version: 67.00
glider: 236
mission: 2
dive: 642
start: 2 19 121 15 15 35
data:
$ID,236
$MISSION,2
$DIVE,642
$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,59.597004
$FG_AHR_24V,160.42422
$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
$GPS1,190221,150831,4732.643,-12602.715,6,0.8,29,15.8
$_CALLS,1
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-61.1
$GPS2,190221,151518,4732.617,-12602.677,4,0.6,7,15.8
$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,145.1,7990,-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,7.54,16386,-77.86,-1.43,0.00,762.5,766.7,758.4,173.9,2081.7,0.00,0.00,0,87.50,79.33,0.00,0.00,0.005,0.000,0.000,2498.75,2475.38,2522.12,174.12,2082.12,0,0,0,14.94,30.00,30.00
$GC,87.77,18727,-77.86,-1.43,80.00,2498.3,2475.6,2521.0,173.9,2082.0,3.74,-4.93,15,119.68,7.95,14.24,3.87,0.007,0.256,0.110,2816.03,2810.38,2821.69,1792.75,3475.38,0,0,0,15.11,15.23,14.96
$GC,342.63,1028,-77.86,-1.43,0.00,2815.9,2809.9,2821.9,1792.5,3475.3,58.84,-21.91,66,348.25,0.00,0.00,3.52,0.000,0.000,0.059,2816.47,2810.75,2822.19,1792.06,2083.25,0,0,0,30.00,30.00,15.59
$GC,527.60,260,-77.86,-1.43,80.00,2816.0,2810.3,2821.6,1792.6,2083.2,88.24,-15.12,103,533.34,0.00,0.00,3.82,0.000,0.000,0.105,2817.84,2811.94,2823.75,1792.25,3475.62,0,0,0,30.00,30.00,15.54
$GC,757.56,1028,-77.86,-1.43,0.00,2816.3,2810.1,2822.4,1792.8,3475.2,123.95,-16.19,149,762.13,0.00,0.00,3.46,0.000,0.000,0.056,2819.00,2812.88,2825.12,1791.19,2082.00,0,0,0,30.00,30.00,15.65
$GC,1067.60,260,-77.86,-1.43,80.00,2816.3,2810.1,2822.4,1792.4,2081.2,156.96,-9.77,181,1073.30,0.00,0.00,3.84,0.000,0.000,0.104,2817.09,2811.19,2823.00,1791.25,3475.25,0,0,0,30.00,30.00,15.58
$GC,1262.64,1028,-77.86,-1.43,0.00,2816.3,2810.5,2822.2,1792.2,3474.9,179.64,-11.48,220,1267.26,0.00,0.00,3.46,0.000,0.000,0.056,2816.62,2810.62,2822.62,1792.06,2082.38,0,0,0,30.00,30.00,15.68
$GC,1572.67,0,-77.86,-1.43,0.00,2816.6,2810.5,2822.8,1792.4,2082.1,216.42,-11.27,252,1574.00,0.00,0.00,0.00,0.000,0.000,0.000,2816.66,2810.50,2822.81,1792.25,2082.12,0,0,0,30.00,30.00,30.00
$GC,1872.70,0,-77.86,-1.43,0.00,2816.2,2810.1,2822.4,1793.1,2082.4,250.55,-10.57,282,1874.03,0.00,0.00,0.00,0.000,0.000,0.000,2816.81,2810.56,2823.06,1792.56,2081.62,0,0,0,30.00,30.00,30.00
$GC,2172.76,0,-77.86,-1.43,0.00,2816.6,2810.4,2822.9,1792.5,2081.8,282.73,-10.48,312,2174.09,0.00,0.00,0.00,0.000,0.000,0.000,2816.69,2810.94,2822.44,1792.00,2081.81,0,0,0,30.00,30.00,30.00
$GC,2472.83,0,-77.86,-1.43,0.00,2816.4,2810.9,2822.0,1792.4,2082.2,315.55,-11.85,342,2474.15,0.00,0.00,0.00,0.000,0.000,0.000,2816.84,2810.50,2823.19,1792.75,2081.88,0,0,0,30.00,30.00,30.00
