version: 67.00
glider: 236
mission: 2
dive: 784
start: 3 9 121 23 14 0
data:
$ID,236
$MISSION,2
$DIVE,784
$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,65.462059
$FG_AHR_24V,192.1843
$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
$GPS1,090321,230630,4714.241,-12633.267,8,1.7,12,15.8
$_CALLS,1
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-57.8
$GPS2,090321,231341,4714.264,-12633.275,3,0.7,6,15.8
$SPEED_LIMITS,0.160,0.227
$TGT_NAME,IN3
$TGT_LATLONG,4719.090,-12620.510
$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,45.1,18351,-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,7.75,16386,-116.79,-1.28,0.00,762.8,763.9,761.6,171.3,2113.8,0.00,0.00,0,92.84,84.53,0.00,0.00,0.005,0.000,0.000,2577.22,2556.62,2597.81,171.38,2114.75,0,0,0,14.69,30.00,30.00
$GC,93.12,18727,-116.79,-1.28,80.00,2576.6,2555.9,2597.2,171.4,2114.9,3.28,-3.36,16,126.00,9.73,14.55,3.77,0.007,0.247,0.119,2972.62,2965.75,2979.50,1829.81,3473.69,0,0,0,14.91,15.19,14.70
$GC,313.85,1028,-116.79,-1.28,0.00,2974.4,2968.1,2980.8,1830.2,3473.4,46.39,-19.37,60,319.60,0.00,0.00,3.45,0.000,0.000,0.063,2976.84,2969.88,2983.81,1830.31,2082.56,0,0,0,30.00,30.00,15.56
$GC,499.00,260,-116.79,-1.28,80.00,2974.4,2967.9,2980.9,1830.3,2083.0,78.65,-14.94,97,504.72,0.00,0.00,3.80,0.000,0.000,0.111,2974.69,2967.75,2981.62,1829.88,3474.25,0,0,0,30.00,30.00,15.49
$GC,563.97,1028,-116.79,-1.28,0.00,2974.5,2967.8,2981.2,1830.0,3474.1,87.74,-13.84,110,569.69,0.00,0.00,3.43,0.000,0.000,0.060,2974.91,2968.50,2981.31,1830.56,2081.62,0,0,0,30.00,30.00,15.60
$GC,749.02,516,-116.79,-1.28,-80.00,2974.8,2968.1,2981.5,1830.2,2082.0,108.37,-10.41,139,754.83,0.00,0.00,4.09,0.000,0.000,0.155,2973.34,2966.50,2980.19,1830.25,661.69,0,0,0,30.00,30.00,15.38
$GC,777.99,1028,-116.79,-1.28,0.00,2974.7,2967.6,2981.7,1830.0,662.0,112.23,-12.89,145,784.79,0.00,0.00,3.53,0.000,0.000,0.053,2974.41,2967.88,2980.94,1830.12,2121.31,0,0,0,30.00,30.00,15.67
$GC,1084.09,0,-116.79,-1.28,0.00,2974.9,2968.2,2981.6,1830.4,2121.9,147.07,-11.32,176,1085.42,0.00,0.00,0.00,0.000,0.000,0.000,2975.12,2968.00,2982.25,1830.25,2121.31,0,0,0,30.00,30.00,30.00
$GC,1384.12,260,-116.79,-1.28,80.00,2975.1,2968.4,2981.8,1830.3,2121.3,180.89,-10.92,206,1389.86,0.00,0.00,3.69,0.000,0.000,0.115,2977.28,2970.69,2983.88,1830.06,3475.25,0,0,0,30.00,30.00,15.52
$GC,1489.15,1028,-116.79,-1.28,0.00,2975.1,2968.3,2981.9,1830.3,3475.2,193.28,-11.53,227,1493.72,0.00,0.00,3.43,0.000,0.000,0.060,2975.75,2968.75,2982.75,1830.56,2081.31,0,0,0,30.00,30.00,15.64
$GC,1799.19,0,-116.79,-1.28,0.00,2975.2,2968.3,2982.1,1830.4,2081.7,224.57,-9.99,259,1800.52,0.00,0.00,0.00,0.000,0.000,0.000,2975.44,2968.38,2982.50,1830.12,2081.69,0,0,0,30.00,30.00,30.00
