version: 67.00
glider: 236
mission: 4
dive: 60
start: 3 26 122 22 0 54
data:
$ID,236
$MISSION,4
$DIVE,60
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1000
$D_NO_BLEED,50
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72604
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099900002
$HD_C,1.6e-05
$HEADING,225
$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,605.40039
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,20
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,2
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$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,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,20
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,810
$ROLL_MAX,3630
$ROLL_DEG,80
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$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,2968
$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
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,0
$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,13.301075
$FG_AHR_24V,22.584423
$PHONE_SUPPLY,2
$PRESSURE_YINT,-166.76357
$PRESSURE_SLOPE,0.00022638284
$COMPASS_USE,49156
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,13.5
$XPDR_REP,11.5
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$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
$NAV_DEVICE,-1
$NAV2_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
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$GPS1,260322,215533,4648.023,-12449.449,31,0.8,36,15.6
$_CALLS,2
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.3
$GPS2,260322,220037,4648.041,-12449.430,3,0.9,7,15.6
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,4640.405,-12500.559
$TGT_RADIUS,1852.000
$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,209.6,20000,-19.9,-10.000,-23.24,1773,0.532
$D_GRID,161
$IRON,1.000000,-0.070697,-0.073739,-0.037418,1.070137,-0.018118,0.021715,-0.020855,1.041310,-557.200989,-559.408813,-276.885132
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8.41,16386,-116.79,-1.34,0.00,496.8,496.7,497.0,167.7,2517.0,0.00,0.00,0,140.88,132.23,0.00,0.00,0.005,0.000,0.000,3168.12,3141.56,3194.69,167.75,2517.69,0,0,0,14.66,30.00,30.00
$GC,141.09,18983,-116.79,-1.34,-80.00,3168.1,3142.6,3193.6,167.7,2517.4,4.48,-5.18,13,173.32,6.33,16.25,3.87,0.008,0.258,0.140,3445.16,3434.56,3455.75,2114.88,1034.50,0,0,0,15.72,15.70,15.67
$GC,255.73,3205,-116.79,-1.22,0.00,3445.6,3435.3,3455.9,2114.7,1035.0,27.86,-19.14,36,262.26,0.00,0.20,3.60,0.000,0.169,0.069,3445.53,3435.12,3455.94,2144.31,2520.88,0,0,0,30.00,15.75,15.78
$GC,451.47,516,-116.79,-1.22,-80.00,3445.7,3435.7,3455.8,2143.8,2521.6,56.68,-12.91,56,457.47,0.00,0.00,3.88,0.000,0.000,0.133,3446.12,3436.38,3455.88,2141.94,1034.12,0,0,0,30.00,30.00,15.84
$GC,526.52,1028,-116.79,-1.22,0.00,3445.9,3435.4,3456.5,2144.0,1034.2,66.35,-12.40,71,531.43,0.00,0.00,3.59,0.000,0.000,0.068,3447.34,3436.81,3457.88,2144.38,2520.44,0,0,0,30.00,30.00,15.86
$GC,716.58,420,-116.79,-1.29,80.00,3446.1,3436.4,3455.8,2144.0,2520.0,85.10,-9.05,91,721.32,0.00,0.00,2.89,0.000,0.000,0.118,3448.09,3438.19,3458.00,2143.81,3639.75,0,0,0,30.00,30.00,15.89
$GC,776.52,1028,-116.79,-1.29,0.00,3446.2,3436.2,3456.2,2144.4,3638.8,91.18,-10.38,103,781.32,0.00,0.00,2.77,0.000,0.000,0.062,3446.66,3436.69,3456.62,2143.88,2469.12,0,0,0,30.00,30.00,15.91
$GC,966.57,4773,-116.79,-1.38,-80.00,3446.3,3436.2,3456.4,2144.1,2468.7,108.41,-8.22,123,972.60,0.00,0.35,3.79,0.000,0.064,0.153,3446.69,3437.44,3455.94,2088.06,1033.88,0,0,0,30.00,15.93,15.91
