version: 67.00
glider: 236
mission: 2
dive: 896
start: 3 23 121 0 1 16
data:
$ID,236
$MISSION,2
$DIVE,896
$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,69.642021
$FG_AHR_24V,218.03477
$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
$GPS1,220321,235409,4707.759,-12505.999,9,0.9,22,15.6
$_CALLS,1
$_SM_DEPTHo,-14.08
$_SM_ANGLEo,-59.9
$GPS2,230321,000058,4707.695,-12505.947,2,0.8,4,15.6
$SPEED_LIMITS,0.192,0.275
$TGT_NAME,IN4
$TGT_LATLONG,4659.720,-12502.980
$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,150.2,15237,-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,8.01,16386,-155.72,-1.40,0.00,495.4,517.6,473.2,171.6,2081.9,0.00,0.00,0,123.30,110.75,0.00,0.09,0.005,0.000,0.247,3135.00,3112.25,3157.75,171.44,2117.44,0,0,0,14.59,30.00,14.46
$GC,123.53,2309,-155.72,-1.40,80.00,3133.5,3110.8,3156.1,171.4,2117.4,-6.00,-23.12,22,145.66,0.00,14.44,3.84,0.000,0.252,0.108,3133.28,3113.25,3153.31,1800.38,3475.19,0,0,0,30.00,15.12,15.19
$GC,369.36,1028,-155.72,-1.40,0.00,3133.4,3116.0,3150.9,1799.8,3475.1,46.41,-16.20,71,375.07,0.00,0.00,3.49,0.000,0.000,0.061,3133.41,3116.00,3150.81,1799.94,2082.50,0,0,0,30.00,30.00,15.56
$GC,554.01,516,-155.72,-1.40,-80.00,3134.4,3118.7,3150.1,1800.2,2083.2,71.20,-10.55,108,560.22,0.00,0.00,4.14,0.000,0.000,0.153,3135.78,3120.00,3151.56,1798.44,663.00,0,0,0,30.00,30.00,15.34
$GC,604.41,1028,-155.72,-1.40,0.00,3134.1,3118.8,3149.4,1799.8,663.1,77.78,-13.74,118,610.13,0.00,0.00,3.60,0.000,0.000,0.052,3135.62,3120.38,3150.88,1799.06,2120.38,0,0,0,30.00,30.00,15.67
$GC,788.99,260,-155.72,-1.40,80.00,3134.4,3120.4,3148.4,1800.3,2120.5,97.16,-9.61,155,795.19,0.00,0.00,3.74,0.000,0.000,0.108,3135.69,3121.25,3150.12,1798.62,3474.62,0,0,0,30.00,30.00,15.50
$GC,879.45,1028,-155.72,-1.40,0.00,3134.8,3120.1,3149.4,1799.9,3474.2,108.02,-12.03,173,884.64,0.00,0.00,3.40,0.000,0.000,0.056,3133.69,3119.62,3147.75,1799.31,2079.31,0,0,0,30.00,30.00,15.63
$GC,1184.04,260,-155.72,-1.40,80.00,3134.7,3120.8,3148.5,1799.8,2079.9,138.44,-9.51,204,1189.72,0.00,0.00,3.89,0.000,0.000,0.108,3133.31,3119.19,3147.44,1799.75,3473.25,0,0,0,30.00,30.00,15.52
$GC,1242.96,1028,-155.72,-1.40,0.00,3134.7,3121.0,3148.4,1799.9,3473.5,144.78,-10.10,216,1250.19,0.00,0.00,3.40,0.000,0.000,0.057,3136.97,3123.19,3150.75,1799.69,2080.31,0,0,0,30.00,30.00,15.62
$GC,1549.08,260,-155.72,-1.40,80.00,3134.8,3121.2,3148.4,1799.6,2080.5,171.40,-9.35,247,1554.76,0.00,0.00,3.88,0.000,0.000,0.109,3134.59,3120.62,3148.56,1799.50,3474.44,0,0,0,30.00,30.00,15.51
$GC,1577.98,1028,-155.72,-1.40,0.00,3134.8,3121.0,3148.5,1799.6,3475.0,174.88,-10.68,253,1585.23,0.00,0.00,3.42,0.000,0.000,0.057,3135.12,3121.12,3149.12,1800.38,2082.88,0,0,0,30.00,30.00,15.62
