version: 67.00
glider: 236
mission: 2
dive: 756
start: 3 6 121 11 59 22
data:
$ID,236
$MISSION,2
$DIVE,756
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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,180
$T_MISSION,200
$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,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72660
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099900002
$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,425
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,190
$PITCH_MAX,3920
$C_PITCH,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,20
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,670
$ROLL_MAX,3465
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$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,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,150
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,64.340736
$FG_AHR_24V,185.92934
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.66119
$PRESSURE_SLOPE,0.00022638284
$COMPASS_USE,4
$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,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,120
$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
$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
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$GPS1,060321,115202,4706.785,-12649.463,8,0.9,20,15.8
$_CALLS,1
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-61.3
$GPS2,060321,115904,4706.731,-12649.576,3,0.7,6,15.8
$SPEED_LIMITS,0.160,0.227
$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,210.8,18132,-18.6,-9.259,-22.19
$D_GRID,990
$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,7.72,16386,-116.79,-1.28,0.00,761.3,765.2,757.5,170.2,2121.2,0.00,0.00,0,87.91,79.46,0.00,0.00,0.005,0.000,0.000,2458.88,2443.69,2474.06,170.31,2123.81,0,0,0,14.73,30.00,30.00
$GC,88.18,18727,-116.79,-1.28,80.00,2458.9,2443.2,2474.6,170.2,2124.2,3.23,-3.94,15,125.17,13.18,14.64,3.87,0.006,0.248,0.117,2975.19,2969.62,2980.75,1830.19,3473.81,0,0,0,14.94,15.19,14.75
$GC,127.95,1028,-116.79,-1.28,0.00,2975.3,2969.3,2981.2,1830.0,3473.0,10.68,-16.31,23,133.70,0.00,0.00,3.52,0.000,0.000,0.060,2977.59,2971.81,2983.38,1829.88,2082.94,0,0,0,30.00,30.00,15.53
$GC,313.01,260,-116.79,-1.28,80.00,2975.5,2969.7,2981.3,1830.2,2083.4,43.37,-17.23,60,318.85,0.00,0.00,3.92,0.000,0.000,0.111,2977.78,2971.94,2983.62,1829.62,3472.75,0,0,0,30.00,30.00,15.47
$GC,343.02,1028,-116.79,-1.28,0.00,2975.6,2969.6,2981.6,1830.6,3472.9,48.96,-18.52,66,348.77,0.00,0.00,3.50,0.000,0.000,0.060,2975.44,2969.12,2981.75,1830.06,2082.00,0,0,0,30.00,30.00,15.57
$GC,528.17,516,-116.79,-1.28,-80.00,2975.3,2969.4,2981.2,1830.4,2081.8,78.95,-12.61,103,533.97,0.00,0.00,4.20,0.000,0.000,0.155,2975.34,2969.56,2981.12,1830.06,663.81,0,0,0,30.00,30.00,15.37
$GC,653.13,1028,-116.79,-1.28,0.00,2975.2,2969.2,2981.3,1829.9,664.1,96.53,-13.15,128,658.92,0.00,0.00,3.62,0.000,0.000,0.054,2976.31,2970.44,2982.19,1830.06,2120.69,0,0,0,30.00,30.00,15.66
