version: 67.00
glider: 235
mission: 6
dive: 18
start: 9 26 120 16 16 1
data:
$ID,235
$MISSION,6
$DIVE,18
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,450
$D_NO_BLEED,500
$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,120
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72133
$NAV_MODE,2
$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,502.86499
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,230
$PITCH_MAX,3900
$C_PITCH,2520
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,20
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,600
$ROLL_MAX,3400
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2200
$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,2550
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,200
$LOITER_D_BOTTOM,400
$LOITER_N_DIVE,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,18.532578
$FG_AHR_24V,27.174927
$PHONE_SUPPLY,2
$PRESSURE_YINT,-158.9099
$PRESSURE_SLOPE,0.00022957686
$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,0
$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,-0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,35
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,104
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,-1
$SIM_W,0
$SEABIRD_T_G,0.004415411
$SEABIRD_T_H,0.00064200663
$SEABIRD_T_I,2.6329088e-05
$SEABIRD_T_J,3.2522996e-06
$SEABIRD_C_G,-9.8064938
$SEABIRD_C_H,1.0739573
$SEABIRD_C_I,-0.002841271
$SEABIRD_C_J,0.00027081851
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,260920,125750,7221.908,-15214.641,301,99.0,301,15.0
$_CALLS,5
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-70.5
$GPS2,260920,125750,7221.908,-15214.641,301,99.0,301,15.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SIO3
$TGT_LATLONG,7301.100,-14934.700
$TGT_RADIUS,3000.000
$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,350.0,112929,-27.2,-10.000,-30.00
$D_GRID,360
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,9.99,16386,-63.62,-1.44,0.00,492.8,562.8,422.8,217.9,2112.1,0.00,0.00,0,44.70,32.65,0.00,0.00,0.006,0.000,0.000,1097.56,1115.00,1080.12,217.94,2112.31,0,0,0,15.77,30.00,30.00
$GC,44.97,18983,-128.92,-1.52,-80.00,1097.5,1115.2,1079.8,217.8,2112.8,3.23,-3.10,5,125.90,54.80,15.97,3.95,0.005,0.312,0.192,3073.28,3095.00,3051.56,2148.12,636.94,0,0,0,15.71,15.63,15.69
$GC,164.71,3205,-128.92,-1.39,0.00,3075.0,3098.3,3051.7,2149.6,636.6,34.26,-33.44,28,175.71,0.00,0.24,3.63,0.000,0.241,0.107,3076.91,3100.12,3053.69,2182.31,2112.88,0,0,0,30.00,15.69,15.71
$GC,354.69,388,-128.92,-1.48,80.00,3076.2,3100.2,3052.2,2182.9,2112.8,73.12,-16.69,66,365.62,0.00,0.00,3.44,0.000,0.000,0.184,3076.38,3099.94,3052.81,2183.44,3405.25,0,0,0,30.00,30.00,15.69
$GC,574.87,1028,-128.92,-1.48,0.00,3075.9,3100.1,3051.8,2184.1,3404.8,112.55,-18.25,110,582.09,0.00,0.00,3.33,0.000,0.000,0.123,3076.81,3102.06,3051.56,2184.06,2087.00,0,0,0,30.00,30.00,15.71
