version: 67.01
glider: 236
mission: 2
dive: 87
start: 6 21 123 11 27 58
data:
$ID,236
$MISSION,2
$DIVE,87
$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,9.9506369
$FG_AHR_24V,28.987057
$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
$GPS1,210623,112240,4751.208,-12517.821,9,0.8,25,15.8
$_CALLS,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-62.2
$GPS2,210623,112740,4751.205,-12517.834,3,0.6,5,15.8
$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,66.1,9494,-17.1,-8.049,-21.16,2007,0.281
$D_GRID,414
$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,8000266
$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,8.87,16386,-107.06,-1.56,0.00,1096.6,1102.9,1090.3,181.4,2129.1,0.00,0.00,0,80.78,70.28,0.00,0.00,0.005,0.000,0.000,2568.25,2566.88,2569.62,181.69,2129.31,0,0,0,15.76,30.00,30.00
$GC,81.22,18727,-107.06,-1.56,80.00,2566.6,2565.8,2567.5,181.7,2128.8,3.26,-2.84,14,131.88,23.55,15.85,3.27,0.006,0.239,0.106,3457.72,3443.19,3472.25,1961.00,3359.62,0,0,0,15.78,15.76,15.75
$GC,320.19,1028,-107.06,-1.56,0.00,3458.9,3446.3,3471.6,1961.2,3360.0,46.73,-17.78,61,326.89,0.00,0.00,3.14,0.000,0.000,0.051,3461.06,3447.69,3474.44,1960.69,2072.06,0,0,0,30.00,30.00,15.91
$GC,510.38,516,-107.06,-1.56,-80.00,3459.1,3446.6,3471.6,1960.7,2071.9,72.62,-12.42,99,517.07,0.00,0.00,3.69,0.000,0.000,0.119,3459.81,3446.56,3473.06,1961.12,689.94,0,0,0,30.00,30.00,15.94
$GC,605.46,1028,-107.06,-1.56,0.00,3459.2,3445.9,3472.4,1960.3,689.6,83.99,-12.15,118,612.08,0.00,0.00,3.46,0.000,0.000,0.054,3461.00,3447.88,3474.12,1960.12,2127.19,0,0,0,30.00,30.00,15.95
$GC,795.48,260,-107.06,-1.56,80.00,3459.3,3445.9,3472.7,1960.9,2127.9,104.22,-10.27,152,801.19,0.00,0.00,3.20,0.000,0.000,0.101,3460.09,3447.19,3473.00,1960.81,3360.31,0,0,0,30.00,30.00,15.96
$GC,845.48,1028,-107.06,-1.56,0.00,3459.9,3446.7,3473.1,1961.0,3360.1,109.56,-10.69,162,851.15,0.00,0.00,3.07,0.000,0.000,0.050,3461.47,3448.12,3474.81,1961.00,2068.69,0,0,0,30.00,30.00,15.99
$GC,1155.51,516,-107.06,-1.56,-80.00,3460.0,3446.1,3473.9,1961.0,2068.4,141.71,-10.47,194,1161.40,0.00,0.00,3.62,0.000,0.000,0.122,3461.19,3446.88,3475.50,1960.69,690.19,0,0,0,30.00,30.00,16.01
$GC,1205.51,1028,-107.06,-1.56,0.00,3459.8,3445.6,3473.9,1960.8,689.6,147.13,-11.08,204,1211.35,0.00,0.00,3.44,0.000,0.000,0.055,3459.84,3445.88,3473.81,1961.19,2130.19,0,0,0,30.00,30.00,16.02
$GC,1515.53,0,-107.06,-1.56,0.00,3460.4,3446.3,3474.5,1961.4,2130.1,176.03,-8.89,236,1517.06,0.00,0.00,0.00,0.000,0.000,0.000,3459.97,3445.38,3474.56,1960.75,2130.00,0,0,0,30.00,30.00,30.00
