version: 67.00
glider: 236
mission: 2
dive: 884
start: 3 21 121 16 49 34
data:
$ID,236
$MISSION,2
$DIVE,884
$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,150
$T_MISSION,180
$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,160
$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,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,69.230667
$FG_AHR_24V,214.90947
$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
$GPS1,210321,163830,4722.144,-12517.237,22,0.8,22,15.6
$_CALLS,1
$_SM_DEPTHo,-1.92
$_SM_ANGLEo,-58.8
$GPS2,210321,164916,4722.124,-12517.233,2,0.6,5,15.6
$SPEED_LIMITS,0.192,0.275
$TGT_NAME,IN2
$TGT_LATLONG,4715.140,-12515.040
$TGT_RADIUS,5000.000
$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,152.3,13224,-18.7,-11.111,-22.02
$D_GRID,1000
$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,8.00,16386,-155.72,-1.40,0.00,494.5,519.6,469.5,169.0,2115.6,0.00,0.00,0,109.14,100.74,0.00,0.00,0.005,0.000,0.000,2760.78,2740.62,2780.94,168.94,2116.88,0,0,0,14.55,30.00,30.00
$GC,109.38,18695,-155.72,-1.40,80.00,2758.9,2739.1,2778.8,168.9,2116.7,3.88,-14.98,19,142.07,7.70,14.43,3.82,0.007,0.251,0.116,3134.62,3124.75,3144.50,1800.06,3473.94,0,0,0,14.85,15.10,14.63
$GC,280.78,1028,-155.72,-1.40,0.00,3133.9,3123.8,3144.1,1799.4,3474.6,46.04,-22.40,53,286.49,0.00,0.00,3.48,0.000,0.000,0.063,3135.31,3125.25,3145.38,1798.62,2083.75,0,0,0,30.00,30.00,15.52
$GC,465.44,516,-155.72,-1.40,-80.00,3134.2,3124.1,3144.2,1800.1,2083.7,76.28,-13.12,90,471.64,0.00,0.00,4.15,0.000,0.000,0.154,3134.28,3123.88,3144.69,1799.38,662.69,0,0,0,30.00,30.00,15.31
$GC,515.83,1028,-155.72,-1.40,0.00,3134.5,3124.5,3144.5,1799.6,662.9,84.05,-15.92,100,521.56,0.00,0.00,3.59,0.000,0.000,0.052,3133.81,3124.00,3143.62,1800.06,2121.25,0,0,0,30.00,30.00,15.63
$GC,705.42,260,-155.72,-1.40,80.00,3134.2,3123.8,3144.6,1799.6,2121.1,109.19,-13.03,131,711.08,0.00,0.00,3.74,0.000,0.000,0.111,3133.00,3122.12,3143.88,1800.00,3472.75,0,0,0,30.00,30.00,15.47
$GC,740.86,1028,-155.72,-1.40,0.00,3134.1,3123.8,3144.4,1800.1,3473.8,114.33,-14.84,138,746.04,0.00,0.00,3.42,0.000,0.000,0.057,3134.66,3123.88,3145.44,1800.12,2081.12,0,0,0,30.00,30.00,15.61
$GC,1045.45,260,-155.72,-1.40,80.00,3134.7,3124.4,3145.1,1799.8,2081.5,152.50,-12.01,169,1051.13,0.00,0.00,3.86,0.000,0.000,0.110,3135.16,3125.56,3144.75,1799.25,3474.75,0,0,0,30.00,30.00,15.49
$GC,1114.42,1028,-155.72,-1.40,0.00,3134.3,3124.1,3144.5,1799.7,3474.4,161.38,-12.31,183,1121.61,0.00,0.00,3.41,0.000,0.000,0.059,3135.66,3125.12,3146.19,1799.56,2082.50,0,0,0,30.00,30.00,15.60
$GC,1420.50,0,-155.72,-1.40,0.00,3134.6,3124.3,3144.9,1800.1,2083.4,197.75,-11.68,214,1421.83,0.00,0.00,0.00,0.000,0.000,0.000,3135.31,3125.12,3145.50,1800.25,2082.62,0,0,0,30.00,30.00,30.00
