version: 67.00
glider: 236
mission: 2
dive: 741
start: 3 4 121 14 18 11
data:
$ID,236
$MISSION,2
$DIVE,741
$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,63.730862
$FG_AHR_24V,182.38622
$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
$GPS1,040321,141033,4717.292,-12630.523,20,1.5,44,15.8
$_CALLS,1
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-57.3
$GPS2,040321,141752,4717.327,-12630.574,3,1.0,6,15.8
$SPEED_LIMITS,0.160,0.227
$TGT_NAME,OUT1
$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,204.7,18895,-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,7.68,16386,-116.79,-1.28,0.00,761.7,768.0,755.4,172.6,2085.6,0.00,0.00,0,93.45,85.19,0.00,0.00,0.005,0.000,0.000,2602.62,2579.12,2626.12,172.75,2083.19,0,0,0,14.77,30.00,30.00
$GC,93.73,18983,-116.79,-1.28,-80.00,2602.2,2578.6,2625.9,172.6,2083.5,3.53,-5.78,16,125.73,8.41,14.72,4.21,0.007,0.249,0.160,2977.22,2971.06,2983.38,1828.88,663.81,0,0,0,14.98,15.19,14.79
$GC,213.51,1028,-116.79,-1.28,0.00,2975.1,2969.0,2981.2,1829.6,663.9,30.08,-20.71,40,219.30,0.00,0.00,3.62,0.000,0.000,0.056,2975.75,2969.56,2981.94,1829.62,2119.62,0,0,0,30.00,30.00,15.58
$GC,398.54,0,-116.79,-1.28,0.00,2975.6,2969.6,2981.6,1830.0,2119.6,64.78,-15.80,77,399.87,0.00,0.00,0.00,0.000,0.000,0.000,2976.00,2969.81,2982.19,1829.31,2119.50,0,0,0,30.00,30.00,30.00
$GC,578.60,260,-116.79,-1.28,80.00,2975.3,2969.1,2981.6,1829.6,2119.8,88.66,-13.35,113,584.39,0.00,0.00,3.76,0.000,0.000,0.114,2977.19,2970.88,2983.50,1829.75,3474.12,0,0,0,30.00,30.00,15.50
$GC,808.62,1028,-116.79,-1.28,0.00,2975.7,2968.8,2982.6,1829.4,3474.3,119.36,-12.04,159,813.27,0.00,0.00,3.45,0.000,0.000,0.059,2976.06,2969.50,2982.62,1830.06,2082.38,0,0,0,30.00,30.00,15.62
$GC,1118.69,260,-116.79,-1.28,80.00,2975.5,2968.8,2982.2,1829.6,2082.5,153.01,-10.24,191,1124.45,0.00,0.00,3.89,0.000,0.000,0.109,2978.19,2972.00,2984.38,1828.19,3474.25,0,0,0,30.00,30.00,15.53
$GC,1343.85,1028,-116.79,-1.28,0.00,2975.8,2969.2,2982.4,1829.5,3474.5,179.48,-12.52,236,1349.41,0.00,0.00,3.47,0.000,0.000,0.059,2975.09,2968.50,2981.69,1829.31,2082.56,0,0,0,30.00,30.00,15.64
$GC,1648.85,0,-116.79,-1.28,0.00,2976.1,2969.4,2982.8,1829.4,2083.0,212.01,-10.79,267,1650.18,0.00,0.00,0.00,0.000,0.000,0.000,2975.16,2968.75,2981.56,1829.88,2083.12,0,0,0,30.00,30.00,30.00
$GC,1948.90,260,-116.79,-1.28,80.00,2976.2,2969.8,2982.6,1829.8,2082.8,243.84,-10.26,297,1954.63,0.00,0.00,3.91,0.000,0.000,0.114,2975.66,2969.50,2981.81,1829.38,3473.75,0,0,0,30.00,30.00,15.52
$GC,2033.94,1028,-116.79,-1.28,0.00,2976.4,2969.6,2983.2,1830.1,3474.1,253.86,-11.91,314,2038.57,0.00,0.00,3.46,0.000,0.000,0.061,2978.91,2972.06,2985.75,1828.62,2082.50,0,0,0,30.00,30.00,15.64
