version: 67.00
glider: 236
mission: 2
dive: 912
start: 3 23 121 18 29 27
data:
$ID,236
$MISSION,2
$DIVE,912
$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,69.893333
$FG_AHR_24V,221.12743
$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,110
$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
$GPS1,230321,182331,4707.008,-12454.616,2,0.8,23,15.5
$_CALLS,1
$_SM_DEPTHo,-1.44
$_SM_ANGLEo,-59.8
$GPS2,230321,182909,4706.982,-12454.604,2,0.6,5,15.5
$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,268.5,7786,-18.7,-11.111,-22.02
$D_GRID,138
$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,-1.40,0.00,559.3,565.9,552.7,166.6,2118.2,0.00,0.00,0,98.25,90.37,0.00,0.00,0.005,0.000,0.000,2675.53,2654.00,2697.06,166.62,2118.50,0,0,0,14.70,30.00,30.00
$GC,98.52,18695,-155.72,-1.40,80.00,2674.5,2653.1,2695.9,166.5,2118.8,3.31,-9.37,17,130.78,9.94,14.13,3.70,0.007,0.253,0.111,3134.28,3125.81,3142.75,1799.94,3474.19,0,0,0,14.77,15.30,14.74
$GC,133.99,1028,-155.72,-1.40,0.00,3133.8,3124.8,3142.8,1799.9,3474.7,12.74,-23.65,24,139.84,0.00,0.00,3.42,0.000,0.000,0.056,3134.03,3125.31,3142.75,1799.88,2082.25,0,0,0,30.00,30.00,15.65
$GC,199.01,0,-155.72,-1.40,0.00,3134.1,3125.4,3142.8,1799.9,2082.4,25.12,-18.34,37,203.33,0.00,0.00,0.00,0.000,0.000,0.000,3134.81,3125.44,3144.19,1800.19,2082.25,0,0,0,30.00,30.00,30.00
$GC,264.02,0,-155.72,-1.40,0.00,3133.6,3124.6,3142.5,1799.7,2082.9,37.30,-17.40,50,268.33,0.00,0.00,0.00,0.000,0.000,0.000,3134.81,3126.25,3143.38,1800.31,2082.62,0,0,0,30.00,30.00,30.00
$GC,329.03,0,-155.72,-1.40,0.00,3134.5,3126.0,3143.0,1799.9,2082.0,49.06,-17.94,63,333.35,0.00,0.00,0.00,0.000,0.000,0.000,3134.47,3126.06,3142.88,1799.81,2082.06,0,0,0,30.00,30.00,30.00
$GC,394.04,0,-155.72,-1.40,0.00,3134.2,3125.4,3143.0,1799.4,2082.1,60.00,-16.83,76,398.35,0.00,0.00,0.00,0.000,0.000,0.000,3134.97,3126.50,3143.44,1799.88,2082.38,0,0,0,30.00,30.00,30.00
$GC,459.05,260,-155.72,-1.40,80.00,3133.8,3125.2,3142.4,1799.9,2082.7,70.00,-15.06,89,464.80,0.00,0.00,3.78,0.000,0.000,0.108,3135.91,3127.25,3144.56,1799.88,3475.12,0,0,0,30.00,30.00,15.62
$GC,604.52,1028,-155.72,-1.40,0.00,3133.7,3124.7,3142.6,1799.8,3475.1,93.50,-15.21,118,610.24,0.00,0.00,3.41,0.000,0.000,0.056,3134.66,3125.88,3143.44,1799.94,2081.50,0,0,0,30.00,30.00,15.73
$GC,669.09,260,-155.72,-1.40,80.00,3133.5,3124.6,3142.4,1799.8,2081.9,102.16,-12.17,131,674.84,0.00,0.00,3.75,0.000,0.000,0.106,3136.28,3127.69,3144.88,1799.69,3475.00,0,0,0,30.00,30.00,15.64
$GC,704.53,1028,-155.72,-1.40,0.00,3133.9,3125.2,3142.6,1799.9,3475.0,106.83,-12.99,138,710.22,0.00,0.00,3.38,0.000,0.000,0.056,3134.91,3126.19,3143.62,1800.38,2080.75,0,0,0,30.00,30.00,15.73
$GC,769.11,516,-155.72,-1.40,-80.00,3133.8,3124.9,3142.6,1799.6,2081.4,115.24,-12.56,151,775.33,0.00,0.00,3.99,0.000,0.000,0.148,3134.31,3125.38,3143.25,1799.81,663.00,0,0,0,30.00,30.00,15.55