$GC,1720.52,260,-155.72,-1.40,80.00,3135.0,3124.8,3145.2,1799.7,2082.6,232.34,-11.45,244,1726.20,0.00,0.00,3.88,0.000,0.000,0.113,3134.69,3124.00,3145.38,1799.94,3474.69,0,0,0,30.00,30.00,15.48
$GC,1765.97,1028,-155.72,-1.40,0.00,3134.7,3124.3,3145.1,1800.0,3474.5,237.63,-12.35,253,1771.29,0.00,0.00,3.42,0.000,0.000,0.059,3136.69,3125.81,3147.56,1800.19,2083.62,0,0,0,30.00,30.00,15.62
$GC,2090.54,0,-155.72,-1.40,0.00,3134.9,3124.4,3145.4,1799.1,2084.1,276.12,-11.77,272,2091.87,0.00,0.00,0.00,0.000,0.000,0.000,3135.44,3124.75,3146.12,1800.19,2083.81,0,0,0,30.00,30.00,30.00
$GC,2390.54,260,-155.72,-1.40,80.00,3134.4,3124.1,3144.7,1799.7,2083.7,311.57,-11.59,282,2396.25,0.00,0.00,3.90,0.000,0.000,0.115,3133.84,3123.94,3143.75,1799.75,3473.50,0,0,0,30.00,30.00,15.47
$GC,2454.47,1028,-155.72,-1.40,0.00,3134.4,3123.9,3144.9,1799.9,3472.8,320.21,-13.52,295,2460.17,0.00,0.00,3.45,0.000,0.000,0.062,3135.59,3125.62,3145.56,1800.25,2082.75,0,0,0,30.00,30.00,15.59
$GC,2775.59,260,-155.72,-1.40,80.00,3135.0,3124.4,3145.6,1799.7,2082.6,356.87,-11.04,309,2781.28,0.00,0.00,3.90,0.000,0.000,0.114,3134.25,3123.44,3145.06,1799.69,3473.38,0,0,0,30.00,30.00,15.46
$GC,2831.04,1028,-155.72,-1.40,0.00,3134.6,3124.0,3145.2,1799.8,3473.4,363.65,-14.24,320,2836.20,0.00,0.00,3.46,0.000,0.000,0.061,3133.56,3123.31,3143.81,1799.88,2085.19,0,0,0,30.00,30.00,15.61
$GC,3155.61,260,-155.72,-1.40,80.00,3134.7,3124.1,3145.2,1799.7,2084.9,399.19,-11.37,335,3161.30,0.00,0.00,3.91,0.000,0.000,0.116,3132.66,3121.94,3143.38,1799.31,3472.44,0,0,0,30.00,30.00,15.45
$GC,3189.50,1028,-155.72,-1.40,0.00,3134.4,3123.9,3144.8,1799.8,3473.3,402.67,-11.79,342,3195.21,0.00,0.00,3.46,0.000,0.000,0.062,3136.44,3126.06,3146.81,1799.81,2083.50,0,0,0,30.00,30.00,15.58
$GC,3510.62,0,-155.72,-1.40,0.00,3134.7,3124.4,3145.0,1799.8,2083.5,438.07,-10.95,356,3511.95,0.00,0.00,0.00,0.000,0.000,0.000,3135.09,3124.50,3145.69,1799.94,2083.62,0,0,0,30.00,30.00,30.00
$GC,3810.62,260,-155.72,-1.40,80.00,3134.4,3124.4,3144.4,1799.6,2084.0,466.28,-10.77,366,3816.34,0.00,0.00,3.93,0.000,0.000,0.118,3134.91,3125.19,3144.62,1799.38,3472.31,0,0,0,30.00,30.00,15.43
$GC,3849.54,1028,-155.72,-1.40,0.00,3134.6,3124.7,3144.4,1800.2,3472.7,470.78,-15.17,374,3855.38,0.00,0.00,3.45,0.000,0.000,0.063,3134.59,3124.69,3144.50,1799.88,2084.44,0,0,0,30.00,30.00,15.56
$STATE,4136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4136,begin apogee
$GC,4136.80,10243,0.00,-0.25,0.00,3133.6,3123.6,3143.5,1799.6,2119.8,502.37,-11.48,386,4272.38,132.01,2.12,0.09,1.658,0.141,0.225,2497.91,2507.31,2488.50,2079.75,2085.00,0,0,0,10.38,15.47,14.78
