version: 67.00
glider: 236
mission: 2
dive: 923
start: 3 24 121 4 10 0
data:
$ID,236
$MISSION,2
$DIVE,923
$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,70.031372
$FG_AHR_24V,223.09355
$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,10
$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
$GPS1,240321,040401,4708.250,-12457.616,22,0.8,23,15.6
$_CALLS,1
$_SM_DEPTHo,-1.53
$_SM_ANGLEo,-61.5
$GPS2,240321,040942,4708.247,-12457.531,3,0.6,4,15.6
$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,247.7,3893,-18.7,-11.111,-22.02
$D_GRID,156
$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,7.44,16386,-155.72,-1.40,0.00,560.7,564.4,557.0,164.2,2117.1,0.00,0.00,0,98.27,90.39,0.00,0.00,0.005,0.000,0.000,2659.22,2639.06,2679.38,164.12,2117.50,0,0,0,14.65,30.00,30.00
$GC,98.54,18695,-155.72,-1.40,80.00,2658.5,2638.1,2678.9,164.2,2116.8,3.41,-9.22,17,130.69,10.13,14.19,3.68,0.007,0.251,0.112,3134.31,3125.75,3142.88,1799.69,3475.50,0,0,0,14.80,15.27,14.68
$GC,149.36,1028,-155.72,-1.40,0.00,3134.3,3126.0,3142.6,1800.1,3475.7,16.54,-21.62,27,155.06,0.00,0.00,3.42,0.000,0.000,0.056,3135.34,3126.50,3144.19,1799.81,2081.06,0,0,0,30.00,30.00,15.61
$GC,213.93,0,-155.72,-1.40,0.00,3133.8,3125.0,3142.6,1799.9,2081.0,29.61,-19.70,40,218.25,0.00,0.00,0.00,0.000,0.000,0.000,3135.12,3126.31,3143.94,1800.12,2081.38,0,0,0,30.00,30.00,30.00
$GC,278.94,516,-155.72,-1.40,-80.00,3134.1,3125.4,3142.7,1799.9,2081.0,41.99,-18.71,53,285.18,0.00,0.00,4.02,0.000,0.000,0.146,3134.31,3125.56,3143.06,1800.12,663.12,0,0,0,30.00,30.00,15.46
$GC,304.38,1028,-155.72,-1.40,0.00,3133.8,3125.4,3142.2,1799.8,662.8,46.77,-19.07,58,310.10,0.00,0.00,3.51,0.000,0.000,0.049,3134.12,3125.88,3142.38,1800.25,2121.19,0,0,0,30.00,30.00,15.70
$GC,368.96,0,-155.72,-1.40,0.00,3134.0,3125.6,3142.4,1799.8,2121.0,58.60,-17.24,71,373.28,0.00,0.00,0.00,0.000,0.000,0.000,3134.91,3126.12,3143.69,1799.75,2121.56,0,0,0,30.00,30.00,30.00
$GC,433.98,0,-155.72,-1.40,0.00,3133.7,3124.8,3142.6,1800.2,2121.4,69.42,-15.70,84,438.30,0.00,0.00,0.00,0.000,0.000,0.000,3135.62,3127.00,3144.25,1799.62,2121.31,0,0,0,30.00,30.00,30.00
$GC,498.98,0,-155.72,-1.40,0.00,3134.1,3125.4,3142.8,1799.8,2121.0,78.82,-14.88,97,503.30,0.00,0.00,0.00,0.000,0.000,0.000,3135.12,3126.81,3143.44,1799.88,2120.88,0,0,0,30.00,30.00,30.00
$GC,564.00,0,-155.72,-1.40,0.00,3134.0,3125.3,3142.6,1799.9,2121.1,87.32,-12.74,110,568.32,0.00,0.00,0.00,0.000,0.000,0.000,3134.62,3125.94,3143.31,1799.75,2121.25,0,0,0,30.00,30.00,30.00
$GC,629.00,260,-155.72,-1.40,80.00,3133.8,3125.2,3142.3,1799.9,2120.9,95.27,-11.87,123,635.17,0.00,0.00,3.61,0.000,0.000,0.108,3135.19,3126.88,3143.50,1799.75,3475.62,0,0,0,30.00,30.00,15.62
$GC,699.52,1028,-155.72,-1.40,0.00,3134.1,3126.2,3142.1,1799.9,3475.7,105.47,-15.05,137,705.15,0.00,0.00,3.39,0.000,0.000,0.054,3135.56,3127.25,3143.88,1799.44,2079.69,0,0,0,30.00,30.00,15.71
