version: 67.00
glider: 235
mission: 6
dive: 115
start: 10 16 120 1 27 58
data:
$ID,235
$MISSION,6
$DIVE,115
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,750
$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,100
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$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,0
$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,250
$LOITER_D_BOTTOM,400
$LOITER_N_DIVE,0
$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,31.678383
$FG_AHR_24V,61.072746
$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
$GPS1,161020,012231,7131.354,-15155.593,26,0.7,27,15.2
$_CALLS,1
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-66.9
$GPS2,161020,012725,7131.359,-15155.475,2,0.6,5,15.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SHELF
$TGT_LATLONG,7130.000,-15200.000
$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,234.4,3662,-17.6,-10.000,-21.24
$D_GRID,300
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11.30,16386,-145.99,-1.06,0.00,491.5,566.7,416.3,217.6,2117.6,0.00,0.00,0,75.34,62.05,0.00,0.00,0.005,0.000,0.000,1604.06,1603.31,1604.81,217.81,2118.19,0,0,0,15.44,30.00,30.00
$GC,75.59,18983,-145.99,-1.06,-80.00,1604.5,1603.8,1605.2,217.9,2118.8,3.32,-2.27,12,156.30,50.86,17.22,3.84,0.005,0.305,0.167,3145.50,3166.38,3124.62,2263.25,636.44,0,0,0,15.45,15.37,15.48
$GC,335.03,1156,-145.99,-0.99,0.00,3146.8,3169.4,3124.3,2262.0,636.3,58.39,-16.91,63,346.00,0.00,0.00,3.55,0.000,0.000,0.091,3145.66,3168.06,3123.25,2261.25,2114.75,0,0,0,30.00,30.00,15.50
$GC,525.24,516,-145.99,-0.99,-80.00,3146.5,3168.6,3124.4,2262.2,2114.2,84.46,-13.59,101,536.14,0.00,0.00,3.82,0.000,0.000,0.169,3147.41,3169.19,3125.62,2261.75,636.31,0,0,0,30.00,30.00,15.58
$GC,575.33,3205,-145.99,-0.91,0.00,3146.0,3168.3,3123.6,2261.9,636.9,91.91,-14.99,111,586.13,0.00,0.26,3.53,0.000,0.200,0.087,3147.78,3170.25,3125.31,2298.56,2116.00,0,0,0,30.00,15.59,15.63
$GC,765.11,644,-145.99,-1.01,-80.00,3145.5,3167.4,3123.5,2298.7,2115.6,112.96,-10.30,137,772.13,0.00,0.00,3.82,0.000,0.000,0.174,3144.94,3167.75,3122.12,2300.38,636.69,0,0,0,30.00,30.00,15.62
$GC,780.71,5253,-145.99,-1.09,0.00,3147.0,3169.4,3124.6,2300.1,636.7,114.72,-10.64,140,788.02,0.00,0.38,3.49,0.000,0.104,0.083,3145.09,3167.62,3122.56,2243.75,2114.31,0,0,0,30.00,15.66,15.67
$GC,1086.04,2693,-145.99,-1.03,-80.00,3146.7,3168.9,3124.4,2242.9,2113.4,155.17,-13.07,171,1098.04,0.00,0.25,3.83,0.000,0.195,0.182,3146.06,3168.50,3123.62,2270.19,636.31,0,0,0,30.00,15.68,15.67
$GC,1166.88,1028,-145.99,-1.03,0.00,3146.9,3169.5,3124.4,2272.4,636.2,165.66,-12.56,187,1173.71,0.00,0.00,3.52,0.000,0.000,0.096,3146.06,3168.38,3123.75,2272.31,2112.69,0,0,0,30.00,30.00,15.72
$GC,1471.80,4225,-145.99,-1.13,0.00,3145.7,3168.1,3123.2,2271.4,2113.3,194.84,-8.40,218,1474.82,0.00,0.25,0.00,0.000,0.114,0.000,3146.38,3168.88,3123.88,2232.50,2113.12,0,0,0,30.00,15.78,30.00
