version: 67.00
glider: 236
mission: 2
dive: 847
start: 3 17 121 4 16 17
data:
$ID,236
$MISSION,2
$DIVE,847
$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,67.792
$FG_AHR_24V,205.88673
$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
$GPS1,170321,041009,4751.762,-12512.308,24,0.9,25,15.7
$_CALLS,1
$_SM_DEPTHo,-1.80
$_SM_ANGLEo,-63.9
$GPS2,170321,041559,4751.750,-12512.300,2,0.5,5,15.7
$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,66.7,2544,-18.6,-9.259,-22.19
$D_GRID,173
$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,7.84,16386,-116.79,-1.28,0.00,762.3,762.6,762.1,170.1,2083.9,0.00,0.00,0,88.76,80.31,0.00,0.00,0.005,0.000,0.000,2623.31,2601.81,2644.81,170.25,2083.75,0,0,0,14.64,30.00,30.00
$GC,89.04,18951,-116.79,-1.28,-80.00,2623.2,2602.4,2644.1,170.2,2083.5,3.31,-10.67,15,121.88,7.49,14.65,4.11,0.007,0.255,0.153,2976.84,2968.81,2984.88,1830.00,662.88,0,0,0,14.88,15.23,14.70
$GC,280.64,1028,-116.79,-1.28,0.00,2974.9,2967.6,2982.2,1830.1,663.0,46.68,-20.68,53,286.38,0.00,0.00,3.55,0.000,0.000,0.054,2975.53,2968.19,2982.88,1829.94,2120.06,0,0,0,30.00,30.00,15.67
$GC,465.34,260,-116.79,-1.28,80.00,2974.8,2967.4,2982.1,1830.1,2120.2,74.05,-13.69,90,471.47,0.00,0.00,3.67,0.000,0.000,0.111,2976.16,2968.62,2983.69,1829.69,3475.12,0,0,0,30.00,30.00,15.56
$GC,515.29,1028,-116.79,-1.28,0.00,2975.1,2967.7,2982.5,1830.1,3475.6,80.88,-13.86,100,521.03,0.00,0.00,3.42,0.000,0.000,0.057,2976.34,2968.88,2983.81,1830.50,2081.25,0,0,0,30.00,30.00,15.67
$GC,705.39,516,-116.79,-1.28,-80.00,2975.1,2967.7,2982.4,1830.2,2081.0,104.03,-11.65,135,711.09,0.00,0.00,4.03,0.000,0.000,0.151,2976.03,2968.69,2983.38,1829.00,662.94,0,0,0,30.00,30.00,15.45
$GC,734.25,1028,-116.79,-1.28,0.00,2974.8,2967.1,2982.5,1830.4,663.1,107.75,-12.37,141,741.12,0.00,0.00,3.53,0.000,0.000,0.053,2975.62,2968.00,2983.25,1829.50,2121.00,0,0,0,30.00,30.00,15.72
$GC,1040.44,260,-116.79,-1.28,80.00,2975.2,2967.5,2982.8,1830.3,2121.2,141.25,-10.73,172,1046.10,0.00,0.00,3.62,0.000,0.000,0.111,2974.34,2966.62,2982.06,1829.69,3474.44,0,0,0,30.00,30.00,15.59
$GC,1079.33,1028,-116.79,-1.28,0.00,2974.9,2967.1,2982.6,1830.1,3475.2,146.06,-12.86,180,1086.16,0.00,0.00,3.39,0.000,0.000,0.058,2975.53,2967.81,2983.25,1830.06,2081.00,0,0,0,30.00,30.00,15.69
$STATE,1335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1335,begin apogee
$GC,1336.77,10243,0.00,-0.25,0.00,2975.2,2968.3,2982.1,1830.1,2121.7,173.35,-9.91,206,1431.86,91.53,1.86,0.09,1.218,0.141,0.203,2499.09,2507.56,2490.62,2079.81,2082.12,0,0,0,10.93,15.60,15.07
$STATE,1434,end apogee,CONTROL_FINISHED_OK
$STATE,1434,begin climb
$GC,1434.62,10759,116.79,1.28,-80.00,2497.0,2505.9,2488.0,2079.6,2082.4,176.41,0.00,215,1540.48,97.06,2.65,4.09,1.171,0.086,0.136,2021.53,2047.50,1995.56,2454.81,661.88,0,0,0,11.72,15.30,14.93
$GC,1562.67,11303,199.93,1.53,0.00,2019.0,2045.6,1992.4,2454.9,662.0,171.74,4.79,240,1641.01,69.76,0.36,3.61,1.141,0.059,0.048,1684.78,1721.88,1647.69,2521.06,2127.88,0,0,0,11.61,15.22,15.29
