version: 67.00
glider: 236
mission: 2
dive: 771
start: 3 8 121 8 58 51
data:
$ID,236
$MISSION,2
$DIVE,771
$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,180
$T_MISSION,200
$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,120
$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,64.946625
$FG_AHR_24V,189.24304
$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
$GPS1,080321,085130,4704.853,-12648.658,23,0.9,23,15.7
$_CALLS,1
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-58.0
$GPS2,080321,085832,4704.857,-12648.616,3,0.9,4,15.7
$SPEED_LIMITS,0.160,0.227
$TGT_NAME,IN1
$TGT_LATLONG,4709.570,-12640.320
$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,34.4,13613,-18.6,-9.259,-22.19
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7.72,16386,-116.79,-1.28,0.00,762.3,765.2,759.4,170.3,2081.7,0.00,0.00,0,92.83,84.55,0.00,0.00,0.005,0.000,0.000,2550.34,2529.69,2571.00,170.25,2081.44,0,0,0,14.69,30.00,30.00
$GC,93.11,18983,-116.79,-1.28,-80.00,2549.5,2529.4,2569.7,170.1,2081.2,3.31,-3.28,16,129.61,10.75,14.70,4.14,0.007,0.249,0.158,2977.03,2971.31,2982.75,1828.31,662.81,0,0,0,14.93,15.16,14.71
$GC,137.40,1028,-116.79,-1.28,0.00,2975.1,2969.2,2980.9,1829.7,663.0,12.30,-17.87,25,143.15,0.00,0.00,3.59,0.000,0.000,0.055,2975.31,2970.12,2980.50,1830.12,2119.50,0,0,0,30.00,30.00,15.55
$GC,322.50,260,-116.79,-1.28,80.00,2975.3,2969.8,2980.9,1830.1,2119.8,44.74,-17.88,62,328.20,0.00,0.00,3.69,0.000,0.000,0.115,2975.78,2970.00,2981.56,1829.94,3474.31,0,0,0,30.00,30.00,15.45
$GC,552.53,1028,-116.79,-1.28,0.00,2975.9,2969.8,2982.1,1829.2,3474.5,84.18,-14.46,108,558.20,0.00,0.00,3.42,0.000,0.000,0.061,2975.41,2969.44,2981.38,1829.62,2081.06,0,0,0,30.00,30.00,15.59
$GC,737.50,260,-116.79,-1.28,80.00,2975.0,2969.1,2980.9,1830.0,2080.8,106.04,-11.81,140,743.24,0.00,0.00,3.79,0.000,0.000,0.112,2978.41,2972.38,2984.44,1830.44,3473.25,0,0,0,30.00,30.00,15.50
$GC,832.50,1028,-116.79,-1.28,0.00,2975.2,2969.0,2981.5,1830.1,3472.9,118.44,-12.41,159,837.07,0.00,0.00,3.40,0.000,0.000,0.060,2976.94,2971.25,2982.62,1829.69,2081.81,0,0,0,30.00,30.00,15.61
$GC,1142.55,0,-116.79,-1.28,0.00,2975.6,2969.6,2981.6,1829.6,2081.9,152.26,-10.54,191,1143.88,0.00,0.00,0.00,0.000,0.000,0.000,2975.31,2969.75,2980.88,1828.94,2081.81,0,0,0,30.00,30.00,30.00
$GC,1442.58,260,-116.79,-1.28,80.00,2976.1,2970.0,2982.2,1829.6,2081.9,182.71,-9.84,221,1448.33,0.00,0.00,3.80,0.000,0.000,0.114,2978.41,2972.31,2984.50,1828.38,3472.06,0,0,0,30.00,30.00,15.51
$GC,1531.42,1028,-116.79,-1.28,0.00,2975.8,2969.4,2982.2,1830.0,3472.0,192.52,-11.05,239,1538.32,0.00,0.00,3.39,0.000,0.000,0.062,2977.81,2970.88,2984.75,1829.00,2082.00,0,0,0,30.00,30.00,15.62
