version: 67.00
glider: 236
mission: 2
dive: 899
start: 3 23 121 7 30 51
data:
$ID,236
$MISSION,2
$DIVE,899
$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,69.740578
$FG_AHR_24V,218.79904
$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,450
$ALTIM_PING_DELTA,20
$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
$GPS1,230321,072313,4706.939,-12501.479,2,1.7,8,15.6
$_CALLS,1
$_SM_DEPTHo,-1.49
$_SM_ANGLEo,-63.2
$GPS2,230321,073032,4706.956,-12501.438,3,0.9,28,15.6
$SPEED_LIMITS,0.192,0.275
$TGT_NAME,ONSHELF
$TGT_LATLONG,4708.000,-12454.000
$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,62.8,9568,-18.7,-11.111,-22.02
$D_GRID,398
$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,7.43,16386,-155.72,-1.40,0.00,560.3,564.4,556.2,168.9,2115.5,0.00,0.00,0,103.49,95.65,0.00,0.00,0.005,0.000,0.000,2739.31,2717.38,2761.25,168.88,2118.62,0,0,0,14.52,30.00,30.00
$GC,103.72,18951,-155.72,-1.40,-80.00,2738.3,2716.9,2759.8,169.1,2119.6,4.18,-14.82,18,136.01,8.16,14.46,4.20,0.007,0.253,0.149,3135.72,3126.06,3145.38,1799.81,661.12,0,0,0,14.86,15.13,14.65
$GC,244.26,1028,-155.72,-1.40,0.00,3133.9,3124.2,3143.6,1799.2,660.9,37.81,-20.89,46,250.01,0.00,0.00,3.61,0.000,0.000,0.051,3134.31,3125.06,3143.56,1799.56,2117.88,0,0,0,30.00,30.00,15.60
$GC,429.30,260,-155.72,-1.40,80.00,3134.3,3124.5,3144.2,1799.2,2117.8,70.73,-14.63,83,435.52,0.00,0.00,3.77,0.000,0.000,0.108,3135.34,3125.69,3145.00,1798.31,3474.75,0,0,0,30.00,30.00,15.47
$GC,629.35,1028,-155.72,-1.40,0.00,3133.7,3124.6,3142.9,1799.9,3474.4,101.70,-14.10,123,633.95,0.00,0.00,3.41,0.000,0.000,0.055,3134.91,3125.69,3144.12,1799.75,2080.94,0,0,0,30.00,30.00,15.60
$GC,939.41,0,-155.72,-1.40,0.00,3134.4,3124.7,3144.1,1799.4,2081.4,142.07,-12.45,155,940.74,0.00,0.00,0.00,0.000,0.000,0.000,3134.91,3126.00,3143.81,1799.44,2080.94,0,0,0,30.00,30.00,30.00
$GC,1239.47,260,-155.72,-1.40,80.00,3134.3,3124.2,3144.4,1799.3,2081.1,179.12,-11.08,185,1245.17,0.00,0.00,3.88,0.000,0.000,0.109,3134.47,3124.94,3144.00,1799.31,3473.81,0,0,0,30.00,30.00,15.50
$GC,1334.49,1028,-155.72,-1.40,0.00,3134.8,3125.2,3144.3,1799.2,3473.8,191.49,-12.65,204,1339.10,0.00,0.00,3.42,0.000,0.000,0.056,3136.53,3127.06,3146.00,1799.56,2080.81,0,0,0,30.00,30.00,15.63
$GC,1644.57,0,-155.72,-1.40,0.00,3134.7,3124.4,3144.9,1799.8,2080.9,231.02,-13.12,236,1645.89,0.00,0.00,0.00,0.000,0.000,0.000,3135.28,3125.94,3144.62,1799.81,2080.81,0,0,0,30.00,30.00,30.00
$GC,1944.61,260,-155.72,-1.40,80.00,3134.8,3125.1,3144.6,1799.6,2081.6,268.93,-12.43,256,1950.29,0.00,0.00,3.87,0.000,0.000,0.110,3134.25,3123.94,3144.56,1799.69,3474.75,0,0,0,30.00,30.00,15.51
$GC,2003.53,1028,-155.72,-1.40,0.00,3134.8,3124.9,3144.7,1799.7,3474.4,277.14,-13.92,268,2009.21,0.00,0.00,3.39,0.000,0.000,0.056,3136.06,3125.94,3146.19,1799.38,2082.38,0,0,0,30.00,30.00,15.63
$GC,2329.67,260,-155.72,-1.40,80.00,3134.3,3124.2,3144.4,1799.5,2082.7,315.39,-11.46,283,2335.33,0.00,0.00,3.84,0.000,0.000,0.110,3134.44,3124.88,3144.00,1799.88,3475.06,0,0,0,30.00,30.00,15.50
