version: 67.00
glider: 236
mission: 2
dive: 888
start: 3 22 121 3 12 6
data:
$ID,236
$MISSION,2
$DIVE,888
$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,69.367271
$FG_AHR_24V,215.91989
$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
$GPS1,220321,030340,4717.504,-12514.353,12,0.8,22,15.6
$_CALLS,2
$_SM_DEPTHo,-2.05
$_SM_ANGLEo,-57.2
$GPS2,220321,031147,4717.484,-12514.198,2,0.6,5,15.6
$SPEED_LIMITS,0.192,0.275
$TGT_NAME,IN3
$TGT_LATLONG,4707.430,-12509.000
$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,145.0,19739,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7.94,16386,-155.72,-1.40,0.00,557.9,567.6,548.3,167.7,2079.2,0.00,0.00,0,109.08,100.67,0.00,0.00,0.005,0.000,0.000,2820.88,2800.00,2841.75,168.12,2079.19,0,0,0,14.58,30.00,30.00
$GC,109.32,18695,-155.72,-1.40,80.00,2819.5,2798.5,2840.5,167.8,2079.2,4.04,-16.30,19,141.95,6.18,14.31,3.86,0.008,0.252,0.114,3133.25,3122.88,3143.62,1800.12,3474.62,0,0,0,14.84,15.14,14.68
$GC,260.66,1028,-155.72,-1.40,0.00,3133.6,3122.6,3144.6,1800.0,3474.6,43.07,-21.59,49,266.37,0.00,0.00,3.45,0.000,0.000,0.061,3134.72,3124.38,3145.06,1800.00,2083.38,0,0,0,30.00,30.00,15.55
$GC,445.32,260,-155.72,-1.40,80.00,3134.0,3123.2,3144.9,1799.8,2084.3,77.91,-17.38,86,451.48,0.00,0.00,3.88,0.000,0.000,0.110,3135.62,3124.69,3146.56,1800.00,3474.12,0,0,0,30.00,30.00,15.47
$GC,625.75,1028,-155.72,-1.40,0.00,3134.1,3123.3,3144.9,1799.9,3474.6,104.33,-13.11,122,630.95,0.00,0.00,3.43,0.000,0.000,0.059,3133.16,3121.50,3144.81,1800.06,2081.50,0,0,0,30.00,30.00,15.61
$GC,930.36,0,-155.72,-1.40,0.00,3133.9,3123.6,3144.2,1799.6,2081.9,142.98,-13.09,153,931.69,0.00,0.00,0.00,0.000,0.000,0.000,3134.59,3123.88,3145.31,1800.38,2081.56,0,0,0,30.00,30.00,30.00
$GC,1230.40,0,-155.72,-1.40,0.00,3134.4,3123.9,3145.0,1800.3,2081.9,182.26,-12.67,183,1231.73,0.00,0.00,0.00,0.000,0.000,0.000,3134.59,3123.81,3145.38,1800.12,2081.81,0,0,0,30.00,30.00,30.00
$GC,1530.45,260,-155.72,-1.40,80.00,3134.0,3122.8,3145.2,1800.1,2082.3,219.95,-11.77,213,1536.14,0.00,0.00,3.89,0.000,0.000,0.113,3132.69,3122.06,3143.31,1799.31,3474.62,0,0,0,30.00,30.00,15.50
$GC,1555.90,1028,-155.72,-1.40,0.00,3134.0,3123.2,3144.8,1800.2,3474.8,223.14,-12.26,218,1561.08,0.00,0.00,3.43,0.000,0.000,0.060,3134.72,3123.81,3145.62,1799.75,2082.38,0,0,0,30.00,30.00,15.64
$GC,1870.50,260,-155.72,-1.40,80.00,3133.9,3123.0,3144.8,1800.6,2082.8,260.57,-11.70,244,1876.21,0.00,0.00,3.90,0.000,0.000,0.113,3132.72,3121.81,3143.62,1799.69,3475.69,0,0,0,30.00,30.00,15.50
