version: 67.00
glider: 236
mission: 2
dive: 918
start: 3 23 121 23 35 23
data:
$ID,236
$MISSION,2
$DIVE,918
$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,69.966415
$FG_AHR_24V,222.18622
$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,100
$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
$GPS1,230321,232910,4707.535,-12456.233,14,1.4,15,15.5
$_CALLS,1
$_SM_DEPTHo,-1.35
$_SM_ANGLEo,-61.3
$GPS2,230321,233505,4707.533,-12456.233,4,1.4,8,15.5
$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,263.4,5569,-18.7,-11.111,-22.02
$D_GRID,143
$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,7.47,16386,-155.72,-1.40,0.00,558.3,565.8,550.9,166.3,2115.2,0.00,0.00,0,98.30,90.41,0.00,0.00,0.005,0.000,0.000,2668.16,2647.38,2688.94,166.50,2115.81,0,0,0,14.65,30.00,30.00
$GC,98.59,18727,-155.72,-1.40,80.00,2667.3,2646.9,2687.6,166.4,2116.1,3.47,-8.93,17,130.69,10.07,13.94,3.67,0.007,0.246,0.112,3134.16,3125.75,3142.56,1800.00,3473.75,0,0,0,14.79,15.28,14.69
$GC,178.91,1028,-155.72,-1.40,0.00,3134.1,3125.1,3143.1,1799.9,3473.4,22.21,-20.46,33,184.63,0.00,0.00,3.42,0.000,0.000,0.058,3134.97,3126.25,3143.69,1800.00,2081.44,0,0,0,30.00,30.00,15.64
$GC,243.93,0,-155.72,-1.40,0.00,3134.2,3125.6,3142.9,1800.4,2081.2,35.31,-20.17,46,248.25,0.00,0.00,0.00,0.000,0.000,0.000,3135.53,3126.75,3144.31,1799.56,2081.50,0,0,0,30.00,30.00,30.00
$GC,308.94,0,-155.72,-1.40,0.00,3134.6,3126.0,3143.2,1799.8,2081.6,47.67,-19.11,59,313.26,0.00,0.00,0.00,0.000,0.000,0.000,3135.06,3126.06,3144.06,1799.56,2081.38,0,0,0,30.00,30.00,30.00
$GC,373.95,260,-155.72,-1.40,80.00,3134.5,3125.9,3143.1,1800.2,2081.6,59.84,-18.33,72,379.70,0.00,0.00,3.77,0.000,0.000,0.108,3133.88,3124.88,3142.88,1799.56,3475.31,0,0,0,30.00,30.00,15.60
$GC,444.42,1028,-155.72,-1.40,0.00,3134.5,3126.0,3143.0,1799.9,3474.4,73.07,-17.91,86,450.10,0.00,0.00,3.38,0.000,0.000,0.057,3134.72,3125.50,3143.94,1799.81,2081.31,0,0,0,30.00,30.00,15.69
$GC,508.99,516,-155.72,-1.40,-80.00,3134.4,3125.6,3143.2,1799.9,2081.7,83.02,-15.24,99,515.20,0.00,0.00,3.98,0.000,0.000,0.146,3135.38,3126.31,3144.44,1799.62,662.88,0,0,0,30.00,30.00,15.51
$GC,564.46,1028,-155.72,-1.40,0.00,3134.5,3125.5,3143.5,1799.8,662.8,91.43,-16.35,110,570.14,0.00,0.00,3.49,0.000,0.000,0.048,3134.78,3126.06,3143.50,1800.00,2123.44,0,0,0,30.00,30.00,15.76
$GC,629.01,260,-155.72,-1.40,80.00,3134.1,3125.5,3142.6,1800.4,2123.2,99.75,-12.59,123,635.81,0.00,0.00,3.59,0.000,0.000,0.105,3135.03,3126.50,3143.56,1799.69,3475.50,0,0,0,30.00,30.00,15.63
$GC,659.47,1028,-155.72,-1.40,0.00,3134.1,3125.6,3142.6,1800.0,3476.2,104.00,-14.09,129,665.16,0.00,0.00,3.35,0.000,0.000,0.051,3135.25,3126.62,3143.88,1799.81,2081.12,0,0,0,30.00,30.00,15.73
$GC,724.05,0,-155.72,-1.40,0.00,3134.3,3125.6,3143.0,1800.1,2080.9,112.61,-13.88,142,728.38,0.00,0.00,0.00,0.000,0.000,0.000,3134.66,3126.19,3143.12,1799.75,2080.75,0,0,0,30.00,30.00,30.00
