version: 67.00
glider: 236
mission: 2
dive: 1009
start: 3 30 121 23 51 17
data:
$ID,236
$MISSION,2
$DIVE,1009
$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,180
$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,72.192368
$FG_AHR_24V,241.55196
$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,80
$ALTIM_PING_DELTA,5
$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
$GPS1,300321,234433,4706.737,-12500.447,1,1.0,4,15.6
$_CALLS,1
$_SM_DEPTHo,-1.42
$_SM_ANGLEo,-64.2
$GPS2,300321,235059,4706.713,-12500.345,2,1.0,6,15.6
$SPEED_LIMITS,0.192,0.290
$TGT_NAME,HOLD
$TGT_LATLONG,4708.000,-12502.000
$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,303.3,3167,-17.6,-11.111,-21.00
$D_GRID,211
$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,7.59,16386,-175.18,-1.40,0.00,560.7,564.1,557.2,167.6,2077.9,0.00,0.00,0,84.62,76.50,0.00,0.00,0.005,0.000,0.000,2347.75,2330.75,2364.75,167.62,2077.69,0,0,0,14.55,30.00,30.00
$GC,84.87,18467,-175.18,-1.40,0.00,2347.7,2330.1,2365.2,167.9,2078.1,3.06,-6.84,8,122.14,19.08,14.28,0.00,0.006,0.249,0.000,3213.16,3207.12,3219.19,1798.94,2077.19,0,0,0,14.85,15.11,30.00
$GC,178.06,516,-175.18,-1.40,-80.00,3214.1,3208.2,3219.9,1799.6,2077.2,21.90,-17.95,20,183.75,0.00,0.00,3.91,0.000,0.000,0.146,3214.88,3208.56,3221.19,1798.38,662.69,0,0,0,30.00,30.00,15.31
$GC,233.52,1028,-175.18,-1.40,0.00,3214.1,3208.2,3220.1,1799.5,662.8,32.84,-21.19,31,238.68,0.00,0.00,3.49,0.000,0.000,0.052,3215.84,3209.06,3222.62,1797.88,2121.00,0,0,0,30.00,30.00,15.62
$GC,298.13,260,-175.18,-1.40,80.00,3214.4,3208.2,3220.5,1799.0,2121.4,44.29,-17.30,38,303.70,0.00,0.00,3.54,0.000,0.000,0.109,3213.12,3207.75,3218.50,1799.06,3474.81,0,0,0,30.00,30.00,15.46
$GC,336.99,1028,-175.18,-1.40,0.00,3214.4,3209.1,3219.7,1799.2,3475.4,50.94,-16.11,46,343.77,0.00,0.00,3.36,0.000,0.000,0.055,3214.12,3208.50,3219.75,1799.31,2080.12,0,0,0,30.00,30.00,15.58
$GC,403.14,516,-175.18,-1.40,-80.00,3214.1,3208.0,3220.1,1799.1,2080.4,60.98,-15.46,53,408.79,0.00,0.00,3.93,0.000,0.000,0.148,3216.34,3210.62,3222.06,1797.44,662.94,0,0,0,30.00,30.00,15.34
$GC,428.53,1028,-175.18,-1.40,0.00,3214.7,3208.4,3221.1,1799.2,662.8,65.01,-16.08,58,433.70,0.00,0.00,3.44,0.000,0.000,0.047,3214.06,3208.06,3220.06,1799.00,2123.94,0,0,0,30.00,30.00,15.67
$GC,493.15,0,-175.18,-1.40,0.00,3214.0,3208.2,3219.8,1799.0,2123.7,74.66,-14.64,65,494.48,0.00,0.00,0.00,0.000,0.000,0.000,3214.31,3208.75,3219.88,1799.69,2123.06,0,0,0,30.00,30.00,30.00
$GC,553.10,0,-175.18,-1.40,0.00,3214.2,3207.9,3220.4,1799.4,2123.4,83.15,-13.93,71,554.43,0.00,0.00,0.00,0.000,0.000,0.000,3214.34,3208.75,3219.94,1799.62,2123.19,0,0,0,30.00,30.00,30.00
