version: 67.00
glider: 236
mission: 2
dive: 852
start: 3 17 121 13 29 4
data:
$ID,236
$MISSION,2
$DIVE,852
$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,67.918686
$FG_AHR_24V,206.81009
$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
$GPS1,170321,132202,4750.618,-12515.939,2,1.9,8,15.7
$_CALLS,1
$_SM_DEPTHo,-1.96
$_SM_ANGLEo,-59.3
$GPS2,170321,132845,4750.604,-12515.942,2,0.9,4,15.7
$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,206.2,8278,-18.6,-9.259,-22.19
$D_GRID,451
$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,-1.28,0.00,762.0,760.4,763.6,170.4,2080.8,0.00,0.00,0,93.90,85.43,0.00,0.00,0.005,0.000,0.000,2661.97,2638.38,2685.56,170.38,2081.75,0,0,0,14.61,30.00,30.00
$GC,94.16,18951,-116.79,-1.28,-80.00,2661.8,2638.6,2684.9,170.1,2081.1,3.40,-13.80,16,127.02,6.65,14.78,4.14,0.008,0.257,0.154,2974.97,2967.25,2982.69,1829.62,664.12,0,0,0,14.86,15.18,14.68
$GC,235.75,1028,-116.79,-1.28,0.00,2975.2,2967.8,2982.6,1829.5,663.9,37.24,-20.50,44,241.50,0.00,0.00,3.57,0.000,0.000,0.055,2975.31,2967.56,2983.06,1829.62,2118.38,0,0,0,30.00,30.00,15.62
$GC,420.46,260,-116.79,-1.28,80.00,2975.0,2967.2,2982.8,1829.8,2118.4,70.90,-17.30,81,426.66,0.00,0.00,3.68,0.000,0.000,0.114,2975.47,2967.75,2983.19,1830.06,3474.62,0,0,0,30.00,30.00,15.50
$GC,525.86,1028,-116.79,-1.28,0.00,2975.4,2967.1,2983.8,1830.4,3474.5,86.40,-13.55,102,531.58,0.00,0.00,3.44,0.000,0.000,0.058,2977.00,2969.56,2984.44,1830.19,2081.12,0,0,0,30.00,30.00,15.63
$GC,710.49,0,-116.79,-1.28,0.00,2975.4,2967.8,2983.1,1830.4,2081.2,108.01,-11.72,132,711.82,0.00,0.00,0.00,0.000,0.000,0.000,2975.66,2967.88,2983.44,1829.94,2080.94,0,0,0,30.00,30.00,30.00
$GC,1010.55,0,-116.79,-1.28,0.00,2975.2,2967.3,2983.0,1829.9,2081.8,140.93,-11.26,162,1011.88,0.00,0.00,0.00,0.000,0.000,0.000,2975.56,2967.50,2983.62,1830.25,2081.88,0,0,0,30.00,30.00,30.00
$GC,1310.61,0,-116.79,-1.28,0.00,2975.0,2967.2,2982.8,1830.3,2081.9,170.52,-9.52,192,1311.94,0.00,0.00,0.00,0.000,0.000,0.000,2975.59,2967.75,2983.44,1830.00,2081.88,0,0,0,30.00,30.00,30.00
$GC,1610.69,0,-116.79,-1.28,0.00,2975.7,2967.9,2983.6,1829.8,2082.1,200.68,-10.35,222,1612.01,0.00,0.00,0.00,0.000,0.000,0.000,2975.81,2968.56,2983.06,1830.00,2081.88,0,0,0,30.00,30.00,30.00
$GC,1910.81,0,-116.79,-1.28,0.00,2975.9,2968.5,2983.3,1830.4,2081.3,235.29,-12.70,252,1912.14,0.00,0.00,0.00,0.000,0.000,0.000,2976.47,2969.88,2983.06,1830.12,2081.25,0,0,0,30.00,30.00,30.00
$GC,2210.80,260,-116.79,-1.28,80.00,2975.6,2968.2,2982.9,1830.0,2081.6,270.45,-11.26,282,2216.50,0.00,0.00,3.84,0.000,0.000,0.116,2976.41,2969.56,2983.25,1828.81,3473.81,0,0,0,30.00,30.00,15.53