$GC,1884.11,260,-155.72,-1.40,80.00,3135.2,3121.8,3148.8,1799.8,2082.9,204.52,-11.84,284,1889.79,0.00,0.00,3.90,0.000,0.000,0.110,3133.56,3121.06,3146.06,1799.56,3474.12,0,0,0,30.00,30.00,15.51
$GC,1943.03,1028,-155.72,-1.40,0.00,3134.8,3120.4,3149.2,1799.6,3473.8,210.61,-9.98,296,1950.25,0.00,0.00,3.41,0.000,0.000,0.059,3135.66,3121.81,3149.50,1799.75,2082.06,0,0,0,30.00,30.00,15.61
$GC,2249.14,260,-155.72,-1.40,80.00,3135.0,3121.2,3148.8,1799.6,2081.4,238.90,-9.55,327,2254.82,0.00,0.00,3.86,0.000,0.000,0.110,3135.12,3120.88,3149.38,1799.75,3474.50,0,0,0,30.00,30.00,15.50
$GC,2294.58,1028,-155.72,-1.40,0.00,3135.2,3121.3,3149.1,1800.0,3474.6,244.10,-12.32,336,2299.76,0.00,0.00,3.41,0.000,0.000,0.059,3134.38,3120.56,3148.19,1799.44,2082.88,0,0,0,30.00,30.00,15.62
$GC,2599.21,260,-155.72,-1.40,80.00,3135.0,3121.6,3148.5,1799.8,2082.8,346.22,-11.31,351,2604.85,0.00,0.00,3.88,0.000,0.000,0.111,3133.75,3120.19,3147.31,1800.12,3475.31,0,0,0,30.00,30.00,15.49
$GC,2633.06,1028,-155.72,-1.40,0.00,3134.9,3120.9,3149.0,1799.6,3475.7,351.32,-11.76,358,2638.77,0.00,0.00,3.44,0.000,0.000,0.058,3136.59,3121.81,3151.38,1800.19,2083.75,0,0,0,30.00,30.00,15.60
$GC,2954.18,260,-155.72,-1.40,80.00,3134.9,3121.2,3148.7,1799.6,2084.1,388.42,-11.24,372,2959.86,0.00,0.00,3.88,0.000,0.000,0.112,3133.78,3120.19,3147.38,1799.94,3473.94,0,0,0,30.00,30.00,15.47
$GC,3009.63,1028,-155.72,-1.40,0.00,3135.3,3121.6,3149.1,1800.2,3474.5,395.04,-11.64,383,3014.98,0.00,0.00,3.40,0.000,0.000,0.059,3134.41,3120.62,3148.19,1799.38,2081.06,0,0,0,30.00,30.00,15.62
$GC,3334.22,0,-155.72,-1.40,0.00,3134.4,3120.9,3147.9,1799.6,2081.2,430.05,-11.50,398,3335.55,0.00,0.00,0.00,0.000,0.000,0.000,3134.59,3121.38,3147.81,1800.00,2081.38,0,0,0,30.00,30.00,30.00
$GC,3634.21,260,-155.72,-1.40,80.00,3134.1,3120.9,3147.3,1800.0,2081.5,463.67,-11.06,408,3639.92,0.00,0.00,3.91,0.000,0.000,0.114,3133.97,3121.19,3146.75,1799.25,3473.06,0,0,0,30.00,30.00,15.46
$GC,3713.14,1028,-155.72,-1.40,0.00,3133.8,3120.6,3147.1,1800.2,3473.2,472.65,-9.86,424,3720.38,0.00,0.00,3.43,0.000,0.000,0.061,3134.12,3121.25,3147.00,1799.62,2082.75,0,0,0,30.00,30.00,15.57
$STATE,3960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3960,begin apogee
$GC,3960.39,10243,0.00,-0.25,0.00,3134.1,3121.0,3147.2,1799.6,2120.8,500.95,-10.90,433,4095.48,131.63,2.12,0.09,1.667,0.142,0.224,2498.66,2506.44,2490.88,2079.88,2086.00,0,0,0,10.35,15.49,14.78
$STATE,4098,end apogee,CONTROL_FINISHED_OK
$STATE,4099,begin climb