$GC,1825.56,516,-107.06,-1.56,-80.00,3460.6,3446.6,3474.6,1961.3,2129.9,205.63,-9.78,267,1833.07,0.00,0.00,3.81,0.000,0.000,0.118,3460.38,3445.81,3474.94,1960.88,689.75,0,0,0,30.00,30.00,16.06
$GC,1885.86,1028,-107.06,-1.56,0.00,3460.9,3446.8,3475.0,1960.9,689.9,212.52,-11.30,279,1893.38,0.00,0.00,3.44,0.000,0.000,0.056,3461.00,3446.94,3475.06,1960.94,2127.69,0,0,0,30.00,30.00,16.07
$GC,2201.66,516,-107.06,-1.56,-80.00,3460.1,3445.9,3474.2,1961.2,2127.9,243.73,-10.45,311,2208.84,0.00,0.00,3.78,0.000,0.000,0.118,3462.34,3446.62,3478.06,1961.19,691.06,0,0,0,30.00,30.00,16.07
$GC,2257.27,1028,-107.06,-1.56,0.00,3460.2,3445.8,3474.7,1961.1,690.8,250.61,-12.36,322,2263.28,0.00,0.00,3.43,0.000,0.000,0.056,3460.81,3446.69,3474.94,1960.81,2130.00,0,0,0,30.00,30.00,16.12
$GC,2567.31,0,-107.06,-1.56,0.00,3460.8,3446.8,3474.7,1961.1,2130.3,283.58,-9.91,354,2568.88,0.00,0.00,0.00,0.000,0.000,0.000,3459.88,3446.62,3473.12,1961.12,2129.94,0,0,0,30.00,30.00,30.00
$GC,2877.32,516,-107.06,-1.56,-80.00,3460.0,3446.0,3474.1,1961.1,2130.1,313.86,-9.52,385,2884.53,0.00,0.00,3.78,0.000,0.000,0.121,3461.03,3446.19,3475.88,1960.31,690.94,0,0,0,30.00,30.00,16.13
$GC,2982.97,1028,-107.06,-1.56,0.00,3460.1,3445.7,3474.5,1960.8,690.8,326.10,-11.80,406,2989.01,0.00,0.00,3.41,0.000,0.000,0.058,3461.34,3448.12,3474.56,1960.62,2129.25,0,0,0,30.00,30.00,16.15
$GC,3293.00,260,-107.06,-1.56,80.00,3459.9,3446.1,3473.8,1961.1,2129.1,358.99,-10.45,438,3298.84,0.00,0.00,3.17,0.000,0.000,0.105,3461.97,3447.50,3476.44,1961.38,3359.56,0,0,0,30.00,30.00,16.14
$GC,3322.99,1028,-107.06,-1.56,0.00,3460.3,3446.3,3474.4,1961.3,3358.7,362.36,-10.99,444,3328.79,0.00,0.00,3.07,0.000,0.000,0.053,3461.41,3447.75,3475.06,1960.56,2070.81,0,0,0,30.00,30.00,16.15
$GC,3633.05,0,-107.06,-1.56,0.00,3460.4,3446.4,3474.5,1961.1,2071.0,392.56,-9.74,476,3634.62,0.00,0.00,0.00,0.000,0.000,0.000,3459.28,3445.56,3473.00,1961.44,2071.00,0,0,0,30.00,30.00,30.00
$STATE,3843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3843,begin apogee
$GC,3844.92,10243,0.00,-0.42,0.00,3460.0,3445.8,3474.2,1960.9,2186.9,414.31,-11.74,497,3933.66,81.79,2.28,0.12,1.413,0.118,0.178,3018.00,2990.06,3045.94,2240.75,2113.75,0,0,0,12.96,16.15,15.73
$WARN,HSCICON missed fuel gauge read
$STATE,3945,end apogee,CONTROL_FINISHED_OK
$STATE,3945,begin climb
$GC,3947.83,10243,107.06,1.56,0.00,3017.0,2989.8,3044.2,2241.8,2116.6,417.21,0.00,505,4047.00,87.06,3.76,0.00,1.375,0.059,0.000,2584.06,2557.62,2610.50,2726.19,2116.31,0,0,0,12.71,15.82,30.00
$GC,4351.48,16450,107.06,1.61,-80.00,2570.0,2540.7,2599.4,2726.5,2116.4,396.42,6.56,554,4353.05,0.00,0.00,0.00,0.000,0.000,0.000,2569.38,2539.94,2598.81,2726.94,2116.25,0,0,0,30.00,30.00,30.00
