version: 67.00
glider: 236
mission: 2
dive: 882
start: 3 21 121 11 0 41
data:
$ID,236
$MISSION,2
$DIVE,882
$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,180
$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,69.154243
$FG_AHR_24V,214.38383
$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
$GPS1,210321,105329,4724.281,-12519.607,31,1.0,32,15.7
$_CALLS,1
$_SM_DEPTHo,-1.71
$_SM_ANGLEo,-60.6
$GPS2,210321,110024,4724.298,-12519.541,3,0.6,5,15.7
$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,145.9,17879,-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,7.98,16386,-155.72,-1.40,0.00,561.3,567.2,555.3,169.1,2119.1,0.00,0.00,0,104.04,95.53,0.00,0.00,0.005,0.000,0.000,2746.59,2725.94,2767.25,169.06,2119.00,0,0,0,14.58,30.00,30.00
$GC,104.26,18695,-155.72,-1.40,80.00,2746.0,2725.9,2766.1,168.9,2118.9,3.74,-12.69,18,136.93,8.02,14.40,3.80,0.007,0.251,0.114,3134.09,3123.75,3144.44,1800.06,3474.31,0,0,0,14.85,15.14,14.64
$GC,325.62,1028,-155.72,-1.40,0.00,3134.4,3123.5,3145.2,1799.9,3474.2,54.66,-20.85,62,331.34,0.00,0.00,3.48,0.000,0.000,0.061,3134.38,3123.94,3144.81,1800.06,2082.00,0,0,0,30.00,30.00,15.56
$GC,510.27,0,-155.72,-1.40,0.00,3134.1,3123.6,3144.6,1799.8,2082.4,83.97,-14.12,99,514.60,0.00,0.00,0.00,0.000,0.000,0.000,3134.72,3124.50,3144.94,1799.81,2082.19,0,0,0,30.00,30.00,30.00
$GC,700.24,0,-155.72,-1.40,0.00,3134.2,3123.8,3144.5,1800.1,2082.4,110.22,-13.98,130,701.57,0.00,0.00,0.00,0.000,0.000,0.000,3134.47,3124.12,3144.81,1799.38,2082.69,0,0,0,30.00,30.00,30.00
$GC,1000.26,260,-155.72,-1.40,80.00,3133.8,3123.6,3144.1,1799.9,2082.4,150.90,-13.66,160,1005.95,0.00,0.00,3.88,0.000,0.000,0.111,3132.22,3121.69,3142.75,1800.44,3474.38,0,0,0,30.00,30.00,15.49
$GC,1055.73,1028,-155.72,-1.40,0.00,3134.1,3123.6,3144.5,1799.5,3474.8,158.64,-14.66,171,1060.89,0.00,0.00,3.45,0.000,0.000,0.059,3133.66,3123.69,3143.62,1798.62,2083.12,0,0,0,30.00,30.00,15.63
$GC,1360.31,260,-155.72,-1.40,80.00,3133.7,3122.9,3144.4,1800.0,2083.2,198.94,-13.19,202,1365.99,0.00,0.00,3.86,0.000,0.000,0.110,3134.84,3124.12,3145.56,1800.25,3474.44,0,0,0,30.00,30.00,15.50
$GC,1419.23,1028,-155.72,-1.40,0.00,3134.2,3123.4,3145.1,1800.1,3474.0,206.98,-13.59,214,1426.46,0.00,0.00,3.44,0.000,0.000,0.059,3135.09,3124.38,3145.81,1799.75,2081.31,0,0,0,30.00,30.00,15.61
$GC,1725.34,0,-155.72,-1.40,0.00,3134.2,3123.6,3144.9,1800.1,2081.9,243.88,-12.05,245,1726.67,0.00,0.00,0.00,0.000,0.000,0.000,3134.28,3123.69,3144.88,1800.06,2081.38,0,0,0,30.00,30.00,30.00
