version: 67.00
glider: 236
mission: 2
dive: 643
start: 2 19 121 17 59 58
data:
$ID,236
$MISSION,2
$DIVE,643
$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,170
$T_MISSION,190
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,180
$T_LOITER,7200
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$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,425
$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,59.633514
$FG_AHR_24V,160.61761
$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,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
$GPS1,190221,175131,4732.262,-12602.302,11,0.8,29,15.8
$_CALLS,2
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.1
$GPS2,190221,175941,4732.253,-12602.362,2,0.6,5,15.8
$SPEED_LIMITS,0.170,0.192
$TGT_NAME,IN5
$TGT_LATLONG,4728.540,-12600.590
$TGT_RADIUS,7000.000
$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,146.3,7226,-24.0,-9.804,-27.02
$D_GRID,990
$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,7.54,16386,-77.86,-1.43,0.00,762.4,765.7,759.1,174.1,2116.2,0.00,0.00,0,82.47,74.29,0.00,0.00,0.005,0.000,0.000,2386.22,2371.12,2401.31,173.88,2117.12,0,0,0,14.98,30.00,30.00
$GC,82.74,18727,-77.86,-1.43,80.00,2385.2,2369.7,2400.8,174.4,2117.5,3.20,-3.63,14,119.27,11.22,14.19,3.77,0.007,0.255,0.111,2815.31,2809.12,2821.50,1791.69,3475.50,0,0,0,15.10,15.23,14.93
$GC,257.09,1028,-77.86,-1.43,0.00,2815.3,2809.4,2821.2,1791.9,3474.7,39.36,-21.31,49,262.86,0.00,0.00,3.54,0.000,0.000,0.056,2815.81,2809.75,2821.88,1791.75,2083.12,0,0,0,30.00,30.00,15.58
$GC,442.16,516,-77.86,-1.43,-80.00,2815.2,2809.4,2821.1,1791.9,2083.4,75.34,-19.22,86,448.02,0.00,0.00,4.05,0.000,0.000,0.152,2818.31,2812.56,2824.06,1790.75,662.00,0,0,0,30.00,30.00,15.40
$GC,502.19,1028,-77.86,-1.43,0.00,2815.3,2809.1,2821.6,1791.8,662.1,85.60,-15.46,98,507.94,0.00,0.00,3.56,0.000,0.000,0.048,2817.25,2811.31,2823.19,1791.62,2120.56,0,0,0,30.00,30.00,15.66
$GC,687.23,0,-77.86,-1.43,0.00,2815.5,2809.6,2821.4,1791.8,2121.1,110.38,-11.80,127,688.56,0.00,0.00,0.00,0.000,0.000,0.000,2816.12,2810.19,2822.06,1791.88,2120.88,0,0,0,30.00,30.00,30.00
$GC,987.24,260,-77.86,-1.43,80.00,2815.8,2809.9,2821.8,1791.7,2120.2,142.51,-11.81,157,992.93,0.00,0.00,3.70,0.000,0.000,0.108,2814.81,2808.94,2820.69,1791.50,3473.75,0,0,0,30.00,30.00,15.57
$GC,1216.19,1028,-77.86,-1.43,0.00,2816.3,2810.4,2822.2,1792.0,3474.6,173.20,-13.25,203,1223.05,0.00,0.00,3.44,0.000,0.000,0.056,2815.84,2810.00,2821.69,1792.00,2081.62,0,0,0,30.00,30.00,15.65
$GC,1522.34,0,-77.86,-1.43,0.00,2816.1,2809.8,2822.4,1791.4,2082.4,210.05,-11.90,234,1523.67,0.00,0.00,0.00,0.000,0.000,0.000,2816.25,2809.81,2822.69,1791.38,2081.75,0,0,0,30.00,30.00,30.00
$GC,1822.37,0,-77.86,-1.43,0.00,2815.9,2810.1,2821.7,1792.0,2081.9,244.63,-12.19,264,1823.69,0.00,0.00,0.00,0.000,0.000,0.000,2816.16,2809.94,2822.38,1792.19,2081.94,0,0,0,30.00,30.00,30.00