$GC,1837.65,260,-116.79,-1.28,80.00,2975.8,2969.4,2982.2,1829.6,2082.5,224.09,-10.56,270,1843.25,0.00,0.00,3.80,0.000,0.000,0.113,2975.00,2968.75,2981.25,1829.56,3473.12,0,0,0,30.00,30.00,15.51
$GC,1866.47,1028,-116.79,-1.28,0.00,2975.8,2969.1,2982.5,1829.2,3472.9,227.54,-10.84,276,1873.38,0.00,0.00,3.40,0.000,0.000,0.061,2976.28,2969.62,2982.94,1829.81,2080.75,0,0,0,30.00,30.00,15.63
$GC,2172.72,0,-116.79,-1.28,0.00,2976.1,2969.3,2982.9,1829.6,2080.8,259.52,-10.42,307,2174.04,0.00,0.00,0.00,0.000,0.000,0.000,2976.00,2969.38,2982.62,1829.56,2080.69,0,0,0,30.00,30.00,30.00
$GC,2472.78,260,-116.79,-1.28,80.00,2976.3,2969.7,2983.0,1829.5,2080.9,289.97,-9.86,337,2478.56,0.00,0.00,3.84,0.000,0.000,0.117,2976.34,2970.19,2982.50,1828.88,3472.31,0,0,0,30.00,30.00,15.49
$GC,2547.87,1028,-116.79,-1.28,0.00,2976.1,2969.7,2982.6,1829.9,3472.5,298.39,-11.29,352,2553.37,0.00,0.00,3.43,0.000,0.000,0.064,2975.44,2968.38,2982.50,1829.25,2082.06,0,0,0,30.00,30.00,15.61
$GC,2852.87,260,-116.79,-1.28,80.00,2976.1,2969.5,2982.7,1829.8,2082.0,327.57,-9.52,383,2858.49,0.00,0.00,3.84,0.000,0.000,0.117,2977.25,2970.69,2983.81,1829.12,3474.19,0,0,0,30.00,30.00,15.49
$GC,2891.70,1028,-116.79,-1.28,0.00,2975.8,2968.9,2982.6,1829.9,3474.4,331.65,-10.20,391,2898.62,0.00,0.00,3.43,0.000,0.000,0.064,2976.97,2969.75,2984.19,1829.06,2082.00,0,0,0,30.00,30.00,15.60
$GC,3197.95,0,-116.79,-1.28,0.00,2975.5,2968.7,2982.2,1829.3,2081.9,362.31,-10.11,422,3199.28,0.00,0.00,0.00,0.000,0.000,0.000,2975.88,2969.88,2981.88,1829.44,2081.25,0,0,0,30.00,30.00,30.00
$GC,3498.00,0,-116.79,-1.28,0.00,2975.7,2969.2,2982.2,1829.5,2081.9,393.54,-10.44,452,3499.33,0.00,0.00,0.00,0.000,0.000,0.000,2975.88,2969.44,2982.31,1829.75,2081.88,0,0,0,30.00,30.00,30.00
$GC,3798.07,260,-116.79,-1.28,80.00,2975.2,2969.0,2981.5,1829.6,2081.9,422.94,-9.86,482,3803.71,0.00,0.00,3.88,0.000,0.000,0.121,2973.97,2967.81,2980.12,1829.31,3473.00,0,0,0,30.00,30.00,15.45
$GC,3816.97,1028,-116.79,-1.28,0.00,2975.5,2969.9,2981.1,1829.6,3472.6,425.18,-9.52,486,3823.81,0.00,0.00,3.44,0.000,0.000,0.066,2977.62,2971.56,2983.69,1828.69,2082.00,0,0,0,30.00,30.00,15.58
$GC,4123.12,0,-116.79,-1.28,0.00,2975.0,2969.0,2981.0,1829.6,2081.9,454.97,-9.88,517,4124.45,0.00,0.00,0.00,0.000,0.000,0.000,2975.09,2969.44,2980.75,1829.25,2082.31,0,0,0,30.00,30.00,30.00
$GC,4423.15,0,-116.79,-1.28,0.00,2974.6,2969.1,2980.2,1829.9,2081.8,485.53,-10.70,547,4424.48,0.00,0.00,0.00,0.000,0.000,0.000,2973.66,2969.00,2978.31,1829.81,2081.69,0,0,0,30.00,30.00,30.00
$STATE,4563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4563,begin apogee
$GC,4564.38,10243,0.00,-0.25,0.00,2974.8,2969.6,2980.0,1829.4,2120.4,500.04,-10.56,561,4666.66,99.32,1.91,0.09,1.682,0.137,0.236,2498.56,2504.69,2492.44,2080.12,2085.56,0,0,0,10.60,15.51,14.90