$GC,2772.90,0,-77.86,-1.43,0.00,2816.3,2810.2,2822.4,1792.3,2082.0,348.54,-10.38,372,2774.23,0.00,0.00,0.00,0.000,0.000,0.000,2817.09,2811.38,2822.81,1791.56,2081.62,0,0,0,30.00,30.00,30.00
$GC,3072.95,0,-77.86,-1.43,0.00,2816.1,2810.4,2821.9,1792.4,2082.1,380.53,-10.86,402,3074.28,0.00,0.00,0.00,0.000,0.000,0.000,2816.62,2810.00,2823.25,1792.31,2081.56,0,0,0,30.00,30.00,30.00
$GC,3373.01,516,-77.86,-1.43,-80.00,2816.2,2810.1,2822.4,1792.3,2082.0,410.81,-9.69,432,3378.78,0.00,0.00,4.15,0.000,0.000,0.157,2817.19,2810.69,2823.69,1792.88,663.06,0,0,0,30.00,30.00,15.40
$GC,3481.97,1028,-77.86,-1.43,0.00,2816.1,2810.4,2821.8,1792.2,663.1,424.52,-11.49,454,3488.82,0.00,0.00,3.60,0.000,0.000,0.056,2816.81,2811.00,2822.62,1792.88,2117.88,0,0,0,30.00,30.00,15.69
$GC,3788.12,260,-77.86,-1.43,80.00,2816.0,2810.4,2821.7,1792.5,2119.1,455.29,-9.94,485,3793.88,0.00,0.00,3.77,0.000,0.000,0.116,2814.53,2809.38,2819.69,1792.19,3474.38,0,0,0,30.00,30.00,15.52
$GC,3847.14,1028,-77.86,-1.43,0.00,2815.9,2810.6,2821.2,1792.6,3474.2,462.28,-12.34,497,3853.89,0.00,0.00,3.46,0.000,0.000,0.060,2817.22,2811.44,2823.00,1792.31,2081.75,0,0,0,30.00,30.00,15.63
$GC,4153.19,516,-77.86,-1.43,-80.00,2816.1,2810.6,2821.5,1792.6,2082.1,492.84,-9.23,528,4158.94,0.00,0.00,4.14,0.000,0.000,0.157,2815.72,2810.56,2820.88,1792.94,661.88,0,0,0,30.00,30.00,15.36
$STATE,4212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4213,begin apogee
$GC,4217.08,10243,0.00,-0.25,0.00,2815.8,2810.0,2821.7,1792.2,2117.4,500.39,-12.43,540,4285.99,64.96,2.21,0.08,1.633,0.155,0.240,2499.56,2507.19,2491.94,2079.06,2083.44,0,0,0,11.20,15.47,15.22
$STATE,4289,end apogee,CONTROL_FINISHED_OK
$STATE,4289,begin climb
$GC,4288.29,10759,77.86,1.43,-80.00,2497.9,2505.3,2490.5,2080.2,2083.6,502.45,0.00,547,4367.57,69.89,2.91,4.18,1.600,0.086,0.137,2178.66,2190.44,2166.88,2492.38,662.00,0,0,0,12.18,15.31,14.96
$GC,4375.37,11303,139.59,1.62,0.00,2178.6,2190.1,2167.1,2491.8,662.1,498.48,4.63,560,4438.37,56.97,0.26,3.70,1.565,0.075,0.045,1932.25,1954.19,1910.31,2542.50,2125.44,0,0,0,12.07,15.11,15.15
$GC,4741.17,16386,139.59,1.62,0.00,1919.1,1946.2,1892.0,2542.7,2125.3,455.24,13.11,603,4742.50,0.00,0.00,0.00,0.000,0.000,0.000,1919.59,1946.88,1892.31,2542.44,2125.31,0,0,0,30.00,30.00,30.00
$GC,5041.21,16646,139.59,1.62,80.00,1916.6,1944.4,1888.8,2542.9,2125.7,417.91,11.86,633,5046.81,0.00,0.00,3.79,0.000,0.000,0.113,1915.62,1943.81,1887.44,2543.62,3473.31,0,0,0,30.00,30.00,15.54
$GC,5086.21,17414,139.59,1.62,0.00,1916.3,1943.8,1888.9,2543.3,3473.6,411.70,14.40,642,5090.85,0.00,0.00,3.51,0.000,0.000,0.056,1918.22,1945.31,1891.12,2543.19,2081.06,0,0,0,30.00,30.00,15.65