$GC,1772.11,260,-145.99,-1.13,80.00,3145.7,3168.1,3123.2,2232.2,2113.4,224.46,-10.20,248,1778.75,0.00,0.00,3.34,0.000,0.000,0.191,3145.94,3168.81,3123.06,2231.81,3407.06,0,0,0,30.00,30.00,15.67
$GC,1780.88,1028,-145.99,-1.13,0.00,3146.2,3168.2,3124.2,2233.0,3408.7,225.59,-10.46,250,1788.88,0.00,0.00,3.16,0.000,0.000,0.105,3147.00,3170.12,3123.88,2233.19,2086.44,0,0,0,30.00,30.00,15.78
$GC,2087.48,0,-145.99,-1.13,0.00,3145.8,3168.1,3123.6,2232.1,2086.3,255.53,-9.37,281,2090.87,0.00,0.00,0.00,0.000,0.000,0.000,3147.69,3170.69,3124.69,2230.25,2085.31,0,0,0,30.00,30.00,30.00
$GC,2387.61,0,-145.99,-1.13,0.00,3145.7,3168.8,3122.6,2232.5,2085.4,282.99,-9.06,311,2391.21,0.00,0.00,0.00,0.000,0.000,0.000,3144.41,3167.62,3121.19,2231.94,2085.25,0,0,0,30.00,30.00,30.00
$STATE,2577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2577,begin apogee
$GC,2578.77,10243,0.00,-0.25,0.00,3145.9,3169.4,3122.4,2232.9,2212.4,300.85,-9.15,330,2706.87,122.87,1.74,0.05,1.828,0.180,0.338,2548.06,2613.12,2483.00,2457.75,2185.94,0,0,0,11.97,15.81,15.19
$STATE,2709,end apogee,CONTROL_FINISHED_OK
$STATE,2709,begin climb
$GC,2709.25,10503,145.99,1.06,80.00,2547.7,2612.3,2483.1,2459.3,2185.7,303.34,0.00,336,2844.39,127.03,2.27,3.38,1.715,0.131,0.192,1954.31,2060.31,1848.31,2777.62,3406.81,0,0,0,11.55,15.18,14.85
$GC,2856.56,5253,145.99,0.77,0.00,1948.9,2051.7,1846.1,2777.3,3405.8,290.24,12.99,364,2864.20,0.00,0.64,3.12,0.000,0.223,0.108,1949.66,2051.88,1847.44,2701.94,2187.12,0,0,0,30.00,14.93,14.97
$GC,3163.24,16902,145.99,0.77,-80.00,1940.9,2038.2,1843.6,2701.1,2188.8,260.47,9.57,395,3170.17,0.00,0.00,3.90,0.000,0.000,0.198,1938.75,2036.06,1841.44,2702.12,737.06,0,0,0,30.00,30.00,15.31
$GC,3182.31,17414,145.99,0.77,0.00,1940.9,2037.2,1844.6,2703.5,737.0,258.39,9.44,399,3190.42,0.00,0.00,3.62,0.000,0.000,0.104,1942.62,2039.94,1845.31,2700.88,2210.88,0,0,0,30.00,30.00,15.36
$GC,3489.20,16386,145.99,0.77,0.00,1938.7,2034.4,1842.9,2700.9,2211.6,230.74,8.89,430,3493.12,0.00,0.00,0.00,0.000,0.000,0.000,1937.56,2033.50,1841.62,2701.94,2211.12,0,0,0,30.00,30.00,30.00
$GC,3789.03,10663,189.24,0.88,80.00,1937.5,2032.2,1842.9,2702.1,2212.9,205.16,7.99,460,3834.61,37.60,0.25,3.14,1.631,0.120,0.181,1776.47,1879.31,1673.62,2738.44,3407.50,0,0,0,11.67,15.61,15.38
$GC,3872.40,5253,189.24,0.80,0.00,1773.9,1873.8,1673.9,2739.9,3408.9,196.32,11.58,477,3879.95,0.00,0.25,2.98,0.000,0.205,0.092,1773.66,1873.75,1673.56,2709.31,2181.69,0,0,0,30.00,15.40,15.45
$GC,4178.66,10403,256.07,1.04,0.00,1769.5,1869.4,1669.6,2709.6,2182.1,172.33,6.89,508,4243.55,59.74,0.45,0.00,1.600,0.101,0.000,1505.69,1614.00,1397.38,2778.69,2182.12,0,0,0,11.58,15.57,30.00
$GC,4549.25,16646,256.07,1.04,80.00,1496.9,1597.1,1396.8,2778.8,2182.6,137.06,8.96,547,4555.90,0.00,0.00,3.18,0.000,0.000,0.168,1495.94,1595.81,1396.06,2778.88,3408.38,0,0,0,30.00,30.00,15.46
$GC,4638.05,17414,256.07,1.04,0.00,1494.6,1593.2,1395.9,2777.6,3407.2,128.68,9.12,565,4645.54,0.00,0.00,2.95,0.000,0.000,0.091,1496.94,1595.50,1398.38,2776.75,2184.00,0,0,0,30.00,30.00,15.53
