version: 67.01
glider: 236
mission: 2
dive: 285
start: 8 6 123 5 27 37
data:
$ID,236
$MISSION,2
$DIVE,285
$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,28.606379
$FG_AHR_24V,73.786705
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.23515
$PRESSURE_SLOPE,0.00022672296
$COMPASS_USE,32772
$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
$GPS1,060823,052238,4751.891,-12515.852,37,1.2,37,15.8
$_CALLS,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-64.0
$GPS2,060823,052718,4751.842,-12515.876,4,1.2,6,15.8
$SPEED_LIMITS,0.139,0.208
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$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,218.1,162832,-17.1,-8.049,-21.16,2007,0.233
$D_GRID,383
$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,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,9.02,16386,-107.06,-1.56,0.00,1083.6,1084.4,1082.8,184.8,2145.5,0.00,0.00,0,75.93,65.29,0.00,0.00,0.005,0.000,0.000,2465.59,2457.06,2474.12,184.62,2145.50,0,0,0,15.69,30.00,30.00
$GC,76.37,18727,-107.06,-1.56,80.00,2465.1,2456.8,2473.4,184.8,2145.6,3.59,-3.58,13,127.21,23.19,14.26,3.11,0.006,0.243,0.096,3456.72,3439.81,3473.62,1961.12,3362.88,0,0,0,15.70,15.73,15.65
$GC,315.75,1028,-107.06,-1.56,0.00,3458.7,3444.0,3473.4,1960.9,3363.2,44.95,-12.86,60,322.16,0.00,0.00,3.02,0.000,0.000,0.037,3460.34,3445.94,3474.75,1960.19,2064.50,0,0,0,30.00,30.00,15.89
$GC,505.76,260,-107.06,-1.56,80.00,3459.5,3444.0,3474.9,1961.6,2064.1,69.08,-13.20,98,512.26,0.00,0.00,3.27,0.000,0.000,0.086,3459.81,3443.94,3475.69,1961.19,3362.19,0,0,0,30.00,30.00,15.93
$GC,570.77,1028,-107.06,-1.56,0.00,3459.7,3445.1,3474.2,1960.9,3362.1,77.57,-13.01,111,577.17,0.00,0.00,3.00,0.000,0.000,0.037,3461.09,3445.50,3476.69,1961.19,2065.19,0,0,0,30.00,30.00,15.94
$GC,761.08,0,-107.06,-1.56,0.00,3460.7,3444.1,3477.4,1961.4,2065.6,98.53,-10.86,149,765.52,0.00,0.00,0.00,0.000,0.000,0.000,3460.66,3444.56,3476.75,1961.25,2065.56,0,0,0,30.00,30.00,30.00
$GC,955.84,260,-107.06,-1.56,80.00,3460.8,3443.7,3478.0,1961.4,2065.6,117.34,-9.39,170,961.73,0.00,0.00,3.26,0.000,0.000,0.086,3462.53,3445.69,3479.38,1960.75,3362.44,0,0,0,30.00,30.00,15.96
$GC,1055.85,1028,-107.06,-1.56,0.00,3461.3,3444.1,3478.6,1961.4,3363.4,128.85,-11.91,190,1061.65,0.00,0.00,3.01,0.000,0.000,0.037,3462.16,3444.88,3479.44,1961.44,2065.00,0,0,0,30.00,30.00,15.97
$GC,1365.86,0,-107.06,-1.56,0.00,3462.2,3444.4,3480.0,1961.1,2064.3,159.37,-9.28,222,1367.43,0.00,0.00,0.00,0.000,0.000,0.000,3461.94,3443.44,3480.44,1961.25,2064.50,0,0,0,30.00,30.00,30.00
