version: 67.00
glider: 236
mission: 2
dive: 942
start: 3 25 121 9 20 30
data:
$ID,236
$MISSION,2
$DIVE,942
$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,70.432388
$FG_AHR_24V,226.76759
$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,300
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$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
$GPS1,250321,090935,4707.152,-12459.967,0,1.2,3,15.6
$_CALLS,3
$_SM_DEPTHo,-1.59
$_SM_ANGLEo,-57.9
$GPS2,250321,092012,4707.049,-12459.835,3,1.1,4,15.6
$SPEED_LIMITS,0.192,0.275
$TGT_NAME,HOLD
$TGT_LATLONG,4708.000,-12500.600
$TGT_RADIUS,3000.000
$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,315.8,2008,-18.7,-11.111,-22.02
$D_GRID,203
$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,7.42,16386,-155.72,-1.40,0.00,558.1,564.9,551.3,165.6,2078.5,0.00,0.00,0,98.22,90.33,0.00,0.00,0.005,0.000,0.000,2629.06,2607.06,2651.06,165.50,2078.38,0,0,0,14.55,30.00,30.00
$GC,98.49,18951,-155.72,-1.40,-80.00,2628.3,2607.0,2649.6,165.4,2078.5,3.94,-14.51,17,131.30,10.44,14.19,4.04,0.007,0.249,0.151,3133.91,3127.00,3140.81,1799.94,663.12,0,0,0,14.83,15.16,14.61
$GC,205.04,1028,-155.72,-1.40,0.00,3133.9,3126.1,3141.6,1800.1,662.7,28.71,-20.01,38,210.70,0.00,0.00,3.51,0.000,0.000,0.051,3134.12,3127.44,3140.81,1799.94,2119.44,0,0,0,30.00,30.00,15.63
$GC,269.56,0,-155.72,-1.40,0.00,3134.1,3126.7,3141.4,1800.0,2119.0,40.42,-17.43,51,273.88,0.00,0.00,0.00,0.000,0.000,0.000,3134.62,3127.75,3141.50,1799.81,2119.62,0,0,0,30.00,30.00,30.00
$GC,334.57,0,-155.72,-1.40,0.00,3133.8,3126.6,3141.1,1800.2,2119.5,52.46,-18.23,64,338.89,0.00,0.00,0.00,0.000,0.000,0.000,3134.69,3127.38,3142.00,1800.31,2119.44,0,0,0,30.00,30.00,30.00
$GC,399.58,260,-155.72,-1.40,80.00,3134.3,3126.9,3141.8,1799.6,2119.1,63.34,-15.46,77,405.31,0.00,0.00,3.61,0.000,0.000,0.108,3134.81,3127.44,3142.19,1799.94,3476.00,0,0,0,30.00,30.00,15.49
$GC,424.63,1028,-155.72,-1.40,0.00,3134.1,3126.4,3141.7,1799.5,3476.2,67.12,-14.77,82,430.29,0.00,0.00,3.38,0.000,0.000,0.055,3134.66,3127.06,3142.25,1800.19,2080.00,0,0,0,30.00,30.00,15.61
$GC,489.60,516,-155.72,-1.40,-80.00,3134.1,3126.6,3141.6,1800.0,2079.9,76.29,-14.42,95,495.82,0.00,0.00,3.97,0.000,0.000,0.148,3134.72,3127.12,3142.31,1799.75,662.62,0,0,0,30.00,30.00,15.38
$GC,510.11,1028,-155.72,-1.40,0.00,3134.0,3126.7,3141.2,1799.4,662.7,79.37,-15.88,99,515.74,0.00,0.00,3.45,0.000,0.000,0.046,3134.38,3126.81,3141.94,1800.12,2121.75,0,0,0,30.00,30.00,15.69
$GC,574.62,516,-155.72,-1.40,-80.00,3133.8,3126.4,3141.2,1800.1,2122.1,88.14,-12.95,112,580.86,0.00,0.00,4.08,0.000,0.000,0.144,3134.97,3127.38,3142.56,1799.94,662.75,0,0,0,30.00,30.00,15.39
