version: 67.00
glider: 236
mission: 2
dive: 889
start: 3 22 121 5 27 19
data:
$ID,236
$MISSION,2
$DIVE,889
$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,195
$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,69.397148
$FG_AHR_24V,216.17615
$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
$GPS1,220321,052039,4716.566,-12512.807,4,1.5,9,15.6
$_CALLS,1
$_SM_DEPTHo,-2.14
$_SM_ANGLEo,-57.8
$GPS2,220321,052701,4716.508,-12512.747,2,1.5,6,15.6
$SPEED_LIMITS,0.192,0.275
$TGT_NAME,IN3
$TGT_LATLONG,4707.430,-12509.000
$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,148.7,17462,-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,8.01,16386,-155.72,-1.40,0.00,560.2,566.9,553.6,169.2,2084.9,0.00,0.00,0,109.14,100.72,0.00,0.00,0.005,0.000,0.000,2794.66,2774.56,2814.75,169.19,2084.69,0,0,0,14.55,30.00,30.00
$GC,109.39,18695,-155.72,-1.40,80.00,2793.5,2773.2,2813.8,169.2,2084.1,3.56,-14.62,19,142.04,7.01,14.40,3.87,0.008,0.252,0.114,3134.56,3124.81,3144.31,1799.94,3474.00,0,0,0,14.85,15.11,14.68
$GC,290.76,1028,-155.72,-1.40,0.00,3134.2,3124.4,3144.1,1800.0,3473.4,44.50,-19.73,55,296.47,0.00,0.00,3.42,0.000,0.000,0.061,3135.94,3125.88,3146.00,1800.00,2083.62,0,0,0,30.00,30.00,15.55
$GC,475.41,260,-155.72,-1.40,80.00,3134.0,3124.1,3143.9,1799.2,2084.2,76.91,-13.59,92,481.55,0.00,0.00,3.71,0.000,0.000,0.109,3134.03,3124.12,3143.94,1800.00,3473.69,0,0,0,30.00,30.00,15.48
$GC,530.81,1028,-155.72,-1.40,0.00,3133.8,3123.8,3143.9,1799.8,3474.3,85.38,-16.47,103,536.52,0.00,0.00,3.42,0.000,0.000,0.060,3134.31,3124.25,3144.38,1800.12,2081.25,0,0,0,30.00,30.00,15.59
$GC,715.40,516,-155.72,-1.40,-80.00,3134.1,3124.4,3143.9,1799.6,2081.5,111.24,-12.64,132,721.13,0.00,0.00,4.05,0.000,0.000,0.154,3133.78,3124.06,3143.50,1799.81,662.75,0,0,0,30.00,30.00,15.36
$GC,754.32,1028,-155.72,-1.40,0.00,3133.9,3123.9,3144.0,1799.9,662.8,116.63,-13.93,140,761.58,0.00,0.00,3.53,0.000,0.000,0.052,3135.00,3125.12,3144.88,1799.81,2122.56,0,0,0,30.00,30.00,15.67
$GC,1060.45,0,-155.72,-1.40,0.00,3134.4,3124.2,3144.7,1799.7,2122.2,156.43,-13.76,171,1061.78,0.00,0.00,0.00,0.000,0.000,0.000,3134.62,3124.44,3144.81,1800.25,2122.38,0,0,0,30.00,30.00,30.00
$GC,1360.48,0,-155.72,-1.40,0.00,3134.5,3123.9,3145.1,1799.8,2121.8,194.45,-12.52,201,1361.81,0.00,0.00,0.00,0.000,0.000,0.000,3134.38,3124.31,3144.44,1800.12,2122.31,0,0,0,30.00,30.00,30.00
$GC,1660.53,0,-155.72,-1.40,0.00,3134.5,3124.1,3144.8,1800.0,2122.6,230.26,-12.22,231,1661.86,0.00,0.00,0.00,0.000,0.000,0.000,3135.09,3124.75,3145.44,1799.62,2122.31,0,0,0,30.00,30.00,30.00
$GC,1980.57,260,-155.72,-1.40,80.00,3134.3,3123.9,3144.8,1800.1,2122.4,268.95,-12.18,253,1986.24,0.00,0.00,3.74,0.000,0.000,0.116,3133.09,3122.50,3143.69,1799.50,3473.62,0,0,0,30.00,30.00,15.50