$GC,613.75,516,-175.18,-1.40,-80.00,3214.3,3208.3,3220.2,1799.3,2123.8,91.36,-13.95,77,619.83,0.00,0.00,4.02,0.000,0.000,0.146,3213.56,3207.94,3219.19,1799.00,662.81,0,0,0,30.00,30.00,15.35
$GC,648.55,1028,-175.18,-1.40,0.00,3214.4,3208.4,3220.4,1799.4,662.8,96.07,-13.95,84,653.35,0.00,0.00,3.43,0.000,0.000,0.047,3214.44,3208.12,3220.75,1798.62,2123.81,0,0,0,30.00,30.00,15.60
$GC,718.11,516,-175.18,-1.40,-80.00,3214.1,3208.2,3220.0,1799.2,2124.2,105.29,-12.53,92,723.84,0.00,0.00,4.01,0.000,0.000,0.145,3214.00,3208.25,3219.75,1799.56,663.06,0,0,0,30.00,30.00,15.36
$GC,757.03,1028,-175.18,-1.40,0.00,3214.4,3208.5,3220.3,1799.1,663.0,110.66,-13.54,100,763.83,0.00,0.00,3.43,0.000,0.000,0.046,3215.12,3209.00,3221.25,1799.44,2124.00,0,0,0,30.00,30.00,15.68
$GC,823.12,260,-175.18,-1.40,80.00,3213.8,3208.1,3219.6,1799.2,2124.1,118.26,-11.10,107,828.39,0.00,0.00,3.51,0.000,0.000,0.107,3214.34,3207.94,3220.75,1798.62,3476.12,0,0,0,30.00,30.00,15.50
$GC,877.05,1028,-175.18,-1.40,0.00,3214.6,3208.6,3220.6,1799.1,3476.0,125.38,-13.44,118,883.82,0.00,0.00,3.31,0.000,0.000,0.052,3215.16,3209.31,3221.00,1799.00,2079.25,0,0,0,30.00,30.00,15.63
$GC,943.20,0,-175.18,-1.40,0.00,3214.2,3208.6,3219.9,1799.2,2079.4,132.74,-11.24,125,944.53,0.00,0.00,0.00,0.000,0.000,0.000,3214.75,3209.19,3220.31,1799.25,2079.38,0,0,0,30.00,30.00,30.00
$GC,1003.15,0,-175.18,-1.40,0.00,3214.2,3208.4,3220.1,1799.0,2079.4,139.89,-11.52,131,1004.48,0.00,0.00,0.00,0.000,0.000,0.000,3214.72,3208.94,3220.50,1799.62,2079.44,0,0,0,30.00,30.00,30.00
$GC,1065.50,0,-175.18,-1.40,0.00,3214.2,3208.2,3220.2,1799.4,2079.5,147.40,-12.41,137,1066.83,0.00,0.00,0.00,0.000,0.000,0.000,3214.66,3209.19,3220.12,1799.19,2079.12,0,0,0,30.00,30.00,30.00
$GC,1123.33,260,-175.18,-1.40,80.00,3214.5,3209.0,3219.9,1799.4,2079.4,154.84,-12.26,143,1128.81,0.00,0.00,3.61,0.000,0.000,0.105,3213.50,3207.25,3219.75,1798.75,3476.69,0,0,0,30.00,30.00,15.52
$GC,1168.16,1028,-175.18,-1.40,0.00,3214.5,3209.1,3219.9,1799.6,3476.2,160.52,-13.14,152,1172.75,0.00,0.00,3.31,0.000,0.000,0.053,3214.81,3208.19,3221.44,1799.25,2080.12,0,0,0,30.00,30.00,15.64
$GC,1298.18,516,-175.18,-1.40,-80.00,3214.2,3208.3,3220.1,1799.6,2080.2,175.74,-11.83,166,1303.87,0.00,0.00,3.89,0.000,0.000,0.148,3215.12,3209.06,3221.19,1799.00,662.69,0,0,0,30.00,30.00,15.36
$GC,1317.14,1028,-175.18,-1.40,0.00,3214.3,3208.3,3220.4,1799.4,662.6,178.34,-12.11,170,1323.90,0.00,0.00,3.42,0.000,0.000,0.045,3214.44,3208.19,3220.69,1799.31,2124.25,0,0,0,30.00,30.00,15.69
$GC,1443.19,0,-175.18,-1.40,0.00,3214.3,3208.4,3220.2,1799.6,2124.7,194.03,-12.28,183,1444.52,0.00,0.00,0.00,0.000,0.000,0.000,3214.69,3209.19,3220.19,1799.38,2124.81,0,0,0,30.00,30.00,30.00
