version: 67.00
glider: 236
mission: 2
dive: 758
start: 3 6 121 18 0 20
data:
$ID,236
$MISSION,2
$DIVE,758
$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,64.421707
$FG_AHR_24V,186.36594
$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
$GPS1,060321,175302,4705.946,-12653.022,20,0.9,21,15.8
$_CALLS,1
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-56.8
$GPS2,060321,180001,4706.045,-12652.984,2,0.7,5,15.8
$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,202.6,14278,-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,7.71,16386,-116.79,-1.28,0.00,761.5,766.7,756.4,171.4,2081.6,0.00,0.00,0,97.93,89.69,0.00,0.00,0.005,0.000,0.000,2703.22,2683.25,2723.19,171.38,2081.31,0,0,0,14.72,30.00,30.00
$GC,98.24,18695,-116.79,-1.28,80.00,2702.0,2682.5,2721.6,171.5,2081.3,3.75,-7.74,17,130.15,6.32,14.74,3.99,0.008,0.250,0.118,2975.62,2968.00,2983.25,1830.31,3473.44,0,0,0,14.94,15.19,14.77
$GC,132.93,1028,-116.79,-1.28,0.00,2975.4,2967.0,2983.9,1830.4,3473.3,12.98,-24.45,24,138.68,0.00,0.00,3.57,0.000,0.000,0.062,2977.62,2969.31,2985.94,1829.62,2082.50,0,0,0,30.00,30.00,15.52
$GC,318.07,0,-116.79,-1.28,0.00,2975.1,2966.8,2983.4,1830.2,2082.5,45.10,-17.28,61,319.40,0.00,0.00,0.00,0.000,0.000,0.000,2975.25,2967.44,2983.06,1829.88,2081.81,0,0,0,30.00,30.00,30.00
$GC,498.08,0,-116.79,-1.28,0.00,2975.0,2966.8,2983.1,1830.0,2082.2,72.98,-12.93,97,499.40,0.00,0.00,0.00,0.000,0.000,0.000,2975.34,2967.31,2983.38,1829.25,2081.75,0,0,0,30.00,30.00,30.00
$GC,678.15,0,-116.79,-1.28,0.00,2975.1,2966.9,2983.3,1829.9,2081.5,95.65,-12.08,133,679.48,0.00,0.00,0.00,0.000,0.000,0.000,2975.47,2967.31,2983.62,1829.75,2082.12,0,0,0,30.00,30.00,30.00
$GC,863.17,0,-116.79,-1.28,0.00,2975.5,2967.9,2983.1,1829.9,2082.3,117.43,-11.90,155,864.50,0.00,0.00,0.00,0.000,0.000,0.000,2976.03,2968.31,2983.75,1829.38,2082.75,0,0,0,30.00,30.00,30.00
$GC,1163.20,0,-116.79,-1.28,0.00,2976.1,2968.1,2984.0,1830.1,2082.7,150.24,-10.57,185,1164.52,0.00,0.00,0.00,0.000,0.000,0.000,2976.19,2968.25,2984.12,1829.75,2083.06,0,0,0,30.00,30.00,30.00
$GC,1463.23,260,-116.79,-1.28,80.00,2976.0,2968.4,2983.6,1829.9,2081.9,183.69,-11.62,215,1468.96,0.00,0.00,3.93,0.000,0.000,0.114,2975.72,2967.38,2984.06,1830.00,3474.50,0,0,0,30.00,30.00,15.53
$GC,1558.26,1028,-116.79,-1.28,0.00,2976.0,2968.4,2983.5,1830.1,3474.9,195.64,-12.68,234,1563.90,0.00,0.00,3.54,0.000,0.000,0.063,2977.25,2970.12,2984.38,1830.00,2083.69,0,0,0,30.00,30.00,15.64
$GC,1863.31,0,-116.79,-1.28,0.00,2976.2,2968.6,2983.9,1830.2,2083.2,230.08,-11.27,265,1864.64,0.00,0.00,0.00,0.000,0.000,0.000,2974.72,2967.19,2982.25,1830.25,2083.56,0,0,0,30.00,30.00,30.00
