version: 67.00
glider: 236
mission: 2
dive: 850
start: 3 17 121 8 50 43
data:
$ID,236
$MISSION,2
$DIVE,850
$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,67.855644
$FG_AHR_24V,206.40996
$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
$GPS1,170321,084358,4751.258,-12513.489,13,1.1,32,15.7
$_CALLS,1
$_SM_DEPTHo,-1.75
$_SM_ANGLEo,-63.8
$GPS2,170321,085024,4751.247,-12513.479,2,0.6,4,15.7
$SPEED_LIMITS,0.160,0.227
$TGT_NAME,OUT9
$TGT_LATLONG,4747.280,-12520.390
$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,213.7,11311,-18.6,-9.259,-22.19
$D_GRID,343
$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,7.90,16386,-116.79,-1.28,0.00,762.9,763.4,762.4,170.3,2081.8,0.00,0.00,0,93.88,85.44,0.00,0.00,0.005,0.000,0.000,2683.12,2661.38,2704.88,170.19,2081.12,0,0,0,14.63,30.00,30.00
$GC,94.14,18951,-116.79,-1.28,-80.00,2682.1,2660.9,2703.2,170.1,2081.0,3.45,-14.12,16,126.97,6.18,14.65,4.12,0.008,0.252,0.155,2975.19,2966.81,2983.56,1829.69,662.88,0,0,0,14.86,15.20,14.68
$GC,165.68,1028,-116.79,-1.28,0.00,2975.2,2966.8,2983.6,1830.0,663.1,22.28,-21.36,30,171.43,0.00,0.00,3.58,0.000,0.000,0.053,2976.03,2967.56,2984.50,1828.69,2120.75,0,0,0,30.00,30.00,15.62
$GC,350.39,260,-116.79,-1.28,80.00,2975.2,2967.1,2983.2,1829.8,2121.2,53.25,-13.90,67,356.52,0.00,0.00,3.68,0.000,0.000,0.112,2976.62,2968.19,2985.06,1829.69,3475.88,0,0,0,30.00,30.00,15.52
$GC,505.81,1028,-116.79,-1.28,0.00,2975.2,2967.1,2983.2,1829.5,3475.4,76.58,-14.12,98,511.54,0.00,0.00,3.41,0.000,0.000,0.058,2975.50,2967.69,2983.31,1829.75,2081.94,0,0,0,30.00,30.00,15.65
$GC,690.54,0,-116.79,-1.28,0.00,2975.3,2967.2,2983.4,1829.8,2081.8,99.15,-11.15,135,694.88,0.00,0.00,0.00,0.000,0.000,0.000,2976.47,2967.81,2985.12,1829.81,2082.06,0,0,0,30.00,30.00,30.00
$GC,880.49,0,-116.79,-1.28,0.00,2975.3,2967.2,2983.5,1829.6,2082.4,121.41,-11.71,155,881.82,0.00,0.00,0.00,0.000,0.000,0.000,2975.66,2967.75,2983.56,1829.69,2081.81,0,0,0,30.00,30.00,30.00
$GC,1180.55,260,-116.79,-1.28,80.00,2975.2,2967.4,2982.9,1829.3,2082.0,154.60,-10.05,185,1186.25,0.00,0.00,3.78,0.000,0.000,0.110,2975.72,2967.56,2983.88,1829.31,3473.31,0,0,0,30.00,30.00,15.58
$GC,1229.48,1028,-116.79,-1.28,0.00,2975.5,2967.6,2983.5,1829.4,3473.2,160.38,-11.56,195,1236.73,0.00,0.00,3.41,0.000,0.000,0.058,2975.69,2968.00,2983.38,1830.00,2081.38,0,0,0,30.00,30.00,15.68
$GC,1535.64,0,-116.79,-1.28,0.00,2975.4,2967.2,2983.5,1829.6,2082.1,189.65,-9.39,226,1536.96,0.00,0.00,0.00,0.000,0.000,0.000,2975.72,2967.62,2983.81,1829.62,2081.69,0,0,0,30.00,30.00,30.00
$GC,1835.70,0,-116.79,-1.28,0.00,2975.1,2966.9,2983.2,1829.5,2081.5,218.05,-9.14,256,1837.03,0.00,0.00,0.00,0.000,0.000,0.000,2973.97,2965.75,2982.19,1829.19,2081.12,0,0,0,30.00,30.00,30.00
$GC,2135.76,516,-116.79,-1.28,-80.00,2975.2,2966.9,2983.4,1830.0,2081.2,246.71,-9.26,286,2141.50,0.00,0.00,4.08,0.000,0.000,0.154,2973.84,2965.38,2982.31,1830.00,662.88,0,0,0,30.00,30.00,15.43
