version: 67.00
glider: 236
mission: 1
dive: 4
start: 9 18 120 18 44 25
data:
$ID,236
$MISSION,1
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,50
$T_MISSION,65
$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,150
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72297
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,627.77997
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,3
$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,1840
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,25
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,670
$ROLL_MAX,3465
$ROLL_DEG,80
$C_ROLL_DIVE,2067
$C_ROLL_CLIMB,2067
$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,2980
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,2.6866686
$FG_AHR_24V,3.083544
$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,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,180920,183021,4744.777,-12224.872,1,1.2,3,15.4
$_CALLS,1
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-47.3
$GPS2,180920,184407,4744.841,-12224.927,2,1.1,4,15.4
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,190.3,2486,-17.6,-10.000,-21.21
$D_GRID,150
$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,6.13,16386,-146.63,-0.88,0.00,498.1,517.9,478.4,172.7,2052.1,0.00,0.00,0,140.61,134.02,0.00,0.00,0.005,0.000,0.000,3516.88,3497.06,3536.69,172.56,2052.12,0,0,0,14.47,30.00,30.00
$GC,140.85,18727,-146.63,-0.88,80.00,3516.0,3496.2,3535.8,172.6,2051.9,3.64,-3.33,26,161.57,1.42,10.76,3.48,0.022,0.256,0.141,3576.16,3565.62,3586.69,1626.31,3476.19,0,0,0,14.60,15.77,15.79
$GC,384.38,1188,-146.63,-0.97,0.00,3575.7,3565.0,3586.3,1625.6,3475.6,30.83,-7.95,75,390.00,0.00,0.00,3.36,0.000,0.000,0.085,3575.69,3565.25,3586.12,1626.31,2052.75,0,0,0,30.00,30.00,15.96
$GC,569.39,4517,-146.63,-1.08,80.00,3575.8,3565.2,3586.4,1626.1,2052.4,45.83,-9.88,112,575.16,0.00,0.39,3.46,0.000,0.070,0.141,3576.00,3565.38,3586.62,1558.75,3476.19,0,0,0,30.00,15.98,15.98
$GC,599.38,1028,-146.63,-1.08,0.00,3575.6,3565.2,3586.0,1558.7,3475.6,49.50,-12.21,118,605.04,0.00,0.00,3.34,0.000,0.000,0.086,3577.53,3567.00,3588.06,1558.38,2054.88,0,0,0,30.00,30.00,16.00
$GC,784.42,2693,-146.63,-1.05,-80.00,3575.7,3565.1,3586.4,1558.6,2054.4,71.00,-12.44,155,790.21,0.00,0.23,3.67,0.000,0.175,0.222,3577.69,3566.75,3588.62,1587.88,663.62,0,0,0,30.00,15.98,15.94
$GC,794.40,1028,-146.63,-1.05,0.00,3575.9,3564.8,3587.1,1588.0,663.6,72.51,-13.68,157,800.10,0.00,0.00,3.32,0.000,0.000,0.105,3576.75,3566.31,3587.19,1588.62,2079.44,0,0,0,30.00,30.00,16.00
$GC,979.49,420,-146.63,-1.10,80.00,3575.3,3564.8,3585.8,1588.6,2080.2,89.21,-9.60,194,985.13,0.00,0.00,3.36,0.000,0.000,0.141,3577.12,3566.62,3587.62,1587.81,3475.06,0,0,0,30.00,30.00,16.00
$GC,1044.49,5253,-146.63,-1.15,0.00,3575.7,3565.4,3585.9,1588.5,3475.1,96.17,-10.63,207,1050.21,0.00,0.23,3.31,0.000,0.087,0.085,3576.56,3566.19,3586.94,1543.00,2053.25,0,0,0,30.00,16.01,16.04
$GC,1229.50,2693,-146.63,-1.12,-80.00,3575.6,3565.0,3586.2,1543.0,2052.8,117.42,-11.33,229,1235.22,0.00,0.22,3.63,0.000,0.169,0.220,3574.41,3563.94,3584.88,1572.25,663.81,0,0,0,30.00,16.03,16.01
$GC,1264.53,1156,-146.63,-1.05,0.00,3575.8,3565.4,3586.2,1572.5,663.5,122.08,-13.06,236,1269.11,0.00,0.00,3.32,0.000,0.000,0.110,3575.97,3565.56,3586.38,1572.56,2079.56,0,0,0,30.00,30.00,16.07
