version: 67.01
glider: 236
mission: 2
dive: 88
start: 6 21 123 14 18 3
data:
$ID,236
$MISSION,2
$DIVE,88
$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,10.015461
$FG_AHR_24V,29.16959
$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
$GPS1,210623,141231,4751.483,-12516.208,27,0.8,28,15.8
$_CALLS,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.9
$GPS2,210623,141745,4751.483,-12516.187,2,0.7,4,15.8
$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,67.8,7398,-17.1,-8.049,-21.16,2007,0.255
$D_GRID,360
$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,8.92,16386,-107.06,-1.56,0.00,1094.5,1102.0,1087.0,186.6,2133.4,0.00,0.00,0,80.85,70.24,0.00,0.00,0.005,0.000,0.000,2558.78,2559.00,2558.56,186.69,2133.75,0,0,0,15.77,30.00,30.00
$GC,81.29,18983,-107.06,-1.56,-80.00,2558.5,2557.3,2559.8,186.6,2133.6,3.11,-2.60,14,133.33,23.77,16.25,3.82,0.006,0.239,0.121,3457.88,3442.75,3473.00,1959.81,690.06,0,0,0,15.78,15.70,15.73
$GC,156.62,1028,-107.06,-1.56,0.00,3458.5,3443.8,3473.3,1959.8,689.8,15.24,-17.08,28,163.37,0.00,0.00,3.44,0.000,0.000,0.056,3459.00,3444.56,3473.44,1959.88,2126.88,0,0,0,30.00,30.00,15.86
$GC,346.86,516,-107.06,-1.56,-80.00,3458.7,3443.8,3473.6,1959.6,2127.3,47.34,-15.31,66,353.65,0.00,0.00,3.81,0.000,0.000,0.118,3458.72,3443.94,3473.50,1960.31,689.88,0,0,0,30.00,30.00,15.88
$GC,582.11,1028,-107.06,-1.56,0.00,3458.6,3443.6,3473.5,1959.9,689.9,82.26,-11.94,113,588.69,0.00,0.00,3.44,0.000,0.000,0.055,3458.94,3443.94,3473.94,1959.69,2130.38,0,0,0,30.00,30.00,15.96
$GC,772.16,516,-107.06,-1.56,-80.00,3459.4,3443.9,3474.8,1959.9,2129.8,100.17,-9.31,151,779.14,0.00,0.00,3.77,0.000,0.000,0.117,3458.97,3444.50,3473.44,1959.62,689.88,0,0,0,30.00,30.00,15.98
$GC,997.58,1028,-107.06,-1.56,0.00,3459.6,3444.2,3474.9,1959.9,690.0,126.85,-11.65,196,1003.41,0.00,0.00,3.40,0.000,0.000,0.055,3459.94,3443.62,3476.25,1960.25,2129.62,0,0,0,30.00,30.00,16.03
$GC,1307.61,0,-107.06,-1.56,0.00,3459.8,3444.2,3475.4,1959.8,2129.8,160.11,-10.83,228,1309.14,0.00,0.00,0.00,0.000,0.000,0.000,3459.12,3443.25,3475.00,1959.62,2130.12,0,0,0,30.00,30.00,30.00
$GC,1617.63,0,-107.06,-1.56,0.00,3460.0,3444.2,3475.8,1960.0,2130.0,193.30,-10.54,259,1619.16,0.00,0.00,0.00,0.000,0.000,0.000,3459.84,3443.88,3475.81,1959.81,2129.75,0,0,0,30.00,30.00,30.00
$GC,1927.66,0,-107.06,-1.56,0.00,3460.3,3444.8,3475.8,1960.0,2130.2,223.45,-9.81,290,1929.20,0.00,0.00,0.00,0.000,0.000,0.000,3459.84,3444.44,3475.25,1959.75,2129.94,0,0,0,30.00,30.00,30.00
$GC,2237.69,516,-107.06,-1.56,-80.00,3460.5,3444.5,3476.4,1959.8,2129.8,255.40,-10.04,321,2245.16,0.00,0.00,3.82,0.000,0.000,0.119,3460.53,3443.69,3477.38,1959.06,688.62,0,0,0,30.00,30.00,16.10
$GC,2287.96,1028,-107.06,-1.56,0.00,3459.8,3444.6,3474.9,1959.6,688.7,261.35,-11.57,331,2295.48,0.00,0.00,3.43,0.000,0.000,0.056,3461.50,3445.38,3477.62,1959.69,2128.19,0,0,0,30.00,30.00,16.12
$GC,2603.75,516,-107.06,-1.56,-80.00,3460.5,3444.7,3476.4,1960.0,2127.9,293.76,-10.22,363,2611.03,0.00,0.00,3.79,0.000,0.000,0.121,3459.62,3444.50,3474.75,1960.56,689.56,0,0,0,30.00,30.00,16.12
$GC,2649.47,1028,-107.06,-1.56,0.00,3460.3,3444.5,3476.1,1960.3,689.9,299.02,-11.60,372,2655.48,0.00,0.00,3.41,0.000,0.000,0.057,3460.34,3445.31,3475.38,1959.69,2128.94,0,0,0,30.00,30.00,16.13
