version: 67.00
glider: 236
mission: 2
dive: 944
start: 3 25 121 11 38 26
data:
$ID,236
$MISSION,2
$DIVE,944
$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,70.465408
$FG_AHR_24V,227.15918
$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,300
$ALTIM_PING_DELTA,20
$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
$GPS1,250321,113128,4707.276,-12459.617,1,1.3,4,15.6
$_CALLS,1
$_SM_DEPTHo,-1.74
$_SM_ANGLEo,-58.9
$GPS2,250321,113808,4707.162,-12459.598,3,1.2,5,15.6
$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,305.3,2001,-18.7,-11.111,-22.02
$D_GRID,203
$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,-155.72,-1.40,0.00,559.7,566.8,552.6,164.1,2080.8,0.00,0.00,0,98.21,90.35,0.00,0.00,0.005,0.000,0.000,2638.44,2617.00,2659.88,164.00,2080.19,0,0,0,14.55,30.00,30.00
$GC,98.47,18695,-155.72,-1.40,80.00,2637.5,2616.4,2658.5,164.2,2079.9,3.84,-14.30,17,130.58,10.29,14.00,3.76,0.007,0.251,0.112,3134.28,3126.00,3142.56,1800.75,3473.44,0,0,0,14.82,15.18,14.62
$GC,223.81,1028,-155.72,-1.40,0.00,3134.5,3125.6,3143.4,1800.5,3474.0,32.34,-18.61,42,229.51,0.00,0.00,3.39,0.000,0.000,0.059,3134.59,3125.94,3143.25,1800.19,2082.31,0,0,0,30.00,30.00,15.59
$GC,288.83,0,-155.72,-1.40,0.00,3134.2,3125.9,3142.6,1800.7,2082.7,43.33,-17.06,55,293.16,0.00,0.00,0.00,0.000,0.000,0.000,3134.53,3126.38,3142.69,1800.25,2082.25,0,0,0,30.00,30.00,30.00
$GC,353.84,0,-155.72,-1.40,0.00,3134.3,3125.7,3142.9,1800.4,2082.3,54.56,-16.48,68,358.16,0.00,0.00,0.00,0.000,0.000,0.000,3135.12,3127.00,3143.25,1800.69,2082.25,0,0,0,30.00,30.00,30.00
$GC,418.90,0,-155.72,-1.40,0.00,3134.5,3125.9,3143.0,1800.7,2082.2,64.48,-14.29,81,423.23,0.00,0.00,0.00,0.000,0.000,0.000,3135.31,3126.75,3143.88,1800.75,2082.25,0,0,0,30.00,30.00,30.00
$GC,483.86,0,-155.72,-1.40,0.00,3134.7,3126.3,3143.1,1800.6,2082.3,73.54,-13.08,94,488.18,0.00,0.00,0.00,0.000,0.000,0.000,3134.88,3126.38,3143.38,1799.94,2082.06,0,0,0,30.00,30.00,30.00
$GC,548.87,260,-155.72,-1.40,80.00,3134.2,3125.8,3142.7,1800.0,2082.4,82.19,-13.12,107,554.62,0.00,0.00,3.68,0.000,0.000,0.107,3134.38,3126.31,3142.44,1800.19,3475.38,0,0,0,30.00,30.00,15.55
$GC,569.32,1028,-155.72,-1.40,0.00,3134.6,3126.3,3142.9,1800.6,3475.5,84.96,-13.29,111,574.56,0.00,0.00,3.37,0.000,0.000,0.055,3135.34,3126.81,3143.88,1800.38,2080.06,0,0,0,30.00,30.00,15.64
$GC,633.90,0,-155.72,-1.40,0.00,3134.4,3125.8,3142.9,1800.3,2080.8,93.07,-12.41,124,638.22,0.00,0.00,0.00,0.000,0.000,0.000,3135.50,3127.12,3143.88,1800.25,2079.56,0,0,0,30.00,30.00,30.00
