version: 67.01
glider: 236
mission: 2
dive: 179
start: 7 13 123 12 52 48
data:
$ID,236
$MISSION,2
$DIVE,179
$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,180
$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,18.701653
$FG_AHR_24V,50.50536
$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
$GPS1,130723,124701,4751.421,-12516.959,20,1.3,20,15.8
$_CALLS,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.9
$GPS2,130723,125229,4751.406,-12516.944,2,0.7,5,15.8
$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,67.5,8350,-17.1,-8.049,-21.16,2007,0.245
$D_GRID,373
$IRON,1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.572571,-595.407471,-574.239685
$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,9.00,16386,-107.06,-1.56,0.00,1094.5,1102.2,1086.8,189.2,2128.4,0.00,0.00,0,75.79,65.16,0.00,0.00,0.005,0.000,0.000,2475.34,2469.44,2481.25,189.19,2128.81,0,0,0,15.74,30.00,30.00
$GC,76.23,18983,-107.06,-1.56,-80.00,2475.3,2469.7,2481.0,189.1,2128.5,3.07,-2.71,13,133.24,25.39,16.07,3.82,0.006,0.243,0.114,3456.59,3440.25,3472.94,1961.19,690.50,0,0,0,15.74,15.73,15.71
$GC,361.80,1028,-107.06,-1.56,0.00,3458.4,3441.9,3475.0,1960.9,690.6,49.17,-14.92,69,368.37,0.00,0.00,3.42,0.000,0.000,0.046,3459.88,3442.88,3476.88,1960.00,2131.38,0,0,0,30.00,30.00,15.93
$GC,551.82,516,-107.06,-1.56,-80.00,3458.9,3442.5,3475.3,1961.3,2131.1,73.37,-12.46,107,558.85,0.00,0.00,3.79,0.000,0.000,0.109,3459.59,3443.31,3475.88,1960.69,689.69,0,0,0,30.00,30.00,15.94
$GC,672.32,1028,-107.06,-1.56,0.00,3458.8,3442.3,3475.3,1961.3,689.7,88.58,-12.76,131,679.04,0.00,0.00,3.39,0.000,0.000,0.045,3459.66,3443.25,3476.06,1961.12,2133.38,0,0,0,30.00,30.00,15.99
$GC,862.60,260,-107.06,-1.56,80.00,3459.8,3443.4,3476.1,1961.1,2133.8,109.00,-11.33,161,868.44,0.00,0.00,3.15,0.000,0.000,0.095,3460.00,3443.38,3476.62,1960.94,3363.12,0,0,0,30.00,30.00,15.97
$GC,896.84,1028,-107.06,-1.56,0.00,3459.8,3444.7,3474.8,1961.4,3361.7,113.27,-12.61,168,904.16,0.00,0.00,3.07,0.000,0.000,0.042,3459.53,3443.44,3475.62,1960.88,2066.81,0,0,0,30.00,30.00,16.01
$GC,1212.61,516,-107.06,-1.56,-80.00,3460.4,3443.8,3477.0,1961.5,2067.0,145.78,-10.34,200,1218.72,0.00,0.00,3.62,0.000,0.000,0.114,3460.56,3444.19,3476.94,1960.94,689.56,0,0,0,30.00,30.00,16.02
$GC,1252.81,1028,-107.06,-1.56,0.00,3460.2,3444.0,3476.4,1961.0,689.6,150.58,-12.32,208,1258.57,0.00,0.00,3.40,0.000,0.000,0.045,3460.16,3444.88,3475.44,1960.69,2125.06,0,0,0,30.00,30.00,16.06
$GC,1562.64,0,-107.06,-1.56,0.00,3460.6,3444.4,3476.7,1961.5,2134.7,184.74,-10.36,240,1564.21,0.00,0.00,0.00,0.000,0.000,0.000,3459.53,3443.38,3475.69,1961.31,2134.25,0,0,0,30.00,30.00,30.00