$GC,2122.39,516,-77.86,-1.43,-80.00,2815.8,2809.9,2821.6,1791.7,2081.5,278.91,-11.46,294,2128.15,0.00,0.00,4.11,0.000,0.000,0.152,2817.19,2810.69,2823.69,1790.75,664.25,0,0,0,30.00,30.00,15.43
$GC,2167.41,1028,-77.86,-1.43,0.00,2815.9,2810.5,2821.4,1791.9,664.3,284.42,-12.83,303,2172.98,0.00,0.00,3.59,0.000,0.000,0.052,2814.53,2808.81,2820.25,1791.88,2119.19,0,0,0,30.00,30.00,15.72
$GC,2472.43,260,-77.86,-1.43,80.00,2816.1,2809.7,2822.4,1791.6,2120.1,318.47,-11.31,334,2478.12,0.00,0.00,3.77,0.000,0.000,0.111,2814.22,2808.44,2820.00,1791.44,3474.69,0,0,0,30.00,30.00,15.55
$GC,2577.47,1028,-77.86,-1.43,0.00,2816.2,2810.2,2822.2,1791.7,3475.6,330.64,-12.06,355,2583.08,0.00,0.00,3.49,0.000,0.000,0.058,2816.50,2810.75,2822.25,1791.94,2082.06,0,0,0,30.00,30.00,15.65
$GC,2882.48,260,-77.86,-1.43,80.00,2815.9,2809.7,2822.1,1791.1,2082.1,362.27,-9.94,386,2888.24,0.00,0.00,3.88,0.000,0.000,0.111,2817.16,2811.12,2823.19,1791.56,3473.50,0,0,0,30.00,30.00,15.54
$GC,2937.49,1028,-77.86,-1.43,0.00,2815.7,2809.2,2822.1,1791.5,3473.9,368.26,-11.41,397,2942.11,0.00,0.00,3.47,0.000,0.000,0.058,2818.50,2812.25,2824.75,1790.88,2081.44,0,0,0,30.00,30.00,15.65
$GC,3247.51,516,-77.86,-1.43,-80.00,2815.7,2809.6,2821.9,1791.8,2081.9,400.23,-10.42,429,3253.28,0.00,0.00,4.16,0.000,0.000,0.155,2814.47,2808.56,2820.38,1792.06,663.00,0,0,0,30.00,30.00,15.38
$GC,3316.42,1028,-77.86,-1.43,0.00,2816.1,2810.2,2821.9,1791.3,663.4,409.01,-13.42,443,3323.28,0.00,0.00,3.57,0.000,0.000,0.051,2818.28,2812.31,2824.25,1791.62,2119.88,0,0,0,30.00,30.00,15.69
$GC,3622.55,0,-77.86,-1.43,0.00,2816.1,2810.1,2822.1,1791.9,2119.1,441.28,-11.19,474,3623.88,0.00,0.00,0.00,0.000,0.000,0.000,2816.22,2810.50,2821.94,1791.31,2119.38,0,0,0,30.00,30.00,30.00
$GC,3922.58,0,-77.86,-1.43,0.00,2815.4,2809.4,2821.4,1792.0,2119.4,473.49,-10.89,504,3923.91,0.00,0.00,0.00,0.000,0.000,0.000,2816.00,2810.31,2821.69,1791.19,2119.38,0,0,0,30.00,30.00,30.00
$STATE,4183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4183,begin apogee
$GC,4183.88,10243,0.00,-0.25,0.00,2815.6,2809.8,2821.4,1791.9,2084.1,500.71,-10.68,530,4254.47,65.07,2.18,0.07,1.633,0.149,0.260,2499.09,2505.88,2492.31,2080.06,2118.12,0,0,0,11.04,15.50,15.20
$STATE,4257,end apogee,CONTROL_FINISHED_OK
$STATE,4257,begin climb
$GC,4256.85,10243,77.86,1.43,0.00,2498.2,2505.5,2491.0,2080.3,2118.1,502.74,0.00,537,4334.02,69.81,2.92,0.00,1.603,0.086,0.000,2181.16,2194.44,2167.88,2492.06,2118.25,0,0,0,12.11,15.31,30.00
$GC,4632.72,8226,108.39,1.52,-80.00,2172.2,2190.9,2153.5,2491.9,2118.1,478.77,7.24,578,4663.25,28.24,0.00,0.00,1.514,0.000,0.000,2056.12,2075.44,2036.81,2491.56,2118.12,0,0,0,11.70,30.00,30.00
