version: 67.00
glider: 236
mission: 2
dive: 928
start: 3 24 121 9 3 0
data:
$ID,236
$MISSION,2
$DIVE,928
$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,70.101318
$FG_AHR_24V,224.01294
$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
$GPS1,240321,085644,4708.302,-12458.824,0,0.8,3,15.6
$_CALLS,1
$_SM_DEPTHo,-1.49
$_SM_ANGLEo,-56.3
$GPS2,240321,090242,4708.288,-12458.779,3,0.9,5,15.6
$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,241.4,2355,-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,-1.40,0.00,558.4,565.1,551.8,163.8,2080.9,0.00,0.00,0,98.25,90.33,0.00,0.00,0.005,0.000,0.000,2671.75,2649.81,2693.69,164.06,2081.06,0,0,0,14.62,30.00,30.00
$GC,98.52,18435,-155.72,-1.40,0.00,2670.6,2648.8,2692.4,164.1,2080.7,3.85,-11.38,17,125.81,9.94,14.10,0.00,0.007,0.250,0.000,3133.41,3125.19,3141.62,1799.25,2080.88,0,0,0,14.79,15.24,30.00
$GC,184.11,516,-155.72,-1.40,-80.00,3134.5,3126.0,3142.9,1800.0,2080.9,22.42,-19.37,34,190.28,0.00,0.00,4.03,0.000,0.000,0.147,3135.31,3126.69,3143.94,1799.62,662.81,0,0,0,30.00,30.00,15.43
$GC,229.50,1028,-155.72,-1.40,0.00,3134.5,3125.9,3143.1,1799.6,662.8,31.59,-20.27,43,235.21,0.00,0.00,3.52,0.000,0.000,0.053,3134.44,3125.69,3143.19,1799.94,2120.06,0,0,0,30.00,30.00,15.68
$GC,294.07,260,-155.72,-1.40,80.00,3133.8,3125.8,3141.7,1800.2,2120.1,43.97,-19.08,56,300.24,0.00,0.00,3.63,0.000,0.000,0.111,3134.78,3125.94,3143.62,1800.00,3476.19,0,0,0,30.00,30.00,15.56
$GC,319.57,1028,-155.72,-1.40,0.00,3133.8,3125.5,3142.0,1799.5,3477.1,48.73,-19.02,61,325.20,0.00,0.00,3.39,0.000,0.000,0.056,3135.03,3126.69,3143.38,1799.50,2080.75,0,0,0,30.00,30.00,15.66
$GC,384.08,260,-155.72,-1.40,80.00,3134.5,3125.8,3143.1,1800.1,2081.4,60.42,-16.48,74,390.28,0.00,0.00,3.75,0.000,0.000,0.106,3134.50,3126.00,3143.00,1799.69,3475.25,0,0,0,30.00,30.00,15.57
$GC,459.53,1028,-155.72,-1.40,0.00,3134.1,3125.4,3142.8,1799.9,3476.1,72.76,-14.83,89,465.22,0.00,0.00,3.38,0.000,0.000,0.056,3135.50,3127.00,3144.00,1799.62,2080.50,0,0,0,30.00,30.00,15.67
$GC,524.11,0,-155.72,-1.40,0.00,3134.0,3125.6,3142.4,1799.8,2080.3,82.47,-15.31,102,528.43,0.00,0.00,0.00,0.000,0.000,0.000,3135.12,3126.62,3143.62,1800.00,2080.44,0,0,0,30.00,30.00,30.00
$GC,589.12,0,-155.72,-1.40,0.00,3133.9,3125.8,3141.9,1800.1,2080.2,91.35,-13.47,115,593.44,0.00,0.00,0.00,0.000,0.000,0.000,3134.72,3126.25,3143.19,1800.06,2080.19,0,0,0,30.00,30.00,30.00
$GC,654.79,0,-155.72,-1.40,0.00,3133.9,3125.4,3142.4,1799.8,2080.1,100.26,-13.85,128,659.10,0.00,0.00,0.00,0.000,0.000,0.000,3134.84,3127.00,3142.69,1799.38,2079.75,0,0,0,30.00,30.00,30.00
$GC,719.13,0,-155.72,-1.40,0.00,3134.2,3125.6,3142.8,1799.6,2080.3,108.38,-12.35,141,723.46,0.00,0.00,0.00,0.000,0.000,0.000,3134.81,3126.19,3143.44,1800.12,2080.25,0,0,0,30.00,30.00,30.00
$GC,784.15,0,-155.72,-1.40,0.00,3134.2,3125.8,3142.6,1800.1,2080.4,116.73,-12.77,154,788.49,0.00,0.00,0.00,0.000,0.000,0.000,3134.94,3126.38,3143.50,1800.12,2080.56,0,0,0,30.00,30.00,30.00
$GC,849.16,260,-155.72,-1.40,80.00,3133.8,3125.4,3142.2,1799.9,2080.4,124.66,-12.63,167,855.34,0.00,0.00,3.77,0.000,0.000,0.109,3135.50,3127.25,3143.75,1799.12,3475.62,0,0,0,30.00,30.00,15.60
