version: 67.00
glider: 236
mission: 2
dive: 1267
start: 4 26 121 10 19 18
data:
$ID,236
$MISSION,2
$DIVE,1267
$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,79.866737
$FG_AHR_24V,299.56729
$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
$GPS1,260421,101101,4705.707,-12452.765,19,0.7,20,15.5
$_CALLS,2
$_SM_DEPTHo,-1.64
$_SM_ANGLEo,-61.5
$GPS2,260421,101900,4705.733,-12452.812,2,0.6,5,15.5
$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,94.8,14552,-15.9,-10.000,-19.73
$D_GRID,132
$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,8.77,16386,-175.18,-1.32,0.00,558.7,558.6,558.8,171.6,2082.4,0.00,0.00,0,100.62,91.41,0.00,0.00,0.005,0.000,0.000,2702.59,2682.62,2722.56,171.50,2081.88,0,0,0,12.50,30.00,30.00
$GC,100.84,18695,-175.18,-1.32,80.00,2700.9,2680.9,2720.9,171.4,2081.4,4.63,-9.92,9,137.37,10.08,16.33,4.14,0.007,0.246,0.107,3214.31,3209.25,3219.38,1818.19,3472.88,0,0,0,12.50,14.00,13.64
$GC,224.57,1028,-175.18,-1.32,0.00,3213.8,3208.8,3218.9,1818.6,3474.2,29.09,-14.84,34,231.36,0.00,0.00,3.73,0.000,0.000,0.051,3215.06,3209.25,3220.88,1818.25,2083.25,0,0,0,30.00,30.00,14.29
$GC,290.60,0,-175.18,-1.32,0.00,3214.4,3208.5,3220.4,1818.9,2083.1,38.99,-14.90,41,291.93,0.00,0.00,0.00,0.000,0.000,0.000,3214.94,3209.31,3220.56,1819.00,2083.00,0,0,0,30.00,30.00,30.00
$GC,350.62,260,-175.18,-1.32,80.00,3213.6,3208.1,3219.1,1818.8,2083.4,47.30,-13.66,47,356.33,0.00,0.00,4.05,0.000,0.000,0.100,3212.78,3207.12,3218.44,1818.25,3473.81,0,0,0,30.00,30.00,14.23
$GC,406.08,1028,-175.18,-1.32,0.00,3214.0,3208.3,3219.6,1818.6,3474.1,54.68,-13.14,58,411.29,0.00,0.00,3.72,0.000,0.000,0.049,3212.38,3207.12,3217.62,1818.69,2083.56,0,0,0,30.00,30.00,14.33
$GC,470.62,516,-175.18,-1.32,-80.00,3214.4,3208.9,3220.0,1818.3,2083.4,62.75,-12.33,65,476.42,0.00,0.00,4.48,0.000,0.000,0.142,3213.06,3207.62,3218.50,1818.38,662.88,0,0,0,30.00,30.00,14.17
$GC,529.56,1028,-175.18,-1.32,0.00,3213.8,3208.8,3218.9,1817.9,662.9,70.80,-13.99,77,536.84,0.00,0.00,3.78,0.000,0.000,0.042,3214.41,3208.50,3220.31,1818.12,2121.12,0,0,0,30.00,30.00,14.37
$GC,595.65,260,-175.18,-1.32,80.00,3214.3,3208.7,3220.0,1818.6,2121.5,78.17,-11.04,84,601.35,0.00,0.00,3.92,0.000,0.000,0.100,3214.59,3208.56,3220.62,1818.12,3476.38,0,0,0,30.00,30.00,14.26
$GC,631.10,1028,-175.18,-1.32,0.00,3214.1,3208.8,3219.4,1818.8,3476.1,82.61,-12.95,91,636.31,0.00,0.00,3.69,0.000,0.000,0.048,3214.75,3209.06,3220.44,1818.31,2081.75,0,0,0,30.00,30.00,14.35