$STATE,4275,end apogee,CONTROL_FINISHED_OK
$STATE,4275,begin climb
$GC,4275.18,10759,155.72,1.40,-80.00,2497.6,2506.6,2488.5,2079.8,2084.9,505.54,0.00,390,4428.25,140.51,2.91,4.32,1.603,0.081,0.145,1862.34,1889.88,1834.81,2486.00,663.94,0,0,0,11.49,15.07,14.65
$GC,4465.40,1028,155.72,1.40,0.00,1858.9,1885.8,1832.0,2485.2,664.1,465.84,10.73,428,4471.16,0.00,0.00,3.71,0.000,0.000,0.051,1860.31,1886.94,1833.69,2485.50,2122.00,0,0,0,30.00,30.00,15.20
$GC,4786.59,16450,155.72,1.44,0.00,1852.2,1883.9,1820.4,2485.5,2121.8,434.35,9.78,442,4787.93,0.00,0.00,0.00,0.000,0.000,0.000,1852.53,1883.94,1821.12,2485.88,2121.75,0,0,0,30.00,30.00,30.00
$GC,5086.56,10275,202.86,1.58,0.00,1851.4,1882.9,1819.9,2485.0,2121.8,407.58,8.83,452,5129.30,41.81,0.23,0.00,1.517,0.076,0.000,1671.31,1702.62,1640.00,2536.75,2122.06,0,0,0,10.96,15.67,30.00
$GC,5416.62,516,202.86,1.58,-80.00,1666.7,1701.8,1631.6,2536.8,2122.4,369.21,12.42,463,5422.32,0.00,0.00,4.20,0.000,0.000,0.142,1666.12,1701.38,1630.88,2535.81,663.00,0,0,0,30.00,30.00,15.38
$GC,5532.09,1028,202.86,1.58,0.00,1665.0,1698.5,1631.6,2536.4,662.9,352.59,14.83,486,5537.23,0.00,0.00,3.62,0.000,0.000,0.054,1666.78,1700.38,1633.19,2537.00,2122.12,0,0,0,30.00,30.00,15.66
$GC,5856.67,16386,202.86,1.58,0.00,1663.9,1698.0,1629.8,2535.5,2121.3,312.44,12.41,501,5858.00,0.00,0.00,0.00,0.000,0.000,0.000,1664.12,1698.56,1629.69,2536.06,2121.38,0,0,0,30.00,30.00,30.00
$GC,6156.63,16902,202.86,1.58,-80.00,1663.0,1697.2,1628.8,2537.1,2122.0,278.03,11.52,511,6162.37,0.00,0.00,4.14,0.000,0.000,0.140,1662.31,1696.81,1627.81,2536.69,664.00,0,0,0,30.00,30.00,15.40
$GC,6230.54,17414,202.86,1.58,0.00,1662.9,1696.6,1629.2,2536.7,663.8,268.51,13.84,526,6236.28,0.00,0.00,3.61,0.000,0.000,0.055,1663.53,1697.12,1629.94,2537.56,2124.00,0,0,0,30.00,30.00,15.71
$GC,6541.69,16386,202.86,1.58,0.00,1662.6,1696.6,1628.6,2536.2,2123.8,233.48,11.46,546,6543.02,0.00,0.00,0.00,0.000,0.000,0.000,1662.69,1696.75,1628.62,2536.44,2123.25,0,0,0,30.00,30.00,30.00
$GC,6841.83,16966,202.86,1.61,-80.00,1662.4,1696.4,1628.5,2536.1,2124.6,202.09,10.35,576,6847.48,0.00,0.00,4.15,0.000,0.000,0.138,1662.50,1696.50,1628.50,2533.88,662.81,0,0,0,30.00,30.00,15.38
$GC,6930.67,17414,202.86,1.61,0.00,1662.4,1696.4,1628.4,2536.4,662.8,188.39,16.07,594,6937.50,0.00,0.00,3.60,0.000,0.000,0.055,1663.34,1697.12,1629.56,2536.31,2124.12,0,0,0,30.00,30.00,15.70
$GC,7236.86,16710,202.86,1.66,80.00,1662.2,1696.1,1628.2,2536.8,2123.4,157.78,9.33,625,7242.50,0.00,0.00,3.79,0.000,0.000,0.116,1662.25,1695.94,1628.56,2536.12,3473.38,0,0,0,30.00,30.00,15.47
$GC,7285.78,17478,202.86,1.69,0.00,1661.7,1695.3,1628.0,2536.1,3473.4,152.26,10.18,635,7292.57,0.00,0.00,3.42,0.000,0.000,0.058,1661.75,1695.81,1627.69,2535.38,2078.94,0,0,0,30.00,30.00,15.63
