version: 67.00
glider: 236
mission: 2
dive: 913
start: 3 23 121 19 20 20
data:
$ID,236
$MISSION,2
$DIVE,913
$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,69.905518
$FG_AHR_24V,221.30211
$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,110
$ALTIM_PING_DELTA,10
$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
$GPS1,230321,191420,4707.107,-12454.854,2,0.6,4,15.5
$_CALLS,1
$_SM_DEPTHo,-1.27
$_SM_ANGLEo,-63.6
$GPS2,230321,192002,4707.083,-12454.855,2,0.7,4,15.5
$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,267.7,7434,-18.7,-11.111,-22.02
$D_GRID,138
$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,-1.40,0.00,558.0,564.1,551.9,166.8,2116.5,0.00,0.00,0,103.41,95.47,0.00,0.00,0.005,0.000,0.000,2802.22,2782.06,2822.38,166.81,2116.75,0,0,0,14.70,30.00,30.00
$GC,103.63,18695,-155.72,-1.40,80.00,2801.8,2781.4,2822.2,166.8,2116.9,4.14,-14.59,18,135.72,6.68,14.20,3.72,0.008,0.253,0.112,3133.81,3124.75,3142.88,1800.00,3475.38,0,0,0,14.78,15.30,14.72
$GC,138.94,1028,-155.72,-1.40,0.00,3133.8,3124.3,3143.2,1799.8,3475.4,15.37,-28.39,25,144.64,0.00,0.00,3.39,0.000,0.000,0.058,3134.03,3124.19,3143.88,1800.12,2082.12,0,0,0,30.00,30.00,15.64
$GC,203.96,516,-155.72,-1.40,-80.00,3133.5,3124.0,3143.0,1800.2,2082.8,28.39,-19.06,38,210.20,0.00,0.00,4.03,0.000,0.000,0.149,3133.62,3123.50,3143.75,1799.75,662.75,0,0,0,30.00,30.00,15.46
$GC,214.40,1028,-155.72,-1.40,0.00,3133.7,3124.1,3143.2,1800.1,662.7,30.42,-19.56,40,220.12,0.00,0.00,3.51,0.000,0.000,0.049,3134.41,3124.81,3144.00,1799.62,2123.69,0,0,0,30.00,30.00,15.67
$GC,278.97,260,-155.72,-1.40,80.00,3133.3,3123.8,3142.9,1800.3,2123.6,42.84,-18.29,53,284.69,0.00,0.00,3.60,0.000,0.000,0.107,3134.59,3124.88,3144.31,1798.75,3475.25,0,0,0,30.00,30.00,15.61
$GC,304.42,1028,-155.72,-1.40,0.00,3133.8,3123.6,3144.0,1800.1,3476.7,48.12,-21.13,58,310.09,0.00,0.00,3.37,0.000,0.000,0.056,3134.06,3123.94,3144.19,1799.50,2080.25,0,0,0,30.00,30.00,15.67
$GC,368.99,0,-155.72,-1.40,0.00,3134.1,3123.8,3144.4,1800.0,2080.9,59.52,-17.55,71,373.31,0.00,0.00,0.00,0.000,0.000,0.000,3134.41,3124.69,3144.12,1800.06,2080.56,0,0,0,30.00,30.00,30.00
$GC,433.99,260,-155.72,-1.40,80.00,3134.2,3124.6,3143.8,1800.1,2080.8,70.06,-15.58,84,439.77,0.00,0.00,3.77,0.000,0.000,0.107,3136.12,3126.50,3145.75,1800.12,3474.94,0,0,0,30.00,30.00,15.62
$GC,544.46,1028,-155.72,-1.40,0.00,3133.9,3124.6,3143.2,1799.5,3474.6,88.02,-14.73,106,550.14,0.00,0.00,3.37,0.000,0.000,0.056,3134.44,3124.81,3144.06,1800.19,2081.31,0,0,0,30.00,30.00,15.71
$GC,609.03,260,-155.72,-1.40,80.00,3134.0,3124.4,3143.6,1799.8,2081.2,96.63,-13.37,119,614.78,0.00,0.00,3.73,0.000,0.000,0.106,3135.50,3125.69,3145.31,1800.00,3474.44,0,0,0,30.00,30.00,15.63
$GC,649.48,1028,-155.72,-1.40,0.00,3133.8,3124.1,3143.6,1800.1,3474.6,102.17,-14.65,127,655.15,0.00,0.00,3.37,0.000,0.000,0.056,3134.72,3124.94,3144.50,1799.44,2079.56,0,0,0,30.00,30.00,15.72