$GC,4962.67,19015,108.39,1.58,-80.00,2049.8,2073.7,2025.9,2492.2,2117.8,451.94,8.01,611,4968.53,0.00,0.19,4.22,0.000,0.088,0.139,2048.12,2072.00,2024.25,2532.44,663.94,0,0,0,30.00,15.58,15.42
$GC,5047.67,17414,108.39,1.58,0.00,2048.2,2070.4,2026.0,2532.9,664.4,442.53,11.33,628,5053.26,0.00,0.00,3.62,0.000,0.000,0.049,2047.00,2069.06,2024.94,2533.25,2123.75,0,0,0,30.00,30.00,15.63
$GC,5352.71,16450,108.39,1.60,0.00,2047.0,2070.4,2023.7,2532.7,2123.8,414.34,9.10,659,5354.04,0.00,0.00,0.00,0.000,0.000,0.000,2047.56,2071.00,2024.12,2532.50,2124.00,0,0,0,30.00,30.00,30.00
$GC,5652.70,16902,108.39,1.60,-80.00,2046.8,2070.6,2023.0,2532.7,2124.1,386.32,9.38,689,5658.46,0.00,0.00,4.16,0.000,0.000,0.135,2044.81,2068.75,2020.88,2532.31,662.00,0,0,0,30.00,30.00,15.47
$GC,5777.74,17414,108.39,1.60,0.00,2045.7,2068.4,2022.9,2532.4,662.1,372.04,11.91,714,5783.33,0.00,0.00,3.60,0.000,0.000,0.050,2047.88,2070.88,2024.88,2532.44,2124.38,0,0,0,30.00,30.00,15.73
$GC,6082.81,16646,108.39,1.60,80.00,2045.1,2068.2,2021.9,2532.4,2125.5,343.39,9.33,745,6088.42,0.00,0.00,3.76,0.000,0.000,0.112,2044.06,2067.56,2020.56,2532.56,3475.25,0,0,0,30.00,30.00,15.54
$GC,6157.90,17414,108.39,1.60,0.00,2045.3,2068.0,2022.6,2533.1,3475.0,335.83,10.12,760,6162.46,0.00,0.00,3.43,0.000,0.000,0.055,2043.56,2066.12,2021.00,2532.06,2081.62,0,0,0,30.00,30.00,15.68
$GC,6467.90,16710,108.39,1.62,80.00,2044.7,2068.2,2021.2,2533.2,2080.6,308.68,9.15,792,6473.50,0.00,0.00,3.89,0.000,0.000,0.108,2043.88,2067.19,2020.56,2532.56,3473.50,0,0,0,30.00,30.00,15.53
$GC,6602.92,17414,108.39,1.62,0.00,2044.8,2068.2,2021.5,2532.4,3472.9,295.51,9.68,819,6607.48,0.00,0.00,3.45,0.000,0.000,0.055,2046.00,2069.38,2022.62,2530.38,2081.81,0,0,0,30.00,30.00,15.67
$GC,6913.00,16966,108.39,1.66,-80.00,2044.2,2068.2,2020.1,2532.3,2079.9,270.46,8.37,851,6918.71,0.00,0.00,4.03,0.000,0.000,0.136,2044.81,2068.88,2020.75,2531.75,662.19,0,0,0,30.00,30.00,15.44
$GC,6991.90,17414,108.39,1.66,0.00,2043.5,2066.8,2020.3,2532.6,661.8,262.82,10.57,867,6998.79,0.00,0.00,3.53,0.000,0.000,0.045,2044.59,2067.81,2021.38,2533.19,2127.25,0,0,0,30.00,30.00,15.74
$GC,7298.08,10275,139.08,1.75,0.00,2043.4,2066.7,2020.1,2532.9,2127.7,238.52,7.23,898,7325.17,26.30,0.20,0.00,1.334,0.085,0.000,1931.31,1953.00,1909.62,2574.88,2127.19,0,0,0,11.29,15.73,30.00
$GC,7623.12,516,139.08,1.75,-80.00,1927.4,1953.0,1901.8,2574.5,2127.4,205.54,10.84,931,7628.85,0.00,0.00,4.16,0.000,0.000,0.130,1926.41,1952.12,1900.69,2574.69,663.06,0,0,0,30.00,30.00,15.42
$GC,7742.03,1028,139.08,1.75,0.00,1926.7,1951.4,1901.9,2575.5,662.9,189.64,13.70,955,7748.92,0.00,0.00,3.62,0.000,0.000,0.048,1926.84,1951.56,1902.12,2575.38,2125.75,0,0,0,30.00,30.00,15.65
$GC,8048.19,516,139.08,1.75,-80.00,1925.6,1951.2,1900.0,2575.8,2126.2,156.63,10.01,986,8053.94,0.00,0.00,4.14,0.000,0.000,0.128,1926.41,1951.75,1901.06,2574.44,663.12,0,0,0,30.00,30.00,15.42