$GC,1872.66,0,-107.06,-1.56,0.00,3460.2,3443.7,3476.8,1961.4,2134.3,214.60,-9.17,271,1874.22,0.00,0.00,0.00,0.000,0.000,0.000,3459.78,3444.62,3474.94,1960.88,2134.19,0,0,0,30.00,30.00,30.00
$GC,2182.70,516,-107.06,-1.56,-80.00,3460.6,3444.3,3476.9,1961.2,2134.3,241.40,-7.91,302,2189.89,0.00,0.00,3.80,0.000,0.000,0.113,3459.25,3442.88,3475.62,1961.19,688.88,0,0,0,30.00,30.00,16.01
$GC,2228.36,1028,-107.06,-1.56,0.00,3460.5,3444.0,3477.0,1961.2,688.9,245.79,-9.28,311,2234.57,0.00,0.00,3.38,0.000,0.000,0.047,3460.69,3445.56,3475.81,1960.75,2133.00,0,0,0,30.00,30.00,16.10
$GC,2538.39,0,-107.06,-1.56,0.00,3460.2,3443.6,3476.8,1960.9,2133.6,272.54,-8.87,343,2539.97,0.00,0.00,0.00,0.000,0.000,0.000,3459.59,3443.81,3475.38,1960.94,2133.25,0,0,0,30.00,30.00,30.00
$GC,2848.42,0,-107.06,-1.56,0.00,3460.5,3444.5,3476.6,1961.2,2133.4,301.36,-9.08,374,2849.99,0.00,0.00,0.00,0.000,0.000,0.000,3459.31,3442.62,3476.00,1960.88,2133.56,0,0,0,30.00,30.00,30.00
$GC,3158.44,0,-107.06,-1.56,0.00,3460.1,3444.1,3476.1,1961.1,2133.4,329.13,-8.89,405,3160.01,0.00,0.00,0.00,0.000,0.000,0.000,3459.31,3443.50,3475.12,1961.38,2133.62,0,0,0,30.00,30.00,30.00
$GC,3468.46,0,-107.06,-1.56,0.00,3460.2,3443.9,3476.4,1960.9,2133.4,354.46,-8.37,436,3470.03,0.00,0.00,0.00,0.000,0.000,0.000,3459.91,3443.12,3476.69,1960.81,2133.31,0,0,0,30.00,30.00,30.00
$STATE,3688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3688,begin apogee
$GC,3690.17,10243,0.00,-0.42,0.00,3460.1,3443.8,3476.4,1960.9,2178.8,373.64,-9.07,458,3780.12,82.65,2.39,0.10,1.381,0.119,0.191,3017.31,2988.69,3045.94,2239.88,2117.19,0,0,0,12.67,16.10,15.74
$STATE,3791,end apogee,CONTROL_FINISHED_OK
$STATE,3791,begin climb
$GC,3794.44,10503,107.06,1.56,80.00,3016.9,2987.1,3046.7,2239.9,2116.8,375.37,0.00,466,3896.69,87.35,3.73,3.31,1.339,0.064,0.095,2580.88,2551.88,2609.88,2725.81,3361.50,0,0,0,12.77,15.82,15.55
$GC,3999.53,17414,107.06,1.56,0.00,2574.4,2542.4,2606.5,2725.6,3361.2,365.44,7.87,505,4006.80,0.00,0.00,2.99,0.000,0.000,0.046,2574.38,2542.19,2606.56,2725.56,2115.62,0,0,0,30.00,30.00,15.81
$GC,4315.32,16902,107.06,1.56,-80.00,2569.3,2539.1,2599.5,2725.6,2114.9,340.86,7.70,537,4322.53,0.00,0.00,3.73,0.000,0.000,0.110,2567.72,2536.56,2598.88,2726.19,689.81,0,0,0,30.00,30.00,15.96
$GC,4495.26,17414,107.06,1.56,0.00,2567.2,2538.4,2596.0,2725.6,689.6,323.55,9.85,573,4502.83,0.00,0.00,3.56,0.000,0.000,0.051,2568.50,2539.56,2597.44,2724.81,2180.50,0,0,0,30.00,30.00,16.03
$GC,4811.06,16646,107.06,1.56,80.00,2565.7,2535.8,2595.6,2725.9,2180.9,298.31,8.03,605,4816.87,0.00,0.00,3.04,0.000,0.000,0.094,2567.59,2538.00,2597.19,2725.12,3361.81,0,0,0,30.00,30.00,15.99