$GC,698.89,0,-155.72,-1.40,0.00,3134.0,3125.5,3142.5,1800.5,2080.1,101.34,-12.09,137,703.21,0.00,0.00,0.00,0.000,0.000,0.000,3135.09,3127.06,3143.12,1800.12,2080.69,0,0,0,30.00,30.00,30.00
$GC,763.91,0,-155.72,-1.40,0.00,3134.0,3125.6,3142.4,1800.4,2080.1,109.00,-11.79,150,768.23,0.00,0.00,0.00,0.000,0.000,0.000,3135.25,3126.88,3143.62,1800.25,2079.88,0,0,0,30.00,30.00,30.00
$GC,828.92,260,-155.72,-1.40,80.00,3134.4,3126.4,3142.4,1800.2,2080.0,116.42,-11.55,163,834.65,0.00,0.00,3.67,0.000,0.000,0.107,3134.66,3126.25,3143.06,1799.94,3475.81,0,0,0,30.00,30.00,15.56
$GC,858.97,1028,-155.72,-1.40,0.00,3134.4,3125.6,3143.1,1800.3,3475.6,120.38,-13.18,169,864.61,0.00,0.00,3.35,0.000,0.000,0.053,3134.91,3126.19,3143.62,1799.94,2081.19,0,0,0,30.00,30.00,15.68
$GC,923.94,516,-155.72,-1.40,-80.00,3133.9,3125.5,3142.4,1800.8,2081.4,127.49,-10.92,182,930.16,0.00,0.00,3.93,0.000,0.000,0.149,3134.47,3126.12,3142.81,1800.69,663.00,0,0,0,30.00,30.00,15.42
$GC,944.43,1028,-155.72,-1.40,0.00,3134.6,3126.4,3142.8,1800.7,662.8,130.07,-12.43,186,950.08,0.00,0.00,3.43,0.000,0.000,0.047,3135.03,3126.50,3143.56,1800.19,2124.12,0,0,0,30.00,30.00,15.72
$GC,1008.96,260,-155.72,-1.40,80.00,3134.3,3126.2,3142.5,1800.3,2124.1,137.06,-10.63,199,1014.69,0.00,0.00,3.56,0.000,0.000,0.109,3134.81,3127.12,3142.50,1799.88,3476.00,0,0,0,30.00,30.00,15.56
$GC,1059.40,1028,-155.72,-1.40,0.00,3134.3,3126.4,3142.1,1800.1,3475.7,142.96,-11.66,209,1064.65,0.00,0.00,3.34,0.000,0.000,0.053,3135.53,3127.19,3143.88,1800.81,2081.06,0,0,0,30.00,30.00,15.67
$GC,1123.97,0,-155.72,-1.40,0.00,3134.5,3126.3,3142.6,1800.6,2081.0,150.41,-11.52,222,1125.31,0.00,0.00,0.00,0.000,0.000,0.000,3134.72,3126.00,3143.44,1800.75,2081.12,0,0,0,30.00,30.00,30.00
$GC,1424.00,260,-155.72,-1.40,80.00,3134.1,3126.0,3142.2,1800.1,2080.9,184.22,-11.38,252,1429.64,0.00,0.00,3.70,0.000,0.000,0.109,3135.88,3127.12,3144.62,1799.56,3475.06,0,0,0,30.00,30.00,15.55
$GC,1559.00,1028,-155.72,-1.40,0.00,3134.3,3125.7,3142.9,1800.4,3474.9,200.53,-11.62,279,1563.60,0.00,0.00,3.36,0.000,0.000,0.056,3134.81,3126.00,3143.62,1800.69,2081.75,0,0,0,30.00,30.00,15.68
$STATE,1589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1589,begin apogee
$GC,1590.15,10243,0.00,-0.25,0.00,3133.9,3125.3,3142.5,1800.3,2123.9,203.91,-10.98,283,1715.92,122.43,2.06,0.09,1.255,0.136,0.199,2497.00,2505.44,2488.56,2080.12,2082.69,0,0,0,10.78,15.59,14.96
$STATE,1719,end apogee,CONTROL_FINISHED_OK
$STATE,1719,begin climb