$GC,2354.71,1028,-155.72,-1.40,0.00,3134.8,3124.8,3144.9,1799.4,3474.5,318.21,-10.94,288,2359.26,0.00,0.00,3.38,0.000,0.000,0.056,3135.59,3126.31,3144.88,1799.69,2082.56,0,0,0,30.00,30.00,15.64
$GC,2684.74,0,-155.72,-1.40,0.00,3134.3,3124.6,3144.1,1799.6,2082.1,355.74,-11.33,304,2686.07,0.00,0.00,0.00,0.000,0.000,0.000,3135.31,3125.12,3145.50,1799.94,2081.56,0,0,0,30.00,30.00,30.00
$GC,2984.71,260,-155.72,-1.40,80.00,3134.3,3124.6,3144.1,1799.4,2081.8,388.23,-10.39,314,2990.40,0.00,0.00,3.87,0.000,0.000,0.112,3132.88,3122.50,3143.25,1799.50,3474.69,0,0,0,30.00,30.00,15.50
$GC,3039.72,1028,-155.72,-1.40,0.00,3134.4,3124.4,3144.4,1799.6,3474.2,395.42,-14.02,325,3044.34,0.00,0.00,3.41,0.000,0.000,0.057,3134.81,3125.12,3144.50,1799.88,2081.75,0,0,0,30.00,30.00,15.63
$STATE,3064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3064,begin apogee
$GC,3064.84,10243,0.00,-0.25,0.00,3134.2,3124.2,3144.2,1800.0,2122.8,398.24,-12.37,330,3198.78,131.19,2.04,0.09,1.506,0.140,0.208,2500.72,2508.31,2493.12,2079.50,2083.56,0,0,0,10.57,15.51,14.85
$STATE,3201,end apogee,CONTROL_FINISHED_OK
$STATE,3201,begin climb
$GC,3201.59,10243,155.72,1.40,0.00,2497.8,2506.7,2489.0,2080.2,2083.8,401.47,0.00,335,3346.01,138.85,2.90,0.00,1.455,0.082,0.000,1863.56,1892.12,1835.00,2484.38,2083.38,0,0,0,11.58,15.14,30.00
$GC,3669.82,16710,155.72,1.46,80.00,1853.3,1886.6,1820.1,2484.8,2083.4,365.65,9.12,376,3675.45,0.00,0.00,3.91,0.000,0.000,0.111,1851.81,1884.81,1818.81,2485.00,3474.12,0,0,0,30.00,30.00,15.48
$GC,3703.67,17478,155.72,1.50,0.00,1852.6,1885.0,1820.2,2484.6,3474.2,362.31,9.85,383,3709.37,0.00,0.00,3.44,0.000,0.000,0.056,1853.47,1885.75,1821.19,2484.50,2080.56,0,0,0,30.00,30.00,15.58
$GC,4024.79,19015,155.72,1.56,-80.00,1851.7,1885.1,1818.3,2484.4,2080.2,332.54,9.14,397,4030.55,0.00,0.22,4.00,0.000,0.082,0.140,1850.47,1883.56,1817.38,2530.06,662.81,0,0,0,30.00,15.69,15.41
$GC,4123.70,17414,155.72,1.56,0.00,1851.0,1883.4,1818.6,2529.6,662.9,320.07,14.21,417,4129.41,0.00,0.00,3.54,0.000,0.000,0.048,1850.88,1883.25,1818.50,2529.81,2123.88,0,0,0,30.00,30.00,15.72
$GC,4439.85,16966,155.72,1.60,-80.00,1850.2,1883.2,1817.1,2530.1,2124.3,289.37,9.71,430,4445.53,0.00,0.00,4.06,0.000,0.000,0.134,1849.97,1883.00,1816.94,2530.19,663.12,0,0,0,30.00,30.00,15.43
$GC,4525.26,17414,155.72,1.60,0.00,1849.9,1882.6,1817.3,2530.4,662.6,279.30,12.82,447,4530.46,0.00,0.00,3.53,0.000,0.000,0.045,1849.78,1882.56,1817.00,2528.94,2125.88,0,0,0,30.00,30.00,15.75
$GC,4849.92,16710,155.72,1.65,80.00,1849.7,1882.6,1816.8,2530.6,2126.2,247.69,9.64,462,4855.52,0.00,0.00,3.70,0.000,0.000,0.112,1848.66,1881.38,1815.94,2529.94,3474.75,0,0,0,30.00,30.00,15.52
$GC,4864.91,17478,155.72,1.68,0.00,1849.4,1882.1,1816.6,2530.6,3474.6,246.77,9.86,465,4869.45,0.00,0.00,3.39,0.000,0.000,0.053,1849.75,1882.69,1816.81,2530.25,2077.88,0,0,0,30.00,30.00,15.68