$GC,4944.85,16902,256.07,1.04,-80.00,1494.0,1591.6,1396.4,2779.3,2183.2,102.19,8.62,596,4951.64,0.00,0.00,3.73,0.000,0.000,0.175,1494.47,1590.69,1398.25,2778.00,735.00,0,0,0,30.00,30.00,15.58
$GC,5000.36,17414,256.07,1.04,0.00,1493.4,1589.8,1397.1,2779.5,735.6,96.95,9.41,607,5010.86,0.00,0.00,3.53,0.000,0.000,0.090,1494.97,1589.62,1400.31,2779.50,2216.81,0,0,0,30.00,30.00,15.59
$GC,5190.56,8354,299.55,1.16,0.00,1492.9,1589.0,1396.9,2778.4,2216.9,81.60,7.98,645,5232.50,39.60,0.00,0.00,1.526,0.000,0.000,1328.47,1435.88,1221.06,2779.38,2216.06,0,0,0,11.69,30.00,30.00
$GC,5411.28,10919,345.00,1.36,-80.00,1322.9,1427.1,1218.7,2779.6,2216.6,64.00,7.89,689,5463.82,42.37,0.48,3.88,1.483,0.098,0.168,1143.88,1255.38,1032.38,2856.31,736.06,0,0,0,11.75,15.57,15.33
$GC,5517.55,5253,345.00,1.27,0.00,1140.2,1249.6,1030.9,2855.9,736.1,52.26,12.00,710,5528.15,0.00,0.31,3.58,0.000,0.212,0.090,1140.66,1250.06,1031.25,2823.00,2214.12,0,0,0,30.00,15.37,15.41
$GC,5707.67,10919,430.90,1.58,-80.00,1137.9,1245.0,1030.8,2824.5,2213.6,37.67,6.00,748,5796.21,78.35,0.57,3.90,1.448,0.091,0.162,793.34,910.81,675.88,2909.31,735.31,0,0,0,11.63,15.51,15.08
$GC,5835.05,1028,430.90,1.58,0.00,789.9,904.2,675.6,2908.1,734.9,27.95,8.62,773,5845.83,0.00,0.00,3.60,0.000,0.000,0.084,789.84,903.81,675.88,2909.19,2214.56,0,0,0,30.00,30.00,15.26
$GC,6025.61,128,430.90,1.64,0.00,787.0,898.0,676.1,2909.1,2214.8,11.39,8.61,811,6030.67,0.00,0.00,0.00,0.000,0.000,0.000,787.03,898.06,676.00,2909.31,2214.44,0,0,0,30.00,30.00,30.00
$STATE,6200,end climb,SURFACE_DEPTH_REACHED
$STATE,6200,begin surface coast
$FINISH,0.6,1.005933
$STATE,6240,end surface coast,CONTROL_FINISHED_OK
$STATE,6240,begin surface
$SM_CCo,6331.45,64.97,1.470,0,501.1,583.9,418.2,502.60
$SM_CCo,6332.56,0.00,0.013,0,500.6,583.6,417.5,502.73
$SM_CCo,6333.68,0.00,0.011,0,500.4,583.5,417.4,502.76
$SM_GC,1.98,0.00,17.34,0.31,0.011,0.084,0.135,500.4,583.5,417.4,219.1,2079.6,0,0,0,30.36,15.51,15.53
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7130.85,-15152.06,151020,232834
$TCM_TEMP,2.90
$SC_FREEKB,3841920
$PM_FREEKB_00,41713088
$PM_ACTIVECARD,0
$RAFOS_CLK,-21
$RAFOS_FIX,7130.991699,-15157.296875,161020,030349,0,1,0.20
$HUMID,53.13
$TEMP,-0.05
$INTERNAL_PRESSURE,7.65442
$24V_AH,14.45,61.265
$10V_AH,14.65,0.000
$FG_AHR_24Vo,61.343
$FG_AHR_10Vo,31.716
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,685.450,42.660,85.100,180.907,0.000,13.772,3620.362,2930.987,2161.551,0.000,0.000,0.000
$DEVICE_MAMPS,1828.024,305.448,337.920,217.530,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6255.000,6264.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.383,9.244,0.000,0.000
$MEM,1152472,31,24376,78
$DATA_FILE_SIZE,25697,854
$CAP_FILE_SIZE,218746,0
$SDSIZE,3918848,3779456
$SDFILEDIR,974,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.189, 88.0,1
$GPS,161020,031407,7131.014,-15155.518,2,0.9,3,15.2