version: 67.01
glider: 236
mission: 2
dive: 89
start: 6 21 123 16 51 23
data:
$ID,236
$MISSION,2
$DIVE,89
$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,10.078396
$FG_AHR_24V,29.346964
$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
$GPS1,210623,164602,4751.545,-12515.021,7,0.8,19,15.8
$_CALLS,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.4
$GPS2,210623,165104,4751.537,-12514.971,3,0.6,6,15.8
$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,67.1,5886,-17.1,-8.049,-21.16,2007,0.239
$D_GRID,318
$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,8.89,16386,-107.06,-1.56,0.00,1088.1,1098.8,1077.4,187.8,2142.9,0.00,0.00,0,80.79,70.24,0.00,0.00,0.005,0.000,0.000,2564.38,2562.94,2565.81,187.88,2142.44,0,0,0,15.77,30.00,30.00
$GC,81.22,18727,-107.06,-1.56,80.00,2562.1,2560.4,2563.8,187.8,2142.8,3.06,-2.55,14,133.16,24.35,16.48,3.22,0.006,0.237,0.106,3456.34,3441.00,3471.69,1961.25,3361.25,0,0,0,15.78,15.74,15.73
$GC,136.44,1028,-107.06,-1.56,0.00,3458.4,3444.0,3472.8,1961.7,3361.1,10.76,-13.92,24,142.92,0.00,0.00,3.10,0.000,0.000,0.051,3459.69,3445.38,3474.00,1960.94,2070.31,0,0,0,30.00,30.00,15.85
$GC,326.53,516,-107.06,-1.56,-80.00,3458.2,3443.6,3472.8,1961.0,2070.8,43.60,-16.37,62,333.20,0.00,0.00,3.63,0.000,0.000,0.121,3460.47,3445.69,3475.25,1960.94,688.88,0,0,0,30.00,30.00,15.90
$GC,561.62,1028,-107.06,-1.56,0.00,3458.4,3444.1,3472.8,1960.8,689.1,79.50,-12.73,109,568.18,0.00,0.00,3.44,0.000,0.000,0.054,3460.25,3445.56,3474.94,1960.50,2129.75,0,0,0,30.00,30.00,15.96
$GC,751.63,516,-107.06,-1.56,-80.00,3458.9,3444.0,3473.8,1961.1,2129.9,101.34,-10.42,146,758.62,0.00,0.00,3.76,0.000,0.000,0.117,3458.94,3442.94,3474.94,1960.12,688.88,0,0,0,30.00,30.00,15.96
$GC,907.05,1028,-107.06,-1.56,0.00,3459.1,3443.7,3474.5,1961.1,689.0,118.22,-10.81,177,912.87,0.00,0.00,3.40,0.000,0.000,0.053,3459.56,3444.25,3474.88,1961.38,2130.00,0,0,0,30.00,30.00,16.02
$GC,1217.10,516,-107.06,-1.56,-80.00,3459.8,3444.2,3475.2,1961.1,2130.1,148.88,-10.08,209,1223.04,0.00,0.00,3.71,0.000,0.000,0.116,3461.28,3445.75,3476.81,1960.50,688.75,0,0,0,30.00,30.00,16.03
$GC,1257.11,1028,-107.06,-1.56,0.00,3459.7,3444.5,3474.8,1960.9,688.8,153.31,-11.38,217,1262.88,0.00,0.00,3.38,0.000,0.000,0.055,3461.50,3445.62,3477.38,1961.38,2133.06,0,0,0,30.00,30.00,16.05
$GC,1567.14,260,-107.06,-1.56,80.00,3459.8,3444.8,3474.8,1961.2,2131.9,187.46,-10.83,249,1573.22,0.00,0.00,3.16,0.000,0.000,0.103,3460.06,3444.88,3475.25,1960.94,3360.06,0,0,0,30.00,30.00,16.05
$GC,1607.17,1028,-107.06,-1.56,0.00,3459.8,3444.1,3475.6,1961.2,3359.3,192.26,-12.06,257,1613.01,0.00,0.00,3.04,0.000,0.000,0.051,3460.22,3445.06,3475.38,1960.88,2068.44,0,0,0,30.00,30.00,16.07
$GC,1917.20,516,-107.06,-1.56,-80.00,3460.1,3444.9,3475.4,1961.3,2068.6,226.89,-10.65,289,1923.26,0.00,0.00,3.59,0.000,0.000,0.122,3461.25,3445.50,3477.00,1961.38,690.75,0,0,0,30.00,30.00,16.09