$GC,4971.11,17414,107.06,1.56,0.00,2566.1,2536.4,2595.9,2725.7,3361.5,285.03,8.01,637,4976.86,0.00,0.00,2.94,0.000,0.000,0.045,2566.06,2537.00,2595.12,2726.00,2115.12,0,0,0,30.00,30.00,16.01
$GC,5281.20,16966,107.06,1.59,-80.00,2564.7,2533.6,2595.8,2726.0,2114.9,262.40,7.14,669,5288.35,0.00,0.00,3.71,0.000,0.000,0.109,2566.31,2534.94,2597.69,2724.50,687.56,0,0,0,30.00,30.00,16.03
$GC,5321.06,17414,107.06,1.59,0.00,2563.6,2533.9,2593.2,2726.3,687.8,259.19,7.74,677,5328.62,0.00,0.00,3.54,0.000,0.000,0.051,2563.47,2533.19,2593.75,2726.44,2181.94,0,0,0,30.00,30.00,16.03
$GC,5636.89,18759,107.06,1.66,80.00,2563.8,2533.7,2593.8,2726.1,2182.8,239.97,5.91,709,5642.83,0.00,0.12,3.05,0.000,0.078,0.095,2564.47,2533.88,2595.06,2754.50,3362.44,0,0,0,30.00,16.14,16.09
$GC,5726.91,17478,107.06,1.69,0.00,2563.4,2533.1,2593.8,2755.7,3361.6,233.75,7.03,727,5732.62,0.00,0.00,2.94,0.000,0.000,0.045,2563.41,2533.38,2593.44,2756.31,2114.06,0,0,0,30.00,30.00,16.11
$GC,6037.18,16450,107.06,1.75,0.00,2562.3,2531.5,2593.2,2755.9,2113.5,214.57,5.86,759,6038.75,0.00,0.00,0.00,0.000,0.000,0.000,2561.81,2530.50,2593.12,2755.44,2113.38,0,0,0,30.00,30.00,30.00
$GC,6347.20,10791,171.51,1.84,-80.00,2562.3,2530.8,2593.8,2755.1,2113.3,198.20,4.75,790,6405.84,48.82,0.23,3.74,1.189,0.053,0.110,2318.06,2286.75,2349.38,2801.69,687.38,0,0,0,12.71,16.14,15.87
$GC,6449.42,5125,171.51,1.84,0.00,2313.6,2286.0,2341.2,2801.2,687.7,189.84,11.06,810,6456.73,0.00,0.30,3.58,0.000,0.162,0.050,2311.72,2283.81,2339.62,2780.50,2180.38,0,0,0,30.00,15.92,15.96
$GC,6764.43,16646,171.51,1.84,80.00,2308.3,2275.6,2341.1,2780.4,2181.1,158.93,9.86,842,6770.27,0.00,0.00,3.07,0.000,0.000,0.096,2309.59,2276.38,2342.81,2780.88,3361.56,0,0,0,30.00,30.00,16.01
$GC,6788.68,17414,171.51,1.84,0.00,2308.2,2275.6,2340.8,2780.9,3361.1,156.33,9.98,847,6795.98,0.00,0.00,2.96,0.000,0.000,0.045,2308.19,2274.75,2341.62,2780.69,2117.62,0,0,0,30.00,30.00,16.02
$GC,7104.47,16646,171.51,1.84,80.00,2307.2,2273.9,2340.5,2780.7,2117.6,126.55,9.91,879,7110.42,0.00,0.00,3.20,0.000,0.000,0.092,2308.06,2274.88,2341.25,2780.56,3362.25,0,0,0,30.00,30.00,16.05
$GC,7208.74,17414,171.51,1.84,0.00,2306.3,2272.2,2340.4,2779.9,3361.2,115.77,9.83,900,7216.00,0.00,0.00,2.94,0.000,0.000,0.045,2308.56,2275.12,2342.00,2781.00,2114.94,0,0,0,30.00,30.00,16.07
$GC,7519.77,16386,171.51,1.84,0.00,2305.7,2271.3,2340.1,2780.6,2115.1,89.86,7.55,944,7524.43,0.00,0.00,0.00,0.000,0.000,0.000,2306.12,2271.31,2340.94,2780.50,2115.31,0,0,0,30.00,30.00,30.00