$GC,714.72,516,-155.72,-1.40,-80.00,3133.8,3124.1,3143.6,1800.0,2080.4,110.50,-12.75,140,720.27,0.00,0.00,3.96,0.000,0.000,0.148,3136.12,3126.00,3146.25,1799.62,662.94,0,0,0,30.00,30.00,15.53
$GC,744.49,1028,-155.72,-1.40,0.00,3133.6,3123.6,3143.5,1799.9,663.1,114.75,-14.16,146,750.20,0.00,0.00,3.47,0.000,0.000,0.048,3133.75,3123.94,3143.56,1799.62,2124.19,0,0,0,30.00,30.00,15.77
$GC,809.43,516,-155.72,-1.40,-80.00,3133.3,3123.6,3143.0,1800.1,2124.8,122.63,-12.07,159,815.65,0.00,0.00,4.07,0.000,0.000,0.145,3135.09,3125.12,3145.06,1799.69,661.88,0,0,0,30.00,30.00,15.54
$GC,849.86,1028,-155.72,-1.40,0.00,3133.4,3123.9,3142.9,1799.8,661.9,128.02,-14.20,167,855.56,0.00,0.00,3.46,0.000,0.000,0.047,3134.41,3124.88,3143.94,1799.94,2122.75,0,0,0,30.00,30.00,15.77
$GC,914.42,0,-155.72,-1.40,0.00,3133.4,3124.1,3142.6,1800.0,2122.8,135.39,-11.51,180,918.75,0.00,0.00,0.00,0.000,0.000,0.000,3134.78,3125.69,3143.88,1799.88,2122.94,0,0,0,30.00,30.00,30.00
$STATE,939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,939,begin apogee
$GC,940.56,10243,0.00,-0.25,0.00,3133.6,3123.9,3143.3,1800.2,2080.6,138.36,-11.57,185,1066.28,119.85,2.08,0.08,1.143,0.142,0.202,2499.97,2509.31,2490.62,2080.31,2121.44,0,0,0,10.99,15.64,15.03
$STATE,1069,end apogee,CONTROL_FINISHED_OK
$STATE,1069,begin climb
$GC,1069.03,10243,155.72,1.40,0.00,2496.8,2506.5,2487.1,2079.6,2122.6,142.44,0.00,210,1200.73,126.82,2.73,0.00,1.100,0.086,0.000,1863.66,1894.06,1833.25,2484.56,2121.88,0,0,0,11.70,15.28,30.00
$GC,1258.97,10535,210.68,1.57,80.00,1857.9,1890.5,1825.4,2484.5,2122.2,132.36,8.45,247,1311.16,45.92,0.22,3.74,1.058,0.069,0.111,1638.59,1672.31,1604.88,2536.50,3474.75,0,0,0,11.59,15.41,15.06
$GC,1319.38,1028,210.68,1.57,0.00,1637.8,1671.2,1604.4,2536.9,3474.1,125.67,11.64,259,1325.08,0.00,0.00,3.43,0.000,0.000,0.053,1637.72,1671.88,1603.56,2534.81,2076.56,0,0,0,30.00,30.00,15.36
$GC,1384.41,516,210.68,1.57,-80.00,1635.1,1670.1,1600.0,2536.6,2076.9,117.71,11.09,272,1390.62,0.00,0.00,3.94,0.000,0.000,0.133,1635.31,1670.31,1600.31,2536.25,663.12,0,0,0,30.00,30.00,15.40
$GC,1519.85,1028,210.68,1.57,0.00,1633.2,1666.9,1599.6,2537.1,663.1,100.03,12.78,299,1525.57,0.00,0.00,3.52,0.000,0.000,0.047,1633.25,1666.81,1599.69,2536.19,2126.50,0,0,0,30.00,30.00,15.64
$GC,1584.44,16710,210.68,1.59,80.00,1632.0,1666.5,1597.5,2536.2,2126.8,93.16,10.34,312,1590.16,0.00,0.00,3.61,0.000,0.000,0.107,1632.16,1666.38,1597.94,2536.25,3474.50,0,0,0,30.00,30.00,15.58
$GC,1634.42,17414,210.68,1.59,0.00,1631.4,1665.8,1597.1,2536.7,3474.5,88.14,10.83,322,1640.12,0.00,0.00,3.37,0.000,0.000,0.051,1632.25,1666.81,1597.69,2536.88,2076.94,0,0,0,30.00,30.00,15.69
$GC,1699.46,10791,278.49,1.79,-80.00,1631.3,1665.9,1596.8,2536.9,2076.8,82.67,7.83,335,1767.62,62.46,0.23,3.95,1.025,0.077,0.131,1364.72,1397.94,1331.50,2590.75,661.88,0,0,0,11.24,15.67,15.13