$GC,919.66,1028,-155.72,-1.40,0.00,3133.7,3125.3,3142.1,1799.9,3475.9,134.39,-13.68,181,925.28,0.00,0.00,3.39,0.000,0.000,0.057,3135.34,3126.88,3143.81,1799.44,2082.25,0,0,0,30.00,30.00,15.71
$GC,984.18,0,-155.72,-1.40,0.00,3134.4,3126.2,3142.6,1799.9,2082.5,142.71,-12.63,194,988.50,0.00,0.00,0.00,0.000,0.000,0.000,3135.03,3127.06,3143.00,1799.88,2081.88,0,0,0,30.00,30.00,30.00
$GC,1049.18,0,-155.72,-1.40,0.00,3133.8,3125.8,3141.9,1800.1,2081.8,150.40,-11.58,207,1050.53,0.00,0.00,0.00,0.000,0.000,0.000,3134.53,3126.88,3142.19,1800.06,2082.44,0,0,0,30.00,30.00,30.00
$STATE,1199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1199,begin apogee
$GC,1200.38,10243,0.00,-0.25,0.00,3134.1,3125.5,3142.7,1800.0,2122.9,168.45,-12.73,222,1324.19,120.53,2.06,0.09,1.198,0.135,0.202,2499.34,2508.38,2490.31,2078.94,2083.31,0,0,0,10.90,15.65,15.00
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1326.97,10243,155.72,1.40,0.00,2497.2,2507.1,2487.4,2080.2,2084.2,172.14,0.00,234,1458.53,127.57,2.84,0.00,1.154,0.080,0.000,1864.66,1894.00,1835.31,2484.06,2083.00,0,0,0,11.68,15.26,30.00
$GC,1751.80,16966,155.72,1.46,-80.00,1853.9,1887.6,1820.2,2484.4,2083.4,140.03,9.21,287,1758.03,0.00,0.00,4.02,0.000,0.000,0.135,1854.19,1887.94,1820.44,2484.62,662.94,0,0,0,30.00,30.00,15.46
$GC,1812.27,17478,155.72,1.49,0.00,1853.5,1886.6,1820.4,2484.7,662.9,134.04,9.97,299,1817.96,0.00,0.00,3.52,0.000,0.000,0.047,1854.09,1886.94,1821.25,2484.12,2126.06,0,0,0,30.00,30.00,15.68
$GC,1876.84,10275,221.09,1.69,0.00,1853.2,1886.2,1820.2,2484.8,2126.8,128.39,7.95,312,1933.00,53.71,0.40,0.00,1.107,0.048,0.000,1597.50,1630.25,1564.75,2570.06,2126.44,0,0,0,11.11,15.67,30.00
$GC,1991.85,0,221.09,1.69,0.00,1593.8,1627.6,1560.0,2570.8,2126.7,116.16,11.71,335,1996.17,0.00,0.00,0.00,0.000,0.000,0.000,1594.38,1628.56,1560.19,2570.69,2126.25,0,0,0,30.00,30.00,30.00
$GC,2056.84,260,221.09,1.69,80.00,1592.9,1627.7,1558.2,2570.2,2126.8,108.30,12.99,348,2063.01,0.00,0.00,3.68,0.000,0.000,0.109,1592.41,1626.94,1557.88,2570.75,3472.25,0,0,0,30.00,30.00,15.49
$GC,2111.85,1028,221.09,1.69,0.00,1591.3,1625.8,1556.9,2571.2,3472.4,101.35,12.66,359,2117.57,0.00,0.00,3.43,0.000,0.000,0.053,1591.28,1625.69,1556.88,2571.38,2078.00,0,0,0,30.00,30.00,15.62
$GC,2176.89,580,221.09,1.72,-80.00,1590.6,1625.6,1555.6,2571.2,2078.2,94.37,10.06,372,2183.09,0.00,0.00,3.96,0.000,0.000,0.134,1591.38,1626.50,1556.25,2571.12,662.00,0,0,0,30.00,30.00,15.47
$GC,2232.33,1028,221.09,1.72,0.00,1590.6,1625.4,1555.8,2570.9,661.6,88.12,11.19,383,2238.03,0.00,0.00,3.46,0.000,0.000,0.045,1591.12,1626.06,1556.19,2571.31,2128.94,0,0,0,30.00,30.00,15.67
$GC,2296.91,8226,266.62,1.86,0.00,1590.0,1625.1,1555.0,2571.3,2129.5,82.26,8.91,396,2342.79,42.30,0.00,0.00,1.043,0.000,0.000,1412.72,1447.75,1377.69,2571.06,2129.38,0,0,0,11.06,30.00,30.00
$GC,2401.92,516,266.62,1.86,-80.00,1409.4,1445.9,1372.9,2571.8,2128.7,72.17,10.72,417,2408.14,0.00,0.00,4.09,0.000,0.000,0.130,1409.91,1446.44,1373.38,2570.88,662.62,0,0,0,30.00,30.00,15.41