$STATE,4669,end apogee,CONTROL_FINISHED_OK
$STATE,4669,begin climb
$GC,4669.28,10759,116.79,1.28,-80.00,2497.6,2505.8,2489.4,2080.8,2085.8,503.56,0.00,571,4785.09,106.29,2.73,4.25,1.624,0.084,0.148,2020.59,2045.44,1995.75,2453.38,661.62,0,0,0,11.73,15.12,14.70
$GC,4786.86,11303,232.42,1.62,0.00,2021.6,2046.3,1996.9,2453.3,662.0,501.01,3.04,587,4899.28,104.62,0.54,3.71,1.591,0.054,0.052,1553.62,1594.06,1513.19,2545.19,2124.38,0,0,0,11.54,14.93,14.98
$GC,5202.93,16902,232.42,1.62,-80.00,1544.1,1587.1,1501.1,2545.9,2124.6,444.64,14.98,640,5208.73,0.00,0.00,4.14,0.000,0.000,0.146,1543.75,1587.00,1500.50,2545.19,663.12,0,0,0,30.00,30.00,15.40
$GC,5257.95,17414,232.42,1.62,0.00,1543.5,1586.2,1500.8,2545.9,662.9,435.75,17.85,651,5263.65,0.00,0.00,3.57,0.000,0.000,0.056,1543.53,1586.50,1500.56,2545.31,2123.06,0,0,0,30.00,30.00,15.60
$GC,5563.00,16902,232.42,1.62,-80.00,1542.6,1586.0,1499.2,2545.4,2122.8,392.25,14.31,682,5568.81,0.00,0.00,4.11,0.000,0.000,0.144,1543.50,1586.50,1500.50,2545.06,662.94,0,0,0,30.00,30.00,15.45
$GC,5611.91,17414,232.42,1.62,0.00,1542.6,1585.9,1499.2,2545.5,662.8,384.18,16.76,692,5618.77,0.00,0.00,3.56,0.000,0.000,0.057,1542.69,1585.94,1499.44,2545.69,2123.06,0,0,0,30.00,30.00,15.68
$GC,5918.06,16902,232.42,1.62,-80.00,1542.0,1585.1,1498.9,2545.1,2122.5,341.29,14.44,723,5923.86,0.00,0.00,4.12,0.000,0.000,0.144,1542.34,1585.06,1499.62,2545.81,662.75,0,0,0,30.00,30.00,15.45
$GC,5956.97,17414,232.42,1.62,0.00,1542.1,1585.2,1499.0,2546.0,663.2,334.54,18.69,731,5963.83,0.00,0.00,3.53,0.000,0.000,0.055,1542.97,1585.88,1500.06,2545.06,2123.44,0,0,0,30.00,30.00,15.71
$GC,6263.11,16386,232.42,1.62,0.00,1541.5,1584.6,1498.3,2545.6,2123.9,292.07,13.40,762,6264.45,0.00,0.00,0.00,0.000,0.000,0.000,1541.12,1583.69,1498.56,2544.81,2123.44,0,0,0,30.00,30.00,30.00
$GC,6563.13,16902,232.42,1.62,-80.00,1541.5,1585.2,1497.8,2545.6,2123.5,251.84,13.23,792,6568.93,0.00,0.00,4.10,0.000,0.000,0.142,1541.06,1584.31,1497.81,2545.81,663.25,0,0,0,30.00,30.00,15.45
$GC,6628.21,17414,232.42,1.62,0.00,1541.8,1585.1,1498.5,2545.6,662.9,241.79,15.48,805,6633.85,0.00,0.00,3.54,0.000,0.000,0.057,1541.28,1584.50,1498.06,2545.06,2125.56,0,0,0,30.00,30.00,15.73
$GC,6933.18,16902,232.42,1.62,-80.00,1540.9,1584.2,1497.7,2545.5,2125.9,202.83,12.82,836,6938.97,0.00,0.00,4.09,0.000,0.000,0.141,1541.59,1584.75,1498.44,2545.31,663.00,0,0,0,30.00,30.00,15.43
$GC,6988.19,17414,232.42,1.62,0.00,1541.2,1584.5,1497.9,2546.2,662.8,194.69,15.31,847,6992.90,0.00,0.00,3.53,0.000,0.000,0.055,1541.53,1584.50,1498.56,2545.19,2121.62,0,0,0,30.00,30.00,15.72
