version: 67.00
glider: 236
mission: 2
dive: 886
start: 3 21 121 22 3 15
data:
$ID,236
$MISSION,2
$DIVE,886
$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,69.299553
$FG_AHR_24V,215.41383
$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
$GPS1,210321,215501,4719.679,-12515.652,27,0.7,28,15.6
$_CALLS,2
$_SM_DEPTHo,-2.99
$_SM_ANGLEo,-54.7
$GPS2,210321,220258,4719.746,-12515.622,2,0.6,4,15.6
$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,159.5,8561,-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,-1.40,0.00,558.6,567.8,549.4,169.0,2114.4,0.00,0.00,0,109.16,100.68,0.00,0.00,0.005,0.000,0.000,2879.84,2858.75,2900.94,169.00,2114.62,0,0,0,14.58,30.00,30.00
$GC,109.40,18695,-155.72,-1.40,80.00,2879.0,2857.4,2900.6,169.1,2114.9,4.02,-18.44,19,136.56,4.86,14.40,3.82,0.009,0.255,0.116,3134.44,3123.88,3145.00,1800.31,3474.31,0,0,0,14.86,15.14,14.67
$GC,230.24,1028,-155.72,-1.40,0.00,3134.6,3123.5,3145.7,1799.8,3474.6,34.75,-20.28,43,235.95,0.00,0.00,3.47,0.000,0.000,0.062,3135.84,3124.31,3147.38,1800.12,2083.94,0,0,0,30.00,30.00,15.54
$GC,414.91,0,-155.72,-1.40,0.00,3134.6,3123.4,3145.8,1800.4,2083.8,66.05,-15.11,80,419.29,0.00,0.00,0.00,0.000,0.000,0.000,3134.97,3123.88,3146.06,1799.88,2083.88,0,0,0,30.00,30.00,30.00
$GC,599.89,260,-155.72,-1.40,80.00,3134.2,3123.5,3144.9,1799.8,2083.8,92.57,-15.93,117,606.10,0.00,0.00,3.89,0.000,0.000,0.109,3134.53,3123.69,3145.38,1799.94,3473.81,0,0,0,30.00,30.00,15.48
$GC,673.81,1028,-155.72,-1.40,0.00,3134.4,3123.2,3145.6,1799.8,3473.8,103.73,-14.81,132,681.04,0.00,0.00,3.42,0.000,0.000,0.059,3134.03,3123.00,3145.06,1800.19,2082.81,0,0,0,30.00,30.00,15.60
$GC,979.94,260,-155.72,-1.40,80.00,3134.5,3123.1,3146.0,1799.6,2083.0,143.72,-13.69,163,985.64,0.00,0.00,3.88,0.000,0.000,0.109,3132.94,3121.75,3144.12,1799.94,3473.56,0,0,0,30.00,30.00,15.50
$GC,1028.86,1028,-155.72,-1.40,0.00,3134.5,3123.1,3145.9,1800.1,3474.0,150.46,-13.64,173,1036.09,0.00,0.00,3.40,0.000,0.000,0.058,3135.75,3124.12,3147.38,1799.69,2082.38,0,0,0,30.00,30.00,15.62
$GC,1335.02,260,-155.72,-1.40,80.00,3134.6,3123.2,3145.9,1800.1,2082.6,187.66,-11.78,204,1340.70,0.00,0.00,3.88,0.000,0.000,0.110,3134.25,3122.94,3145.56,1800.06,3473.00,0,0,0,30.00,30.00,15.50
$GC,1430.47,1028,-155.72,-1.40,0.00,3134.8,3123.2,3146.3,1800.1,3473.8,200.80,-13.79,223,1435.67,0.00,0.00,3.40,0.000,0.000,0.059,3136.16,3124.31,3148.00,1799.94,2083.19,0,0,0,30.00,30.00,15.63
$GC,1735.09,260,-155.72,-1.40,80.00,3134.5,3123.0,3145.9,1799.8,2083.6,238.64,-12.25,254,1740.78,0.00,0.00,3.86,0.000,0.000,0.111,3135.00,3123.69,3146.31,1800.19,3473.62,0,0,0,30.00,30.00,15.49