$GC,810.22,1028,-155.72,-1.40,0.00,3133.9,3125.8,3141.9,1799.8,662.9,120.65,-13.24,159,815.26,0.00,0.00,3.49,0.000,0.000,0.050,3136.38,3127.81,3144.94,1800.06,2122.56,0,0,0,30.00,30.00,15.75
$GC,874.13,516,-155.72,-1.40,-80.00,3133.4,3124.4,3142.4,1800.1,2121.9,128.40,-11.72,172,880.37,0.00,0.00,4.09,0.000,0.000,0.145,3133.94,3125.75,3142.12,1799.88,662.94,0,0,0,30.00,30.00,15.55
$GC,915.47,1028,-155.72,-1.40,0.00,3133.4,3125.0,3141.8,1799.1,662.9,133.72,-13.61,180,921.18,0.00,0.00,3.49,0.000,0.000,0.048,3135.94,3127.25,3144.62,1799.81,2123.06,0,0,0,30.00,30.00,15.78
$STATE,950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,950,begin apogee
$GC,951.21,10243,0.00,-0.25,0.00,3133.9,3125.2,3142.6,1799.9,2079.6,138.29,-13.01,187,1077.87,120.19,2.09,0.08,1.142,0.144,0.202,2497.66,2507.50,2487.81,2080.31,2121.19,0,0,0,11.04,15.63,15.03
$STATE,1080,end apogee,CONTROL_FINISHED_OK
$STATE,1081,begin climb
$GC,1080.62,10243,155.72,1.40,0.00,2496.9,2506.9,2486.9,2080.3,2122.8,142.75,0.00,212,1212.36,127.88,2.74,0.00,1.099,0.087,0.000,1864.50,1894.81,1834.19,2485.31,2122.06,0,0,0,11.67,15.28,30.00
$GC,1270.60,10791,201.68,1.54,-80.00,1857.7,1890.2,1825.1,2486.2,2122.2,131.61,8.89,249,1317.65,38.85,0.17,4.14,1.045,0.079,0.134,1676.19,1709.69,1642.69,2526.56,663.12,0,0,0,11.58,15.42,15.07
$GC,1436.41,1028,201.68,1.54,0.00,1671.1,1702.8,1639.4,2527.5,663.2,110.46,13.43,282,1442.12,0.00,0.00,3.51,0.000,0.000,0.048,1671.06,1703.00,1639.12,2528.19,2125.88,0,0,0,30.00,30.00,15.57
$GC,1500.98,16902,201.68,1.54,-80.00,1669.2,1702.4,1635.9,2527.9,2125.8,103.09,11.19,295,1507.22,0.00,0.00,4.01,0.000,0.000,0.128,1669.28,1702.69,1635.88,2528.12,661.81,0,0,0,30.00,30.00,15.49
$GC,1541.43,17414,201.68,1.54,0.00,1669.2,1702.8,1635.7,2528.3,661.6,98.16,13.12,303,1547.14,0.00,0.00,3.48,0.000,0.000,0.045,1669.50,1702.69,1636.31,2528.06,2125.56,0,0,0,30.00,30.00,15.64
$GC,1606.02,16710,201.68,1.57,80.00,1667.9,1702.7,1633.2,2527.6,2125.1,90.95,10.27,316,1611.75,0.00,0.00,3.62,0.000,0.000,0.109,1667.88,1702.56,1633.19,2527.94,3474.81,0,0,0,30.00,30.00,15.58
$GC,1656.00,17414,201.68,1.57,0.00,1667.4,1702.2,1632.6,2527.9,3474.3,85.68,10.66,326,1661.70,0.00,0.00,3.35,0.000,0.000,0.052,1668.41,1703.31,1633.50,2528.12,2074.44,0,0,0,30.00,30.00,15.68
$GC,1721.03,10791,263.79,1.75,-80.00,1667.3,1702.2,1632.4,2528.5,2074.7,80.29,8.11,339,1787.92,57.14,0.22,3.93,1.018,0.077,0.134,1423.88,1458.75,1389.00,2583.62,662.81,0,0,0,11.30,15.67,15.15
$GC,1841.64,1028,263.79,1.75,0.00,1421.7,1454.8,1388.6,2583.2,663.0,68.08,11.38,363,1847.35,0.00,0.00,3.52,0.000,0.000,0.045,1422.41,1455.88,1388.94,2583.69,2128.50,0,0,0,30.00,30.00,15.55
