version: 67.00
glider: 236
mission: 2
dive: 887
start: 3 22 121 0 34 32
data:
$ID,236
$MISSION,2
$DIVE,887
$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,69.332802
$FG_AHR_24V,215.67142
$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
$GPS1,220321,002428,4718.641,-12514.978,31,1.8,31,15.6
$_CALLS,3
$_SM_DEPTHo,-7.57
$_SM_ANGLEo,-53.5
$GPS2,220321,003415,4718.690,-12514.810,3,0.8,6,15.6
$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,166.9,6581,-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,7.97,16386,-155.72,-1.40,0.00,557.8,566.1,549.4,169.1,2078.6,0.00,0.00,0,119.22,108.32,0.00,0.09,0.005,0.000,0.246,3134.22,3111.69,3156.75,168.94,2115.50,0,0,0,14.62,30.00,14.43
$GC,119.45,2309,-155.72,-1.40,80.00,3133.4,3110.8,3156.1,169.1,2115.8,2.68,-27.75,21,141.41,0.00,14.39,3.81,0.000,0.253,0.110,3133.94,3112.94,3154.94,1799.56,3475.62,0,0,0,30.00,15.12,15.18
$GC,245.12,1028,-155.72,-1.40,0.00,3133.8,3116.3,3151.4,1799.7,3475.4,37.64,-20.70,46,250.81,0.00,0.00,3.44,0.000,0.000,0.061,3135.81,3118.25,3153.38,1800.00,2082.75,0,0,0,30.00,30.00,15.54
$GC,429.76,260,-155.72,-1.40,80.00,3134.4,3118.5,3150.3,1799.7,2082.4,67.29,-13.32,83,435.92,0.00,0.00,3.87,0.000,0.000,0.108,3135.69,3119.69,3151.69,1798.88,3473.56,0,0,0,30.00,30.00,15.48
$GC,535.17,1028,-155.72,-1.40,0.00,3134.1,3118.8,3149.4,1799.8,3473.2,83.07,-13.92,104,540.86,0.00,0.00,3.39,0.000,0.000,0.059,3134.59,3119.06,3150.12,1800.00,2082.56,0,0,0,30.00,30.00,15.59
$GC,719.75,260,-155.72,-1.40,80.00,3134.6,3118.8,3150.4,1800.2,2082.7,106.24,-12.31,136,725.43,0.00,0.00,3.84,0.000,0.000,0.107,3135.12,3119.12,3151.12,1799.00,3474.69,0,0,0,30.00,30.00,15.51
$GC,778.67,1028,-155.72,-1.40,0.00,3134.6,3118.8,3150.4,1799.9,3474.5,114.64,-15.25,148,785.89,0.00,0.00,3.38,0.000,0.000,0.058,3136.53,3120.81,3152.25,1799.75,2081.81,0,0,0,30.00,30.00,15.60
$GC,1084.79,260,-155.72,-1.40,80.00,3134.5,3118.6,3150.4,1799.6,2082.2,152.69,-12.07,179,1090.47,0.00,0.00,3.83,0.000,0.000,0.109,3134.97,3119.31,3150.62,1798.06,3474.31,0,0,0,30.00,30.00,15.52
$GC,1173.69,1028,-155.72,-1.40,0.00,3134.1,3118.4,3149.9,1800.0,3473.6,164.55,-12.83,197,1180.92,0.00,0.00,3.38,0.000,0.000,0.060,3136.25,3120.94,3151.56,1799.62,2082.19,0,0,0,30.00,30.00,15.61
$GC,1479.82,0,-155.72,-1.40,0.00,3134.8,3119.5,3150.0,1800.0,2081.5,200.96,-13.20,228,1481.15,0.00,0.00,0.00,0.000,0.000,0.000,3134.94,3119.62,3150.25,1799.88,2081.56,0,0,0,30.00,30.00,30.00
$GC,1779.84,260,-155.72,-1.40,80.00,3134.8,3120.2,3149.3,1800.1,2081.4,236.46,-11.55,258,1785.53,0.00,0.00,3.87,0.000,0.000,0.112,3133.53,3118.06,3149.00,1800.12,3474.56,0,0,0,30.00,30.00,15.50