$GC,1987.22,1028,-107.06,-1.56,0.00,3459.8,3443.9,3475.7,1960.8,690.8,235.98,-12.74,303,1993.22,0.00,0.00,3.40,0.000,0.000,0.056,3460.91,3445.50,3476.31,1961.25,2130.62,0,0,0,30.00,30.00,16.10
$GC,2297.27,516,-107.06,-1.56,-80.00,3459.7,3444.3,3475.1,1961.1,2129.8,268.92,-10.62,335,2304.44,0.00,0.00,3.73,0.000,0.000,0.119,3460.56,3444.56,3476.56,1961.19,688.69,0,0,0,30.00,30.00,16.10
$GC,2362.88,1028,-107.06,-1.56,0.00,3459.9,3444.6,3475.2,1961.2,688.5,276.62,-11.81,348,2368.87,0.00,0.00,3.36,0.000,0.000,0.056,3460.50,3445.12,3475.88,1961.94,2129.81,0,0,0,30.00,30.00,16.11
$GC,2672.91,516,-107.06,-1.56,-80.00,3460.0,3444.9,3475.1,1961.2,2130.1,307.75,-9.92,380,2680.10,0.00,0.00,3.71,0.000,0.000,0.119,3459.72,3445.56,3473.88,1960.56,690.06,0,0,0,30.00,30.00,16.13
$GC,2738.55,1028,-107.06,-1.56,0.00,3460.0,3444.4,3475.6,1960.5,690.1,315.10,-11.23,393,2744.51,0.00,0.00,3.37,0.000,0.000,0.058,3460.19,3445.12,3475.25,1961.56,2129.31,0,0,0,30.00,30.00,16.14
$STATE,2768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2768,begin apogee
$GC,2770.53,10243,0.00,-0.42,0.00,3459.9,3444.5,3475.2,1961.5,2176.6,318.06,-10.07,397,2859.14,81.13,2.37,0.09,1.286,0.120,0.199,3016.88,2987.88,3045.88,2240.25,2115.56,0,0,0,12.89,16.09,15.73
$WARN,HSCICON missed fuel gauge read
$STATE,2870,end apogee,CONTROL_FINISHED_OK
$STATE,2870,begin climb
$GC,2873.42,10243,107.06,1.56,0.00,3017.0,2989.0,3045.1,2239.8,2116.6,320.03,0.00,405,2969.46,86.20,3.77,0.00,1.246,0.061,0.000,2580.41,2554.69,2606.12,2727.50,2116.19,0,0,0,12.68,15.84,30.00
$GC,3273.01,16710,107.06,1.59,80.00,2570.5,2541.1,2600.0,2726.5,2116.3,296.40,7.24,445,3278.88,0.00,0.00,3.21,0.000,0.000,0.099,2571.34,2542.12,2600.56,2726.19,3361.25,0,0,0,30.00,30.00,15.89
$GC,3317.22,17414,107.06,1.59,0.00,2570.9,2541.4,2600.4,2726.2,3360.5,292.98,7.61,454,3324.49,0.00,0.00,2.95,0.000,0.000,0.051,2570.81,2541.31,2600.31,2726.50,2116.62,0,0,0,30.00,30.00,15.93
$GC,3633.04,16450,107.06,1.62,0.00,2568.7,2539.2,2598.2,2727.2,2116.4,269.71,7.13,486,3634.61,0.00,0.00,0.00,0.000,0.000,0.000,2568.06,2538.38,2597.75,2726.81,2116.38,0,0,0,30.00,30.00,30.00
$GC,3943.09,19015,107.06,1.65,-80.00,2566.9,2536.7,2597.1,2727.1,2116.6,249.88,6.81,517,3950.56,0.00,0.10,3.66,0.000,0.085,0.113,2570.31,2539.88,2600.75,2754.19,687.69,0,0,0,30.00,16.06,16.01
$GC,4049.13,21511,107.06,1.65,0.00,2566.1,2537.4,2594.8,2755.6,687.8,240.75,8.77,538,4056.40,0.00,0.28,3.49,0.000,0.167,0.060,2564.53,2537.00,2592.06,2737.12,2179.56,0,0,0,30.00,16.01,16.04
$GC,4364.20,18499,107.06,1.71,0.00,2565.8,2536.6,2595.0,2737.2,2179.4,219.87,6.04,570,4366.01,0.00,0.21,0.00,0.000,0.052,0.000,2568.72,2539.62,2597.81,2771.50,2179.88,0,0,0,30.00,16.11,30.00
$GC,4674.22,16450,107.06,1.78,0.00,2565.4,2536.0,2594.9,2771.6,2179.5,199.34,5.74,601,4675.79,0.00,0.00,0.00,0.000,0.000,0.000,2564.56,2534.81,2594.31,2771.31,2179.81,0,0,0,30.00,30.00,30.00
$GC,4984.23,10275,179.58,1.88,0.00,2564.9,2535.8,2594.1,2772.0,2179.6,185.10,4.34,632,5042.15,54.91,0.17,0.00,1.142,0.061,0.000,2286.22,2255.75,2316.69,2812.06,2180.06,0,0,0,12.90,16.13,30.00