$GC,2344.01,260,-116.79,-1.28,80.00,2976.4,2969.5,2983.2,1829.6,2082.7,286.00,-10.23,346,2349.72,0.00,0.00,3.84,0.000,0.000,0.112,2976.47,2969.56,2983.38,1829.56,3474.12,0,0,0,30.00,30.00,15.51
$GC,2399.05,1028,-116.79,-1.28,0.00,2976.2,2969.6,2982.8,1829.4,3473.8,292.23,-11.97,357,2403.65,0.00,0.00,3.45,0.000,0.000,0.061,2977.25,2970.38,2984.12,1829.44,2083.31,0,0,0,30.00,30.00,15.63
$GC,2709.08,0,-116.79,-1.28,0.00,2976.1,2969.4,2982.9,1829.8,2083.5,323.32,-9.40,389,2710.41,0.00,0.00,0.00,0.000,0.000,0.000,2976.62,2969.94,2983.31,1829.56,2082.94,0,0,0,30.00,30.00,30.00
$GC,3009.12,260,-116.79,-1.28,80.00,2976.7,2969.9,2983.4,1830.2,2083.4,353.45,-10.33,419,3014.91,0.00,0.00,3.87,0.000,0.000,0.117,2974.88,2968.06,2981.69,1829.88,3474.00,0,0,0,30.00,30.00,15.48
$GC,3054.14,1028,-116.79,-1.28,0.00,2976.3,2969.4,2983.2,1829.5,3474.3,358.72,-12.18,428,3058.76,0.00,0.00,3.46,0.000,0.000,0.063,2977.38,2970.69,2984.06,1829.06,2083.81,0,0,0,30.00,30.00,15.61
$GC,3364.18,260,-116.79,-1.28,80.00,2975.9,2969.1,2982.6,1829.8,2083.8,390.64,-10.59,460,3369.88,0.00,0.00,3.91,0.000,0.000,0.117,2976.53,2969.62,2983.44,1828.69,3472.50,0,0,0,30.00,30.00,15.47
$GC,3409.17,1028,-116.79,-1.28,0.00,2976.2,2968.8,2983.7,1828.9,3473.1,395.74,-11.18,469,3413.79,0.00,0.00,3.45,0.000,0.000,0.063,2976.81,2970.31,2983.31,1829.69,2082.62,0,0,0,30.00,30.00,15.60
$GC,3719.20,0,-116.79,-1.28,0.00,2975.8,2969.1,2982.5,1829.5,2082.4,428.34,-10.01,501,3720.53,0.00,0.00,0.00,0.000,0.000,0.000,2975.53,2968.81,2982.25,1829.00,2082.06,0,0,0,30.00,30.00,30.00
$GC,4019.22,260,-116.79,-1.28,80.00,2975.5,2969.8,2981.1,1830.1,2083.0,459.63,-9.35,531,4024.94,0.00,0.00,3.91,0.000,0.000,0.118,2973.84,2967.81,2979.88,1829.44,3475.00,0,0,0,30.00,30.00,15.45
$GC,4054.22,1028,-116.79,-1.28,0.00,2975.3,2969.2,2981.5,1829.3,3475.6,463.89,-12.15,538,4058.86,0.00,0.00,3.47,0.000,0.000,0.064,2975.59,2969.62,2981.56,1829.81,2082.81,0,0,0,30.00,30.00,15.58
$GC,4364.25,0,-116.79,-1.28,0.00,2975.2,2969.6,2980.9,1829.5,2082.8,495.72,-9.90,570,4365.58,0.00,0.00,0.00,0.000,0.000,0.000,2975.59,2970.12,2981.06,1829.56,2082.69,0,0,0,30.00,30.00,30.00
$STATE,4414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4414,begin apogee
$GC,4415.47,10243,0.00,-0.25,0.00,2975.0,2969.3,2980.7,1829.8,2119.5,500.95,-10.44,575,4516.73,98.39,1.91,0.09,1.667,0.138,0.241,2499.59,2506.75,2492.44,2080.62,2085.75,0,0,0,10.74,15.51,14.94
$STATE,4520,end apogee,CONTROL_FINISHED_OK
$STATE,4520,begin climb
