version: 67.00
glider: 236
mission: 2
dive: 1258
start: 4 26 121 1 14 30
data:
$ID,236
$MISSION,2
$DIVE,1258
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,2000
$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,79.746254
$FG_AHR_24V,297.79724
$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
$GPS1,260421,010744,4705.839,-12454.129,1,1.1,4,15.5
$_CALLS,1
$_SM_DEPTHo,-1.68
$_SM_ANGLEo,-62.2
$GPS2,260421,011412,4705.751,-12454.083,3,1.1,7,15.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,ONSHELF
$TGT_LATLONG,4703.000,-12442.000
$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,93.0,16076,-15.9,-10.000,-19.73
$D_GRID,135
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8.78,16386,-175.18,-1.32,0.00,559.3,556.4,562.2,166.4,2115.7,0.00,0.00,0,100.64,91.39,0.00,0.00,0.005,0.000,0.000,2731.09,2710.12,2752.06,166.19,2117.94,0,0,0,12.67,30.00,30.00
$GC,100.86,18951,-175.18,-1.32,-80.00,2730.5,2710.0,2751.0,166.6,2118.0,4.99,-10.74,9,137.40,9.43,16.16,4.49,0.007,0.242,0.146,3214.50,3209.38,3219.62,1819.44,663.81,0,0,0,12.71,14.20,13.83
$GC,204.54,1028,-175.18,-1.32,0.00,3213.6,3208.1,3219.1,1819.6,663.8,25.18,-14.66,30,211.39,0.00,0.00,3.75,0.000,0.000,0.047,3213.66,3208.00,3219.31,1818.88,2119.44,0,0,0,30.00,30.00,14.57
$GC,270.63,260,-175.18,-1.32,80.00,3214.0,3208.7,3219.4,1818.9,2119.8,34.41,-13.67,37,276.32,0.00,0.00,3.84,0.000,0.000,0.105,3214.47,3208.62,3220.31,1818.06,3472.81,0,0,0,30.00,30.00,14.45
$GC,306.08,1028,-175.18,-1.32,0.00,3214.2,3208.9,3219.6,1819.3,3473.4,39.69,-14.82,44,311.30,0.00,0.00,3.61,0.000,0.000,0.052,3212.97,3207.12,3218.81,1819.06,2082.06,0,0,0,30.00,30.00,14.57
$GC,370.64,516,-175.18,-1.32,-80.00,3213.9,3208.2,3219.6,1819.3,2082.2,48.14,-12.73,51,376.42,0.00,0.00,4.32,0.000,0.000,0.143,3213.88,3208.44,3219.31,1819.19,664.06,0,0,0,30.00,30.00,14.38
$GC,416.11,1028,-175.18,-1.32,0.00,3213.7,3207.9,3219.5,1818.9,663.9,54.50,-13.99,60,421.31,0.00,0.00,3.70,0.000,0.000,0.044,3214.66,3208.81,3220.50,1818.56,2120.50,0,0,0,30.00,30.00,14.62
$GC,480.66,260,-175.18,-1.32,80.00,3214.1,3208.7,3219.5,1818.9,2121.8,62.54,-12.17,67,486.33,0.00,0.00,3.79,0.000,0.000,0.102,3214.22,3209.06,3219.38,1818.12,3475.62,0,0,0,30.00,30.00,14.49
$GC,526.12,1028,-175.18,-1.32,0.00,3214.1,3208.6,3219.5,1819.2,3475.6,67.99,-11.89,76,531.30,0.00,0.00,3.58,0.000,0.000,0.050,3214.31,3209.31,3219.31,1818.19,2081.12,0,0,0,30.00,30.00,14.60
$GC,590.67,516,-175.18,-1.32,-80.00,3214.4,3208.8,3219.9,1819.1,2081.8,74.58,-10.28,83,596.43,0.00,0.00,4.30,0.000,0.000,0.143,3213.22,3207.94,3218.50,1819.06,663.00,0,0,0,30.00,30.00,14.39
