version: 67.00
glider: 236
mission: 2
dive: 931
start: 3 24 121 12 14 1
data:
$ID,236
$MISSION,2
$DIVE,931
$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,70.147087
$FG_AHR_24V,224.57375
$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
$GPS1,240321,120609,4708.234,-12459.841,15,1.0,16,15.6
$_CALLS,2
$_SM_DEPTHo,-1.61
$_SM_ANGLEo,-58.2
$GPS2,240321,121342,4708.241,-12459.793,5,1.0,7,15.6
$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,230.7,1110,-27.4,-11.111,-30.00
$D_GRID,405
$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,7.43,16386,-74.33,-1.59,0.00,560.2,571.3,549.1,165.2,2080.1,0.00,0.00,0,108.41,98.56,0.00,0.09,0.005,0.000,0.250,2801.62,2778.06,2825.19,165.12,2117.25,0,0,0,14.60,30.00,14.63
$GC,108.64,2049,-74.33,-1.59,0.00,2801.1,2778.1,2824.1,165.4,2117.5,4.41,-16.28,19,125.62,0.00,13.69,0.00,0.000,0.248,0.000,2802.19,2782.38,2822.00,1753.00,2117.06,0,0,0,30.00,15.27,30.00
$GC,183.88,0,-74.33,-1.59,0.00,2802.1,2788.6,2815.5,1754.1,2117.4,23.00,-20.26,34,188.20,0.00,0.00,0.00,0.000,0.000,0.000,2803.03,2789.62,2816.44,1753.62,2116.62,0,0,0,30.00,30.00,30.00
$GC,248.90,0,-74.33,-1.59,0.00,2802.4,2788.8,2816.0,1754.3,2117.4,35.42,-19.27,47,253.21,0.00,0.00,0.00,0.000,0.000,0.000,2803.09,2789.44,2816.75,1753.94,2117.44,0,0,0,30.00,30.00,30.00
$GC,314.05,0,-74.33,-1.59,0.00,2802.2,2789.1,2815.2,1753.7,2117.3,47.97,-18.65,60,318.38,0.00,0.00,0.00,0.000,0.000,0.000,2803.25,2789.69,2816.81,1754.19,2117.38,0,0,0,30.00,30.00,30.00
$GC,378.92,260,-74.33,-1.59,80.00,2802.3,2789.1,2815.5,1753.8,2117.0,60.84,-20.36,73,385.08,0.00,0.00,3.67,0.000,0.000,0.113,2803.56,2790.62,2816.50,1753.50,3473.12,0,0,0,30.00,30.00,15.57
$GC,414.37,1028,-74.33,-1.59,0.00,2802.1,2789.1,2815.2,1753.8,3474.2,67.81,-20.65,80,420.07,0.00,0.00,3.41,0.000,0.000,0.058,2802.78,2789.44,2816.12,1754.44,2082.56,0,0,0,30.00,30.00,15.66
$GC,478.94,0,-74.33,-1.59,0.00,2801.7,2788.7,2814.6,1753.8,2082.1,77.66,-13.43,93,483.26,0.00,0.00,0.00,0.000,0.000,0.000,2802.91,2789.56,2816.25,1754.19,2082.12,0,0,0,30.00,30.00,30.00
$GC,543.95,0,-74.33,-1.59,0.00,2802.4,2790.1,2814.7,1754.2,2082.1,87.22,-14.69,106,548.27,0.00,0.00,0.00,0.000,0.000,0.000,2802.88,2790.25,2815.50,1754.12,2082.31,0,0,0,30.00,30.00,30.00
$GC,608.96,0,-74.33,-1.59,0.00,2802.2,2789.6,2814.7,1754.0,2082.1,95.44,-13.25,119,613.28,0.00,0.00,0.00,0.000,0.000,0.000,2803.12,2790.50,2815.75,1753.94,2082.25,0,0,0,30.00,30.00,30.00
