version: 67.00
glider: 235
mission: 6
dive: 117
start: 10 16 120 5 12 32
data:
$ID,235
$MISSION,6
$DIVE,117
$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,31.780622
$FG_AHR_24V,61.634075
$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
$GPS1,161020,050709,7130.811,-15155.687,18,1.2,18,15.2
$_CALLS,1
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-67.1
$GPS2,161020,051159,7130.798,-15155.654,4,1.2,6,15.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,REC
$TGT_LATLONG,7149.000,-15142.400
$TGT_RADIUS,2000.000
$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,312.6,34569,-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,11.16,16386,-145.99,-1.06,0.00,494.6,567.9,421.3,220.5,2121.1,0.00,0.00,0,80.27,67.17,0.00,0.00,0.005,0.000,0.000,1674.84,1672.44,1677.25,220.44,2121.12,0,0,0,15.39,30.00,30.00
$GC,80.53,18983,-145.99,-1.06,-80.00,1675.7,1673.6,1677.7,220.2,2120.7,3.16,-1.96,13,156.12,46.45,17.32,3.85,0.005,0.305,0.169,3145.34,3166.31,3124.38,2259.25,635.31,0,0,0,15.44,15.34,15.43
$GC,249.79,3205,-145.99,-0.94,0.00,3147.1,3168.8,3125.4,2261.5,635.6,39.46,-20.62,46,256.41,0.00,0.22,3.56,0.000,0.205,0.090,3148.94,3170.94,3126.94,2293.00,2115.31,0,0,0,30.00,15.47,15.44
$GC,435.16,260,-145.99,-0.94,80.00,3145.7,3167.1,3124.2,2294.0,2115.6,64.75,-12.16,83,442.04,0.00,0.00,3.32,0.000,0.000,0.165,3147.28,3169.12,3125.44,2294.31,3410.38,0,0,0,30.00,30.00,15.50
$GC,665.78,1028,-145.99,-0.94,0.00,3146.0,3168.2,3123.8,2292.9,3408.3,94.31,-12.58,129,672.24,0.00,0.00,3.18,0.000,0.000,0.097,3144.81,3167.19,3122.44,2293.88,2083.56,0,0,0,30.00,30.00,15.59
$GC,856.02,388,-145.99,-1.02,80.00,3146.9,3169.8,3123.9,2293.8,2082.4,115.63,-10.89,153,862.88,0.00,0.00,3.38,0.000,0.000,0.163,3146.84,3169.38,3124.31,2293.50,3409.62,0,0,0,30.00,30.00,15.58
$GC,901.59,5253,-145.99,-1.08,0.00,3146.1,3168.4,3123.8,2293.4,3408.8,121.23,-12.58,162,909.02,0.00,0.32,3.16,0.000,0.106,0.094,3144.53,3166.94,3122.12,2245.88,2082.19,0,0,0,30.00,15.67,15.66
$GC,1207.12,2693,-145.99,-1.03,-80.00,3146.2,3168.4,3123.9,2244.6,2082.5,162.64,-12.95,193,1214.18,0.00,0.22,3.74,0.000,0.198,0.193,3149.06,3170.88,3127.25,2269.12,635.62,0,0,0,30.00,15.68,15.60
$GC,1306.35,1156,-145.99,-0.96,0.00,3146.4,3167.8,3125.0,2269.1,635.5,175.93,-13.03,213,1314.47,0.00,0.00,3.54,0.000,0.000,0.099,3145.97,3168.69,3123.25,2268.31,2113.81,0,0,0,30.00,30.00,15.72
$GC,1612.70,644,-145.99,-1.07,-80.00,3145.6,3168.0,3123.1,2269.7,2114.5,204.98,-8.62,244,1620.01,0.00,0.00,3.83,0.000,0.000,0.199,3145.16,3166.81,3123.50,2269.19,637.06,0,0,0,30.00,30.00,15.70
$GC,1718.74,1028,-145.99,-1.07,0.00,3147.2,3169.4,3125.1,2269.2,636.7,215.27,-10.13,265,1725.82,0.00,0.00,3.54,0.000,0.000,0.106,3145.91,3168.62,3123.19,2270.12,2112.62,0,0,0,30.00,30.00,15.76
$GC,2023.91,4257,-145.99,-1.20,0.00,3147.4,3170.4,3124.4,2269.1,2113.4,239.44,-7.36,296,2027.16,0.00,0.34,0.00,0.000,0.110,0.000,3146.28,3168.38,3124.19,2216.62,2112.31,0,0,0,30.00,15.79,30.00