$GC,2163.31,0,-116.79,-1.28,0.00,2976.0,2968.4,2983.7,1830.2,2083.8,262.66,-10.70,295,2164.64,0.00,0.00,0.00,0.000,0.000,0.000,2976.31,2968.38,2984.25,1829.94,2083.12,0,0,0,30.00,30.00,30.00
$GC,2463.35,260,-116.79,-1.28,80.00,2976.3,2968.5,2984.2,1830.2,2083.9,294.46,-9.76,325,2469.08,0.00,0.00,3.94,0.000,0.000,0.115,2974.88,2967.06,2982.69,1830.31,3474.25,0,0,0,30.00,30.00,15.50
$GC,2518.37,1028,-116.79,-1.28,0.00,2976.1,2968.3,2983.8,1830.2,3473.5,300.46,-10.36,336,2524.01,0.00,0.00,3.54,0.000,0.000,0.064,2974.56,2966.50,2982.62,1830.12,2084.75,0,0,0,30.00,30.00,15.62
$GC,2823.40,0,-116.79,-1.28,0.00,2976.0,2968.2,2983.8,1830.1,2085.0,331.13,-9.43,367,2824.72,0.00,0.00,0.00,0.000,0.000,0.000,2976.53,2968.94,2984.12,1829.69,2084.94,0,0,0,30.00,30.00,30.00
$GC,3123.42,0,-116.79,-1.28,0.00,2976.8,2968.7,2984.9,1829.9,2084.8,360.11,-9.83,397,3124.75,0.00,0.00,0.00,0.000,0.000,0.000,2976.91,2969.62,2984.19,1828.88,2084.62,0,0,0,30.00,30.00,30.00
$GC,3423.46,0,-116.79,-1.28,0.00,2975.8,2968.0,2983.6,1830.4,2084.5,389.88,-9.72,427,3424.79,0.00,0.00,0.00,0.000,0.000,0.000,2976.31,2968.19,2984.44,1830.19,2085.31,0,0,0,30.00,30.00,30.00
$GC,3723.49,0,-116.79,-1.28,0.00,2975.7,2968.4,2982.9,1829.8,2084.7,420.86,-10.78,457,3724.82,0.00,0.00,0.00,0.000,0.000,0.000,2976.00,2968.81,2983.19,1829.44,2084.75,0,0,0,30.00,30.00,30.00
$GC,4023.52,260,-116.79,-1.28,80.00,2975.4,2968.1,2982.8,1829.9,2084.3,451.50,-10.78,487,4029.24,0.00,0.00,4.00,0.000,0.000,0.121,2976.19,2969.00,2983.38,1829.12,3473.62,0,0,0,30.00,30.00,15.46
$GC,4082.46,1060,-116.79,-1.28,0.00,2975.1,2968.0,2982.2,1830.2,3473.2,452.25,-6.55,499,4089.31,0.00,0.00,3.54,0.000,0.000,0.067,2976.94,2969.75,2984.12,1830.00,2083.19,0,0,0,30.00,30.00,15.56
$GC,4388.57,0,-116.79,-1.28,0.00,2975.3,2968.6,2981.9,1829.6,2084.0,483.32,-10.51,530,4389.90,0.00,0.00,0.00,0.000,0.000,0.000,2975.47,2968.56,2982.38,1829.69,2083.38,0,0,0,30.00,30.00,30.00
$STATE,4558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4558,begin apogee
$GC,4559.86,10243,0.00,-0.25,0.00,2975.0,2968.8,2981.2,1829.9,2118.9,500.48,-10.59,547,4661.06,98.18,1.92,0.09,1.679,0.138,0.242,2499.47,2506.69,2492.25,2080.00,2087.19,0,0,0,10.59,15.51,14.91
$STATE,4663,end apogee,CONTROL_FINISHED_OK
$STATE,4663,begin climb
$GC,4663.59,10759,116.79,1.28,-80.00,2497.3,2505.2,2489.4,2080.2,2086.4,504.12,0.00,557,4778.37,105.61,2.70,4.43,1.624,0.083,0.147,2023.62,2046.81,2000.44,2452.94,663.94,0,0,0,11.74,15.13,14.73