$STATE,1504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1504,begin apogee
$GC,1505.64,10243,0.00,-0.20,0.00,3575.8,3565.5,3586.2,1572.2,2053.8,150.32,-13.41,261,1616.59,105.90,1.45,0.05,1.274,0.141,0.317,2977.62,2987.12,2968.12,1793.50,2076.75,0,0,0,12.86,16.04,15.65
$STATE,1617,end apogee,CONTROL_FINISHED_OK
$STATE,1617,begin climb
$GC,1617.85,10759,146.63,0.88,-80.00,2977.5,2987.3,2967.8,1793.5,2076.2,155.92,0.00,272,1736.82,112.08,1.66,3.78,1.239,0.092,0.195,2378.72,2398.81,2358.62,2060.81,661.50,0,0,0,12.76,14.77,15.45
$GC,1809.64,11431,323.01,1.15,0.00,2371.5,2389.9,2353.2,2060.0,661.6,153.08,1.83,310,1953.07,136.18,0.36,3.36,1.219,0.077,0.086,1662.66,1719.62,1605.69,2128.06,2083.25,0,0,0,12.68,15.65,15.67
$GC,2249.74,16774,323.01,1.24,80.00,1653.1,1711.1,1595.1,2127.7,2083.4,113.08,12.46,368,2254.21,0.00,0.00,3.38,0.000,0.000,0.138,1653.75,1711.50,1596.00,2128.00,3474.94,0,0,0,30.00,30.00,15.83
$GC,2309.72,19591,323.01,1.34,0.00,1651.2,1707.4,1595.1,2127.9,3474.6,103.87,15.36,380,2315.46,0.00,0.22,3.32,0.000,0.097,0.081,1650.28,1706.31,1594.25,2172.94,2051.88,0,0,0,30.00,15.86,15.88
$GC,2614.82,16774,323.01,1.38,80.00,1651.0,1707.0,1595.0,2173.5,2051.8,62.24,14.19,439,2620.51,0.00,0.00,3.44,0.000,0.000,0.133,1651.69,1707.81,1595.56,2172.56,3473.94,0,0,0,30.00,30.00,15.95
$GC,2679.83,17414,323.01,1.38,0.00,1650.9,1707.1,1594.8,2173.3,3473.4,52.09,15.96,452,2685.54,0.00,0.00,3.30,0.000,0.000,0.082,1651.91,1707.75,1596.06,2172.81,2051.81,0,0,0,30.00,30.00,15.98
$GC,2864.92,16774,323.01,1.46,80.00,1650.8,1706.7,1594.9,2172.6,2052.1,27.14,13.09,489,2870.61,0.00,0.00,3.43,0.000,0.000,0.132,1652.06,1708.06,1596.06,2173.69,3476.62,0,0,0,30.00,30.00,15.99
$GC,2929.95,19591,323.01,1.49,0.00,1650.5,1706.1,1594.8,2173.6,3476.9,17.79,15.05,502,2935.66,0.00,0.17,3.28,0.000,0.107,0.080,1651.56,1707.44,1595.69,2212.50,2051.81,0,0,0,30.00,15.99,16.03
$STATE,3044,end climb,SURFACE_DEPTH_REACHED
$STATE,3044,begin surface coast
$STATE,3059,end surface coast,CONTROL_FINISHED_OK
$STATE,3059,begin surface
$SM_CCo,3286.76,208.49,1.089,0,501.0,516.7,485.2,608.11
$SM_CCo,3287.86,0.00,0.017,0,500.1,516.5,483.6,608.33
$SM_CCo,3288.88,0.00,0.000,0,499.9,516.4,483.4,608.36
$SM_GC,0.36,0.00,12.46,0.05,0.000,0.067,0.210,499.9,516.4,483.4,172.7,2081.2,0,0,0,30.00,16.01,16.04
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4744.47,-12222.38,180920,172912
$TCM_TEMP,201.49
$XPDR_PINGS,15,14.0,11.5
$SC_FREEKB,3873984
$HUMID,58.00
$TEMP,13.17
$INTERNAL_PRESSURE,8.0013
$24V_AH,14.91,1.433
$10V_AH,14.95,0.000
$FG_AHR_24Vo,3.278
$FG_AHR_10Vo,2.711
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,698.100,28.155,61.775,699.508,3.750,13.388,2473.550,1404.601,896.765,0.000,0.000,0.000
$DEVICE_MAMPS,1274.360,255.592,316.928,248.546,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3150.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.046,0.000,0.000,0.000
$MEM,1162508,25,14880,57
$DATA_FILE_SIZE,19404,528
$CAP_FILE_SIZE,180069,0
$SDSIZE,3918848,3907744
$SDFILEDIR,34,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161,225.8,1
$GPS,180920,193940,4744.640,-12225.234,2,0.9,19,15.4