$GC,1818.75,1028,-155.72,-1.40,0.00,3134.8,3119.5,3150.0,1800.1,3474.3,246.44,-32.50,266,1825.98,0.00,0.00,3.38,0.000,0.000,0.061,3134.88,3120.06,3149.69,1799.81,2080.50,0,0,0,30.00,30.00,15.62
$GC,2124.87,0,-155.72,-1.40,0.00,3135.2,3119.8,3150.6,1800.3,2080.3,281.57,-11.60,279,2126.20,0.00,0.00,0.00,0.000,0.000,0.000,3135.31,3120.56,3150.06,1799.94,2080.75,0,0,0,30.00,30.00,30.00
$GC,2424.86,260,-155.72,-1.40,80.00,3134.8,3119.8,3149.8,1800.1,2080.6,318.58,-12.72,289,2430.55,0.00,0.00,3.87,0.000,0.000,0.114,3134.59,3119.56,3149.62,1800.19,3474.81,0,0,0,30.00,30.00,15.50
$GC,2493.84,1028,-155.72,-1.40,0.00,3135.1,3120.1,3150.1,1799.9,3474.2,341.66,-69.53,303,2499.49,0.00,0.00,3.41,0.000,0.000,0.062,3137.28,3122.00,3152.56,1799.50,2080.75,0,0,0,30.00,30.00,15.60
$GC,2809.90,260,-155.72,-1.40,80.00,3134.8,3119.6,3150.0,1800.2,2081.2,380.41,-11.84,316,2815.57,0.00,0.00,3.86,0.000,0.000,0.115,3133.41,3118.12,3148.69,1800.19,3474.56,0,0,0,30.00,30.00,15.48
$GC,2853.80,1028,-155.72,-1.40,0.00,3134.9,3120.1,3149.8,1800.2,3474.8,386.21,-13.70,325,2859.49,0.00,0.00,3.40,0.000,0.000,0.063,3135.38,3120.69,3150.06,1800.19,2083.00,0,0,0,30.00,30.00,15.59
$GC,3164.91,0,-155.72,-1.40,0.00,3134.2,3119.6,3148.9,1800.6,2082.4,422.40,-11.70,337,3166.24,0.00,0.00,0.00,0.000,0.000,0.000,3134.72,3119.44,3150.00,1799.75,2082.81,0,0,0,30.00,30.00,30.00
$GC,3464.91,260,-155.72,-1.40,80.00,3133.2,3118.6,3147.9,1799.8,2082.6,455.88,-11.15,347,3470.60,0.00,0.00,3.89,0.000,0.000,0.118,3133.84,3119.06,3148.62,1800.06,3474.25,0,0,0,30.00,30.00,15.45
$GC,3508.82,1028,-155.72,-1.40,0.00,3133.4,3119.1,3147.7,1800.1,3474.5,460.99,-12.07,356,3514.51,0.00,0.00,3.39,0.000,0.000,0.063,3134.28,3119.56,3149.00,1799.75,2083.75,0,0,0,30.00,30.00,15.58
$GC,3819.93,0,-155.72,-1.40,0.00,3133.7,3119.9,3147.5,1800.1,2084.4,494.57,-10.51,368,3821.26,0.00,0.00,0.00,0.000,0.000,0.000,3133.62,3119.62,3147.62,1799.94,2083.81,0,0,0,30.00,30.00,30.00
$STATE,3880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3880,begin apogee
$GC,3881.07,10243,0.00,-0.25,0.00,3133.6,3119.6,3147.5,1800.4,2118.3,500.90,-10.34,370,4016.02,131.50,2.13,0.09,1.654,0.140,0.236,2499.50,2506.81,2492.19,2080.81,2085.06,0,0,0,10.32,15.49,14.78
$STATE,4019,end apogee,CONTROL_FINISHED_OK
$STATE,4019,begin climb
$GC,4018.79,10759,155.72,1.40,-80.00,2497.5,2505.9,2489.0,2081.1,2085.2,504.44,0.00,374,4167.36,139.84,2.81,4.22,1.602,0.081,0.146,1862.12,1890.31,1833.94,2485.81,663.06,0,0,0,11.45,15.08,14.66