$GC,4806.15,11303,175.53,1.45,0.00,2018.2,2043.4,1993.0,2454.3,664.1,491.23,6.10,584,4868.11,53.93,0.25,3.76,1.569,0.072,0.055,1783.25,1818.69,1747.81,2504.25,2122.38,0,0,0,11.56,15.05,15.13
$GC,5166.18,16386,175.53,1.45,0.00,1773.8,1814.7,1733.0,2504.1,2121.8,452.28,11.45,626,5167.51,0.00,0.00,0.00,0.000,0.000,0.000,1773.00,1812.62,1733.38,2503.25,2121.56,0,0,0,30.00,30.00,30.00
$GC,5466.19,16386,175.53,1.45,0.00,1772.1,1813.1,1731.1,2503.8,2121.9,417.24,11.56,656,5467.52,0.00,0.00,0.00,0.000,0.000,0.000,1772.28,1813.25,1731.31,2503.81,2121.94,0,0,0,30.00,30.00,30.00
$GC,5766.22,16902,175.53,1.45,-80.00,1771.4,1812.8,1730.0,2503.9,2121.9,383.73,11.58,686,5771.98,0.00,0.00,4.26,0.000,0.000,0.144,1770.62,1812.25,1729.00,2503.94,662.75,0,0,0,30.00,30.00,15.46
$GC,5811.23,17414,175.53,1.45,0.00,1770.9,1811.9,1729.9,2503.9,662.9,378.51,11.83,695,5816.97,0.00,0.00,3.63,0.000,0.000,0.057,1769.34,1810.12,1728.56,2504.38,2122.19,0,0,0,30.00,30.00,15.71
$GC,6116.25,16386,175.53,1.45,0.00,1770.0,1810.7,1729.2,2504.1,2122.4,347.01,10.26,726,6117.59,0.00,0.00,0.00,0.000,0.000,0.000,1768.78,1809.69,1727.88,2504.25,2123.06,0,0,0,30.00,30.00,30.00
$GC,6416.27,16386,175.53,1.45,0.00,1769.1,1810.6,1727.5,2504.5,2122.6,318.29,9.16,756,6417.60,0.00,0.00,0.00,0.000,0.000,0.000,1769.59,1810.69,1728.50,2503.62,2122.44,0,0,0,30.00,30.00,30.00
$GC,6716.29,16902,175.53,1.45,-80.00,1768.8,1810.6,1727.1,2504.2,2122.6,290.28,9.39,786,6722.07,0.00,0.00,4.22,0.000,0.000,0.143,1768.56,1810.81,1726.31,2503.88,664.00,0,0,0,30.00,30.00,15.44
$GC,6785.19,17414,175.53,1.45,0.00,1768.7,1810.2,1727.1,2504.2,663.9,282.76,10.52,800,6792.09,0.00,0.00,3.65,0.000,0.000,0.058,1769.34,1810.69,1728.00,2503.38,2123.88,0,0,0,30.00,30.00,15.72
$GC,7091.34,16386,175.53,1.45,0.00,1768.6,1810.2,1727.0,2504.5,2124.6,252.91,9.84,831,7092.67,0.00,0.00,0.00,0.000,0.000,0.000,1768.44,1809.75,1727.12,2503.38,2124.00,0,0,0,30.00,30.00,30.00
$GC,7391.36,16386,175.53,1.45,0.00,1768.5,1810.0,1726.9,2504.2,2124.2,224.35,9.69,861,7392.69,0.00,0.00,0.00,0.000,0.000,0.000,1767.16,1808.81,1725.50,2503.88,2123.94,0,0,0,30.00,30.00,30.00
$GC,7691.39,16386,175.53,1.45,0.00,1768.0,1809.8,1726.2,2504.5,2124.4,196.11,9.03,891,7692.72,0.00,0.00,0.00,0.000,0.000,0.000,1767.06,1807.88,1726.25,2503.56,2124.06,0,0,0,30.00,30.00,30.00
$GC,7991.41,16386,175.53,1.45,0.00,1767.8,1809.8,1725.9,2504.1,2124.5,168.59,9.68,921,7992.74,0.00,0.00,0.00,0.000,0.000,0.000,1768.12,1810.12,1726.12,2503.38,2124.38,0,0,0,30.00,30.00,30.00
$GC,8291.47,16450,175.53,1.47,0.00,1767.8,1809.9,1725.7,2504.2,2124.5,140.98,8.75,951,8292.80,0.00,0.00,0.00,0.000,0.000,0.000,1768.00,1809.88,1726.12,2503.81,2124.12,0,0,0,30.00,30.00,30.00