$GC,4098.28,10759,155.72,1.40,-80.00,2497.8,2506.0,2489.6,2079.9,2086.0,503.78,0.00,437,4250.36,139.63,2.90,4.26,1.609,0.082,0.143,1865.09,1892.81,1837.38,2484.19,663.88,0,0,0,11.54,15.07,14.65
$GC,4257.52,11303,253.30,1.69,0.00,1860.9,1887.7,1834.1,2484.7,664.2,494.57,6.39,459,4351.18,87.92,0.44,3.70,1.557,0.054,0.047,1466.91,1499.88,1433.94,2561.31,2124.12,0,0,0,11.48,15.01,15.07
$GC,4664.44,516,253.30,1.69,-80.00,1459.3,1495.4,1423.2,2561.6,2123.8,434.40,14.80,490,4670.19,0.00,0.00,4.14,0.000,0.000,0.139,1458.53,1494.50,1422.56,2561.75,663.75,0,0,0,30.00,30.00,15.39
$GC,4713.35,17414,253.30,1.69,0.00,1459.1,1495.1,1423.0,2561.2,663.9,425.36,19.64,500,4720.18,0.00,0.00,3.56,0.000,0.000,0.048,1459.09,1495.06,1423.12,2561.69,2121.56,0,0,0,30.00,30.00,15.64
$GC,5019.47,16902,253.30,1.69,-80.00,1457.9,1494.6,1421.2,2562.3,2121.9,379.04,15.38,511,5025.20,0.00,0.00,4.12,0.000,0.000,0.138,1457.16,1494.19,1420.12,2561.69,662.38,0,0,0,30.00,30.00,15.44
$GC,5058.38,17414,253.30,1.69,0.00,1457.6,1494.4,1420.8,2562.3,662.3,372.28,13.02,519,5064.10,0.00,0.00,3.57,0.000,0.000,0.048,1457.75,1494.31,1421.19,2561.88,2123.31,0,0,0,30.00,30.00,15.70
$GC,5374.50,16646,253.30,1.69,80.00,1457.3,1494.0,1420.6,2562.0,2123.2,325.87,14.59,532,5380.17,0.00,0.00,3.78,0.000,0.000,0.113,1457.62,1493.75,1421.50,2561.56,3473.75,0,0,0,30.00,30.00,15.51
$GC,5403.40,17414,253.30,1.69,0.00,1456.3,1492.3,1420.3,2561.6,3472.7,321.43,14.79,538,5409.13,0.00,0.00,3.42,0.000,0.000,0.056,1457.38,1493.94,1420.81,2561.88,2080.12,0,0,0,30.00,30.00,15.65
$GC,5729.54,16902,253.30,1.69,-80.00,1456.5,1492.9,1420.2,2562.6,2080.1,276.18,13.99,553,5735.24,0.00,0.00,4.02,0.000,0.000,0.139,1456.12,1492.31,1419.94,2561.75,662.81,0,0,0,30.00,30.00,15.43
$GC,5823.46,17414,253.30,1.69,0.00,1456.5,1492.9,1420.1,2561.2,663.1,261.24,15.99,572,5829.18,0.00,0.00,3.54,0.000,0.000,0.049,1457.28,1493.38,1421.19,2561.25,2125.12,0,0,0,30.00,30.00,15.73
$GC,6134.60,16902,253.30,1.69,-80.00,1456.3,1492.8,1419.9,2561.6,2125.8,218.85,13.42,601,6140.34,0.00,0.00,4.11,0.000,0.000,0.136,1456.69,1492.69,1420.69,2561.31,663.38,0,0,0,30.00,30.00,15.40
$GC,6163.51,17414,253.30,1.69,0.00,1456.6,1493.1,1420.2,2561.9,664.0,214.82,13.45,607,6170.34,0.00,0.00,3.53,0.000,0.000,0.046,1456.59,1492.94,1420.25,2562.06,2124.94,0,0,0,30.00,30.00,15.73
$GC,6469.68,16386,253.30,1.69,0.00,1456.3,1492.9,1419.8,2562.2,2124.8,174.04,13.58,638,6471.01,0.00,0.00,0.00,0.000,0.000,0.000,1456.72,1493.25,1420.19,2562.25,2124.75,0,0,0,30.00,30.00,30.00
$GC,6769.74,16902,253.30,1.69,-80.00,1456.3,1492.9,1419.8,2562.0,2125.3,135.55,12.02,668,6775.48,0.00,0.00,4.12,0.000,0.000,0.134,1456.50,1493.12,1419.88,2561.69,662.75,0,0,0,30.00,30.00,15.38
