version: 67.01
glider: 236
mission: 2
dive: 180
start: 7 13 123 15 31 42
data:
$ID,236
$MISSION,2
$DIVE,180
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$D_NO_BLEED,50
$D_BOOST,0
$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,410
$T_MISSION,470
$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,1000
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72293
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,7
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$NETBOX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3920
$C_PITCH,2340
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.0041299998
$PITCH_GAIN,12
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,700
$ROLL_MAX,3350
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2150
$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,3020
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,3
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,18.767057
$FG_AHR_24V,50.677738
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.23515
$PRESSURE_SLOPE,0.00022672296
$COMPASS_USE,49156
$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,-1
$XPDR_REP,-1
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3.0999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$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
$NAV_DEVICE,-1
$NAV2_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
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,130723,152609,4751.666,-12515.987,3,0.9,24,15.8
$_CALLS,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.0
$GPS2,130723,153123,4751.629,-12515.983,2,0.7,5,15.8
$SPEED_LIMITS,0.139,0.208
$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,69.7,7121,-17.1,-8.049,-21.16,2007,0.225
$D_GRID,360
$IRON,1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.572571,-595.407471,-574.239685
$OSC,8000225
$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,8.98,16386,-107.06,-1.56,0.00,1095.2,1105.0,1085.4,190.1,2132.7,0.00,0.00,0,75.74,65.17,0.00,0.00,0.005,0.000,0.000,2467.16,2462.00,2472.31,190.12,2132.50,0,0,0,15.73,30.00,30.00
$GC,76.18,18983,-107.06,-1.56,-80.00,2467.5,2462.4,2472.6,190.2,2132.3,3.18,-3.05,13,133.38,25.69,16.23,3.83,0.006,0.236,0.116,3456.94,3440.81,3473.06,1961.12,689.94,0,0,0,15.74,15.72,15.72
$GC,361.94,1028,-107.06,-1.56,0.00,3457.8,3441.5,3474.1,1961.5,689.9,49.31,-14.23,69,368.54,0.00,0.00,3.42,0.000,0.000,0.046,3458.41,3442.56,3474.25,1961.19,2132.31,0,0,0,30.00,30.00,15.93
$GC,551.95,516,-107.06,-1.56,-80.00,3459.2,3443.2,3475.1,1961.3,2132.3,70.22,-11.23,107,558.69,0.00,0.00,3.79,0.000,0.000,0.110,3460.19,3443.88,3476.50,1961.50,688.12,0,0,0,30.00,30.00,15.90
