version: 67.00
glider: 236
mission: 2
dive: 907
start: 3 23 121 15 33 52
data:
$ID,236
$MISSION,2
$DIVE,907
$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,69.852486
$FG_AHR_24V,220.28445
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,230321,152822,4706.992,-12455.773,1,1.2,3,15.5
$_CALLS,1
$_SM_DEPTHo,-1.44
$_SM_ANGLEo,-61.8
$GPS2,230321,153333,4706.971,-12455.683,2,1.2,4,15.5
$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,32.5,2850,-18.7,-11.111,-22.02
$D_GRID,137
$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,7.37,16386,-155.72,-1.40,0.00,561.4,568.2,554.6,167.8,2116.8,0.00,0.00,0,98.26,90.35,0.00,0.00,0.005,0.000,0.000,2660.31,2640.38,2680.25,167.62,2117.12,0,0,0,14.71,30.00,30.00
$GC,98.56,18983,-155.72,-1.40,-80.00,2659.7,2639.8,2679.6,167.9,2116.4,3.05,-6.66,17,135.44,10.45,14.15,4.22,0.007,0.251,0.146,3135.16,3126.56,3143.75,1800.19,662.94,0,0,0,14.81,15.30,14.72
$GC,269.15,1028,-155.72,-1.40,0.00,3134.3,3125.8,3142.9,1799.9,662.9,40.94,-21.65,51,274.88,0.00,0.00,3.60,0.000,0.000,0.053,3136.38,3127.31,3145.44,1799.75,2118.88,0,0,0,30.00,30.00,15.70
$GC,333.75,260,-155.72,-1.40,80.00,3133.9,3125.1,3142.6,1799.7,2118.6,53.82,-19.37,64,339.50,0.00,0.00,3.72,0.000,0.000,0.108,3134.34,3126.06,3142.62,1800.31,3474.25,0,0,0,30.00,30.00,15.59
$GC,368.74,1028,-155.72,-1.40,0.00,3134.1,3125.8,3142.4,1800.2,3475.3,60.74,-20.33,71,374.46,0.00,0.00,3.42,0.000,0.000,0.056,3134.59,3126.31,3142.88,1800.25,2083.50,0,0,0,30.00,30.00,15.69
$GC,433.78,516,-155.72,-1.40,-80.00,3133.8,3125.2,3142.5,1799.9,2083.8,72.65,-17.28,84,440.02,0.00,0.00,4.05,0.000,0.000,0.147,3136.03,3126.94,3145.12,1799.69,663.00,0,0,0,30.00,30.00,15.49
$STATE,487,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,487,begin apogee
$GC,491.38,10243,0.00,-0.25,0.00,3134.2,3125.9,3142.4,1799.9,2122.2,80.70,-16.18,94,622.77,126.59,2.13,0.09,1.072,0.154,0.188,2498.00,2507.94,2488.06,2080.12,2080.62,0,0,0,11.12,15.56,15.03
$STATE,627,end apogee,CONTROL_FINISHED_OK
$STATE,627,begin climb
$GC,626.63,10243,155.72,1.40,0.00,2496.3,2506.2,2486.5,2079.9,2080.6,87.49,0.00,120,763.29,130.79,2.87,0.00,1.041,0.089,0.000,1866.09,1897.50,1834.69,2483.06,2081.12,0,0,0,11.69,15.28,30.00
$GC,821.55,10791,277.71,1.77,-80.00,1857.8,1891.2,1824.4,2483.3,2080.9,82.49,5.22,158,940.11,108.43,0.54,4.11,1.015,0.047,0.131,1367.34,1402.69,1332.00,2585.56,661.75,0,0,0,11.54,15.42,15.01
$GC,1108.81,1028,277.71,1.77,0.00,1363.1,1396.6,1329.6,2585.3,661.7,52.83,10.77,215,1114.53,0.00,0.00,3.59,0.000,0.000,0.047,1362.53,1396.50,1328.56,2585.44,2127.00,0,0,0,30.00,30.00,15.60
$GC,1173.41,8486,326.85,1.92,80.00,1361.1,1396.6,1325.5,2585.5,2126.6,47.04,8.74,228,1230.17,49.91,0.00,3.76,0.964,0.000,0.108,1166.88,1203.62,1130.12,2585.88,3473.56,0,0,0,11.43,30.00,15.17
$GC,1233.41,3141,326.85,1.97,0.00,1166.4,1202.8,1130.0,2585.3,3473.2,41.39,9.39,240,1239.17,0.00,0.20,3.46,0.000,0.078,0.049,1166.56,1203.06,1130.06,2629.56,2078.12,0,0,0,30.00,15.37,15.46