$GC,1909.42,1028,-155.72,-1.40,0.00,3134.2,3123.6,3144.7,1799.8,3474.2,266.07,-14.42,252,1915.13,0.00,0.00,3.44,0.000,0.000,0.060,3134.94,3124.06,3145.81,1799.94,2083.62,0,0,0,30.00,30.00,15.61
$GC,2225.54,260,-155.72,-1.40,80.00,3133.9,3123.0,3144.8,1800.1,2084.2,304.51,-11.97,265,2231.22,0.00,0.00,3.90,0.000,0.000,0.114,3133.91,3122.56,3145.25,1799.62,3473.88,0,0,0,30.00,30.00,15.48
$GC,2259.44,1028,-155.72,-1.40,0.00,3134.3,3123.4,3145.2,1799.9,3474.6,308.81,-13.55,272,2265.16,0.00,0.00,3.42,0.000,0.000,0.060,3135.62,3124.62,3146.62,1799.44,2081.75,0,0,0,30.00,30.00,15.61
$GC,2580.57,260,-155.72,-1.40,80.00,3134.0,3123.2,3144.7,1799.6,2082.1,345.78,-11.71,286,2586.25,0.00,0.00,3.89,0.000,0.000,0.115,3136.00,3124.19,3147.81,1800.06,3473.94,0,0,0,30.00,30.00,15.48
$GC,2644.48,1028,-155.72,-1.40,0.00,3134.2,3123.2,3145.1,1799.9,3473.9,353.85,-11.61,299,2650.18,0.00,0.00,3.43,0.000,0.000,0.062,3135.31,3124.69,3145.94,1800.00,2081.31,0,0,0,30.00,30.00,15.60
$GC,2965.59,0,-155.72,-1.40,0.00,3133.8,3122.6,3145.0,1800.4,2081.3,390.70,-11.86,313,2966.92,0.00,0.00,0.00,0.000,0.000,0.000,3134.50,3123.75,3145.25,1800.25,2081.50,0,0,0,30.00,30.00,30.00
$GC,3265.60,260,-155.72,-1.40,80.00,3133.9,3123.3,3144.6,1800.0,2081.6,423.86,-10.93,323,3271.31,0.00,0.00,3.91,0.000,0.000,0.118,3133.25,3122.88,3143.62,1800.06,3474.38,0,0,0,30.00,30.00,15.46
$GC,3344.52,1028,-155.72,-1.40,0.00,3134.0,3123.2,3144.8,1799.5,3474.6,432.87,-9.91,339,3351.77,0.00,0.00,3.42,0.000,0.000,0.064,3134.38,3123.88,3144.88,1800.44,2083.50,0,0,0,30.00,30.00,15.58
$GC,3650.64,260,-155.72,-1.40,80.00,3133.8,3123.2,3144.4,1800.4,2083.8,469.36,-11.71,350,3656.34,0.00,0.00,3.90,0.000,0.000,0.118,3133.62,3123.19,3144.06,1798.44,3472.44,0,0,0,30.00,30.00,15.44
$GC,3699.55,1028,-155.72,-1.40,0.00,3133.6,3123.4,3143.8,1799.6,3473.5,474.97,-11.06,360,3706.79,0.00,0.00,3.43,0.000,0.000,0.064,3133.59,3123.00,3144.19,1800.31,2082.25,0,0,0,30.00,30.00,15.57
$STATE,3915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3915,begin apogee
$GC,3916.80,10243,0.00,-0.25,0.00,3133.6,3123.6,3143.6,1800.1,2120.4,501.46,-12.44,368,4051.02,131.26,2.13,0.09,1.648,0.141,0.232,2500.22,2508.06,2492.38,2081.12,2084.44,0,0,0,10.45,15.49,14.80
$STATE,4053,end apogee,CONTROL_FINISHED_OK
$STATE,4053,begin climb
