version: 67.00
glider: 236
mission: 2
dive: 926
start: 3 24 121 7 1 56
data:
$ID,236
$MISSION,2
$DIVE,926
$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,70.072334
$FG_AHR_24V,223.64209
$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
$GPS1,240321,065409,4708.358,-12458.375,1,1.9,4,15.6
$_CALLS,2
$_SM_DEPTHo,-1.34
$_SM_ANGLEo,-62.0
$GPS2,240321,070138,4708.329,-12458.308,3,1.9,7,15.6
$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,242.6,2951,-18.7,-11.111,-22.02
$D_GRID,168
$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,-1.40,0.00,557.6,562.3,552.8,163.9,2119.8,0.00,0.00,0,98.25,90.36,0.00,0.00,0.005,0.000,0.000,2686.72,2665.12,2708.31,164.12,2118.69,0,0,0,14.61,30.00,30.00
$GC,98.51,18951,-155.72,-1.40,-80.00,2685.8,2664.2,2707.3,164.0,2119.8,4.09,-14.07,17,131.16,9.48,14.13,4.17,0.007,0.246,0.148,3136.06,3127.12,3145.00,1798.69,661.75,0,0,0,14.78,15.27,14.67
$GC,194.84,1028,-155.72,-1.40,0.00,3134.2,3125.8,3142.6,1800.4,661.9,26.00,-19.38,36,200.54,0.00,0.00,3.53,0.000,0.000,0.051,3134.31,3125.88,3142.75,1799.62,2122.50,0,0,0,30.00,30.00,15.67
$GC,259.42,0,-155.72,-1.40,0.00,3134.1,3126.0,3142.2,1800.1,2123.0,38.79,-19.55,49,263.75,0.00,0.00,0.00,0.000,0.000,0.000,3135.09,3127.00,3143.19,1800.12,2122.75,0,0,0,30.00,30.00,30.00
$GC,324.43,0,-155.72,-1.40,0.00,3134.5,3125.9,3143.0,1799.8,2122.8,50.57,-17.90,62,328.75,0.00,0.00,0.00,0.000,0.000,0.000,3134.56,3126.44,3142.69,1800.12,2122.25,0,0,0,30.00,30.00,30.00
$GC,389.44,0,-155.72,-1.40,0.00,3134.0,3125.5,3142.6,1800.2,2122.2,62.08,-18.05,75,393.78,0.00,0.00,0.00,0.000,0.000,0.000,3134.16,3126.00,3142.31,1799.94,2122.81,0,0,0,30.00,30.00,30.00
$GC,454.44,260,-155.72,-1.40,80.00,3133.9,3125.4,3142.4,1799.9,2122.3,72.22,-14.64,88,460.16,0.00,0.00,3.57,0.000,0.000,0.108,3134.50,3126.06,3142.94,1799.88,3474.81,0,0,0,30.00,30.00,15.59
$GC,539.89,1028,-155.72,-1.40,0.00,3133.8,3125.3,3142.2,1799.4,3475.2,85.61,-16.88,105,545.59,0.00,0.00,3.39,0.000,0.000,0.054,3134.38,3126.38,3142.38,1800.50,2080.06,0,0,0,30.00,30.00,15.70
$GC,604.49,260,-155.72,-1.40,80.00,3134.2,3125.6,3142.8,1800.1,2080.3,95.53,-14.53,118,610.66,0.00,0.00,3.74,0.000,0.000,0.104,3134.75,3126.38,3143.12,1800.38,3475.25,0,0,0,30.00,30.00,15.61
$GC,644.91,1028,-155.72,-1.40,0.00,3134.2,3125.6,3142.9,1799.5,3475.6,101.58,-15.55,126,650.62,0.00,0.00,3.40,0.000,0.000,0.054,3135.06,3126.62,3143.50,1799.44,2082.19,0,0,0,30.00,30.00,15.71
$GC,709.49,516,-155.72,-1.40,-80.00,3133.9,3124.9,3142.8,1799.9,2082.0,110.64,-13.52,139,716.38,0.00,0.00,4.01,0.000,0.000,0.148,3134.97,3126.56,3143.38,1799.69,662.81,0,0,0,30.00,30.00,15.51
$GC,740.04,1028,-155.72,-1.40,0.00,3134.1,3126.0,3142.1,1800.1,662.7,114.64,-13.28,145,745.75,0.00,0.00,3.46,0.000,0.000,0.045,3134.16,3125.69,3142.62,1800.06,2124.25,0,0,0,30.00,30.00,15.76