$GC,2171.19,1028,-116.79,-1.28,0.00,2975.0,2966.6,2983.4,1830.2,662.9,250.02,-8.76,293,2176.41,0.00,0.00,3.54,0.000,0.000,0.054,2975.03,2967.00,2983.06,1829.50,2118.62,0,0,0,30.00,30.00,15.76
$GC,2475.83,0,-116.79,-1.28,0.00,2975.3,2967.1,2983.5,1830.1,2118.5,280.85,-9.94,324,2477.16,0.00,0.00,0.00,0.000,0.000,0.000,2975.62,2967.06,2984.19,1830.12,2118.81,0,0,0,30.00,30.00,30.00
$GC,2775.89,0,-116.79,-1.28,0.00,2974.8,2967.1,2982.6,1829.6,2118.6,309.25,-8.30,354,2777.21,0.00,0.00,0.00,0.000,0.000,0.000,2975.81,2968.56,2983.06,1829.50,2118.81,0,0,0,30.00,30.00,30.00
$GC,3076.38,260,-116.79,-1.28,80.00,2974.9,2966.4,2983.4,1829.8,2118.8,336.16,-9.41,384,3081.63,0.00,0.00,3.74,0.000,0.000,0.117,2975.72,2967.56,2983.88,1829.31,3474.25,0,0,0,30.00,30.00,15.56
$STATE,3144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3144,begin apogee
$GC,3149.78,10243,0.00,-0.25,0.00,2975.5,2967.8,2983.2,1829.6,2081.0,343.07,-10.03,398,3249.64,96.29,1.89,0.08,1.430,0.144,0.218,2496.66,2504.62,2488.69,2079.88,2121.50,0,0,0,10.61,15.56,14.97
$STATE,3252,end apogee,CONTROL_FINISHED_OK
$STATE,3252,begin climb
$GC,3252.32,10243,116.79,1.28,0.00,2497.5,2505.9,2489.2,2080.2,2121.1,345.65,0.00,408,3358.40,102.11,2.66,0.00,1.377,0.084,0.000,2025.06,2050.00,2000.12,2455.94,2120.81,0,0,0,11.62,15.22,30.00
$GC,3655.83,16450,116.79,1.33,0.00,2012.1,2043.8,1980.4,2455.4,2121.1,318.53,7.41,449,3657.16,0.00,0.00,0.00,0.000,0.000,0.000,2012.88,2044.50,1981.25,2455.25,2121.12,0,0,0,30.00,30.00,30.00
$GC,3955.90,10535,197.02,1.57,80.00,2010.1,2043.1,1977.2,2456.1,2121.1,299.39,4.94,479,4032.14,69.11,0.41,3.85,1.347,0.062,0.117,1695.56,1730.25,1660.88,2535.50,3473.75,0,0,0,11.07,15.68,15.07
$GC,4086.39,1028,197.02,1.57,0.00,1691.8,1727.3,1656.2,2535.6,3473.5,288.19,9.03,505,4091.53,0.00,0.00,3.53,0.000,0.000,0.060,1692.00,1727.19,1656.81,2532.81,2080.44,0,0,0,30.00,30.00,15.44
$GC,4390.96,16902,197.02,1.57,-80.00,1688.3,1727.3,1649.4,2535.1,2080.2,254.07,11.23,536,4396.68,0.00,0.00,4.05,0.000,0.000,0.141,1687.44,1726.12,1648.75,2535.38,663.06,0,0,0,30.00,30.00,15.43
$GC,4466.39,17414,197.02,1.57,0.00,1687.6,1725.7,1649.6,2534.9,663.1,244.61,13.19,551,4471.62,0.00,0.00,3.54,0.000,0.000,0.051,1686.97,1725.19,1648.75,2535.00,2126.19,0,0,0,30.00,30.00,15.67
$GC,4771.04,16902,197.02,1.57,-80.00,1687.1,1725.6,1648.6,2535.0,2126.6,207.95,12.43,582,4776.78,0.00,0.00,4.14,0.000,0.000,0.137,1687.47,1726.12,1648.81,2535.31,664.12,0,0,0,30.00,30.00,15.46
$GC,4886.54,17414,197.02,1.57,0.00,1686.8,1724.9,1648.7,2534.9,664.0,190.92,17.04,605,4891.69,0.00,0.00,3.53,0.000,0.000,0.053,1685.47,1723.81,1647.12,2535.31,2126.31,0,0,0,30.00,30.00,15.74
$GC,5191.12,16386,197.02,1.57,0.00,1685.8,1724.6,1646.9,2535.6,2126.4,155.66,11.59,636,5192.45,0.00,0.00,0.00,0.000,0.000,0.000,1685.88,1724.75,1647.00,2536.06,2126.19,0,0,0,30.00,30.00,30.00
