version: 67.00
glider: 235
mission: 6
dive: 116
start: 10 16 120 3 21 1
data:
$ID,235
$MISSION,6
$DIVE,116
$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,31.716801
$FG_AHR_24V,61.354729
$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
$GPS1,161020,031407,7131.014,-15155.518,2,0.9,3,15.2
$_CALLS,2
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-67.7
$GPS2,161020,032027,7130.999,-15155.390,2,1.0,5,15.2
$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,243.7,3281,-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,11.23,16386,-145.99,-1.06,0.00,493.5,564.7,422.2,217.6,2119.9,0.00,0.00,0,70.17,56.96,0.00,0.00,0.005,0.000,0.000,1508.66,1510.50,1506.81,217.81,2118.94,0,0,0,15.43,30.00,30.00
$GC,70.41,18983,-145.99,-1.06,-80.00,1509.8,1512.2,1507.3,217.8,2119.1,3.01,-2.07,11,160.55,59.31,17.27,3.85,0.005,0.303,0.168,3144.97,3165.62,3124.31,2261.38,635.38,0,0,0,15.42,15.31,15.45
$GC,349.35,1156,-145.99,-0.97,0.00,3146.4,3168.1,3124.6,2262.9,635.6,59.41,-16.95,66,355.84,0.00,0.00,3.56,0.000,0.000,0.090,3146.34,3167.94,3124.75,2263.56,2115.00,0,0,0,30.00,30.00,15.48
$GC,534.87,516,-145.99,-0.97,-80.00,3146.4,3168.6,3124.3,2261.8,2114.3,84.70,-13.15,103,546.20,0.00,0.00,3.82,0.000,0.000,0.170,3149.12,3171.44,3126.81,2261.88,636.44,0,0,0,30.00,30.00,15.51
$GC,580.40,3205,-145.99,-0.89,0.00,3145.8,3167.5,3124.0,2262.4,636.4,91.29,-14.59,112,591.76,0.00,0.31,3.52,0.000,0.197,0.085,3147.88,3170.12,3125.62,2304.56,2116.81,0,0,0,30.00,15.58,15.54
$GC,770.92,4741,-145.99,-1.01,-80.00,3146.4,3168.8,3124.1,2304.4,2114.4,112.52,-11.16,139,777.81,0.00,0.28,3.82,0.000,0.107,0.175,3145.47,3167.06,3123.88,2265.31,636.56,0,0,0,30.00,15.67,15.59
$GC,786.84,1156,-145.99,-1.06,0.00,3147.2,3169.2,3125.1,2265.5,636.9,114.54,-11.39,142,793.52,0.00,0.00,3.51,0.000,0.000,0.083,3149.66,3170.25,3129.06,2262.88,2115.69,0,0,0,30.00,30.00,15.66
$GC,1091.71,516,-145.99,-1.06,-80.00,3146.3,3168.4,3124.2,2264.1,2116.1,155.41,-13.36,173,1098.58,0.00,0.00,3.84,0.000,0.000,0.185,3145.28,3167.19,3123.38,2264.88,636.50,0,0,0,30.00,30.00,15.66
$GC,1117.36,1028,-145.99,-1.06,0.00,3149.0,3171.2,3126.8,2263.4,636.6,158.94,-14.14,178,1124.61,0.00,0.00,3.52,0.000,0.000,0.092,3146.19,3168.38,3124.00,2265.06,2114.00,0,0,0,30.00,30.00,15.70
$GC,1422.71,128,-145.99,-1.13,0.00,3146.8,3169.1,3124.6,2265.5,2113.2,193.19,-9.38,209,1426.40,0.00,0.00,0.00,0.000,0.000,0.000,3145.59,3168.19,3123.00,2264.19,2113.50,0,0,0,30.00,30.00,30.00
$GC,1722.66,4485,-145.99,-1.21,80.00,3146.8,3168.9,3124.8,2263.5,2113.9,219.15,-8.64,239,1729.89,0.00,0.26,3.34,0.000,0.112,0.190,3146.00,3168.25,3123.75,2214.75,3406.81,0,0,0,30.00,15.78,15.73
$GC,1752.05,3205,-145.99,-1.13,0.00,3146.6,3168.6,3124.6,2214.2,3407.2,222.53,-10.11,245,1760.11,0.00,0.26,3.19,0.000,0.201,0.109,3147.94,3170.12,3125.75,2244.12,2085.06,0,0,0,30.00,15.73,15.77
$GC,2058.74,644,-145.99,-1.20,-80.00,3146.3,3168.6,3123.9,2244.5,2085.2,248.82,-8.48,276,2065.64,0.00,0.00,3.81,0.000,0.000,0.208,3145.56,3167.81,3123.31,2243.75,638.06,0,0,0,30.00,30.00,15.74
$GC,2094.34,1028,-145.99,-1.20,0.00,3146.3,3169.3,3123.2,2245.5,637.9,252.21,-9.46,283,2101.34,0.00,0.00,3.54,0.000,0.000,0.108,3145.31,3168.81,3121.81,2245.25,2111.75,0,0,0,30.00,30.00,15.79
