version: 67.01
glider: 236
mission: 2
dive: 86
start: 6 21 123 8 44 40
data:
$ID,236
$MISSION,2
$DIVE,86
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$D_NO_BLEED,50
$D_BOOST,0
$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,410
$T_MISSION,470
$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,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72293
$NAV_MODE,0
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$NETBOX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$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,200
$PITCH_MAX,3920
$C_PITCH,2340
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.0041299998
$PITCH_GAIN,12
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,700
$ROLL_MAX,3350
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2150
$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,3020
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,3
$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,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,9.8870945
$FG_AHR_24V,28.799097
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.23515
$PRESSURE_SLOPE,0.00022672296
$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,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,-1
$XPDR_REP,-1
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3.0999999
$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,3.0
$SC_NDIVE,1.0
$GPS1,210623,083931,4750.707,-12519.393,30,0.8,31,15.8
$_CALLS,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.2
$GPS2,210623,084421,4750.685,-12519.372,2,0.6,5,15.8
$SPEED_LIMITS,0.139,0.208
$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,62.7,11542,-17.1,-8.049,-21.16,2007,0.272
$D_GRID,458
$IRON,1.000000,0.031744,-0.016209,-0.023188,1.010543,-0.112545,0.005505,0.013214,0.898855,223.020203,-463.552734,-464.667419
$OSC,8000225
$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,8.89,16386,-107.06,-1.56,0.00,1086.9,1095.4,1078.3,181.6,2140.8,0.00,0.00,0,80.81,70.28,0.00,0.00,0.005,0.000,0.000,2583.06,2580.69,2585.44,181.62,2141.75,0,0,0,15.77,30.00,30.00
$GC,81.25,18727,-107.06,-1.56,80.00,2583.1,2580.0,2586.2,181.7,2141.6,3.62,-3.60,14,131.87,20.97,16.34,3.22,0.006,0.242,0.108,3458.09,3443.88,3472.31,1960.38,3359.88,0,0,0,15.78,15.75,15.75
$GC,360.18,1028,-107.06,-1.56,0.00,3459.4,3446.1,3472.6,1961.0,3359.9,56.13,-17.10,69,366.99,0.00,0.00,3.11,0.000,0.000,0.051,3459.09,3445.75,3472.44,1960.50,2070.56,0,0,0,30.00,30.00,15.92
$GC,550.80,260,-107.06,-1.56,80.00,3459.5,3445.5,3473.6,1960.4,2070.8,79.18,-11.12,107,557.00,0.00,0.00,3.35,0.000,0.000,0.097,3460.16,3446.56,3473.75,1960.38,3360.31,0,0,0,30.00,30.00,15.94
$GC,784.73,1028,-107.06,-1.56,0.00,3459.9,3446.8,3473.1,1960.0,3360.4,107.89,-11.67,154,791.92,0.00,0.00,3.10,0.000,0.000,0.050,3460.28,3446.94,3473.62,1960.75,2071.25,0,0,0,30.00,30.00,16.02
