version: 67.00
glider: 236
mission: 2
dive: 932
start: 3 24 121 13 20 51
data:
$ID,236
$MISSION,2
$DIVE,932
$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,70.162994
$FG_AHR_24V,224.74385
$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
$GPS1,240321,131422,4708.107,-12500.134,2,1.2,8,15.6
$_CALLS,1
$_SM_DEPTHo,-1.64
$_SM_ANGLEo,-59.3
$GPS2,240321,132033,4708.115,-12500.082,4,1.2,8,15.6
$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,236.3,686,-27.4,-11.111,-30.00
$D_GRID,427
$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,-74.33,-1.59,0.00,560.1,570.9,549.3,170.4,2111.6,0.00,0.00,0,98.22,90.32,0.00,0.00,0.005,0.000,0.000,2594.44,2574.00,2614.88,170.31,2112.19,0,0,0,14.62,30.00,30.00
$GC,98.50,18983,-95.69,-1.66,-80.00,2592.8,2572.7,2612.9,170.4,2111.6,3.02,-8.96,17,130.94,6.86,13.53,4.14,0.008,0.248,0.149,2888.56,2881.06,2896.06,1739.69,663.06,0,0,0,14.74,15.24,14.67
$GC,189.69,1028,-95.69,-1.66,0.00,2888.6,2880.8,2896.4,1739.2,663.5,24.24,-22.75,35,195.41,0.00,0.00,3.52,0.000,0.000,0.055,2889.09,2881.62,2896.56,1738.69,2121.81,0,0,0,30.00,30.00,15.66
$GC,254.27,0,-95.69,-1.66,0.00,2888.4,2880.4,2896.4,1738.8,2122.1,37.88,-21.76,48,258.59,0.00,0.00,0.00,0.000,0.000,0.000,2888.69,2881.00,2896.38,1739.06,2121.75,0,0,0,30.00,30.00,30.00
$GC,319.27,0,-95.69,-1.66,0.00,2888.6,2880.6,2896.6,1739.4,2121.8,51.14,-20.44,61,323.59,0.00,0.00,0.00,0.000,0.000,0.000,2888.84,2881.06,2896.62,1739.19,2121.69,0,0,0,30.00,30.00,30.00
$GC,384.28,0,-95.69,-1.66,0.00,2888.6,2880.8,2896.5,1739.2,2121.4,63.82,-19.27,74,388.60,0.00,0.00,0.00,0.000,0.000,0.000,2888.84,2881.19,2896.50,1739.38,2121.19,0,0,0,30.00,30.00,30.00
$GC,449.29,0,-95.69,-1.66,0.00,2888.4,2880.8,2896.1,1739.1,2121.7,74.47,-15.64,87,453.61,0.00,0.00,0.00,0.000,0.000,0.000,2889.03,2881.00,2897.06,1739.12,2121.38,0,0,0,30.00,30.00,30.00
$GC,514.30,0,-95.69,-1.66,0.00,2888.1,2880.4,2895.7,1739.1,2121.4,84.97,-15.93,100,518.62,0.00,0.00,0.00,0.000,0.000,0.000,2888.69,2880.94,2896.44,1738.50,2121.69,0,0,0,30.00,30.00,30.00
$GC,579.31,0,-95.69,-1.66,0.00,2888.2,2880.6,2895.8,1738.9,2121.9,94.30,-14.33,113,583.63,0.00,0.00,0.00,0.000,0.000,0.000,2888.78,2881.25,2896.31,1738.81,2120.94,0,0,0,30.00,30.00,30.00
$GC,644.32,0,-95.69,-1.66,0.00,2888.4,2880.7,2896.2,1739.2,2121.7,103.44,-14.12,126,648.64,0.00,0.00,0.00,0.000,0.000,0.000,2888.41,2880.94,2895.88,1738.88,2121.12,0,0,0,30.00,30.00,30.00
$GC,709.35,260,-95.69,-1.66,80.00,2888.8,2881.0,2896.6,1739.6,2121.8,112.81,-14.99,139,715.50,0.00,0.00,3.61,0.000,0.000,0.111,2888.69,2881.06,2896.31,1739.31,3474.81,0,0,0,30.00,30.00,15.59
$GC,749.77,1028,-95.69,-1.66,0.00,2888.4,2880.8,2895.9,1739.1,3475.3,118.66,-15.11,147,755.46,0.00,0.00,3.39,0.000,0.000,0.057,2889.41,2881.75,2897.06,1739.19,2081.06,0,0,0,30.00,30.00,15.70
$GC,814.35,0,-95.69,-1.66,0.00,2888.4,2880.9,2895.9,1739.7,2081.4,126.87,-12.01,160,818.67,0.00,0.00,0.00,0.000,0.000,0.000,2888.78,2880.81,2896.75,1739.06,2080.56,0,0,0,30.00,30.00,30.00