$GC,1298.48,580,326.85,1.99,-80.00,1165.5,1202.8,1128.1,2629.6,2078.2,34.73,10.30,253,1304.21,0.00,0.00,4.00,0.000,0.000,0.131,1165.47,1202.88,1128.06,2628.88,662.81,0,0,0,30.00,30.00,15.43
$GC,1318.91,1028,326.85,1.99,0.00,1165.7,1203.1,1128.2,2629.1,663.3,32.22,11.93,257,1324.15,0.00,0.00,3.54,0.000,0.000,0.043,1166.16,1203.31,1129.00,2629.81,2126.88,0,0,0,30.00,30.00,15.57
$GC,1383.44,516,326.85,1.99,-80.00,1165.1,1202.9,1127.4,2630.2,2127.7,24.62,11.62,270,1389.27,0.00,0.00,4.11,0.000,0.000,0.127,1165.66,1203.25,1128.06,2629.94,663.06,0,0,0,30.00,30.00,15.48
$GC,1413.87,1028,326.85,1.99,0.00,1165.1,1202.6,1127.6,2630.2,662.9,20.85,12.57,276,1419.16,0.00,0.00,3.51,0.000,0.000,0.044,1165.75,1203.25,1128.25,2630.50,2127.25,0,0,0,30.00,30.00,15.63
$GC,1478.46,516,326.85,1.99,-80.00,1164.9,1202.9,1126.9,2629.9,2128.0,13.27,10.89,289,1484.26,0.00,0.00,4.06,0.000,0.000,0.128,1165.31,1203.12,1127.50,2629.75,661.94,0,0,0,30.00,30.00,15.51
$GC,1493.90,1028,326.85,1.99,0.00,1165.0,1202.8,1127.2,2630.0,661.8,11.65,10.94,292,1499.18,0.00,0.00,3.52,0.000,0.000,0.043,1165.16,1203.19,1127.12,2629.06,2127.50,0,0,0,30.00,30.00,15.67
$GC,1558.50,580,326.85,2.01,-80.00,1164.3,1202.9,1125.8,2630.0,2127.5,4.65,10.38,305,1564.28,0.00,0.00,4.05,0.000,0.000,0.126,1164.69,1203.06,1126.31,2630.31,661.75,0,0,0,30.00,30.00,15.53
$GC,1568.93,1092,326.85,2.03,0.00,1164.4,1202.7,1126.1,2630.1,662.0,3.67,10.39,307,1574.17,0.00,0.00,3.48,0.000,0.000,0.043,1165.28,1203.56,1127.00,2629.88,2128.31,0,0,0,30.00,30.00,15.68
$STATE,1583,end climb,SURFACE_DEPTH_REACHED
$STATE,1584,begin surface coast
$STATE,1599,end surface coast,CONTROL_FINISHED_OK
$STATE,1599,begin surface
$SM_CCo,1755.49,131.94,0.982,0,564.6,567.1,562.1,474.76
$SM_CCo,1756.62,0.00,2.589,0,565.2,566.0,564.4,474.61
$SM_CCo,1757.74,0.25,0.148,0,564.8,565.4,564.2,474.70
$SM_GC,-0.59,0.25,16.25,0.10,0.148,0.071,0.133,564.8,565.4,564.2,167.8,2072.1,0,0,0,15.23,15.62,15.72
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4707.61,-12452.52,230321,145650
$TCM_TEMP,176.49
$XPDR_PINGS,4,14.0,11.5
$ALTIM_BOTTOM_PING,80.7,6.2
$SC_FREEKB,3511808
$HUMID,57.96
$TEMP,9.26
$INTERNAL_PRESSURE,7.8359
$24V_AH,13.83,256.099
$10V_AH,14.83,0.000
$FG_AHR_24Vo,220.446
$FG_AHR_10Vo,69.860
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,648.715,36.145,68.020,139.442,1.500,13.662,1573.183,321.657,775.484,0.000,2.000,0.000
$DEVICE_MAMPS,2588.984,250.672,188.024,171.988,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1647.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.305,0.000,0.000,0.000
$MEM,1102764,41,74024,71
$DATA_FILE_SIZE,9787,313
$CAP_FILE_SIZE,213051,0
$SDSIZE,3918848,3669440
$SDFILEDIR,4561,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230321,160339,4706.976,-12455.357,21,1.7,22,15.5