$GC,1100.51,0,-107.06,-1.56,0.00,3460.9,3446.8,3475.1,1960.8,2071.3,140.27,-10.16,186,1102.04,0.00,0.00,0.00,0.000,0.000,0.000,3460.41,3446.19,3474.62,1960.81,2071.31,0,0,0,30.00,30.00,30.00
$GC,1410.53,516,-107.06,-1.56,-80.00,3460.9,3446.1,3475.6,1960.2,2071.0,171.02,-10.72,217,1416.43,0.00,0.00,3.68,0.000,0.000,0.121,3462.09,3447.94,3476.25,1960.56,688.44,0,0,0,30.00,30.00,16.03
$GC,1500.54,1028,-107.06,-1.56,0.00,3460.8,3446.5,3475.2,1960.5,688.8,182.00,-12.70,235,1506.36,0.00,0.00,3.41,0.000,0.000,0.055,3462.16,3447.19,3477.12,1960.94,2129.62,0,0,0,30.00,30.00,16.04
$GC,1810.56,0,-107.06,-1.56,0.00,3460.9,3446.4,3475.5,1960.4,2130.0,213.85,-9.95,267,1812.09,0.00,0.00,0.00,0.000,0.000,0.000,3461.06,3447.75,3474.38,1960.38,2130.12,0,0,0,30.00,30.00,30.00
$GC,2120.59,516,-107.06,-1.56,-80.00,3461.2,3447.2,3475.3,1961.1,2130.2,242.90,-8.96,298,2127.57,0.00,0.00,3.78,0.000,0.000,0.119,3461.94,3446.88,3477.00,1961.00,690.62,0,0,0,30.00,30.00,16.07
$GC,2170.20,1028,-107.06,-1.56,0.00,3460.7,3445.4,3476.0,1960.6,690.6,247.93,-9.90,308,2177.98,0.00,0.00,3.42,0.000,0.000,0.056,3462.66,3447.81,3477.50,1960.62,2131.25,0,0,0,30.00,30.00,16.10
$GC,2486.02,0,-107.06,-1.56,0.00,3461.2,3447.2,3475.2,1961.1,2131.0,277.84,-9.62,340,2487.59,0.00,0.00,0.00,0.000,0.000,0.000,3460.44,3446.75,3474.12,1961.06,2131.38,0,0,0,30.00,30.00,30.00
$GC,2796.06,516,-107.06,-1.56,-80.00,3460.9,3446.9,3474.9,1960.6,2130.9,304.84,-7.88,371,2803.32,0.00,0.00,3.81,0.000,0.000,0.121,3459.69,3445.44,3473.94,1961.06,689.75,0,0,0,30.00,30.00,16.13
$GC,2926.01,1028,-107.06,-1.56,0.00,3460.6,3446.8,3474.4,1960.6,689.9,317.43,-9.56,397,2933.54,0.00,0.00,3.43,0.000,0.000,0.057,3461.38,3447.38,3475.38,1960.88,2128.69,0,0,0,30.00,30.00,16.14
$GC,3241.81,0,-107.06,-1.56,0.00,3461.1,3446.9,3475.3,1960.8,2128.8,346.56,-9.86,429,3243.38,0.00,0.00,0.00,0.000,0.000,0.000,3459.97,3445.25,3474.69,1960.62,2129.19,0,0,0,30.00,30.00,30.00
$GC,3551.83,0,-107.06,-1.56,0.00,3460.8,3446.4,3475.3,1961.2,2129.0,375.40,-9.19,460,3553.44,0.00,0.00,0.00,0.000,0.000,0.000,3460.03,3445.94,3474.12,1961.31,2128.69,0,0,0,30.00,30.00,30.00
$GC,3861.86,0,-107.06,-1.56,0.00,3461.0,3446.9,3475.0,1961.0,2129.2,401.42,-8.36,491,3863.43,0.00,0.00,0.00,0.000,0.000,0.000,3460.03,3444.81,3475.25,1960.69,2129.25,0,0,0,30.00,30.00,30.00
$GC,4171.90,516,-107.06,-1.56,-80.00,3460.8,3446.6,3474.9,1961.1,2129.0,427.36,-8.82,522,4179.13,0.00,0.00,3.81,0.000,0.000,0.123,3463.28,3450.06,3476.50,1960.50,690.31,0,0,0,30.00,30.00,16.17
$GC,4227.57,1028,-107.06,-1.56,0.00,3460.6,3446.3,3474.9,1960.9,690.1,433.08,-10.45,533,4233.62,0.00,0.00,3.42,0.000,0.000,0.060,3462.72,3448.25,3477.19,1960.56,2129.88,0,0,0,30.00,30.00,16.18
$STATE,4487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4487,begin apogee
