version: 67.00
glider: 236
mission: 2
dive: 623
start: 2 17 121 8 42 7
data:
$ID,236
$MISSION,2
$DIVE,623
$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,170
$T_MISSION,190
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,180
$T_LOITER,7200
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$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,58.866528
$FG_AHR_24V,156.74023
$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
$GPS1,170221,083454,4728.293,-12615.276,35,0.9,35,15.8
$_CALLS,1
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-57.0
$GPS2,170221,084150,4728.335,-12615.310,3,0.8,6,15.8
$SPEED_LIMITS,0.170,0.192
$TGT_NAME,IN5
$TGT_LATLONG,4728.540,-12600.590
$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,73.0,18429,-24.0,-9.804,-27.02
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,7.51,16386,-77.86,-1.43,0.00,762.4,767.8,757.0,174.0,2081.0,0.00,0.00,0,87.42,79.30,0.00,0.00,0.005,0.000,0.000,2484.41,2461.69,2507.12,173.88,2080.62,0,0,0,14.97,30.00,30.00
$GC,87.69,18983,-77.86,-1.43,-80.00,2483.6,2460.8,2506.3,174.1,2080.3,3.03,-3.71,15,119.66,8.54,14.22,4.15,0.007,0.253,0.154,2816.19,2810.06,2822.31,1792.56,663.19,0,0,0,15.14,15.25,14.97
$GC,337.48,1028,-77.86,-1.43,0.00,2815.6,2809.8,2821.4,1792.2,663.2,61.08,-22.38,65,343.25,0.00,0.00,3.62,0.000,0.000,0.050,2818.41,2812.38,2824.44,1791.94,2118.75,0,0,0,30.00,30.00,15.63
$GC,522.50,260,-77.86,-1.43,80.00,2816.0,2809.9,2822.0,1792.4,2119.7,89.47,-13.97,102,528.30,0.00,0.00,3.74,0.000,0.000,0.109,2816.22,2810.31,2822.12,1793.06,3474.00,0,0,0,30.00,30.00,15.53
$GC,752.55,1028,-77.86,-1.43,0.00,2815.9,2809.4,2822.4,1792.4,3474.6,120.77,-12.16,148,757.25,0.00,0.00,3.44,0.000,0.000,0.054,2817.41,2811.62,2823.19,1792.44,2081.50,0,0,0,30.00,30.00,15.66
$GC,1062.61,516,-77.86,-1.43,-80.00,2815.8,2810.0,2821.6,1792.6,2081.1,153.12,-11.61,180,1068.40,0.00,0.00,4.09,0.000,0.000,0.149,2816.88,2810.62,2823.12,1792.75,663.00,0,0,0,30.00,30.00,15.45
$GC,1097.59,1028,-77.86,-1.43,0.00,2816.3,2810.5,2822.1,1791.9,663.1,158.17,-14.49,187,1103.18,0.00,0.00,3.57,0.000,0.000,0.048,2816.41,2810.19,2822.62,1792.25,2120.94,0,0,0,30.00,30.00,15.72
$GC,1402.64,260,-77.86,-1.43,80.00,2815.9,2809.6,2822.1,1792.8,2121.2,193.82,-11.84,218,1408.32,0.00,0.00,3.71,0.000,0.000,0.108,2818.16,2812.00,2824.31,1791.44,3474.38,0,0,0,30.00,30.00,15.56
$GC,1567.67,1028,-77.86,-1.43,0.00,2816.2,2809.9,2822.4,1792.6,3474.4,216.79,-14.74,251,1572.21,0.00,0.00,3.44,0.000,0.000,0.056,2816.81,2810.38,2823.25,1792.56,2080.75,0,0,0,30.00,30.00,15.67
$GC,1877.71,260,-77.86,-1.43,80.00,2816.5,2809.9,2823.1,1792.5,2081.2,254.89,-12.35,283,1883.48,0.00,0.00,3.87,0.000,0.000,0.109,2815.69,2809.62,2821.75,1792.12,3474.44,0,0,0,30.00,30.00,15.55