$GC,804.62,260,-155.72,-1.40,80.00,3134.2,3125.9,3142.6,1800.2,2124.6,122.82,-12.69,158,810.77,0.00,0.00,3.60,0.000,0.000,0.106,3134.50,3126.00,3143.00,1799.69,3475.75,0,0,0,30.00,30.00,15.61
$GC,850.07,1028,-155.72,-1.40,0.00,3134.1,3125.6,3142.6,1799.9,3476.1,128.91,-14.00,167,855.81,0.00,0.00,3.37,0.000,0.000,0.052,3134.56,3126.69,3142.44,1799.69,2082.19,0,0,0,30.00,30.00,15.73
$GC,915.11,0,-155.72,-1.40,0.00,3134.1,3126.1,3142.1,1800.2,2082.4,138.07,-13.69,180,919.44,0.00,0.00,0.00,0.000,0.000,0.000,3135.19,3126.81,3143.56,1799.50,2082.19,0,0,0,30.00,30.00,30.00
$GC,980.10,0,-155.72,-1.40,0.00,3134.1,3125.6,3142.6,1799.8,2081.8,146.52,-13.46,193,984.42,0.00,0.00,0.00,0.000,0.000,0.000,3135.25,3126.69,3143.81,1799.75,2082.44,0,0,0,30.00,30.00,30.00
$GC,1050.10,260,-155.72,-1.40,80.00,3134.3,3125.9,3142.8,1799.9,2082.4,155.30,-12.53,203,1055.77,0.00,0.00,3.71,0.000,0.000,0.105,3135.50,3126.69,3144.31,1798.56,3475.31,0,0,0,30.00,30.00,15.63
$GC,1095.56,1028,-155.72,-1.40,0.00,3134.1,3125.7,3142.4,1800.2,3475.1,161.09,-13.27,212,1100.71,0.00,0.00,3.38,0.000,0.000,0.053,3132.88,3124.44,3141.31,1799.88,2080.31,0,0,0,30.00,30.00,15.74
$STATE,1160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1160,begin apogee
$GC,1161.31,10243,0.00,-0.25,0.00,3134.2,3125.4,3142.9,1799.7,2125.7,169.12,-11.99,219,1285.99,121.79,2.07,0.10,1.211,0.135,0.196,2499.75,2509.44,2490.06,2078.31,2082.25,0,0,0,10.90,15.64,14.98
$STATE,1289,end apogee,CONTROL_FINISHED_OK
$STATE,1289,begin climb
$GC,1288.77,10503,155.72,1.40,80.00,2497.0,2506.5,2487.4,2079.9,2082.2,173.48,0.00,231,1427.39,128.02,2.81,3.88,1.164,0.077,0.106,1862.75,1892.62,1832.88,2484.25,3473.81,0,0,0,11.71,15.26,14.93
$GC,1594.57,11303,206.14,1.55,0.00,1855.5,1889.1,1821.9,2484.7,3473.6,155.07,8.67,292,1642.29,42.27,0.19,3.41,1.111,0.074,0.051,1659.69,1692.81,1626.56,2536.38,2076.62,0,0,0,11.35,15.43,15.57
$GC,1940.71,8486,261.68,1.72,80.00,1651.4,1687.3,1615.4,2536.1,2076.7,124.66,8.43,359,1996.45,47.19,0.00,3.82,1.100,0.000,0.107,1432.03,1467.44,1396.62,2536.56,3474.25,0,0,0,11.20,30.00,15.17
$GC,2220.83,1028,261.68,1.72,0.00,1427.8,1465.2,1390.3,2536.1,3474.5,94.34,12.39,415,2226.48,0.00,0.00,3.40,0.000,0.000,0.052,1427.97,1465.25,1390.69,2536.25,2079.19,0,0,0,30.00,30.00,15.66
$GC,2285.79,2373,261.68,1.76,80.00,1427.6,1465.2,1389.9,2536.5,2078.8,88.04,9.69,428,2291.59,0.00,0.19,3.73,0.000,0.073,0.104,1427.66,1465.50,1389.81,2584.81,3475.75,0,0,0,30.00,15.66,15.57
$GC,2315.77,1028,261.68,1.76,0.00,1427.2,1464.6,1389.9,2584.4,3475.9,84.69,11.02,434,2321.48,0.00,0.00,3.35,0.000,0.000,0.049,1427.88,1465.25,1390.50,2584.38,2078.38,0,0,0,30.00,30.00,15.68
$GC,2380.80,64,261.68,1.80,0.00,1427.0,1464.2,1389.8,2584.1,2078.1,77.92,9.83,447,2385.12,0.00,0.00,0.00,0.000,0.000,0.000,1427.53,1465.12,1389.94,2584.06,2078.00,0,0,0,30.00,30.00,30.00