$GC,1790.54,1028,-155.72,-1.40,0.00,3134.9,3123.1,3146.6,1799.8,3473.5,245.78,-14.23,265,1795.70,0.00,0.00,3.40,0.000,0.000,0.060,3133.84,3122.25,3145.44,1800.00,2082.31,0,0,0,30.00,30.00,15.62
$GC,2105.13,0,-155.72,-1.40,0.00,3134.7,3123.1,3146.2,1799.8,2082.7,280.90,-11.17,279,2106.45,0.00,0.00,0.00,0.000,0.000,0.000,3135.41,3124.19,3146.62,1799.69,2082.81,0,0,0,30.00,30.00,30.00
$GC,2405.14,260,-155.72,-1.40,80.00,3135.1,3123.7,3146.4,1799.3,2082.8,314.43,-11.15,289,2410.82,0.00,0.00,3.88,0.000,0.000,0.115,3135.09,3123.12,3147.06,1799.75,3473.88,0,0,0,30.00,30.00,15.48
$GC,2439.04,1028,-155.72,-1.40,0.00,3134.9,3123.6,3146.3,1799.8,3474.7,318.60,-12.68,296,2444.75,0.00,0.00,3.42,0.000,0.000,0.061,3136.34,3124.50,3148.19,1800.06,2081.44,0,0,0,30.00,30.00,15.61
$GC,2760.19,0,-155.72,-1.40,0.00,3135.2,3123.4,3147.0,1799.6,2081.6,356.20,-11.62,310,2761.52,0.00,0.00,0.00,0.000,0.000,0.000,3135.59,3123.56,3147.62,1799.75,2081.50,0,0,0,30.00,30.00,30.00
$GC,3060.18,260,-155.72,-1.40,80.00,3135.3,3123.7,3147.0,1800.3,2081.3,391.23,-11.90,320,3065.87,0.00,0.00,3.89,0.000,0.000,0.115,3134.19,3122.31,3146.06,1799.88,3472.56,0,0,0,30.00,30.00,15.47
$GC,3124.18,1028,-155.72,-1.40,0.00,3134.6,3123.4,3145.9,1799.8,3472.7,399.72,-13.06,333,3129.81,0.00,0.00,3.40,0.000,0.000,0.063,3137.12,3125.50,3148.75,1799.69,2083.69,0,0,0,30.00,30.00,15.59
$GC,3445.25,0,-155.72,-1.40,0.00,3134.4,3123.0,3145.8,1799.5,2083.4,435.25,-11.42,347,3446.57,0.00,0.00,0.00,0.000,0.000,0.000,3135.06,3123.94,3146.19,1799.88,2082.50,0,0,0,30.00,30.00,30.00
$GC,3745.25,260,-155.72,-1.40,80.00,3133.9,3123.2,3144.5,1799.5,2083.0,468.65,-10.77,357,3750.96,0.00,0.00,3.91,0.000,0.000,0.118,3133.72,3122.94,3144.50,1799.75,3474.38,0,0,0,30.00,30.00,15.44
$GC,3800.72,1028,-155.72,-1.40,0.00,3134.3,3122.9,3145.8,1799.9,3474.8,475.09,-10.48,368,3805.88,0.00,0.00,3.40,0.000,0.000,0.065,3133.38,3122.44,3144.31,1799.50,2081.62,0,0,0,30.00,30.00,15.58
$STATE,4066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4066,begin apogee
$GC,4066.46,10243,0.00,-0.25,0.00,3133.9,3123.2,3144.6,1799.4,2120.7,503.26,-10.01,381,4201.53,131.95,2.12,0.09,1.679,0.140,0.245,2496.88,2504.81,2488.94,2080.69,2086.25,0,0,0,10.40,15.49,14.77
$STATE,4204,end apogee,CONTROL_FINISHED_OK
$STATE,4205,begin climb
$GC,4204.29,10503,155.72,1.40,80.00,2497.7,2506.9,2488.4,2080.3,2086.3,505.80,0.00,385,4356.65,139.70,2.91,4.11,1.613,0.081,0.118,1862.81,1891.12,1834.50,2483.56,3472.38,0,0,0,11.48,15.06,14.67
