version: 67.00
glider: 236
mission: 2
dive: 744
start: 3 4 121 23 10 29
data:
$ID,236
$MISSION,2
$DIVE,744
$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,63.848606
$FG_AHR_24V,183.04034
$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
$GPS1,040321,230131,4715.392,-12635.062,10,0.8,26,15.8
$_CALLS,2
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-60.2
$GPS2,040321,231011,4715.384,-12635.010,2,0.6,5,15.8
$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,196.1,12676,-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,7.66,16386,-116.79,-1.28,0.00,760.8,764.0,757.5,171.6,2083.1,0.00,0.00,0,93.43,85.21,0.00,0.00,0.005,0.000,0.000,2598.09,2579.19,2617.00,171.50,2082.31,0,0,0,14.77,30.00,30.00
$GC,93.69,18467,-116.79,-1.28,0.00,2596.8,2578.4,2615.2,171.2,2082.9,3.72,-7.08,16,120.75,9.10,14.62,0.00,0.007,0.243,0.000,2972.81,2967.44,2978.19,1830.19,2083.06,0,0,0,14.97,15.16,30.00
$GC,298.56,0,-116.79,-1.28,-80.00,2974.6,2968.9,2980.2,1830.1,2082.6,41.55,-18.70,57,299.88,0.00,0.00,0.00,0.000,0.000,0.000,2975.16,2970.00,2980.31,1830.19,2083.06,0,0,0,30.00,30.00,30.00
$GC,478.61,0,-116.79,-1.28,-80.00,2974.8,2969.2,2980.3,1830.2,2083.1,71.36,-14.85,93,479.93,0.00,0.00,0.00,0.000,0.000,0.000,2975.06,2969.88,2980.25,1830.06,2083.25,0,0,0,30.00,30.00,30.00
$GC,658.67,260,-116.79,-1.28,80.00,2974.9,2969.3,2980.4,1830.2,2082.9,93.66,-11.85,129,664.47,0.00,0.00,3.90,0.000,0.000,0.114,2976.56,2971.31,2981.81,1829.75,3474.00,0,0,0,30.00,30.00,15.50
$GC,772.66,1028,-116.79,-1.28,0.00,2975.2,2969.4,2980.9,1830.1,3473.8,108.70,-13.79,152,779.45,0.00,0.00,3.47,0.000,0.000,0.062,2975.06,2969.75,2980.38,1829.94,2083.19,0,0,0,30.00,30.00,15.60
$GC,1078.77,0,-116.79,-1.28,0.00,2975.4,2969.7,2981.1,1830.5,2083.2,145.15,-10.85,183,1080.10,0.00,0.00,0.00,0.000,0.000,0.000,2975.78,2970.56,2981.00,1830.12,2083.69,0,0,0,30.00,30.00,30.00
$GC,1378.82,0,-116.79,-1.28,0.00,2975.2,2969.8,2980.6,1830.3,2083.2,177.70,-10.90,213,1380.15,0.00,0.00,0.00,0.000,0.000,0.000,2975.59,2969.88,2981.31,1830.56,2083.25,0,0,0,30.00,30.00,30.00
$GC,1678.89,0,-116.79,-1.28,0.00,2975.1,2969.3,2980.9,1829.9,2083.4,209.17,-10.20,243,1680.21,0.00,0.00,0.00,0.000,0.000,0.000,2975.41,2969.44,2981.38,1830.00,2083.62,0,0,0,30.00,30.00,30.00
$GC,1978.96,260,-116.79,-1.28,80.00,2975.4,2969.7,2981.1,1830.5,2083.3,241.77,-10.78,273,1984.67,0.00,0.00,3.88,0.000,0.000,0.114,2976.16,2970.69,2981.62,1829.56,3471.94,0,0,0,30.00,30.00,15.53
$GC,2074.00,1028,-116.79,-1.28,0.00,2975.4,2969.6,2981.2,1830.4,3472.2,253.15,-11.96,292,2078.61,0.00,0.00,3.45,0.000,0.000,0.061,2975.34,2968.81,2981.88,1830.44,2083.38,0,0,0,30.00,30.00,15.63
