version: 67.01
glider: 236
mission: 2
dive: 279
start: 8 5 123 18 43 8
data:
$ID,236
$MISSION,2
$DIVE,279
$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,28.294674
$FG_AHR_24V,72.809547
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.23515
$PRESSURE_SLOPE,0.00022672296
$COMPASS_USE,32772
$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
$GPS1,050823,183810,4752.122,-12515.079,34,1.1,38,15.8
$_CALLS,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-64.1
$GPS2,050823,184249,4752.065,-12515.132,3,1.1,7,15.8
$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,76.6,6046,-17.1,-8.049,-21.16,2007,0.299
$D_GRID,297
$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,8000266
$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,9.02,16386,-107.06,-1.56,0.00,1085.4,1091.7,1079.2,182.9,2152.7,0.00,0.00,0,70.77,60.22,0.00,0.00,0.005,0.000,0.000,2371.38,2359.31,2383.44,182.88,2152.56,0,0,0,15.69,30.00,30.00
$GC,71.21,18983,-107.06,-1.56,-80.00,2371.9,2360.7,2383.1,182.8,2152.2,3.37,-3.45,12,128.35,26.36,16.03,3.81,0.006,0.237,0.108,3456.97,3440.25,3473.69,1961.25,687.38,0,0,0,15.69,15.73,15.66
$GC,212.14,1028,-107.06,-1.56,0.00,3457.8,3440.2,3475.4,1960.9,687.6,27.85,-17.56,39,218.70,0.00,0.00,3.33,0.000,0.000,0.042,3457.75,3440.62,3474.88,1961.31,2133.62,0,0,0,30.00,30.00,15.91
$GC,402.11,516,-107.06,-1.56,-80.00,3457.8,3439.3,3476.4,1961.6,2133.7,52.69,-11.34,77,408.85,0.00,0.00,3.73,0.000,0.000,0.103,3459.09,3441.00,3477.19,1960.31,688.69,0,0,0,30.00,30.00,15.93
$GC,522.27,1028,-107.06,-1.56,0.00,3458.5,3440.2,3476.8,1961.0,688.6,67.01,-11.92,101,528.80,0.00,0.00,3.30,0.000,0.000,0.040,3458.78,3440.62,3476.94,1961.12,2135.44,0,0,0,30.00,30.00,15.95
$GC,712.33,260,-107.06,-1.56,80.00,3460.0,3441.7,3478.4,1961.1,2135.9,86.56,-10.95,139,718.87,0.00,0.00,3.02,0.000,0.000,0.089,3461.66,3444.06,3479.25,1959.88,3365.75,0,0,0,30.00,30.00,15.97
$GC,912.48,1028,-107.06,-1.56,0.00,3461.0,3443.8,3478.1,1961.1,3366.1,112.03,-13.07,179,918.23,0.00,0.00,2.99,0.000,0.000,0.037,3461.06,3444.75,3477.38,1960.31,2065.00,0,0,0,30.00,30.00,16.02
$GC,1222.50,516,-107.06,-1.56,-80.00,3462.5,3444.4,3480.6,1961.2,2064.9,143.29,-10.29,211,1228.83,0.00,0.00,3.56,0.000,0.000,0.109,3462.16,3443.38,3480.94,1960.69,687.50,0,0,0,30.00,30.00,16.01
$GC,1326.76,1028,-107.06,-1.56,0.00,3462.0,3443.9,3480.1,1960.9,687.6,156.04,-12.00,232,1334.23,0.00,0.00,3.31,0.000,0.000,0.042,3463.56,3445.44,3481.69,1960.50,2136.94,0,0,0,30.00,30.00,16.06
$GC,1642.54,516,-107.06,-1.56,-80.00,3462.2,3444.1,3480.4,1961.2,2137.5,187.61,-9.98,264,1649.73,0.00,0.00,3.74,0.000,0.000,0.105,3462.22,3443.50,3480.94,1961.88,688.62,0,0,0,30.00,30.00,16.03
$GC,1678.21,1028,-107.06,-1.56,0.00,3462.4,3444.1,3480.8,1960.8,688.8,191.71,-11.47,271,1684.16,0.00,0.00,3.33,0.000,0.000,0.042,3462.12,3443.81,3480.44,1961.19,2135.62,0,0,0,30.00,30.00,16.06
$GC,1988.23,516,-107.06,-1.56,-80.00,3462.7,3444.7,3480.8,1961.0,2135.8,222.31,-10.09,303,1995.66,0.00,0.00,3.74,0.000,0.000,0.108,3463.31,3444.88,3481.75,1959.69,689.75,0,0,0,30.00,30.00,16.03