$GC,2025.36,260,-155.72,-1.40,80.00,3134.4,3123.8,3145.1,1799.9,2081.4,280.41,-12.40,259,2031.05,0.00,0.00,3.91,0.000,0.000,0.114,3132.91,3121.69,3144.12,1799.88,3473.56,0,0,0,30.00,30.00,15.48
$GC,2089.28,1028,-155.72,-1.40,0.00,3134.2,3122.9,3145.4,1800.4,3473.6,288.61,-13.00,272,2094.98,0.00,0.00,3.45,0.000,0.000,0.061,3135.41,3124.38,3146.44,1800.06,2081.88,0,0,0,30.00,30.00,15.60
$GC,2410.39,0,-155.72,-1.40,0.00,3134.2,3123.7,3144.7,1799.9,2082.5,326.11,-11.88,286,2411.72,0.00,0.00,0.00,0.000,0.000,0.000,3133.91,3123.06,3144.75,1799.94,2082.50,0,0,0,30.00,30.00,30.00
$GC,2710.40,260,-155.72,-1.40,80.00,3134.0,3123.4,3144.6,1799.6,2082.5,361.23,-11.77,296,2716.10,0.00,0.00,3.90,0.000,0.000,0.115,3134.38,3123.44,3145.31,1799.44,3472.69,0,0,0,30.00,30.00,15.47
$GC,2754.31,1028,-155.72,-1.40,0.00,3134.2,3123.9,3144.4,1799.6,3473.8,366.73,-11.42,305,2760.01,0.00,0.00,3.45,0.000,0.000,0.062,3134.16,3123.50,3144.81,1800.38,2084.06,0,0,0,30.00,30.00,15.59
$GC,3065.42,260,-155.72,-1.40,80.00,3134.2,3123.8,3144.8,1799.8,2083.9,401.00,-10.71,317,3071.13,0.00,0.00,3.90,0.000,0.000,0.115,3135.53,3124.50,3146.56,1800.50,3474.94,0,0,0,30.00,30.00,15.46
$GC,3114.33,1028,-155.72,-1.40,0.00,3133.9,3123.1,3144.7,1799.9,3474.2,407.24,-12.00,327,3121.57,0.00,0.00,3.43,0.000,0.000,0.062,3135.22,3124.38,3146.06,1799.69,2081.19,0,0,0,30.00,30.00,15.59
$GC,3420.43,0,-155.72,-1.40,0.00,3134.0,3123.4,3144.6,1799.8,2081.1,439.67,-10.52,338,3421.76,0.00,0.00,0.00,0.000,0.000,0.000,3134.19,3123.62,3144.75,1800.00,2081.25,0,0,0,30.00,30.00,30.00
$GC,3720.44,260,-155.72,-1.40,80.00,3133.5,3123.3,3143.8,1800.2,2081.1,472.26,-10.80,348,3726.15,0.00,0.00,3.93,0.000,0.000,0.118,3134.28,3123.69,3144.88,1800.12,3473.88,0,0,0,30.00,30.00,15.43
$GC,3789.42,1028,-155.72,-1.40,0.00,3133.7,3123.5,3143.8,1799.3,3474.6,479.95,-12.41,362,3795.07,0.00,0.00,3.46,0.000,0.000,0.065,3133.88,3124.00,3143.75,1799.81,2085.12,0,0,0,30.00,30.00,15.56
$STATE,4016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4016,begin apogee
$GC,4016.62,10243,0.00,-0.25,0.00,3133.6,3123.1,3144.1,1799.6,2117.3,503.72,-10.80,372,4152.16,132.22,2.05,0.09,1.652,0.141,0.243,2497.22,2505.31,2489.12,2079.81,2086.44,0,0,0,10.40,15.48,14.78
$STATE,4155,end apogee,CONTROL_FINISHED_OK
$STATE,4155,begin climb
$GC,4154.91,10243,155.72,1.40,0.00,2497.5,2506.2,2488.7,2080.5,2085.8,507.42,0.00,376,4299.76,140.32,2.83,0.00,1.597,0.082,0.000,1862.66,1890.75,1834.56,2484.56,2086.75,0,0,0,11.53,15.08,30.00
$GC,4613.07,16902,155.72,1.40,-80.00,1853.5,1886.2,1820.8,2484.4,2086.4,421.16,11.67,406,4618.76,0.00,0.00,4.11,0.000,0.000,0.144,1853.38,1886.50,1820.25,2483.88,663.06,0,0,0,30.00,30.00,15.37
