version: 67.00
glider: 236
mission: 2
dive: 900
start: 3 23 121 9 40 18
data:
$ID,236
$MISSION,2
$DIVE,900
$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,69.768829
$FG_AHR_24V,219.03151
$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,450
$ALTIM_PING_DELTA,20
$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
$GPS1,230321,092948,4707.100,-12500.177,3,1.4,9,15.6
$_CALLS,3
$_SM_DEPTHo,-1.55
$_SM_ANGLEo,-64.5
$GPS2,230321,094000,4707.117,-12500.061,3,1.2,33,15.6
$SPEED_LIMITS,0.192,0.275
$TGT_NAME,ONSHELF
$TGT_LATLONG,4708.000,-12454.000
$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,62.4,7809,-18.7,-11.111,-22.02
$D_GRID,169
$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,7.38,16386,-155.72,-1.40,0.00,559.9,564.6,555.1,168.9,2078.9,0.00,0.00,0,103.40,95.55,0.00,0.00,0.005,0.000,0.000,2763.88,2743.50,2784.25,169.25,2078.81,0,0,0,14.51,30.00,30.00
$GC,103.63,18951,-155.72,-1.40,-80.00,2762.7,2742.6,2782.8,168.8,2079.4,3.90,-13.67,18,135.89,7.67,14.47,4.09,0.007,0.256,0.151,3133.69,3124.25,3143.12,1799.88,662.94,0,0,0,14.86,15.14,14.65
$GC,229.13,1028,-155.72,-1.40,0.00,3133.1,3123.8,3142.5,1799.7,662.8,34.83,-21.16,43,234.89,0.00,0.00,3.63,0.000,0.000,0.054,3134.28,3124.56,3144.00,1799.50,2119.00,0,0,0,30.00,30.00,15.60
$GC,414.20,260,-155.72,-1.40,80.00,3134.1,3124.7,3143.4,1800.2,2118.7,69.10,-16.20,80,420.46,0.00,0.00,3.79,0.000,0.000,0.110,3136.03,3125.81,3146.25,1799.94,3475.06,0,0,0,30.00,30.00,15.47
$GC,644.67,1028,-155.72,-1.40,0.00,3133.6,3123.6,3143.6,1799.8,3475.6,108.38,-14.62,126,649.88,0.00,0.00,3.45,0.000,0.000,0.057,3131.75,3121.62,3141.88,1799.12,2081.25,0,0,0,30.00,30.00,15.63
$GC,949.30,260,-155.72,-1.40,80.00,3134.1,3124.1,3144.1,1800.3,2081.2,146.93,-12.46,157,954.98,0.00,0.00,3.88,0.000,0.000,0.108,3133.62,3124.00,3143.25,1798.75,3474.25,0,0,0,30.00,30.00,15.50
$GC,988.20,1028,-155.72,-1.40,0.00,3133.9,3124.1,3143.6,1799.6,3473.9,152.48,-14.52,165,995.04,0.00,0.00,3.44,0.000,0.000,0.056,3134.44,3124.62,3144.25,1800.12,2081.06,0,0,0,30.00,30.00,15.63
$STATE,1124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1124,begin apogee
$GC,1125.50,10243,0.00,-0.25,0.00,3134.1,3124.2,3144.0,1799.9,2123.4,170.20,-13.29,179,1251.28,122.43,2.12,0.09,1.222,0.143,0.196,2499.44,2508.94,2489.94,2080.44,2084.19,0,0,0,10.79,15.52,14.97
$STATE,1254,end apogee,CONTROL_FINISHED_OK
$STATE,1254,begin climb
$GC,1254.03,10759,155.72,1.40,-80.00,2497.8,2507.8,2487.8,2080.1,2083.6,174.79,0.00,191,1393.71,129.41,2.79,4.14,1.176,0.086,0.134,1862.31,1891.38,1833.25,2483.88,662.81,0,0,0,11.67,15.22,14.87