$GC,1563.20,0,-175.18,-1.40,0.00,3214.3,3208.3,3220.3,1799.0,2124.2,208.59,-12.51,195,1564.53,0.00,0.00,0.00,0.000,0.000,0.000,3214.50,3208.19,3220.81,1799.19,2124.50,0,0,0,30.00,30.00,30.00
$STATE,1583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1583,begin apogee
$GC,1584.34,10243,0.00,-0.25,0.00,3214.1,3207.9,3220.3,1799.4,2079.7,211.05,-12.30,197,1727.47,139.38,2.10,0.08,1.264,0.139,0.207,2497.88,2506.19,2489.56,2079.88,2122.00,0,0,0,10.79,15.52,14.90
$STATE,1730,end apogee,CONTROL_FINISHED_OK
$STATE,1730,begin climb
$GC,1730.40,10759,175.18,1.40,-80.00,2497.0,2506.1,2488.0,2080.4,2123.5,215.90,0.00,211,1886.87,146.13,2.77,4.07,1.213,0.086,0.134,1783.53,1813.19,1753.88,2485.06,661.88,0,0,0,11.66,15.20,14.87
$GC,2109.03,17414,175.18,1.40,0.00,1776.6,1804.7,1748.5,2484.6,661.9,183.42,12.82,276,2115.84,0.00,0.00,3.47,0.000,0.000,0.045,1777.78,1805.75,1749.81,2485.12,2127.44,0,0,0,30.00,30.00,15.59
$GC,2235.15,10535,235.66,1.58,80.00,1773.8,1804.1,1743.4,2484.7,2127.6,172.79,8.51,289,2291.88,51.33,0.24,3.56,1.157,0.071,0.108,1537.12,1568.69,1505.56,2541.12,3474.88,0,0,0,11.12,15.64,15.08
$GC,2434.06,1028,235.66,1.58,0.00,1533.2,1566.7,1499.6,2540.8,3474.6,151.07,11.20,329,2440.85,0.00,0.00,3.36,0.000,0.000,0.050,1533.53,1567.25,1499.81,2541.19,2078.44,0,0,0,30.00,30.00,15.56
$GC,2560.18,0,235.66,1.58,0.00,1532.8,1567.0,1498.7,2540.8,2079.0,136.80,10.91,342,2561.51,0.00,0.00,0.00,0.000,0.000,0.000,1533.12,1567.06,1499.19,2540.94,2078.44,0,0,0,30.00,30.00,30.00
$GC,2620.17,0,235.66,1.58,0.00,1532.5,1566.7,1498.4,2540.8,2078.8,130.19,10.80,348,2621.50,0.00,0.00,0.00,0.000,0.000,0.000,1532.75,1566.88,1498.62,2541.06,2078.12,0,0,0,30.00,30.00,30.00
$GC,2680.18,0,235.66,1.58,0.00,1532.5,1567.1,1497.9,2540.7,2078.4,123.41,11.22,354,2681.51,0.00,0.00,0.00,0.000,0.000,0.000,1532.41,1566.94,1497.88,2540.50,2078.56,0,0,0,30.00,30.00,30.00
$GC,2740.18,260,235.66,1.58,80.00,1532.3,1567.3,1497.4,2540.7,2078.4,116.19,11.53,360,2745.83,0.00,0.00,3.63,0.000,0.000,0.104,1531.59,1565.44,1497.75,2540.12,3475.25,0,0,0,30.00,30.00,15.49
$GC,2779.08,1028,235.66,1.58,0.00,1531.4,1566.1,1496.6,2540.7,3475.0,111.00,13.17,368,2785.87,0.00,0.00,3.33,0.000,0.000,0.050,1531.97,1566.62,1497.31,2540.56,2077.00,0,0,0,30.00,30.00,15.64
$GC,2845.24,516,235.66,1.58,-80.00,1531.7,1566.5,1496.8,2540.6,2077.0,102.81,12.47,375,2850.87,0.00,0.00,3.83,0.000,0.000,0.133,1531.12,1565.94,1496.31,2540.50,662.81,0,0,0,30.00,30.00,15.42
$GC,2880.63,1028,235.66,1.58,0.00,1531.8,1566.7,1496.8,2540.5,662.9,98.64,12.28,382,2885.81,0.00,0.00,3.42,0.000,0.000,0.042,1531.09,1565.69,1496.50,2540.75,2131.25,0,0,0,30.00,30.00,15.70