$GC,4053.80,10759,155.72,1.40,-80.00,2497.7,2506.8,2488.6,2081.2,2084.1,506.04,0.00,372,4205.90,139.36,2.89,4.26,1.605,0.080,0.146,1863.75,1891.31,1836.19,2484.25,663.06,0,0,0,11.57,15.08,14.67
$GC,4208.15,11303,292.63,1.81,0.00,1861.9,1888.9,1834.9,2485.1,662.8,499.20,4.49,383,4336.44,121.92,0.63,3.72,1.567,0.050,0.050,1307.69,1339.81,1275.56,2590.31,2122.00,0,0,0,11.46,14.98,15.04
$GC,4654.70,516,292.63,1.81,-80.00,1300.7,1336.9,1264.4,2590.6,2121.9,428.92,16.57,422,4660.43,0.00,0.00,4.14,0.000,0.000,0.143,1301.66,1337.75,1265.56,2590.56,662.88,0,0,0,30.00,30.00,15.40
$GC,4703.61,1028,292.63,1.81,0.00,1300.7,1337.0,1264.4,2591.4,663.2,418.86,19.96,432,4710.44,0.00,0.00,3.59,0.000,0.000,0.054,1300.66,1336.56,1264.75,2591.38,2121.19,0,0,0,30.00,30.00,15.62
$GC,5009.72,0,292.63,1.81,0.00,1300.1,1336.6,1263.6,2591.9,2121.4,365.05,17.39,443,5011.05,0.00,0.00,0.00,0.000,0.000,0.000,1299.22,1335.88,1262.56,2591.44,2121.00,0,0,0,30.00,30.00,30.00
$GC,5309.74,516,292.63,1.81,-80.00,1299.4,1336.1,1262.6,2591.8,2121.3,315.30,16.36,453,5315.45,0.00,0.00,4.07,0.000,0.000,0.142,1299.44,1336.25,1262.62,2589.50,663.00,0,0,0,30.00,30.00,15.43
$GC,5388.65,1028,292.63,1.81,0.00,1299.8,1336.3,1263.2,2591.6,662.9,300.13,18.70,469,5395.48,0.00,0.00,3.56,0.000,0.000,0.055,1299.78,1336.56,1263.00,2590.44,2121.50,0,0,0,30.00,30.00,15.71
$GC,5694.78,516,292.63,1.81,-80.00,1299.2,1335.9,1262.4,2591.6,2121.5,251.20,15.95,480,5700.49,0.00,0.00,4.06,0.000,0.000,0.140,1298.47,1335.06,1261.88,2591.81,662.69,0,0,0,30.00,30.00,15.43
$GC,5730.21,1028,292.63,1.81,0.00,1299.2,1335.8,1262.6,2591.0,662.8,245.08,19.38,487,5735.41,0.00,0.00,3.54,0.000,0.000,0.053,1299.84,1336.06,1263.62,2591.38,2122.50,0,0,0,30.00,30.00,15.74
$GC,6034.84,16902,292.63,1.81,-80.00,1298.7,1335.2,1262.2,2591.0,2123.2,198.16,15.00,518,6040.55,0.00,0.00,4.06,0.000,0.000,0.138,1299.22,1335.81,1262.62,2591.25,661.75,0,0,0,30.00,30.00,15.42
$GC,6120.29,1028,292.63,1.81,0.00,1299.2,1335.7,1262.6,2591.7,661.8,182.75,18.59,535,6125.48,0.00,0.00,3.52,0.000,0.000,0.053,1298.91,1335.25,1262.56,2591.25,2124.19,0,0,0,30.00,30.00,15.73
$GC,6424.92,16902,292.63,1.81,-80.00,1298.5,1335.2,1261.9,2591.7,2124.2,137.35,13.67,566,6430.64,0.00,0.00,4.07,0.000,0.000,0.137,1298.56,1335.12,1262.00,2591.00,663.19,0,0,0,30.00,30.00,15.40
$GC,6480.36,17414,292.63,1.81,0.00,1298.7,1335.3,1262.0,2591.5,662.8,128.14,18.02,577,6485.56,0.00,0.00,3.52,0.000,0.000,0.051,1297.94,1334.50,1261.38,2592.06,2124.44,0,0,0,30.00,30.00,15.74