$GC,2399.45,4225,-145.99,-1.27,0.00,3146.1,3169.6,3122.6,2244.1,2111.6,278.10,-8.38,314,2402.65,0.00,0.29,0.00,0.000,0.116,0.000,3144.69,3166.62,3122.75,2197.88,2112.00,0,0,0,30.00,15.83,30.00
$STATE,2612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2612,begin apogee
$GC,2612.80,10243,0.00,-0.25,0.00,3145.9,3168.9,3122.9,2198.4,2212.1,300.07,-10.56,335,2741.44,123.32,1.98,0.05,1.828,0.190,0.326,2546.59,2612.12,2481.06,2459.44,2186.56,0,0,0,11.87,15.78,15.15
$STATE,2744,end apogee,CONTROL_FINISHED_OK
$STATE,2744,begin climb
$GC,2743.98,10503,145.99,1.06,80.00,2548.2,2613.2,2483.2,2458.9,2186.8,302.58,0.00,341,2883.74,127.43,2.27,3.40,1.713,0.134,0.194,1951.03,2055.50,1846.56,2779.38,3406.25,0,0,0,11.52,15.15,14.82
$GC,2885.99,5253,145.99,0.77,0.00,1949.6,2052.8,1846.4,2778.9,3407.1,290.32,12.18,364,2893.55,0.00,0.64,3.14,0.000,0.226,0.107,1950.91,2053.75,1848.06,2702.94,2185.75,0,0,0,30.00,14.87,14.90
$GC,3192.00,16902,145.99,0.77,-80.00,1940.8,2037.9,1843.6,2703.3,2186.5,259.30,9.81,395,3199.52,0.00,0.00,3.90,0.000,0.000,0.197,1939.75,2037.19,1842.31,2703.06,737.06,0,0,0,30.00,30.00,15.25
$GC,3218.25,17414,145.99,0.77,0.00,1939.9,2036.8,1843.1,2703.8,737.4,256.57,10.22,400,3225.22,0.00,0.00,3.63,0.000,0.000,0.103,1940.16,2037.06,1843.25,2702.75,2213.38,0,0,0,30.00,30.00,15.31
$GC,3523.54,16646,145.99,0.77,80.00,1938.9,2034.6,1843.1,2703.4,2213.2,227.79,9.20,431,3530.16,0.00,0.00,3.12,0.000,0.000,0.180,1941.25,2037.12,1845.38,2703.25,3407.56,0,0,0,30.00,30.00,15.41
$GC,3562.30,17414,145.99,0.77,0.00,1937.6,2031.7,1843.5,2703.9,3407.3,224.02,9.29,439,3569.80,0.00,0.00,2.97,0.000,0.000,0.093,1937.25,2030.81,1843.69,2703.31,2184.38,0,0,0,30.00,30.00,15.46
$GC,3869.07,17030,145.99,0.84,-80.00,1937.3,2031.4,1843.2,2703.1,2185.6,198.28,8.34,470,3875.90,0.00,0.00,3.76,0.000,0.000,0.181,1939.97,2034.50,1845.44,2701.19,735.88,0,0,0,30.00,30.00,15.49
$GC,3918.05,17414,145.99,0.84,0.00,1936.9,2030.4,1843.4,2703.3,735.7,193.50,9.55,480,3926.12,0.00,0.00,3.55,0.000,0.000,0.093,1937.22,2030.94,1843.50,2702.94,2215.62,0,0,0,30.00,30.00,15.54
$GC,4224.92,10663,254.54,1.09,80.00,1936.7,2030.6,1842.8,2702.4,2213.9,175.02,4.95,511,4327.88,94.01,0.56,3.17,1.623,0.101,0.177,1512.38,1621.06,1403.69,2789.94,3406.44,0,0,0,11.78,15.58,15.04
$GC,4490.05,17542,254.54,1.01,0.00,1502.5,1603.2,1401.7,2789.3,3406.9,149.50,10.71,564,4497.54,0.00,0.00,2.98,0.000,0.000,0.090,1502.44,1602.69,1402.19,2789.81,2183.75,0,0,0,30.00,30.00,15.32
$GC,4796.22,20999,254.54,1.01,-80.00,1499.9,1598.0,1401.8,2790.1,2183.9,119.40,9.70,595,4808.17,0.00,0.24,3.77,0.000,0.198,0.176,1499.44,1596.75,1402.12,2760.19,735.19,0,0,0,30.00,15.43,15.42
$MODEM_MSG,CACST,6,1,20201016040848.520337,18,447,-3,0116,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,19.9,0.65,-100,2.35,-01,-1.33,28,925,0025*1A
$MODEM_MSG,CACST,6,1,20201016041411.083983,18,110,-3,0137,0150,216,01,01,04,03,-1,-01,-01,1,3,0,0,150,20.5,-4.25,-100,7.25,-01,0.00,36,925,0025*1E
$MODEM_MSG,CACST,6,1,20201016042617.229548,18,399,01,0106,0150,432,02,02,04,04,-1,-01,-01,1,3,0,0,150,-39.8,0.32,-100,2.68,-01,-0.07,61,925,0025*20