$GC,4698.46,17414,155.72,1.40,0.00,1852.3,1883.8,1820.9,2484.6,662.8,410.80,12.76,423,4703.67,0.00,0.00,3.60,0.000,0.000,0.054,1851.22,1882.88,1819.56,2484.12,2121.44,0,0,0,30.00,30.00,15.64
$GC,5023.11,16386,155.72,1.40,0.00,1851.6,1883.8,1819.3,2484.4,2122.1,373.65,11.78,438,5024.44,0.00,0.00,0.00,0.000,0.000,0.000,1851.97,1884.00,1819.94,2484.00,2121.81,0,0,0,30.00,30.00,30.00
$GC,5323.09,16450,155.72,1.44,0.00,1850.3,1883.6,1817.1,2484.4,2122.0,346.53,9.81,448,5324.42,0.00,0.00,0.00,0.000,0.000,0.000,1851.03,1884.06,1818.00,2484.56,2122.31,0,0,0,30.00,30.00,30.00
$GC,5623.11,16450,155.72,1.49,0.00,1849.7,1882.5,1816.9,2484.1,2122.2,318.77,9.38,458,5624.44,0.00,0.00,0.00,0.000,0.000,0.000,1850.06,1882.88,1817.25,2484.50,2121.88,0,0,0,30.00,30.00,30.00
$GC,5923.12,10791,218.34,1.68,-80.00,1849.6,1882.3,1816.8,2484.1,2121.9,294.83,8.08,468,5985.60,54.40,0.41,4.26,1.444,0.064,0.142,1609.03,1639.12,1578.94,2559.00,663.00,0,0,0,10.77,15.74,15.11
$GC,6067.76,1028,218.34,1.68,0.00,1605.5,1633.4,1577.6,2558.6,663.3,275.36,18.82,497,6074.59,0.00,0.00,3.65,0.000,0.000,0.055,1605.81,1634.06,1577.56,2558.94,2121.31,0,0,0,30.00,30.00,15.53
$GC,6373.90,16902,218.34,1.68,-80.00,1601.6,1632.8,1570.4,2558.8,2121.3,235.32,12.49,514,6379.62,0.00,0.00,4.13,0.000,0.000,0.138,1601.03,1632.50,1569.56,2558.81,662.50,0,0,0,30.00,30.00,15.37
$GC,6449.32,17414,218.34,1.68,0.00,1601.2,1632.1,1570.2,2558.5,663.0,223.16,16.88,529,6454.54,0.00,0.00,3.61,0.000,0.000,0.053,1600.66,1631.88,1569.44,2558.62,2124.00,0,0,0,30.00,30.00,15.66
$GC,6753.97,16902,218.34,1.68,-80.00,1600.5,1632.3,1568.7,2558.4,2124.2,186.34,11.84,560,6759.69,0.00,0.00,4.18,0.000,0.000,0.137,1601.91,1633.56,1570.25,2558.81,662.50,0,0,0,30.00,30.00,15.38
$GC,6839.41,17414,218.34,1.68,0.00,1600.5,1632.2,1568.7,2559.1,663.2,173.22,14.75,577,6844.60,0.00,0.00,3.59,0.000,0.000,0.053,1600.44,1632.00,1568.88,2558.88,2123.25,0,0,0,30.00,30.00,15.70
$GC,7144.06,16902,218.34,1.68,-80.00,1599.7,1632.1,1567.2,2558.8,2123.2,135.42,11.53,608,7149.77,0.00,0.00,4.16,0.000,0.000,0.136,1600.66,1632.44,1568.88,2559.25,662.94,0,0,0,30.00,30.00,15.38
$GC,7189.48,17414,218.34,1.68,0.00,1599.8,1632.0,1567.6,2557.9,662.9,129.57,13.67,617,7194.68,0.00,0.00,3.58,0.000,0.000,0.052,1600.09,1632.31,1567.88,2558.25,2124.06,0,0,0,30.00,30.00,15.71
$GC,7494.17,16902,218.34,1.68,-80.00,1599.2,1631.6,1566.8,2558.6,2124.2,96.70,11.03,651,7500.37,0.00,0.00,4.14,0.000,0.000,0.134,1599.84,1632.38,1567.31,2559.38,663.94,0,0,0,30.00,30.00,15.38