$GC,610.06,1028,-155.72,-1.40,0.00,3134.4,3127.4,3141.4,1800.1,662.9,93.31,-15.06,119,615.77,0.00,0.00,3.45,0.000,0.000,0.046,3133.75,3126.25,3141.25,1799.75,2123.62,0,0,0,30.00,30.00,15.69
$GC,674.64,0,-155.72,-1.40,0.00,3133.9,3126.7,3141.1,1800.0,2123.7,101.38,-11.77,132,678.96,0.00,0.00,0.00,0.000,0.000,0.000,3134.59,3126.94,3142.25,1800.00,2123.62,0,0,0,30.00,30.00,30.00
$GC,739.64,0,-155.72,-1.40,0.00,3134.1,3126.9,3141.3,1799.8,2123.6,109.27,-12.41,145,743.96,0.00,0.00,0.00,0.000,0.000,0.000,3134.91,3127.75,3142.06,1799.62,2123.94,0,0,0,30.00,30.00,30.00
$GC,804.65,0,-155.72,-1.40,0.00,3133.7,3126.3,3141.1,1799.6,2123.2,117.59,-12.83,158,808.97,0.00,0.00,0.00,0.000,0.000,0.000,3134.41,3127.00,3141.81,1799.94,2123.38,0,0,0,30.00,30.00,30.00
$GC,869.66,0,-155.72,-1.40,0.00,3134.2,3126.9,3141.5,1799.9,2123.6,125.36,-12.01,171,873.98,0.00,0.00,0.00,0.000,0.000,0.000,3134.31,3127.12,3141.50,1800.06,2123.00,0,0,0,30.00,30.00,30.00
$GC,934.68,0,-155.72,-1.40,0.00,3134.3,3126.6,3141.9,1799.8,2123.9,133.30,-12.25,184,939.00,0.00,0.00,0.00,0.000,0.000,0.000,3135.19,3128.00,3142.38,1799.94,2123.56,0,0,0,30.00,30.00,30.00
$GC,999.68,516,-155.72,-1.40,-80.00,3134.0,3126.6,3141.3,1800.3,2123.2,141.14,-11.52,197,1005.92,0.00,0.00,4.09,0.000,0.000,0.147,3133.84,3126.12,3141.56,1799.88,663.00,0,0,0,30.00,30.00,15.40
$GC,1025.12,1028,-155.72,-1.40,0.00,3134.0,3126.4,3141.6,1799.9,662.9,144.61,-13.27,202,1030.84,0.00,0.00,3.45,0.000,0.000,0.047,3134.50,3127.12,3141.88,1799.75,2123.44,0,0,0,30.00,30.00,15.72
$GC,1089.70,260,-155.72,-1.40,80.00,3133.9,3126.5,3141.2,1799.9,2122.9,152.50,-11.92,213,1094.31,0.00,0.00,3.55,0.000,0.000,0.107,3134.19,3126.56,3141.81,1799.75,3476.06,0,0,0,30.00,30.00,15.53
$GC,1129.69,1028,-155.72,-1.40,0.00,3134.0,3126.6,3141.4,1800.1,3475.7,157.98,-14.04,221,1134.29,0.00,0.00,3.36,0.000,0.000,0.053,3134.12,3126.81,3141.44,1799.75,2079.81,0,0,0,30.00,30.00,15.64
$GC,1439.74,260,-155.72,-1.40,80.00,3134.0,3126.6,3141.5,1800.0,2080.1,195.89,-12.66,253,1445.39,0.00,0.00,3.71,0.000,0.000,0.106,3132.53,3125.19,3139.88,1799.81,3475.31,0,0,0,30.00,30.00,15.54
$STATE,1495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1495,begin apogee
$GC,1499.54,10243,0.00,-0.25,0.00,3134.0,3127.3,3140.8,1799.6,2080.9,203.07,-13.17,264,1627.62,122.75,2.02,0.08,1.261,0.141,0.210,2499.28,2508.69,2489.88,2081.38,2125.12,0,0,0,10.78,15.54,14.95
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1631.80,10759,155.72,1.40,-80.00,2496.8,2507.0,2486.5,2080.9,2125.2,207.69,0.00,277,1770.60,130.35,2.81,4.16,1.208,0.079,0.135,1861.28,1888.44,1834.12,2485.06,663.75,0,0,0,11.55,15.23,14.87
