version: 67.00
glider: 236
mission: 2
dive: 845
start: 3 17 121 1 41 51
data:
$ID,236
$MISSION,2
$DIVE,845
$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,180
$T_MISSION,200
$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,120
$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,425
$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,67.755844
$FG_AHR_24V,205.55206
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,170321,013457,4751.736,-12513.560,2,1.7,8,15.7
$_CALLS,1
$_SM_DEPTHo,-1.71
$_SM_ANGLEo,-63.0
$GPS2,170321,014132,4751.766,-12513.528,3,1.1,33,15.7
$SPEED_LIMITS,0.160,0.227
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$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,70.0,4060,-18.6,-9.259,-22.19
$D_GRID,210
$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,7.90,16386,-116.79,-1.28,0.00,762.2,761.8,762.8,170.1,2083.9,0.00,0.00,0,93.90,85.43,0.00,0.00,0.005,0.000,0.000,2723.84,2702.44,2745.25,170.06,2083.00,0,0,0,14.56,30.00,30.00
$GC,94.17,18695,-116.79,-1.28,80.00,2722.7,2701.1,2744.4,170.3,2083.4,4.16,-15.03,16,126.01,5.16,14.74,3.83,0.009,0.253,0.115,2975.84,2966.94,2984.75,1829.75,3475.06,0,0,0,14.89,15.19,14.72
$GC,349.80,1028,-116.79,-1.28,0.00,2975.9,2967.1,2984.7,1829.6,3474.2,57.84,-15.23,67,355.52,0.00,0.00,3.44,0.000,0.000,0.060,2977.28,2968.00,2986.56,1829.38,2081.19,0,0,0,30.00,30.00,15.62
$GC,534.51,260,-116.79,-1.28,80.00,2975.5,2966.6,2984.4,1829.3,2081.7,83.71,-12.70,104,540.64,0.00,0.00,3.78,0.000,0.000,0.110,2976.56,2967.19,2985.94,1829.44,3474.19,0,0,0,30.00,30.00,15.53
$GC,639.47,1028,-116.79,-1.28,0.00,2975.9,2967.1,2984.6,1829.8,3474.2,99.50,-15.23,125,645.21,0.00,0.00,3.41,0.000,0.000,0.060,2975.91,2967.19,2984.62,1829.69,2081.25,0,0,0,30.00,30.00,15.64
$GC,824.50,260,-116.79,-1.28,80.00,2975.9,2966.8,2985.1,1829.2,2081.2,121.70,-11.51,144,830.19,0.00,0.00,3.79,0.000,0.000,0.110,2975.22,2966.38,2984.06,1829.81,3474.44,0,0,0,30.00,30.00,15.55
$GC,899.59,1028,-116.79,-1.28,0.00,2976.0,2967.1,2984.8,1830.0,3474.5,131.01,-12.28,159,904.13,0.00,0.00,3.38,0.000,0.000,0.057,2975.84,2966.44,2985.25,1829.94,2082.62,0,0,0,30.00,30.00,15.67
$GC,1209.59,260,-116.79,-1.28,80.00,2975.5,2966.6,2984.4,1829.1,2082.4,164.46,-10.30,191,1215.27,0.00,0.00,3.78,0.000,0.000,0.111,2976.38,2967.50,2985.25,1829.44,3475.62,0,0,0,30.00,30.00,15.55
$GC,1228.49,1028,-116.79,-1.28,0.00,2975.9,2966.4,2985.3,1829.8,3475.8,166.58,-10.39,195,1235.32,0.00,0.00,3.39,0.000,0.000,0.058,2976.53,2967.31,2985.75,1829.31,2080.19,0,0,0,30.00,30.00,15.67
$GC,1534.68,516,-116.79,-1.28,-80.00,2975.7,2967.1,2984.3,1829.8,2080.8,197.17,-10.60,226,1540.39,0.00,0.00,4.03,0.000,0.000,0.154,2974.00,2964.69,2983.31,1829.56,662.50,0,0,0,30.00,30.00,15.42
$GC,1570.10,1028,-116.79,-1.28,0.00,2975.9,2966.9,2984.9,1829.4,662.9,200.81,-10.38,233,1575.31,0.00,0.00,3.51,0.000,0.000,0.052,2977.44,2968.25,2986.62,1829.50,2122.25,0,0,0,30.00,30.00,15.74
$STATE,1664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1664,begin apogee
$GC,1665.89,10243,0.00,-0.25,0.00,2976.0,2966.8,2985.3,1829.4,2083.1,210.46,-9.57,243,1762.04,92.77,1.88,0.07,1.268,0.141,0.229,2496.16,2504.25,2488.06,2079.75,2118.62,0,0,0,10.84,15.57,15.04
$STATE,1764,end apogee,CONTROL_FINISHED_OK
$STATE,1764,begin climb
$GC,1764.79,10759,116.79,1.28,-80.00,2497.5,2506.8,2488.3,2079.8,2120.6,213.47,0.00,252,1874.11,98.49,2.63,4.20,1.221,0.085,0.136,2022.69,2048.56,1996.81,2454.12,663.06,0,0,0,11.75,15.27,14.90
$GC,1907.82,9254,154.70,1.39,0.00,2017.7,2044.8,1990.6,2454.9,663.2,206.09,7.22,280,1948.90,33.44,0.00,3.57,1.162,0.000,0.048,1868.78,1902.94,1834.62,2453.31,2126.00,0,0,0,11.58,30.00,15.30