$GC,673.98,260,-74.33,-1.59,80.00,2802.0,2789.4,2814.6,1754.1,2082.4,103.53,-12.51,132,680.18,0.00,0.00,3.72,0.000,0.000,0.107,2801.97,2789.81,2814.12,1754.44,3473.69,0,0,0,30.00,30.00,15.61
$GC,764.44,1028,-74.33,-1.59,0.00,2802.0,2789.4,2814.6,1753.6,3474.1,115.96,-14.95,150,770.13,0.00,0.00,3.40,0.000,0.000,0.057,2802.81,2790.56,2815.06,1754.06,2081.38,0,0,0,30.00,30.00,15.70
$GC,829.02,0,-74.33,-1.59,0.00,2802.2,2789.5,2814.8,1754.1,2081.0,123.67,-11.37,163,833.34,0.00,0.00,0.00,0.000,0.000,0.000,2802.78,2790.25,2815.31,1754.19,2081.06,0,0,0,30.00,30.00,30.00
$GC,894.03,516,-74.33,-1.59,-80.00,2802.3,2789.7,2814.9,1754.4,2081.1,130.51,-10.09,176,900.27,0.00,0.00,4.01,0.000,0.000,0.149,2803.66,2791.19,2816.12,1753.31,662.88,0,0,0,30.00,30.00,15.48
$GC,939.49,1028,-74.33,-1.59,0.00,2802.0,2789.4,2814.5,1754.1,663.1,136.22,-12.37,185,945.18,0.00,0.00,3.50,0.000,0.000,0.051,2803.06,2790.50,2815.62,1754.00,2123.06,0,0,0,30.00,30.00,15.76
$GC,1004.06,0,-74.33,-1.59,0.00,2802.1,2790.6,2813.6,1754.1,2123.9,143.65,-11.00,198,1008.38,0.00,0.00,0.00,0.000,0.000,0.000,2803.22,2791.44,2815.00,1754.56,2122.69,0,0,0,30.00,30.00,30.00
$GC,1074.06,260,-74.33,-1.59,80.00,2801.8,2790.2,2813.4,1754.4,2123.4,151.41,-11.16,211,1079.71,0.00,0.00,3.56,0.000,0.000,0.106,2801.41,2789.56,2813.25,1754.06,3475.44,0,0,0,30.00,30.00,15.62
$GC,1119.51,1028,-74.33,-1.59,0.00,2802.2,2790.2,2814.2,1753.9,3475.5,156.97,-12.59,220,1124.67,0.00,0.00,3.38,0.000,0.000,0.055,2800.72,2789.25,2812.19,1754.38,2081.38,0,0,0,30.00,30.00,15.71
$STATE,1384,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1384,begin apogee
$GC,1385.23,10243,0.00,-0.25,0.00,2801.8,2790.1,2813.6,1754.3,2123.8,186.82,-11.48,247,1449.86,60.29,2.44,0.09,1.218,0.152,0.209,2496.53,2504.88,2488.19,2080.12,2082.25,0,0,0,10.88,15.60,15.13
$STATE,1453,end apogee,CONTROL_FINISHED_OK
$STATE,1453,begin climb
$GC,1452.69,10759,74.33,1.59,-80.00,2497.5,2505.9,2489.1,2081.1,2081.9,189.08,0.00,253,1527.68,63.04,3.10,4.03,1.179,0.079,0.132,2195.06,2207.19,2182.94,2531.00,662.75,0,0,0,11.76,15.42,14.96
$GC,1556.35,11303,120.72,1.73,0.00,2190.6,2202.4,2178.7,2531.4,662.9,183.62,6.45,273,1602.45,40.24,0.17,3.54,1.143,0.071,0.044,2006.59,2025.06,1988.12,2581.81,2129.25,0,0,0,11.49,15.30,15.39
$GC,1900.93,16450,120.72,1.78,0.00,1997.2,2021.4,1973.0,2583.1,2129.4,149.98,9.49,312,1905.27,0.00,0.00,0.00,0.000,0.000,0.000,1997.38,2021.62,1973.12,2582.50,2129.19,0,0,0,30.00,30.00,30.00