$GC,2299.71,1028,-116.79,-1.28,0.00,2976.0,2968.9,2983.2,1830.0,3474.2,281.16,-12.81,300,2306.98,0.00,0.00,3.46,0.000,0.000,0.061,2975.53,2967.81,2983.25,1830.12,2081.19,0,0,0,30.00,30.00,15.65
$GC,2605.88,260,-116.79,-1.28,80.00,2976.0,2968.9,2983.1,1830.2,2081.4,312.55,-10.42,331,2611.57,0.00,0.00,3.83,0.000,0.000,0.116,2976.75,2969.81,2983.69,1829.00,3475.25,0,0,0,30.00,30.00,15.52
$GC,2654.78,1028,-116.79,-1.28,0.00,2975.8,2968.1,2983.4,1829.6,3474.5,317.88,-11.20,341,2662.04,0.00,0.00,3.45,0.000,0.000,0.062,2977.19,2969.19,2985.19,1830.00,2081.06,0,0,0,30.00,30.00,15.64
$GC,2960.95,260,-116.79,-1.28,80.00,2975.8,2968.7,2982.9,1830.2,2081.3,347.57,-10.49,372,2966.64,0.00,0.00,3.83,0.000,0.000,0.116,2974.47,2966.88,2982.06,1830.19,3476.31,0,0,0,30.00,30.00,15.51
$GC,3009.85,1028,-116.79,-1.28,0.00,2975.9,2968.3,2983.5,1830.2,3476.6,353.13,-12.45,382,3017.10,0.00,0.00,3.43,0.000,0.000,0.061,2976.28,2968.88,2983.69,1830.38,2080.88,0,0,0,30.00,30.00,15.63
$GC,3316.01,0,-116.79,-1.28,0.00,2975.8,2968.5,2983.0,1830.1,2080.9,383.30,-10.42,413,3317.34,0.00,0.00,0.00,0.000,0.000,0.000,2975.03,2967.62,2982.44,1830.00,2081.12,0,0,0,30.00,30.00,30.00
$GC,3616.08,0,-116.79,-1.28,0.00,2975.8,2968.2,2983.3,1830.1,2081.4,413.50,-9.82,443,3617.40,0.00,0.00,0.00,0.000,0.000,0.000,2975.94,2968.69,2983.19,1830.31,2081.06,0,0,0,30.00,30.00,30.00
$GC,3916.12,260,-116.79,-1.28,80.00,2975.2,2968.1,2982.2,1830.1,2081.1,440.28,-7.28,473,3921.85,0.00,0.00,3.84,0.000,0.000,0.118,2974.72,2968.50,2980.94,1830.25,3473.81,0,0,0,30.00,30.00,15.48
$GC,3951.56,1028,-116.79,-1.28,0.00,2974.9,2968.1,2981.7,1830.0,3473.8,445.00,-13.52,480,3956.77,0.00,0.00,3.45,0.000,0.000,0.064,2973.56,2966.62,2980.50,1829.44,2083.50,0,0,0,30.00,30.00,15.62
$STATE,4026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4026,begin apogee
$GC,4027.34,10243,0.00,-0.25,0.00,2975.0,2968.5,2981.5,1830.2,2120.6,451.41,-8.82,488,4128.61,98.14,1.88,0.09,1.578,0.139,0.233,2498.25,2506.19,2490.31,2081.12,2084.56,0,0,0,10.51,15.53,14.89
$STATE,4131,end apogee,CONTROL_FINISHED_OK
$STATE,4131,begin climb
$GC,4131.30,10243,116.79,1.28,0.00,2497.5,2505.9,2489.1,2081.1,2085.1,454.07,0.00,498,4239.81,104.60,2.67,0.00,1.522,0.083,0.000,2022.44,2047.31,1997.56,2454.38,2084.94,0,0,0,11.67,15.18,30.00
$GC,4536.22,16386,116.79,1.28,0.00,2012.6,2043.9,1981.2,2455.0,2084.4,427.94,10.22,539,4537.55,0.00,0.00,0.00,0.000,0.000,0.000,2012.81,2044.06,1981.56,2454.88,2084.69,0,0,0,30.00,30.00,30.00
$GC,4836.28,16450,116.79,1.32,0.00,2010.0,2042.7,1977.3,2454.6,2084.6,406.85,7.88,569,4837.61,0.00,0.00,0.00,0.000,0.000,0.000,2009.38,2041.44,1977.31,2454.12,2084.25,0,0,0,30.00,30.00,30.00
