version: 67.00
glider: 236
mission: 2
dive: 638
start: 2 19 121 3 49 8
data:
$ID,236
$MISSION,2
$DIVE,638
$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,59.444099
$FG_AHR_24V,159.64499
$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
$GPS1,190221,034210,4733.400,-12605.112,26,1.0,27,15.8
$_CALLS,1
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-62.5
$GPS2,190221,034850,4733.375,-12605.196,2,0.9,4,15.8
$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,131.4,10651,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7.51,16386,-77.86,-1.43,0.00,761.1,766.6,755.6,172.6,2114.4,0.00,0.00,0,92.53,84.46,0.00,0.00,0.005,0.000,0.000,2594.16,2573.00,2615.31,172.88,2114.88,0,0,0,14.96,30.00,30.00
$GC,92.81,18727,-77.86,-1.43,80.00,2592.9,2571.3,2614.5,172.8,2114.4,3.29,-3.33,16,120.50,5.56,14.35,3.83,0.009,0.256,0.112,2816.59,2808.75,2824.44,1792.19,3474.00,0,0,0,15.10,15.22,14.96
$GC,343.41,1028,-77.86,-1.43,0.00,2816.2,2808.4,2823.9,1792.8,3474.4,59.51,-20.11,66,349.16,0.00,0.00,3.50,0.000,0.000,0.057,2817.31,2809.25,2825.38,1792.38,2082.50,0,0,0,30.00,30.00,15.59
$GC,528.51,516,-77.86,-1.43,-80.00,2816.6,2808.6,2824.5,1793.1,2082.6,86.98,-11.42,103,534.30,0.00,0.00,4.14,0.000,0.000,0.148,2816.91,2809.31,2824.50,1793.19,663.00,0,0,0,30.00,30.00,15.42
$GC,593.46,1028,-77.86,-1.43,0.00,2817.0,2809.0,2825.0,1792.7,663.1,96.65,-15.67,116,599.21,0.00,0.00,3.55,0.000,0.000,0.048,2816.34,2808.38,2824.31,1792.81,2120.50,0,0,0,30.00,30.00,15.67
$GC,783.49,0,-77.86,-1.43,0.00,2816.6,2808.8,2824.4,1793.1,2120.4,117.20,-10.20,138,784.82,0.00,0.00,0.00,0.000,0.000,0.000,2816.94,2810.00,2823.88,1792.44,2120.12,0,0,0,30.00,30.00,30.00
$GC,1083.51,260,-77.86,-1.43,80.00,2816.6,2808.9,2824.2,1793.3,2119.9,151.64,-11.33,168,1089.12,0.00,0.00,3.74,0.000,0.000,0.108,2817.47,2810.00,2824.94,1792.12,3474.75,0,0,0,30.00,30.00,15.56
$GC,1312.45,1028,-77.86,-1.43,0.00,2816.9,2809.0,2824.8,1793.2,3475.9,178.74,-11.68,214,1319.30,0.00,0.00,3.46,0.000,0.000,0.055,2817.66,2810.44,2824.88,1792.94,2081.38,0,0,0,30.00,30.00,15.66
$GC,1618.60,516,-77.86,-1.43,-80.00,2816.9,2809.4,2824.4,1792.9,2081.6,211.99,-11.38,245,1624.37,0.00,0.00,4.13,0.000,0.000,0.148,2816.78,2808.62,2824.94,1793.06,662.12,0,0,0,30.00,30.00,15.44
$GC,1723.63,1028,-77.86,-1.43,0.00,2817.0,2808.9,2825.1,1792.7,662.2,226.40,-14.52,266,1729.42,0.00,0.00,3.55,0.000,0.000,0.049,2818.38,2810.25,2826.50,1792.75,2121.00,0,0,0,30.00,30.00,15.72
$GC,2028.66,0,-77.86,-1.43,0.00,2817.1,2809.6,2824.6,1793.3,2121.1,261.53,-11.82,297,2029.99,0.00,0.00,0.00,0.000,0.000,0.000,2817.31,2809.00,2825.62,1792.88,2121.44,0,0,0,30.00,30.00,30.00