$GC,2014.24,1028,-107.06,-1.56,0.00,3462.3,3443.9,3480.7,1961.0,689.8,225.18,-10.50,308,2020.15,0.00,0.00,3.30,0.000,0.000,0.042,3462.16,3443.81,3480.50,1960.38,2135.50,0,0,0,30.00,30.00,16.08
$GC,2324.27,0,-107.06,-1.56,0.00,3462.2,3443.9,3480.5,1961.3,2135.5,256.01,-9.52,340,2325.84,0.00,0.00,0.00,0.000,0.000,0.000,3461.53,3443.94,3479.12,1960.75,2135.75,0,0,0,30.00,30.00,30.00
$GC,2634.28,516,-107.06,-1.56,-80.00,3462.4,3444.6,3480.3,1961.3,2135.7,284.40,-9.14,371,2641.47,0.00,0.00,3.74,0.000,0.000,0.106,3462.34,3444.81,3479.88,1961.12,688.50,0,0,0,30.00,30.00,16.08
$GC,2669.94,1028,-107.06,-1.56,0.00,3461.6,3442.6,3480.6,1960.9,688.7,287.95,-9.53,378,2675.89,0.00,0.00,3.33,0.000,0.000,0.043,3462.34,3444.25,3480.44,1961.19,2136.25,0,0,0,30.00,30.00,16.10
$STATE,2780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2780,begin apogee
$GC,2781.90,10243,0.00,-0.42,0.00,3462.0,3443.5,3480.4,1961.0,2181.5,297.56,-8.61,390,2870.84,81.54,2.33,0.10,1.275,0.116,0.178,3018.94,2988.69,3049.19,2239.88,2110.62,0,0,0,12.39,15.99,15.76
$STATE,2876,end apogee,CONTROL_FINISHED_OK
$STATE,2876,begin climb
$GC,2879.22,10243,107.06,1.56,0.00,3017.5,2987.4,3047.7,2238.7,2109.8,299.45,0.00,398,2974.46,85.51,3.70,0.00,1.230,0.063,0.000,2580.00,2550.81,2609.19,2725.75,2110.19,0,0,0,12.77,15.83,30.00
$GC,3278.09,16710,107.06,1.59,80.00,2570.6,2539.4,2601.9,2726.2,2110.4,277.39,7.30,438,3283.94,0.00,0.00,3.12,0.000,0.000,0.088,2571.97,2540.81,2603.12,2726.50,3363.81,0,0,0,30.00,30.00,15.91
$GC,3372.38,17478,107.06,1.61,0.00,2570.1,2538.9,2601.2,2725.9,3363.9,270.23,7.34,457,3379.59,0.00,0.00,2.89,0.000,0.000,0.037,2571.62,2539.88,2603.38,2726.75,2113.50,0,0,0,30.00,30.00,15.94
$GC,3688.15,18759,107.06,1.68,80.00,2567.0,2534.6,2599.4,2726.3,2113.5,251.70,5.58,489,3694.10,0.00,0.17,3.08,0.000,0.062,0.086,2567.25,2534.56,2599.94,2762.94,3365.62,0,0,0,30.00,16.05,15.98
$GC,3758.18,17478,107.06,1.72,0.00,2567.2,2535.1,2599.3,2762.4,3364.9,246.97,6.81,503,3763.84,0.00,0.00,2.86,0.000,0.000,0.036,2568.78,2536.38,2601.19,2762.00,2113.81,0,0,0,30.00,30.00,16.03
$GC,4068.20,8742,166.05,1.80,-80.00,2565.6,2533.1,2598.2,2762.8,2113.9,230.20,5.03,535,4122.71,45.67,0.00,3.69,1.186,0.000,0.105,2341.38,2310.12,2372.62,2762.69,687.75,0,0,0,12.50,30.00,15.84
$GC,4165.54,1028,166.05,1.80,0.00,2336.1,2306.1,2366.1,2763.6,687.9,222.92,9.46,554,4173.06,0.00,0.00,3.46,0.000,0.000,0.045,2335.47,2305.38,2365.56,2763.81,2184.25,0,0,0,30.00,30.00,15.87
$GC,4481.31,16646,166.05,1.80,80.00,2331.1,2296.6,2365.6,2763.1,2184.0,190.20,10.87,586,4487.10,0.00,0.00,2.93,0.000,0.000,0.088,2333.31,2298.62,2368.00,2762.94,3366.69,0,0,0,30.00,30.00,15.97
$GC,4695.61,19463,166.05,1.80,0.00,2330.0,2294.4,2365.5,2762.4,3365.9,165.12,11.11,629,4702.93,0.00,0.09,2.89,0.000,0.088,0.040,2330.19,2294.44,2365.94,2790.56,2114.81,0,0,0,30.00,16.03,15.95