$GC,4209.52,1028,155.72,1.40,0.00,1859.5,1886.4,1832.7,2486.3,662.7,490.47,15.33,412,4215.25,0.00,0.00,3.67,0.000,0.000,0.051,1860.81,1887.88,1833.75,2485.50,2120.69,0,0,0,30.00,30.00,15.23
$GC,4525.64,16386,155.72,1.40,0.00,1852.4,1884.2,1820.6,2485.9,2121.3,455.14,11.36,425,4526.97,0.00,0.00,0.00,0.000,0.000,0.000,1853.06,1884.94,1821.19,2485.94,2121.00,0,0,0,30.00,30.00,30.00
$GC,4825.64,16902,155.72,1.40,-80.00,1852.3,1884.2,1820.4,2485.0,2120.9,424.63,10.71,435,4831.38,0.00,0.00,4.11,0.000,0.000,0.143,1851.62,1883.38,1819.88,2485.69,661.88,0,0,0,30.00,30.00,15.40
$GC,4911.10,17414,155.72,1.40,0.00,1851.4,1882.7,1820.1,2485.4,661.8,413.91,13.28,452,4916.29,0.00,0.00,3.58,0.000,0.000,0.053,1851.62,1882.94,1820.31,2485.12,2124.19,0,0,0,30.00,30.00,15.71
$GC,5235.76,16450,155.72,1.45,0.00,1850.2,1882.2,1818.2,2485.2,2123.6,382.33,9.49,467,5237.09,0.00,0.00,0.00,0.000,0.000,0.000,1850.72,1882.81,1818.62,2485.44,2123.88,0,0,0,30.00,30.00,30.00
$GC,5535.72,16966,155.72,1.50,-80.00,1849.9,1882.6,1817.2,2485.2,2124.2,352.78,9.60,477,5541.44,0.00,0.00,4.11,0.000,0.000,0.142,1851.59,1883.81,1819.38,2485.81,662.94,0,0,0,30.00,30.00,15.40
$GC,5579.62,17414,155.72,1.50,0.00,1849.5,1881.8,1817.2,2485.3,662.9,347.31,11.15,486,5585.35,0.00,0.00,3.58,0.000,0.000,0.054,1849.84,1882.12,1817.56,2485.44,2122.56,0,0,0,30.00,30.00,15.70
$GC,5890.76,10275,202.70,1.64,0.00,1849.0,1881.4,1816.6,2485.8,2121.7,319.95,8.84,498,5933.13,41.09,0.31,0.00,1.439,0.067,0.000,1671.88,1702.81,1640.94,2548.25,2122.19,0,0,0,10.68,15.73,30.00
$GC,6220.81,516,202.70,1.64,-80.00,1667.5,1701.6,1633.4,2548.6,2122.6,280.23,12.08,509,6226.50,0.00,0.00,4.14,0.000,0.000,0.139,1666.28,1700.56,1632.00,2549.44,663.00,0,0,0,30.00,30.00,15.37
$GC,6289.67,1028,202.70,1.64,0.00,1666.6,1700.2,1632.9,2548.5,662.9,269.87,14.87,523,6295.40,0.00,0.00,3.60,0.000,0.000,0.054,1667.44,1700.75,1634.12,2548.94,2123.12,0,0,0,30.00,30.00,15.64
$GC,6595.82,16902,202.70,1.64,-80.00,1665.4,1699.7,1631.2,2549.2,2122.6,231.33,12.68,545,6601.56,0.00,0.00,4.12,0.000,0.000,0.137,1664.38,1698.25,1630.50,2548.81,663.25,0,0,0,30.00,30.00,15.38
$GC,6654.73,17414,202.70,1.64,0.00,1665.2,1698.9,1631.5,2548.8,662.9,222.69,14.55,557,6661.58,0.00,0.00,3.58,0.000,0.000,0.052,1666.19,1699.81,1632.56,2548.81,2123.94,0,0,0,30.00,30.00,15.69
$GC,6960.89,16386,202.70,1.64,0.00,1664.0,1697.7,1630.2,2548.6,2124.0,186.17,11.24,588,6962.22,0.00,0.00,0.00,0.000,0.000,0.000,1663.75,1697.56,1629.94,2548.75,2123.69,0,0,0,30.00,30.00,30.00
$GC,7260.96,16966,202.70,1.66,-80.00,1664.0,1698.2,1629.8,2548.9,2123.9,153.11,10.35,618,7266.67,0.00,0.00,4.08,0.000,0.000,0.137,1663.03,1697.25,1628.81,2549.19,662.88,0,0,0,30.00,30.00,15.37