$GC,8591.63,16966,175.53,1.51,-80.00,1767.9,1810.0,1725.8,2504.1,2124.4,116.82,7.91,981,8597.31,0.00,0.00,4.22,0.000,0.000,0.139,1769.62,1811.75,1727.50,2502.56,663.06,0,0,0,30.00,30.00,15.37
$GC,8670.38,17414,175.53,1.51,0.00,1767.9,1810.0,1725.8,2504.4,662.9,108.38,10.80,997,8677.26,0.00,0.00,3.63,0.000,0.000,0.056,1767.78,1809.50,1726.06,2504.69,2124.31,0,0,0,30.00,30.00,15.70
$GC,8976.63,10791,256.71,1.75,-80.00,1767.7,1809.6,1725.8,2504.6,2124.5,86.19,4.89,1049,9053.45,67.82,0.40,4.30,1.212,0.065,0.138,1452.78,1489.75,1415.81,2574.31,662.06,0,0,0,10.72,15.72,15.17
$GC,9121.54,1028,256.71,1.75,0.00,1450.1,1487.8,1412.5,2574.8,662.0,72.55,13.57,1078,9127.35,0.00,0.00,3.68,0.000,0.000,0.054,1449.47,1487.50,1411.44,2575.00,2122.69,0,0,0,30.00,30.00,15.45
$GC,9306.59,10535,307.74,1.91,80.00,1447.4,1487.5,1407.2,2574.9,2122.9,57.02,6.51,1115,9362.97,47.85,0.17,3.88,1.132,0.083,0.115,1244.94,1281.75,1208.12,2611.56,3471.19,0,0,0,11.44,15.55,15.15
$GC,9541.63,1028,307.74,1.91,0.00,1240.8,1276.9,1204.6,2611.1,3471.0,32.75,11.52,1162,9547.38,0.00,0.00,3.53,0.000,0.000,0.058,1241.72,1277.81,1205.62,2610.94,2079.94,0,0,0,30.00,30.00,15.52
$GC,9726.67,0,307.74,1.91,0.00,1240.5,1276.8,1204.2,2611.0,2080.1,12.14,11.01,1199,9728.00,0.00,0.00,0.00,0.000,0.000,0.000,1240.53,1277.06,1204.00,2611.12,2079.88,0,0,0,30.00,30.00,30.00
$STATE,9816,end climb,SURFACE_DEPTH_REACHED
$STATE,9816,begin surface coast
$STATE,9836,end surface coast,CONTROL_FINISHED_OK
$STATE,9836,begin surface
$SM_CCo,9971.87,108.46,1.086,0,767.7,775.8,759.7,424.93
$SM_CCo,9973.05,0.00,2.635,0,768.6,774.6,762.7,424.71
$SM_CCo,9975.75,2.05,0.242,0,768.4,773.2,763.6,424.77
$SM_GC,-1.96,2.05,17.02,0.08,0.242,0.080,0.139,768.4,773.2,763.6,170.2,2123.6,0,0,0,11.89,15.47,15.69
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4705.80,-12650.93,060321,145323
$TCM_TEMP,188.19
$XPDR_PINGS,3,14.0,11.5
$SC_FREEKB,3569056
$HUMID,57.64
$TEMP,7.49
$INTERNAL_PRESSURE,7.77146
$24V_AH,13.91,218.839
$10V_AH,14.76,0.000
$FG_AHR_24Vo,186.572
$FG_AHR_10Vo,64.459
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,579.925,37.210,77.570,223.519,0.750,13.795,3816.366,6389.113,2138.466,0.000,0.000,0.000
$DEVICE_MAMPS,2634.904,249.688,242.144,202.817,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9884.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.664,0.000,0.000,0.000
$MEM,1100084,48,75704,114
$DATA_FILE_SIZE,44948,1221
$CAP_FILE_SIZE,426524,0
$SDSIZE,3918848,3709632
$SDFILEDIR,3816,1
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060321,204708,4704.958,-12653.795,25,0.8,25,15.8