$GC,8153.22,1028,139.08,1.75,0.00,1925.8,1951.6,1900.1,2575.6,663.1,145.87,9.52,1007,8158.87,0.00,0.00,3.58,0.000,0.000,0.045,1924.34,1950.44,1898.25,2574.75,2126.69,0,0,0,30.00,30.00,15.70
$GC,8458.26,16450,139.08,1.79,0.00,1924.8,1950.9,1898.6,2575.6,2126.8,119.94,8.72,1038,8459.59,0.00,0.00,0.00,0.000,0.000,0.000,1924.56,1951.06,1898.06,2575.38,2127.00,0,0,0,30.00,30.00,30.00
$GC,8758.27,10535,183.82,1.92,80.00,1924.8,1951.5,1898.0,2575.2,2126.4,100.40,6.05,1068,8805.62,38.14,0.19,3.80,1.195,0.083,0.109,1750.03,1776.56,1723.50,2614.19,3473.81,0,0,0,11.44,15.71,15.46
$GC,8853.46,1028,183.82,1.92,0.00,1746.6,1773.8,1719.4,2616.6,3474.0,92.12,10.22,1087,8859.15,0.00,0.00,3.51,0.000,0.000,0.052,1748.34,1775.56,1721.12,2616.12,2077.75,0,0,0,30.00,30.00,15.54
$GC,9038.42,580,183.82,1.95,-80.00,1744.8,1773.8,1715.7,2616.4,2078.1,73.29,8.77,1124,9044.39,0.00,0.00,4.04,0.000,0.000,0.131,1744.53,1773.69,1715.38,2616.25,663.12,0,0,0,30.00,30.00,15.38
$GC,9268.45,11303,248.87,2.15,0.00,1743.8,1772.2,1715.5,2615.9,663.2,62.46,4.35,1170,9330.41,54.81,0.29,3.60,1.141,0.070,0.047,1484.50,1515.94,1453.06,2671.69,2128.50,0,0,0,11.68,15.44,15.66
$GC,9508.51,580,248.87,2.19,-80.00,1479.1,1513.8,1444.4,2671.0,2127.8,42.15,8.21,1218,9514.33,0.00,0.00,4.18,0.000,0.000,0.127,1479.50,1514.25,1444.75,2671.69,663.06,0,0,0,30.00,30.00,15.36
$GC,9738.50,1028,248.87,2.19,0.00,1477.8,1511.2,1444.2,2671.8,662.9,15.81,12.87,1264,9744.28,0.00,0.00,3.62,0.000,0.000,0.046,1478.22,1511.69,1444.75,2670.81,2126.88,0,0,0,30.00,30.00,15.61
$STATE,9874,end climb,SURFACE_DEPTH_REACHED
$STATE,9874,begin surface coast
$STATE,9894,end surface coast,CONTROL_FINISHED_OK
$STATE,9894,begin surface
$SM_CCo,10072.94,153.50,1.047,0,767.9,767.4,768.4,424.88
$SM_CCo,10074.14,0.00,2.661,0,769.3,766.9,771.7,424.55
$SM_CCo,10076.32,1.52,0.132,0,768.3,764.6,771.9,424.79
$SM_GC,0.56,1.52,17.21,0.09,0.132,0.073,0.134,768.3,764.6,771.9,172.8,2072.2,0,0,0,15.14,15.49,15.66
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4734.55,-12547.10,190221,175440
$TCM_TEMP,190.77
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3613216
$HUMID,57.44
$TEMP,7.82
$INTERNAL_PRESSURE,7.78714
$24V_AH,14.04,190.302
$10V_AH,14.68,0.000
$FG_AHR_24Vo,160.797
$FG_AHR_10Vo,59.671
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,522.885,37.380,128.330,254.095,1.000,13.719,3918.041,6416.595,2181.382,0.000,0.000,0.000
$DEVICE_MAMPS,2661.144,254.936,260.184,205.889,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9931.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.493,0.000,0.000,0.000
$MEM,1100000,51,75728,114
$DATA_FILE_SIZE,48180,1295
$CAP_FILE_SIZE,476689,0
$SDSIZE,3918848,3742368
$SDFILEDIR,3241,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190221,204830,4731.927,-12601.914,28,0.8,28,15.8