$GC,2328.69,260,-77.86,-1.43,80.00,2817.2,2809.3,2825.2,1792.8,2121.6,295.01,-11.71,327,2334.45,0.00,0.00,3.70,0.000,0.000,0.110,2817.88,2810.44,2825.31,1792.12,3474.75,0,0,0,30.00,30.00,15.55
$GC,2407.61,1028,-77.86,-1.43,0.00,2817.2,2809.4,2825.0,1792.9,3474.7,305.34,-13.34,343,2414.48,0.00,0.00,3.42,0.000,0.000,0.056,2817.41,2809.31,2825.50,1792.81,2081.75,0,0,0,30.00,30.00,15.65
$GC,2713.79,260,-77.86,-1.43,80.00,2817.3,2809.7,2824.9,1792.9,2082.0,339.69,-10.90,374,2719.56,0.00,0.00,3.82,0.000,0.000,0.110,2815.41,2807.62,2823.19,1792.62,3474.81,0,0,0,30.00,30.00,15.53
$GC,2748.79,1028,-77.86,-1.43,0.00,2817.6,2810.0,2825.2,1792.7,3474.6,343.66,-11.35,381,2753.43,0.00,0.00,3.43,0.000,0.000,0.056,2817.78,2809.88,2825.69,1793.06,2082.00,0,0,0,30.00,30.00,15.66
$GC,3058.87,516,-77.86,-1.43,-80.00,2816.9,2809.1,2824.6,1792.9,2080.8,375.45,-10.20,413,3064.61,0.00,0.00,4.12,0.000,0.000,0.152,2816.88,2809.50,2824.25,1792.94,663.19,0,0,0,30.00,30.00,15.40
$GC,3133.88,1028,-77.86,-1.43,0.00,2816.9,2809.1,2824.8,1793.2,663.2,384.52,-13.01,428,3139.47,0.00,0.00,3.55,0.000,0.000,0.052,2816.84,2809.50,2824.19,1792.94,2117.31,0,0,0,30.00,30.00,15.71
$GC,3438.96,260,-77.86,-1.43,80.00,2816.6,2809.2,2824.1,1792.7,2117.4,416.46,-10.95,459,3444.70,0.00,0.00,3.75,0.000,0.000,0.113,2817.97,2810.75,2825.19,1792.25,3475.31,0,0,0,30.00,30.00,15.51
$GC,3483.96,1028,-77.86,-1.43,0.00,2816.4,2808.9,2823.9,1793.2,3475.4,421.67,-12.06,468,3488.59,0.00,0.00,3.44,0.000,0.000,0.057,2817.28,2809.31,2825.25,1793.31,2080.69,0,0,0,30.00,30.00,15.63
$GC,3794.04,0,-77.86,-1.43,0.00,2816.6,2809.9,2823.4,1792.8,2081.4,455.88,-11.85,500,3795.37,0.00,0.00,0.00,0.000,0.000,0.000,2816.59,2809.31,2823.88,1792.94,2081.19,0,0,0,30.00,30.00,30.00
$GC,4094.09,0,-77.86,-1.43,0.00,2816.1,2809.1,2823.1,1792.8,2080.9,487.39,-11.14,530,4095.42,0.00,0.00,0.00,0.000,0.000,0.000,2816.12,2809.00,2823.25,1792.81,2081.00,0,0,0,30.00,30.00,30.00
$STATE,4223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4224,begin apogee
$GC,4225.34,10243,0.00,-0.25,0.00,2816.4,2810.1,2822.7,1792.7,2117.8,500.68,-10.10,543,4295.73,64.54,2.20,0.08,1.648,0.151,0.248,2498.44,2505.38,2491.50,2079.81,2085.25,0,0,0,11.05,15.48,15.21
$STATE,4298,end apogee,CONTROL_FINISHED_OK
$STATE,4299,begin climb
$GC,4299.24,10759,77.86,1.43,-80.00,2498.0,2504.9,2491.0,2080.5,2085.5,503.01,0.00,550,4377.48,69.07,2.99,4.22,1.610,0.086,0.139,2182.59,2195.00,2170.19,2490.19,662.94,0,0,0,12.17,15.31,14.95
$GC,4414.50,11303,120.77,1.56,0.00,2176.2,2187.6,2164.9,2491.3,663.1,497.40,6.21,573,4462.27,39.87,0.18,3.64,1.553,0.085,0.046,2005.50,2023.88,1987.12,2529.31,2126.50,0,0,0,12.01,15.16,15.24