$GC,4368.81,11303,230.03,1.63,0.00,1860.4,1888.9,1831.9,2483.9,3472.6,469.75,7.52,398,4440.99,66.93,0.32,3.53,1.558,0.067,0.061,1562.81,1594.06,1531.56,2542.38,2082.00,0,0,0,11.50,15.00,15.09
$GC,4744.91,16902,230.03,1.63,-80.00,1553.5,1587.8,1519.3,2542.5,2081.9,420.89,13.64,423,4750.61,0.00,0.00,3.98,0.000,0.000,0.146,1555.00,1589.06,1520.94,2542.94,661.81,0,0,0,30.00,30.00,15.39
$GC,4853.83,17414,230.03,1.63,0.00,1553.3,1587.0,1519.7,2542.9,661.8,403.03,21.56,445,4860.67,0.00,0.00,3.61,0.000,0.000,0.054,1553.56,1587.38,1519.75,2543.69,2120.62,0,0,0,30.00,30.00,15.64
$GC,5159.95,16902,230.03,1.63,-80.00,1552.3,1586.6,1517.9,2543.2,2121.1,362.26,13.51,456,5165.66,0.00,0.00,4.08,0.000,0.000,0.140,1553.69,1588.25,1519.12,2542.62,661.88,0,0,0,30.00,30.00,15.43
$GC,5215.39,17414,230.03,1.63,0.00,1552.5,1586.7,1518.2,2543.4,661.3,353.48,15.87,467,5220.59,0.00,0.00,3.57,0.000,0.000,0.053,1554.03,1588.38,1519.69,2543.44,2121.88,0,0,0,30.00,30.00,15.70
$GC,5540.03,16902,230.03,1.63,-80.00,1551.9,1586.9,1516.9,2543.2,2121.7,308.95,13.71,482,5545.69,0.00,0.00,4.07,0.000,0.000,0.140,1550.84,1585.38,1516.31,2543.62,661.38,0,0,0,30.00,30.00,15.42
$GC,5578.88,17414,230.03,1.63,0.00,1551.9,1586.8,1517.0,2542.9,661.8,304.20,12.12,490,5584.61,0.00,0.00,3.54,0.000,0.000,0.052,1552.50,1587.50,1517.50,2543.56,2121.75,0,0,0,30.00,30.00,15.72
$GC,5895.01,16902,230.03,1.63,-80.00,1551.3,1586.4,1516.2,2543.1,2122.2,264.72,12.18,503,5900.72,0.00,0.00,4.06,0.000,0.000,0.138,1550.78,1585.69,1515.88,2543.56,663.00,0,0,0,30.00,30.00,15.43
$GC,5958.93,17414,230.03,1.63,0.00,1551.6,1586.5,1516.6,2543.3,663.0,255.42,16.17,516,5964.63,0.00,0.00,3.54,0.000,0.000,0.054,1551.50,1586.69,1516.31,2542.56,2124.06,0,0,0,30.00,30.00,15.72
$GC,6270.08,16386,230.03,1.63,0.00,1551.2,1586.1,1516.2,2543.2,2123.9,218.34,10.91,547,6271.41,0.00,0.00,0.00,0.000,0.000,0.000,1551.53,1586.56,1516.50,2542.88,2124.38,0,0,0,30.00,30.00,30.00
$GC,6570.13,16902,230.03,1.63,-80.00,1551.2,1586.2,1516.2,2543.4,2124.5,184.13,10.74,577,6575.85,0.00,0.00,4.07,0.000,0.000,0.139,1552.47,1587.38,1517.56,2543.44,662.88,0,0,0,30.00,30.00,15.38
$GC,6645.57,17414,230.03,1.63,0.00,1551.0,1585.9,1516.0,2543.6,662.8,173.93,14.13,592,6650.77,0.00,0.00,3.54,0.000,0.000,0.053,1551.53,1586.56,1516.50,2543.62,2122.69,0,0,0,30.00,30.00,15.73
$GC,6950.20,16386,230.03,1.63,0.00,1550.8,1585.9,1515.8,2543.2,2123.1,138.24,12.31,623,6951.53,0.00,0.00,0.00,0.000,0.000,0.000,1551.12,1586.25,1516.00,2543.38,2123.38,0,0,0,30.00,30.00,30.00
