version: 67.00
glider: 236
mission: 2
dive: 1266
start: 4 26 121 9 18 43
data:
$ID,236
$MISSION,2
$DIVE,1266
$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,79.853439
$FG_AHR_24V,299.37003
$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
$GPS1,260421,091200,4705.638,-12452.833,1,1.4,3,15.5
$_CALLS,1
$_SM_DEPTHo,-1.62
$_SM_ANGLEo,-61.8
$GPS2,260421,091825,4705.659,-12452.888,2,1.4,4,15.5
$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,94.2,14595,-15.9,-10.000,-19.73
$D_GRID,133
$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,-1.32,0.00,560.8,559.8,561.8,171.4,2082.7,0.00,0.00,0,100.63,91.37,0.00,0.00,0.005,0.000,0.000,2718.25,2697.69,2738.81,171.44,2083.12,0,0,0,12.43,30.00,30.00
$GC,100.85,18695,-175.18,-1.32,80.00,2717.1,2696.8,2737.3,171.4,2082.9,4.97,-10.68,9,137.58,9.56,16.69,4.16,0.007,0.251,0.108,3214.59,3209.19,3220.00,1818.56,3473.50,0,0,0,12.60,14.00,13.67
$GC,234.71,1028,-175.18,-1.32,0.00,3214.0,3208.1,3219.9,1818.0,3473.6,30.91,-14.95,36,241.56,0.00,0.00,3.77,0.000,0.000,0.051,3214.94,3209.25,3220.62,1818.69,2083.62,0,0,0,30.00,30.00,14.29
$GC,300.81,260,-175.18,-1.32,80.00,3213.9,3208.2,3219.6,1818.5,2083.6,40.13,-14.03,43,306.54,0.00,0.00,4.12,0.000,0.000,0.100,3214.38,3208.38,3220.38,1817.62,3473.62,0,0,0,30.00,30.00,14.24
$GC,366.27,1028,-175.18,-1.32,0.00,3213.8,3208.1,3219.4,1818.8,3473.6,49.53,-13.42,56,371.49,0.00,0.00,3.73,0.000,0.000,0.049,3215.53,3210.75,3220.31,1817.00,2083.38,0,0,0,30.00,30.00,14.33
$GC,430.82,516,-175.18,-1.32,-80.00,3214.2,3208.9,3219.6,1818.6,2084.8,57.42,-12.08,63,436.62,0.00,0.00,4.53,0.000,0.000,0.142,3213.81,3208.44,3219.19,1818.38,664.19,0,0,0,30.00,30.00,14.18
$GC,479.75,1028,-175.18,-1.32,0.00,3214.1,3208.8,3219.4,1818.8,664.2,63.98,-13.05,73,487.03,0.00,0.00,3.80,0.000,0.000,0.040,3214.47,3209.50,3219.44,1818.69,2121.25,0,0,0,30.00,30.00,14.39
$GC,545.89,260,-175.18,-1.32,80.00,3214.2,3208.5,3219.9,1818.7,2121.6,71.95,-12.02,80,551.56,0.00,0.00,3.96,0.000,0.000,0.100,3214.22,3208.25,3220.19,1817.56,3476.19,0,0,0,30.00,30.00,14.27
$GC,584.75,1028,-175.18,-1.32,0.00,3213.9,3208.4,3219.5,1818.6,3476.2,76.90,-13.00,88,591.61,0.00,0.00,3.72,0.000,0.000,0.048,3214.69,3209.25,3220.12,1818.75,2082.31,0,0,0,30.00,30.00,14.35
$GC,650.85,516,-175.18,-1.32,-80.00,3214.3,3208.7,3219.9,1818.7,2082.6,84.63,-11.85,95,656.64,0.00,0.00,4.47,0.000,0.000,0.141,3213.78,3208.38,3219.19,1818.19,664.50,0,0,0,30.00,30.00,14.20
$GC,706.31,1028,-175.18,-1.32,0.00,3213.8,3208.2,3219.4,1818.6,664.5,91.66,-12.03,106,711.53,0.00,0.00,3.78,0.000,0.000,0.041,3213.66,3208.31,3219.00,1818.62,2121.25,0,0,0,30.00,30.00,14.42
$GC,770.86,260,-175.18,-1.32,80.00,3214.5,3209.1,3219.9,1818.8,2121.0,99.02,-10.80,113,776.58,0.00,0.00,3.93,0.000,0.000,0.100,3214.69,3209.25,3220.12,1818.50,3474.31,0,0,0,30.00,30.00,14.29
$GC,809.78,1028,-175.18,-1.32,0.00,3213.8,3207.9,3219.8,1818.8,3474.4,103.43,-11.41,121,816.61,0.00,0.00,3.66,0.000,0.000,0.047,3214.94,3209.06,3220.81,1818.81,2082.94,0,0,0,30.00,30.00,14.38
