version: 67.00
glider: 236
mission: 2
dive: 851
start: 3 17 121 10 57 1
data:
$ID,236
$MISSION,2
$DIVE,851
$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,67.884315
$FG_AHR_24V,206.6035
$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
$GPS1,170321,105031,4751.082,-12514.657,3,0.9,22,15.7
$_CALLS,1
$_SM_DEPTHo,-1.71
$_SM_ANGLEo,-65.0
$GPS2,170321,105642,4751.074,-12514.664,3,0.6,5,15.7
$SPEED_LIMITS,0.160,0.227
$TGT_NAME,OUT9
$TGT_LATLONG,4747.280,-12520.390
$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,209.7,10007,-18.6,-9.259,-22.19
$D_GRID,416
$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,7.92,16386,-116.79,-1.28,0.00,763.2,763.2,763.1,170.1,2082.4,0.00,0.00,0,88.83,80.36,0.00,0.00,0.005,0.000,0.000,2556.72,2534.88,2578.56,170.12,2082.25,0,0,0,14.62,30.00,30.00
$GC,89.10,18435,-116.79,-1.28,0.00,2555.4,2534.1,2576.7,170.2,2082.9,3.19,-11.08,15,119.74,9.24,14.66,0.00,0.007,0.254,0.000,2974.28,2967.75,2980.81,1830.25,2082.44,0,0,0,14.89,15.18,30.00
$GC,298.08,260,-116.79,-1.28,80.00,2975.3,2968.4,2982.1,1830.2,2082.4,47.80,-18.89,57,304.31,0.00,0.00,3.83,0.000,0.000,0.113,2975.72,2969.00,2982.44,1830.44,3472.69,0,0,0,30.00,30.00,15.49
$GC,373.58,1028,-116.79,-1.28,0.00,2975.7,2969.1,2982.2,1829.8,3473.8,61.15,-16.62,72,379.25,0.00,0.00,3.44,0.000,0.000,0.060,2975.88,2969.19,2982.56,1830.44,2082.44,0,0,0,30.00,30.00,15.61
$GC,558.21,516,-116.79,-1.28,-80.00,2975.2,2968.6,2981.8,1829.7,2082.5,86.42,-12.51,109,564.43,0.00,0.00,4.11,0.000,0.000,0.154,2974.97,2968.44,2981.50,1829.94,661.94,0,0,0,30.00,30.00,15.40
$GC,613.60,1028,-116.79,-1.28,0.00,2975.5,2969.3,2981.7,1830.3,662.0,93.95,-14.18,120,619.34,0.00,0.00,3.54,0.000,0.000,0.051,2975.47,2969.06,2981.88,1830.44,2122.25,0,0,0,30.00,30.00,15.70
$GC,798.28,260,-116.79,-1.28,80.00,2975.4,2968.8,2981.9,1830.1,2121.9,113.30,-11.81,145,803.88,0.00,0.00,3.66,0.000,0.000,0.112,2975.31,2968.88,2981.75,1828.56,3472.44,0,0,0,30.00,30.00,15.54
$GC,883.66,1028,-116.79,-1.28,0.00,2975.4,2969.2,2981.6,1830.1,3472.9,123.90,-12.15,162,888.85,0.00,0.00,3.39,0.000,0.000,0.057,2974.97,2968.25,2981.69,1827.94,2081.44,0,0,0,30.00,30.00,15.67
$GC,1188.30,260,-116.79,-1.28,80.00,2975.2,2968.5,2981.8,1830.1,2081.2,156.11,-10.51,193,1193.98,0.00,0.00,3.78,0.000,0.000,0.110,2975.69,2969.56,2981.81,1828.88,3474.38,0,0,0,30.00,30.00,15.57
$GC,1223.73,1028,-116.79,-1.28,0.00,2975.2,2968.8,2981.6,1829.7,3474.7,160.07,-11.31,200,1228.92,0.00,0.00,3.39,0.000,0.000,0.058,2974.56,2967.75,2981.38,1830.00,2079.75,0,0,0,30.00,30.00,15.68