$GC,1982.75,1028,-77.86,-1.43,0.00,2816.3,2810.1,2822.4,1792.7,3475.4,268.68,-13.29,304,1987.30,0.00,0.00,3.42,0.000,0.000,0.056,2816.25,2810.00,2822.50,1792.38,2082.00,0,0,0,30.00,30.00,15.67
$GC,2292.82,516,-77.86,-1.43,-80.00,2816.5,2809.9,2823.1,1792.3,2081.9,300.03,-10.40,336,2298.61,0.00,0.00,4.05,0.000,0.000,0.150,2818.94,2812.62,2825.25,1792.56,662.94,0,0,0,30.00,30.00,15.44
$GC,2521.78,1028,-77.86,-1.43,0.00,2816.4,2809.8,2823.0,1792.4,662.9,326.22,-11.73,382,2528.65,0.00,0.00,3.55,0.000,0.000,0.050,2818.03,2811.31,2824.75,1792.50,2120.31,0,0,0,30.00,30.00,15.71
$GC,2827.96,0,-77.86,-1.43,0.00,2815.8,2809.3,2822.4,1792.9,2120.5,356.93,-10.01,413,2829.29,0.00,0.00,0.00,0.000,0.000,0.000,2815.12,2809.00,2821.25,1792.50,2120.12,0,0,0,30.00,30.00,30.00
$GC,3128.02,0,-77.86,-1.43,0.00,2816.5,2809.9,2823.1,1792.8,2120.7,387.75,-10.54,443,3129.34,0.00,0.00,0.00,0.000,0.000,0.000,2816.50,2809.75,2823.25,1791.94,2121.00,0,0,0,30.00,30.00,30.00
$GC,3428.08,260,-77.86,-1.43,80.00,2816.3,2810.3,2822.4,1792.5,2120.1,419.69,-10.94,473,3433.84,0.00,0.00,3.78,0.000,0.000,0.114,2815.31,2809.25,2821.38,1792.56,3474.12,0,0,0,30.00,30.00,15.53
$GC,3563.12,1028,-77.86,-1.43,0.00,2816.2,2809.6,2822.8,1792.4,3475.5,435.72,-12.24,500,3567.70,0.00,0.00,3.44,0.000,0.000,0.058,2817.31,2810.94,2823.69,1792.50,2082.88,0,0,0,30.00,30.00,15.64
$GC,3873.20,260,-77.86,-1.43,80.00,2815.9,2809.8,2822.0,1792.6,2082.0,468.68,-10.22,532,3878.96,0.00,0.00,3.87,0.000,0.000,0.112,2814.22,2807.81,2820.62,1792.81,3473.31,0,0,0,30.00,30.00,15.50
$GC,3998.30,1028,-77.86,-1.43,0.00,2816.1,2809.6,2822.6,1792.7,3474.2,483.23,-11.76,557,4003.79,0.00,0.00,3.44,0.000,0.000,0.059,2818.16,2811.69,2824.62,1792.00,2081.62,0,0,0,30.00,30.00,15.62
$STATE,4174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4174,begin apogee
$GC,4174.45,10243,0.00,-0.25,0.00,2815.9,2810.2,2821.6,1792.2,2120.7,501.20,-10.02,575,4245.12,65.32,2.20,0.09,1.644,0.150,0.242,2499.66,2506.00,2493.31,2080.25,2085.00,0,0,0,11.20,15.49,15.21
$STATE,4248,end apogee,CONTROL_FINISHED_OK
$STATE,4248,begin climb
$GC,4247.48,10759,77.86,1.43,-80.00,2497.9,2505.0,2490.8,2079.5,2085.9,503.71,0.00,582,4326.74,69.98,2.94,4.18,1.606,0.085,0.139,2182.62,2194.38,2170.88,2490.44,663.94,0,0,0,12.08,15.30,14.95
$GC,4444.54,9254,104.48,1.51,0.00,2172.8,2185.6,2160.0,2492.4,663.9,491.16,7.57,621,4475.86,25.29,0.00,3.62,1.514,0.000,0.047,2073.38,2089.62,2057.12,2491.62,2124.69,0,0,0,11.75,30.00,15.40
$GC,4774.55,16902,104.48,1.51,-80.00,2065.3,2086.5,2044.1,2491.1,2124.1,463.39,9.56,657,4780.37,0.00,0.00,4.14,0.000,0.000,0.135,2063.50,2084.38,2042.62,2491.62,662.94,0,0,0,30.00,30.00,15.42