$GC,6815.19,17414,253.30,1.69,0.00,1456.3,1493.2,1419.4,2561.9,662.8,129.16,14.69,677,6820.39,0.00,0.00,3.55,0.000,0.000,0.047,1457.75,1494.44,1421.06,2562.00,2125.06,0,0,0,30.00,30.00,15.75
$GC,7119.82,16646,253.30,1.69,80.00,1456.0,1492.9,1419.1,2561.4,2124.8,92.34,11.71,714,7125.60,0.00,0.00,3.74,0.000,0.000,0.109,1456.06,1493.00,1419.12,2562.25,3472.81,0,0,0,30.00,30.00,15.49
$GC,7225.31,17414,253.30,1.69,0.00,1455.3,1491.8,1418.9,2561.6,3472.1,79.62,12.21,735,7231.01,0.00,0.00,3.41,0.000,0.000,0.053,1456.19,1492.56,1419.81,2562.00,2077.75,0,0,0,30.00,30.00,15.66
$GC,7409.98,10791,325.43,1.91,-80.00,1455.5,1492.1,1418.9,2561.9,2077.8,62.77,7.63,772,7497.89,78.41,0.26,4.05,1.126,0.075,0.135,1174.12,1208.50,1139.75,2612.19,662.88,0,0,0,10.56,15.74,15.02
$GC,7611.60,1092,325.43,1.93,0.00,1171.2,1204.2,1138.2,2612.3,662.9,42.96,10.47,812,7616.88,0.00,0.00,3.58,0.000,0.000,0.045,1171.16,1204.31,1138.00,2612.81,2126.12,0,0,0,30.00,30.00,15.52
$GC,7796.18,64,325.43,1.98,0.00,1169.1,1204.2,1134.1,2612.5,2126.2,25.90,9.61,849,7800.51,0.00,0.00,0.00,0.000,0.000,0.000,1169.88,1205.00,1134.75,2612.50,2125.62,0,0,0,30.00,30.00,30.00
$GC,7981.27,64,325.43,2.03,0.00,1169.0,1204.4,1133.6,2612.9,2126.6,7.61,9.19,886,7985.60,0.00,0.00,0.00,0.000,0.000,0.000,1169.03,1204.62,1133.44,2612.38,2126.50,0,0,0,30.00,30.00,30.00
$STATE,8047,end climb,SURFACE_DEPTH_REACHED
$STATE,8047,begin surface coast
$STATE,8072,end surface coast,CONTROL_FINISHED_OK
$STATE,8072,begin surface
$SM_CCo,8237.46,140.74,1.059,0,564.6,571.2,557.9,474.76
$SM_CCo,8238.58,0.00,0.015,0,563.8,569.8,557.8,474.96
$SM_CCo,8239.72,0.00,2.590,0,565.9,570.4,561.5,474.43
$SM_GC,-1.19,0.00,16.55,0.10,2.590,0.068,0.134,565.9,570.4,561.5,169.1,2073.1,0,0,0,30.36,15.51,15.69
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4703.88,-12340.53,220321,210910
$TCM_TEMP,175.69
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3516032
$HUMID,57.75
$TEMP,8.16
$INTERNAL_PRESSURE,7.78532
$24V_AH,13.70,253.789
$10V_AH,14.77,0.000
$FG_AHR_24Vo,218.279
$FG_AHR_10Vo,69.673
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,689.095,36.710,142.035,209.399,0.750,12.928,3500.094,4937.736,1962.945,0.000,0.000,0.000
$DEVICE_MAMPS,2590.296,252.312,246.736,195.602,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8122.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.666,0.000,0.000,0.000
$MEM,1102972,42,73856,68
$DATA_FILE_SIZE,32160,904
$CAP_FILE_SIZE,408712,0
$SDSIZE,3918848,3671776
$SDFILEDIR,4506,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230321,021909,4706.590,-12504.843,24,0.9,25,15.6