$GC,1772.89,11303,255.28,1.70,0.00,1861.7,1888.6,1834.8,2484.2,663.7,200.64,6.30,294,1864.35,83.44,0.43,3.56,1.170,0.042,0.044,1459.53,1492.31,1426.75,2569.88,2125.81,0,0,0,11.57,15.14,15.20
$GC,2168.92,260,255.28,1.70,80.00,1451.8,1487.6,1416.0,2570.9,2125.8,149.90,12.09,343,2175.09,0.00,0.00,3.61,0.000,0.000,0.108,1452.22,1488.06,1416.38,2570.06,3472.62,0,0,0,30.00,30.00,15.49
$GC,2209.37,17414,255.28,1.70,0.00,1450.8,1486.0,1415.6,2570.4,3472.7,144.30,13.86,351,2214.63,0.00,0.00,3.38,0.000,0.000,0.053,1450.94,1486.56,1415.31,2570.75,2078.00,0,0,0,30.00,30.00,15.62
$GC,2273.96,16902,255.28,1.70,-80.00,1450.8,1486.2,1415.4,2570.6,2078.1,135.65,12.41,364,2280.16,0.00,0.00,3.92,0.000,0.000,0.136,1450.69,1486.12,1415.25,2570.50,661.69,0,0,0,30.00,30.00,15.42
$GC,2334.41,17414,255.28,1.70,0.00,1451.0,1486.4,1415.6,2569.9,661.7,126.01,17.57,376,2340.11,0.00,0.00,3.45,0.000,0.000,0.045,1450.94,1486.25,1415.62,2570.44,2127.62,0,0,0,30.00,30.00,15.67
$GC,2398.97,16646,255.28,1.70,80.00,1450.7,1486.2,1415.2,2570.6,2127.6,116.68,14.63,389,2404.68,0.00,0.00,3.57,0.000,0.000,0.108,1450.72,1486.38,1415.06,2570.75,3474.88,0,0,0,30.00,30.00,15.53
$GC,2414.42,17414,255.28,1.70,0.00,1450.1,1485.6,1414.6,2570.7,3474.2,114.67,14.27,392,2419.66,0.00,0.00,3.36,0.000,0.000,0.050,1450.44,1485.81,1415.06,2570.50,2076.69,0,0,0,30.00,30.00,15.67
$GC,2478.99,16902,255.28,1.70,-80.00,1450.1,1485.6,1414.6,2569.9,2076.9,106.63,11.99,405,2485.18,0.00,0.00,3.87,0.000,0.000,0.134,1450.38,1485.75,1415.00,2570.31,661.56,0,0,0,30.00,30.00,15.45
$GC,2544.45,17414,255.28,1.70,0.00,1450.2,1485.9,1414.5,2570.0,661.7,97.04,15.27,418,2550.14,0.00,0.00,3.44,0.000,0.000,0.043,1450.78,1486.25,1415.31,2569.69,2127.69,0,0,0,30.00,30.00,15.70
$GC,2609.03,16386,255.28,1.70,0.00,1450.0,1485.4,1414.6,2570.8,2128.1,89.13,11.65,431,2613.36,0.00,0.00,0.00,0.000,0.000,0.000,1450.50,1486.00,1415.00,2571.06,2128.06,0,0,0,30.00,30.00,30.00
$GC,2674.03,16966,255.28,1.72,-80.00,1450.2,1485.9,1414.6,2570.8,2127.7,82.33,10.53,444,2680.25,0.00,0.00,3.99,0.000,0.000,0.130,1450.28,1485.81,1414.75,2571.19,662.00,0,0,0,30.00,30.00,15.45
$GC,2769.49,17414,255.28,1.72,0.00,1450.1,1485.6,1414.7,2570.9,661.8,71.20,11.66,463,2774.75,0.00,0.00,3.43,0.000,0.000,0.045,1451.12,1486.44,1415.81,2570.44,2129.00,0,0,0,30.00,30.00,15.73
$GC,2834.07,10275,319.42,1.91,0.00,1450.2,1485.8,1414.8,2571.1,2128.5,65.53,8.01,476,2904.42,66.25,0.20,0.00,1.046,0.068,0.000,1198.06,1232.00,1164.12,2618.38,2128.31,0,0,0,10.93,15.72,30.00
$GC,2964.08,580,319.42,1.94,-80.00,1194.8,1230.5,1159.1,2619.1,2129.4,51.89,10.27,502,2970.33,0.00,0.00,4.03,0.000,0.000,0.133,1195.00,1230.44,1159.56,2618.94,663.00,0,0,0,30.00,30.00,15.33