$GC,7250.27,16966,230.03,1.64,-80.00,1550.8,1585.9,1515.6,2543.1,2123.2,105.07,10.59,653,7255.98,0.00,0.00,4.07,0.000,0.000,0.136,1550.09,1585.19,1515.00,2543.31,664.06,0,0,0,30.00,30.00,15.37
$GC,7279.16,17414,230.03,1.64,0.00,1550.9,1586.0,1515.8,2543.0,663.8,101.58,11.61,659,7285.99,0.00,0.00,3.54,0.000,0.000,0.051,1552.03,1586.81,1517.25,2542.94,2124.44,0,0,0,30.00,30.00,15.69
$GC,7585.40,16450,230.03,1.70,0.00,1550.5,1585.4,1515.7,2543.7,2125.3,71.28,9.28,719,7589.73,0.00,0.00,0.00,0.000,0.000,0.000,1550.94,1586.06,1515.81,2543.06,2125.69,0,0,0,30.00,30.00,30.00
$GC,7770.54,10535,315.47,1.95,80.00,1550.8,1586.0,1515.6,2543.0,2125.7,55.65,6.98,756,7868.24,92.04,0.45,3.82,1.124,0.059,0.113,1213.84,1246.00,1181.69,2622.00,3474.00,0,0,0,10.50,15.75,15.00
$GC,7896.49,9254,358.55,2.08,0.00,1212.0,1244.9,1179.2,2622.9,3473.6,44.87,9.03,781,7952.18,47.54,0.00,3.44,1.060,0.000,0.055,1038.78,1071.75,1005.81,2622.38,2077.19,0,0,0,11.48,30.00,15.39
$GC,8131.60,2373,358.55,2.12,80.00,1034.8,1071.1,998.6,2622.6,2076.8,20.55,9.97,828,8137.36,0.00,0.19,3.90,0.000,0.083,0.109,1034.78,1071.06,998.50,2662.94,3472.56,0,0,0,30.00,15.52,15.37
$GC,8166.53,1028,358.55,2.12,0.00,1033.8,1069.0,998.6,2664.2,3473.1,16.18,13.10,835,8172.27,0.00,0.00,3.41,0.000,0.000,0.055,1034.03,1069.25,998.81,2663.19,2077.94,0,0,0,30.00,30.00,15.53
$STATE,8282,end climb,SURFACE_DEPTH_REACHED
$STATE,8282,begin surface coast
$STATE,8297,end surface coast,CONTROL_FINISHED_OK
$STATE,8297,begin surface
$SM_CCo,8432.44,109.71,1.054,0,563.5,568.7,558.3,475.02
$SM_GC,-7.12,109.71,17.17,0.09,1.054,0.081,0.134,563.5,568.7,558.3,170.4,2130.9,0,0,0,11.17,15.44,15.66
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4718.92,-12515.65,210321,215827
$TCM_TEMP,175.30
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3519872
$HUMID,57.83
$TEMP,8.00
$INTERNAL_PRESSURE,7.77677
$24V_AH,14.04,250.946
$10V_AH,14.78,0.000
$FG_AHR_24Vo,215.658
$FG_AHR_10Vo,69.331
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,693.415,37.570,126.530,222.978,1.000,13.242,3384.690,5349.744,1848.669,0.000,0.000,0.000
$DEVICE_MAMPS,1678.784,254.936,245.424,198.667,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8346.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.692,0.000,0.000,0.000
$MEM,1102988,40,73880,68
$DATA_FILE_SIZE,32158,861
$CAP_FILE_SIZE,389213,0
$SDSIZE,3918848,3674336
$SDFILEDIR,4456,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220321,002428,4718.641,-12514.978,31,1.8,31,15.6