$GC,2384.06,0,-116.79,-1.28,0.00,2975.3,2969.5,2981.1,1830.3,2083.3,286.52,-10.61,324,2385.39,0.00,0.00,0.00,0.000,0.000,0.000,2975.47,2969.31,2981.62,1830.31,2083.50,0,0,0,30.00,30.00,30.00
$GC,2684.11,0,-116.79,-1.28,0.00,2975.3,2969.4,2981.2,1830.7,2083.6,318.68,-10.66,354,2685.43,0.00,0.00,0.00,0.000,0.000,0.000,2975.62,2970.12,2981.12,1830.31,2083.12,0,0,0,30.00,30.00,30.00
$GC,2984.15,260,-116.79,-1.28,80.00,2975.3,2969.4,2981.3,1830.1,2083.2,348.37,-9.97,384,2989.86,0.00,0.00,3.90,0.000,0.000,0.117,2974.59,2968.75,2980.44,1829.62,3473.94,0,0,0,30.00,30.00,15.50
$GC,3023.07,1028,-116.79,-1.28,0.00,2975.6,2969.8,2981.4,1830.1,3473.0,352.79,-12.05,392,3029.90,0.00,0.00,3.44,0.000,0.000,0.064,2975.69,2970.00,2981.38,1830.25,2082.44,0,0,0,30.00,30.00,15.60
$GC,3329.20,0,-116.79,-1.28,0.00,2975.7,2970.2,2981.2,1830.4,2082.1,383.50,-10.28,423,3330.52,0.00,0.00,0.00,0.000,0.000,0.000,2975.84,2970.00,2981.69,1830.25,2082.56,0,0,0,30.00,30.00,30.00
$GC,3629.22,0,-116.79,-1.28,0.00,2975.3,2969.6,2981.1,1829.9,2082.6,414.21,-10.64,453,3630.55,0.00,0.00,0.00,0.000,0.000,0.000,2974.94,2969.12,2980.75,1830.44,2082.25,0,0,0,30.00,30.00,30.00
$GC,3929.25,0,-116.79,-1.28,0.00,2975.0,2969.2,2980.9,1830.1,2082.1,442.73,-11.03,483,3930.58,0.00,0.00,0.00,0.000,0.000,0.000,2974.06,2968.44,2979.69,1830.19,2082.38,0,0,0,30.00,30.00,30.00
$GC,4229.29,0,-116.79,-1.28,0.00,2974.9,2969.5,2980.4,1830.0,2082.7,472.63,-9.62,513,4230.62,0.00,0.00,0.00,0.000,0.000,0.000,2973.38,2968.38,2978.38,1830.19,2082.38,0,0,0,30.00,30.00,30.00
$STATE,4519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4519,begin apogee
$GC,4520.54,10243,0.00,-0.25,0.00,2974.8,2969.7,2979.8,1829.6,2117.2,501.03,-9.72,542,4621.77,97.68,1.88,0.08,1.665,0.134,0.242,2499.41,2507.25,2491.56,2080.38,2086.31,0,0,0,10.47,15.52,14.95
$STATE,4624,end apogee,CONTROL_FINISHED_OK
$STATE,4624,begin climb
$GC,4624.27,10759,116.79,1.28,-80.00,2497.5,2504.6,2490.4,2080.4,2086.8,503.91,0.00,552,4739.05,104.89,2.71,4.36,1.608,0.081,0.146,2024.00,2047.44,2000.56,2453.25,664.19,0,0,0,11.80,15.14,14.75
$GC,4836.87,17414,116.79,1.28,0.00,2014.7,2040.1,1989.4,2455.0,664.1,466.29,9.55,594,4842.53,0.00,0.00,3.68,0.000,0.000,0.054,2012.53,2038.00,1987.06,2454.62,2124.25,0,0,0,30.00,30.00,15.34
$GC,5141.94,16450,116.79,1.32,0.00,2010.2,2039.4,1980.9,2454.9,2123.1,440.26,7.86,625,5143.27,0.00,0.00,0.00,0.000,0.000,0.000,2010.53,2039.62,1981.44,2454.44,2123.25,0,0,0,30.00,30.00,30.00
$GC,5441.98,16966,116.79,1.34,-80.00,2008.0,2038.9,1977.1,2454.6,2123.7,414.76,8.65,655,5447.79,0.00,0.00,4.23,0.000,0.000,0.143,2009.53,2040.06,1979.00,2452.62,663.19,0,0,0,30.00,30.00,15.44