$GC,789.06,0,-155.72,-1.40,0.00,3134.4,3125.2,3143.6,1800.3,2081.2,120.60,-11.83,155,794.04,0.00,0.00,0.00,0.000,0.000,0.000,3135.09,3127.06,3143.12,1800.00,2081.06,0,0,0,30.00,30.00,30.00
$GC,854.07,0,-155.72,-1.40,0.00,3134.2,3125.3,3143.1,1800.6,2081.0,128.00,-11.26,168,858.39,0.00,0.00,0.00,0.000,0.000,0.000,3135.06,3126.50,3143.62,1799.94,2080.50,0,0,0,30.00,30.00,30.00
$GC,919.44,0,-155.72,-1.40,0.00,3134.5,3126.0,3142.9,1799.8,2080.9,135.45,-11.16,181,923.76,0.00,0.00,0.00,0.000,0.000,0.000,3134.62,3125.88,3143.38,1799.81,2080.75,0,0,0,30.00,30.00,30.00
$STATE,984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,984,begin apogee
$GC,985.58,10243,0.00,-0.25,0.00,3134.3,3125.9,3142.8,1800.3,2123.8,143.08,-11.55,194,1111.27,119.53,2.06,0.09,1.167,0.135,0.196,2500.47,2509.62,2491.31,2078.75,2081.19,0,0,0,11.00,15.65,15.02
$STATE,1114,end apogee,CONTROL_FINISHED_OK
$STATE,1114,begin climb
$GC,1114.02,10243,155.72,1.40,0.00,2496.8,2506.6,2486.9,2079.8,2081.9,147.71,0.00,219,1245.74,126.73,2.84,0.00,1.128,0.081,0.000,1863.12,1892.88,1833.38,2484.81,2080.81,0,0,0,11.67,15.28,30.00
$GC,1303.98,10535,199.77,1.53,80.00,1857.7,1889.8,1825.5,2484.4,2081.5,137.49,8.98,256,1349.59,37.14,0.17,3.87,1.063,0.079,0.108,1683.78,1716.75,1650.81,2526.75,3473.38,0,0,0,11.49,15.42,15.07
$GC,1368.96,1028,199.77,1.53,0.00,1681.7,1714.7,1648.8,2527.8,3473.2,130.61,12.78,269,1374.70,0.00,0.00,3.45,0.000,0.000,0.052,1681.81,1715.19,1648.44,2527.06,2078.19,0,0,0,30.00,30.00,15.41
$GC,1433.99,516,199.77,1.53,-80.00,1679.9,1714.9,1644.8,2527.2,2078.5,121.90,13.49,282,1440.21,0.00,0.00,3.95,0.000,0.000,0.132,1679.88,1715.06,1644.69,2527.75,661.94,0,0,0,30.00,30.00,15.40
$GC,1494.45,1028,199.77,1.53,0.00,1678.6,1712.9,1644.3,2528.1,662.4,113.83,13.75,294,1500.16,0.00,0.00,3.51,0.000,0.000,0.044,1679.50,1713.69,1645.31,2527.62,2127.19,0,0,0,30.00,30.00,15.59
$GC,1559.02,0,199.77,1.53,0.00,1677.6,1712.8,1642.4,2528.1,2128.1,106.77,10.66,307,1563.34,0.00,0.00,0.00,0.000,0.000,0.000,1678.31,1713.50,1643.12,2527.38,2127.38,0,0,0,30.00,30.00,30.00
$GC,1624.06,16966,199.77,1.55,-80.00,1677.4,1712.9,1641.9,2528.2,2127.8,100.11,10.57,320,1630.29,0.00,0.00,4.02,0.000,0.000,0.127,1677.12,1712.31,1641.94,2527.50,662.06,0,0,0,30.00,30.00,15.50
$GC,1659.48,17414,199.77,1.55,0.00,1677.3,1712.8,1641.9,2528.1,661.9,95.73,12.70,327,1665.17,0.00,0.00,3.46,0.000,0.000,0.043,1678.09,1713.44,1642.75,2527.25,2128.88,0,0,0,30.00,30.00,15.67
$GC,1724.07,16710,199.77,1.59,80.00,1676.7,1712.0,1641.4,2527.9,2129.1,88.92,9.74,340,1729.77,0.00,0.00,3.55,0.000,0.000,0.107,1677.31,1713.12,1641.50,2527.94,3475.69,0,0,0,30.00,30.00,15.57
$GC,1794.12,17478,199.77,1.64,0.00,1676.2,1711.8,1640.5,2528.4,3475.7,82.36,9.40,354,1799.75,0.00,0.00,3.34,0.000,0.000,0.050,1676.56,1712.31,1640.81,2527.38,2075.88,0,0,0,30.00,30.00,15.70
$GC,1859.08,10791,279.13,1.88,-80.00,1675.9,1711.9,1639.9,2527.9,2076.2,77.35,7.28,367,1941.94,75.26,0.44,3.93,1.033,0.059,0.132,1361.03,1395.38,1326.69,2609.00,662.00,0,0,0,11.17,15.70,15.10