$GC,7584.57,17414,218.34,1.68,0.00,1599.2,1631.5,1566.9,2558.6,664.0,84.53,14.17,669,7589.86,0.00,0.00,3.57,0.000,0.000,0.052,1599.97,1632.50,1567.44,2558.88,2125.31,0,0,0,30.00,30.00,15.71
$GC,7769.18,16710,218.34,1.71,80.00,1598.9,1631.5,1566.3,2558.5,2125.5,66.55,10.10,706,7774.93,0.00,0.00,3.73,0.000,0.000,0.112,1599.03,1631.81,1566.25,2558.44,3474.06,0,0,0,30.00,30.00,15.47
$GC,7809.63,17478,218.34,1.77,0.00,1598.3,1630.9,1565.8,2558.9,3474.4,62.87,9.18,714,7815.33,0.00,0.00,3.44,0.000,0.000,0.055,1599.69,1632.38,1567.00,2559.06,2077.25,0,0,0,30.00,30.00,15.65
$GC,7994.22,10791,308.32,2.04,-80.00,1598.3,1631.1,1565.5,2558.8,2078.1,48.47,6.76,751,8097.56,96.17,0.50,4.09,1.114,0.061,0.137,1243.69,1275.81,1211.56,2645.12,662.88,0,0,0,10.76,15.71,15.01
$GC,8101.33,9254,349.71,2.16,0.00,1243.0,1274.8,1211.2,2645.4,663.1,40.46,9.11,772,8152.41,45.69,0.00,3.62,1.042,0.000,0.048,1075.00,1106.56,1043.44,2646.06,2126.31,0,0,0,11.61,30.00,15.33
$GC,8330.82,260,349.71,2.16,80.00,1070.8,1106.2,1035.3,2645.4,2126.5,14.85,12.44,818,8336.58,0.00,0.00,3.77,0.000,0.000,0.112,1070.88,1106.06,1035.69,2645.25,3471.25,0,0,0,30.00,30.00,15.36
$GC,8355.93,1028,349.71,2.16,0.00,1070.4,1105.8,1035.1,2645.6,3471.7,11.38,13.89,823,8361.54,0.00,0.00,3.45,0.000,0.000,0.055,1070.97,1106.00,1035.94,2645.31,2077.88,0,0,0,30.00,30.00,15.52
$STATE,8441,end climb,SURFACE_DEPTH_REACHED
$STATE,8441,begin surface coast
$STATE,8456,end surface coast,CONTROL_FINISHED_OK
$STATE,8456,begin surface
$SM_CCo,8598.45,116.72,1.038,0,564.4,570.6,558.2,474.81
$SM_CCo,8599.58,0.00,0.016,0,563.8,570.6,557.1,474.94
$SM_CCo,8600.69,0.00,0.009,0,563.8,570.3,557.2,474.95
$SM_GC,-14.26,0.00,17.06,0.08,0.009,0.080,0.137,563.8,570.3,557.2,170.0,2128.4,0,0,0,30.36,15.43,15.64
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4726.65,-12518.56,210321,080040
$TCM_TEMP,175.28
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3521408
$HUMID,57.85
$TEMP,8.00
$INTERNAL_PRESSURE,7.77746
$24V_AH,14.06,249.810
$10V_AH,14.78,0.000
$FG_AHR_24Vo,214.620
$FG_AHR_10Vo,69.186
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,689.080,37.235,120.350,208.043,0.750,14.482,3310.085,5514.521,1829.407,0.000,0.000,0.000
$DEVICE_MAMPS,1652.216,251.000,242.800,209.593,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8498.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.591,0.000,0.000,0.000
$MEM,1102948,42,73880,68
$DATA_FILE_SIZE,32208,843
$CAP_FILE_SIZE,381059,0
$SDSIZE,3918848,3675360
$SDFILEDIR,4436,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210321,132421,4723.473,-12518.486,4,1.8,10,15.7