$GC,1965.96,16450,120.72,1.84,0.00,1996.6,2021.0,1972.1,2583.4,2129.2,143.82,9.18,325,1970.28,0.00,0.00,0.00,0.000,0.000,0.000,1997.66,2022.25,1973.06,2583.31,2129.06,0,0,0,30.00,30.00,30.00
$GC,2030.96,16710,120.72,1.89,80.00,1996.4,2021.1,1971.7,2582.9,2129.1,137.61,9.39,338,2037.11,0.00,0.00,3.60,0.000,0.000,0.108,1996.56,2021.25,1971.88,2583.06,3473.25,0,0,0,30.00,30.00,15.56
$GC,2066.40,17414,120.72,1.89,0.00,1996.1,2020.6,1971.7,2582.8,3473.2,133.32,11.70,345,2072.12,0.00,0.00,3.40,0.000,0.000,0.054,1996.25,2020.94,1971.56,2583.25,2076.75,0,0,0,30.00,30.00,15.69
$GC,2130.99,16966,120.72,1.91,-80.00,1995.9,2021.0,1970.8,2582.7,2076.8,126.64,10.40,358,2137.19,0.00,0.00,3.91,0.000,0.000,0.133,1996.19,2021.06,1971.31,2583.19,662.00,0,0,0,30.00,30.00,15.50
$GC,2326.49,11303,140.91,1.97,0.00,1994.1,2017.6,1970.7,2582.6,662.2,105.64,9.08,397,2352.20,17.56,0.22,3.48,1.029,0.060,0.048,1923.53,1947.38,1899.69,2638.94,2127.94,0,0,0,11.03,15.58,15.74
$GC,2411.12,8486,167.04,2.05,80.00,1921.2,1946.7,1895.6,2638.1,2128.0,98.93,8.49,414,2442.31,23.99,0.00,3.59,1.049,0.000,0.107,1817.69,1844.56,1790.81,2639.25,3475.19,0,0,0,11.54,30.00,15.21
$GC,2511.51,1028,167.04,2.05,0.00,1815.3,1842.9,1787.8,2639.3,3475.5,88.50,11.26,434,2517.19,0.00,0.00,3.39,0.000,0.000,0.053,1814.88,1842.75,1787.00,2639.06,2077.25,0,0,0,30.00,30.00,15.60
$GC,2576.10,580,167.04,2.10,-80.00,1814.2,1843.1,1785.3,2639.6,2077.1,81.74,9.24,447,2582.29,0.00,0.00,3.88,0.000,0.000,0.130,1814.44,1843.62,1785.25,2639.00,661.94,0,0,0,30.00,30.00,15.46
$GC,2611.54,1092,167.04,2.14,0.00,1813.0,1841.6,1784.4,2638.8,661.9,78.28,9.90,454,2616.79,0.00,0.00,3.49,0.000,0.000,0.046,1814.41,1842.88,1785.94,2639.69,2127.44,0,0,0,30.00,30.00,15.65
$GC,2676.11,10275,200.27,2.24,0.00,1812.8,1841.9,1783.8,2639.1,2127.9,73.11,7.77,467,2711.91,33.83,0.28,0.00,1.031,0.066,0.000,1682.66,1711.44,1653.88,2698.19,2127.69,0,0,0,11.27,15.65,30.00
$GC,2771.14,64,200.27,2.29,0.00,1678.7,1708.1,1649.2,2697.5,2127.4,63.72,9.64,486,2775.46,0.00,0.00,0.00,0.000,0.000,0.000,1679.31,1708.94,1649.69,2697.62,2127.81,0,0,0,30.00,30.00,30.00
$GC,2836.14,8742,221.85,2.35,-80.00,1678.5,1708.1,1648.9,2697.2,2127.9,57.77,8.94,499,2867.96,23.50,0.00,4.03,0.988,0.000,0.127,1594.88,1624.50,1565.25,2698.12,661.75,0,0,0,11.39,30.00,15.20
$GC,2916.64,11303,251.68,2.44,0.00,1593.1,1621.1,1565.1,2697.6,661.6,51.53,8.11,515,2957.68,32.31,0.21,3.51,0.990,0.068,0.046,1474.16,1504.56,1443.75,2744.94,2130.94,0,0,0,11.46,15.44,15.57