$GC,4760.60,16646,120.77,1.56,80.00,1997.6,2021.1,1974.0,2529.1,2126.0,462.79,10.85,612,4766.21,0.00,0.00,3.76,0.000,0.000,0.111,1995.47,2018.62,1972.31,2529.44,3472.56,0,0,0,30.00,30.00,15.48
$GC,4809.44,17414,120.77,1.56,0.00,1996.8,2020.0,1973.6,2528.9,3473.5,456.58,11.99,622,4816.35,0.00,0.00,3.49,0.000,0.000,0.056,1996.91,2020.38,1973.44,2529.06,2081.12,0,0,0,30.00,30.00,15.57
$GC,5115.65,16386,120.77,1.56,0.00,1995.0,2020.2,1969.8,2529.1,2081.1,425.26,10.71,653,5116.98,0.00,0.00,0.00,0.000,0.000,0.000,1995.31,2020.44,1970.19,2528.56,2081.38,0,0,0,30.00,30.00,30.00
$GC,5415.67,16386,120.77,1.56,0.00,1994.1,2020.0,1968.1,2528.6,2081.5,394.80,10.26,683,5417.00,0.00,0.00,0.00,0.000,0.000,0.000,1993.06,2019.31,1966.81,2529.12,2080.75,0,0,0,30.00,30.00,30.00
$GC,5715.74,8742,153.12,1.66,-80.00,1993.2,2019.8,1966.7,2528.8,2081.5,368.47,7.09,713,5751.13,28.24,0.00,4.05,1.456,0.000,0.138,1875.22,1900.00,1850.44,2527.44,662.12,0,0,0,11.58,30.00,15.46
$GC,5869.67,1028,153.12,1.66,0.00,1871.3,1896.9,1845.8,2528.9,662.0,351.66,10.97,744,5876.53,0.00,0.00,3.60,0.000,0.000,0.047,1871.19,1897.44,1844.94,2529.56,2125.88,0,0,0,30.00,30.00,15.59
$GC,6175.83,0,153.12,1.66,0.00,1868.7,1897.2,1840.1,2528.8,2126.0,323.72,10.45,775,6177.16,0.00,0.00,0.00,0.000,0.000,0.000,1867.31,1896.25,1838.38,2528.50,2126.19,0,0,0,30.00,30.00,30.00
$GC,6475.91,260,153.12,1.66,80.00,1867.9,1897.4,1838.4,2528.3,2125.9,292.97,10.18,805,6481.50,0.00,0.00,3.76,0.000,0.000,0.112,1866.81,1894.75,1838.88,2527.62,3472.38,0,0,0,30.00,30.00,15.53
$GC,6520.90,1028,153.12,1.66,0.00,1867.8,1897.1,1838.5,2529.4,3473.0,287.89,11.27,814,6526.47,0.00,0.00,3.47,0.000,0.000,0.055,1868.47,1897.94,1839.00,2527.75,2078.75,0,0,0,30.00,30.00,15.67
$GC,6825.98,16902,153.12,1.66,-80.00,1867.1,1896.8,1837.4,2529.2,2079.1,254.74,11.79,845,6831.77,0.00,0.00,4.03,0.000,0.000,0.136,1866.09,1894.94,1837.25,2528.88,663.19,0,0,0,30.00,30.00,15.46
$GC,7054.94,17414,153.12,1.66,0.00,1866.8,1896.0,1837.5,2528.6,663.2,223.49,12.48,891,7061.81,0.00,0.00,3.57,0.000,0.000,0.048,1866.94,1896.19,1837.69,2528.69,2128.31,0,0,0,30.00,30.00,15.73
$GC,7361.14,16966,153.12,1.69,-80.00,1865.5,1896.1,1834.8,2528.8,2128.4,194.51,8.82,922,7366.86,0.00,0.00,4.13,0.000,0.000,0.129,1864.69,1895.12,1834.25,2528.69,662.06,0,0,0,30.00,30.00,15.46
$GC,7560.15,17414,153.12,1.69,0.00,1865.3,1895.7,1834.9,2529.9,661.9,172.79,10.81,962,7566.94,0.00,0.00,3.57,0.000,0.000,0.047,1866.81,1896.81,1836.81,2528.31,2126.06,0,0,0,30.00,30.00,15.73
$GC,7866.22,16902,153.12,1.69,-80.00,1864.7,1895.6,1833.8,2528.2,2125.9,146.94,9.61,993,7872.04,0.00,0.00,4.14,0.000,0.000,0.128,1866.22,1897.12,1835.31,2527.94,663.06,0,0,0,30.00,30.00,15.44