$GC,672.16,1028,-107.06,-1.56,0.00,3459.1,3442.6,3475.6,1961.1,688.2,84.14,-11.68,131,678.87,0.00,0.00,3.39,0.000,0.000,0.047,3459.66,3443.19,3476.12,1960.94,2130.38,0,0,0,30.00,30.00,15.98
$GC,862.43,0,-107.06,-1.56,0.00,3459.6,3443.6,3475.6,1961.0,2130.9,103.23,-10.39,166,864.00,0.00,0.00,0.00,0.000,0.000,0.000,3459.22,3442.94,3475.50,1961.31,2131.06,0,0,0,30.00,30.00,30.00
$GC,1172.45,516,-107.06,-1.56,-80.00,3460.2,3443.9,3476.6,1961.1,2131.6,133.87,-10.22,197,1179.63,0.00,0.00,3.77,0.000,0.000,0.110,3458.72,3442.56,3474.88,1960.69,688.69,0,0,0,30.00,30.00,16.00
$GC,1218.11,1028,-107.06,-1.56,0.00,3460.4,3443.7,3477.1,1961.3,688.9,139.05,-11.89,206,1224.07,0.00,0.00,3.38,0.000,0.000,0.046,3461.44,3444.25,3478.62,1961.31,2131.88,0,0,0,30.00,30.00,16.05
$GC,1528.13,0,-107.06,-1.56,0.00,3460.4,3444.3,3476.6,1960.9,2132.5,169.32,-9.85,238,1529.70,0.00,0.00,0.00,0.000,0.000,0.000,3459.59,3443.75,3475.44,1961.25,2132.38,0,0,0,30.00,30.00,30.00
$GC,1838.15,516,-107.06,-1.56,-80.00,3460.1,3444.1,3476.1,1961.4,2132.2,200.43,-10.06,269,1845.36,0.00,0.00,3.78,0.000,0.000,0.113,3461.28,3445.31,3477.25,1959.69,691.38,0,0,0,30.00,30.00,16.08
$GC,1903.83,1028,-107.06,-1.56,0.00,3460.4,3444.1,3476.8,1960.8,690.8,208.02,-11.54,282,1909.82,0.00,0.00,3.39,0.000,0.000,0.047,3460.72,3443.56,3477.88,1960.88,2132.19,0,0,0,30.00,30.00,16.09
$GC,2213.86,0,-107.06,-1.56,0.00,3460.1,3443.7,3476.4,1961.1,2132.1,240.57,-10.83,314,2215.43,0.00,0.00,0.00,0.000,0.000,0.000,3460.06,3444.69,3475.44,1961.31,2132.12,0,0,0,30.00,30.00,30.00
$GC,2523.88,0,-107.06,-1.56,0.00,3460.5,3444.2,3476.8,1961.2,2132.8,273.96,-10.89,345,2525.44,0.00,0.00,0.00,0.000,0.000,0.000,3459.47,3443.62,3475.31,1960.94,2132.38,0,0,0,30.00,30.00,30.00
$GC,2833.89,0,-107.06,-1.56,0.00,3460.6,3444.1,3477.0,1961.2,2132.6,307.26,-10.51,376,2835.47,0.00,0.00,0.00,0.000,0.000,0.000,3459.72,3444.19,3475.25,1961.06,2132.44,0,0,0,30.00,30.00,30.00
$GC,3143.91,260,-107.06,-1.56,80.00,3460.4,3443.9,3476.9,1961.2,2132.1,338.97,-9.84,407,3149.80,0.00,0.00,3.17,0.000,0.000,0.100,3460.94,3445.31,3476.56,1961.56,3361.19,0,0,0,30.00,30.00,16.11
$GC,3173.90,1028,-107.06,-1.56,0.00,3460.2,3444.2,3476.3,1960.9,3361.4,342.15,-10.32,413,3179.70,0.00,0.00,3.06,0.000,0.000,0.046,3460.84,3444.69,3477.00,1960.56,2067.81,0,0,0,30.00,30.00,16.12
$STATE,3353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3354,begin apogee
$GC,3355.82,10243,0.00,-0.42,0.00,3460.7,3444.6,3476.7,1961.8,2190.0,360.32,-10.53,432,3445.58,82.31,2.33,0.12,1.366,0.120,0.166,3017.06,2989.94,3044.19,2240.50,2114.25,0,0,0,12.77,16.10,15.74
$STATE,3451,end apogee,CONTROL_FINISHED_OK
$STATE,3451,begin climb
$GC,3453.84,10243,107.06,1.56,0.00,3017.0,2988.4,3045.6,2240.2,2114.2,362.42,0.00,440,3553.05,86.50,3.73,0.00,1.327,0.066,0.000,2584.88,2556.44,2613.31,2725.69,2114.31,0,0,0,12.82,15.81,30.00