$GC,1906.22,8486,308.85,1.89,80.00,1419.5,1455.2,1383.8,2583.4,2128.5,62.12,8.93,376,1957.87,45.71,0.00,3.66,0.980,0.000,0.108,1240.28,1276.31,1204.25,2583.50,3474.88,0,0,0,11.46,30.00,15.15
$GC,2036.21,1028,308.85,1.89,0.00,1238.5,1275.2,1201.7,2583.7,3474.8,48.82,11.75,402,2041.90,0.00,0.00,3.38,0.000,0.000,0.053,1239.34,1276.12,1202.56,2583.94,2077.88,0,0,0,30.00,30.00,15.55
$GC,2101.24,2113,308.85,1.94,0.00,1238.0,1275.4,1200.7,2583.0,2077.2,42.55,9.19,415,2105.72,0.00,0.18,0.00,0.000,0.078,0.000,1238.38,1275.62,1201.12,2624.75,2078.00,0,0,0,30.00,15.59,30.00
$GC,2166.25,64,308.85,2.00,0.00,1238.0,1275.4,1200.6,2624.0,2078.1,36.27,9.31,428,2170.57,0.00,0.00,0.00,0.000,0.000,0.000,1238.41,1276.06,1200.75,2623.88,2077.62,0,0,0,30.00,30.00,30.00
$GC,2231.26,64,308.85,2.04,0.00,1237.7,1275.6,1199.8,2624.3,2078.3,29.98,9.79,441,2235.57,0.00,0.00,0.00,0.000,0.000,0.000,1238.09,1276.06,1200.12,2624.62,2078.06,0,0,0,30.00,30.00,30.00
$GC,2296.26,64,308.85,2.07,0.00,1237.4,1275.6,1199.2,2624.1,2078.1,23.73,10.11,454,2300.58,0.00,0.00,0.00,0.000,0.000,0.000,1237.81,1275.94,1199.69,2623.75,2077.75,0,0,0,30.00,30.00,30.00
$GC,2361.28,2113,308.85,2.11,0.00,1237.1,1275.7,1198.6,2624.4,2078.1,17.51,9.57,467,2365.72,0.00,0.17,0.00,0.000,0.079,0.000,1237.81,1276.25,1199.38,2667.62,2078.25,0,0,0,30.00,15.70,30.00
$GC,2426.27,516,308.85,2.11,-80.00,1237.3,1275.6,1199.1,2668.4,2078.0,10.18,11.62,480,2432.04,0.00,0.00,3.88,0.000,0.000,0.134,1237.25,1275.50,1199.00,2668.12,661.50,0,0,0,30.00,30.00,15.55
$GC,2471.72,1028,308.85,2.11,0.00,1236.9,1275.3,1198.6,2667.6,661.8,4.18,14.36,489,2476.98,0.00,0.00,3.48,0.000,0.000,0.047,1237.19,1275.50,1198.88,2668.56,2126.94,0,0,0,30.00,30.00,15.74
$STATE,2491,end climb,SURFACE_DEPTH_REACHED
$STATE,2491,begin surface coast
$STATE,2506,end surface coast,CONTROL_FINISHED_OK
$STATE,2506,begin surface
$SM_CCo,2680.61,148.57,0.985,0,563.6,569.9,557.3,475.00
$SM_GC,-0.59,148.57,16.48,0.10,0.985,0.076,0.135,563.6,569.9,557.3,166.7,2074.6,0,0,0,11.14,15.64,15.76
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4706.71,-12455.12,230321,175145
$TCM_TEMP,176.14
$XPDR_PINGS,2,14.0,11.5
$SC_FREEKB,3509888
$HUMID,58.53
$TEMP,9.09
$INTERNAL_PRESSURE,7.83079
$24V_AH,14.52,256.987
$10V_AH,14.82,0.000
$FG_AHR_24Vo,221.294
$FG_AHR_10Vo,69.904
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,638.650,36.185,80.830,166.112,1.500,14.324,2159.306,669.653,1190.899,0.000,4.000,0.000
$DEVICE_MAMPS,1141.848,253.296,202.128,174.187,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2555.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.279,0.000,0.000,0.000
$MEM,1103748,36,73440,56
$DATA_FILE_SIZE,16164,496
$CAP_FILE_SIZE,269877,0
$SDSIZE,3918848,3668416
$SDFILEDIR,4586,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230321,191420,4707.107,-12454.854,2,0.6,4,15.5