$GC,5557.06,17414,116.79,1.34,0.00,2007.0,2036.6,1977.4,2454.7,662.9,403.75,9.51,678,5562.67,0.00,0.00,3.61,0.000,0.000,0.056,2006.59,2036.56,1976.62,2454.44,2122.44,0,0,0,30.00,30.00,15.69
$GC,5862.06,10535,162.21,1.47,80.00,2006.2,2036.1,1976.2,2454.6,2122.2,379.66,6.82,709,5907.75,39.55,0.27,3.86,1.520,0.074,0.120,1837.75,1868.31,1807.19,2509.00,3473.19,0,0,0,11.14,15.70,15.27
$GC,6012.08,1028,162.21,1.47,0.00,1833.5,1864.8,1802.2,2509.1,3473.4,361.49,12.58,739,6017.65,0.00,0.00,3.49,0.000,0.000,0.062,1833.50,1864.81,1802.19,2508.75,2080.75,0,0,0,30.00,30.00,15.53
$GC,6317.15,16386,162.21,1.47,0.00,1830.1,1864.2,1796.0,2508.9,2080.4,326.49,11.37,770,6318.48,0.00,0.00,0.00,0.000,0.000,0.000,1829.28,1863.81,1794.75,2508.88,2080.69,0,0,0,30.00,30.00,30.00
$GC,6617.14,16902,162.21,1.47,-80.00,1829.7,1864.4,1794.9,2508.9,2080.6,293.54,11.44,800,6622.88,0.00,0.00,4.09,0.000,0.000,0.142,1828.28,1862.94,1793.62,2509.56,662.38,0,0,0,30.00,30.00,15.44
$GC,6672.16,17414,162.21,1.47,0.00,1829.3,1863.6,1795.1,2509.7,661.8,285.86,14.23,811,6677.82,0.00,0.00,3.61,0.000,0.000,0.055,1830.59,1864.19,1797.00,2507.75,2123.00,0,0,0,30.00,30.00,15.70
$GC,6977.19,16386,162.21,1.47,0.00,1828.1,1863.5,1792.6,2509.7,2123.6,254.31,10.63,842,6978.52,0.00,0.00,0.00,0.000,0.000,0.000,1827.66,1863.06,1792.25,2508.31,2123.06,0,0,0,30.00,30.00,30.00
$GC,7277.19,16386,162.21,1.47,0.00,1827.5,1863.5,1791.4,2509.0,2123.4,223.52,10.25,872,7278.52,0.00,0.00,0.00,0.000,0.000,0.000,1827.91,1864.06,1791.75,2509.00,2123.62,0,0,0,30.00,30.00,30.00
$GC,7577.21,16902,162.21,1.47,-80.00,1827.2,1863.9,1790.6,2509.4,2123.2,194.14,9.41,902,7583.04,0.00,0.00,4.17,0.000,0.000,0.138,1826.53,1863.19,1789.88,2508.75,663.12,0,0,0,30.00,30.00,15.42
$GC,7656.12,17414,162.21,1.47,0.00,1827.4,1863.8,1791.1,2509.3,663.4,184.44,12.61,918,7662.99,0.00,0.00,3.58,0.000,0.000,0.055,1827.44,1863.75,1791.12,2508.94,2124.75,0,0,0,30.00,30.00,15.71
$GC,7962.26,16386,162.21,1.47,0.00,1826.9,1863.7,1790.1,2509.7,2125.5,156.41,10.06,949,7963.59,0.00,0.00,0.00,0.000,0.000,0.000,1826.88,1863.88,1789.88,2508.88,2125.06,0,0,0,30.00,30.00,30.00
$GC,8262.27,16386,162.21,1.47,0.00,1826.3,1863.1,1789.4,2508.4,2125.4,129.50,9.04,979,8263.60,0.00,0.00,0.00,0.000,0.000,0.000,1825.88,1862.88,1788.88,2508.88,2125.38,0,0,0,30.00,30.00,30.00
$GC,8562.29,16646,162.21,1.47,80.00,1826.7,1863.6,1789.8,2509.2,2125.8,102.31,9.06,1009,8568.06,0.00,0.00,3.76,0.000,0.000,0.115,1825.34,1862.25,1788.44,2509.62,3474.44,0,0,0,30.00,30.00,15.48