$GC,4489.54,10243,0.00,-0.42,0.00,3461.0,3446.6,3475.4,1960.8,2177.1,458.39,-9.73,560,4579.23,82.36,2.32,0.09,1.464,0.126,0.205,3017.25,2988.12,3046.38,2239.69,2121.12,0,0,0,12.79,16.15,15.72
$WARN,HSCICON missed fuel gauge read
$STATE,4590,end apogee,CONTROL_FINISHED_OK
$STATE,4590,begin climb
$GC,4593.51,10759,107.06,1.56,-80.00,3016.8,2988.4,3045.2,2239.6,2120.2,460.28,0.00,568,4696.72,88.08,3.79,3.92,1.428,0.064,0.114,2583.50,2557.25,2609.75,2725.94,690.00,0,0,0,12.83,15.84,15.49
$GC,4705.36,11303,208.13,1.70,0.00,2580.0,2555.1,2604.9,2726.4,689.8,457.94,2.87,580,4795.56,78.58,0.20,3.68,1.403,0.058,0.058,2172.56,2139.38,2205.75,2762.44,2180.06,0,0,0,12.65,15.66,15.63
$GC,5099.10,4357,208.13,1.70,80.00,2167.4,2131.9,2203.0,2763.4,2179.2,408.45,14.29,628,5105.17,0.00,0.25,3.11,0.000,0.153,0.103,2167.72,2131.50,2203.94,2745.69,3360.38,0,0,0,30.00,15.85,15.85
$GC,5319.16,1028,208.13,1.70,0.00,2166.5,2130.0,2202.9,2746.8,3359.8,378.35,12.98,672,5324.93,0.00,0.00,3.00,0.000,0.000,0.054,2167.06,2131.00,2203.12,2746.44,2120.88,0,0,0,30.00,30.00,15.95
$GC,5629.18,260,208.13,1.70,80.00,2165.8,2128.3,2203.2,2746.9,2120.7,341.19,12.30,704,5635.10,0.00,0.00,3.21,0.000,0.000,0.100,2168.22,2131.00,2205.44,2746.50,3361.50,0,0,0,30.00,30.00,16.01
$GC,5739.20,1028,208.13,1.70,0.00,2165.3,2127.9,2202.8,2747.1,3360.8,326.55,13.36,726,5744.96,0.00,0.00,2.97,0.000,0.000,0.053,2166.47,2129.19,2203.75,2746.88,2120.75,0,0,0,30.00,30.00,16.04
$GC,6049.22,0,208.13,1.70,0.00,2165.1,2127.2,2203.0,2746.3,2120.9,288.50,12.25,758,6050.79,0.00,0.00,0.00,0.000,0.000,0.000,2164.59,2126.56,2202.62,2746.88,2121.19,0,0,0,30.00,30.00,30.00
$GC,6359.25,260,208.13,1.70,80.00,2164.8,2126.8,2202.8,2747.1,2120.6,251.97,11.12,789,6365.12,0.00,0.00,3.18,0.000,0.000,0.100,2165.03,2127.06,2203.00,2746.38,3360.38,0,0,0,30.00,30.00,16.07
$GC,6403.51,1028,208.13,1.70,0.00,2164.2,2126.2,2202.1,2747.4,3360.6,246.60,12.24,798,6410.78,0.00,0.00,2.96,0.000,0.000,0.053,2165.94,2128.12,2203.75,2746.44,2120.88,0,0,0,30.00,30.00,16.09
$GC,6719.29,0,208.13,1.70,0.00,2164.5,2126.2,2202.9,2747.0,2120.2,211.68,11.20,830,6720.86,0.00,0.00,0.00,0.000,0.000,0.000,2163.81,2125.44,2202.19,2746.69,2120.62,0,0,0,30.00,30.00,30.00
$GC,7029.32,260,208.13,1.70,80.00,2164.0,2125.2,2202.8,2747.2,2120.5,176.69,11.85,861,7035.22,0.00,0.00,3.19,0.000,0.000,0.099,2164.38,2125.56,2203.19,2747.62,3361.50,0,0,0,30.00,30.00,16.08
$GC,7179.35,1028,208.13,1.70,0.00,2164.3,2125.3,2203.4,2746.6,3361.2,157.04,13.10,891,7185.11,0.00,0.00,2.95,0.000,0.000,0.053,2165.19,2126.38,2204.00,2745.94,2121.19,0,0,0,30.00,30.00,16.09
$GC,7489.37,516,208.13,1.70,-80.00,2164.1,2125.2,2203.0,2746.8,2120.2,123.08,10.19,923,7496.58,0.00,0.00,3.74,0.000,0.000,0.116,2163.28,2123.81,2202.75,2746.06,688.31,0,0,0,30.00,30.00,16.07
$GC,7579.24,17414,208.13,1.70,0.00,2162.8,2125.7,2200.0,2746.2,688.2,112.84,11.78,941,7586.81,0.00,0.00,3.59,0.000,0.000,0.060,2164.41,2126.81,2202.00,2746.44,2178.75,0,0,0,30.00,30.00,16.09