$GC,3857.54,16710,107.06,1.62,80.00,2569.8,2539.4,2600.1,2727.3,2114.4,342.60,6.29,486,3863.40,0.00,0.00,3.27,0.000,0.000,0.093,2572.69,2542.62,2602.75,2725.94,3362.62,0,0,0,30.00,30.00,15.92
$GC,4047.53,17414,107.06,1.62,0.00,2570.0,2539.6,2600.3,2727.2,3361.8,327.54,8.31,524,4053.33,0.00,0.00,2.97,0.000,0.000,0.046,2570.38,2539.50,2601.25,2727.12,2115.62,0,0,0,30.00,30.00,15.99
$GC,4357.61,18759,107.06,1.68,80.00,2566.8,2535.7,2598.0,2727.1,2115.6,307.43,5.80,556,4363.65,0.00,0.16,3.23,0.000,0.066,0.091,2567.91,2537.06,2598.75,2762.06,3362.06,0,0,0,30.00,16.07,16.03
$GC,4591.91,17478,107.06,1.74,0.00,2566.5,2535.2,2597.7,2761.4,3361.8,291.80,6.17,603,4599.43,0.00,0.00,2.95,0.000,0.000,0.046,2568.38,2537.19,2599.56,2761.19,2114.38,0,0,0,30.00,30.00,16.07
$GC,4907.68,18759,107.06,1.82,80.00,2566.0,2534.4,2597.6,2762.2,2114.6,274.14,5.42,635,4913.70,0.00,0.14,3.21,0.000,0.071,0.091,2567.94,2535.94,2599.94,2796.12,3361.88,0,0,0,30.00,16.08,16.04
$GC,5141.98,17478,107.06,1.84,0.00,2565.4,2533.7,2597.1,2795.6,3362.9,258.51,7.39,682,5149.20,0.00,0.00,2.94,0.000,0.000,0.046,2565.94,2534.50,2597.38,2795.88,2114.88,0,0,0,30.00,30.00,16.10
$GC,5457.76,16710,107.06,1.90,80.00,2564.2,2532.1,2596.2,2795.7,2114.2,238.14,6.20,714,5463.83,0.00,0.00,3.17,0.000,0.000,0.091,2564.19,2531.75,2596.62,2796.25,3364.50,0,0,0,30.00,30.00,16.09
$GC,5692.38,17478,107.06,1.93,0.00,2564.4,2532.2,2596.6,2796.0,3364.0,221.93,6.90,761,5699.33,0.00,0.00,2.92,0.000,0.000,0.046,2565.84,2533.94,2597.75,2795.56,2115.00,0,0,0,30.00,30.00,16.11
$GC,6007.83,18759,107.06,2.01,80.00,2563.7,2531.0,2596.4,2796.3,2115.2,203.13,5.37,793,6013.86,0.00,0.24,3.18,0.000,0.052,0.090,2565.50,2531.94,2599.06,2839.44,3364.31,0,0,0,30.00,16.15,16.08
$GC,6117.86,17478,107.06,2.06,0.00,2563.5,2531.1,2595.9,2840.8,3363.4,196.37,6.26,815,6123.57,0.00,0.00,2.92,0.000,0.000,0.046,2564.78,2532.25,2597.31,2841.00,2113.69,0,0,0,30.00,30.00,16.09
$GC,6427.88,18759,107.06,2.15,80.00,2562.9,2530.8,2595.1,2840.8,2114.2,179.91,5.09,847,6433.85,0.00,0.14,3.16,0.000,0.066,0.089,2563.41,2531.62,2595.19,2874.62,3364.62,0,0,0,30.00,16.12,16.07
$GC,6517.90,17478,107.06,2.22,0.00,2562.8,2530.6,2594.9,2875.4,3364.5,174.84,5.69,865,6523.60,0.00,0.00,2.93,0.000,0.000,0.045,2564.62,2532.31,2596.94,2873.75,2112.19,0,0,0,30.00,30.00,16.08
$GC,6827.91,19015,107.06,2.31,-80.00,2562.3,2530.6,2594.1,2875.2,2113.4,157.54,5.29,897,6835.18,0.00,0.17,3.67,0.000,0.063,0.107,2564.22,2531.50,2596.94,2911.06,688.94,0,0,0,30.00,16.08,16.06
$GC,7064.00,11303,190.80,2.42,0.00,2560.0,2530.4,2589.6,2911.8,688.9,146.41,3.76,944,7160.11,85.25,0.10,3.54,1.085,0.085,0.051,2242.97,2212.19,2273.75,2937.88,2184.31,0,0,0,12.56,16.08,16.11