$GC,5011.67,20483,166.05,1.80,0.00,2328.2,2292.1,2364.2,2791.0,2115.1,129.82,11.16,661,5013.53,0.00,0.28,0.00,0.000,0.135,0.000,2329.78,2293.50,2366.06,2769.44,2114.81,0,0,0,30.00,16.05,30.00
$GC,5321.72,16902,166.05,1.80,-80.00,2327.4,2291.2,2363.6,2769.3,2114.9,101.23,8.93,692,5328.83,0.00,0.00,3.65,0.000,0.000,0.103,2328.09,2292.19,2364.00,2768.94,686.75,0,0,0,30.00,30.00,16.01
$GC,5467.69,19527,166.05,1.83,0.00,2325.2,2290.8,2359.6,2769.2,686.6,91.40,6.93,721,5474.79,0.00,0.17,3.46,0.000,0.060,0.046,2325.88,2291.69,2360.06,2800.25,2187.50,0,0,0,30.00,16.03,16.05
$GC,5658.61,16710,166.05,1.89,80.00,2325.2,2291.1,2359.3,2799.6,2187.7,79.13,5.99,759,5665.21,0.00,0.00,2.92,0.000,0.000,0.087,2325.44,2291.00,2359.88,2799.19,3368.25,0,0,0,30.00,30.00,16.03
$GC,5894.17,11303,287.18,2.05,0.00,2325.6,2291.0,2360.2,2800.2,3368.0,72.30,1.85,806,6028.19,122.33,0.28,2.89,1.009,0.049,0.036,1848.09,1822.19,1874.00,2849.94,2110.75,0,0,0,12.42,16.06,16.06
$GC,6212.06,4613,287.18,2.05,-80.00,1845.5,1818.4,1872.7,2849.9,2110.9,46.44,12.49,868,6219.42,0.00,0.25,3.68,0.000,0.130,0.102,1845.50,1818.81,1872.19,2830.88,687.81,0,0,0,30.00,15.84,15.79
$GC,6408.35,1028,287.18,2.05,0.00,1843.6,1817.4,1869.9,2830.6,687.7,25.84,8.50,907,6415.33,0.00,0.00,3.45,0.000,0.000,0.046,1845.03,1819.00,1871.06,2831.38,2183.38,0,0,0,30.00,30.00,15.94
$GC,6599.13,10535,352.86,2.13,80.00,1841.8,1814.0,1869.7,2830.8,2184.2,16.67,4.69,945,6674.92,67.09,0.29,2.96,0.944,0.044,0.089,1580.84,1560.75,1600.94,2870.44,3363.81,0,0,0,12.49,16.02,15.74
$GC,6903.91,11303,470.73,2.29,0.00,1579.4,1556.6,1602.1,2870.5,3363.6,7.09,2.01,1005,7027.21,113.57,0.19,2.89,0.924,0.057,0.036,1111.75,1098.88,1124.62,2905.56,2111.56,0,0,0,12.53,15.93,15.93
$STATE,7027,end climb,SURFACE_DEPTH_REACHED
$STATE,7028,begin surface coast
$FINISH,0.1,1.022807
$STATE,7066,end surface coast,CONTROL_FINISHED_OK
$STATE,7067,begin surface
$SURF,forcing
$SM_CCo,7116.32,8.64,0.741,0,1082.5,1084.4,1080.6,475.26
$SM_GC,3.12,8.64,20.98,0.05,0.741,0.040,0.189,1082.5,1084.4,1080.6,184.0,2070.1,0,0,0,12.58,15.82,15.78
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4752.03,-12518.46,050823,170104
$TCM_TEMP,260.35
$XPDR_PINGS,0,14.0,11.5
$SC_FREEKB,3772416
$HUMID,50.73
$TEMP,81.21
$INTERNAL_PRESSURE,8.94004
$24V_AH,15.05,108.034
$10V_AH,15.00,0.000
$FG_AHR_24Vo,72.965
$FG_AHR_10Vo,28.352
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,610.955,44.770,99.410,192.844,0.000,16.114,3850.330,6.304,0.000,3492.534,2272.248,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1274.688,237.224,209.016,209.171,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7080.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.517,0.000,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,970772,21,76236,57
$DATA_FILE_SIZE,28935,1036
$CAP_FILE_SIZE,425942,0
$SDSIZE,4028416,3918176
$SDFILEDIR,1709,280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$IMPLIED_C_PITCH,2364,12.35,678,0.0,0.00
$IMPLIED_C_VBD,3252,46.174618,426,0
$GPS,050823,204239,4752.268,-12514.875,39,1.4,40,15.8