$GC,1528.38,260,-116.79,-1.28,80.00,2975.4,2968.5,2982.4,1830.3,2080.2,190.41,-10.04,231,1534.05,0.00,0.00,3.77,0.000,0.000,0.109,2977.03,2969.94,2984.12,1830.00,3475.12,0,0,0,30.00,30.00,15.57
$GC,1577.28,1028,-116.79,-1.28,0.00,2975.8,2968.8,2982.7,1830.5,3475.2,195.92,-11.18,241,1584.53,0.00,0.00,3.40,0.000,0.000,0.058,2975.25,2968.69,2981.81,1830.69,2081.06,0,0,0,30.00,30.00,15.66
$GC,1883.45,0,-116.79,-1.28,0.00,2975.2,2968.4,2982.0,1830.2,2081.5,225.32,-9.75,272,1884.78,0.00,0.00,0.00,0.000,0.000,0.000,2975.88,2969.44,2982.31,1830.19,2081.19,0,0,0,30.00,30.00,30.00
$GC,2183.51,0,-116.79,-1.28,0.00,2975.8,2969.3,2982.2,1830.1,2081.2,254.39,-8.03,302,2184.84,0.00,0.00,0.00,0.000,0.000,0.000,2975.84,2969.31,2982.38,1829.62,2081.50,0,0,0,30.00,30.00,30.00
$GC,2483.57,0,-116.79,-1.28,0.00,2975.9,2969.4,2982.3,1830.4,2081.6,286.39,-11.09,332,2484.89,0.00,0.00,0.00,0.000,0.000,0.000,2975.66,2969.44,2981.88,1830.19,2081.38,0,0,0,30.00,30.00,30.00
$GC,2783.63,260,-116.79,-1.28,80.00,2975.3,2968.8,2981.8,1830.1,2081.6,317.21,-9.86,362,2789.33,0.00,0.00,3.83,0.000,0.000,0.115,2974.22,2967.69,2980.75,1830.00,3474.62,0,0,0,30.00,30.00,15.54
$GC,2829.07,1028,-116.79,-1.28,0.00,2975.5,2968.9,2982.1,1830.0,3474.1,321.88,-10.37,371,2834.27,0.00,0.00,3.42,0.000,0.000,0.061,2976.91,2969.69,2984.12,1830.12,2083.56,0,0,0,30.00,30.00,15.66
$GC,3133.70,260,-116.79,-1.28,80.00,2975.6,2969.0,2982.2,1830.1,2083.1,353.96,-10.55,402,3139.41,0.00,0.00,3.82,0.000,0.000,0.114,2976.03,2969.62,2982.44,1829.88,3473.56,0,0,0,30.00,30.00,15.53
$GC,3162.59,1028,-116.79,-1.28,0.00,2975.1,2968.2,2982.1,1830.3,3474.1,357.80,-9.45,408,3169.86,0.00,0.00,3.40,0.000,0.000,0.061,2975.44,2968.88,2982.00,1829.94,2082.12,0,0,0,30.00,30.00,15.64
$GC,3468.77,0,-116.79,-1.28,0.00,2975.6,2969.1,2982.0,1829.9,2082.2,390.92,-11.21,439,3470.10,0.00,0.00,0.00,0.000,0.000,0.000,2975.78,2969.56,2982.00,1830.19,2082.31,0,0,0,30.00,30.00,30.00
$STATE,3698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3698,begin apogee
$GC,3700.02,10243,0.00,-0.25,0.00,2975.6,2969.4,2981.8,1830.2,2119.9,416.49,-11.02,462,3801.25,97.11,1.88,0.09,1.529,0.138,0.234,2498.16,2506.19,2490.12,2081.31,2084.81,0,0,0,10.52,15.56,14.91
$STATE,3803,end apogee,CONTROL_FINISHED_OK
$STATE,3803,begin climb
$GC,3803.93,10243,116.79,1.28,0.00,2497.8,2506.6,2488.9,2080.9,2085.7,420.75,0.00,472,3911.45,103.89,2.66,0.00,1.474,0.081,0.000,2024.38,2049.50,1999.25,2453.06,2085.38,0,0,0,11.70,15.21,30.00