$GC,2432.37,3141,266.62,1.89,0.00,1409.2,1445.4,1372.9,2571.5,662.9,69.35,10.20,423,2438.13,0.00,0.16,3.51,0.000,0.075,0.045,1409.84,1446.19,1373.50,2618.81,2128.19,0,0,0,30.00,15.45,15.59
$GC,2496.94,260,266.62,1.89,80.00,1408.7,1445.2,1372.2,2619.3,2128.2,62.19,11.91,436,2503.10,0.00,0.00,3.61,0.000,0.000,0.108,1408.56,1444.69,1372.44,2618.88,3474.88,0,0,0,30.00,30.00,15.51
$GC,2586.96,1092,266.62,1.91,0.00,1407.2,1443.1,1371.4,2619.2,3474.6,53.07,10.23,454,2592.65,0.00,0.00,3.40,0.000,0.000,0.053,1407.25,1443.31,1371.19,2619.19,2077.06,0,0,0,30.00,30.00,15.66
$GC,2651.98,8486,316.80,2.06,80.00,1407.4,1443.4,1371.4,2618.9,2077.1,47.34,8.69,467,2709.22,51.90,0.00,3.80,1.003,0.000,0.108,1208.16,1243.44,1172.88,2618.50,3475.44,0,0,0,11.19,30.00,15.17
$GC,2772.45,1028,316.80,2.06,0.00,1205.9,1240.9,1170.9,2619.1,3475.6,35.51,10.80,491,2778.15,0.00,0.00,3.41,0.000,0.000,0.052,1205.91,1240.94,1170.88,2618.81,2078.81,0,0,0,30.00,30.00,15.53
$GC,2837.48,2113,316.80,2.12,0.00,1205.5,1241.3,1169.8,2619.2,2079.6,29.13,9.31,504,2841.93,0.00,0.21,0.00,0.000,0.073,0.000,1205.53,1241.12,1169.94,2671.31,2078.81,0,0,0,30.00,15.57,30.00
$GC,2902.48,0,316.80,2.12,0.00,1205.2,1241.1,1169.3,2671.3,2079.1,21.80,11.87,517,2906.80,0.00,0.00,0.00,0.000,0.000,0.000,1205.81,1241.56,1170.06,2671.25,2079.12,0,0,0,30.00,30.00,30.00
$GC,2967.48,516,316.80,2.12,-80.00,1205.1,1241.2,1168.9,2671.4,2079.1,14.20,12.15,530,2973.28,0.00,0.00,3.91,0.000,0.000,0.132,1205.47,1241.56,1169.38,2671.44,662.75,0,0,0,30.00,30.00,15.48
$GC,2997.93,1028,316.80,2.12,0.00,1205.3,1241.2,1169.3,2672.1,662.8,10.34,12.87,536,3003.20,0.00,0.00,3.48,0.000,0.000,0.045,1205.31,1241.12,1169.50,2671.31,2127.12,0,0,0,30.00,30.00,15.67
$GC,3062.50,516,316.80,2.12,-80.00,1204.2,1241.0,1167.5,2671.7,2127.9,2.19,12.48,549,3068.73,0.00,0.00,4.01,0.000,0.000,0.127,1204.81,1241.50,1168.12,2671.75,662.94,0,0,0,30.00,30.00,15.49
$STATE,3073,end climb,SURFACE_DEPTH_REACHED
$STATE,3073,begin surface coast
$STATE,3088,end surface coast,CONTROL_FINISHED_OK
$STATE,3088,begin surface
$SM_CCo,3259.20,142.68,0.993,0,564.6,579.2,549.9,474.76
$SM_CCo,3260.31,0.00,0.009,0,563.7,576.4,551.0,474.97
$SM_CCo,3261.42,0.00,2.582,0,565.6,576.6,554.5,474.52
$SM_GC,-0.47,0.00,16.30,3.44,2.582,0.060,0.047,565.6,576.6,554.5,169.2,2120.1,0,0,0,30.36,15.60,15.72
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4709.47,-12456.93,240321,080012
$TCM_TEMP,176.11
$XPDR_PINGS,5,14.0,11.5
$SC_FREEKB,3503744
$HUMID,58.68
$TEMP,8.87
$INTERNAL_PRESSURE,7.82244
$24V_AH,13.76,260.027
$10V_AH,14.82,0.000
$FG_AHR_24Vo,224.188
$FG_AHR_10Vo,70.115
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,638.975,36.055,87.880,172.877,3.000,14.982,2439.853,981.088,1332.754,0.000,7.000,0.000
$DEVICE_MAMPS,2582.424,250.016,201.800,188.685,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3138.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.374,0.000,0.000,0.000
$MEM,1103756,35,73452,56
$DATA_FILE_SIZE,19394,554
$CAP_FILE_SIZE,290748,0
$SDSIZE,3918848,3664832
$SDFILEDIR,4666,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240321,095802,4708.247,-12459.113,5,1.2,32,15.6