$GC,1675.87,0,-107.06,-1.56,0.00,3462.6,3444.6,3480.5,1960.5,2064.2,189.56,-10.75,253,1677.44,0.00,0.00,0.00,0.000,0.000,0.000,3462.16,3443.88,3480.44,1960.69,2064.62,0,0,0,30.00,30.00,30.00
$GC,1985.89,0,-107.06,-1.56,0.00,3462.5,3444.7,3480.2,1961.0,2064.1,224.28,-11.57,284,1987.46,0.00,0.00,0.00,0.000,0.000,0.000,3462.25,3444.56,3479.94,1961.31,2064.06,0,0,0,30.00,30.00,30.00
$GC,2295.90,260,-107.06,-1.56,80.00,3462.4,3444.8,3480.1,1961.2,2064.5,257.20,-9.99,315,2301.80,0.00,0.00,3.28,0.000,0.000,0.089,3462.25,3445.00,3479.50,1961.06,3362.62,0,0,0,30.00,30.00,16.00
$GC,2356.23,1028,-107.06,-1.56,0.00,3462.2,3444.0,3480.3,1961.2,3363.5,263.73,-10.97,327,2361.70,0.00,0.00,3.03,0.000,0.000,0.041,3463.12,3445.94,3480.31,1960.25,2066.25,0,0,0,30.00,30.00,16.00
$GC,2665.92,0,-107.06,-1.56,0.00,3462.2,3444.9,3479.5,1961.4,2067.1,294.12,-10.12,359,2667.49,0.00,0.00,0.00,0.000,0.000,0.000,3462.19,3444.38,3480.00,1961.12,2066.69,0,0,0,30.00,30.00,30.00
$GC,2975.93,260,-107.06,-1.56,80.00,3461.8,3444.2,3479.5,1961.4,2066.8,325.39,-9.10,390,2981.86,0.00,0.00,3.26,0.000,0.000,0.089,3463.41,3444.88,3481.94,1960.69,3360.69,0,0,0,30.00,30.00,16.05
$GC,3020.17,1028,-107.06,-1.56,0.00,3462.7,3445.1,3480.3,1960.7,3361.2,330.05,-10.34,399,3027.49,0.00,0.00,3.01,0.000,0.000,0.041,3463.75,3445.56,3481.94,1961.00,2066.56,0,0,0,30.00,30.00,16.09
$GC,3335.95,0,-107.06,-1.56,0.00,3461.5,3443.6,3479.4,1960.9,2066.8,360.43,-9.37,431,3337.52,0.00,0.00,0.00,0.000,0.000,0.000,3461.31,3444.38,3478.25,1961.12,2067.25,0,0,0,30.00,30.00,30.00
$STATE,3585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3586,begin apogee
$GC,3587.91,10243,0.00,-0.42,0.00,3461.7,3444.2,3479.2,1961.1,2191.8,383.81,-9.58,456,3677.64,82.00,2.45,0.13,1.402,0.114,0.154,3017.47,2987.44,3047.50,2240.62,2112.00,0,0,0,12.36,16.05,15.75
$STATE,3683,end apogee,CONTROL_FINISHED_OK
$STATE,3683,begin climb
$GC,3685.91,10243,107.06,1.56,0.00,3018.2,2987.8,3048.6,2241.8,2112.1,385.76,0.00,464,3782.04,86.82,3.85,0.00,1.351,0.060,0.000,2580.53,2550.38,2610.69,2727.69,2111.81,0,0,0,12.77,15.82,30.00
$GC,4085.65,16966,107.06,1.61,-80.00,2569.8,2538.8,2600.9,2726.8,2111.6,364.78,6.53,504,4092.77,0.00,0.00,3.69,0.000,0.000,0.106,2567.12,2535.38,2598.88,2726.50,687.94,0,0,0,30.00,30.00,15.91
$GC,4231.38,17414,107.06,1.61,0.00,2567.4,2538.6,2596.1,2727.2,687.9,353.66,7.57,533,4237.43,0.00,0.00,3.53,0.000,0.000,0.047,2569.91,2541.44,2598.38,2726.56,2183.06,0,0,0,30.00,30.00,15.96