$GC,1846.31,1028,278.49,1.79,0.00,1362.3,1395.1,1329.5,2591.2,662.0,65.45,12.69,364,1851.99,0.00,0.00,3.48,0.000,0.000,0.043,1362.53,1395.81,1329.25,2590.31,2127.69,0,0,0,30.00,30.00,15.55
$GC,1910.89,324,278.49,1.82,80.00,1360.2,1395.2,1325.1,2590.7,2127.2,59.03,10.11,377,1916.59,0.00,0.00,3.59,0.000,0.000,0.106,1360.69,1395.88,1325.50,2589.38,3475.56,0,0,0,30.00,30.00,15.53
$GC,2010.89,1092,278.49,1.87,0.00,1358.6,1394.8,1322.3,2590.5,3475.5,49.35,9.55,397,2016.58,0.00,0.00,3.34,0.000,0.000,0.051,1359.25,1395.56,1322.94,2590.25,2077.06,0,0,0,30.00,30.00,15.65
$GC,2075.91,580,278.49,1.92,-80.00,1358.8,1395.3,1322.2,2591.2,2076.9,42.96,9.62,410,2082.10,0.00,0.00,3.88,0.000,0.000,0.129,1358.59,1395.06,1322.12,2590.81,661.88,0,0,0,30.00,30.00,15.53
$GC,2131.38,3141,278.49,1.97,0.00,1358.7,1395.1,1322.2,2591.1,661.7,37.84,9.38,421,2136.67,0.00,0.16,3.45,0.000,0.081,0.042,1359.50,1395.69,1323.31,2632.50,2130.31,0,0,0,30.00,15.57,15.71
$GC,2195.93,10275,344.30,2.16,0.00,1358.6,1395.1,1322.1,2632.6,2130.2,32.47,7.93,434,2263.29,66.50,0.19,0.00,0.979,0.078,0.000,1097.19,1131.81,1062.56,2679.25,2129.50,0,0,0,11.22,15.69,30.00
$GC,2321.51,260,344.30,2.16,80.00,1094.4,1130.7,1058.1,2678.8,2129.6,18.14,12.45,459,2327.25,0.00,0.00,3.62,0.000,0.000,0.107,1094.41,1130.38,1058.44,2679.12,3472.81,0,0,0,30.00,30.00,15.46
$GC,2351.57,1028,344.30,2.16,0.00,1093.4,1128.7,1058.1,2678.5,3472.5,14.03,13.66,465,2357.20,0.00,0.00,3.36,0.000,0.000,0.051,1093.69,1129.06,1058.31,2679.06,2077.69,0,0,0,30.00,30.00,15.56
$GC,2416.53,516,344.30,2.16,-80.00,1093.2,1129.0,1057.5,2678.8,2077.7,5.04,13.44,478,2422.30,0.00,0.00,3.88,0.000,0.000,0.129,1093.22,1129.00,1057.44,2679.19,660.81,0,0,0,30.00,30.00,15.47
$STATE,2442,end climb,SURFACE_DEPTH_REACHED
$STATE,2442,begin surface coast
$STATE,2452,end surface coast,CONTROL_FINISHED_OK
$STATE,2452,begin surface
$SM_CCo,2598.90,116.79,0.976,0,564.6,571.6,557.6,474.76
$SM_CCo,2600.01,0.00,0.009,0,564.2,571.2,557.1,474.86
$SM_CCo,2601.03,0.00,0.000,0,563.7,569.9,557.5,474.98
$SM_GC,-0.58,0.00,16.26,3.41,0.000,0.054,0.040,563.7,569.9,557.5,170.4,2129.4,0,0,0,30.00,15.62,15.66
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4706.71,-12455.12,230321,182635
$TCM_TEMP,176.22
$XPDR_PINGS,3,14.0,11.5
$ALTIM_BOTTOM_PING,121.1,29.8
$SC_FREEKB,3509504
$HUMID,58.67
$TEMP,9.06
$INTERNAL_PRESSURE,7.83128
$24V_AH,14.51,257.171
$10V_AH,14.84,0.000
$FG_AHR_24Vo,221.469
$FG_AHR_10Vo,69.916
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,640.505,36.080,108.665,159.449,1.500,13.823,2149.099,620.527,1171.010,0.000,3.000,0.000
$DEVICE_MAMPS,1143.160,253.296,201.800,184.347,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2501.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.257,0.000,0.000,0.000
$MEM,1103680,39,73448,56
$DATA_FILE_SIZE,16219,485
$CAP_FILE_SIZE,287681,0
$SDSIZE,3918848,3668192
$SDFILEDIR,4591,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230321,200353,4707.202,-12455.114,0,1.2,3,15.5