$GC,879.35,516,-95.69,-1.66,-80.00,2888.6,2880.9,2896.3,1739.2,2081.1,134.88,-12.37,173,885.58,0.00,0.00,3.97,0.000,0.000,0.149,2889.50,2881.81,2897.19,1738.94,664.12,0,0,0,30.00,30.00,15.49
$GC,935.46,1028,-95.69,-1.66,0.00,2888.4,2880.6,2896.2,1738.9,664.0,142.89,-15.28,184,940.49,0.00,0.00,3.50,0.000,0.000,0.053,2888.50,2880.62,2896.38,1739.31,2121.94,0,0,0,30.00,30.00,15.74
$GC,1004.38,0,-95.69,-1.66,0.00,2888.2,2880.3,2896.1,1739.0,2121.1,151.41,-11.79,197,1005.70,0.00,0.00,0.00,0.000,0.000,0.000,2887.81,2880.56,2895.06,1738.62,2121.38,0,0,0,30.00,30.00,30.00
$STATE,1214,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1214,begin apogee
$GC,1215.57,10243,0.00,-0.25,0.00,2888.5,2880.6,2896.3,1739.2,2082.4,176.88,-12.66,218,1296.50,75.57,2.58,0.07,1.210,0.155,0.222,2499.16,2509.06,2489.25,2080.19,2119.56,0,0,0,10.87,15.57,15.10
$STATE,1299,end apogee,CONTROL_FINISHED_OK
$STATE,1299,begin climb
$GC,1299.29,10759,95.69,1.66,-80.00,2497.3,2507.2,2487.4,2080.2,2120.2,179.42,0.00,226,1389.08,80.30,3.13,4.17,1.169,0.077,0.132,2105.88,2122.12,2089.62,2548.19,661.56,0,0,0,11.77,15.36,14.95
$GC,1427.76,1092,95.69,1.69,0.00,2102.4,2117.2,2087.6,2547.6,662.0,171.51,9.79,251,1432.99,0.00,0.00,3.56,0.000,0.000,0.047,2103.00,2117.81,2088.19,2546.56,2126.69,0,0,0,30.00,30.00,15.38
$GC,1732.34,8486,118.11,1.76,80.00,2097.8,2117.5,2078.0,2548.1,2126.9,146.17,8.86,286,1758.93,19.50,0.00,3.60,1.068,0.000,0.109,2016.38,2037.44,1995.31,2547.75,3473.00,0,0,0,11.15,30.00,15.23
$GC,1837.80,3141,118.11,1.79,0.00,2014.0,2035.8,1992.3,2547.3,3472.8,135.91,10.26,307,1843.55,0.00,0.16,3.42,0.000,0.092,0.054,2013.81,2036.25,1991.38,2590.50,2077.69,0,0,0,30.00,15.47,15.62
$GC,1902.42,580,118.11,1.81,-80.00,2012.4,2035.8,1989.1,2591.1,2077.6,129.08,10.50,320,1908.57,0.00,0.00,3.90,0.000,0.000,0.132,2012.59,2036.06,1989.12,2591.00,662.81,0,0,0,30.00,30.00,15.47
$GC,2082.84,1028,118.11,1.81,0.00,2010.7,2032.4,1989.1,2590.1,662.4,108.72,10.73,356,2088.09,0.00,0.00,3.48,0.000,0.000,0.047,2011.34,2033.06,1989.62,2590.19,2126.94,0,0,0,30.00,30.00,15.70
$GC,2147.41,8486,151.97,1.91,80.00,2010.2,2032.3,1988.2,2590.9,2126.8,103.45,7.71,369,2184.22,29.83,0.00,3.57,1.078,0.000,0.108,1878.94,1904.25,1853.62,2590.38,3473.50,0,0,0,11.19,30.00,15.22
$GC,2187.89,11303,184.33,2.00,0.00,1878.2,1903.5,1853.0,2590.1,3473.6,100.15,7.86,377,2223.85,29.23,0.22,3.39,1.048,0.073,0.051,1748.38,1775.31,1721.44,2637.56,2075.75,0,0,0,11.82,15.46,15.58
$GC,2282.45,0,184.33,2.00,0.00,1743.1,1770.4,1715.7,2637.9,2076.2,89.08,12.65,396,2286.77,0.00,0.00,0.00,0.000,0.000,0.000,1743.31,1770.75,1715.88,2637.81,2075.75,0,0,0,30.00,30.00,30.00
$GC,2347.45,516,184.33,2.00,-80.00,1741.2,1769.8,1712.6,2638.3,2075.8,80.90,12.00,409,2353.68,0.00,0.00,3.91,0.000,0.000,0.129,1741.72,1770.12,1713.31,2637.31,661.81,0,0,0,30.00,30.00,15.42