$GC,2323.90,516,-145.99,-1.20,-80.00,3145.8,3169.2,3122.3,2215.9,2113.6,268.65,-9.87,326,2331.10,0.00,0.00,3.87,0.000,0.000,0.207,3146.91,3170.44,3123.38,2217.50,637.56,0,0,0,30.00,30.00,15.75
$GC,2409.65,3205,-145.99,-1.05,0.00,3146.4,3170.2,3122.6,2217.4,637.9,278.46,-11.56,343,2417.01,0.00,0.40,3.55,0.000,0.197,0.115,3148.34,3171.06,3125.62,2264.94,2111.69,0,0,0,30.00,15.78,15.81
$STATE,2675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2675,begin apogee
$GC,2676.44,10243,0.00,-0.25,0.00,3145.5,3169.0,3122.1,2265.9,2212.3,300.20,-7.92,370,2804.37,123.21,1.43,0.05,1.834,0.177,0.337,2546.34,2612.19,2480.50,2460.69,2187.06,0,0,0,11.87,15.81,15.17
$STATE,2807,end apogee,CONTROL_FINISHED_OK
$STATE,2807,begin climb
$GC,2806.69,10243,145.99,1.06,0.00,2547.7,2612.1,2483.2,2460.2,2186.1,302.67,0.00,376,2937.58,127.20,2.24,0.00,1.719,0.130,0.000,1952.59,2060.19,1845.00,2779.56,2186.31,0,0,0,11.51,15.17,30.00
$GC,3230.85,21127,145.99,0.81,-80.00,1941.9,2037.9,1845.9,2778.3,2185.9,252.62,13.30,424,3242.91,0.00,0.55,3.88,0.000,0.217,0.192,1942.84,2039.31,1846.38,2711.19,737.56,0,0,0,30.00,15.29,15.27
$GC,3261.99,17542,145.99,0.69,0.00,1941.7,2037.4,1845.9,2711.0,737.0,248.85,12.44,430,3268.59,0.00,0.00,3.63,0.000,0.000,0.105,1942.22,2037.12,1847.31,2709.56,2213.00,0,0,0,30.00,30.00,15.34
$GC,3566.67,20999,145.99,0.69,-80.00,1939.4,2034.2,1844.6,2711.5,2213.0,219.27,9.17,461,3573.74,0.00,0.22,3.87,0.000,0.221,0.181,1939.47,2034.19,1844.75,2680.00,737.38,0,0,0,30.00,15.46,15.45
$GC,3602.44,17414,145.99,0.69,0.00,1939.2,2033.1,1845.3,2681.4,737.0,216.09,8.82,468,3609.41,0.00,0.00,3.56,0.000,0.000,0.095,1938.06,2032.12,1844.00,2680.69,2211.62,0,0,0,30.00,30.00,15.50
$GC,3907.02,10663,203.16,0.90,80.00,1937.9,2032.0,1843.8,2680.8,2212.6,193.81,7.34,499,3963.56,49.72,0.41,3.15,1.633,0.108,0.183,1719.03,1823.94,1614.12,2743.56,3408.62,0,0,0,11.73,15.60,15.31
$GC,3965.72,1156,203.16,0.84,0.00,1719.6,1823.9,1615.2,2743.6,3406.1,188.49,9.22,507,3973.17,0.00,0.00,2.99,0.000,0.000,0.092,1720.12,1823.81,1616.44,2742.44,2183.50,0,0,0,30.00,30.00,15.37
$GC,4272.38,8870,253.77,0.96,-80.00,1712.6,1812.6,1612.6,2744.3,2181.7,162.66,7.65,538,4324.80,45.42,0.00,3.85,1.582,0.000,0.183,1514.84,1620.69,1409.00,2744.25,736.38,0,0,0,11.70,30.00,15.23
$GC,4427.03,3205,253.77,1.04,0.00,1509.1,1611.2,1407.1,2743.0,736.2,149.60,9.01,569,4435.10,0.00,0.17,3.59,0.000,0.135,0.094,1509.84,1611.00,1408.69,2775.19,2213.06,0,0,0,30.00,15.38,15.38
$GC,4733.06,16646,253.77,1.04,80.00,1506.2,1604.6,1407.8,2776.4,2215.1,122.58,8.64,600,4739.42,0.00,0.00,3.10,0.000,0.000,0.178,1506.16,1604.69,1407.62,2776.12,3407.00,0,0,0,30.00,30.00,15.48
$GC,4788.81,17414,253.77,1.04,0.00,1505.0,1602.1,1407.9,2775.4,3408.4,117.31,9.63,611,4794.45,0.00,0.00,2.94,0.000,0.000,0.093,1505.47,1602.69,1408.25,2775.31,2183.12,0,0,0,30.00,30.00,15.49