$GC,2445.81,324,261.68,1.82,80.00,1426.8,1464.2,1389.4,2584.5,2078.1,71.15,10.46,460,2451.54,0.00,0.00,3.67,0.000,0.000,0.105,1427.69,1465.12,1390.25,2584.44,3473.50,0,0,0,30.00,30.00,15.58
$GC,2600.86,1092,261.68,1.88,0.00,1426.8,1464.2,1389.4,2584.2,3473.7,56.05,9.27,491,2606.55,0.00,0.00,3.35,0.000,0.000,0.051,1426.53,1464.06,1389.00,2584.44,2074.88,0,0,0,30.00,30.00,15.74
$GC,2665.87,10791,326.42,2.07,-80.00,1426.8,1464.3,1389.4,2583.8,2074.2,50.84,7.98,504,2738.53,66.68,0.37,3.92,1.021,0.057,0.133,1169.06,1204.06,1134.06,2657.94,661.62,0,0,0,11.12,15.73,15.13
$GC,2777.20,1028,326.42,2.07,0.00,1168.0,1202.0,1134.0,2658.0,661.9,38.43,13.21,526,2782.47,0.00,0.00,3.48,0.000,0.000,0.043,1167.78,1202.12,1133.44,2657.19,2127.88,0,0,0,30.00,30.00,15.50
$GC,2841.78,0,326.42,2.07,0.00,1166.5,1201.9,1131.1,2657.9,2127.4,30.87,11.20,539,2846.10,0.00,0.00,0.00,0.000,0.000,0.000,1167.00,1202.12,1131.88,2657.69,2127.56,0,0,0,30.00,30.00,30.00
$GC,2906.79,0,326.42,2.07,0.00,1166.2,1201.9,1130.5,2657.4,2127.2,23.47,11.41,552,2911.11,0.00,0.00,0.00,0.000,0.000,0.000,1166.47,1202.12,1130.81,2657.69,2127.44,0,0,0,30.00,30.00,30.00
$GC,2971.80,0,326.42,2.07,0.00,1165.8,1202.1,1129.4,2657.8,2127.9,15.80,11.82,565,2976.12,0.00,0.00,0.00,0.000,0.000,0.000,1165.84,1202.19,1129.50,2657.56,2127.12,0,0,0,30.00,30.00,30.00
$GC,3036.82,516,326.42,2.07,-80.00,1165.6,1202.1,1129.1,2658.2,2128.5,8.11,11.38,578,3042.59,0.00,0.00,3.99,0.000,0.000,0.127,1165.75,1202.06,1129.44,2658.06,662.81,0,0,0,30.00,30.00,15.49
$STATE,3082,end climb,SURFACE_DEPTH_REACHED
$STATE,3082,begin surface coast
$STATE,3097,end surface coast,CONTROL_FINISHED_OK
$STATE,3097,begin surface
$SM_CCo,3260.36,133.99,1.001,0,564.5,564.7,564.4,474.77
$SM_CCo,3261.48,0.00,2.587,0,564.8,565.0,564.7,474.69
$SM_CCo,3263.08,0.65,0.130,0,564.5,564.8,564.3,474.77
$SM_GC,-0.58,0.65,15.77,3.43,0.130,0.038,0.045,564.5,564.8,564.3,168.9,2127.1,0,0,0,15.22,15.61,15.72
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4709.47,-12456.93,240321,065724
$TCM_TEMP,176.21
$XPDR_PINGS,5,14.0,11.5
$ALTIM_BOTTOM_PING,131.7,67.0
$SC_FREEKB,3504512
$HUMID,58.70
$TEMP,8.89
$INTERNAL_PRESSURE,7.82679
$24V_AH,13.79,259.639
$10V_AH,14.82,0.000
$FG_AHR_24Vo,223.819
$FG_AHR_10Vo,70.086
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,640.430,35.520,87.050,202.860,2.500,16.012,2528.826,992.183,1381.360,0.000,5.000,0.000
$DEVICE_MAMPS,2586.688,246.408,195.568,190.967,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3147.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.261,0.000,0.000,0.000
$MEM,1103676,38,73472,56
$DATA_FILE_SIZE,22645,590
$CAP_FILE_SIZE,294976,0
$SDSIZE,3918848,3665248
$SDFILEDIR,4656,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240321,075659,4708.292,-12458.553,2,1.4,31,15.6