$GC,5396.24,16902,139.59,1.62,-80.00,1915.2,1943.7,1886.8,2543.1,2080.2,373.97,12.86,674,5401.97,0.00,0.00,4.01,0.000,0.000,0.138,1916.69,1944.38,1889.00,2542.81,662.94,0,0,0,30.00,30.00,15.48
$GC,5455.15,17414,139.59,1.62,0.00,1914.6,1942.3,1886.9,2543.6,662.9,365.48,14.04,686,5462.02,0.00,0.00,3.56,0.000,0.000,0.048,1914.72,1943.00,1886.44,2543.75,2125.12,0,0,0,30.00,30.00,15.72
$GC,5761.28,16386,139.59,1.62,0.00,1914.2,1942.4,1885.9,2542.9,2125.2,329.72,11.45,717,5762.61,0.00,0.00,0.00,0.000,0.000,0.000,1914.28,1942.56,1886.00,2542.75,2125.19,0,0,0,30.00,30.00,30.00
$GC,6061.36,16646,139.59,1.62,80.00,1913.4,1942.1,1884.8,2543.4,2125.4,298.01,10.28,747,6066.91,0.00,0.00,3.76,0.000,0.000,0.111,1912.19,1940.88,1883.50,2543.31,3472.50,0,0,0,30.00,30.00,15.56
$GC,6186.40,17414,139.59,1.62,0.00,1912.8,1940.8,1884.8,2543.4,3473.4,283.25,11.30,772,6192.04,0.00,0.00,3.49,0.000,0.000,0.055,1912.19,1940.25,1884.12,2542.75,2079.69,0,0,0,30.00,30.00,15.69
$GC,6491.36,16646,139.59,1.62,80.00,1912.2,1940.7,1883.8,2543.0,2080.1,252.66,10.31,803,6496.98,0.00,0.00,3.87,0.000,0.000,0.107,1910.78,1939.19,1882.38,2543.62,3473.75,0,0,0,30.00,30.00,15.55
$GC,6530.18,17414,139.59,1.62,0.00,1912.1,1940.8,1883.4,2543.6,3472.3,248.17,11.73,811,6537.12,0.00,0.00,3.47,0.000,0.000,0.054,1913.25,1941.62,1884.88,2542.44,2077.75,0,0,0,30.00,30.00,15.68
$GC,6836.42,16966,139.59,1.63,-80.00,1912.3,1941.2,1883.4,2543.6,2078.1,217.47,9.22,842,6842.11,0.00,0.00,4.03,0.000,0.000,0.137,1911.19,1939.62,1882.75,2544.31,663.00,0,0,0,30.00,30.00,15.44
$GC,6911.39,17414,139.59,1.63,0.00,1911.3,1939.4,1883.3,2543.5,662.9,208.75,11.57,857,6916.97,0.00,0.00,3.54,0.000,0.000,0.048,1912.47,1940.12,1884.81,2543.19,2125.56,0,0,0,30.00,30.00,15.74
$GC,7216.44,16450,139.59,1.68,0.00,1911.2,1939.6,1882.8,2544.1,2126.9,181.74,8.24,888,7217.77,0.00,0.00,0.00,0.000,0.000,0.000,1910.00,1938.50,1881.50,2543.88,2126.50,0,0,0,30.00,30.00,30.00
$GC,7516.43,16902,139.59,1.68,-80.00,1910.6,1939.4,1881.7,2543.8,2127.8,152.82,9.84,918,7522.21,0.00,0.00,4.14,0.000,0.000,0.131,1910.06,1939.50,1880.62,2543.69,661.88,0,0,0,30.00,30.00,15.43
$GC,7611.46,17414,139.59,1.68,0.00,1910.9,1939.3,1882.6,2544.4,662.1,141.57,12.01,937,7617.03,0.00,0.00,3.57,0.000,0.000,0.045,1909.78,1937.06,1882.50,2542.75,2126.19,0,0,0,30.00,30.00,15.74
$GC,7916.51,16710,139.59,1.73,80.00,1910.4,1939.4,1881.4,2544.3,2126.4,115.87,8.36,968,7922.09,0.00,0.00,3.73,0.000,0.000,0.108,1909.53,1938.75,1880.31,2543.06,3473.75,0,0,0,30.00,30.00,15.50