$GC,2959.49,0,-107.06,-1.56,0.00,3460.1,3444.4,3475.9,1960.0,2128.4,333.00,-11.20,404,2961.06,0.00,0.00,0.00,0.000,0.000,0.000,3459.81,3444.00,3475.62,1960.12,2128.69,0,0,0,30.00,30.00,30.00
$STATE,3229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3229,begin apogee
$GC,3231.22,10243,0.00,-0.42,0.00,3460.0,3444.2,3475.9,1959.8,2176.1,360.90,-10.21,431,3320.08,81.61,2.34,0.09,1.343,0.123,0.193,3017.47,2988.69,3046.25,2240.12,2117.44,0,0,0,12.92,16.12,15.75
$WARN,HSCICON missed fuel gauge read
$STATE,3331,end apogee,CONTROL_FINISHED_OK
$STATE,3331,begin climb
$GC,3334.25,10243,107.06,1.56,0.00,3017.2,2989.6,3044.8,2240.4,2117.2,363.79,0.00,439,3430.29,86.61,3.72,0.00,1.305,0.063,0.000,2580.00,2554.12,2605.88,2728.12,2117.31,0,0,0,12.74,15.82,30.00
$GC,3733.84,16710,107.06,1.64,80.00,2570.4,2541.1,2599.8,2727.8,2117.6,346.22,5.56,484,3739.71,0.00,0.00,3.26,0.000,0.000,0.100,2572.97,2543.81,2602.12,2728.19,3359.56,0,0,0,30.00,30.00,15.91
$GC,3853.86,19527,107.06,1.70,0.00,2569.6,2540.3,2598.9,2727.6,3360.2,339.22,5.94,508,3859.73,0.00,0.19,2.99,0.000,0.060,0.052,2572.53,2542.88,2602.19,2765.00,2119.81,0,0,0,30.00,15.96,15.95
$GC,4163.89,16710,107.06,1.77,80.00,2568.2,2538.9,2597.4,2765.2,2119.8,321.04,5.72,540,4170.02,0.00,0.00,3.19,0.000,0.000,0.097,2569.88,2540.62,2599.12,2765.38,3360.25,0,0,0,30.00,30.00,16.02
$GC,4293.92,17478,107.06,1.80,0.00,2568.2,2538.6,2597.7,2765.2,3360.9,312.47,6.97,566,4299.63,0.00,0.00,2.95,0.000,0.000,0.052,2568.06,2538.56,2597.56,2765.38,2117.19,0,0,0,30.00,30.00,16.05
$GC,4603.94,18499,107.06,1.83,0.00,2566.4,2536.2,2596.7,2765.7,2117.6,291.50,7.30,598,4605.69,0.00,0.13,0.00,0.000,0.072,0.000,2567.25,2537.75,2596.75,2797.56,2117.44,0,0,0,30.00,16.09,30.00
$GC,4913.96,16966,107.06,1.88,-80.00,2565.8,2535.8,2595.8,2798.4,2118.0,271.49,6.31,629,4921.12,0.00,0.00,3.71,0.000,0.000,0.113,2568.56,2539.81,2597.31,2799.31,688.88,0,0,0,30.00,30.00,16.08
$GC,5089.84,17414,107.06,1.88,0.00,2564.0,2535.8,2592.2,2798.4,688.8,257.37,7.64,664,5095.89,0.00,0.00,3.58,0.000,0.000,0.060,2564.53,2535.44,2593.62,2798.94,2179.00,0,0,0,30.00,30.00,16.11
$GC,5399.89,18759,107.06,1.95,80.00,2564.1,2535.9,2592.3,2798.1,2179.5,237.55,5.58,696,5405.76,0.00,0.10,3.04,0.000,0.080,0.101,2566.62,2538.38,2594.88,2830.00,3361.38,0,0,0,30.00,16.12,16.09
$GC,5439.90,17478,107.06,2.01,0.00,2564.3,2536.1,2592.5,2829.3,3362.2,234.78,6.27,704,5445.64,0.00,0.00,2.93,0.000,0.000,0.053,2564.94,2536.75,2593.12,2829.94,2118.62,0,0,0,30.00,30.00,16.12
$GC,5749.90,16450,107.06,2.04,0.00,2563.4,2534.4,2592.4,2829.2,2119.4,213.03,7.00,736,5751.48,0.00,0.00,0.00,0.000,0.000,0.000,2562.88,2534.69,2591.06,2829.19,2118.69,0,0,0,30.00,30.00,30.00
$GC,6059.91,18499,107.06,2.12,0.00,2563.2,2534.6,2591.7,2829.5,2118.6,194.53,5.19,767,6061.67,0.00,0.19,0.00,0.000,0.061,0.000,2562.81,2533.50,2592.12,2868.94,2119.19,0,0,0,30.00,16.16,30.00
$GC,6369.94,16710,107.06,2.17,80.00,2563.7,2534.9,2592.4,2869.8,2119.3,176.89,6.46,798,6375.75,0.00,0.00,3.17,0.000,0.000,0.097,2564.72,2536.31,2593.12,2869.88,3361.81,0,0,0,30.00,30.00,16.11
$GC,6604.22,17478,107.06,2.22,0.00,2563.2,2534.7,2591.8,2869.4,3361.4,160.40,6.28,845,6611.46,0.00,0.00,2.96,0.000,0.000,0.053,2566.12,2537.56,2594.69,2869.50,2116.25,0,0,0,30.00,30.00,16.11