$GC,4873.40,17414,104.48,1.51,0.00,2064.7,2085.2,2044.1,2491.7,663.1,452.68,10.37,677,4880.33,0.00,0.00,3.58,0.000,0.000,0.047,2065.38,2086.00,2044.75,2491.88,2125.12,0,0,0,30.00,30.00,15.63
$GC,5179.61,10535,128.92,1.59,80.00,2063.2,2085.1,2041.2,2492.1,2124.8,427.24,7.76,708,5210.39,22.68,0.20,3.79,1.489,0.080,0.114,1972.91,1993.81,1952.00,2536.06,3474.44,0,0,0,11.65,15.65,15.46
$GC,5299.67,1028,128.92,1.59,0.00,1970.2,1991.4,1949.1,2535.8,3473.8,414.03,11.99,732,5305.17,0.00,0.00,3.46,0.000,0.000,0.056,1968.94,1990.19,1947.69,2536.50,2080.12,0,0,0,30.00,30.00,15.56
$GC,5604.64,260,128.92,1.59,80.00,1968.0,1991.8,1944.3,2536.1,2080.2,382.85,10.71,763,5610.25,0.00,0.00,3.89,0.000,0.000,0.110,1967.09,1990.31,1943.88,2535.94,3473.25,0,0,0,30.00,30.00,15.52
$GC,5759.67,1028,128.92,1.59,0.00,1967.7,1991.1,1944.2,2536.7,3472.9,365.97,10.48,794,5764.21,0.00,0.00,3.45,0.000,0.000,0.057,1968.69,1992.38,1945.00,2536.38,2081.50,0,0,0,30.00,30.00,15.65
$GC,6069.70,516,128.92,1.59,-80.00,1966.5,1991.1,1941.8,2536.0,2079.9,335.61,9.59,826,6075.41,0.00,0.00,4.00,0.000,0.000,0.137,1966.72,1991.00,1942.44,2536.19,662.75,0,0,0,30.00,30.00,15.49
$GC,6254.75,17414,128.92,1.59,0.00,1965.7,1989.1,1942.2,2535.9,663.1,313.39,12.61,863,6260.40,0.00,0.00,3.56,0.000,0.000,0.049,1967.91,1991.25,1944.56,2534.94,2126.25,0,0,0,30.00,30.00,15.73
$GC,6559.84,16966,128.92,1.60,-80.00,1965.2,1989.2,1941.1,2535.9,2127.0,285.82,9.20,894,6565.54,0.00,0.00,4.07,0.000,0.000,0.131,1965.38,1989.94,1940.81,2535.94,663.31,0,0,0,30.00,30.00,15.49
$GC,6654.87,17414,128.92,1.60,0.00,1965.2,1989.0,1941.3,2536.2,663.0,274.86,11.77,913,6660.49,0.00,0.00,3.54,0.000,0.000,0.048,1966.81,1990.94,1942.69,2535.06,2125.19,0,0,0,30.00,30.00,15.74
$GC,6959.93,16450,128.92,1.63,0.00,1964.2,1988.9,1939.4,2536.4,2125.6,246.16,8.99,944,6961.26,0.00,0.00,0.00,0.000,0.000,0.000,1963.62,1988.50,1938.75,2536.88,2125.62,0,0,0,30.00,30.00,30.00
$GC,7259.98,16710,128.92,1.64,80.00,1963.8,1988.8,1938.7,2536.6,2126.0,218.25,9.26,974,7265.58,0.00,0.00,3.73,0.000,0.000,0.110,1963.97,1989.50,1938.44,2535.56,3473.44,0,0,0,30.00,30.00,15.54
$GC,7368.86,17478,128.92,1.66,0.00,1963.9,1989.1,1938.7,2536.0,3473.2,207.45,9.16,996,7375.75,0.00,0.00,3.41,0.000,0.000,0.054,1963.94,1989.06,1938.81,2536.25,2077.44,0,0,0,30.00,30.00,15.66
$GC,7675.10,8742,152.90,1.74,-80.00,1963.8,1989.1,1938.5,2536.4,2076.6,183.19,7.79,1027,7702.35,21.23,0.00,3.93,1.275,0.000,0.136,1874.44,1900.50,1848.38,2536.56,659.75,0,0,0,11.36,30.00,15.57
$GC,7730.13,1028,152.90,1.74,0.00,1873.9,1899.0,1848.9,2536.5,660.1,177.52,12.04,1038,7735.77,0.00,0.00,3.58,0.000,0.000,0.046,1875.06,1899.62,1850.50,2535.81,2127.25,0,0,0,30.00,30.00,15.62