$GC,880.22,4741,-128.92,-1.66,-80.00,3075.4,3099.9,3050.9,2183.9,2087.5,162.01,-15.55,141,891.83,0.00,0.50,4.01,0.000,0.106,0.227,3077.59,3101.62,3053.56,2106.06,638.69,0,0,0,30.00,15.73,15.66
$GC,1054.05,3205,-128.92,-1.52,0.00,3076.1,3100.4,3051.9,2105.8,638.9,198.88,-19.91,176,1062.22,0.00,0.38,3.74,0.000,0.235,0.138,3076.84,3100.88,3052.81,2153.62,2107.69,0,0,0,30.00,15.66,15.70
$GC,1360.17,4485,-128.92,-1.71,80.00,3075.4,3099.0,3051.8,2153.8,2107.4,237.63,-12.00,207,1367.68,0.00,0.37,3.59,0.000,0.115,0.218,3076.88,3100.81,3052.94,2093.69,3404.44,0,0,0,30.00,15.72,15.67
$GC,1509.85,3205,-128.92,-1.57,0.00,3076.2,3100.7,3051.6,2094.6,3403.2,260.01,-15.48,237,1517.49,0.00,0.38,3.39,0.000,0.231,0.155,3078.19,3102.25,3054.12,2139.12,2090.62,0,0,0,30.00,15.66,15.65
$MODEM_MSG,CACST,6,1,20200926161657.757192,18,1044,00,0092,0150,216,01,01,05,03,-1,-01,-01,1,3,0,0,150,-2.4,0.07,-100,2.93,-01,0.00,37,925,0025*07
$MODEM_MSG,CACST,6,1,20200926161847.215067,18,320,-5,0113,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,-2.2,0.44,-100,2.56,-01,0.00,37,925,0025*22
$MODEM_MSG,CACST,6,1,20200926162154.015029,18,198,-7,0098,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,-28.5,0.31,-100,2.69,-01,-0.02,39,925,0025*38
$MODEM_MSG,CACST,6,1,20200926163041.869896,18,30,-3,0115,0150,216,04,04,03,04,-1,-01,-01,1,3,0,0,150,-12.8,0.38,-100,2.62,-01,-0.04,39,925,0025*04
$MODEM_MSG,CACST,6,1,20200926163839.485970,18,279,-5,0387,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,-8.4,0.32,-100,2.68,-01,0.05,39,925,0025*28
$GC,1816.62,4741,-128.92,-1.75,-80.00,3076.0,3100.3,3051.8,2138.7,2089.9,295.41,-11.87,268,1828.02,0.00,0.34,4.09,0.000,0.117,0.253,3077.53,3101.38,3053.69,2084.19,638.56,0,0,0,30.00,15.77,15.69
$GC,2010.23,3205,-128.92,-1.59,0.00,3075.9,3100.9,3050.9,2085.2,638.6,327.11,-16.77,307,2018.43,0.00,0.41,3.81,0.000,0.241,0.162,3077.06,3100.75,3053.38,2133.38,2107.56,0,0,0,30.00,15.73,15.68
$STATE,2297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2297,begin apogee
$GC,2298.21,10243,0.00,-0.25,0.00,3075.8,3100.1,3051.6,2135.0,2206.3,361.39,-11.62,322,2412.38,108.89,2.42,0.04,1.908,0.209,0.478,2545.88,2607.19,2484.56,2459.38,2181.69,0,0,0,11.91,15.73,15.19
$STATE,2414,end apogee,CONTROL_FINISHED_OK
$STATE,2414,begin loiter
$GC,2698.26,16386,0.00,-0.25,0.00,2539.8,2598.7,2480.8,2458.2,2182.0,357.58,2.75,342,2701.81,0.00,0.00,0.00,2.909,0.000,0.000,2557.66,2614.25,2501.06,2458.81,2182.00,0,0,0,30.36,30.00,30.00
$GC,2998.17,4225,0.00,-1.37,0.00,2552.7,2610.0,2495.3,2458.7,2181.6,349.57,2.55,357,3003.13,0.00,1.88,0.00,0.000,0.108,0.000,2555.09,2612.38,2497.81,2177.69,2181.62,0,0,0,30.00,15.53,30.00
$GC,3298.31,4225,0.00,-1.54,0.00,2550.1,2604.6,2495.6,2177.8,2182.4,338.03,4.21,372,3301.33,0.00,0.22,0.00,0.000,0.127,0.000,2548.22,2602.69,2493.75,2134.19,2182.25,0,0,0,30.00,15.67,30.00
$GC,3598.24,0,0.00,-1.54,0.00,2548.6,2601.5,2495.7,2133.1,2181.2,324.65,4.45,387,3601.14,0.00,0.00,0.00,0.000,0.000,0.000,2546.88,2599.38,2494.38,2133.56,2182.56,0,0,0,30.00,30.00,30.00