$GC,4208.98,16450,116.79,1.31,0.00,2012.6,2043.6,1981.6,2454.6,2085.2,396.60,8.19,513,4210.31,0.00,0.00,0.00,0.000,0.000,0.000,2012.72,2043.62,1981.81,2454.62,2085.62,0,0,0,30.00,30.00,30.00
$GC,4508.95,10791,171.22,1.47,-80.00,2010.1,2042.9,1977.2,2454.4,2085.4,374.59,6.33,543,4564.76,47.72,0.26,4.13,1.434,0.072,0.145,1801.41,1835.44,1767.38,2509.44,663.75,0,0,0,11.04,15.68,15.11
$GC,4632.91,1028,171.22,1.47,0.00,1797.4,1831.9,1762.9,2509.1,663.7,362.71,10.53,568,4639.69,0.00,0.00,3.60,0.000,0.000,0.053,1796.97,1832.00,1761.94,2509.44,2124.12,0,0,0,30.00,30.00,15.50
$GC,4939.01,16386,171.22,1.47,0.00,1793.2,1831.6,1754.8,2509.3,2124.4,333.38,11.28,599,4940.34,0.00,0.00,0.00,0.000,0.000,0.000,1793.31,1831.69,1754.94,2506.75,2124.56,0,0,0,30.00,30.00,30.00
$GC,5239.06,16386,171.22,1.47,0.00,1792.2,1831.5,1752.8,2509.1,2124.1,303.48,10.62,629,5240.39,0.00,0.00,0.00,0.000,0.000,0.000,1792.53,1831.88,1753.19,2508.62,2124.12,0,0,0,30.00,30.00,30.00
$GC,5539.12,16386,171.22,1.47,0.00,1791.5,1831.8,1751.3,2509.7,2124.2,274.06,8.96,659,5540.45,0.00,0.00,0.00,0.000,0.000,0.000,1791.91,1832.06,1751.75,2508.88,2124.31,0,0,0,30.00,30.00,30.00
$GC,5839.15,16646,171.22,1.47,80.00,1791.0,1831.8,1750.2,2509.1,2124.5,244.09,10.81,689,5844.84,0.00,0.00,3.71,0.000,0.000,0.117,1791.31,1831.56,1751.06,2508.25,3473.56,0,0,0,30.00,30.00,15.52
$GC,5948.09,17414,171.22,1.47,0.00,1789.9,1829.2,1750.6,2509.1,3473.9,231.43,10.38,711,5954.94,0.00,0.00,3.44,0.000,0.000,0.060,1790.22,1829.75,1750.69,2509.50,2079.69,0,0,0,30.00,30.00,15.67
$GC,6254.25,16902,171.22,1.47,-80.00,1789.8,1829.3,1750.4,2509.1,2080.1,200.41,10.47,742,6259.98,0.00,0.00,4.05,0.000,0.000,0.141,1788.31,1827.88,1748.75,2509.38,662.50,0,0,0,30.00,30.00,15.44
$GC,6323.15,17414,171.22,1.47,0.00,1789.6,1829.0,1750.1,2508.6,662.9,192.04,11.31,756,6330.04,0.00,0.00,3.54,0.000,0.000,0.053,1790.38,1829.69,1751.06,2508.38,2126.31,0,0,0,30.00,30.00,15.76
$GC,6629.34,16450,171.22,1.50,0.00,1789.2,1829.1,1749.3,2508.9,2126.1,164.65,8.47,787,6630.67,0.00,0.00,0.00,0.000,0.000,0.000,1789.47,1829.38,1749.56,2509.25,2126.38,0,0,0,30.00,30.00,30.00
$GC,6929.42,16966,171.22,1.52,-80.00,1788.9,1828.9,1748.9,2508.8,2126.2,139.67,8.45,817,6935.13,0.00,0.00,4.16,0.000,0.000,0.137,1788.44,1828.12,1748.75,2509.50,663.06,0,0,0,30.00,30.00,15.42
$GC,7024.83,17414,171.22,1.52,0.00,1789.0,1828.8,1749.2,2508.6,662.9,129.89,10.44,836,7030.04,0.00,0.00,3.54,0.000,0.000,0.052,1789.38,1828.94,1749.81,2506.75,2126.44,0,0,0,30.00,30.00,15.76