$GC,4520.38,10243,116.79,1.28,0.00,2497.6,2504.6,2490.6,2080.6,2086.1,504.14,0.00,585,4630.86,105.25,2.73,0.00,1.611,0.085,0.000,2022.88,2047.19,1998.56,2454.25,2085.62,0,0,0,11.89,15.14,30.00
$GC,4934.30,10791,184.54,1.48,-80.00,2012.0,2042.4,1981.6,2454.2,2085.9,465.13,5.61,632,5000.43,60.15,0.28,4.23,1.572,0.073,0.150,1746.31,1781.56,1711.06,2509.62,664.25,0,0,0,11.48,15.52,15.03
$GC,5048.17,1028,184.54,1.48,0.00,1743.2,1777.8,1708.6,2510.6,664.1,452.39,12.67,655,5055.07,0.00,0.00,3.63,0.000,0.000,0.055,1742.34,1778.25,1706.44,2510.25,2121.19,0,0,0,30.00,30.00,15.36
$GC,5354.32,16386,184.54,1.48,0.00,1738.5,1777.8,1699.2,2509.8,2121.5,419.65,11.50,686,5355.65,0.00,0.00,0.00,0.000,0.000,0.000,1738.66,1777.88,1699.44,2509.94,2120.81,0,0,0,30.00,30.00,30.00
$GC,5654.32,16386,184.54,1.48,0.00,1737.1,1776.6,1697.6,2510.0,2121.6,385.74,11.02,716,5655.66,0.00,0.00,0.00,0.000,0.000,0.000,1737.31,1777.00,1697.62,2509.81,2121.19,0,0,0,30.00,30.00,30.00
$GC,5954.36,16646,184.54,1.48,80.00,1736.2,1775.9,1696.4,2510.0,2121.8,353.19,11.07,746,5959.96,0.00,0.00,3.79,0.000,0.000,0.121,1735.69,1775.69,1695.69,2509.62,3471.88,0,0,0,30.00,30.00,15.54
$GC,6019.37,17414,184.54,1.48,0.00,1735.4,1773.9,1696.9,2510.5,3472.4,345.73,12.03,759,6024.93,0.00,0.00,3.43,0.000,0.000,0.064,1735.69,1774.25,1697.12,2510.38,2081.25,0,0,0,30.00,30.00,15.66
$GC,6324.39,16902,184.54,1.48,-80.00,1734.8,1773.6,1695.9,2509.6,2081.6,311.73,11.06,790,6330.12,0.00,0.00,4.03,0.000,0.000,0.146,1734.34,1773.00,1695.69,2510.31,662.81,0,0,0,30.00,30.00,15.44
$GC,6399.39,17414,184.54,1.48,0.00,1734.9,1773.9,1695.9,2510.1,663.1,301.97,13.11,805,6404.11,0.00,0.00,3.56,0.000,0.000,0.055,1735.44,1774.38,1696.50,2509.94,2124.06,0,0,0,30.00,30.00,15.73
$GC,6709.43,16386,184.54,1.48,0.00,1734.3,1773.3,1695.2,2510.4,2124.2,268.55,11.10,837,6710.76,0.00,0.00,0.00,0.000,0.000,0.000,1733.75,1773.12,1694.38,2510.12,2124.44,0,0,0,30.00,30.00,30.00
$GC,7009.44,16386,184.54,1.48,0.00,1734.0,1773.5,1694.4,2510.3,2124.6,237.82,10.72,867,7010.77,0.00,0.00,0.00,0.000,0.000,0.000,1733.47,1772.94,1694.00,2510.00,2124.88,0,0,0,30.00,30.00,30.00
$GC,7309.46,16386,184.54,1.48,0.00,1733.7,1773.7,1693.7,2510.3,2125.2,207.72,9.79,897,7310.79,0.00,0.00,0.00,0.000,0.000,0.000,1734.12,1773.94,1694.31,2510.12,2124.06,0,0,0,30.00,30.00,30.00
$GC,7609.48,16386,184.54,1.48,0.00,1733.5,1773.6,1693.5,2509.9,2124.6,177.68,10.33,927,7610.82,0.00,0.00,0.00,0.000,0.000,0.000,1733.56,1773.25,1693.88,2510.19,2124.69,0,0,0,30.00,30.00,30.00
$GC,7909.53,16450,184.54,1.52,0.00,1733.3,1773.7,1692.9,2510.4,2124.6,150.49,7.99,957,7910.86,0.00,0.00,0.00,0.000,0.000,0.000,1732.66,1772.81,1692.50,2509.38,2124.62,0,0,0,30.00,30.00,30.00