$GC,8035.19,2565,152.90,1.74,-80.00,1871.1,1898.9,1843.3,2535.8,2126.9,145.97,10.14,1069,8040.92,0.00,0.16,4.11,0.000,0.096,0.128,1871.53,1899.12,1843.94,2569.12,662.94,0,0,0,30.00,15.63,15.44
$GC,8194.11,1028,152.90,1.74,0.00,1870.8,1897.9,1843.8,2569.6,663.1,124.40,13.92,1101,8201.00,0.00,0.00,3.58,0.000,0.000,0.048,1872.03,1898.12,1845.94,2568.56,2125.69,0,0,0,30.00,30.00,15.68
$GC,8500.33,8742,180.03,1.82,-80.00,1869.5,1897.9,1841.1,2569.8,2125.8,97.08,7.53,1135,8531.69,24.15,0.00,4.03,1.179,0.000,0.127,1765.31,1795.44,1735.19,2570.00,662.12,0,0,0,11.70,30.00,15.54
$GC,8560.26,1028,180.03,1.82,0.00,1763.3,1791.9,1734.8,2570.1,662.1,91.21,10.90,1147,8566.01,0.00,0.00,3.55,0.000,0.000,0.044,1763.75,1791.94,1735.56,2568.81,2128.62,0,0,0,30.00,30.00,15.59
$GC,8745.30,10275,233.31,1.98,0.00,1760.9,1792.2,1729.6,2569.9,2129.4,78.73,5.34,1184,8791.39,45.15,0.32,0.00,1.161,0.069,0.000,1548.72,1580.12,1517.31,2627.44,2129.56,0,0,0,11.74,15.60,30.00
$GC,8970.35,10535,287.35,2.14,80.00,1543.5,1577.7,1509.2,2627.2,2129.1,61.34,5.27,1229,9022.14,45.54,0.20,3.77,1.113,0.084,0.107,1328.88,1362.62,1295.12,2666.75,3473.94,0,0,0,11.70,15.49,15.27
$GC,9205.35,1028,287.35,2.14,0.00,1323.1,1355.7,1290.4,2667.3,3473.8,40.70,11.44,1276,9211.10,0.00,0.00,3.47,0.000,0.000,0.053,1324.12,1356.75,1291.50,2666.38,2078.88,0,0,0,30.00,30.00,15.51
$GC,9390.48,516,287.35,2.14,-80.00,1322.2,1355.9,1288.6,2667.8,2078.4,23.46,10.38,1313,9396.23,0.00,0.00,3.99,0.000,0.000,0.130,1323.41,1356.81,1290.00,2667.31,662.12,0,0,0,30.00,30.00,15.42
$STATE,9556,end climb,SURFACE_DEPTH_REACHED
$STATE,9556,begin surface coast
$STATE,9571,end surface coast,CONTROL_FINISHED_OK
$STATE,9571,begin surface
$SM_CCo,9720.51,119.51,1.056,0,767.4,765.8,769.1,425.00
$SM_CCo,9721.76,0.00,2.667,0,768.8,765.6,771.9,424.68
$SM_CCo,9722.92,0.23,0.161,0,768.7,768.9,768.4,424.69
$SM_GC,0.33,0.23,17.00,3.55,0.161,0.068,0.045,768.7,768.9,768.4,174.0,2126.6,0,0,0,15.18,15.62,15.68
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4726.89,-12617.80,170221,054922
$TCM_TEMP,189.50
$XPDR_PINGS,2,14.0,11.5
$SC_FREEKB,3620896
$HUMID,57.58
$TEMP,7.75
$INTERNAL_PRESSURE,7.78242
$24V_AH,14.10,185.999
$10V_AH,14.72,0.000
$FG_AHR_24Vo,156.922
$FG_AHR_10Vo,58.903
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,526.930,37.250,149.435,233.164,0.500,15.555,3948.396,5983.212,2175.513,0.000,0.000,0.000
$DEVICE_MAMPS,2667.376,252.640,242.144,209.287,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9611.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.600,0.000,0.000,0.000
$MEM,1100024,49,75744,114
$DATA_FILE_SIZE,51345,1349
$CAP_FILE_SIZE,500525,0
$SDSIZE,3918848,3748096
$SDFILEDIR,3141,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170221,112439,4728.871,-12614.289,8,1.3,20,15.8