$GC,1161.59,3205,-116.79,-1.28,0.00,3446.3,3436.5,3456.2,2087.6,1033.6,131.30,-13.11,162,1167.61,0.00,0.37,3.57,0.000,0.159,0.074,3445.28,3435.50,3455.06,2130.94,2521.19,0,0,0,30.00,15.91,15.96
$GC,1356.61,32,-116.79,-1.28,0.00,3446.9,3437.4,3456.4,2130.6,2521.1,148.51,-7.81,182,1357.94,0.00,0.00,0.00,0.000,0.000,0.000,3447.44,3438.31,3456.56,2130.38,2521.44,0,0,0,30.00,30.00,30.00
$STATE,1537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1537,begin apogee
$GC,1537.72,10243,0.00,-0.25,0.00,3447.0,3437.6,3456.4,2130.4,2470.6,161.38,-7.26,200,1628.68,86.14,1.77,0.09,1.192,0.128,0.211,2965.78,2972.31,2959.25,2381.12,2521.56,0,0,0,12.93,15.95,15.60
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1634.20,10759,116.79,1.34,-80.00,2964.5,2971.6,2957.4,2381.1,2522.4,162.79,0.00,209,1739.17,93.14,2.56,4.07,1.150,0.067,0.131,2489.12,2495.38,2482.88,2774.19,1034.62,0,0,0,12.75,15.66,15.37
$GC,1967.35,21639,116.79,1.23,0.00,2479.1,2487.2,2470.9,2774.1,1034.7,123.76,15.40,269,1973.39,0.00,0.38,3.62,0.000,0.178,0.065,2479.19,2487.44,2470.94,2732.00,2519.25,0,0,0,30.00,15.64,15.69
$GC,2162.38,10663,149.73,1.42,80.00,2476.1,2487.0,2465.2,2733.6,2519.9,104.33,8.09,289,2194.62,27.92,0.37,2.91,1.060,0.056,0.117,2353.88,2365.94,2341.81,2798.50,3640.81,0,0,0,12.87,15.78,15.64
$GC,2422.02,9254,169.25,1.48,0.00,2348.8,2362.6,2334.9,2798.8,3640.9,77.09,8.87,341,2448.79,20.19,0.00,2.76,1.000,0.000,0.061,2279.09,2294.88,2263.31,2798.25,2467.38,0,0,0,12.81,30.00,15.78
$GC,2637.82,10535,253.93,1.73,80.00,2270.2,2288.2,2252.2,2798.9,2467.0,63.68,5.09,365,2724.27,80.48,0.38,3.07,1.033,0.056,0.114,1929.94,1953.69,1906.19,2874.00,3641.75,0,0,0,12.89,15.81,15.51
$GC,2952.09,17414,253.93,1.73,0.00,1922.0,1948.9,1895.1,2874.1,3640.0,29.21,11.74,428,2958.44,0.00,0.00,2.77,0.000,0.000,0.062,1922.75,1949.75,1895.75,2873.00,2468.44,0,0,0,30.00,30.00,15.73
$GC,3147.89,16646,253.93,1.73,80.00,1920.8,1948.4,1893.1,2874.0,2468.8,7.46,10.98,448,3152.73,0.00,0.00,3.04,0.000,0.000,0.113,1921.22,1948.69,1893.75,2873.81,3639.88,0,0,0,30.00,30.00,15.80
$STATE,3198,end climb,SURFACE_DEPTH_REACHED
$STATE,3198,begin surface coast
$FINISH,-0.3,1.024734
$STATE,3212,end surface coast,CONTROL_FINISHED_OK
$STATE,3212,begin surface
$SM_CCo,3538.40,296.53,0.975,0,501.2,502.1,500.2,605.12
$SM_GC,0.84,296.53,17.42,2.74,0.975,0.048,0.062,501.2,502.1,500.2,182.6,2468.6,0,0,0,12.89,15.83,15.83
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4646.99,-12447.67,260322,215709
$TCM_TEMP,176.25
$XPDR_PINGS,11,13.5,11.5
$SC_FREEKB,3855744
$HUMID,50.18
$TEMP,9.10
$INTERNAL_PRESSURE,8.48702
$24V_AH,14.70,13.709
$10V_AH,14.72,0.000
$FG_AHR_24Vo,22.771
$FG_AHR_10Vo,13.314
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,742.960,40.040,53.185,146.300,2.750,16.499,1854.305,1.566,0.000,1663.787,936.967,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1191.704,257.888,210.656,114.684,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3225.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.875,0.000,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,968552,21,78336,63
$DATA_FILE_SIZE,12928,461
$CAP_FILE_SIZE,168141,0
$SDSIZE,3918848,3894656
$SDFILEDIR,390,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053, 72.7,1
$MAGCAL,1.000000,-0.050776,-0.197350,-0.021730,1.123027,0.028336,0.058405,-0.008949,1.054698,-435.1,-603.2,-271.6,20,0.0306,0
$IMPLIED_C_PITCH,2451,14.51,229,0.0,0.00
$IMPLIED_C_VBD,3363,19.700855,125,0
$GPS,260322,230011,4647.826,-12449.310,3,1.2,9,15.6