$GC,4661.51,18759,107.06,1.68,80.00,2568.6,2539.5,2597.6,2726.8,2116.6,378.29,5.78,585,4667.81,0.00,0.14,3.24,0.000,0.068,0.099,2569.69,2539.94,2599.44,2763.81,3364.69,0,0,0,30.00,16.04,15.98
$GC,4881.51,21511,107.06,1.68,0.00,2568.2,2538.6,2597.9,2762.7,3363.8,360.91,8.24,629,4887.51,0.00,0.29,2.97,0.000,0.162,0.054,2568.41,2538.12,2598.69,2743.19,2118.69,0,0,0,30.00,15.98,16.03
$GC,5191.58,18499,107.06,1.74,0.00,2566.3,2535.1,2597.4,2742.2,2118.0,340.80,5.88,661,5193.39,0.00,0.25,0.00,0.000,0.050,0.000,2564.28,2532.94,2595.62,2775.56,2117.56,0,0,0,30.00,16.12,30.00
$GC,5501.60,16450,107.06,1.76,0.00,2565.3,2535.1,2595.5,2775.3,2118.2,319.66,7.46,692,5503.18,0.00,0.00,0.00,0.000,0.000,0.000,2564.66,2534.81,2594.50,2775.12,2117.88,0,0,0,30.00,30.00,30.00
$GC,5811.58,16386,107.06,1.76,0.00,2565.2,2535.1,2595.2,2775.4,2117.6,297.03,8.02,723,5813.15,0.00,0.00,0.00,0.000,0.000,0.000,2564.12,2534.06,2594.19,2775.12,2117.19,0,0,0,30.00,30.00,30.00
$GC,6121.60,16902,107.06,1.76,-80.00,2564.4,2534.0,2594.8,2775.4,2117.9,273.39,7.61,754,6128.82,0.00,0.00,3.73,0.000,0.000,0.114,2564.28,2533.81,2594.75,2774.88,687.88,0,0,0,30.00,30.00,16.10
$GC,6291.53,17414,107.06,1.76,0.00,2562.6,2534.1,2591.0,2775.6,687.6,259.07,8.18,788,6299.14,0.00,0.00,3.58,0.000,0.000,0.060,2563.88,2535.56,2592.19,2775.62,2180.25,0,0,0,30.00,30.00,16.11
$GC,6607.34,16450,107.06,1.81,0.00,2562.4,2534.4,2590.5,2775.9,2180.7,238.12,6.38,820,6608.91,0.00,0.00,0.00,0.000,0.000,0.000,2561.59,2533.88,2589.31,2774.88,2180.62,0,0,0,30.00,30.00,30.00
$GC,6917.34,18499,107.06,1.87,0.00,2562.3,2534.1,2590.6,2775.4,2180.7,219.13,5.89,851,6919.10,0.00,0.17,0.00,0.000,0.061,0.000,2561.59,2533.12,2590.06,2810.81,2180.81,0,0,0,30.00,16.19,30.00
$GC,7227.37,16966,107.06,1.95,-80.00,2562.2,2533.4,2590.9,2811.2,2181.2,200.23,5.60,882,7234.83,0.00,0.00,3.86,0.000,0.000,0.110,2564.88,2535.31,2594.44,2809.94,687.94,0,0,0,30.00,30.00,16.14
$GC,7313.44,17478,107.06,1.99,0.00,2561.3,2533.2,2589.3,2811.6,688.1,194.64,6.56,899,7319.50,0.00,0.00,3.56,0.000,0.000,0.060,2562.66,2535.06,2590.25,2812.31,2181.00,0,0,0,30.00,30.00,16.14
$GC,7623.44,18499,107.06,2.06,0.00,2561.6,2533.7,2589.6,2811.6,2181.0,176.85,5.78,931,7625.25,0.00,0.23,0.00,0.000,0.048,0.000,2561.53,2533.19,2589.88,2855.50,2180.56,0,0,0,30.00,16.19,30.00
$GC,7933.46,8486,170.44,2.14,80.00,2561.3,2533.8,2588.8,2855.9,2180.9,160.49,4.80,962,8008.50,67.71,0.00,3.10,1.067,0.000,0.103,2326.31,2296.25,2356.38,2854.56,3359.62,0,0,0,12.85,30.00,15.83