$GC,2377.90,1028,184.33,2.00,0.00,1740.8,1768.7,1712.9,2638.2,661.7,76.88,13.41,415,2383.62,0.00,0.00,3.50,0.000,0.000,0.045,1740.91,1768.81,1713.00,2638.69,2127.00,0,0,0,30.00,30.00,15.60
$GC,2442.49,16450,184.33,2.04,0.00,1739.7,1768.4,1710.9,2638.6,2127.0,69.99,9.85,428,2446.81,0.00,0.00,0.00,0.000,0.000,0.000,1739.81,1768.25,1711.38,2638.06,2126.81,0,0,0,30.00,30.00,30.00
$GC,2507.50,8742,210.05,2.12,-80.00,1739.1,1768.0,1710.1,2637.6,2126.6,63.78,8.53,441,2543.79,26.67,0.00,4.01,1.007,0.000,0.127,1642.53,1671.56,1613.50,2638.00,661.75,0,0,0,11.13,30.00,15.21
$GC,2692.96,11303,253.77,2.25,0.00,1639.4,1666.1,1612.8,2638.3,661.7,50.17,6.72,478,2744.22,45.97,0.29,3.51,1.012,0.055,0.048,1465.69,1494.50,1436.88,2700.69,2129.75,0,0,0,11.34,15.50,15.65
$GC,2802.55,64,253.77,2.31,0.00,1462.2,1492.9,1431.4,2701.2,2129.1,41.99,9.23,500,2806.87,0.00,0.00,0.00,0.000,0.000,0.000,1462.06,1492.81,1431.31,2701.19,2128.81,0,0,0,30.00,30.00,30.00
$GC,2867.54,64,253.77,2.34,0.00,1461.0,1492.9,1429.1,2700.9,2129.5,35.50,10.09,513,2871.86,0.00,0.00,0.00,0.000,0.000,0.000,1461.38,1493.06,1429.69,2701.00,2129.50,0,0,0,30.00,30.00,30.00
$GC,2932.55,64,253.77,2.39,0.00,1460.6,1492.6,1428.6,2701.1,2129.7,29.26,9.25,526,2936.87,0.00,0.00,0.00,0.000,0.000,0.000,1460.66,1492.75,1428.56,2700.88,2129.50,0,0,0,30.00,30.00,30.00
$GC,2997.56,580,253.77,2.42,-80.00,1459.8,1492.1,1427.4,2701.1,2129.8,22.66,10.36,539,3003.35,0.00,0.00,4.01,0.000,0.000,0.126,1460.94,1492.88,1429.00,2700.94,661.88,0,0,0,30.00,30.00,15.46
$GC,3103.03,3077,253.77,2.42,0.00,1459.3,1490.9,1427.8,2700.8,661.8,8.84,14.50,560,3108.34,0.00,0.16,3.49,0.000,0.081,0.049,1460.19,1491.62,1428.75,2738.12,2126.94,0,0,0,30.00,15.52,15.68
$STATE,3158,end climb,SURFACE_DEPTH_REACHED
$STATE,3158,begin surface coast
$STATE,3173,end surface coast,CONTROL_FINISHED_OK
$STATE,3173,begin surface
$SM_CCo,3398.89,198.28,0.993,0,564.4,579.1,549.8,474.80
$SM_CCo,3400.01,0.00,2.580,0,565.6,575.1,556.1,474.51
$SM_CCo,3403.14,2.07,0.245,0,563.9,572.9,555.0,474.92
$SM_GC,-0.63,2.07,17.44,0.10,0.245,0.089,0.132,563.9,572.9,555.0,165.3,2072.9,0,0,0,11.73,15.51,15.73
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4707.10,-12459.52,240321,121100
$TCM_TEMP,175.86
$XPDR_PINGS,7,14.0,11.5
$ALTIM_BOTTOM_PING,174.5,11.6
$SC_FREEKB,3502208
$HUMID,58.68
$TEMP,8.81
$INTERNAL_PRESSURE,7.82084
$24V_AH,13.74,260.784
$10V_AH,14.83,0.000
$FG_AHR_24Vo,224.904
$FG_AHR_10Vo,70.177
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,604.605,37.515,73.995,179.376,4.000,17.032,2442.396,1081.658,1383.597,0.000,9.000,0.000
$DEVICE_MAMPS,2579.800,248.048,222.136,196.424,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3226.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.280,0.000,0.000,0.000
$MEM,1103676,38,73472,56
$DATA_FILE_SIZE,19411,574
$CAP_FILE_SIZE,284245,0
$SDSIZE,3918848,3663936
$SDFILEDIR,4686,1
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240321,141809,4708.065,-12500.347,18,1.3,19,15.6