$GC,843.17,0,-116.79,-1.28,0.00,2975.8,2970.1,2981.6,1830.1,2121.2,118.05,-11.15,150,844.50,0.00,0.00,0.00,0.000,0.000,0.000,2975.84,2969.56,2982.12,1829.81,2120.56,0,0,0,30.00,30.00,30.00
$GC,1143.19,260,-116.79,-1.28,80.00,2975.8,2969.7,2981.8,1830.1,2120.8,150.80,-11.66,180,1148.89,0.00,0.00,3.79,0.000,0.000,0.114,2974.34,2967.69,2981.00,1830.31,3472.50,0,0,0,30.00,30.00,15.52
$GC,1202.12,1028,-116.79,-1.28,0.00,2975.8,2969.6,2981.9,1830.1,3473.2,158.19,-12.83,192,1208.95,0.00,0.00,3.48,0.000,0.000,0.059,2976.53,2970.81,2982.25,1830.00,2082.50,0,0,0,30.00,30.00,15.63
$GC,1508.25,0,-116.79,-1.28,0.00,2975.5,2969.1,2981.9,1830.3,2082.2,192.45,-10.39,223,1509.58,0.00,0.00,0.00,0.000,0.000,0.000,2976.31,2969.94,2982.69,1829.56,2082.50,0,0,0,30.00,30.00,30.00
$GC,1808.28,0,-116.79,-1.28,0.00,2975.8,2969.6,2982.0,1830.2,2083.1,224.59,-10.96,253,1809.61,0.00,0.00,0.00,0.000,0.000,0.000,2975.94,2969.56,2982.31,1830.25,2082.56,0,0,0,30.00,30.00,30.00
$GC,2108.31,0,-116.79,-1.28,0.00,2975.8,2969.5,2982.2,1830.0,2082.7,257.14,-11.24,283,2109.64,0.00,0.00,0.00,0.000,0.000,0.000,2976.00,2969.38,2982.62,1830.25,2082.38,0,0,0,30.00,30.00,30.00
$GC,2408.34,0,-116.79,-1.28,0.00,2976.1,2969.6,2982.5,1830.1,2082.2,289.48,-10.83,313,2409.67,0.00,0.00,0.00,0.000,0.000,0.000,2976.09,2969.44,2982.75,1830.38,2081.88,0,0,0,30.00,30.00,30.00
$GC,2708.38,260,-116.79,-1.28,80.00,2976.0,2969.4,2982.6,1830.0,2082.9,320.52,-10.34,343,2714.11,0.00,0.00,3.92,0.000,0.000,0.116,2975.22,2968.88,2981.56,1829.94,3473.44,0,0,0,30.00,30.00,15.51
$GC,2783.47,1028,-116.79,-1.28,0.00,2976.1,2969.8,2982.4,1830.2,3473.3,328.56,-10.39,358,2789.04,0.00,0.00,3.50,0.000,0.000,0.064,2974.78,2967.94,2981.62,1830.31,2084.69,0,0,0,30.00,30.00,15.61
$GC,3088.44,0,-116.79,-1.28,0.00,2976.1,2969.4,2982.7,1829.9,2084.8,357.95,-9.01,389,3089.77,0.00,0.00,0.00,0.000,0.000,0.000,2975.38,2969.06,2981.69,1830.19,2084.38,0,0,0,30.00,30.00,30.00
$GC,3388.46,0,-116.79,-1.28,0.00,2975.8,2969.2,2982.3,1830.0,2084.4,387.38,-9.66,419,3389.78,0.00,0.00,0.00,0.000,0.000,0.000,2976.03,2969.56,2982.50,1829.69,2084.44,0,0,0,30.00,30.00,30.00
$GC,3688.49,0,-116.79,-1.28,0.00,2975.9,2969.9,2981.9,1829.6,2084.3,415.84,-9.07,449,3689.82,0.00,0.00,0.00,0.000,0.000,0.000,2975.84,2969.56,2982.12,1830.00,2084.62,0,0,0,30.00,30.00,30.00
$GC,3988.53,260,-116.79,-1.28,80.00,2975.6,2969.9,2981.2,1830.1,2084.2,445.19,-10.39,479,3994.26,0.00,0.00,3.98,0.000,0.000,0.119,2973.84,2968.06,2979.62,1830.25,3474.31,0,0,0,30.00,30.00,15.47
$GC,4097.46,1028,-116.79,-1.28,0.00,2975.7,2969.5,2981.9,1830.5,3473.9,456.75,-10.66,501,4104.31,0.00,0.00,3.54,0.000,0.000,0.066,2975.38,2969.81,2980.94,1830.31,2084.81,0,0,0,30.00,30.00,15.57
$GC,4403.59,0,-116.79,-1.28,0.00,2974.9,2969.3,2980.4,1830.1,2084.3,486.86,-10.20,532,4404.92,0.00,0.00,0.00,0.000,0.000,0.000,2973.38,2968.25,2978.50,1830.19,2084.69,0,0,0,30.00,30.00,30.00