$GC,7890.07,16386,208.13,1.70,0.00,2163.2,2125.6,2200.8,2746.7,2178.1,84.07,8.88,990,7894.47,0.00,0.00,0.00,0.000,0.000,0.000,2163.09,2125.94,2200.25,2746.44,2178.62,0,0,0,30.00,30.00,30.00
$GC,8075.16,19015,208.13,1.74,-80.00,2163.2,2125.6,2200.8,2747.0,2178.4,69.73,6.73,1027,8082.23,0.00,0.17,3.89,0.000,0.058,0.112,2164.28,2126.88,2201.69,2773.94,689.06,0,0,0,30.00,16.13,16.08
$GC,8125.70,17478,208.13,1.76,0.00,2162.7,2125.2,2200.2,2773.7,689.1,66.05,7.29,1037,8132.51,0.00,0.00,3.56,0.000,0.000,0.059,2163.56,2126.00,2201.12,2773.81,2180.62,0,0,0,30.00,30.00,16.12
$GC,8316.20,19015,208.13,1.85,-80.00,2162.9,2125.2,2200.6,2773.7,2181.3,55.57,5.11,1075,8323.11,0.00,0.13,3.92,0.000,0.065,0.110,2164.25,2126.62,2201.88,2802.38,688.88,0,0,0,30.00,16.17,16.09
$GC,8551.73,9254,294.54,1.96,0.00,2162.9,2125.9,2199.9,2802.7,688.9,46.00,3.63,1122,8668.87,104.98,0.00,3.58,0.956,0.000,0.058,1818.22,1789.38,1847.06,2802.44,2180.44,0,0,0,12.94,30.00,16.11
$GC,8852.32,2629,294.54,1.98,-80.00,1815.8,1785.1,1846.4,2802.2,2181.1,26.07,7.20,1181,8860.10,0.00,0.14,3.96,0.000,0.063,0.109,1817.09,1786.62,1847.56,2832.62,690.69,0,0,0,30.00,15.92,15.90
$GC,9088.75,5125,294.54,1.98,0.00,1815.2,1785.4,1845.0,2832.8,690.8,8.34,7.74,1228,9095.69,0.00,0.25,3.60,0.000,0.160,0.058,1816.34,1786.69,1846.00,2815.44,2180.44,0,0,0,30.00,15.93,15.96
$STATE,9189,end climb,SURFACE_DEPTH_REACHED
$STATE,9189,begin surface coast
$FINISH,0.1,1.024275
$STATE,9224,end surface coast,CONTROL_FINISHED_OK
$STATE,9224,begin surface
$SURF,forcing
$SM_CCo,9442.32,175.59,0.918,0,1084.1,1102.5,1065.8,474.87
$SM_GC,1.51,175.59,19.03,0.22,0.918,0.044,0.093,1084.1,1102.5,1065.8,187.0,2056.4,0,0,0,12.87,16.01,16.01
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.10,-12521.07,210623,051105
$TCM_TEMP,257.60
$XPDR_PINGS,0,14.0,11.5
$SC_FREEKB,3846144
$HUMID,50.04
$TEMP,81.30
$INTERNAL_PRESSURE,8.91806
$24V_AH,14.88,46.319
$10V_AH,14.99,0.000
$FG_AHR_24Vo,28.974
$FG_AHR_10Vo,9.950
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,620.840,42.645,104.085,205.672,0.000,14.203,4264.999,3.324,0.000,5239.666,2594.578,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1463.944,241.816,205.408,212.170,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9232.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.643,0.000,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,970768,22,76220,57
$DATA_FILE_SIZE,35321,1255
$CAP_FILE_SIZE,256998,0
$SDSIZE,4028416,3988928
$SDFILEDIR,551,87
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$MAGCAL,1.000000,0.024440,-0.003180,-0.015822,1.083051,-0.095196,0.011363,-0.010851,0.946903,235.7,-506.3,-538.9,32,0.0328,0
$IMPLIED_C_PITCH,2370,12.05,916,0.0,0.00
$IMPLIED_C_VBD,3192,29.416174,819,0
$GPS,210623,112240,4751.208,-12517.821,9,0.8,25,15.8