$GC,8209.55,16450,184.54,1.56,0.00,1733.2,1773.6,1692.9,2510.0,2124.8,125.37,7.89,987,8210.88,0.00,0.00,0.00,0.000,0.000,0.000,1732.66,1773.00,1692.31,2510.19,2124.62,0,0,0,30.00,30.00,30.00
$GC,8509.57,10791,241.68,1.73,-80.00,1733.0,1773.4,1692.6,2510.3,2125.0,103.00,6.19,1017,8566.04,47.47,0.32,4.20,1.225,0.070,0.139,1514.06,1552.31,1475.81,2569.06,662.88,0,0,0,10.74,15.75,15.29
$GC,8664.58,1028,241.68,1.73,0.00,1511.2,1549.1,1473.3,2569.2,663.1,86.43,11.87,1048,8670.48,0.00,0.00,3.62,0.000,0.000,0.054,1511.31,1549.38,1473.25,2568.31,2124.56,0,0,0,30.00,30.00,15.56
$GC,8849.61,10275,346.93,2.05,0.00,1509.0,1549.1,1469.0,2569.1,2124.4,75.27,3.60,1085,8941.62,89.47,0.46,0.00,1.161,0.063,0.000,1085.91,1117.44,1054.38,2645.88,2125.00,0,0,0,11.38,15.61,30.00
$GC,9119.62,260,346.93,2.05,80.00,1080.4,1115.1,1045.8,2645.5,2124.8,48.97,12.29,1139,9125.42,0.00,0.00,3.72,0.000,0.000,0.113,1080.06,1114.25,1045.88,2646.19,3472.31,0,0,0,30.00,30.00,15.38
$GC,9194.72,1028,346.93,2.05,0.00,1079.3,1112.9,1045.8,2646.2,3472.7,39.13,13.14,1154,9200.39,0.00,0.00,3.46,0.000,0.000,0.058,1079.72,1113.38,1046.06,2646.50,2079.50,0,0,0,30.00,30.00,15.53
$GC,9379.79,516,346.93,2.05,-80.00,1079.0,1113.1,1044.9,2646.9,2079.9,18.70,11.06,1191,9385.56,0.00,0.00,4.06,0.000,0.000,0.138,1079.44,1113.56,1045.31,2645.75,662.62,0,0,0,30.00,30.00,15.39
$STATE,9504,end climb,SURFACE_DEPTH_REACHED
$STATE,9504,begin surface coast
$STATE,9509,end surface coast,CONTROL_FINISHED_OK
$STATE,9509,begin surface
$SM_CCo,9611.00,71.47,1.077,0,768.3,780.2,756.3,424.79
$SM_CCo,9612.17,0.00,0.013,0,767.8,772.6,762.9,424.92
$SM_CCo,9613.33,0.00,0.009,0,767.4,773.5,761.3,425.01
$SM_GC,-0.81,0.00,17.49,3.53,0.009,0.092,0.048,767.4,773.5,761.3,174.0,2126.0,0,0,0,30.36,15.45,15.69
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4717.45,-12626.16,040321,111455
$TCM_TEMP,189.32
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3575584
$HUMID,57.64
$TEMP,7.64
$INTERNAL_PRESSURE,7.77151
$24V_AH,14.22,214.448
$10V_AH,14.85,0.000
$FG_AHR_24Vo,182.590
$FG_AHR_10Vo,63.767
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,565.820,37.910,104.680,245.586,0.750,15.738,3811.919,6086.508,2082.693,0.000,0.000,0.000
$DEVICE_MAMPS,1667.304,249.360,241.160,194.863,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9555.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.541,0.000,0.000,0.000
$MEM,1099952,53,75736,114
$DATA_FILE_SIZE,44951,1217
$CAP_FILE_SIZE,442799,0
$SDSIZE,3918848,3714304
$SDFILEDIR,3731,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040321,165934,4716.676,-12632.167,60,1.4,62,15.8