$GC,6785.01,16902,292.63,1.81,-80.00,1298.4,1334.9,1261.8,2591.2,2123.8,86.22,12.78,618,6791.26,0.00,0.00,4.07,0.000,0.000,0.136,1299.09,1335.81,1262.38,2591.62,662.75,0,0,0,30.00,30.00,15.38
$GC,6810.43,17414,292.63,1.81,0.00,1298.7,1335.4,1262.1,2591.1,663.1,82.77,13.26,623,6815.74,0.00,0.00,3.52,0.000,0.000,0.051,1299.12,1335.69,1262.56,2591.69,2126.44,0,0,0,30.00,30.00,15.73
$GC,6995.10,16966,292.63,1.84,-80.00,1298.3,1335.1,1261.5,2591.6,2126.4,61.42,10.35,660,7001.32,0.00,0.00,4.07,0.000,0.000,0.136,1298.88,1335.62,1262.12,2590.06,661.56,0,0,0,30.00,30.00,15.38
$GC,7070.53,17478,292.63,1.87,0.00,1298.6,1335.2,1261.9,2591.5,661.9,53.96,9.96,675,7075.82,0.00,0.00,3.51,0.000,0.000,0.050,1299.16,1335.81,1262.50,2590.12,2129.31,0,0,0,30.00,30.00,15.74
$GC,7255.17,10275,375.51,2.12,0.00,1298.4,1335.3,1261.4,2591.8,2129.5,40.42,7.11,712,7347.12,88.85,0.40,0.00,1.102,0.060,0.000,969.56,1001.19,937.94,2665.38,2129.81,0,0,0,10.70,15.73,30.00
$GC,7525.42,516,375.51,2.12,-80.00,966.4,1000.6,932.3,2665.5,2130.1,7.25,11.90,766,7531.22,0.00,0.00,4.09,0.000,0.000,0.133,967.09,1001.06,933.12,2665.69,661.94,0,0,0,30.00,30.00,15.32
$STATE,7560,end climb,SURFACE_DEPTH_REACHED
$STATE,7560,begin surface coast
$STATE,7570,end surface coast,CONTROL_FINISHED_OK
$STATE,7570,begin surface
$SM_CCo,7694.67,93.79,1.054,0,564.3,574.1,554.5,474.83
$SM_CCo,7695.79,0.00,2.605,0,564.6,572.0,557.2,474.76
$SM_CCo,7696.91,0.00,0.009,0,564.8,572.1,557.6,474.70
$SM_GC,-1.19,0.00,17.33,3.52,0.009,0.087,0.051,564.8,572.1,557.6,172.6,2124.6,0,0,0,30.36,15.39,15.61
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4716.16,-12513.82,220321,030708
$TCM_TEMP,175.44
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3519104
$HUMID,58.05
$TEMP,7.98
$INTERNAL_PRESSURE,7.78075
$24V_AH,13.78,251.495
$10V_AH,14.80,0.000
$FG_AHR_24Vo,216.166
$FG_AHR_10Vo,69.396
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,682.030,37.685,127.725,232.178,1.000,14.223,3172.507,4847.503,1684.582,0.000,0.000,0.000
$DEVICE_MAMPS,2604.728,251.984,232.304,198.571,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7620.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.675,0.000,0.000,0.000
$MEM,1102868,46,73880,68
$DATA_FILE_SIZE,28964,775
$CAP_FILE_SIZE,369377,0
$SDSIZE,3918848,3673824
$SDFILEDIR,4466,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220321,052039,4716.566,-12512.807,4,1.5,9,15.6