$GC,3897.59,0,0.00,-1.54,0.00,2547.9,2600.8,2495.0,2134.6,2182.8,310.76,4.62,402,3901.06,0.00,0.00,0.00,0.000,0.000,0.000,2546.19,2599.19,2493.19,2133.38,2181.06,0,0,0,30.00,30.00,30.00
$GC,4197.61,0,0.00,-1.54,0.00,2548.1,2601.0,2495.1,2133.4,2181.4,298.66,3.96,418,4201.16,0.00,0.00,0.00,0.000,0.000,0.000,2545.75,2598.88,2492.62,2133.25,2182.12,0,0,0,30.00,30.00,30.00
$GC,4497.70,0,0.00,-1.54,0.00,2547.3,2599.7,2494.9,2134.0,2182.1,287.17,4.21,448,4501.50,0.00,0.00,0.00,0.000,0.000,0.000,2546.91,2599.56,2494.25,2133.75,2181.44,0,0,0,30.00,30.00,30.00
$GC,4798.47,0,0.00,-1.54,0.00,2547.8,2600.5,2495.0,2133.8,2181.7,276.04,3.67,478,4802.08,0.00,0.00,0.00,0.000,0.000,0.000,2546.28,2598.62,2493.94,2133.50,2182.12,0,0,0,30.00,30.00,30.00
$GC,5098.32,0,0.00,-1.54,0.00,2547.0,2599.3,2494.7,2134.8,2183.0,266.41,3.10,508,5102.18,0.00,0.00,0.00,0.000,0.000,0.000,2545.75,2598.31,2493.19,2134.56,2181.25,0,0,0,30.00,30.00,30.00
$GC,5398.53,0,0.00,-1.54,0.00,2547.8,2599.6,2496.1,2133.8,2182.1,258.13,2.54,538,5402.52,0.00,0.00,0.00,0.000,0.000,0.000,2546.22,2598.06,2494.38,2133.69,2182.06,0,0,0,30.00,30.00,30.00
$GC,5698.39,0,0.00,-1.54,0.00,2547.1,2599.2,2494.9,2133.6,2181.4,253.10,1.53,568,5701.28,0.00,0.00,0.00,0.000,0.000,0.000,2545.47,2597.38,2493.56,2133.94,2181.19,0,0,0,30.00,30.00,30.00
$STATE,5997,end loiter,LOITER_COMPLETE
$STATE,5997,begin climb
$GC,5997.96,10503,128.92,1.52,80.00,2546.6,2598.4,2494.8,2133.9,2182.2,249.56,0.00,598,6126.60,113.77,5.64,3.52,1.729,0.214,0.208,2025.34,2112.56,1938.12,2887.38,3404.25,0,0,0,11.95,15.85,15.25
$GC,6349.92,21639,128.92,1.23,0.00,2012.0,2091.4,1932.6,2888.3,3404.6,200.73,16.42,668,6357.37,0.00,0.65,3.12,0.000,0.269,0.118,2010.12,2089.69,1930.56,2813.50,2188.00,0,0,0,30.00,15.42,15.47
$GC,6654.90,10663,149.38,1.41,80.00,2008.8,2091.2,1926.4,2812.9,2187.8,173.59,7.84,699,6680.77,17.85,0.35,3.38,1.517,0.118,0.189,1938.94,2025.12,1852.75,2864.38,3404.62,0,0,0,11.90,15.60,15.45
$GC,6745.61,5253,149.38,1.28,0.00,1935.6,2017.8,1853.3,2864.7,3402.8,165.45,9.41,717,6752.87,0.00,0.33,3.07,0.000,0.251,0.107,1937.03,2018.94,1855.12,2828.19,2187.56,0,0,0,30.00,15.48,15.49
$GC,7050.50,10919,185.31,1.48,-80.00,1933.4,2016.3,1850.4,2826.6,2187.7,145.42,6.20,748,7093.33,33.10,0.39,4.00,1.568,0.118,0.202,1792.56,1885.56,1699.56,2881.81,737.44,0,0,0,11.78,15.64,15.42
$GC,7102.20,1156,185.31,1.43,0.00,1791.3,1883.2,1699.4,2882.3,737.1,141.28,8.26,757,7109.04,0.00,0.00,3.76,0.000,0.000,0.115,1790.09,1882.12,1698.06,2882.56,2208.38,0,0,0,30.00,30.00,15.47
$GC,7407.08,16646,185.31,1.43,80.00,1785.5,1876.7,1694.2,2882.8,2208.4,112.25,9.49,788,7412.99,0.00,0.00,3.29,0.000,0.000,0.190,1785.97,1876.81,1695.12,2880.69,3404.25,0,0,0,30.00,30.00,15.55
$GC,7482.20,21639,185.31,1.33,0.00,1785.0,1874.8,1695.2,2882.4,3404.9,104.45,10.72,803,7489.04,0.00,0.40,3.06,0.000,0.253,0.113,1786.81,1877.00,1696.62,2834.88,2186.62,0,0,0,30.00,15.56,15.54