$GC,619.60,1028,-175.18,-1.32,0.00,3214.3,3209.2,3219.4,1819.2,662.9,77.86,-10.36,89,626.87,0.00,0.00,3.68,0.000,0.000,0.042,3214.97,3209.38,3220.56,1818.75,2122.12,0,0,0,30.00,30.00,14.65
$GC,685.69,260,-175.18,-1.32,80.00,3214.0,3208.8,3219.2,1818.9,2122.6,84.08,-9.34,96,691.36,0.00,0.00,3.78,0.000,0.000,0.102,3213.94,3208.44,3219.44,1818.69,3474.81,0,0,0,30.00,30.00,14.50
$GC,711.20,1028,-175.18,-1.32,0.00,3214.1,3208.2,3220.0,1819.3,3475.4,86.45,-9.41,101,716.33,0.00,0.00,3.57,0.000,0.000,0.047,3212.97,3206.94,3219.00,1818.56,2081.94,0,0,0,30.00,30.00,14.61
$GC,775.70,516,-175.18,-1.32,-80.00,3213.9,3208.8,3219.1,1819.1,2081.6,92.51,-9.03,108,781.47,0.00,0.00,4.28,0.000,0.000,0.143,3214.44,3208.88,3220.00,1818.62,663.81,0,0,0,30.00,30.00,14.39
$GC,801.15,1028,-175.18,-1.32,0.00,3213.6,3207.8,3219.4,1818.9,663.9,95.09,-9.49,113,806.36,0.00,0.00,3.68,0.000,0.000,0.042,3214.59,3209.31,3219.88,1818.56,2121.69,0,0,0,30.00,30.00,14.66
$GC,865.71,260,-175.18,-1.32,80.00,3214.1,3208.5,3219.7,1819.1,2122.1,101.82,-10.31,120,871.38,0.00,0.00,3.80,0.000,0.000,0.102,3212.81,3207.50,3218.12,1819.06,3475.50,0,0,0,30.00,30.00,14.50
$GC,891.22,1028,-175.18,-1.32,0.00,3214.4,3208.6,3220.2,1818.8,3475.8,104.44,-10.85,125,896.35,0.00,0.00,3.56,0.000,0.000,0.047,3213.31,3208.19,3218.44,1818.81,2081.62,0,0,0,30.00,30.00,14.61
$GC,955.72,516,-175.18,-1.32,-80.00,3213.9,3208.1,3219.6,1818.9,2081.4,110.90,-9.22,132,961.47,0.00,0.00,4.28,0.000,0.000,0.141,3213.62,3207.88,3219.38,1818.75,663.56,0,0,0,30.00,30.00,14.40
$GC,1001.18,1028,-175.18,-1.32,0.00,3214.3,3209.2,3219.4,1819.1,664.0,115.35,-10.00,141,1006.39,0.00,0.00,3.66,0.000,0.000,0.040,3213.50,3207.94,3219.06,1818.56,2122.94,0,0,0,30.00,30.00,14.67
$GC,1065.73,0,-175.18,-1.32,0.00,3214.0,3208.6,3219.4,1819.4,2123.4,121.29,-8.91,148,1067.06,0.00,0.00,0.00,0.000,0.000,0.000,3214.53,3209.19,3219.88,1818.94,2123.62,0,0,0,30.00,30.00,30.00
$GC,1125.75,0,-175.18,-1.32,0.00,3214.1,3208.8,3219.4,1818.9,2123.6,126.51,-8.86,154,1127.07,0.00,0.00,0.00,0.000,0.000,0.000,3214.47,3208.88,3220.06,1819.12,2123.44,0,0,0,30.00,30.00,30.00
$GC,1185.75,260,-175.18,-1.32,80.00,3214.1,3208.6,3219.6,1819.0,2123.8,131.52,-8.38,160,1191.48,0.00,0.00,3.82,0.000,0.000,0.103,3214.75,3209.06,3220.44,1818.62,3475.94,0,0,0,30.00,30.00,14.51
$GC,1221.20,1028,-175.18,-1.32,0.00,3213.8,3208.2,3219.4,1819.2,3476.0,134.80,-8.18,167,1225.32,0.00,0.00,3.12,0.000,0.000,0.043,3215.41,3209.75,3221.06,1819.44,2245.81,0,0,0,30.00,30.00,14.65
$STATE,1226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1226,begin apogee