$GC,4541.43,18499,107.06,1.68,0.00,2566.2,2535.6,2596.8,2726.9,2183.2,335.58,5.60,565,4543.19,0.00,0.19,0.00,0.000,0.055,0.000,2565.19,2534.94,2595.44,2761.94,2184.12,0,0,0,30.00,16.09,30.00
$GC,4851.44,16966,107.06,1.75,-80.00,2565.7,2534.4,2597.0,2763.1,2183.9,317.63,5.79,596,4858.90,0.00,0.00,3.86,0.000,0.000,0.100,2565.19,2534.31,2596.06,2761.94,686.88,0,0,0,30.00,30.00,16.04
$GC,4931.79,17478,107.06,1.78,0.00,2563.9,2533.6,2594.1,2762.8,686.6,311.94,7.07,612,4939.30,0.00,0.00,3.49,0.000,0.000,0.046,2563.91,2534.38,2593.44,2763.19,2187.44,0,0,0,30.00,30.00,16.05
$GC,5247.55,18499,107.06,1.84,0.00,2563.4,2533.2,2593.7,2762.3,2187.8,291.32,6.24,644,5249.31,0.00,0.19,0.00,0.000,0.054,0.000,2564.19,2534.44,2593.94,2799.62,2187.88,0,0,0,30.00,16.09,30.00
$GC,5557.56,16966,107.06,1.87,-80.00,2562.7,2531.5,2593.9,2801.1,2187.9,269.76,6.73,675,5564.79,0.00,0.00,3.83,0.000,0.000,0.099,2561.25,2530.44,2592.06,2801.12,686.94,0,0,0,30.00,30.00,16.02
$GC,5673.28,17414,107.06,1.87,0.00,2560.9,2531.2,2590.6,2801.1,687.0,261.07,7.63,698,5679.57,0.00,0.00,3.48,0.000,0.000,0.046,2561.50,2531.62,2591.38,2800.94,2186.19,0,0,0,30.00,30.00,16.06
$GC,5983.33,10535,192.40,1.99,80.00,2561.2,2531.6,2590.8,2801.0,2186.5,245.97,3.68,730,6058.37,64.80,0.14,3.02,1.253,0.065,0.092,2233.16,2200.69,2265.62,2836.88,3363.19,0,0,0,12.35,16.14,15.80
$GC,6171.09,21511,192.40,1.99,0.00,2226.2,2190.4,2262.0,2836.9,3364.0,228.33,13.76,767,6178.57,0.00,0.29,2.93,0.000,0.145,0.038,2227.81,2191.25,2264.38,2816.06,2113.75,0,0,0,30.00,15.84,15.92
$GC,6487.11,16386,192.40,1.99,0.00,2221.6,2186.2,2256.9,2816.1,2114.0,190.13,12.91,799,6488.68,0.00,0.00,0.00,0.000,0.000,0.000,2220.78,2184.56,2257.00,2815.38,2114.19,0,0,0,30.00,30.00,30.00
$GC,6796.90,16646,192.40,1.99,80.00,2219.9,2183.6,2256.1,2815.9,2113.3,148.26,12.89,830,6802.79,0.00,0.00,3.17,0.000,0.000,0.087,2219.78,2184.31,2255.25,2816.00,3364.75,0,0,0,30.00,30.00,15.96
$GC,6936.91,17414,192.40,1.99,0.00,2219.3,2183.0,2255.7,2815.6,3364.9,130.12,13.04,858,6942.68,0.00,0.00,2.91,0.000,0.000,0.038,2219.22,2183.12,2255.31,2815.44,2115.25,0,0,0,30.00,30.00,15.98
$GC,7246.93,16646,192.40,1.99,80.00,2218.0,2181.8,2254.2,2815.9,2113.6,97.74,8.99,892,7253.55,0.00,0.00,3.17,0.000,0.000,0.086,2218.31,2182.00,2254.62,2815.81,3364.12,0,0,0,30.00,30.00,15.98
$GC,7387.05,17414,192.40,1.99,0.00,2218.2,2181.7,2254.8,2815.7,3364.1,84.43,9.60,920,7393.52,0.00,0.00,2.89,0.000,0.000,0.037,2218.41,2181.69,2255.12,2815.56,2115.12,0,0,0,30.00,30.00,15.98