$GC,7705.06,16386,171.51,1.84,0.00,2305.1,2271.1,2339.1,2780.5,2115.7,76.24,8.02,981,7709.48,0.00,0.00,0.00,0.000,0.000,0.000,2305.38,2271.25,2339.50,2781.31,2115.06,0,0,0,30.00,30.00,30.00
$GC,7894.67,16966,171.51,1.86,-80.00,2304.7,2270.5,2338.8,2780.5,2115.6,63.36,7.11,1019,7901.50,0.00,0.00,3.69,0.000,0.000,0.107,2304.72,2271.06,2338.38,2780.50,687.62,0,0,0,30.00,30.00,16.06
$GC,8130.03,11303,265.25,1.99,0.00,2303.5,2270.6,2336.4,2779.7,687.8,51.74,3.25,1066,8237.28,95.35,0.41,3.55,0.998,0.040,0.050,1937.81,1910.12,1965.50,2834.00,2185.56,0,0,0,12.69,16.14,16.07
$GC,8420.88,580,265.25,2.03,-80.00,1934.6,1905.2,1963.9,2834.6,2185.1,33.53,6.71,1123,8427.87,0.00,0.00,3.92,0.000,0.000,0.104,1935.09,1905.81,1964.38,2834.94,687.94,0,0,0,30.00,30.00,15.88
$GC,8606.44,1028,265.25,2.03,0.00,1933.1,1905.3,1960.9,2834.6,687.9,19.39,8.90,1160,8613.26,0.00,0.00,3.57,0.000,0.000,0.050,1934.31,1906.00,1962.62,2833.94,2180.69,0,0,0,30.00,30.00,15.92
$GC,8796.74,10275,349.93,2.14,0.00,1931.8,1902.0,1961.6,2834.5,2180.2,9.44,3.71,1198,8880.98,80.18,0.20,0.00,0.946,0.054,0.000,1593.25,1575.25,1611.25,2870.50,2181.06,0,0,0,12.59,15.98,30.00
$STATE,8964,end climb,SURFACE_DEPTH_REACHED
$STATE,8964,begin surface coast
$FINISH,0.1,1.023907
$STATE,9004,end surface coast,CONTROL_FINISHED_OK
$STATE,9005,begin surface
$SURF,forcing
$SM_CCo,9164.21,116.57,0.947,0,1083.3,1103.8,1062.8,475.08
$SM_GC,1.69,116.57,20.04,0.23,0.947,0.046,0.088,1083.3,1103.8,1062.8,190.4,2048.0,0,0,0,12.73,15.88,15.87
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4752.03,-12518.46,130723,100343
$TCM_TEMP,257.91
$XPDR_PINGS,0,14.0,11.5
$SC_FREEKB,3810944
$HUMID,50.25
$TEMP,81.29
$INTERNAL_PRESSURE,8.92589
$24V_AH,14.93,76.507
$10V_AH,15.00,0.000
$FG_AHR_24Vo,50.664
$FG_AHR_10Vo,18.766
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,601.475,43.490,102.370,239.766,0.000,13.518,4332.833,5.165,0.000,4990.813,2590.463,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1380.960,242.800,191.304,217.898,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9019.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.912,0.000,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,970768,22,76220,57
$DATA_FILE_SIZE,35277,1239
$CAP_FILE_SIZE,477376,0
$SDSIZE,4028416,3957536
$SDFILEDIR,1109,180
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$MAGCAL,1.000000,0.012230,0.020993,-0.028956,1.059216,-0.039844,-0.026812,-0.033914,1.030611,209.0,-565.0,-593.4,26,0.0291,0
$IMPLIED_C_PITCH,2354,12.37,883,0.0,0.00
$IMPLIED_C_VBD,3226,35.328018,471,0
$GPS,130723,152609,4751.666,-12515.987,3,0.9,24,15.8