$GC,1417.47,11303,202.81,1.54,0.00,1859.6,1887.9,1831.3,2484.4,663.0,166.80,8.84,223,1463.57,40.47,0.19,3.63,1.118,0.077,0.046,1671.59,1704.00,1639.19,2526.44,2126.00,0,0,0,11.51,15.21,15.29
$GC,1762.06,0,202.81,1.54,0.00,1665.5,1702.0,1629.1,2527.1,2125.9,128.59,11.06,262,1763.39,0.00,0.00,0.00,0.000,0.000,0.000,1665.56,1702.19,1628.94,2527.25,2126.25,0,0,0,30.00,30.00,30.00
$GC,2062.14,16966,202.81,1.57,-80.00,1664.4,1701.0,1627.9,2527.7,2126.2,100.95,10.20,292,2067.84,0.00,0.00,4.09,0.000,0.000,0.132,1665.12,1702.25,1628.00,2527.44,661.88,0,0,0,30.00,30.00,15.45
$GC,2292.61,11303,303.37,1.87,0.00,1663.2,1698.9,1627.4,2527.3,661.9,80.22,6.25,338,2400.07,101.26,0.42,3.55,1.070,0.055,0.048,1263.12,1296.56,1229.69,2606.44,2129.62,0,0,0,10.87,15.54,15.74
$GC,2578.44,324,303.37,1.90,80.00,1258.3,1295.4,1221.2,2606.4,2129.8,57.15,10.10,395,2584.12,0.00,0.00,3.78,0.000,0.000,0.108,1258.19,1295.12,1221.25,2606.06,3473.56,0,0,0,30.00,30.00,15.43
$GC,2673.40,1028,303.37,1.90,0.00,1256.4,1293.3,1219.4,2606.2,3473.9,46.46,11.47,414,2679.12,0.00,0.00,3.45,0.000,0.000,0.053,1257.12,1294.06,1220.19,2606.31,2078.31,0,0,0,30.00,30.00,15.61
$GC,2858.47,10791,365.00,2.09,-80.00,1256.3,1293.5,1219.1,2607.0,2078.3,29.98,8.13,451,2930.70,63.02,0.26,4.01,1.014,0.075,0.134,1012.09,1045.62,978.56,2655.62,662.12,0,0,0,11.03,15.66,15.12
$GC,2964.38,1028,365.00,2.09,0.00,1010.8,1044.4,977.2,2656.9,661.9,18.09,13.00,472,2969.68,0.00,0.00,3.58,0.000,0.000,0.047,1010.94,1044.50,977.38,2654.81,2125.38,0,0,0,30.00,30.00,15.48
$STATE,3094,end climb,SURFACE_DEPTH_REACHED
$STATE,3094,begin surface coast
$STATE,3109,end surface coast,CONTROL_FINISHED_OK
$STATE,3109,begin surface
$SM_CCo,3235.22,99.82,1.009,0,564.3,565.8,562.9,474.82
$SM_CCo,3236.34,0.00,0.016,0,563.5,564.4,562.6,475.02
$SM_GC,-0.66,0.00,16.98,0.10,0.016,0.076,0.132,563.5,564.4,562.6,169.1,2077.2,0,0,0,30.36,15.49,15.63
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4707.10,-12459.52,230321,093451
$TCM_TEMP,176.11
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3514496
$HUMID,57.56
$TEMP,8.69
$INTERNAL_PRESSURE,7.8084
$24V_AH,14.40,254.797
$10V_AH,14.82,0.000
$FG_AHR_24Vo,219.210
$FG_AHR_10Vo,69.782
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,659.635,37.210,52.900,269.135,0.750,42.151,2339.706,1346.047,1176.859,0.000,0.000,0.000
$DEVICE_MAMPS,1222.208,255.592,195.568,202.096,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3160.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.316,0.000,0.000,0.000
$MEM,1102816,40,73992,71
$DATA_FILE_SIZE,19373,501
$CAP_FILE_SIZE,243368,0
$SDSIZE,3918848,3670912
$SDFILEDIR,4526,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230321,103427,4707.165,-12459.277,2,0.8,5,15.6