$GC,3016.22,64,251.68,2.47,0.00,1471.3,1502.5,1440.1,2745.8,2130.6,42.11,10.10,535,3020.54,0.00,0.00,0.00,0.000,0.000,0.000,1471.66,1503.00,1440.31,2745.81,2130.88,0,0,0,30.00,30.00,30.00
$GC,3081.21,0,251.68,2.47,0.00,1470.4,1502.2,1438.5,2745.9,2130.8,34.74,11.34,548,3085.53,0.00,0.00,0.00,0.000,0.000,0.000,1470.44,1502.69,1438.19,2745.50,2130.81,0,0,0,30.00,30.00,30.00
$GC,3146.24,64,251.68,2.49,0.00,1469.9,1502.2,1437.6,2745.8,2131.2,27.76,10.51,561,3150.56,0.00,0.00,0.00,0.000,0.000,0.000,1470.31,1502.62,1438.00,2745.56,2131.00,0,0,0,30.00,30.00,30.00
$GC,3211.25,580,251.68,2.52,-80.00,1469.4,1501.9,1436.9,2745.9,2130.9,21.26,10.10,574,3217.03,0.00,0.00,4.04,0.000,0.000,0.126,1469.88,1502.00,1437.75,2745.50,662.75,0,0,0,30.00,30.00,15.46
$GC,3281.79,1028,251.68,2.52,0.00,1468.7,1500.4,1436.9,2745.3,662.6,12.69,12.77,588,3286.97,0.00,0.00,3.48,0.000,0.000,0.046,1468.78,1500.25,1437.31,2745.25,2126.88,0,0,0,30.00,30.00,15.68
$GC,3346.25,260,251.68,2.52,80.00,1467.9,1499.8,1436.1,2745.0,2126.6,3.76,14.67,601,3351.96,0.00,0.00,3.55,0.000,0.000,0.103,1468.31,1499.44,1437.19,2744.69,3474.94,0,0,0,30.00,30.00,15.58
$STATE,3361,end climb,SURFACE_DEPTH_REACHED
$STATE,3361,begin surface coast
$STATE,3371,end surface coast,CONTROL_FINISHED_OK
$STATE,3371,begin surface
$SM_CCo,3601.96,200.57,1.000,0,564.5,575.8,553.1,474.79
$SM_CCo,3603.07,0.00,2.580,0,564.2,571.7,556.8,474.84
$SM_CCo,3604.17,0.00,0.013,0,564.2,571.4,557.1,474.84
$SM_GC,-0.73,0.00,17.26,3.40,0.013,0.083,0.052,564.2,571.4,557.1,171.5,2075.6,0,0,0,30.36,15.48,15.70
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4709.86,-12501.34,240321,120927
$TCM_TEMP,175.83
$XPDR_PINGS,6,14.0,11.5
$ALTIM_BOTTOM_PING,184.6,11.8
$SC_FREEKB,3502592
$HUMID,58.77
$TEMP,8.76
$INTERNAL_PRESSURE,7.82159
$24V_AH,13.74,260.603
$10V_AH,14.79,0.000
$FG_AHR_24Vo,224.734
$FG_AHR_10Vo,70.162
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,593.905,37.385,87.330,203.809,4.000,16.389,2547.690,1249.535,1439.714,0.000,10.000,0.000
$DEVICE_MAMPS,2580.128,248.376,250.016,193.676,420.000,15.000,11.800,2.800,5.000,0.000,30.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3422.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.281,0.000,0.000,0.000
$MEM,1103752,36,73436,56
$DATA_FILE_SIZE,22616,606
$CAP_FILE_SIZE,303559,0
$SDSIZE,3918848,3664128
$SDFILEDIR,4681,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240321,131422,4708.107,-12500.134,2,1.2,8,15.6