$GC,764.04,0,-155.72,-1.40,0.00,3134.5,3125.8,3143.2,1800.1,2079.8,113.77,-12.51,150,768.37,0.00,0.00,0.00,0.000,0.000,0.000,3134.94,3126.38,3143.50,1799.88,2080.56,0,0,0,30.00,30.00,30.00
$GC,829.05,0,-155.72,-1.40,0.00,3134.2,3125.8,3142.5,1800.1,2080.5,121.54,-11.41,163,833.37,0.00,0.00,0.00,0.000,0.000,0.000,3135.31,3126.75,3143.88,1800.06,2080.19,0,0,0,30.00,30.00,30.00
$GC,894.06,0,-155.72,-1.40,0.00,3133.9,3125.4,3142.3,1799.8,2080.2,130.06,-13.95,176,898.38,0.00,0.00,0.00,0.000,0.000,0.000,3134.78,3126.25,3143.31,1800.00,2080.19,0,0,0,30.00,30.00,30.00
$GC,959.07,0,-155.72,-1.40,0.00,3134.1,3125.6,3142.6,1800.0,2080.4,137.86,-11.45,189,963.40,0.00,0.00,0.00,0.000,0.000,0.000,3135.00,3126.44,3143.56,1800.00,2080.50,0,0,0,30.00,30.00,30.00
$GC,1024.09,260,-155.72,-1.40,80.00,3134.1,3125.2,3142.9,1800.1,2080.2,146.39,-12.62,202,1030.27,0.00,0.00,3.75,0.000,0.000,0.107,3134.72,3126.38,3143.06,1799.50,3475.12,0,0,0,30.00,30.00,15.63
$GC,1095.32,1028,-155.72,-1.40,0.00,3133.7,3125.0,3142.4,1800.1,3476.2,155.67,-13.12,216,1099.46,0.00,0.00,3.13,0.000,0.000,0.050,3135.94,3127.12,3144.75,1799.62,2181.38,0,0,0,30.00,30.00,15.75
$STATE,1100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1100,begin apogee
$GC,1100.84,10243,0.00,-0.25,0.00,3134.2,3125.6,3142.8,1800.3,2079.8,156.56,-14.04,217,1226.86,119.71,2.09,0.08,1.181,0.140,0.199,2498.75,2508.19,2489.31,2080.50,2126.06,0,0,0,10.98,15.63,15.01
$STATE,1230,end apogee,CONTROL_FINISHED_OK
$STATE,1230,begin climb
$GC,1229.62,10243,155.72,1.40,0.00,2497.3,2507.1,2487.4,2079.9,2126.1,160.99,0.00,230,1361.85,126.78,2.71,0.00,1.135,0.072,0.000,1863.91,1893.88,1833.94,2485.94,2126.19,0,0,0,11.68,15.28,30.00
$GC,1660.12,16710,155.72,1.46,80.00,1854.5,1888.8,1820.2,2485.9,2125.8,130.92,9.12,302,1666.28,0.00,0.00,3.63,0.000,0.000,0.107,1854.81,1888.88,1820.75,2485.69,3473.50,0,0,0,30.00,30.00,15.55
$GC,1750.13,17478,155.72,1.52,0.00,1853.6,1887.1,1820.1,2485.4,3474.2,122.62,9.29,320,1755.82,0.00,0.00,3.38,0.000,0.000,0.052,1853.72,1887.38,1820.06,2485.94,2075.94,0,0,0,30.00,30.00,15.68
$GC,1815.15,19015,155.72,1.56,-80.00,1853.2,1887.1,1819.3,2485.7,2076.1,116.62,9.71,333,1821.42,0.00,0.19,3.91,0.000,0.077,0.134,1854.38,1888.44,1820.31,2534.94,662.94,0,0,0,30.00,15.68,15.51
$GC,1895.60,17414,155.72,1.56,0.00,1852.7,1886.2,1819.1,2535.4,662.8,107.08,11.40,349,1901.29,0.00,0.00,3.47,0.000,0.000,0.043,1853.56,1887.06,1820.06,2535.12,2127.81,0,0,0,30.00,30.00,15.72
$GC,1960.18,8226,201.01,1.69,0.00,1852.2,1886.2,1818.2,2535.4,2128.4,100.68,8.92,362,2000.97,37.72,0.00,0.00,1.072,0.000,0.000,1678.53,1712.44,1644.62,2535.56,2127.94,0,0,0,11.15,30.00,30.00
$GC,2060.18,10275,261.00,1.87,-80.00,1675.0,1710.1,1639.9,2535.9,2128.4,92.00,8.21,382,2116.33,52.19,0.37,0.00,1.056,0.051,0.000,1436.03,1469.50,1402.56,2610.44,2128.62,0,0,0,11.52,15.58,30.00