$GC,1227.29,10243,0.00,-0.25,0.00,3213.8,3208.4,3219.2,1819.4,1983.2,135.28,-9.41,168,1376.10,145.17,2.13,0.08,1.116,0.127,0.189,2498.91,2506.62,2491.19,2079.38,2024.25,0,0,0,10.74,14.52,13.80
$STATE,1380,end apogee,CONTROL_FINISHED_OK
$STATE,1380,begin climb
$GC,1379.49,10503,175.18,1.32,80.00,2497.5,2506.0,2488.9,2079.9,2025.2,139.60,0.00,183,1546.13,157.28,3.06,4.45,1.065,0.075,0.099,1782.91,1811.75,1754.06,2463.31,3462.62,0,0,0,10.88,13.95,13.42
$GC,1574.38,11303,244.21,1.53,0.00,1779.7,1809.6,1749.9,2463.4,3463.4,130.05,7.32,216,1646.61,64.61,0.33,4.11,1.019,0.047,0.048,1503.84,1535.50,1472.19,2525.25,1983.88,0,0,0,10.61,13.64,13.68
$GC,1704.35,516,244.21,1.53,-80.00,1499.4,1532.8,1465.9,2525.4,1984.6,116.83,10.46,236,1710.11,0.00,0.00,4.22,0.000,0.000,0.130,1498.53,1532.06,1465.00,2525.19,663.38,0,0,0,30.00,30.00,13.66
$GC,1753.28,1028,244.21,1.53,0.00,1498.8,1531.8,1465.8,2525.2,663.4,110.71,12.09,246,1760.11,0.00,0.00,3.62,0.000,0.000,0.038,1499.22,1531.94,1466.50,2525.69,2023.50,0,0,0,30.00,30.00,13.91
$GC,1819.37,516,244.21,1.53,-80.00,1497.6,1531.0,1464.1,2525.2,2024.2,103.75,10.29,253,1825.15,0.00,0.00,4.26,0.000,0.000,0.126,1498.19,1531.62,1464.75,2524.44,664.94,0,0,0,30.00,30.00,13.90
$GC,1848.29,1028,244.21,1.53,0.00,1497.9,1531.5,1464.4,2525.3,665.0,100.50,10.59,259,1855.10,0.00,0.00,3.55,0.000,0.000,0.038,1498.41,1531.94,1464.88,2525.12,2024.50,0,0,0,30.00,30.00,14.12
$GC,1914.53,580,244.21,1.57,-80.00,1497.3,1531.1,1463.5,2525.3,2024.6,94.72,8.64,266,1920.12,0.00,0.00,4.16,0.000,0.000,0.125,1496.31,1530.12,1462.50,2525.62,662.62,0,0,0,30.00,30.00,14.05
$GC,1959.84,1028,244.21,1.57,0.00,1497.4,1531.0,1463.8,2525.2,662.9,89.97,10.45,275,1965.01,0.00,0.00,3.49,0.000,0.000,0.038,1497.59,1531.06,1464.12,2524.81,2025.62,0,0,0,30.00,30.00,14.31
$GC,2024.41,324,244.21,1.60,80.00,1496.8,1530.8,1462.8,2525.1,2025.9,83.75,9.12,282,2030.12,0.00,0.00,4.09,0.000,0.000,0.099,1495.84,1530.19,1461.50,2525.19,3464.31,0,0,0,30.00,30.00,14.24
$GC,2059.41,17478,244.21,1.63,0.00,1496.0,1529.7,1462.3,2525.3,3464.4,80.35,9.03,289,2065.11,0.00,0.00,3.88,0.000,0.000,0.048,1495.72,1529.38,1462.06,2526.12,1981.19,0,0,0,30.00,30.00,14.39
$GC,2124.42,16966,244.21,1.66,-80.00,1496.0,1529.9,1462.0,2525.4,1980.6,74.55,8.76,296,2130.12,0.00,0.00,3.96,0.000,0.000,0.129,1495.47,1529.38,1461.56,2525.81,663.00,0,0,0,30.00,30.00,14.26
$GC,2239.94,17478,244.21,1.68,0.00,1495.9,1529.9,1462.0,2525.1,663.2,63.87,9.26,319,2245.05,0.00,0.00,3.43,0.000,0.000,0.038,1495.44,1529.25,1461.62,2525.06,2026.88,0,0,0,30.00,30.00,14.58