$STATE,4533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4533,begin apogee
$GC,4534.81,10243,0.00,-0.25,0.00,2974.9,2969.3,2980.6,1829.9,2117.6,500.04,-10.02,545,4636.07,97.86,1.91,0.08,1.658,0.138,0.240,2498.72,2505.94,2491.50,2079.81,2087.50,0,0,0,10.60,15.51,14.93
$STATE,4638,end apogee,CONTROL_FINISHED_OK
$STATE,4638,begin climb
$GC,4638.59,10243,116.79,1.28,0.00,2497.8,2505.8,2489.8,2080.4,2086.8,503.27,0.00,555,4748.30,105.68,2.73,0.00,1.601,0.084,0.000,2022.81,2047.50,1998.12,2454.06,2086.75,0,0,0,11.81,15.14,30.00
$GC,5043.63,16450,116.79,1.30,0.00,2011.5,2041.6,1981.4,2453.9,2086.8,476.43,8.42,596,5044.97,0.00,0.00,0.00,0.000,0.000,0.000,2010.38,2040.62,1980.12,2453.94,2086.56,0,0,0,30.00,30.00,30.00
$GC,5343.66,16450,116.79,1.33,0.00,2009.0,2040.4,1977.6,2454.3,2087.0,452.19,8.23,626,5344.99,0.00,0.00,0.00,0.000,0.000,0.000,2009.47,2040.88,1978.06,2453.56,2087.25,0,0,0,30.00,30.00,30.00
$GC,5643.70,10275,157.64,1.46,0.00,2008.1,2040.2,1975.9,2453.6,2087.4,429.50,7.06,656,5684.05,36.14,0.25,0.00,1.534,0.082,0.000,1856.09,1889.50,1822.69,2504.00,2086.81,0,0,0,11.21,15.70,30.00
$GC,5983.73,0,157.64,1.46,0.00,1849.4,1887.2,1811.7,2504.3,2087.2,396.41,10.10,690,5985.05,0.00,0.00,0.00,0.000,0.000,0.000,1849.84,1887.12,1812.56,2504.00,2086.69,0,0,0,30.00,30.00,30.00
$GC,6283.79,16386,157.64,1.46,0.00,1848.7,1887.1,1810.2,2504.2,2087.3,366.99,9.42,720,6285.12,0.00,0.00,0.00,0.000,0.000,0.000,1848.44,1886.94,1809.94,2504.25,2086.62,0,0,0,30.00,30.00,30.00
$GC,6583.84,16902,157.64,1.46,-80.00,1848.1,1886.9,1809.3,2503.9,2086.8,338.81,9.11,750,6589.61,0.00,0.00,4.20,0.000,0.000,0.145,1849.66,1888.94,1810.38,2503.81,663.06,0,0,0,30.00,30.00,15.42
$GC,6632.76,17414,157.64,1.46,0.00,1847.5,1885.8,1809.3,2504.1,663.0,333.32,11.85,760,6639.64,0.00,0.00,3.67,0.000,0.000,0.057,1847.38,1885.44,1809.31,2504.50,2122.75,0,0,0,30.00,30.00,15.71
$GC,6938.93,16646,157.64,1.46,80.00,1847.2,1885.6,1808.9,2503.6,2122.8,303.88,9.43,791,6944.54,0.00,0.00,3.87,0.000,0.000,0.119,1846.06,1884.38,1807.75,2503.62,3472.56,0,0,0,30.00,30.00,15.51
$GC,6983.94,17414,157.64,1.46,0.00,1846.3,1884.6,1808.0,2504.6,3472.2,298.96,11.75,800,6989.51,0.00,0.00,3.51,0.000,0.000,0.061,1846.12,1884.06,1808.19,2503.44,2080.12,0,0,0,30.00,30.00,15.66
$GC,7289.00,16902,157.64,1.46,-80.00,1846.3,1884.6,1808.0,2503.9,2080.3,268.59,9.50,831,7294.80,0.00,0.00,4.16,0.000,0.000,0.143,1845.41,1882.12,1808.69,2503.56,663.00,0,0,0,30.00,30.00,15.39
$GC,7357.90,17414,157.64,1.46,0.00,1846.3,1884.0,1808.6,2504.7,663.2,260.57,11.77,845,7364.79,0.00,0.00,3.62,0.000,0.000,0.053,1847.12,1885.12,1809.12,2503.38,2125.19,0,0,0,30.00,30.00,15.72
$GC,7664.08,16386,157.64,1.46,0.00,1845.6,1884.5,1806.8,2503.8,2125.3,232.04,9.51,876,7665.41,0.00,0.00,0.00,0.000,0.000,0.000,1845.75,1884.06,1807.44,2504.44,2124.81,0,0,0,30.00,30.00,30.00
$GC,7964.12,16386,157.64,1.46,0.00,1845.2,1884.1,1806.2,2504.4,2125.5,203.39,9.07,906,7965.45,0.00,0.00,0.00,0.000,0.000,0.000,1845.47,1884.56,1806.38,2503.69,2125.00,0,0,0,30.00,30.00,30.00