$GC,2099.20,260,-116.79,-1.28,80.00,2975.2,2968.4,2981.9,1830.3,2081.6,256.70,-11.26,289,2104.95,0.00,0.00,3.80,0.000,0.000,0.115,2975.66,2968.38,2982.94,1829.75,3472.94,0,0,0,30.00,30.00,15.51
$GC,2178.03,1028,-116.79,-1.28,0.00,2975.2,2967.9,2982.6,1830.5,3473.4,266.65,-12.72,305,2184.95,0.00,0.00,3.44,0.000,0.000,0.062,2977.44,2970.62,2984.25,1830.06,2081.75,0,0,0,30.00,30.00,15.62
$GC,2484.25,0,-116.79,-1.28,0.00,2975.2,2967.9,2982.5,1829.9,2081.9,299.04,-10.45,336,2485.58,0.00,0.00,0.00,0.000,0.000,0.000,2973.94,2967.12,2980.75,1829.81,2082.12,0,0,0,30.00,30.00,30.00
$GC,2784.26,260,-116.79,-1.28,80.00,2975.4,2968.2,2982.6,1830.5,2082.2,330.30,-10.82,366,2790.05,0.00,0.00,3.87,0.000,0.000,0.116,2974.84,2968.19,2981.50,1830.25,3473.56,0,0,0,30.00,30.00,15.49
$GC,2829.28,1028,-116.79,-1.28,0.00,2974.9,2968.0,2981.8,1830.1,3474.7,335.66,-11.71,375,2833.83,0.00,0.00,3.45,0.000,0.000,0.062,2975.09,2968.12,2982.06,1830.56,2083.06,0,0,0,30.00,30.00,15.62
$GC,3139.31,0,-116.79,-1.28,0.00,2975.4,2968.4,2982.3,1829.9,2082.1,369.40,-11.22,407,3140.64,0.00,0.00,0.00,0.000,0.000,0.000,2975.81,2968.81,2982.81,1830.25,2082.75,0,0,0,30.00,30.00,30.00
$GC,3439.32,260,-116.79,-1.28,80.00,2975.1,2968.3,2981.9,1830.2,2082.4,400.76,-10.65,437,3445.09,0.00,0.00,3.87,0.000,0.000,0.118,2975.72,2968.75,2982.69,1830.19,3474.06,0,0,0,30.00,30.00,15.47
$GC,3484.36,1028,-116.79,-1.28,0.00,2974.7,2967.6,2981.9,1829.8,3474.4,405.98,-10.74,446,3489.90,0.00,0.00,3.42,0.000,0.000,0.064,2977.50,2970.88,2984.12,1829.56,2082.44,0,0,0,30.00,30.00,15.60
$GC,3789.37,516,-116.79,-1.28,-80.00,2974.6,2967.9,2981.4,1829.7,2083.0,437.40,-10.52,477,3795.18,0.00,0.00,4.12,0.000,0.000,0.162,2975.00,2968.12,2981.88,1830.06,663.06,0,0,0,30.00,30.00,15.31
$GC,3844.38,1028,-116.79,-1.28,0.00,2974.7,2967.9,2981.4,1830.4,662.8,443.51,-11.95,488,3849.96,0.00,0.00,3.53,0.000,0.000,0.056,2977.00,2971.12,2982.88,1829.38,2121.62,0,0,0,30.00,30.00,15.67
$GC,4149.41,260,-116.79,-1.28,80.00,2974.2,2968.1,2980.4,1830.4,2122.4,474.21,-9.50,519,4155.09,0.00,0.00,3.74,0.000,0.000,0.122,2975.00,2968.19,2981.81,1830.00,3473.00,0,0,0,30.00,30.00,15.44
$GC,4218.24,1028,-116.79,-1.28,0.00,2974.5,2967.8,2981.2,1830.9,3473.2,481.87,-10.74,533,4225.17,0.00,0.00,3.43,0.000,0.000,0.065,2975.44,2968.94,2981.94,1830.19,2082.56,0,0,0,30.00,30.00,15.57
$STATE,4414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4414,begin apogee
$GC,4415.63,10243,0.00,-0.25,0.00,2974.2,2968.0,2980.4,1830.0,2119.8,500.70,-10.12,553,4516.88,98.37,1.89,0.09,1.674,0.138,0.241,2499.38,2506.50,2492.25,2081.50,2085.06,0,0,0,10.51,15.51,14.88