$GC,5345.54,20743,179.58,1.88,80.00,2278.4,2243.6,2313.2,2811.9,2179.9,145.86,13.52,668,5351.55,0.00,0.25,3.08,0.000,0.154,0.100,2280.44,2245.25,2315.62,2790.31,3360.69,0,0,0,30.00,15.98,15.97
$GC,5535.58,17414,179.58,1.88,0.00,2276.2,2239.6,2312.9,2791.5,3360.8,119.83,13.66,706,5541.34,0.00,0.00,2.98,0.000,0.000,0.052,2276.88,2240.88,2312.88,2791.00,2119.38,0,0,0,30.00,30.00,16.02
$GC,5845.60,16386,179.58,1.88,0.00,2275.3,2238.9,2311.7,2790.9,2119.5,85.76,10.61,750,5849.98,0.00,0.00,0.00,0.000,0.000,0.000,2275.97,2239.62,2312.31,2791.31,2119.94,0,0,0,30.00,30.00,30.00
$GC,6035.68,18499,179.58,1.94,0.00,2275.1,2238.8,2311.4,2791.1,2120.0,70.61,6.03,788,6040.25,0.00,0.20,0.00,0.000,0.055,0.000,2277.56,2241.00,2314.12,2826.69,2120.25,0,0,0,30.00,16.10,30.00
$GC,6225.71,8486,251.98,2.03,80.00,2274.8,2238.6,2311.0,2826.9,2120.4,60.69,4.34,826,6317.68,83.81,0.00,3.27,0.971,0.000,0.097,1991.00,1960.19,2021.81,2827.50,3361.31,0,0,0,12.79,30.00,15.74
$GC,6401.11,1028,251.98,2.03,0.00,1990.6,1959.0,2022.2,2827.1,3361.3,45.95,10.63,860,6407.62,0.00,0.00,3.00,0.000,0.000,0.050,1992.75,1961.00,2024.50,2826.56,2118.75,0,0,0,30.00,30.00,15.87
$GC,6591.20,2629,251.98,2.08,-80.00,1988.2,1954.6,2021.8,2827.1,2118.1,31.60,6.55,898,6598.28,0.00,0.14,3.74,0.000,0.069,0.112,1988.31,1954.88,2021.75,2856.88,689.81,0,0,0,30.00,15.96,15.91
$GC,6721.72,5125,251.98,2.08,0.00,1987.7,1955.0,2020.3,2856.3,689.9,20.18,9.48,924,6728.75,0.00,0.28,3.57,0.000,0.161,0.058,1987.53,1954.56,2020.50,2839.06,2180.62,0,0,0,30.00,15.95,15.98
$GC,6912.20,10535,324.94,2.17,80.00,1986.8,1953.2,2020.3,2838.8,2180.6,9.47,4.31,962,6997.89,74.52,0.29,3.10,0.923,0.042,0.101,1695.25,1672.69,1717.81,2881.00,3359.50,0,0,0,12.67,16.01,15.72
$STATE,7026,end climb,SURFACE_DEPTH_REACHED
$STATE,7026,begin surface coast
$FINISH,0.1,1.024340
$STATE,7051,end surface coast,CONTROL_FINISHED_OK
$STATE,7051,begin surface
$SURF,forcing
$SM_CCo,7245.00,146.12,0.920,0,1084.2,1104.1,1064.4,474.84
$SM_GC,1.44,146.12,20.18,3.08,0.920,0.045,0.050,1084.2,1104.1,1064.4,189.2,2070.4,0,0,0,12.80,15.85,15.85
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4752.03,-12518.46,210623,141353
$TCM_TEMP,257.35
$XPDR_PINGS,0,14.0,11.5
$SC_FREEKB,3844992
$HUMID,50.25
$TEMP,81.33
$INTERNAL_PRESSURE,8.92278
$24V_AH,14.88,47.003
$10V_AH,14.97,0.000
$FG_AHR_24Vo,29.506
$FG_AHR_10Vo,10.133
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,621.280,44.705,94.410,216.016,0.000,15.166,3539.693,3.956,0.000,3806.306,2049.755,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1285.512,237.224,198.848,227.978,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7061.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.621,0.000,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,970744,23,76224,57
$DATA_FILE_SIZE,28882,989
$CAP_FILE_SIZE,234557,0
$SDSIZE,4028416,3988096
$SDFILEDIR,569,90
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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