$GC,2175.19,0,261.00,1.87,-80.00,1430.7,1466.8,1394.5,2610.1,2128.4,78.17,10.98,405,2179.51,0.00,0.00,0.00,0.000,0.000,0.000,1430.78,1467.19,1394.38,2610.06,2128.38,0,0,0,30.00,30.00,30.00
$GC,2240.19,260,261.00,1.87,80.00,1430.2,1466.9,1393.6,2610.3,2128.3,69.96,11.98,418,2246.36,0.00,0.00,3.62,0.000,0.000,0.109,1429.75,1466.19,1393.31,2610.56,3474.69,0,0,0,30.00,30.00,15.48
$GC,2325.19,1028,261.00,1.87,0.00,1428.8,1464.8,1392.8,2610.3,3475.2,60.24,11.18,435,2330.91,0.00,0.00,3.41,0.000,0.000,0.054,1428.81,1465.06,1392.56,2610.38,2077.81,0,0,0,30.00,30.00,15.63
$GC,2390.22,10791,317.51,2.04,-80.00,1428.6,1464.9,1392.2,2610.6,2078.0,54.68,8.38,448,2452.64,56.99,0.16,3.99,1.003,0.086,0.134,1205.94,1240.38,1171.50,2649.06,662.81,0,0,0,11.25,15.64,15.13
$GC,2566.34,1028,317.51,2.04,0.00,1203.3,1236.2,1170.4,2649.2,662.6,34.12,13.60,483,2571.62,0.00,0.00,3.52,0.000,0.000,0.046,1204.41,1237.25,1171.56,2648.12,2127.81,0,0,0,30.00,30.00,15.58
$GC,2630.92,0,317.51,2.04,0.00,1201.9,1236.1,1167.7,2649.3,2127.8,26.84,10.72,496,2635.24,0.00,0.00,0.00,0.000,0.000,0.000,1202.12,1236.44,1167.81,2649.62,2127.38,0,0,0,30.00,30.00,30.00
$GC,2695.94,516,317.51,2.04,-80.00,1201.3,1236.1,1166.5,2649.0,2127.9,19.71,10.74,509,2701.74,0.00,0.00,4.07,0.000,0.000,0.128,1202.03,1236.75,1167.31,2649.44,661.94,0,0,0,30.00,30.00,15.48
$GC,2741.38,1028,317.51,2.04,0.00,1201.4,1236.2,1166.5,2649.0,662.1,13.92,13.34,518,2746.66,0.00,0.00,3.49,0.000,0.000,0.047,1202.16,1236.44,1167.88,2649.12,2127.94,0,0,0,30.00,30.00,15.67
$GC,2805.97,64,317.51,2.07,0.00,1200.8,1236.0,1165.5,2648.9,2127.6,6.71,10.13,531,2810.29,0.00,0.00,0.00,0.000,0.000,0.000,1201.19,1236.62,1165.75,2649.31,2127.50,0,0,0,30.00,30.00,30.00
$STATE,2856,end climb,SURFACE_DEPTH_REACHED
$STATE,2856,begin surface coast
$STATE,2876,end surface coast,CONTROL_FINISHED_OK
$STATE,2876,begin surface
$SM_CCo,3043.12,141.57,0.995,0,564.3,566.6,562.1,474.82
$SM_CCo,3044.24,0.00,2.586,0,565.1,566.5,563.8,474.62
$SM_CCo,3045.34,0.31,0.142,0,565.0,566.2,563.8,474.66
$SM_GC,-0.60,0.31,16.41,0.10,0.142,0.072,0.138,565.0,566.2,563.8,165.1,2076.5,0,0,0,15.22,15.59,15.73
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4707.10,-12459.52,240321,031042
$TCM_TEMP,176.00
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3505664
$HUMID,58.63
$TEMP,8.94
$INTERNAL_PRESSURE,7.82589
$24V_AH,13.79,259.058
$10V_AH,14.82,0.000
$FG_AHR_24Vo,223.266
$FG_AHR_10Vo,70.044
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,635.805,36.100,65.525,158.657,2.750,11.916,2353.270,837.720,1295.113,0.000,7.000,0.000
$DEVICE_MAMPS,2586.360,251.000,199.176,195.944,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2923.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.233,0.000,0.000,0.000
$MEM,1103696,38,73452,56
$DATA_FILE_SIZE,19402,545
$CAP_FILE_SIZE,269449,0
$SDSIZE,3918848,3665952
$SDFILEDIR,4641,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240321,050057,4708.308,-12457.856,1,0.7,4,15.6