$MODEM_MSG,CACST,6,1,20201016043255.839682,18,1116,06,0254,0150,216,01,01,04,03,-1,-01,-01,1,3,0,0,150,-5.2,0.46,-100,2.54,-01,-0.06,33,925,0025*2E
$GC,4857.10,17542,254.54,1.07,0.00,1498.5,1594.9,1402.1,2761.0,735.6,113.99,8.75,607,4864.36,0.00,0.00,3.55,0.000,0.000,0.090,1497.88,1594.25,1401.50,2760.25,2213.75,0,0,0,30.00,30.00,15.49
$GC,5162.01,10403,320.63,1.29,0.00,1497.6,1594.0,1401.2,2759.7,2213.2,92.12,6.93,649,5225.07,58.97,0.51,0.00,1.534,0.102,0.000,1241.62,1352.69,1130.56,2836.44,2213.38,0,0,0,11.68,15.59,30.00
$GC,5403.32,516,320.63,1.29,-80.00,1236.5,1342.9,1130.1,2838.2,2213.2,66.68,10.45,697,5414.83,0.00,0.00,3.82,0.000,0.000,0.167,1237.12,1342.75,1131.50,2835.38,736.12,0,0,0,30.00,30.00,15.41
$GC,5444.13,5253,320.63,1.21,0.00,1235.4,1340.1,1130.8,2839.1,736.1,62.11,11.63,705,5455.00,0.00,0.26,3.55,0.000,0.211,0.088,1234.69,1339.12,1130.25,2810.44,2213.06,0,0,0,30.00,15.42,15.47
$GC,5634.66,10403,370.41,1.42,0.00,1235.0,1339.5,1130.5,2808.5,2213.4,46.77,7.68,743,5685.85,45.85,0.40,0.00,1.473,0.099,0.000,1040.62,1154.50,926.75,2868.00,2213.56,0,0,0,11.74,15.54,30.00
$GC,5864.86,10919,454.68,1.64,-80.00,1035.1,1145.3,924.9,2867.2,2213.4,29.41,6.08,789,5952.28,77.08,0.33,3.89,1.430,0.104,0.163,696.56,811.75,581.38,2921.75,735.38,0,0,0,11.65,15.46,15.13
$GC,6015.49,1028,454.68,1.64,0.00,692.6,803.0,582.2,2924.7,735.4,14.68,11.00,819,6022.49,0.00,0.00,3.60,0.000,0.000,0.085,693.22,803.56,582.88,2923.69,2215.75,0,0,0,30.00,30.00,15.26
$GC,6201.52,10403,553.50,1.93,0.00,690.3,798.1,582.6,2923.9,2216.3,3.05,5.40,856,6216.91,12.91,0.44,0.00,1.279,0.098,0.000,646.19,751.44,540.94,2994.62,2216.12,0,0,0,11.64,15.41,30.00
$STATE,6217,end climb,SURFACE_DEPTH_REACHED
$STATE,6217,begin surface coast
$FINISH,0.4,1.012408
$STATE,6251,end surface coast,CONTROL_FINISHED_OK
$STATE,6251,begin surface
$SM_CCo,6312.03,33.74,1.451,0,501.2,584.4,418.1,502.56
$SM_CCo,6313.15,0.00,0.008,0,500.6,583.8,417.5,502.71
$SM_CCo,6314.27,0.00,0.011,0,500.6,583.6,417.6,502.72
$SM_GC,1.73,0.00,18.18,0.31,0.011,0.087,0.128,500.6,583.6,417.6,220.1,2078.7,0,0,0,30.36,15.39,15.40
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7131.81,-15158.05,161020,031614
$TCM_TEMP,2.76
$SC_FREEKB,3841600
$PM_FREEKB_00,41624640
$PM_ACTIVECARD,0
$RAFOS_CLK,-7
$MODEM,5,1602822775,76.41295,-142.47470,175.840,257605.1
$MODEM,4,1602822377,76.55490,-139.99944,77.230,113141.3
$MODEM,1,1602821651,75.02295,-144.31340,251.084,367838.0
$MODEM,0,1602821328,74.83892,-145.28152,228.520,334782.3
$RAFOS_FIX,7640.231445,-13406.631836,161020,040455,4,255,168.84
$HUMID,52.85
$TEMP,-0.05
$INTERNAL_PRESSURE,7.65192
$24V_AH,14.42,61.607
$10V_AH,14.67,0.000
$FG_AHR_24Vo,61.623
$FG_AHR_10Vo,31.780
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,689.595,44.485,99.740,208.143,0.000,14.189,3707.666,2942.973,2173.241,2218.000,0.000,0.000
$DEVICE_MAMPS,1828.024,302.824,326.440,229.616,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6265.000,6274.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.496,9.512,0.000,0.000
$MEM,1152424,32,24404,78
$DATA_FILE_SIZE,25733,866
$CAP_FILE_SIZE,237991,0
$SDSIZE,3918848,3779168
$SDFILEDIR,981,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.188, 88.3,1
$GPS,161020,050709,7130.811,-15155.687,18,1.2,18,15.2