$GC,2304.45,10535,310.67,1.88,80.00,1495.8,1529.7,1461.9,2525.6,2027.1,59.04,7.42,326,2386.89,75.21,0.47,4.17,0.990,0.048,0.101,1233.16,1265.31,1201.00,2610.56,3464.56,0,0,0,10.81,14.59,14.01
$GC,2425.17,1028,310.67,1.88,0.00,1231.3,1264.9,1197.8,2610.2,3464.3,47.84,10.41,350,2430.85,0.00,0.00,3.90,0.000,0.000,0.049,1230.59,1264.06,1197.12,2610.38,1981.31,0,0,0,30.00,30.00,14.28
$GC,2490.18,580,310.67,1.93,-80.00,1230.9,1265.1,1196.8,2610.2,1980.9,42.48,8.31,357,2495.86,0.00,0.00,3.95,0.000,0.000,0.128,1231.00,1265.31,1196.69,2609.94,663.81,0,0,0,30.00,30.00,14.23
$GC,2609.28,1028,310.67,1.93,0.00,1230.6,1264.2,1196.9,2610.1,663.8,30.83,9.78,381,2615.89,0.00,0.00,3.44,0.000,0.000,0.039,1230.69,1264.44,1196.94,2610.69,2027.19,0,0,0,30.00,30.00,14.53
$GC,2675.25,10275,372.77,2.12,0.00,1230.3,1264.5,1196.1,2610.3,2027.4,25.77,7.59,388,2746.66,68.79,0.29,0.00,0.960,0.057,0.000,981.19,1012.94,949.44,2671.25,2027.31,0,0,0,10.83,14.57,30.00
$GC,2805.18,516,372.77,2.12,-80.00,978.6,1012.3,944.9,2670.8,2027.9,13.88,9.64,402,2810.92,0.00,0.00,4.14,0.000,0.000,0.125,978.56,1012.38,944.75,2670.88,663.88,0,0,0,30.00,30.00,14.21
$GC,2850.64,1028,372.77,2.12,0.00,978.8,1012.3,945.3,2671.7,663.9,9.38,10.38,411,2855.81,0.00,0.00,3.46,0.000,0.000,0.038,978.94,1012.25,945.62,2671.00,2026.44,0,0,0,30.00,30.00,14.41
$GC,2915.21,580,372.77,2.17,-80.00,978.1,1012.1,944.1,2671.7,2027.1,3.78,8.46,418,2920.93,0.00,0.00,4.11,0.000,0.000,0.125,977.94,1012.06,943.81,2671.19,663.50,0,0,0,30.00,30.00,14.31
$STATE,2941,end climb,SURFACE_DEPTH_REACHED
$STATE,2941,begin surface coast
$STATE,2961,end surface coast,CONTROL_FINISHED_OK
$STATE,2961,begin surface
$SM_CCo,3099.40,100.32,0.963,0,563.4,558.9,567.9,475.05
$SM_GC,-0.76,100.32,18.24,3.66,0.963,0.056,0.038,563.4,558.9,567.9,167.5,2128.4,0,0,0,10.81,14.40,14.56
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4706.91,-12432.30,260421,001334
$TCM_TEMP,175.11
$XPDR_PINGS,13,14.0,11.5
$SC_FREEKB,3376992
$HUMID,59.97
$TEMP,8.76
$INTERNAL_PRESSURE,7.82477
$24V_AH,13.06,339.515
$10V_AH,13.64,0.000
$FG_AHR_24Vo,297.983
$FG_AHR_10Vo,79.758
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,712.200,40.690,155.475,158.593,3.250,15.723,2079.644,1245.360,861.288,0.000,0.000,0.000
$DEVICE_MAMPS,1115.936,242.144,189.336,182.733,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3031.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.500,0.000,0.000,0.000
$MEM,1103880,38,73328,53
$DATA_FILE_SIZE,16204,427
$CAP_FILE_SIZE,319092,0
$SDSIZE,3918848,3576096
$SDFILEDIR,6316,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260421,020639,4705.784,-12453.667,21,1.1,22,15.5