$GC,1718.73,10243,155.72,1.40,0.00,2497.3,2506.4,2488.2,2079.7,2081.7,207.12,0.00,295,1852.67,129.84,2.72,0.00,1.202,0.080,0.000,1863.34,1890.44,1836.25,2484.00,2082.31,0,0,0,11.63,15.22,30.00
$GC,2145.93,10275,205.49,1.55,80.00,1853.7,1886.2,1821.1,2484.1,2081.9,174.05,8.71,340,2188.85,41.83,0.19,0.00,1.147,0.080,0.000,1662.25,1694.06,1630.44,2534.69,2081.75,0,0,0,11.17,15.59,30.00
$GC,2485.94,0,205.49,1.55,80.00,1654.8,1688.7,1620.9,2535.0,2082.0,136.60,11.94,385,2490.26,0.00,0.00,0.00,0.000,0.000,0.000,1655.38,1689.31,1621.44,2534.94,2082.44,0,0,0,30.00,30.00,30.00
$GC,2550.95,260,205.49,1.55,80.00,1654.7,1688.6,1620.8,2535.4,2082.4,129.41,11.81,398,2557.15,0.00,0.00,3.74,0.000,0.000,0.110,1654.16,1688.25,1620.06,2535.31,3473.69,0,0,0,30.00,30.00,15.51
$GC,2586.40,17414,205.49,1.55,0.00,1653.5,1687.1,1619.8,2534.8,3473.7,125.18,12.11,405,2591.66,0.00,0.00,3.38,0.000,0.000,0.053,1654.62,1688.44,1620.81,2534.94,2077.81,0,0,0,30.00,30.00,15.66
$GC,2650.97,16386,205.49,1.55,0.00,1653.3,1687.1,1619.6,2535.0,2078.4,117.99,11.11,418,2655.30,0.00,0.00,0.00,0.000,0.000,0.000,1654.06,1688.00,1620.12,2535.56,2078.00,0,0,0,30.00,30.00,30.00
$GC,2715.98,16902,205.49,1.55,-80.00,1653.7,1687.6,1619.7,2534.9,2077.9,110.74,11.48,431,2722.22,0.00,0.00,3.90,0.000,0.000,0.135,1654.19,1688.00,1620.38,2535.44,662.88,0,0,0,30.00,30.00,15.45
$GC,2786.50,17414,205.49,1.55,0.00,1653.3,1687.1,1619.5,2535.3,662.8,102.11,12.44,445,2792.16,0.00,0.00,3.44,0.000,0.000,0.044,1653.78,1687.25,1620.31,2535.44,2127.38,0,0,0,30.00,30.00,15.71
$GC,2851.03,16450,205.49,1.60,0.00,1653.2,1686.9,1619.5,2534.9,2127.5,95.57,9.61,458,2855.36,0.00,0.00,0.00,0.000,0.000,0.000,1653.69,1687.56,1619.81,2535.38,2127.69,0,0,0,30.00,30.00,30.00
$GC,2916.04,10791,256.14,1.75,-80.00,1653.0,1686.7,1619.2,2535.2,2126.9,89.66,8.66,471,2968.29,46.79,0.17,4.05,1.083,0.074,0.131,1455.06,1488.62,1421.50,2585.25,661.75,0,0,0,10.96,15.71,15.19
$GC,2986.97,1028,256.14,1.75,0.00,1454.1,1487.0,1421.2,2585.1,661.8,82.34,11.78,485,2992.65,0.00,0.00,3.48,0.000,0.000,0.044,1454.16,1487.00,1421.31,2585.31,2129.12,0,0,0,30.00,30.00,15.51
$GC,3051.53,0,256.14,1.75,0.00,1452.5,1486.6,1418.4,2585.7,2129.2,74.58,11.83,498,3055.85,0.00,0.00,0.00,0.000,0.000,0.000,1453.19,1487.25,1419.12,2585.25,2129.00,0,0,0,30.00,30.00,30.00
$GC,3116.55,580,256.14,1.77,-80.00,1451.8,1486.4,1417.1,2585.4,2129.1,67.81,10.35,511,3122.78,0.00,0.00,4.04,0.000,0.000,0.129,1452.06,1487.06,1417.06,2584.88,663.06,0,0,0,30.00,30.00,15.40