$GC,7329.48,16966,171.22,1.56,-80.00,1788.7,1828.6,1748.9,2510.0,2125.9,105.78,7.93,867,7335.21,0.00,0.00,4.14,0.000,0.000,0.135,1789.56,1829.75,1749.38,2508.69,662.81,0,0,0,30.00,30.00,15.41
$GC,7535.02,17478,171.22,1.61,0.00,1788.6,1828.4,1748.9,2509.1,662.9,88.72,7.47,908,7540.70,0.00,0.00,3.53,0.000,0.000,0.052,1788.78,1828.75,1748.81,2509.50,2127.25,0,0,0,30.00,30.00,15.76
$GC,7719.60,10791,241.88,1.83,-80.00,1788.6,1828.8,1748.5,2509.4,2127.6,77.79,5.46,945,7797.42,68.18,0.47,4.19,1.139,0.061,0.134,1513.06,1550.06,1476.06,2595.44,661.62,0,0,0,10.67,15.76,15.12
$GC,7931.14,1028,241.88,1.83,0.00,1509.7,1545.6,1473.8,2595.1,661.8,57.49,10.03,987,7936.46,0.00,0.00,3.57,0.000,0.000,0.051,1510.09,1546.38,1473.81,2595.50,2128.06,0,0,0,30.00,30.00,15.56
$GC,8115.80,10535,331.90,2.10,80.00,1507.4,1545.6,1469.2,2595.5,2129.1,46.62,4.42,1024,8217.55,93.13,0.34,3.78,1.072,0.063,0.112,1146.28,1179.25,1113.31,2657.88,3473.94,0,0,0,11.29,15.63,15.03
$GC,8301.07,1028,331.90,2.10,0.00,1144.0,1176.4,1111.6,2657.9,3473.4,31.77,11.24,1061,8306.80,0.00,0.00,3.47,0.000,0.000,0.056,1144.09,1176.56,1111.62,2658.19,2078.81,0,0,0,30.00,30.00,15.46
$GC,8486.22,516,331.90,2.10,-80.00,1142.3,1176.7,1107.9,2658.1,2079.3,10.80,12.26,1098,8492.10,0.00,0.00,4.03,0.000,0.000,0.135,1142.56,1176.75,1108.38,2658.50,662.75,0,0,0,30.00,30.00,15.37
$STATE,8551,end climb,SURFACE_DEPTH_REACHED
$STATE,8551,begin surface coast
$STATE,8566,end surface coast,CONTROL_FINISHED_OK
$STATE,8566,begin surface
$SM_CCo,8682.68,86.18,1.030,0,767.9,762.4,773.4,424.88
$SM_CCo,8683.85,0.00,0.010,0,767.6,761.4,773.8,424.97
$SM_CCo,8684.89,0.00,0.000,0,767.5,761.6,773.4,424.99
$SM_GC,-0.71,0.00,17.09,3.51,0.000,0.084,0.051,767.5,761.6,773.4,170.2,2125.1,0,0,0,30.00,15.45,15.67
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4752.03,-12518.46,170321,084719
$TCM_TEMP,175.39
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3533312
$HUMID,58.17
$TEMP,8.12
$INTERNAL_PRESSURE,7.80098
$24V_AH,14.23,241.227
$10V_AH,14.83,0.000
$FG_AHR_24Vo,206.798
$FG_AHR_10Vo,67.917
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,585.825,37.365,111.430,180.921,1.000,14.300,4103.081,4798.103,2553.241,0.000,0.000,0.000
$DEVICE_MAMPS,1528.560,254.280,233.944,201.550,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8613.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.707,0.000,0.000,0.000
$MEM,1100144,46,75684,114
$DATA_FILE_SIZE,41703,1114
$CAP_FILE_SIZE,425544,0
$SDSIZE,3918848,3683648
$SDFILEDIR,4281,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170321,132202,4750.618,-12515.939,2,1.9,8,15.7