$GC,7298.22,16386,232.42,1.62,0.00,1540.3,1583.4,1497.2,2545.8,2124.2,156.29,12.22,879,7299.55,0.00,0.00,0.00,0.000,0.000,0.000,1540.03,1582.75,1497.31,2545.00,2123.31,0,0,0,30.00,30.00,30.00
$GC,7598.24,16902,232.42,1.62,-80.00,1540.6,1583.8,1497.5,2545.7,2123.9,119.52,11.59,909,7604.17,0.00,0.00,4.09,0.000,0.000,0.138,1541.12,1584.31,1497.94,2544.19,663.12,0,0,0,30.00,30.00,15.41
$GC,7657.21,17414,232.42,1.62,0.00,1540.6,1583.7,1497.5,2545.9,663.6,111.04,14.74,921,7664.01,0.00,0.00,3.54,0.000,0.000,0.055,1540.44,1583.62,1497.25,2545.50,2125.88,0,0,0,30.00,30.00,15.72
$GC,7963.28,16386,232.42,1.62,0.00,1540.2,1583.4,1497.0,2545.9,2126.1,79.30,8.95,972,7964.61,0.00,0.00,0.00,0.000,0.000,0.000,1539.44,1582.00,1496.88,2545.00,2126.19,0,0,0,30.00,30.00,30.00
$GC,8143.39,8742,277.47,1.76,-80.00,1540.0,1583.4,1496.6,2545.6,2126.1,63.68,6.84,1008,8194.71,43.42,0.00,4.11,1.158,0.000,0.139,1368.38,1410.44,1326.31,2545.56,661.81,0,0,0,10.80,30.00,15.26
$GC,8418.41,1028,277.47,1.76,0.00,1365.9,1406.8,1325.1,2545.0,662.1,43.13,9.16,1063,8424.12,0.00,0.00,3.58,0.000,0.000,0.055,1366.81,1407.75,1325.88,2545.50,2126.12,0,0,0,30.00,30.00,15.62
$GC,8603.38,10791,323.16,1.90,-80.00,1364.3,1406.8,1321.8,2546.2,2126.2,30.29,6.80,1100,8659.85,47.62,0.35,4.13,1.099,0.065,0.137,1183.53,1220.25,1146.81,2609.81,662.12,0,0,0,11.29,15.64,15.21
$GC,8698.38,1028,323.16,1.90,0.00,1182.0,1218.5,1145.5,2610.0,661.9,21.05,11.33,1119,8704.14,0.00,0.00,3.58,0.000,0.000,0.052,1182.72,1218.88,1146.56,2609.12,2124.62,0,0,0,30.00,30.00,15.46
$STATE,8873,end climb,SURFACE_DEPTH_REACHED
$STATE,8873,begin surface coast
$STATE,8893,end surface coast,CONTROL_FINISHED_OK
$STATE,8893,begin surface
$SM_CCo,9014.21,95.40,1.072,0,768.4,770.4,766.3,424.77
$SM_CCo,9015.38,0.00,2.632,0,768.9,765.8,771.9,424.64
$SM_CCo,9018.59,2.09,0.282,0,768.4,766.4,770.4,424.77
$SM_GC,0.38,2.09,16.83,0.09,0.282,0.071,0.144,768.4,766.4,770.4,171.6,2074.1,0,0,0,11.94,15.48,15.61
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4703.07,-12649.04,080321,054917
$TCM_TEMP,189.55
$XPDR_PINGS,5,14.0,11.5
$SC_FREEKB,3564032
$HUMID,57.73
$TEMP,7.51
$INTERNAL_PRESSURE,7.76544
$24V_AH,13.89,222.038
$10V_AH,14.77,0.000
$FG_AHR_24Vo,189.459
$FG_AHR_10Vo,64.981
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,594.065,37.065,127.905,219.891,1.250,12.925,3685.433,5572.697,1990.017,0.000,0.000,0.000
$DEVICE_MAMPS,2631.624,249.360,235.584,210.200,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8941.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.661,0.000,0.000,0.000
$MEM,1100008,51,75720,114
$DATA_FILE_SIZE,45031,1158
$CAP_FILE_SIZE,446843,0
$SDSIZE,3918848,3705952
$SDFILEDIR,3881,1
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080321,112939,4705.162,-12647.277,8,0.9,22,15.7