$GC,5174.94,10791,209.88,1.85,-80.00,1849.6,1882.2,1816.9,2530.2,2077.8,217.82,8.49,497,5229.70,46.88,0.37,3.98,1.307,0.071,0.137,1643.03,1673.50,1612.56,2598.50,661.75,0,0,0,10.68,15.74,15.13
$GC,5275.37,1028,209.88,1.85,0.00,1640.5,1668.8,1612.2,2599.4,661.6,204.13,17.01,517,5280.57,0.00,0.00,3.57,0.000,0.000,0.046,1640.78,1668.75,1612.81,2598.50,2126.06,0,0,0,30.00,30.00,15.52
$GC,5580.00,260,209.88,1.85,80.00,1636.7,1668.4,1604.9,2598.9,2126.2,160.92,15.01,548,5585.67,0.00,0.00,3.72,0.000,0.000,0.110,1636.62,1668.00,1605.25,2598.62,3472.56,0,0,0,30.00,30.00,15.44
$GC,5595.00,17414,209.88,1.85,0.00,1635.8,1667.5,1604.2,2599.4,3472.9,158.76,15.39,551,5599.59,0.00,0.00,3.40,0.000,0.000,0.052,1636.94,1668.12,1605.75,2599.38,2077.50,0,0,0,30.00,30.00,15.62
$GC,5905.07,16902,209.88,1.85,-80.00,1635.3,1667.4,1603.3,2599.0,2078.2,118.14,11.57,583,5910.78,0.00,0.00,3.93,0.000,0.000,0.133,1634.66,1666.81,1602.50,2599.00,661.88,0,0,0,30.00,30.00,15.40
$GC,5983.98,17414,209.88,1.85,0.00,1635.4,1667.4,1603.4,2599.0,661.8,107.37,14.15,599,5990.82,0.00,0.00,3.54,0.000,0.000,0.046,1635.56,1667.75,1603.38,2599.19,2126.25,0,0,0,30.00,30.00,15.70
$GC,6290.26,10791,318.22,2.17,-80.00,1634.9,1666.9,1603.0,2599.8,2126.2,79.29,5.87,654,6413.94,115.71,0.44,4.16,1.127,0.061,0.129,1202.31,1233.38,1171.25,2677.56,661.44,0,0,0,11.07,15.73,14.97
$GC,6557.63,1028,318.22,2.17,0.00,1199.5,1228.3,1170.6,2677.6,661.9,48.98,14.32,707,6563.36,0.00,0.00,3.59,0.000,0.000,0.047,1199.88,1228.81,1170.94,2676.94,2128.38,0,0,0,30.00,30.00,15.53
$GC,6742.27,516,318.22,2.17,-80.00,1196.5,1228.1,1164.9,2677.2,2127.8,28.46,11.33,744,6748.11,0.00,0.00,4.11,0.000,0.000,0.128,1197.25,1228.69,1165.81,2677.25,661.06,0,0,0,30.00,30.00,15.37
$STATE,6928,end climb,SURFACE_DEPTH_REACHED
$STATE,6928,begin surface coast
$STATE,6943,end surface coast,CONTROL_FINISHED_OK
$STATE,6943,begin surface
$SM_CCo,7117.42,144.71,1.045,0,564.3,564.4,564.3,474.82
$SM_CCo,7118.55,0.00,2.593,0,564.7,564.9,564.4,474.74
$SM_CCo,7119.67,0.29,0.149,0,564.7,566.7,562.8,474.72
$SM_GC,-1.01,0.29,16.44,3.57,0.149,0.050,0.050,564.7,566.7,562.8,169.0,2130.4,0,0,0,15.17,15.63,15.70
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4706.19,-12502.11,230321,050214
$TCM_TEMP,176.05
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3514880
$HUMID,57.97
$TEMP,8.23
$INTERNAL_PRESSURE,7.79043
$24V_AH,13.74,254.592
$10V_AH,14.78,0.000
$FG_AHR_24Vo,219.018
$FG_AHR_10Vo,69.767
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,681.460,36.870,111.450,213.542,0.750,37.533,3116.133,4224.724,1708.599,0.000,0.000,0.000
$DEVICE_MAMPS,2592.920,253.296,208.032,204.736,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6980.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.594,0.000,0.000,0.000
$MEM,1102748,42,74020,71
$DATA_FILE_SIZE,28988,784
$CAP_FILE_SIZE,356728,0
$SDSIZE,3918848,3671072
$SDFILEDIR,4521,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230321,092948,4707.100,-12500.177,3,1.4,9,15.6