$GC,2247.44,16902,154.70,1.39,-80.00,1860.3,1900.6,1820.1,2454.9,2126.0,177.71,9.08,318,2253.16,0.00,0.00,4.09,0.000,0.000,0.135,1858.75,1898.75,1818.75,2454.69,663.00,0,0,0,30.00,30.00,15.43
$GC,2356.36,17414,154.70,1.39,0.00,1859.1,1897.7,1820.4,2454.4,663.1,166.87,10.07,340,2363.23,0.00,0.00,3.51,0.000,0.000,0.051,1859.59,1898.44,1820.75,2454.94,2128.06,0,0,0,30.00,30.00,15.66
$GC,2662.53,19015,154.70,1.45,-80.00,1858.3,1897.6,1819.0,2454.7,2127.2,143.38,7.38,371,2668.32,0.00,0.22,4.07,0.000,0.078,0.135,1857.66,1896.69,1818.62,2505.25,661.88,0,0,0,30.00,15.69,15.47
$GC,2747.96,17414,154.70,1.45,0.00,1858.5,1897.8,1819.2,2505.1,661.8,135.16,9.61,388,2753.18,0.00,0.00,3.51,0.000,0.000,0.050,1857.16,1896.38,1817.94,2505.56,2127.69,0,0,0,30.00,30.00,15.71
$GC,3052.64,10535,217.56,1.64,80.00,1857.7,1897.7,1817.7,2505.8,2127.9,114.85,5.88,419,3110.40,52.56,0.19,3.68,1.142,0.078,0.114,1612.06,1648.75,1575.38,2550.19,3473.31,0,0,0,10.95,15.72,15.19
$GC,3158.68,1028,217.56,1.64,0.00,1608.2,1643.9,1572.5,2550.1,3473.7,105.44,10.34,440,3163.31,0.00,0.00,3.43,0.000,0.000,0.056,1608.00,1643.62,1572.38,2550.50,2078.38,0,0,0,30.00,30.00,15.51
$GC,3463.88,8742,258.64,1.76,-80.00,1606.0,1643.7,1568.4,2550.1,2079.1,81.34,7.05,496,3510.85,37.88,0.00,3.94,1.080,0.000,0.138,1446.47,1485.00,1407.94,2550.38,662.94,0,0,0,11.24,30.00,15.20
$GC,3514.63,1092,258.64,1.78,0.00,1445.0,1483.4,1406.7,2550.4,662.6,77.19,8.45,506,3520.28,0.00,0.00,3.54,0.000,0.000,0.048,1444.91,1483.25,1406.56,2550.12,2128.38,0,0,0,30.00,30.00,15.50
$GC,3699.15,516,258.64,1.78,-80.00,1441.4,1482.8,1400.1,2550.1,2128.3,60.16,9.58,543,3705.41,0.00,0.00,4.08,0.000,0.000,0.134,1441.72,1482.62,1400.81,2550.19,662.50,0,0,0,30.00,30.00,15.40
$GC,3754.61,1028,258.64,1.78,0.00,1441.4,1482.3,1400.5,2549.8,662.9,54.30,10.53,554,3759.93,0.00,0.00,3.53,0.000,0.000,0.050,1441.56,1482.69,1400.44,2548.69,2126.88,0,0,0,30.00,30.00,15.64
$GC,3939.24,10535,339.81,2.03,80.00,1439.9,1481.9,1398.0,2550.4,2126.5,42.89,4.89,591,4030.93,82.86,0.53,3.68,1.045,0.057,0.113,1114.22,1147.88,1080.56,2643.56,3474.88,0,0,0,11.16,15.67,15.09
$GC,4179.29,1028,339.81,2.03,0.00,1111.1,1144.6,1077.6,2642.9,3474.3,19.33,12.37,639,4185.03,0.00,0.00,3.42,0.000,0.000,0.056,1111.72,1145.19,1078.25,2641.75,2078.81,0,0,0,30.00,30.00,15.55
$STATE,4334,end climb,SURFACE_DEPTH_REACHED
$STATE,4334,begin surface coast
$STATE,4349,end surface coast,CONTROL_FINISHED_OK
$STATE,4349,begin surface
$SM_CCo,4452.57,77.62,1.016,0,767.8,766.5,769.1,424.91
$SM_CCo,4453.73,0.00,0.011,0,767.6,765.7,769.4,424.97
$SM_CCo,4454.89,0.00,0.009,0,767.2,765.2,769.1,425.07
$SM_GC,-0.50,0.00,16.83,0.08,0.009,0.072,0.135,767.2,765.2,769.1,171.8,2129.5,0,0,0,30.36,15.55,15.70
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4752.96,-12543.46,160321,235426
$TCM_TEMP,175.61
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3535616
$HUMID,57.77
$TEMP,8.43
$INTERNAL_PRESSURE,7.81028
$24V_AH,14.43,240.042
$10V_AH,14.87,0.000
$FG_AHR_24Vo,205.713
$FG_AHR_10Vo,67.774
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,566.235,37.040,88.915,178.347,0.750,42.393,2729.651,1980.333,1535.430,0.000,0.000,0.000
$DEVICE_MAMPS,1268.128,253.296,228.696,195.543,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4398.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.100,0.000,0.000,0.000
$MEM,1100056,51,75672,114
$DATA_FILE_SIZE,25799,673
$CAP_FILE_SIZE,303017,0
$SDSIZE,3918848,3685184
$SDFILEDIR,4251,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170321,025617,4751.756,-12512.820,2,0.8,4,15.7