$GC,8667.31,17414,162.21,1.47,0.00,1826.4,1863.6,1789.2,2509.2,3473.8,92.24,9.59,1030,8673.06,0.00,0.00,3.43,0.000,0.000,0.059,1826.94,1863.75,1790.12,2509.06,2079.00,0,0,0,30.00,30.00,15.65
$GC,8852.34,10535,244.69,1.72,80.00,1826.1,1862.9,1789.2,2509.8,2078.8,81.80,4.82,1067,8929.69,68.88,0.32,3.91,1.201,0.076,0.113,1500.62,1535.00,1466.25,2567.19,3474.31,0,0,0,10.91,15.71,15.20
$GC,8962.47,1028,244.69,1.72,0.00,1498.2,1531.0,1465.5,2567.8,3473.8,73.02,10.31,1089,8968.24,0.00,0.00,3.47,0.000,0.000,0.057,1498.62,1531.81,1465.44,2567.75,2079.50,0,0,0,30.00,30.00,15.42
$GC,9147.49,516,244.69,1.72,-80.00,1496.2,1531.9,1460.6,2568.1,2079.2,53.24,9.32,1126,9153.34,0.00,0.00,4.03,0.000,0.000,0.138,1497.00,1532.19,1461.81,2567.12,662.31,0,0,0,30.00,30.00,15.34
$GC,9377.55,1092,244.69,1.78,0.00,1495.2,1530.5,1459.9,2567.3,662.1,37.15,7.48,1172,9383.29,0.00,0.00,3.54,0.000,0.000,0.051,1495.22,1530.94,1459.50,2567.62,2129.50,0,0,0,30.00,30.00,15.63
$GC,9562.56,10535,324.09,2.01,80.00,1493.6,1530.6,1456.6,2567.8,2129.6,28.21,4.99,1209,9646.05,77.58,0.41,3.76,1.089,0.068,0.113,1177.88,1210.94,1144.81,2638.69,3473.00,0,0,0,11.18,15.64,15.16
$GC,9678.92,1028,324.09,2.01,0.00,1176.5,1208.2,1144.8,2639.6,3472.4,16.93,12.30,1232,9684.65,0.00,0.00,3.47,0.000,0.000,0.057,1176.38,1207.88,1144.88,2638.94,2080.00,0,0,0,30.00,30.00,15.39
$STATE,9798,end climb,SURFACE_DEPTH_REACHED
$STATE,9798,begin surface coast
$STATE,9813,end surface coast,CONTROL_FINISHED_OK
$STATE,9813,begin surface
$SM_CCo,9933.38,93.12,1.048,0,767.7,769.5,765.8,424.94
$SM_CCo,9934.55,0.00,2.639,0,768.6,768.1,769.0,424.72
$SM_CCo,9935.71,0.00,0.015,0,768.3,767.9,768.8,424.78
$SM_GC,-0.12,0.00,17.52,0.08,0.015,0.087,0.139,768.3,767.9,768.8,171.6,2128.8,0,0,0,30.36,15.39,15.56
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4715.89,-12635.70,040321,230501
$TCM_TEMP,188.83
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3574432
$HUMID,57.67
$TEMP,7.57
$INTERNAL_PRESSURE,7.76604
$24V_AH,13.93,215.169
$10V_AH,14.76,0.000
$FG_AHR_24Vo,183.242
$FG_AHR_10Vo,63.886
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,576.015,37.740,90.440,270.676,1.000,13.832,4055.052,6348.873,2176.606,0.000,0.000,0.000
$DEVICE_MAMPS,2638.512,243.456,241.816,202.984,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9859.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.585,0.000,0.000,0.000
$MEM,1100004,49,75764,114
$DATA_FILE_SIZE,48136,1259
$CAP_FILE_SIZE,444107,0
$SDSIZE,3918848,3713536
$SDFILEDIR,3746,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050321,015632,4714.645,-12636.135,7,1.0,20,15.8