$GC,8095.18,11303,184.03,1.78,0.00,1864.7,1895.9,1833.6,2528.9,662.9,125.27,7.21,1039,8127.58,26.31,0.28,3.57,1.213,0.075,0.048,1750.75,1780.62,1720.88,2582.25,2126.50,0,0,0,11.49,15.50,15.73
$GC,8426.31,516,184.03,1.78,-80.00,1744.0,1777.1,1710.9,2582.7,2127.1,95.64,10.47,1079,8432.17,0.00,0.00,4.16,0.000,0.000,0.127,1745.19,1777.44,1712.94,2581.44,662.06,0,0,0,30.00,30.00,15.43
$GC,8656.36,9254,218.80,1.88,0.00,1743.4,1775.9,1710.8,2582.4,661.9,77.24,6.89,1125,8692.81,30.42,0.00,3.59,1.153,0.000,0.047,1607.94,1641.12,1574.75,2581.94,2128.94,0,0,0,11.76,30.00,15.69
$GC,8871.47,10791,262.42,2.02,-80.00,1603.0,1637.4,1568.6,2583.1,2128.8,65.21,6.15,1168,8917.77,37.49,0.31,4.19,1.127,0.068,0.126,1430.50,1465.44,1395.56,2637.88,662.94,0,0,0,11.77,15.57,15.34
$GC,9141.43,1028,262.42,2.02,0.00,1426.9,1462.1,1391.6,2638.9,662.9,41.00,9.55,1222,9147.19,0.00,0.00,3.61,0.000,0.000,0.045,1426.31,1462.31,1390.31,2639.25,2127.00,0,0,0,30.00,30.00,15.58
$GC,9326.45,260,262.42,2.02,80.00,1425.4,1462.2,1388.6,2639.0,2127.4,25.18,9.63,1259,9332.25,0.00,0.00,3.76,0.000,0.000,0.104,1425.47,1462.12,1388.81,2639.19,3473.62,0,0,0,30.00,30.00,15.49
$GC,9556.59,9254,287.53,2.09,0.00,1423.4,1458.6,1388.3,2639.4,3474.8,5.57,7.70,1305,9587.76,23.89,0.00,3.46,1.031,0.000,0.050,1328.47,1365.25,1291.69,2637.81,2076.12,0,0,0,11.59,30.00,15.67
$STATE,9621,end climb,SURFACE_DEPTH_REACHED
$STATE,9621,begin surface coast
$STATE,9641,end surface coast,CONTROL_FINISHED_OK
$STATE,9641,begin surface
$SM_CCo,9786.38,119.83,1.042,0,768.2,765.2,771.2,424.81
$SM_CCo,9787.61,0.00,0.009,0,767.7,762.6,772.8,424.94
$SM_CCo,9788.77,0.00,0.010,0,767.7,763.1,772.2,424.94
$SM_GC,0.81,0.00,16.95,0.09,0.010,0.067,0.136,767.7,763.1,772.2,182.6,2129.3,0,0,0,30.36,15.57,15.62
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4732.63,-12610.09,190221,004956
$TCM_TEMP,193.08
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3615136
$HUMID,57.20
$TEMP,8.16
$INTERNAL_PRESSURE,7.797
$24V_AH,14.49,189.225
$10V_AH,14.70,0.000
$FG_AHR_24Vo,159.826
$FG_AHR_10Vo,59.481
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,529.675,37.255,135.230,218.997,0.750,13.146,3925.640,6061.780,2190.172,0.000,0.000,0.000
$DEVICE_MAMPS,1647.952,256.248,247.720,209.357,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9682.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.601,0.000,0.000,0.000
$MEM,1100020,47,75788,114
$DATA_FILE_SIZE,51384,1322
$CAP_FILE_SIZE,486420,0
$SDSIZE,3918848,3743808
$SDFILEDIR,3216,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190221,063239,4733.449,-12604.590,15,0.9,15,15.8