$GC,5093.87,8870,298.63,1.15,-80.00,1504.0,1600.8,1407.2,2776.1,2183.2,92.27,7.91,651,5145.47,40.87,0.00,3.79,1.535,0.000,0.179,1332.69,1439.50,1225.88,2774.81,736.19,0,0,0,11.76,30.00,15.39
$GC,5194.15,3205,298.63,1.23,0.00,1328.3,1432.0,1224.6,2775.9,735.9,83.58,8.88,671,5205.00,0.00,0.28,3.57,0.000,0.117,0.092,1330.12,1433.88,1226.38,2823.25,2214.94,0,0,0,30.00,15.45,15.42
$GC,5384.66,0,298.63,1.23,0.00,1327.2,1429.4,1225.1,2823.2,2214.9,65.34,9.17,709,5389.75,0.00,0.00,0.00,0.000,0.000,0.000,1327.47,1429.62,1225.31,2824.19,2215.38,0,0,0,30.00,30.00,30.00
$GC,5569.55,8742,348.37,1.29,-80.00,1325.8,1426.9,1224.7,2822.9,2215.7,49.04,7.69,746,5626.90,46.33,0.00,3.86,1.489,0.000,0.168,1129.88,1242.06,1017.69,2823.62,734.69,0,0,0,11.72,30.00,15.35
$GC,5660.88,3205,348.37,1.38,0.00,1126.9,1236.8,1016.9,2823.9,735.2,41.73,8.24,764,5667.98,0.00,0.20,3.58,0.000,0.128,0.089,1126.06,1235.44,1016.69,2858.38,2217.69,0,0,0,30.00,15.42,15.42
$GC,5846.98,10663,435.77,1.60,80.00,1124.2,1231.5,1017.0,2859.3,2216.4,29.68,5.93,801,5934.37,80.03,0.32,3.15,1.444,0.113,0.169,774.03,892.19,655.88,2912.19,3408.12,0,0,0,11.70,15.52,15.17
$GC,5942.71,1028,435.77,1.60,0.00,772.1,888.4,655.8,2913.1,3408.6,22.20,8.30,820,5949.00,0.00,0.00,3.00,0.000,0.000,0.084,772.44,888.50,656.38,2913.06,2179.75,0,0,0,30.00,30.00,15.18
$GC,6127.67,10663,531.55,1.88,80.00,767.4,879.0,655.8,2913.2,2179.8,8.50,5.54,857,6200.43,62.18,0.43,3.23,1.389,0.105,0.160,499.34,599.50,399.19,2979.31,3406.44,0,0,0,11.59,15.40,15.08
$GC,6204.37,9254,575.23,1.93,0.00,499.0,598.8,399.2,2979.7,3407.3,2.80,7.97,872,6211.60,0.00,0.00,2.99,0.000,0.000,0.084,499.06,598.62,399.50,2980.19,2180.12,0,0,0,30.00,30.00,15.20
$STATE,6216,end climb,SURFACE_DEPTH_REACHED
$STATE,6216,begin surface coast
$FINISH,0.5,1.023346
$STATE,6235,end surface coast,CONTROL_FINISHED_OK
$STATE,6235,begin surface
$SM_CCo,6320.38,0.00,0.000,0,495.8,589.5,402.1,503.89
$SM_GC,2.18,0.00,18.29,0.22,0.000,0.089,0.148,495.8,589.5,402.1,219.0,2076.3,0,0,0,30.00,15.23,15.24
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7130.01,-15201.23,161020,031749
$TCM_TEMP,2.96
$SC_FREEKB,3841280
$PM_FREEKB_00,41536448
$PM_ACTIVECARD,0
$RAFOS_CLK,-21
$RAFOS_FIX,7131.344727,-15156.334961,161020,060618,0,1,0.17
$HUMID,52.83
$TEMP,0.05
$INTERNAL_PRESSURE,7.65876
$24V_AH,14.44,61.923
$10V_AH,14.69,0.000
$FG_AHR_24Vo,61.904
$FG_AHR_10Vo,31.818
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,688.585,43.335,104.805,173.686,0.000,15.327,3730.765,2892.157,2187.532,0.000,0.000,0.000
$DEVICE_MAMPS,1834.256,305.120,336.608,226.444,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6245.000,6254.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.505,9.205,0.000,0.000
$MEM,1152392,33,24416,78
$DATA_FILE_SIZE,25736,878
$CAP_FILE_SIZE,236618,0
$SDSIZE,3918848,3778880
$SDFILEDIR,988,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.204, 89.3,1
$GPS,161020,065839,7131.353,-15154.210,14,1.1,15,15.2