$STATE,4519,end apogee,CONTROL_FINISHED_OK
$STATE,4519,begin climb
$GC,4519.44,10759,116.79,1.28,-80.00,2497.5,2505.4,2489.6,2081.5,2085.3,503.94,0.00,563,4634.14,106.04,2.69,4.28,1.614,0.083,0.148,2024.69,2049.50,1999.88,2454.19,663.88,0,0,0,11.71,15.13,14.73
$GC,4635.92,11303,211.61,1.56,0.00,2021.7,2046.3,1997.1,2454.1,663.8,499.48,4.16,582,4728.45,85.78,0.44,3.70,1.575,0.056,0.051,1636.28,1675.50,1597.06,2531.12,2125.56,0,0,0,11.63,14.94,14.99
$GC,5031.97,16646,211.61,1.56,80.00,1627.5,1669.1,1586.0,2531.3,2125.4,451.01,12.08,631,5037.57,0.00,0.00,3.76,0.000,0.000,0.120,1628.53,1669.69,1587.38,2531.06,3473.88,0,0,0,30.00,30.00,15.46
$GC,5070.80,17414,211.61,1.56,0.00,1626.1,1666.8,1585.4,2531.5,3473.8,445.15,15.41,639,5077.72,0.00,0.00,3.45,0.000,0.000,0.062,1626.28,1666.81,1585.75,2530.62,2079.69,0,0,0,30.00,30.00,15.58
$GC,5377.05,16902,211.61,1.56,-80.00,1625.6,1667.2,1584.1,2531.4,2079.9,404.75,13.20,670,5382.81,0.00,0.00,3.99,0.000,0.000,0.146,1625.03,1666.31,1583.75,2531.00,662.69,0,0,0,30.00,30.00,15.45
$GC,5446.02,17414,211.61,1.56,0.00,1625.5,1666.8,1584.2,2531.5,662.9,393.96,16.86,684,5452.81,0.00,0.00,3.55,0.000,0.000,0.055,1626.84,1668.19,1585.50,2531.31,2124.69,0,0,0,30.00,30.00,15.69
$GC,5752.10,16386,211.61,1.56,0.00,1624.8,1666.2,1583.5,2531.3,2124.9,355.66,11.66,715,5753.44,0.00,0.00,0.00,0.000,0.000,0.000,1624.78,1666.06,1583.50,2530.50,2124.75,0,0,0,30.00,30.00,30.00
$GC,6052.12,16386,211.61,1.56,0.00,1624.5,1666.1,1583.0,2531.6,2124.8,319.42,12.85,745,6053.45,0.00,0.00,0.00,0.000,0.000,0.000,1624.53,1665.94,1583.12,2531.06,2124.50,0,0,0,30.00,30.00,30.00
$GC,6352.14,16902,211.61,1.56,-80.00,1623.8,1665.6,1582.1,2531.2,2124.5,282.16,13.27,775,6357.95,0.00,0.00,4.09,0.000,0.000,0.141,1625.75,1667.38,1584.12,2530.38,662.88,0,0,0,30.00,30.00,15.45
$GC,6401.12,17414,211.61,1.56,0.00,1623.8,1665.4,1582.3,2530.9,663.2,275.09,14.59,785,6407.91,0.00,0.00,3.54,0.000,0.000,0.054,1625.25,1666.31,1584.19,2531.62,2125.00,0,0,0,30.00,30.00,15.74
$GC,6707.18,16902,211.61,1.56,-80.00,1623.7,1665.3,1582.1,2531.0,2125.1,236.12,12.74,816,6712.98,0.00,0.00,4.09,0.000,0.000,0.139,1623.06,1664.38,1581.75,2530.88,662.94,0,0,0,30.00,30.00,15.43
$GC,6736.14,17414,211.61,1.56,0.00,1623.6,1665.0,1582.1,2531.4,662.7,231.92,14.00,822,6742.94,0.00,0.00,3.54,0.000,0.000,0.053,1623.97,1665.62,1582.31,2531.19,2127.38,0,0,0,30.00,30.00,15.73
$GC,7042.23,16646,211.61,1.56,80.00,1623.3,1665.1,1581.5,2531.5,2127.5,195.31,10.89,853,7047.95,0.00,0.00,3.73,0.000,0.000,0.120,1623.53,1664.94,1582.12,2531.69,3472.44,0,0,0,30.00,30.00,15.50
$GC,7271.21,17414,211.61,1.56,0.00,1622.1,1663.1,1581.1,2531.2,3472.2,165.67,13.56,899,7278.00,0.00,0.00,3.42,0.000,0.000,0.060,1622.53,1663.19,1581.88,2531.75,2079.31,0,0,0,30.00,30.00,15.66