$GC,695.66,516,-175.18,-1.32,-80.00,3214.3,3208.7,3219.9,1818.7,2081.3,89.45,-10.14,98,701.46,0.00,0.00,4.45,0.000,0.000,0.141,3213.41,3207.62,3219.19,1817.69,662.69,0,0,0,30.00,30.00,14.18
$GC,731.12,1028,-175.18,-1.32,0.00,3214.1,3208.6,3219.6,1818.7,662.8,93.12,-10.50,105,736.34,0.00,0.00,3.78,0.000,0.000,0.042,3213.88,3208.31,3219.44,1818.44,2122.06,0,0,0,30.00,30.00,14.39
$GC,795.67,260,-175.18,-1.32,80.00,3214.3,3208.9,3219.7,1818.8,2122.4,99.56,-9.28,112,801.38,0.00,0.00,3.93,0.000,0.000,0.101,3213.66,3208.50,3218.81,1818.62,3473.44,0,0,0,30.00,30.00,14.26
$GC,841.13,1028,-175.18,-1.32,0.00,3214.3,3209.1,3219.5,1818.5,3473.5,104.16,-10.44,121,846.34,0.00,0.00,3.67,0.000,0.000,0.047,3212.56,3206.44,3218.69,1818.38,2081.88,0,0,0,30.00,30.00,14.36
$GC,905.68,0,-175.18,-1.32,0.00,3213.9,3208.2,3219.6,1818.1,2082.2,110.69,-10.06,128,907.01,0.00,0.00,0.00,0.000,0.000,0.000,3214.62,3209.31,3219.94,1818.25,2082.44,0,0,0,30.00,30.00,30.00
$GC,965.70,260,-175.18,-1.32,80.00,3214.3,3208.7,3219.9,1818.2,2082.8,116.40,-9.96,134,971.42,0.00,0.00,4.08,0.000,0.000,0.100,3213.75,3208.06,3219.44,1818.62,3473.69,0,0,0,30.00,30.00,14.27
$GC,1001.14,1028,-175.18,-1.32,0.00,3214.3,3208.7,3219.9,1818.4,3473.8,120.24,-10.97,141,1006.35,0.00,0.00,3.68,0.000,0.000,0.048,3212.97,3207.44,3218.50,1818.62,2082.19,0,0,0,30.00,30.00,14.36
$GC,1065.70,516,-175.18,-1.32,-80.00,3214.2,3208.8,3219.8,1818.4,2081.6,126.33,-9.27,148,1071.49,0.00,0.00,4.41,0.000,0.000,0.143,3215.78,3209.94,3221.62,1817.62,663.69,0,0,0,30.00,30.00,14.20
$GC,1111.16,1028,-175.18,-1.32,0.00,3214.1,3208.5,3219.7,1818.2,663.8,131.03,-11.37,157,1116.39,0.00,0.00,3.75,0.000,0.000,0.042,3212.81,3207.12,3218.50,1817.94,2120.69,0,0,0,30.00,30.00,14.42
$STATE,1126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1126,begin apogee
$GC,1126.91,10243,0.00,-0.25,0.00,3214.4,3209.1,3219.7,1818.2,1981.3,132.42,-9.86,159,1279.14,148.96,2.18,0.09,1.111,0.135,0.166,2498.19,2506.12,2490.25,2080.12,2024.88,0,0,0,10.71,14.28,13.47
$STATE,1283,end apogee,CONTROL_FINISHED_OK
$STATE,1283,begin climb
$GC,1282.56,10759,175.18,1.32,-80.00,2496.8,2505.4,2488.1,2080.1,2024.3,138.16,0.00,174,1454.03,161.63,3.13,4.55,1.057,0.079,0.129,1782.62,1811.44,1753.81,2462.88,664.25,0,0,0,10.62,13.60,13.11
$GC,1516.18,1092,175.18,1.34,0.00,1779.1,1806.9,1751.4,2463.8,664.1,124.61,9.41,220,1523.04,0.00,0.00,3.77,0.000,0.000,0.038,1778.78,1807.06,1750.50,2463.25,2022.12,0,0,0,30.00,30.00,13.45