$GC,2036.02,1028,-155.72,-1.40,0.00,3134.7,3124.1,3145.3,1799.8,3473.3,276.15,-13.56,264,2041.17,0.00,0.00,3.39,0.000,0.000,0.060,3136.91,3126.50,3147.31,1799.81,2080.19,0,0,0,30.00,30.00,15.64
$GC,2360.60,260,-155.72,-1.40,80.00,3134.7,3123.8,3145.7,1799.8,2080.2,314.88,-11.86,279,2366.29,0.00,0.00,3.86,0.000,0.000,0.114,3136.34,3125.81,3146.88,1800.50,3474.50,0,0,0,30.00,30.00,15.50
$GC,2416.05,1028,-155.72,-1.40,0.00,3134.6,3124.2,3145.0,1800.0,3475.0,322.07,-13.09,290,2421.23,0.00,0.00,3.41,0.000,0.000,0.061,3134.12,3123.75,3144.50,1798.38,2082.94,0,0,0,30.00,30.00,15.63
$GC,2740.63,260,-155.72,-1.40,80.00,3134.6,3124.3,3144.9,1799.9,2083.4,337.85,-13.58,305,2746.31,0.00,0.00,3.83,0.000,0.000,0.114,3134.50,3124.31,3144.69,1799.62,3474.62,0,0,0,30.00,30.00,15.48
$GC,2784.54,1028,-155.72,-1.40,0.00,3134.3,3124.0,3144.7,1799.7,3474.8,343.76,-12.74,314,2790.26,0.00,0.00,3.42,0.000,0.000,0.061,3135.62,3125.50,3145.75,1799.94,2081.94,0,0,0,30.00,30.00,15.60
$GC,3095.66,260,-155.72,-1.40,80.00,3133.8,3123.1,3144.6,1799.9,2081.2,375.49,-10.26,326,3101.33,0.00,0.00,3.88,0.000,0.000,0.116,3134.44,3124.81,3144.06,1799.69,3473.81,0,0,0,30.00,30.00,15.48
$GC,3164.62,1028,-155.72,-1.40,0.00,3134.4,3123.8,3145.1,1799.7,3474.8,384.12,-13.16,340,3170.27,0.00,0.00,3.42,0.000,0.000,0.064,3136.38,3125.56,3147.19,1799.94,2082.69,0,0,0,30.00,30.00,15.59
$GC,3480.69,0,-155.72,-1.40,0.00,3134.2,3124.4,3143.9,1799.7,2082.4,418.18,-10.40,353,3482.01,0.00,0.00,0.00,0.000,0.000,0.000,3134.97,3124.31,3145.62,1799.31,2083.06,0,0,0,30.00,30.00,30.00
$GC,3780.69,260,-155.72,-1.40,80.00,3134.0,3124.2,3143.9,1799.8,2082.1,450.75,-10.15,363,3786.38,0.00,0.00,3.87,0.000,0.000,0.119,3133.41,3123.81,3143.00,1799.81,3474.50,0,0,0,30.00,30.00,15.45
$GC,3836.16,1028,-155.72,-1.40,0.00,3133.5,3123.5,3143.4,1799.6,3474.4,457.02,-11.29,374,3841.32,0.00,0.00,3.44,0.000,0.000,0.065,3135.88,3125.69,3146.06,1799.75,2082.38,0,0,0,30.00,30.00,15.58
$GC,4160.73,260,-155.72,-1.40,80.00,3133.8,3123.8,3143.8,1799.7,2082.8,490.12,-10.25,389,4166.43,0.00,0.00,3.88,0.000,0.000,0.118,3135.09,3125.00,3145.19,1800.00,3473.75,0,0,0,30.00,30.00,15.44
$GC,4204.64,1028,-155.72,-1.40,0.00,3133.2,3123.6,3142.8,1800.1,3473.8,495.60,-13.95,398,4210.34,0.00,0.00,3.42,0.000,0.000,0.065,3134.75,3125.00,3144.50,1798.62,2083.50,0,0,0,30.00,30.00,15.56
$STATE,4276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4276,begin apogee
$GC,4276.89,10243,0.00,-0.25,0.00,3133.4,3123.9,3142.9,1800.3,2119.7,502.08,-10.01,402,4413.34,133.62,2.13,0.09,1.701,0.141,0.241,2496.62,2504.75,2488.50,2081.31,2085.88,0,0,0,10.40,15.48,14.76
$STATE,4416,end apogee,CONTROL_FINISHED_OK
$STATE,4416,begin climb