$GC,7591.94,19015,202.86,1.75,-80.00,1661.6,1695.2,1628.0,2535.9,2079.4,123.69,9.17,666,7597.68,0.00,0.17,4.01,0.000,0.095,0.139,1663.22,1697.19,1629.25,2572.81,663.94,0,0,0,30.00,15.73,15.36
$GC,7647.43,17478,202.86,1.78,0.00,1661.4,1695.0,1627.8,2572.9,663.9,117.92,10.01,677,7652.56,0.00,0.00,3.56,0.000,0.000,0.050,1660.34,1693.94,1626.75,2573.44,2127.38,0,0,0,30.00,30.00,15.72
$GC,7952.06,16902,202.86,1.78,-80.00,1661.4,1695.1,1627.8,2573.5,2127.4,85.38,12.74,720,7958.26,0.00,0.00,4.11,0.000,0.000,0.133,1662.19,1695.81,1628.56,2573.38,664.00,0,0,0,30.00,30.00,15.35
$GC,8062.47,17414,202.86,1.78,0.00,1661.6,1695.1,1628.0,2573.4,664.1,73.07,11.49,742,8067.75,0.00,0.00,3.58,0.000,0.000,0.052,1662.12,1695.69,1628.56,2573.56,2125.06,0,0,0,30.00,30.00,15.71
$GC,8247.07,10275,288.37,2.04,0.00,1661.2,1694.6,1627.8,2573.8,2125.1,57.38,6.98,779,8344.08,92.15,0.39,0.00,1.131,0.062,0.000,1324.78,1355.81,1293.75,2643.56,2125.38,0,0,0,10.50,15.74,30.00
$GC,8522.35,10791,371.83,2.29,-80.00,1319.7,1354.2,1285.1,2644.4,2125.6,29.38,7.08,834,8620.49,88.30,0.33,4.22,1.067,0.068,0.132,984.50,1015.19,953.81,2702.69,662.12,0,0,0,11.19,15.53,14.99
$GC,8709.19,1028,371.83,2.29,0.00,982.8,1012.2,953.5,2702.9,661.8,5.21,16.24,871,8714.50,0.00,0.00,3.63,0.000,0.000,0.051,982.53,1012.00,953.06,2702.06,2124.50,0,0,0,30.00,30.00,15.46
$STATE,8734,end climb,SURFACE_DEPTH_REACHED
$STATE,8734,begin surface coast
$STATE,8744,end surface coast,CONTROL_FINISHED_OK
$STATE,8744,begin surface
$SM_CCo,8868.12,97.59,1.040,0,563.9,575.0,552.8,474.93
$SM_CCo,8869.25,0.00,2.605,0,565.2,574.4,556.1,474.60
$SM_CCo,8871.91,2.06,0.245,0,564.6,573.0,556.2,474.75
$SM_GC,-7.58,2.06,17.67,0.09,0.245,0.082,0.139,564.6,573.0,556.2,170.3,2074.9,0,0,0,11.74,15.37,15.53
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4722.98,-12519.32,210321,132748
$TCM_TEMP,175.11
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3520640
$HUMID,57.91
$TEMP,7.91
$INTERNAL_PRESSURE,7.77649
$24V_AH,13.76,250.397
$10V_AH,14.78,0.000
$FG_AHR_24Vo,215.149
$FG_AHR_10Vo,69.264
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,702.865,38.255,128.280,395.940,0.750,13.749,3759.403,5690.806,1899.995,0.000,0.000,0.000
$DEVICE_MAMPS,2605.056,250.672,224.760,220.318,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8795.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.637,0.000,0.000,0.000
$MEM,1103032,39,73856,68
$DATA_FILE_SIZE,32239,878
$CAP_FILE_SIZE,399318,0
$SDSIZE,3918848,3674816
$SDFILEDIR,4446,1
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210321,191745,4720.842,-12516.387,3,1.7,11,15.6