$GC,7787.46,10403,222.74,1.60,0.00,1783.6,1873.6,1693.7,2837.0,2187.1,83.13,6.04,859,7824.26,34.04,0.52,0.00,1.534,0.110,0.000,1641.81,1739.06,1544.56,2912.75,2186.19,0,0,0,11.85,15.68,30.00
$GC,8003.24,388,222.74,1.66,80.00,1635.8,1729.9,1541.6,2913.3,2187.0,64.89,8.74,902,8009.98,0.00,0.00,3.34,0.000,0.000,0.180,1635.75,1729.44,1542.06,2912.75,3405.75,0,0,0,30.00,30.00,15.50
$GC,8048.74,1156,222.74,1.58,0.00,1634.2,1726.9,1541.6,2913.5,3405.9,60.83,9.09,911,8054.64,0.00,0.00,3.05,0.000,0.000,0.106,1635.22,1727.94,1542.50,2912.00,2184.88,0,0,0,30.00,30.00,15.53
$GC,8234.01,10663,269.63,1.74,80.00,1632.6,1725.0,1540.2,2913.4,2183.4,49.22,5.04,948,8285.92,43.12,0.20,3.35,1.500,0.132,0.179,1449.09,1548.69,1349.50,2945.88,3406.94,0,0,0,11.71,15.63,15.39
$GC,8509.20,9254,337.07,1.83,0.00,1442.4,1535.3,1349.6,2947.1,3406.0,37.62,2.87,1003,8576.86,60.72,0.00,3.06,1.466,0.000,0.098,1175.72,1287.25,1064.19,2947.62,2184.81,0,0,0,11.62,30.00,15.55
$GC,8755.16,10663,377.89,2.13,80.00,1169.1,1274.9,1063.3,2946.3,2183.7,26.88,5.68,1052,8802.64,37.54,0.61,3.36,1.418,0.106,0.168,1008.84,1119.56,898.12,3039.75,3405.81,0,0,0,11.66,15.43,15.24
$GC,9025.89,9254,451.07,2.22,0.00,1003.9,1109.8,898.1,3039.8,3405.5,15.70,2.26,1106,9098.59,65.98,0.00,3.05,1.417,0.000,0.092,711.66,823.44,599.88,3039.00,2181.88,0,0,0,11.76,30.00,15.46
$GC,9277.43,10663,518.87,2.61,80.00,706.8,813.5,600.1,3039.4,2181.6,8.74,2.83,1156,9334.50,47.99,0.75,3.38,1.386,0.099,0.164,500.50,596.62,404.38,3158.62,3405.19,0,0,0,11.60,15.38,15.16
$FREEZE,8.39,0.672,-1.490,0,2,0
$STATE,9468,end climb,NO_VERTICAL_VELOCITY
$STATE,9468,begin surface
$SM_CCo,9472.41,0.02,1.190,0,500.0,587.8,412.2,502.86
$SM_GC,8.25,0.00,19.58,3.27,0.000,0.115,0.092,496.7,574.8,418.6,220.4,2083.4,0,0,0,30.00,15.40,15.46
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7222.98,-15209.86,260920,124337
$TCM_TEMP,3.19
$SC_FREEKB,3873024
$PM_FREEKB_00,59879104
$PM_ACTIVECARD,0
$RAFOS_CLK,-22
$MODEM,6,1601138319,75.33060,-142.67570,219.486,321547.0
$MODEM,5,1601137841,76.41295,-142.47470,41.870,61339.4
$MODEM,3,1601137314,75.26195,-145.59448,114.015,167032.0
$MODEM,2,1601137017,75.67648,-146.03058,117.757,172514.3
$RAFOS_FIX,7712.899902,-14516.039062,260920,161639,4,255,42.73
$HUMID,52.45
$TEMP,0.37
$INTERNAL_PRESSURE,7.66253
$24V_AH,14.55,15.764
$10V_AH,14.84,0.000
$FG_AHR_24Vo,27.441
$FG_AHR_10Vo,18.609
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,650.495,52.520,90.355,205.668,0.000,300.949,4938.773,5556.869,2922.856,1481.000,0.000,0.000
$DEVICE_MAMPS,2909.112,312.008,478.304,71.738,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9473.000,9481.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.899,10.840,0.000,0.000
$MEM,1152544,33,24324,75
$DATA_FILE_SIZE,35324,1194
$CAP_FILE_SIZE,254467,0
$SDSIZE,3918848,3809696
$SDFILEDIR,234,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.051,  7.3,1
$GPS,260920,125750,7221.908,-15214.641,301,99.0,301,15.0