$GC,4416.11,10759,155.72,1.40,-80.00,2497.8,2506.4,2489.2,2081.1,2085.4,504.36,0.00,406,4569.22,140.81,2.90,4.26,1.650,0.080,0.147,1863.81,1891.69,1835.94,2482.75,664.12,0,0,0,11.56,15.06,14.63
$GC,4571.47,11303,214.05,1.58,0.00,1861.6,1888.9,1834.2,2484.2,664.1,531.32,8.29,427,4633.27,53.75,0.24,3.71,1.576,0.069,0.050,1628.22,1659.75,1596.69,2534.12,2122.00,0,0,0,11.50,14.95,15.02
$GC,4957.48,16646,214.05,1.58,80.00,1618.2,1652.6,1583.8,2533.8,2121.4,478.25,14.32,454,4963.14,0.00,0.00,3.78,0.000,0.000,0.120,1617.97,1652.38,1583.56,2532.00,3473.25,0,0,0,30.00,30.00,15.46
$GC,4986.38,17414,214.05,1.58,0.00,1617.1,1650.9,1583.3,2534.1,3473.2,473.55,15.77,460,4992.10,0.00,0.00,3.43,0.000,0.000,0.062,1617.78,1651.69,1583.88,2534.50,2081.12,0,0,0,30.00,30.00,15.57
$GC,5312.54,16902,214.05,1.58,-80.00,1616.6,1651.2,1581.9,2534.0,2081.9,432.55,11.89,475,5318.24,0.00,0.00,4.01,0.000,0.000,0.145,1615.53,1650.19,1580.88,2534.00,664.00,0,0,0,30.00,30.00,15.42
$GC,5381.48,17414,214.05,1.58,0.00,1616.2,1650.2,1582.2,2534.1,663.7,421.54,16.80,489,5387.15,0.00,0.00,3.55,0.000,0.000,0.054,1616.66,1650.81,1582.50,2533.19,2121.62,0,0,0,30.00,30.00,15.69
$GC,5697.55,16902,214.05,1.58,-80.00,1615.6,1650.1,1581.1,2534.1,2121.6,382.28,12.42,502,5703.27,0.00,0.00,4.09,0.000,0.000,0.142,1616.12,1650.06,1582.19,2533.00,663.94,0,0,0,30.00,30.00,15.41
$GC,5736.45,17414,214.05,1.58,0.00,1615.7,1649.8,1581.6,2533.4,664.4,375.84,17.04,510,5742.18,0.00,0.00,3.55,0.000,0.000,0.052,1615.97,1650.31,1581.62,2534.31,2122.81,0,0,0,30.00,30.00,15.71
$GC,6052.58,16386,214.05,1.58,0.00,1615.2,1649.4,1580.9,2533.6,2123.1,337.97,12.06,523,6053.91,0.00,0.00,0.00,0.000,0.000,0.000,1614.53,1648.62,1580.44,2533.88,2122.69,0,0,0,30.00,30.00,30.00
$GC,6352.59,16386,214.05,1.58,0.00,1614.9,1649.3,1580.5,2534.0,2123.3,302.62,11.23,533,6353.92,0.00,0.00,0.00,0.000,0.000,0.000,1615.03,1649.62,1580.44,2533.44,2123.31,0,0,0,30.00,30.00,30.00
$GC,6652.61,16386,214.05,1.58,0.00,1614.7,1649.2,1580.2,2533.8,2122.4,266.85,12.20,543,6653.94,0.00,0.00,0.00,0.000,0.000,0.000,1614.84,1649.31,1580.38,2533.88,2122.75,0,0,0,30.00,30.00,30.00
$GC,6952.66,16902,214.05,1.58,-80.00,1614.4,1648.8,1580.1,2534.1,2123.6,231.00,11.96,563,6958.39,0.00,0.00,4.12,0.000,0.000,0.139,1613.78,1648.31,1579.25,2534.38,663.69,0,0,0,30.00,30.00,15.38
$GC,6981.56,17414,214.05,1.58,0.00,1614.5,1648.9,1580.1,2534.0,663.6,227.51,11.62,569,6988.39,0.00,0.00,3.54,0.000,0.000,0.051,1615.91,1650.31,1581.50,2534.19,2124.12,0,0,0,30.00,30.00,15.71
$GC,7287.75,16966,214.05,1.60,-80.00,1613.8,1648.0,1579.7,2534.1,2123.9,192.61,10.47,600,7293.44,0.00,0.00,4.09,0.000,0.000,0.137,1613.47,1647.69,1579.25,2533.12,662.88,0,0,0,30.00,30.00,15.37