$GC,8146.52,11303,167.18,1.81,0.00,1910.1,1939.1,1881.1,2543.2,3473.5,94.28,7.49,1014,8174.12,22.08,0.22,3.47,1.155,0.089,0.054,1818.66,1846.62,1790.69,2587.38,2077.81,0,0,0,11.39,15.46,15.67
$GC,8352.12,8486,205.50,1.92,80.00,1813.4,1845.4,1781.3,2589.2,2078.3,78.11,6.59,1055,8393.21,33.23,0.00,3.91,1.158,0.000,0.107,1662.38,1694.00,1630.75,2587.50,3473.12,0,0,0,11.90,30.00,15.42
$GC,8462.42,1028,205.50,1.92,0.00,1658.0,1688.4,1627.6,2588.9,3474.4,68.57,10.66,1077,8467.86,0.00,0.00,3.48,0.000,0.000,0.053,1659.56,1689.50,1629.62,2588.62,2078.75,0,0,0,30.00,30.00,15.53
$GC,8647.20,10535,276.55,2.14,80.00,1656.5,1688.6,1624.4,2589.2,2079.1,57.17,3.85,1114,8714.56,60.38,0.47,3.93,1.133,0.075,0.103,1372.72,1405.31,1340.12,2665.69,3474.12,0,0,0,11.71,15.57,15.25
$GC,8842.42,1028,276.55,2.14,0.00,1367.1,1397.4,1336.8,2666.1,3474.1,40.50,12.57,1153,8848.11,0.00,0.00,3.51,0.000,0.000,0.052,1366.97,1396.88,1337.06,2666.62,2079.38,0,0,0,30.00,30.00,15.48
$GC,9027.40,516,276.55,2.14,-80.00,1365.1,1397.3,1332.9,2666.6,2078.8,17.80,12.71,1190,9033.22,0.00,0.00,4.00,0.000,0.000,0.131,1365.47,1397.19,1333.75,2666.56,662.75,0,0,0,30.00,30.00,15.39
$GC,9122.42,1028,276.55,2.14,0.00,1365.2,1397.6,1332.9,2666.5,663.1,3.97,14.86,1209,9128.31,0.00,0.00,3.58,0.000,0.000,0.042,1364.91,1397.38,1332.44,2666.25,2127.12,0,0,0,30.00,30.00,15.62
$STATE,9148,end climb,SURFACE_DEPTH_REACHED
$STATE,9148,begin surface coast
$STATE,9163,end surface coast,CONTROL_FINISHED_OK
$STATE,9163,begin surface
$SM_CCo,9316.30,129.01,1.051,0,768.0,773.4,762.5,424.87
$SM_CCo,9317.47,0.00,0.012,0,767.6,771.0,764.2,424.95
$SM_CCo,9318.64,0.00,2.664,0,768.2,767.2,769.2,424.80
$SM_GC,0.67,0.00,16.68,0.09,2.664,0.052,0.140,768.2,767.2,769.2,174.0,2075.9,0,0,0,30.36,15.62,15.64
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4731.93,-12601.17,190221,121941
$TCM_TEMP,191.36
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3613600
$HUMID,57.61
$TEMP,7.80
$INTERNAL_PRESSURE,7.78175
$24V_AH,14.06,190.088
$10V_AH,14.71,0.000
$FG_AHR_24Vo,160.604
$FG_AHR_10Vo,59.632
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,523.815,37.000,127.190,224.104,1.000,15.432,3692.237,5823.637,2043.395,0.000,0.000,0.000
$DEVICE_MAMPS,2663.768,255.920,240.176,214.195,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9203.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.594,0.000,0.000,0.000
$MEM,1099888,52,75820,114
$DATA_FILE_SIZE,44962,1217
$CAP_FILE_SIZE,456571,0
$SDSIZE,3918848,3742688
$SDFILEDIR,3236,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190221,175131,4732.262,-12602.302,11,0.8,29,15.8