$GC,7463.71,20999,190.80,2.42,-80.00,2230.9,2198.9,2263.0,2937.9,2183.9,100.82,13.20,993,7471.23,0.00,0.29,3.91,0.000,0.163,0.105,2229.16,2196.81,2261.50,2921.94,689.00,0,0,0,30.00,15.93,15.92
$GC,7619.83,17414,190.80,2.42,0.00,2229.6,2199.0,2260.2,2920.8,688.9,79.47,12.02,1024,7626.90,0.00,0.00,3.55,0.000,0.000,0.051,2230.00,2199.31,2260.69,2920.75,2181.69,0,0,0,30.00,30.00,15.96
$GC,7810.74,16386,190.80,2.42,0.00,2228.2,2195.9,2260.5,2921.2,2181.2,59.12,10.15,1062,7815.18,0.00,0.00,0.00,0.000,0.000,0.000,2228.53,2196.62,2260.44,2921.06,2181.19,0,0,0,30.00,30.00,30.00
$GC,8000.55,10791,255.99,2.50,-80.00,2227.3,2194.5,2260.1,2921.1,2181.3,44.68,4.71,1100,8077.49,66.57,0.27,3.92,0.982,0.050,0.103,1973.47,1946.62,2000.31,2959.69,687.38,0,0,0,12.65,16.03,15.78
$GC,8306.10,5125,255.99,2.50,0.00,1970.3,1946.9,1993.8,2960.1,687.4,23.14,10.77,1160,8313.13,0.00,0.30,3.56,0.000,0.174,0.049,1970.47,1947.25,1993.69,2941.62,2184.19,0,0,0,30.00,15.85,15.94
$GC,8496.62,10535,349.71,2.62,80.00,1967.8,1941.8,1993.8,2940.8,2184.1,13.20,3.25,1198,8598.06,89.86,0.35,3.06,0.948,0.043,0.091,1593.06,1577.25,1608.88,2988.88,3363.31,0,0,0,12.68,16.03,15.67
$GC,8652.38,5125,349.71,2.62,0.00,1594.7,1577.5,1611.9,2988.9,3362.8,5.24,8.91,1228,8658.37,0.00,0.26,2.98,0.000,0.167,0.042,1595.50,1577.88,1613.12,2969.75,2116.12,0,0,0,30.00,15.74,15.79
$STATE,8691,end climb,SURFACE_DEPTH_REACHED
$STATE,8692,begin surface coast
$FINISH,0.1,1.023786
$STATE,8722,end surface coast,CONTROL_FINISHED_OK
$STATE,8722,begin surface
$SURF,forcing
$SM_CCo,8882.91,117.36,0.944,0,1083.2,1098.6,1067.8,475.11
$SM_GC,1.79,117.36,20.86,0.06,0.944,0.049,0.176,1083.2,1098.6,1067.8,187.9,2069.8,0,0,0,12.69,15.86,15.86
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4752.03,-12518.46,130723,124823
$TCM_TEMP,257.83
$XPDR_PINGS,0,14.0,11.5
$SC_FREEKB,3810560
$HUMID,50.32
$TEMP,81.28
$INTERNAL_PRESSURE,8.92385
$24V_AH,14.92,76.743
$10V_AH,15.00,0.000
$FG_AHR_24Vo,50.839
$FG_AHR_10Vo,18.830
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,618.705,45.595,100.570,225.898,0.000,14.159,4288.463,4.738,0.000,4739.814,2548.320,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1365.872,235.912,176.216,220.693,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8736.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.628,0.000,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,970800,20,76228,57
$DATA_FILE_SIZE,35278,1242
$CAP_FILE_SIZE,467928,0
$SDSIZE,4028416,3957216
$SDFILEDIR,1115,181
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$IMPLIED_C_PITCH,2353,12.40,842,0.0,0.00
$GPS,130723,180030,4752.083,-12515.075,32,0.7,32,15.8