$GC,875.87,0,-175.18,-1.32,0.00,3214.3,3208.8,3219.9,1818.4,2083.5,109.96,-10.04,128,877.19,0.00,0.00,0.00,0.000,0.000,0.000,3214.44,3208.81,3220.06,1818.69,2083.38,0,0,0,30.00,30.00,30.00
$GC,935.89,0,-175.18,-1.32,0.00,3213.9,3208.1,3219.7,1818.4,2083.1,115.78,-9.55,134,937.22,0.00,0.00,0.00,0.000,0.000,0.000,3214.75,3209.19,3220.31,1818.50,2083.25,0,0,0,30.00,30.00,30.00
$GC,995.91,260,-175.18,-1.32,80.00,3214.3,3208.5,3220.1,1818.6,2083.9,121.51,-9.52,140,1001.61,0.00,0.00,4.05,0.000,0.000,0.099,3214.59,3208.50,3220.69,1818.75,3473.62,0,0,0,30.00,30.00,14.32
$GC,1034.81,1028,-175.18,-1.32,0.00,3214.5,3209.0,3220.1,1817.9,3472.9,125.60,-10.51,148,1041.64,0.00,0.00,3.68,0.000,0.000,0.048,3214.09,3209.06,3219.12,1818.69,2082.56,0,0,0,30.00,30.00,14.40
$GC,1100.89,516,-175.18,-1.32,-80.00,3214.0,3208.4,3219.5,1818.5,2082.6,131.36,-8.75,155,1106.68,0.00,0.00,4.41,0.000,0.000,0.142,3213.72,3208.31,3219.12,1818.62,664.38,0,0,0,30.00,30.00,14.24
$STATE,1120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1120,begin apogee
$GC,1124.60,10243,0.00,-0.25,0.00,3214.1,3208.6,3219.7,1818.6,2021.4,133.39,-9.33,159,1275.38,147.63,2.14,0.09,1.116,0.137,0.182,2497.72,2505.38,2490.06,2079.50,1986.44,0,0,0,10.72,14.31,13.50
$STATE,1279,end apogee,CONTROL_FINISHED_OK
$STATE,1279,begin climb
$GC,1278.81,10759,175.18,1.32,-80.00,2497.3,2505.8,2488.9,2079.2,1985.8,139.25,0.00,174,1449.42,160.90,3.06,4.50,1.064,0.082,0.130,1784.31,1813.00,1755.62,2463.81,664.62,0,0,0,10.67,13.63,13.13
$GC,1483.11,1092,175.18,1.34,0.00,1780.6,1808.2,1753.1,2463.2,664.8,128.61,9.36,214,1488.31,0.00,0.00,3.80,0.000,0.000,0.037,1779.66,1807.12,1752.19,2463.56,2022.62,0,0,0,30.00,30.00,13.42
$GC,1547.66,324,175.18,1.39,80.00,1778.0,1807.8,1748.2,2463.0,2022.3,123.10,8.35,221,1553.46,0.00,0.00,4.51,0.000,0.000,0.099,1776.91,1806.38,1747.44,2463.06,3464.31,0,0,0,30.00,30.00,13.51
$GC,1562.72,19527,175.18,1.45,0.00,1777.1,1806.7,1747.5,2463.3,3464.1,121.69,8.15,224,1568.44,0.00,0.19,4.16,0.000,0.072,0.047,1776.19,1805.94,1746.44,2502.50,1984.81,0,0,0,30.00,13.50,13.62
$GC,1627.67,16450,175.18,1.49,0.00,1776.8,1806.9,1746.6,2503.2,1984.3,115.71,8.63,231,1629.00,0.00,0.00,0.00,0.000,0.000,0.000,1777.03,1807.44,1746.62,2503.44,1984.56,0,0,0,30.00,30.00,30.00
$GC,1687.68,16646,175.18,1.49,80.00,1776.1,1806.9,1745.2,2503.6,1983.9,110.10,9.71,237,1693.46,0.00,0.00,4.52,0.000,0.000,0.099,1774.66,1805.88,1743.44,2502.94,3464.25,0,0,0,30.00,30.00,13.76
$GC,1722.67,17414,175.18,1.49,0.00,1774.9,1806.1,1743.8,2502.8,3464.0,106.55,10.15,244,1728.38,0.00,0.00,4.07,0.000,0.000,0.049,1775.47,1806.44,1744.50,2501.19,1984.19,0,0,0,30.00,30.00,13.91
$GC,1787.69,16450,175.18,1.52,0.00,1774.8,1805.9,1743.8,2503.3,1984.9,100.62,8.79,251,1789.02,0.00,0.00,0.00,0.000,0.000,0.000,1774.69,1805.88,1743.50,2503.00,1984.50,0,0,0,30.00,30.00,30.00
$GC,1847.70,16450,175.18,1.56,0.00,1774.8,1806.1,1743.5,2503.4,1984.6,95.38,8.91,257,1849.03,0.00,0.00,0.00,0.000,0.000,0.000,1775.00,1806.19,1743.81,2503.00,1984.88,0,0,0,30.00,30.00,30.00