$GC,6920.00,18759,107.06,2.30,80.00,2562.9,2533.8,2592.1,2869.9,2116.9,142.16,5.52,877,6926.29,0.00,0.22,3.18,0.000,0.059,0.095,2565.78,2537.00,2594.56,2910.44,3363.81,0,0,0,30.00,16.15,16.10
$GC,7124.26,11303,204.82,2.43,0.00,2563.0,2534.0,2591.9,2911.1,3363.3,134.28,3.04,918,7236.91,102.69,0.17,2.95,1.045,0.058,0.052,2183.69,2154.06,2213.31,2938.88,2117.50,0,0,0,12.85,16.18,16.10
$GC,7540.31,16646,204.82,2.43,80.00,2174.8,2142.7,2206.9,2938.4,2117.6,82.20,15.50,981,7546.96,0.00,0.00,3.22,0.000,0.000,0.096,2175.94,2143.50,2208.38,2938.06,3362.00,0,0,0,30.00,30.00,15.93
$GC,7580.51,17414,204.82,2.43,0.00,2173.9,2141.1,2206.7,2938.4,3361.8,76.34,14.49,989,7587.06,0.00,0.00,2.95,0.000,0.000,0.052,2174.25,2141.38,2207.12,2938.50,2119.00,0,0,0,30.00,30.00,15.94
$GC,7770.56,16450,204.82,2.48,0.00,2172.9,2139.1,2206.8,2938.6,2119.1,58.81,6.37,1027,7774.95,0.00,0.00,0.00,0.000,0.000,0.000,2173.56,2139.81,2207.31,2938.12,2119.12,0,0,0,30.00,30.00,30.00
$GC,7955.58,10791,274.78,2.57,-80.00,2172.1,2137.5,2206.7,2938.4,2119.1,50.11,4.47,1064,8047.07,80.49,0.19,3.78,0.952,0.060,0.112,1898.09,1872.06,1924.12,2975.88,689.50,0,0,0,12.82,16.05,15.69
$GC,8160.63,5125,274.78,2.57,0.00,1896.4,1871.0,1921.8,2976.0,689.8,32.10,12.57,1104,8167.77,0.00,0.31,3.62,0.000,0.180,0.058,1897.78,1872.75,1922.81,2956.88,2178.69,0,0,0,30.00,15.80,15.85
$GC,8351.19,0,274.78,2.57,0.00,1895.8,1870.0,1921.6,2956.9,2178.9,13.98,8.08,1142,8355.62,0.00,0.00,0.00,0.000,0.000,0.000,1896.28,1870.62,1921.94,2957.62,2179.06,0,0,0,30.00,30.00,30.00
$GC,8536.26,10275,361.58,2.68,0.00,1895.5,1869.2,1921.8,2957.2,2178.8,4.02,3.61,1179,8604.85,65.27,0.37,0.00,0.909,0.040,0.000,1627.28,1608.31,1646.25,3001.12,2179.44,0,0,0,12.72,16.04,30.00
$STATE,8605,end climb,SURFACE_DEPTH_REACHED
$STATE,8605,begin surface coast
$FINISH,0.0,1.024163
$STATE,8674,end surface coast,CONTROL_FINISHED_OK
$STATE,8674,begin surface
$SURF,forcing
$SM_CCo,8847.31,128.84,0.913,0,1083.8,1100.3,1067.2,474.96
$SM_GC,1.46,128.84,21.16,0.21,0.913,0.061,0.098,1083.8,1100.3,1067.2,188.0,2059.9,0,0,0,12.81,15.83,15.85
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4752.03,-12518.46,210623,112359
$TCM_TEMP,258.13
$XPDR_PINGS,0,14.0,11.5
$SC_FREEKB,3845376
$HUMID,50.08
$TEMP,81.35
$INTERNAL_PRESSURE,8.91655
$24V_AH,14.88,46.787
$10V_AH,14.98,0.000
$FG_AHR_24Vo,29.334
$FG_AHR_10Vo,10.077
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,639.525,45.335,88.100,227.902,0.000,13.898,4129.204,3.851,0.000,4849.742,2464.515,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1343.240,238.536,193.272,219.560,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8683.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.610,0.000,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,970760,23,76208,57
$DATA_FILE_SIZE,35327,1206
$CAP_FILE_SIZE,246056,0
$SDSIZE,4028416,3988352
$SDFILEDIR,563,89
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$MAGCAL,1.000000,0.033464,-0.016073,0.049972,0.958177,-0.435357,0.182252,0.105648,0.580641,263.5,-45.4,-109.8,36,0.1171,0
$IMPLIED_C_PITCH,2361,12.41,835,0.0,0.00
$GPS,210623,164602,4751.545,-12515.021,7,0.8,19,15.8