.25,2665.62,3476.31,0,0,0,30.00,30.00,15.45
$GC,3189.78,1028,365.58,2.11,0.00,1004.5,1038.7,970.3,2665.6,3476.4,15.76,11.89,453,3194.38,0.00,0.00,3.33,0.000,0.000,0.048,1004.53,1038.69,970.38,2665.62,2074.00,0,0,0,30.00,30.00,15.60
$GC,3259.80,580,365.58,2.16,-80.00,1004.4,1038.7,970.1,2665.1,2073.8,8.82,9.39,461,3265.47,0.00,0.00,3.83,0.000,0.000,0.133,1004.84,1039.12,970.56,2664.19,661.88,0,0,0,30.00,30.00,15.38
$GC,3308.71,1028,365.58,2.16,0.00,1004.7,1039.0,970.4,2665.1,661.6,3.02,11.14,471,3315.50,0.00,0.00,3.43,0.000,0.000,0.040,1004.72,1038.62,970.81,2665.06,2129.56,0,0,0,30.00,30.00,15.66
$STATE,3325,end climb,SURFACE_DEPTH_REACHED
$STATE,3325,begin surface coast
$STATE,3345,end surface coast,CONTROL_FINISHED_OK
$STATE,3345,begin surface
$SM_CCo,3476.01,100.09,1.020,0,564.5,563.0,565.9,474.79
$SM_CCo,3477.11,0.00,0.010,0,564.3,566.0,562.6,474.82
$SM_CCo,3478.20,0.00,0.016,0,564.0,566.0,562.0,474.90
$SM_GC,-0.76,0.00,16.17,0.10,0.016,0.046,0.136,564.0,566.0,562.0,169.0,2077.3,0,0,0,30.36,15.65,15.68
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4707.10,-12459.52,290321,213055
$TCM_TEMP,175.63
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3479936
$HUMID,58.25
$TEMP,8.67
$INTERNAL_PRESSURE,7.82064
$24V_AH,14.39,274.720
$10V_AH,14.86,0.000
$FG_AHR_24Vo,237.767
$FG_AHR_10Vo,71.881
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,650.635,36.255,142.640,200.120,6.000,17.104,2189.416,1589.776,955.115,0.000,20.000,0.000
$DEVICE_MAMPS,1239.592,241.816,201.144,178.480,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3404.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.308,0.000,0.000,0.000
$MEM,1103712,37,73456,56
$DATA_FILE_SIZE,16171,475
$CAP_FILE_SIZE,316729,0
$SDSIZE,3918848,3648896
$SDFILEDIR,4976,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290321,223401,4705.783,-12459.369,26,1.0,27,15.5