$GC,7577.29,16646,211.61,1.56,80.00,1622.3,1662.9,1581.7,2531.4,2079.9,130.56,11.12,930,7582.91,0.00,0.00,3.84,0.000,0.000,0.114,1621.88,1662.56,1581.19,2531.56,3473.06,0,0,0,30.00,30.00,15.50
$GC,7802.38,17414,211.61,1.56,0.00,1622.0,1662.4,1581.7,2531.2,3473.0,105.03,10.35,975,7807.87,0.00,0.00,3.42,0.000,0.000,0.059,1621.34,1661.81,1580.88,2530.81,2077.94,0,0,0,30.00,30.00,15.65
$GC,8107.36,16710,211.61,1.61,80.00,1622.0,1662.2,1581.7,2531.9,2077.6,76.48,7.71,1031,8113.16,0.00,0.00,3.85,0.000,0.000,0.114,1622.34,1662.69,1582.00,2531.38,3474.62,0,0,0,30.00,30.00,15.47
$GC,8147.37,17478,211.61,1.64,0.00,1621.9,1662.1,1581.8,2531.2,3473.8,73.26,8.11,1039,8153.10,0.00,0.00,3.40,0.000,0.000,0.058,1622.41,1662.75,1582.06,2531.50,2077.06,0,0,0,30.00,30.00,15.66
$GC,8332.51,10535,317.42,1.96,80.00,1622.0,1662.0,1582.0,2532.0,2076.8,65.24,3.57,1076,8441.46,103.24,0.56,3.94,1.154,0.061,0.114,1205.53,1240.12,1170.94,2623.88,3472.44,0,0,0,10.61,15.72,15.04
$GC,8664.27,1028,317.42,1.96,0.00,1201.5,1234.9,1168.1,2624.6,3472.5,31.47,12.48,1142,8670.01,0.00,0.00,3.46,0.000,0.000,0.058,1202.19,1235.75,1168.62,2624.62,2078.62,0,0,0,30.00,30.00,15.51
$GC,8849.38,516,317.42,1.96,-80.00,1200.2,1234.9,1165.4,2623.8,2078.7,9.34,12.15,1179,8855.13,0.00,0.00,4.00,0.000,0.000,0.138,1200.53,1235.19,1165.88,2624.50,662.81,0,0,0,30.00,30.00,15.36
$STATE,8904,end climb,SURFACE_DEPTH_REACHED
$STATE,8904,begin surface coast
$STATE,8914,end surface coast,CONTROL_FINISHED_OK
$STATE,8914,begin surface
$SM_CCo,9043.33,100.14,1.063,0,767.7,770.9,764.4,424.94
$SM_CCo,9044.51,0.00,2.627,0,768.9,771.4,766.4,424.64
$SM_CCo,9045.67,0.09,0.211,0,768.3,771.6,765.1,424.78
$SM_GC,0.02,0.09,16.67,3.51,0.211,0.064,0.052,768.3,771.6,765.1,171.4,2125.2,0,0,0,15.20,15.50,15.67
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4712.82,-12629.37,090321,200505
$TCM_TEMP,190.35
$XPDR_PINGS,2,14.0,11.5
$SC_FREEKB,3559040
$HUMID,57.71
$TEMP,7.55
$INTERNAL_PRESSURE,7.76824
$24V_AH,13.88,225.299
$10V_AH,14.79,0.000
$FG_AHR_24Vo,192.395
$FG_AHR_10Vo,65.496
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,587.905,36.795,140.675,223.997,0.500,15.119,3726.709,5560.630,2004.728,0.000,0.000,0.000
$DEVICE_MAMPS,2627.360,247.392,240.832,209.436,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8962.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.667,0.000,0.000,0.000
$MEM,1099988,52,75720,114
$DATA_FILE_SIZE,44990,1192
$CAP_FILE_SIZE,462192,0
$SDSIZE,3918848,3702240
$SDFILEDIR,3946,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100321,014510,4715.013,-12632.428,15,1.3,16,15.8