$GC,7336.65,17414,214.05,1.60,0.00,1614.4,1648.4,1580.3,2534.4,662.8,186.19,12.91,610,7343.47,0.00,0.00,3.54,0.000,0.000,0.053,1614.88,1649.31,1580.44,2533.00,2124.56,0,0,0,30.00,30.00,15.70
$GC,7642.80,16902,214.05,1.60,-80.00,1614.2,1648.4,1579.9,2534.0,2124.6,150.70,11.67,641,7648.55,0.00,0.00,4.11,0.000,0.000,0.138,1613.16,1647.06,1579.25,2533.75,661.50,0,0,0,30.00,30.00,15.35
$GC,7731.72,17414,214.05,1.60,0.00,1614.1,1648.1,1580.1,2534.3,662.0,138.85,13.15,659,7738.55,0.00,0.00,3.54,0.000,0.000,0.052,1615.88,1649.88,1581.88,2533.56,2126.19,0,0,0,30.00,30.00,15.70
$GC,8037.90,8742,256.71,1.72,-80.00,1613.9,1648.0,1579.8,2534.2,2126.8,107.52,9.05,690,8083.43,39.20,0.00,4.09,1.191,0.000,0.137,1452.91,1486.81,1419.00,2533.75,664.00,0,0,0,10.55,30.00,15.14
$GC,8223.34,1028,256.71,1.72,0.00,1450.8,1483.4,1418.2,2533.8,663.9,85.75,11.82,727,8228.64,0.00,0.00,3.57,0.000,0.000,0.052,1451.22,1484.06,1418.38,2533.56,2125.12,0,0,0,30.00,30.00,15.62
$GC,8407.98,10535,305.55,1.87,80.00,1448.9,1483.4,1414.4,2533.9,2125.7,67.30,8.75,764,8470.37,54.52,0.38,3.77,1.116,0.062,0.114,1254.19,1287.12,1221.25,2604.19,3473.19,0,0,0,11.27,15.64,15.08
$GC,8694.15,1092,305.55,1.92,0.00,1250.6,1286.2,1215.0,2604.3,3473.2,39.72,9.40,821,8699.45,0.00,0.00,3.42,0.000,0.000,0.056,1250.59,1286.00,1215.19,2603.88,2078.38,0,0,0,30.00,30.00,15.55
$GC,8878.82,10791,370.80,2.12,-80.00,1250.1,1286.2,1213.9,2603.5,2078.1,24.81,7.96,858,8956.50,68.86,0.33,4.02,1.066,0.072,0.137,988.94,1021.00,956.88,2661.69,661.88,0,0,0,11.12,15.64,15.04
$STATE,9056,end climb,SURFACE_DEPTH_REACHED
$STATE,9056,begin surface coast
$STATE,9066,end surface coast,CONTROL_FINISHED_OK
$STATE,9066,begin surface
$SM_CCo,9192.57,97.26,1.044,0,563.9,566.1,561.7,474.92
$SM_CCo,9193.69,0.00,2.601,0,565.0,566.4,563.6,474.66
$SM_CCo,9196.32,1.84,0.129,0,564.7,567.4,561.9,474.74
$SM_GC,-1.35,1.84,17.15,3.56,0.129,0.076,0.051,564.7,567.4,561.9,170.2,2122.1,0,0,0,15.17,15.36,15.55
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4717.07,-12511.22,220321,030841
$TCM_TEMP,175.57
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3518720
$HUMID,57.97
$TEMP,8.02
$INTERNAL_PRESSURE,7.78694
$24V_AH,13.75,251.776
$10V_AH,14.79,0.000
$FG_AHR_24Vo,216.423
$FG_AHR_10Vo,69.431
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,697.605,37.525,141.610,185.962,1.000,14.786,3604.636,5932.994,1945.814,0.000,0.000,0.000
$DEVICE_MAMPS,2601.448,251.984,240.832,191.231,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9115.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.614,0.000,0.000,0.000
$MEM,1102916,43,73892,68
$DATA_FILE_SIZE,32114,895
$CAP_FILE_SIZE,409660,0
$SDSIZE,3918848,3673536
$SDFILEDIR,4471,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220321,080110,4715.524,-12511.394,25,1.3,26,15.6