$GC,5491.15,16386,197.02,1.57,0.00,1685.2,1724.6,1645.8,2535.4,2126.4,126.17,8.78,666,5492.48,0.00,0.00,0.00,0.000,0.000,0.000,1685.59,1725.19,1646.00,2535.56,2126.38,0,0,0,30.00,30.00,30.00
$GC,5791.22,16386,197.02,1.57,0.00,1685.0,1725.0,1644.9,2535.3,2126.2,100.39,9.93,696,5792.55,0.00,0.00,0.00,0.000,0.000,0.000,1685.16,1725.25,1645.06,2535.19,2126.38,0,0,0,30.00,30.00,30.00
$GC,6091.36,8226,247.62,1.73,0.00,1684.7,1724.8,1644.6,2535.2,2126.8,76.74,6.54,755,6142.30,47.90,0.00,0.00,1.121,0.000,0.000,1491.06,1529.81,1452.31,2535.19,2126.62,0,0,0,10.80,30.00,30.00
$GC,6321.44,10791,299.79,1.88,-80.00,1486.3,1527.5,1445.2,2535.2,2126.4,59.72,6.45,801,6383.95,54.94,0.38,4.21,1.075,0.061,0.136,1277.47,1313.25,1241.69,2607.88,663.69,0,0,0,11.37,15.60,15.12
$GC,6427.67,1028,299.79,1.88,0.00,1275.9,1311.4,1240.4,2608.2,663.8,50.23,10.80,822,6433.40,0.00,0.00,3.60,0.000,0.000,0.050,1275.94,1311.94,1239.94,2606.88,2127.00,0,0,0,30.00,30.00,15.47
$GC,6612.31,324,299.79,1.94,80.00,1273.7,1311.4,1236.0,2607.9,2127.4,33.57,7.43,859,6618.10,0.00,0.00,3.73,0.000,0.000,0.113,1273.47,1311.25,1235.69,2607.69,3474.12,0,0,0,30.00,30.00,15.46
$GC,6742.44,1092,299.79,1.95,0.00,1272.6,1309.6,1235.6,2607.8,3474.4,23.32,8.67,885,6748.09,0.00,0.00,3.44,0.000,0.000,0.056,1273.19,1310.06,1236.31,2607.62,2077.00,0,0,0,30.00,30.00,15.62
$GC,6928.12,580,299.79,1.99,-80.00,1272.1,1309.4,1234.8,2607.6,2076.9,8.66,8.11,922,6937.71,0.00,0.00,4.00,0.000,0.000,0.137,1272.41,1309.75,1235.06,2608.06,662.81,0,0,0,30.00,30.00,15.42
$STATE,6997,end climb,SURFACE_DEPTH_REACHED
$STATE,6997,begin surface coast
$STATE,7007,end surface coast,CONTROL_FINISHED_OK
$STATE,7007,begin surface
$SM_CCo,7153.81,116.46,1.036,0,767.4,767.4,767.4,425.00
$SM_CCo,7154.98,0.00,2.608,0,768.9,769.2,768.6,424.64
$SM_CCo,7157.69,2.05,0.237,0,768.4,768.9,767.9,424.76
$SM_GC,-10.41,2.05,16.46,3.48,0.237,0.077,0.049,768.4,768.9,767.9,170.1,2127.4,0,0,0,11.86,15.53,15.74
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.64,-12513.98,170321,065350
$TCM_TEMP,175.57
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3533696
$HUMID,58.27
$TEMP,8.24
$INTERNAL_PRESSURE,7.80445
$24V_AH,13.83,240.999
$10V_AH,14.81,0.000
$FG_AHR_24Vo,206.593
$FG_AHR_10Vo,67.883
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,580.485,36.455,82.025,197.362,0.750,13.652,3546.354,3811.873,2157.309,0.000,0.000,0.000
$DEVICE_MAMPS,2608.336,251.656,217.872,197.089,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7056.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.760,0.000,0.000,0.000
$MEM,1100232,41,75696,114
$DATA_FILE_SIZE,35443,938
$CAP_FILE_SIZE,361281,0
$SDSIZE,3918848,3683936
$SDFILEDIR,4276,1
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170321,105031,4751.082,-12514.657,3,0.9,22,15.7