$GC,7577.39,19015,192.40,2.06,-80.00,2217.7,2180.8,2254.5,2815.5,2114.8,72.84,5.54,958,7584.18,0.00,0.25,3.63,0.000,0.050,0.100,2218.38,2181.25,2255.50,2854.50,686.62,0,0,0,30.00,16.03,15.94
$GC,7607.79,17478,192.40,2.13,0.00,2216.5,2180.4,2252.7,2854.8,686.5,71.01,5.81,964,7614.71,0.00,0.00,3.47,0.000,0.000,0.044,2217.69,2181.50,2253.88,2854.69,2189.94,0,0,0,30.00,30.00,15.97
$GC,7798.19,10535,255.99,2.21,80.00,2216.7,2180.6,2252.8,2854.1,2189.7,62.50,4.79,1002,7873.27,65.57,0.17,2.99,1.007,0.059,0.090,1975.16,1945.06,2005.25,2889.56,3365.38,0,0,0,12.43,16.06,15.81
$GC,8101.93,1092,255.99,2.25,0.00,1969.7,1935.4,2004.0,2889.2,3365.8,40.37,6.84,1062,8108.43,0.00,0.00,2.91,0.000,0.000,0.038,1969.88,1935.75,2004.00,2889.12,2114.94,0,0,0,30.00,30.00,15.90
$GC,8291.95,64,255.99,2.27,0.00,1968.4,1934.6,2002.1,2889.0,2115.4,23.95,7.23,1100,8296.39,0.00,0.00,0.00,0.000,0.000,0.000,1968.69,1935.00,2002.38,2889.19,2115.38,0,0,0,30.00,30.00,30.00
$GC,8477.22,10791,464.05,2.54,-80.00,1967.0,1933.8,2000.2,2889.5,2115.3,25.41,-2.60,1137,8705.34,211.30,0.52,3.80,0.954,0.039,0.106,1127.56,1117.12,1138.00,2972.44,688.56,0,0,0,12.46,15.96,15.58
$STATE,8763,end climb,SURFACE_DEPTH_REACHED
$STATE,8764,begin surface coast
$FINISH,-0.0,1.023312
$STATE,8784,end surface coast,CONTROL_FINISHED_OK
$STATE,8784,begin surface
$SURF,forcing
$SM_CCo,8842.28,12.75,0.819,0,1084.2,1084.8,1083.8,474.84
$SM_GC,1.07,12.75,21.51,3.40,0.819,0.039,0.046,1084.2,1084.8,1083.8,184.2,2136.8,0,0,0,12.56,15.86,15.80
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.64,-12513.98,060823,033341
$TCM_TEMP,258.57
$XPDR_PINGS,0,14.0,11.5
$SC_FREEKB,3770112
$HUMID,50.89
$TEMP,81.22
$INTERNAL_PRESSURE,8.93107
$24V_AH,15.05,109.327
$10V_AH,15.00,0.000
$FG_AHR_24Vo,73.948
$FG_AHR_10Vo,28.669
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,611.735,43.815,91.895,193.377,0.000,14.938,4223.777,6.442,0.000,4835.768,2505.175,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1401.624,242.800,154.240,224.262,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8797.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.590,0.000,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,970700,25,76228,57
$DATA_FILE_SIZE,35306,1196
$CAP_FILE_SIZE,461496,0
$SDSIZE,4028416,3916288
$SDFILEDIR,1745,286
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$IMPLIED_C_PITCH,2360,12.03,866,0.0,0.00
$IMPLIED_C_VBD,3193,45.163269,551,0
$GPS,060823,075539,4751.433,-12517.869,24,1.0,25,15.8