$GC,1907.71,19015,175.18,1.60,-80.00,1774.7,1805.9,1743.4,2502.9,1984.4,90.37,8.59,263,1913.47,0.00,0.16,4.11,0.000,0.087,0.128,1774.97,1806.38,1743.56,2536.38,664.88,0,0,0,30.00,14.20,13.99
$GC,1996.66,17478,175.18,1.62,0.00,1774.0,1805.2,1742.8,2537.6,664.8,81.45,9.31,281,2003.43,0.00,0.00,3.56,0.000,0.000,0.039,1774.94,1805.75,1744.12,2537.12,2026.38,0,0,0,30.00,30.00,14.29
$GC,2062.72,10791,255.98,1.86,-80.00,1774.0,1804.8,1743.2,2538.1,2026.2,76.91,6.86,288,2159.40,90.03,0.38,4.39,1.004,0.066,0.124,1455.72,1486.19,1425.25,2601.81,664.06,0,0,0,10.66,14.33,13.59
$GC,2243.28,1028,255.98,1.86,0.00,1453.3,1482.8,1423.9,2601.5,664.1,59.42,10.67,324,2248.44,0.00,0.00,3.62,0.000,0.000,0.038,1452.16,1482.19,1422.12,2601.62,2024.56,0,0,0,30.00,30.00,14.03
$GC,2307.75,580,255.98,1.91,-80.00,1451.5,1482.8,1420.2,2601.9,2024.1,53.79,8.56,331,2313.49,0.00,0.00,4.24,0.000,0.000,0.123,1450.84,1482.06,1419.62,2601.62,662.81,0,0,0,30.00,30.00,13.97
$GC,2393.20,1028,255.98,1.91,0.00,1451.6,1482.8,1420.4,2601.7,662.7,45.11,10.17,348,2398.39,0.00,0.00,3.53,0.000,0.000,0.037,1451.69,1482.62,1420.75,2601.06,2026.31,0,0,0,30.00,30.00,14.25
$GC,2457.77,10535,307.70,2.06,80.00,1450.5,1482.6,1418.4,2601.3,2026.7,39.81,7.99,355,2523.82,58.65,0.25,4.30,0.964,0.063,0.099,1244.78,1275.81,1213.75,2651.75,3464.81,0,0,0,10.73,14.32,13.76
$GC,2611.75,1092,307.70,2.09,0.00,1243.2,1275.5,1210.8,2652.2,3464.0,26.18,9.06,386,2618.57,0.00,0.00,3.99,0.000,0.000,0.048,1244.00,1276.56,1211.44,2652.06,1982.81,0,0,0,30.00,30.00,14.16
$GC,2677.79,580,307.70,2.14,-80.00,1242.9,1275.9,1210.0,2652.1,1982.9,20.85,8.23,393,2683.50,0.00,0.00,4.09,0.000,0.000,0.126,1242.41,1275.19,1209.62,2652.81,663.62,0,0,0,30.00,30.00,14.10
$GC,2826.74,1092,307.70,2.16,0.00,1242.8,1275.5,1210.2,2652.9,663.8,5.38,9.44,423,2833.53,0.00,0.00,3.51,0.000,0.000,0.038,1242.59,1275.50,1209.69,2652.25,2026.94,0,0,0,30.00,30.00,14.37
$STATE,2883,end climb,SURFACE_DEPTH_REACHED
$STATE,2883,begin surface coast
$STATE,2913,end surface coast,CONTROL_FINISHED_OK
$STATE,2913,begin surface
$SM_CCo,3107.88,165.54,0.966,0,564.3,562.4,566.1,474.83
$SM_CCo,3108.98,0.00,0.010,0,563.6,561.2,565.9,475.00
$SM_GC,-0.70,0.00,19.00,0.20,0.010,0.066,0.087,563.6,561.2,565.9,171.4,2134.9,0,0,0,30.36,14.23,14.40
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4707.61,-12452.52,260421,081859
$TCM_TEMP,174.92
$XPDR_PINGS,16,14.0,11.5
$SC_FREEKB,3373920
$HUMID,59.86
$TEMP,8.72
$INTERNAL_PRESSURE,7.81917
$24V_AH,12.92,341.174
$10V_AH,13.16,0.000
$FG_AHR_24Vo,299.558
$FG_AHR_10Vo,79.865
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,723.705,41.885,128.545,154.818,4.000,13.592,2010.314,1255.867,868.888,0.000,0.000,0.000
$DEVICE_MAMPS,1116.264,251.328,181.792,190.204,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2977.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.369,0.000,0.000,0.000
$MEM,1103852,38,73356,53
$DATA_FILE_SIZE,16160,432
$CAP_FILE_SIZE,300082,0
$SDSIZE,3918848,3574304
$SDFILEDIR,6356,1
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