$GC,2945.20,580,235.66,1.63,-80.00,1531.6,1566.6,1496.7,2541.1,2131.0,92.23,9.76,389,2950.89,0.00,0.00,3.94,0.000,0.000,0.128,1530.78,1565.81,1495.75,2540.62,662.75,0,0,0,30.00,30.00,15.42
$GC,3010.66,1028,235.66,1.63,0.00,1531.4,1566.2,1496.6,2540.8,662.6,84.43,11.46,402,3015.85,0.00,0.00,3.41,0.000,0.000,0.042,1530.78,1565.50,1496.06,2541.25,2130.19,0,0,0,30.00,30.00,15.73
$GC,3075.22,580,235.66,1.68,-80.00,1531.2,1566.3,1496.1,2540.7,2129.7,78.28,9.23,409,3080.91,0.00,0.00,3.95,0.000,0.000,0.129,1531.25,1565.94,1496.56,2541.50,662.00,0,0,0,30.00,30.00,15.41
$GC,3160.67,17414,235.66,1.68,0.00,1530.9,1566.1,1495.8,2540.4,661.8,69.46,10.84,426,3165.83,0.00,0.00,3.42,0.000,0.000,0.042,1531.38,1566.06,1496.69,2539.88,2129.94,0,0,0,30.00,30.00,15.72
$GC,3225.23,10535,322.61,1.94,80.00,1530.7,1566.0,1495.4,2540.5,2130.3,64.51,7.37,433,3321.81,90.49,0.44,3.59,1.055,0.056,0.106,1184.72,1217.69,1151.75,2627.94,3474.31,0,0,0,11.04,15.72,15.03
$GC,3365.25,1092,322.61,1.98,0.00,1182.9,1216.3,1149.5,2629.2,3474.8,52.00,9.91,458,3369.85,0.00,0.00,3.36,0.000,0.000,0.049,1183.12,1216.81,1149.44,2628.69,2076.50,0,0,0,30.00,30.00,15.46
$GC,3435.25,10535,414.88,2.26,80.00,1182.1,1216.5,1147.6,2628.8,2076.6,46.79,7.14,466,3537.93,94.96,0.38,3.77,1.013,0.064,0.105,808.09,839.12,777.06,2697.56,3474.69,0,0,0,11.40,15.52,14.99
$GC,3706.16,1028,414.88,2.26,0.00,804.6,835.4,773.8,2697.3,3474.8,8.19,14.02,520,3710.76,0.00,0.00,3.35,0.000,0.000,0.051,804.72,835.69,773.75,2697.62,2077.38,0,0,0,30.00,30.00,15.56
$STATE,3766,end climb,SURFACE_DEPTH_REACHED
$STATE,3766,begin surface coast
$STATE,3786,end surface coast,CONTROL_FINISHED_OK
$STATE,3786,begin surface
$SM_CCo,3873.07,55.65,1.005,0,563.5,567.8,559.1,475.03
$SM_GC,-0.65,55.65,16.27,0.08,1.005,0.042,0.136,563.5,567.8,559.1,169.0,2131.0,0,0,0,11.28,15.59,15.63
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4713.60,-12746.10,300321,223759
$TCM_TEMP,175.50
$XPDR_PINGS,7,14.0,11.5
$ALTIM_BOTTOM_PING,147.4,11.6
$SC_FREEKB,3472640
$HUMID,58.63
$TEMP,8.58
$INTERNAL_PRESSURE,7.8082
$24V_AH,14.34,278.963
$10V_AH,14.93,0.000
$FG_AHR_24Vo,241.744
$FG_AHR_10Vo,72.206
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,673.525,36.470,115.415,187.273,5.500,15.259,2362.776,1784.012,1077.511,0.000,15.000,0.000
$DEVICE_MAMPS,1264.192,248.704,207.048,179.648,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3845.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.263,0.000,0.000,0.000
$MEM,1103688,38,73460,56
$DATA_FILE_SIZE,19449,529
$CAP_FILE_SIZE,308753,0
$SDSIZE,3918848,3644448
$SDFILEDIR,5071,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310321,005605,4706.715,-12500.636,1,1.5,6,15.6