$GC,5136.33,10275,175.90,1.50,0.00,2008.8,2041.9,1975.8,2454.8,2084.8,386.54,6.08,599,5190.50,52.40,0.30,0.00,1.472,0.069,0.000,1782.16,1815.75,1748.56,2512.94,2084.56,0,0,0,10.97,15.71,30.00
$GC,5486.41,516,175.90,1.50,-80.00,1774.9,1814.1,1735.7,2514.6,2084.1,350.10,10.48,634,5492.13,0.00,0.00,4.12,0.000,0.000,0.145,1775.06,1813.50,1736.62,2512.12,664.06,0,0,0,30.00,30.00,15.37
$GC,5545.30,17414,175.90,1.50,0.00,1774.3,1812.6,1735.9,2513.4,664.0,342.24,14.22,646,5552.15,0.00,0.00,3.58,0.000,0.000,0.054,1775.44,1813.88,1737.00,2514.38,2124.12,0,0,0,30.00,30.00,15.65
$GC,5851.47,16386,175.90,1.50,0.00,1772.9,1812.6,1733.2,2514.6,2123.8,309.97,9.76,677,5852.80,0.00,0.00,0.00,0.000,0.000,0.000,1773.16,1812.81,1733.50,2514.88,2124.06,0,0,0,30.00,30.00,30.00
$GC,6151.52,16646,175.90,1.50,80.00,1772.1,1812.2,1731.9,2515.0,2124.6,278.22,12.40,707,6157.20,0.00,0.00,3.74,0.000,0.000,0.118,1771.75,1812.00,1731.50,2515.44,3472.81,0,0,0,30.00,30.00,15.51
$GC,6216.97,17414,175.90,1.50,0.00,1771.2,1810.4,1732.1,2514.6,3473.5,271.53,12.65,720,6222.19,0.00,0.00,3.45,0.000,0.000,0.060,1771.66,1810.50,1732.81,2514.19,2080.00,0,0,0,30.00,30.00,15.66
$GC,6521.60,16646,175.90,1.50,80.00,1770.7,1810.1,1731.4,2514.5,2079.6,240.98,10.11,751,6527.29,0.00,0.00,3.86,0.000,0.000,0.115,1769.78,1809.19,1730.38,2514.56,3473.25,0,0,0,30.00,30.00,15.50
$GC,6577.04,17414,175.90,1.50,0.00,1770.8,1809.9,1731.6,2514.5,3473.9,234.61,10.73,762,6582.23,0.00,0.00,3.45,0.000,0.000,0.059,1769.62,1809.19,1730.06,2514.75,2080.31,0,0,0,30.00,30.00,15.67
$GC,6881.67,16902,175.90,1.50,-80.00,1770.4,1809.7,1731.1,2514.1,2079.8,204.32,9.52,793,6887.40,0.00,0.00,4.05,0.000,0.000,0.141,1769.47,1808.75,1730.19,2515.19,662.81,0,0,0,30.00,30.00,15.40
$GC,6947.18,17414,175.90,1.50,0.00,1770.4,1809.5,1731.4,2515.2,662.8,196.98,12.11,806,6952.33,0.00,0.00,3.53,0.000,0.000,0.051,1769.28,1808.19,1730.38,2514.56,2125.75,0,0,0,30.00,30.00,15.75
$GC,7251.75,16646,175.90,1.50,80.00,1770.2,1809.9,1730.5,2515.0,2125.6,166.86,10.13,837,7257.42,0.00,0.00,3.70,0.000,0.000,0.117,1770.44,1809.75,1731.12,2512.19,3472.06,0,0,0,30.00,30.00,15.48
$GC,7287.17,17414,175.90,1.50,0.00,1769.8,1809.2,1730.3,2514.6,3471.8,163.25,10.59,844,7292.38,0.00,0.00,3.41,0.000,0.000,0.057,1769.09,1809.00,1729.19,2514.69,2077.94,0,0,0,30.00,30.00,15.68
$GC,7591.82,10791,237.54,1.68,-80.00,1769.8,1809.6,1730.1,2515.1,2077.8,138.78,5.94,875,7649.71,52.31,0.21,4.05,1.233,0.089,0.140,1530.44,1567.31,1493.56,2559.19,664.06,0,0,0,10.75,15.75,15.15
$GC,7731.87,1028,237.54,1.68,0.00,1528.3,1564.9,1491.7,2559.0,664.0,123.75,12.43,903,7738.73,0.00,0.00,3.57,0.000,0.000,0.052,1528.66,1564.88,1492.44,2557.81,2126.44,0,0,0,30.00,30.00,15.54