$GC,8176.17,1028,170.44,2.14,0.00,2317.9,2283.8,2352.0,2855.8,3359.3,132.89,13.40,1010,8183.44,0.00,0.00,2.98,0.000,0.000,0.053,2320.19,2285.69,2354.69,2854.50,2119.62,0,0,0,30.00,30.00,15.98
$GC,8491.94,16646,170.44,2.14,80.00,2315.8,2281.4,2350.3,2855.6,2119.7,99.17,8.76,1042,8498.61,0.00,0.00,3.20,0.000,0.000,0.097,2315.69,2281.56,2349.81,2855.44,3360.62,0,0,0,30.00,30.00,16.00
$GC,8562.04,17414,170.44,2.14,0.00,2315.2,2280.7,2349.6,2854.8,3360.6,90.95,12.66,1056,8568.80,0.00,0.00,2.96,0.000,0.000,0.052,2315.19,2280.50,2349.88,2855.12,2120.75,0,0,0,30.00,30.00,16.01
$GC,8752.36,10791,231.03,2.22,-80.00,2314.3,2279.0,2349.6,2855.7,2120.6,75.81,4.95,1094,8827.85,66.65,0.20,3.80,0.986,0.053,0.114,2078.69,2047.81,2109.56,2893.31,688.44,0,0,0,12.77,16.07,15.76
$GC,9056.36,1092,231.03,2.27,0.00,2072.2,2044.4,2100.0,2894.6,688.1,50.51,6.35,1154,9063.17,0.00,0.00,3.63,0.000,0.000,0.059,2071.94,2044.44,2099.44,2894.38,2179.38,0,0,0,30.00,30.00,15.91
$GC,9246.73,10535,336.11,2.41,80.00,2069.6,2039.2,2100.0,2893.7,2180.0,45.31,2.67,1192,9375.67,118.50,0.31,3.14,0.945,0.038,0.101,1648.31,1628.75,1667.88,2938.62,3359.81,0,0,0,12.79,16.00,15.61
$GC,9604.46,5125,336.11,2.41,0.00,1646.2,1624.7,1667.8,2937.8,3360.1,3.60,10.30,1262,9611.24,0.00,0.32,2.99,0.000,0.162,0.051,1647.97,1626.38,1669.56,2918.50,2119.06,0,0,0,30.00,15.79,15.87
$STATE,9624,end climb,SURFACE_DEPTH_REACHED
$STATE,9624,begin surface coast
$FINISH,0.0,1.024255
$STATE,9654,end surface coast,CONTROL_FINISHED_OK
$STATE,9655,begin surface
$SURF,forcing
$SM_CCo,9832.70,135.15,0.915,0,1084.6,1103.8,1065.4,474.75
$SM_GC,1.68,135.15,20.42,0.07,0.915,0.047,0.169,1084.6,1103.8,1065.4,186.7,2068.9,0,0,0,12.75,15.91,15.89
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4752.03,-12518.46,210623,084052
$TCM_TEMP,257.73
$XPDR_PINGS,0,14.0,11.5
$SC_FREEKB,3845760
$HUMID,50.09
$TEMP,81.36
$INTERNAL_PRESSURE,8.91314
$24V_AH,14.88,46.558
$10V_AH,14.98,0.000
$FG_AHR_24Vo,29.156
$FG_AHR_10Vo,10.014
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,650.680,44.220,102.070,216.349,0.000,14.272,4337.736,3.811,0.000,5611.110,2620.803,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1412.776,238.536,178.184,226.445,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9664.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.785,0.000,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,970808,20,76220,57
$DATA_FILE_SIZE,35306,1272
$CAP_FILE_SIZE,262387,0
$SDSIZE,4028416,3988608
$SDFILEDIR,557,88
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$IMPLIED_C_PITCH,2356,12.42,966,0.0,0.00
$GPS,210623,141231,4751.483,-12516.208,27,0.8,28,15.8