$GC,7316.40,17414,202.70,1.66,0.00,1663.5,1697.3,1629.7,2549.1,662.8,146.18,12.95,629,7321.61,0.00,0.00,3.58,0.000,0.000,0.053,1662.88,1696.50,1629.25,2548.94,2124.44,0,0,0,30.00,30.00,15.72
$GC,7621.04,16450,202.70,1.68,0.00,1663.2,1697.1,1629.2,2548.0,2124.8,114.38,10.44,660,7622.37,0.00,0.00,0.00,0.000,0.000,0.000,1663.66,1697.38,1629.94,2549.50,2124.88,0,0,0,30.00,30.00,30.00
$GC,7921.17,10275,258.88,1.85,0.00,1663.1,1696.9,1629.2,2549.0,2124.6,86.34,8.40,704,7982.38,59.28,0.24,0.00,1.157,0.073,0.000,1444.94,1477.44,1412.44,2600.75,2125.62,0,0,0,10.74,15.73,30.00
$GC,8161.16,10275,319.26,2.03,-80.00,1440.6,1475.4,1405.9,2601.6,2125.5,61.99,8.19,752,8227.52,65.62,0.19,0.00,1.096,0.083,0.000,1198.88,1230.81,1166.94,2643.38,2125.56,0,0,0,11.28,15.55,30.00
$GC,8406.21,324,319.26,2.07,80.00,1194.3,1229.6,1159.0,2642.9,2125.3,38.72,9.84,801,8411.95,0.00,0.00,3.77,0.000,0.000,0.112,1193.88,1229.12,1158.62,2643.38,3474.62,0,0,0,30.00,30.00,15.39
$GC,8501.20,1028,319.26,2.07,0.00,1192.6,1227.2,1158.1,2642.5,3474.4,27.06,12.74,820,8506.93,0.00,0.00,3.45,0.000,0.000,0.056,1193.03,1227.88,1158.19,2643.50,2078.25,0,0,0,30.00,30.00,15.55
$GC,8686.31,64,319.26,2.09,0.00,1192.4,1227.8,1157.0,2642.6,2077.8,5.49,10.22,857,8690.64,0.00,0.00,0.00,0.000,0.000,0.000,1192.81,1228.31,1157.31,2643.25,2078.19,0,0,0,30.00,30.00,30.00
$STATE,8727,end climb,SURFACE_DEPTH_REACHED
$STATE,8727,begin surface coast
$STATE,8747,end surface coast,CONTROL_FINISHED_OK
$STATE,8747,begin surface
$SM_CCo,8917.43,144.69,1.045,0,563.6,571.4,555.8,475.00
$SM_GC,-1.35,144.69,16.96,0.08,1.045,0.091,0.137,563.6,571.4,555.8,168.2,2125.8,0,0,0,11.10,15.46,15.71
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4718.92,-12515.65,220321,002929
$TCM_TEMP,175.42
$XPDR_PINGS,2,14.0,11.5
$SC_FREEKB,3519488
$HUMID,57.82
$TEMP,8.05
$INTERNAL_PRESSURE,7.78104
$24V_AH,14.05,251.218
$10V_AH,14.75,0.000
$FG_AHR_24Vo,215.908
$FG_AHR_10Vo,69.366
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,690.335,37.040,112.025,271.294,0.500,15.574,3584.231,5877.234,1876.889,0.000,0.000,0.000
$DEVICE_MAMPS,1653.528,253.296,246.080,195.739,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8795.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.579,0.000,0.000,0.000
$MEM,1102984,40,73884,68
$DATA_FILE_SIZE,32221,869
$CAP_FILE_SIZE,381673,0
$SDSIZE,3918848,3674080
$SDFILEDIR,4461,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220321,030340,4717.504,-12514.353,12,0.8,22,15.6