$GC,8038.06,260,237.54,1.68,80.00,1525.2,1564.2,1486.1,2559.5,2126.5,90.97,10.96,942,8044.27,0.00,0.00,3.71,0.000,0.000,0.116,1525.06,1563.44,1486.69,2559.25,3472.69,0,0,0,30.00,30.00,15.43
$GC,8113.50,1028,237.54,1.68,0.00,1524.0,1561.7,1486.2,2559.4,3473.4,82.77,10.26,957,8118.82,0.00,0.00,3.41,0.000,0.000,0.056,1524.78,1562.56,1487.00,2559.25,2076.56,0,0,0,30.00,30.00,15.62
$GC,8298.16,580,237.54,1.70,-80.00,1523.9,1561.9,1485.9,2559.6,2077.8,64.02,8.70,994,8304.42,0.00,0.00,4.01,0.000,0.000,0.138,1524.34,1561.94,1486.75,2558.00,662.69,0,0,0,30.00,30.00,15.38
$GC,8403.63,1092,237.54,1.74,0.00,1524.0,1561.9,1486.2,2559.1,662.9,54.48,8.04,1015,8408.93,0.00,0.00,3.51,0.000,0.000,0.050,1523.94,1562.06,1485.81,2559.75,2129.06,0,0,0,30.00,30.00,15.72
$GC,8588.26,10791,331.20,2.02,-80.00,1523.8,1562.2,1485.4,2559.1,2128.9,45.36,4.22,1052,8696.16,97.75,0.45,4.20,1.086,0.063,0.133,1149.81,1183.19,1116.44,2639.62,662.69,0,0,0,11.13,15.71,15.05
$GC,8769.94,1028,331.20,2.02,0.00,1147.8,1180.8,1114.9,2639.3,662.8,30.69,11.29,1088,8775.21,0.00,0.00,3.57,0.000,0.000,0.050,1147.56,1180.94,1114.19,2639.44,2126.31,0,0,0,30.00,30.00,15.44
$GC,8954.53,0,331.20,2.02,0.00,1145.4,1180.9,1109.8,2638.8,2126.2,10.92,11.51,1125,8958.88,0.00,0.00,0.00,0.000,0.000,0.000,1145.62,1181.44,1109.81,2639.31,2125.69,0,0,0,30.00,30.00,30.00
$STATE,9039,end climb,SURFACE_DEPTH_REACHED
$STATE,9039,begin surface coast
$STATE,9054,end surface coast,CONTROL_FINISHED_OK
$STATE,9054,begin surface
$SM_CCo,9167.67,87.38,1.040,0,768.7,764.9,772.4,424.70
$SM_CCo,9168.83,0.00,0.010,0,767.8,763.9,771.7,424.91
$SM_CCo,9170.00,0.00,0.013,0,767.9,763.9,772.0,424.87
$SM_GC,-0.60,0.00,16.83,0.10,0.013,0.080,0.144,767.9,763.9,772.0,173.1,2075.2,0,0,0,30.36,15.46,15.64
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4750.34,-12512.13,170321,105352
$TCM_TEMP,175.28
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3532928
$HUMID,58.01
$TEMP,8.08
$INTERNAL_PRESSURE,7.79041
$24V_AH,14.18,241.462
$10V_AH,14.83,0.000
$FG_AHR_24Vo,207.011
$FG_AHR_10Vo,67.953
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,584.660,37.120,111.270,201.812,1.000,13.683,4238.982,5174.443,2619.488,0.000,0.000,0.000
$DEVICE_MAMPS,1577.760,257.232,232.632,205.374,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9103.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.583,0.000,0.000,0.000
$MEM,1100100,47,75708,114
$DATA_FILE_SIZE,41829,1145
$CAP_FILE_SIZE,434277,0
$SDSIZE,3918848,3683360
$SDFILEDIR,4286,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170321,160231,4749.839,-12517.257,28,0.8,29,15.7