$GC,1582.28,16966,175.18,1.37,-80.00,1777.6,1806.8,1748.4,2463.2,2022.4,118.70,9.01,227,1588.03,0.00,0.00,4.38,0.000,0.000,0.125,1776.50,1805.88,1747.12,2463.38,662.81,0,0,0,30.00,30.00,13.48
$GC,1617.72,17414,175.18,1.37,0.00,1777.2,1806.4,1747.9,2463.0,663.2,115.19,10.03,234,1622.92,0.00,0.00,3.67,0.000,0.000,0.036,1777.66,1806.31,1749.00,2461.56,2024.19,0,0,0,30.00,30.00,13.74
$GC,1682.30,16710,175.18,1.42,80.00,1775.9,1805.8,1745.9,2463.4,2023.9,109.74,8.41,241,1688.05,0.00,0.00,4.33,0.000,0.000,0.098,1774.94,1805.38,1744.50,2463.44,3463.69,0,0,0,30.00,30.00,13.72
$GC,1727.31,19527,175.18,1.44,0.00,1774.3,1804.9,1743.6,2463.2,3463.9,105.53,9.35,250,1733.06,0.00,0.17,4.03,0.000,0.075,0.047,1773.94,1804.81,1743.06,2501.00,1983.75,0,0,0,30.00,13.72,13.86
$GC,1792.32,16966,175.18,1.46,-80.00,1774.3,1805.2,1743.4,2501.3,1983.4,99.62,9.34,257,1798.03,0.00,0.00,4.14,0.000,0.000,0.129,1773.12,1804.06,1742.19,2501.44,665.06,0,0,0,30.00,30.00,13.80
$GC,1811.21,17478,175.18,1.48,0.00,1774.2,1805.2,1743.1,2501.4,664.9,97.63,9.31,261,1818.02,0.00,0.00,3.58,0.000,0.000,0.037,1775.38,1806.38,1744.38,2501.50,2025.19,0,0,0,30.00,30.00,14.03
$GC,1877.32,16710,175.18,1.51,80.00,1774.3,1805.4,1743.2,2501.5,2025.1,91.90,8.81,268,1883.05,0.00,0.00,4.26,0.000,0.000,0.099,1774.41,1805.44,1743.38,2499.69,3463.25,0,0,0,30.00,30.00,13.95
$GC,1886.23,17478,175.18,1.56,0.00,1773.8,1804.6,1743.1,2501.1,3463.6,91.23,8.53,270,1893.11,0.00,0.00,3.95,0.000,0.000,0.046,1773.84,1805.06,1742.62,2501.81,1983.44,0,0,0,30.00,30.00,14.06
$GC,1952.32,10791,243.20,1.76,-80.00,1773.9,1804.9,1743.0,2501.7,1983.2,86.39,7.36,277,2035.11,73.15,0.47,4.26,1.002,0.049,0.128,1508.38,1539.69,1477.06,2578.75,662.88,0,0,0,10.63,14.18,13.51
$GC,2137.25,1028,243.20,1.76,0.00,1504.3,1533.6,1475.0,2578.6,662.8,67.11,11.23,314,2144.09,0.00,0.00,3.61,0.000,0.000,0.037,1504.84,1534.44,1475.25,2577.94,2022.75,0,0,0,30.00,30.00,13.96
$GC,2203.36,580,243.20,1.79,-80.00,1503.0,1533.8,1472.2,2578.7,2022.9,61.27,9.07,321,2209.12,0.00,0.00,4.25,0.000,0.000,0.122,1502.34,1533.25,1471.44,2579.38,662.88,0,0,0,30.00,30.00,13.90
$GC,2288.83,1092,243.20,1.81,0.00,1502.7,1533.6,1471.9,2579.0,663.2,53.19,9.37,338,2294.00,0.00,0.00,3.53,0.000,0.000,0.037,1501.97,1532.75,1471.19,2579.44,2026.06,0,0,0,30.00,30.00,14.18
$GC,2353.38,10791,326.42,2.06,-80.00,1501.9,1533.6,1470.2,2578.9,2026.4,48.38,6.76,345,2456.62,94.75,0.44,4.39,0.975,0.057,0.125,1169.53,1200.81,1138.25,2649.62,664.81,0,0,0,10.62,14.21,13.54