$GC,8264.15,16902,157.64,1.46,-80.00,1844.8,1884.1,1805.5,2503.9,2124.9,175.55,9.28,936,8270.00,0.00,0.00,4.28,0.000,0.000,0.139,1843.97,1882.81,1805.12,2504.44,662.75,0,0,0,30.00,30.00,15.38
$GC,8363.10,17414,157.64,1.46,0.00,1845.0,1884.0,1805.9,2504.6,662.8,164.36,11.40,956,8369.96,0.00,0.00,3.63,0.000,0.000,0.055,1845.62,1884.81,1806.44,2504.56,2125.06,0,0,0,30.00,30.00,15.70
$GC,8669.22,8742,197.65,1.58,-80.00,1844.8,1884.5,1805.1,2504.8,2125.8,139.38,7.11,987,8710.86,34.16,0.00,4.26,1.264,0.000,0.139,1693.12,1730.38,1655.88,2504.56,661.81,0,0,0,10.82,30.00,15.33
$GC,8893.14,1028,197.65,1.58,0.00,1689.9,1727.2,1652.7,2504.6,662.2,116.20,11.28,1032,8900.02,0.00,0.00,3.65,0.000,0.000,0.055,1689.88,1726.38,1653.38,2503.94,2124.25,0,0,0,30.00,30.00,15.62
$GC,9199.29,2373,197.65,1.61,80.00,1687.6,1726.8,1648.4,2504.8,2125.3,87.32,8.15,1077,9205.16,0.00,0.16,3.83,0.000,0.090,0.113,1687.75,1726.62,1648.88,2542.94,3472.31,0,0,0,30.00,15.66,15.45
$GC,9404.39,1028,197.65,1.61,0.00,1686.9,1725.1,1648.8,2542.7,3472.6,65.01,10.14,1118,9410.08,0.00,0.00,3.51,0.000,0.000,0.058,1687.31,1724.69,1649.94,2542.06,2079.75,0,0,0,30.00,30.00,15.62
$GC,9589.37,10791,284.40,1.87,-80.00,1687.2,1725.4,1648.9,2542.7,2079.8,53.46,4.59,1155,9682.27,84.65,0.33,4.18,1.144,0.070,0.137,1340.72,1377.69,1303.75,2601.75,661.75,0,0,0,11.15,15.69,15.11
$GC,9780.10,11303,361.82,2.10,0.00,1337.4,1375.1,1299.8,2602.6,662.1,45.51,5.09,1193,9862.50,75.54,0.32,3.67,1.096,0.064,0.051,1025.22,1056.69,993.75,2661.56,2128.81,0,0,0,11.46,15.33,15.47
$GC,10040.30,516,361.82,2.10,-80.00,1020.6,1054.9,986.2,2661.3,2129.2,14.57,15.29,1245,10046.17,0.00,0.00,4.29,0.000,0.000,0.134,1020.50,1054.50,986.50,2661.50,663.00,0,0,0,30.00,30.00,15.33
$STATE,10110,end climb,SURFACE_DEPTH_REACHED
$STATE,10110,begin surface coast
$STATE,10120,end surface coast,CONTROL_FINISHED_OK
$STATE,10120,begin surface
$SM_CCo,10208.67,58.71,1.060,0,767.0,767.0,767.0,425.10
$SM_GC,0.55,58.71,16.82,3.63,1.060,0.048,0.051,767.0,767.0,767.0,172.9,2129.2,0,0,0,11.39,15.53,15.59
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4707.70,-12645.86,060321,085525
$TCM_TEMP,188.75
$XPDR_PINGS,4,14.0,11.5
$SC_FREEKB,3569824
$HUMID,57.82
$TEMP,7.46
$INTERNAL_PRESSURE,7.7672
$24V_AH,14.20,218.356
$10V_AH,14.84,0.000
$FG_AHR_24Vo,186.136
$FG_AHR_10Vo,64.379
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,585.380,37.165,107.025,216.556,1.000,15.049,4055.466,6519.646,2194.373,0.000,0.000,0.000
$DEVICE_MAMPS,1657.792,247.720,239.520,212.966,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10166.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.604,0.000,0.000,0.000
$MEM,1100060,49,75708,114
$DATA_FILE_SIZE,48160,1261
$CAP_FILE_SIZE,456518,0
$SDSIZE,3918848,3710176
$SDFILEDIR,3806,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060321,145001,4706.335,-12651.615,22,0.9,23,15.8