$GC,2989.51,1028,319.42,1.94,0.00,1195.0,1230.2,1159.8,2619.7,662.8,48.97,11.51,507,2995.21,0.00,0.00,3.48,0.000,0.000,0.047,1194.88,1230.19,1159.56,2619.75,2128.69,0,0,0,30.00,30.00,15.53
$GC,3054.09,0,319.42,1.94,0.00,1194.0,1229.8,1158.2,2619.1,2129.4,41.88,10.62,520,3058.41,0.00,0.00,0.00,0.000,0.000,0.000,1194.00,1230.00,1158.00,2619.38,2128.88,0,0,0,30.00,30.00,30.00
$GC,3119.11,580,319.42,1.97,-80.00,1193.6,1230.0,1157.2,2618.9,2129.5,35.52,9.81,533,3124.90,0.00,0.00,4.02,0.000,0.000,0.131,1194.41,1230.25,1158.56,2619.00,661.75,0,0,0,30.00,30.00,15.38
$GC,3159.54,1028,319.42,1.97,0.00,1193.4,1229.4,1157.4,2619.8,662.0,31.09,11.43,541,3164.81,0.00,0.00,3.43,0.000,0.000,0.045,1193.91,1229.94,1157.88,2619.44,2129.19,0,0,0,30.00,30.00,15.63
$GC,3224.13,64,319.42,2.00,0.00,1193.2,1229.6,1156.9,2619.8,2128.4,24.43,10.25,554,3228.45,0.00,0.00,0.00,0.000,0.000,0.000,1193.50,1229.81,1157.19,2619.44,2128.62,0,0,0,30.00,30.00,30.00
$GC,3289.12,260,319.42,2.00,80.00,1193.2,1229.6,1156.8,2619.5,2129.0,17.88,10.78,567,3294.84,0.00,0.00,3.53,0.000,0.000,0.107,1193.22,1229.38,1157.06,2618.75,3475.19,0,0,0,30.00,30.00,15.51
$GC,3359.19,1092,319.42,2.02,0.00,1192.2,1227.9,1156.5,2619.1,3475.1,10.46,10.37,581,3364.84,0.00,0.00,3.35,0.000,0.000,0.053,1192.19,1228.50,1155.88,2619.44,2075.94,0,0,0,30.00,30.00,15.65
$GC,3424.16,10791,406.67,2.28,-80.00,1192.2,1228.6,1155.8,2619.7,2076.1,5.14,6.89,594,3460.03,34.83,0.47,0.00,0.977,0.049,0.000,1059.94,1095.56,1024.31,2707.38,2075.44,0,0,0,11.08,15.68,30.00
$STATE,3460,end climb,SURFACE_DEPTH_REACHED
$STATE,3460,begin surface coast
$STATE,3484,end surface coast,CONTROL_FINISHED_OK
$STATE,3484,begin surface
$SM_CCo,3620.97,111.86,1.002,0,564.6,570.6,558.5,474.76
$SM_CCo,3622.09,0.00,2.583,0,565.8,570.1,561.4,474.46
$SM_CCo,3625.23,2.12,0.291,0,564.1,567.4,560.9,474.87
$SM_GC,-0.50,2.12,16.30,0.09,0.291,0.039,0.135,564.1,567.4,560.9,170.3,2134.2,0,0,0,11.79,15.55,15.59
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4707.10,-12459.52,250321,091538
$TCM_TEMP,175.63
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3498368
$HUMID,58.20
$TEMP,8.46
$INTERNAL_PRESSURE,7.80068
$24V_AH,13.75,262.991
$10V_AH,14.82,0.000
$FG_AHR_24Vo,226.954
$FG_AHR_10Vo,70.447
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,652.375,36.420,116.870,327.022,1.000,12.821,2764.039,1323.602,1421.348,0.000,0.000,0.000
$DEVICE_MAMPS,2583.080,248.704,210.328,184.934,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3535.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.301,0.000,0.000,0.000
$MEM,1103636,39,73492,56
$DATA_FILE_SIZE,22619,606
$CAP_FILE_SIZE,327637,0
$SDSIZE,3918848,3661440
$SDFILEDIR,4736,1
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250321,102155,4707.251,-12459.719,50,1.3,51,15.6