$GC,2458.90,1092,326.42,2.10,0.00,1169.2,1200.4,1138.0,2649.5,664.6,39.37,8.72,366,2465.63,0.00,0.00,3.68,0.000,0.000,0.038,1169.50,1201.06,1137.94,2648.81,2024.38,0,0,0,30.00,30.00,13.72
$GC,2524.90,324,326.42,2.14,80.00,1167.3,1200.3,1134.2,2648.8,2024.2,33.77,8.62,373,2530.67,0.00,0.00,4.32,0.000,0.000,0.097,1167.00,1200.44,1133.56,2649.12,3464.50,0,0,0,30.00,30.00,13.81
$GC,2569.90,1028,326.42,2.14,0.00,1166.1,1199.4,1132.8,2649.3,3463.9,29.41,9.71,382,2575.62,0.00,0.00,4.01,0.000,0.000,0.047,1166.84,1199.94,1133.75,2647.69,1982.38,0,0,0,30.00,30.00,13.97
$GC,2634.91,516,326.42,2.14,-80.00,1165.9,1199.6,1132.3,2649.1,1982.6,23.44,9.51,389,2640.64,0.00,0.00,4.11,0.000,0.000,0.127,1166.03,1199.69,1132.38,2649.50,662.88,0,0,0,30.00,30.00,13.92
$GC,2683.83,1028,326.42,2.14,0.00,1166.2,1199.8,1132.6,2649.2,662.9,18.11,10.91,399,2690.66,0.00,0.00,3.53,0.000,0.000,0.036,1166.22,1199.69,1132.75,2649.25,2026.94,0,0,0,30.00,30.00,14.14
$GC,2749.93,324,326.42,2.17,80.00,1165.5,1199.5,1131.6,2649.4,2026.9,12.13,8.89,406,2755.65,0.00,0.00,4.16,0.000,0.000,0.098,1165.62,1199.62,1131.62,2649.06,3463.81,0,0,0,30.00,30.00,14.07
$GC,2848.86,11303,384.53,2.35,0.00,1164.2,1198.9,1129.5,2649.7,3464.6,3.68,7.74,426,2870.12,15.61,0.43,3.93,0.875,0.051,0.050,1115.44,1149.12,1081.75,2717.38,1981.31,0,0,0,10.73,14.09,14.24
$STATE,2871,end climb,SURFACE_DEPTH_REACHED
$STATE,2871,begin surface coast
$STATE,2875,end surface coast,CONTROL_FINISHED_OK
$STATE,2875,begin surface
$SM_CCo,3039.82,134.67,0.957,0,564.0,561.2,566.8,474.91
$SM_CCo,3040.92,0.00,0.009,0,563.6,560.6,566.5,475.01
$SM_GC,-0.60,0.00,19.80,0.34,0.009,0.069,0.071,563.6,560.6,566.5,171.6,2130.1,0,0,0,30.36,14.07,14.20
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4706.71,-12455.12,260421,101500
$TCM_TEMP,174.92
$XPDR_PINGS,14,14.0,11.5
$SC_FREEKB,3373536
$HUMID,59.82
$TEMP,8.73
$INTERNAL_PRESSURE,7.81755
$24V_AH,12.90,341.381
$10V_AH,13.14,0.000
$FG_AHR_24Vo,299.754
$FG_AHR_10Vo,79.878
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,730.280,42.945,152.620,190.883,3.500,14.747,2078.192,1246.465,860.806,0.000,0.000,0.000
$DEVICE_MAMPS,1110.688,245.752,165.720,187.465,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2939.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.436,0.000,0.000,0.000
$MEM,1103828,39,73360,53
$DATA_FILE_SIZE,16190,431
$CAP_FILE_SIZE,321294,0
$SDSIZE,3918848,3574080
$SDFILEDIR,6361,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260421,111012,4705.764,-12452.663,1,0.7,4,15.5