$GC,1938.82,16646,199.93,1.53,80.00,1674.9,1716.1,1633.8,2522.7,2128.6,134.74,9.69,285,1944.47,0.00,0.00,3.66,0.000,0.000,0.112,1675.03,1716.00,1634.06,2522.75,3473.62,0,0,0,30.00,30.00,15.53
$GC,1953.82,17414,199.93,1.53,0.00,1674.2,1714.8,1633.6,2522.8,3473.2,133.02,9.73,288,1958.43,0.00,0.00,3.40,0.000,0.000,0.055,1674.56,1715.31,1633.81,2523.12,2078.12,0,0,0,30.00,30.00,15.62
$GC,2263.87,16902,199.93,1.53,-80.00,1673.5,1714.8,1632.2,2522.9,2078.1,104.21,8.96,320,2269.57,0.00,0.00,3.92,0.000,0.000,0.137,1675.25,1716.50,1634.00,2523.44,661.75,0,0,0,30.00,30.00,15.49
$GC,2329.36,17414,199.93,1.53,0.00,1673.0,1713.6,1632.4,2523.1,661.6,98.28,9.43,333,2335.05,0.00,0.00,3.49,0.000,0.000,0.049,1673.22,1714.19,1632.25,2523.12,2128.62,0,0,0,30.00,30.00,15.73
$GC,2513.95,10791,253.25,1.69,-80.00,1672.7,1713.8,1631.6,2523.9,2128.8,85.98,6.39,370,2566.25,45.56,0.16,4.09,1.075,0.090,0.133,1467.62,1505.94,1429.31,2562.06,661.75,0,0,0,11.13,15.72,15.24
$GC,2659.97,1028,253.25,1.69,0.00,1465.3,1503.5,1427.1,2561.4,661.8,71.03,12.04,399,2665.72,0.00,0.00,3.53,0.000,0.000,0.050,1465.75,1504.44,1427.06,2561.31,2126.94,0,0,0,30.00,30.00,15.59
$GC,2844.63,64,253.25,1.71,0.00,1462.9,1503.4,1422.4,2561.2,2127.0,52.35,8.53,436,2848.98,0.00,0.00,0.00,0.000,0.000,0.000,1463.62,1504.25,1423.00,2561.19,2127.75,0,0,0,30.00,30.00,30.00
$GC,3029.78,10535,338.57,1.97,80.00,1462.1,1503.4,1420.8,2560.9,2127.2,42.63,4.67,473,3122.39,85.52,0.34,3.72,1.028,0.060,0.112,1119.44,1153.31,1085.56,2628.88,3474.50,0,0,0,11.23,15.70,15.10
$GC,3235.72,1028,338.57,1.97,0.00,1117.6,1151.3,1083.9,2628.7,3474.9,23.43,11.08,514,3241.44,0.00,0.00,3.46,0.000,0.000,0.056,1117.72,1151.25,1084.19,2628.75,2079.56,0,0,0,30.00,30.00,15.55
$GC,3420.85,516,338.57,1.97,-80.00,1116.2,1151.2,1081.2,2629.1,2078.9,4.53,10.68,551,3426.60,0.00,0.00,3.97,0.000,0.000,0.137,1116.84,1151.75,1081.94,2627.25,661.69,0,0,0,30.00,30.00,15.44
$STATE,3445,end climb,SURFACE_DEPTH_REACHED
$STATE,3445,begin surface coast
$STATE,3460,end surface coast,CONTROL_FINISHED_OK
$STATE,3460,begin surface
$SM_CCo,3568.22,78.11,1.003,0,767.3,775.1,759.6,425.02
$SM_GC,-0.66,78.11,16.69,3.48,1.003,0.075,0.050,767.3,775.1,759.6,170.4,2127.8,0,0,0,11.20,15.54,15.69
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.64,-12513.98,170321,025924
$TCM_TEMP,175.66
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3534848
$HUMID,57.84
$TEMP,8.60
$INTERNAL_PRESSURE,7.81529
$24V_AH,14.49,240.394
$10V_AH,14.87,0.000
$FG_AHR_24Vo,206.040
$FG_AHR_10Vo,67.806
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,555.325,36.710,74.010,176.137,0.750,14.216,2447.735,1442.459,1294.287,0.000,0.000,0.000
$DEVICE_MAMPS,1217.616,254.936,203.112,179.004,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3507.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.106,0.000,0.000,0.000
$MEM,1100024,52,75684,114
$DATA_FILE_SIZE,19405,559
$CAP_FILE_SIZE,262940,0
$SDSIZE,3918848,3684768
$SDFILEDIR,4261,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170321,051557,4751.739,-12511.841,1,0.8,3,15.7