$GC,2065.68,1028,279.13,1.88,0.00,1358.7,1391.9,1325.4,2609.6,662.1,57.29,11.26,408,2071.37,0.00,0.00,3.50,0.000,0.000,0.042,1359.38,1392.38,1326.38,2607.75,2129.25,0,0,0,30.00,30.00,15.58
$GC,2130.27,8486,323.59,2.01,80.00,1357.0,1391.9,1322.0,2609.4,2129.5,51.52,8.96,421,2181.92,45.88,0.00,3.63,0.984,0.000,0.107,1180.47,1216.25,1144.69,2609.06,3474.50,0,0,0,11.34,30.00,15.15
$GC,2215.26,3141,323.59,2.06,0.00,1179.5,1215.0,1144.0,2609.1,3473.8,44.21,9.72,438,2221.43,0.00,0.18,3.39,0.000,0.083,0.050,1179.88,1215.44,1144.31,2653.12,2078.06,0,0,0,30.00,15.37,15.49
$GC,2280.26,516,323.59,2.06,-80.00,1179.0,1215.2,1142.8,2653.8,2078.0,37.08,11.30,451,2286.05,0.00,0.00,3.94,0.000,0.000,0.131,1179.34,1215.69,1143.00,2652.88,661.94,0,0,0,30.00,30.00,15.44
$GC,2320.70,1028,323.59,2.06,0.00,1179.2,1215.5,1142.9,2653.7,661.9,32.13,12.03,459,2325.97,0.00,0.00,3.46,0.000,0.000,0.042,1179.53,1215.69,1143.38,2652.88,2127.88,0,0,0,30.00,30.00,15.60
$GC,2385.27,0,323.59,2.06,0.00,1177.9,1215.1,1140.8,2653.4,2128.1,24.39,11.04,472,2389.59,0.00,0.00,0.00,0.000,0.000,0.000,1178.38,1215.69,1141.06,2653.12,2128.31,0,0,0,30.00,30.00,30.00
$GC,2450.28,0,323.59,2.06,0.00,1177.8,1215.2,1140.3,2653.5,2127.8,16.83,11.65,485,2454.61,0.00,0.00,0.00,0.000,0.000,0.000,1178.22,1215.69,1140.75,2653.44,2127.75,0,0,0,30.00,30.00,30.00
$GC,2515.29,516,323.59,2.06,-80.00,1177.6,1215.4,1139.8,2653.4,2127.8,9.21,11.56,498,2521.09,0.00,0.00,4.03,0.000,0.000,0.125,1177.81,1215.62,1140.00,2653.31,661.81,0,0,0,30.00,30.00,15.52
$GC,2555.74,1028,323.59,2.06,0.00,1177.6,1215.4,1139.8,2654.1,662.0,3.88,14.28,506,2561.00,0.00,0.00,3.46,0.000,0.000,0.043,1178.12,1215.81,1140.44,2653.44,2129.19,0,0,0,30.00,30.00,15.70
$STATE,2575,end climb,SURFACE_DEPTH_REACHED
$STATE,2575,begin surface coast
$STATE,2590,end surface coast,CONTROL_FINISHED_OK
$STATE,2590,begin surface
$SM_CCo,2751.32,135.90,0.991,0,564.0,570.4,557.7,474.89
$SM_CCo,2752.44,0.00,2.588,0,565.8,569.8,561.8,474.46
$SM_CCo,2755.57,2.16,0.304,0,564.2,569.4,559.1,474.85
$SM_GC,-0.46,2.16,16.33,0.10,0.304,0.071,0.129,564.2,569.4,559.1,172.8,2072.8,0,0,0,11.86,15.61,15.73
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4706.71,-12455.12,230321,224031
$TCM_TEMP,176.07
$XPDR_PINGS,5,14.0,11.5
$ALTIM_BOTTOM_PING,131.5,30.9
$SC_FREEKB,3507584
$HUMID,58.65
$TEMP,8.96
$INTERNAL_PRESSURE,7.83382
$24V_AH,13.80,258.108
$10V_AH,14.83,0.000
$FG_AHR_24Vo,222.356
$FG_AHR_10Vo,69.978
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,643.100,35.950,87.525,168.177,2.500,16.975,2230.623,688.297,1231.368,0.000,5.000,0.000
$DEVICE_MAMPS,2588.000,245.752,195.896,187.044,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2639.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.368,0.000,0.000,0.000
$MEM,1103752,37,73416,56
$DATA_FILE_SIZE,19391,513
$CAP_FILE_SIZE,280079,0
$SDSIZE,3918848,3667072
$SDFILEDIR,4616,1
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240321,002135,4707.672,-12456.559,3,1.2,8,15.5