$GC,3192.01,1092,256.14,1.82,0.00,1451.4,1485.9,1416.9,2585.4,662.9,60.37,9.35,526,3197.27,0.00,0.00,3.47,0.000,0.000,0.046,1451.59,1486.00,1417.19,2585.31,2128.62,0,0,0,30.00,30.00,15.63
$GC,3256.58,10275,327.85,2.04,0.00,1450.8,1485.8,1415.7,2585.5,2129.3,55.25,7.65,539,3333.17,74.90,0.31,0.00,1.035,0.052,0.000,1164.00,1196.62,1131.38,2653.69,2128.75,0,0,0,11.29,15.65,30.00
$GC,3391.58,0,327.85,2.04,80.00,1160.9,1195.4,1126.4,2653.7,2128.8,41.46,11.00,566,3395.90,0.00,0.00,0.00,0.000,0.000,0.000,1161.12,1195.62,1126.62,2654.12,2129.25,0,0,0,30.00,30.00,30.00
$GC,3456.59,516,327.85,2.04,-80.00,1159.5,1195.1,1123.9,2653.8,2129.0,34.20,10.64,579,3462.40,0.00,0.00,4.05,0.000,0.000,0.131,1160.47,1196.19,1124.75,2653.38,661.75,0,0,0,30.00,30.00,15.37
$GC,3507.05,1028,327.85,2.04,0.00,1159.1,1194.4,1123.8,2654.5,661.8,27.61,13.24,589,3512.31,0.00,0.00,3.49,0.000,0.000,0.048,1159.28,1194.44,1124.12,2654.44,2127.81,0,0,0,30.00,30.00,15.56
$GC,3571.63,324,327.85,2.08,80.00,1158.2,1193.6,1122.9,2655.0,2127.6,20.98,9.59,602,3577.33,0.00,0.00,3.58,0.000,0.000,0.111,1158.44,1194.12,1122.75,2654.12,3473.19,0,0,0,30.00,30.00,15.46
$GC,3731.65,11303,406.64,2.32,0.00,1157.1,1192.4,1121.8,2654.4,3473.2,7.46,7.30,634,3788.49,52.03,0.31,3.36,0.987,0.061,0.054,947.75,981.69,913.81,2715.25,2075.81,0,0,0,11.16,15.47,15.65
$STATE,3789,end climb,SURFACE_DEPTH_REACHED
$STATE,3789,begin surface coast
$STATE,3792,end surface coast,CONTROL_FINISHED_OK
$STATE,3792,begin surface
$SM_CCo,3906.08,86.74,0.990,0,564.4,567.9,560.9,474.81
$SM_CCo,3907.20,0.00,0.011,0,563.8,565.6,561.9,474.96
$SM_CCo,3908.30,0.00,0.014,0,563.4,565.4,561.5,475.04
$SM_GC,-0.79,0.00,17.23,0.09,0.014,0.074,0.133,563.4,565.4,561.5,165.4,2135.0,0,0,0,30.36,15.39,15.49
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4707.10,-12459.52,250321,102522
$TCM_TEMP,175.55
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3497600
$HUMID,58.39
$TEMP,8.51
$INTERNAL_PRESSURE,7.80041
$24V_AH,14.39,263.407
$10V_AH,14.82,0.000
$FG_AHR_24Vo,227.343
$FG_AHR_10Vo,70.481
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,655.205,36.980,86.875,209.355,1.000,13.838,2753.209,1409.911,1499.486,0.000,0.000,0.000
$DEVICE_MAMPS,1254.680,250.672,199.176,195.299,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3844.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.262,0.000,0.000,0.000
$MEM,1103704,37,73464,56
$DATA_FILE_SIZE,22562,646
$CAP_FILE_SIZE,311956,0
$SDSIZE,3918848,3660992
$SDFILEDIR,4746,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$GPS,250321,124409,4707.353,-12459.479,3,1.0,26,15.6