version: 67.00
glider: 235
mission: 6
dive: 118
start: 10 16 120 7 4 15
data:
$ID,235
$MISSION,6
$DIVE,118
$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,31.819004
$FG_AHR_24V,61.915878
$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
$GPS1,161020,065839,7131.353,-15154.210,14,1.1,15,15.2
$_CALLS,1
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-68.0
$GPS2,161020,070343,7131.362,-15154.190,3,1.1,6,15.2
$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,311.6,33368,-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,11.27,16386,-145.99,-1.06,0.00,490.6,567.2,414.1,218.9,2123.6,0.00,0.00,0,80.38,67.17,0.00,0.00,0.005,0.000,0.000,1669.44,1668.00,1670.88,219.19,2124.56,0,0,0,15.40,30.00,30.00
$GC,80.65,18983,-145.99,-1.06,-80.00,1668.4,1667.9,1669.0,219.0,2124.2,3.07,-1.68,13,155.77,47.75,17.25,3.87,0.005,0.301,0.170,3143.16,3162.38,3123.94,2260.75,635.38,0,0,0,15.41,15.30,15.42
$GC,199.49,3205,-145.99,-0.79,0.00,3145.6,3166.7,3124.6,2260.8,635.6,28.31,-26.45,36,210.57,0.00,0.50,3.57,0.000,0.206,0.088,3148.34,3169.25,3127.44,2327.75,2115.19,0,0,0,30.00,15.45,15.50
$GC,389.31,4485,-145.99,-0.92,80.00,3146.0,3167.4,3124.6,2327.9,2115.6,56.92,-12.05,74,396.67,0.00,0.31,3.32,0.000,0.108,0.164,3146.56,3167.69,3125.44,2284.31,3407.75,0,0,0,30.00,15.57,15.42
$GC,620.77,1028,-145.99,-0.92,0.00,3146.9,3168.6,3125.2,2284.3,3408.1,88.26,-13.61,120,626.90,0.00,0.00,3.19,0.000,0.000,0.096,3148.50,3170.31,3126.69,2284.38,2084.12,0,0,0,30.00,30.00,15.60
$GC,805.71,516,-145.99,-0.92,-80.00,3147.2,3169.5,3124.9,2284.2,2083.5,111.00,-12.06,148,812.96,0.00,0.00,3.75,0.000,0.000,0.181,3148.62,3170.81,3126.44,2284.00,636.38,0,0,0,30.00,30.00,15.56
$GC,825.11,1028,-145.99,-0.92,0.00,3146.1,3168.1,3124.1,2284.6,636.2,113.61,-12.08,152,833.17,0.00,0.00,3.52,0.000,0.000,0.087,3146.78,3168.38,3125.19,2284.25,2114.25,0,0,0,30.00,30.00,15.65
$GC,1131.71,644,-145.99,-0.97,-80.00,3146.1,3168.1,3124.1,2284.6,2114.2,150.28,-11.66,183,1138.94,0.00,0.00,3.83,0.000,0.000,0.185,3146.06,3168.12,3124.00,2284.81,635.50,0,0,0,30.00,30.00,15.65
$GC,1171.09,1028,-145.99,-0.97,0.00,3146.4,3168.7,3124.1,2284.8,635.2,155.67,-13.28,191,1179.15,0.00,0.00,3.53,0.000,0.000,0.096,3148.19,3170.12,3126.25,2284.19,2112.44,0,0,0,30.00,30.00,15.63
$GC,1477.70,4741,-145.99,-1.08,-80.00,3146.7,3169.6,3123.8,2284.5,2113.3,186.57,-8.48,222,1489.33,0.00,0.19,3.85,0.000,0.123,0.194,3146.84,3168.06,3125.62,2246.62,636.31,0,0,0,30.00,15.74,15.69
$GC,1608.25,3205,-145.99,-1.03,0.00,3145.4,3167.5,3123.3,2247.0,636.2,201.14,-11.83,248,1615.07,0.00,0.22,3.55,0.000,0.202,0.107,3145.81,3167.94,3123.69,2271.31,2112.94,0,0,0,30.00,15.71,15.75
$GC,1913.17,4773,-145.99,-1.15,-80.00,3146.4,3169.1,3123.7,2271.8,2112.2,225.94,-7.63,279,1920.15,0.00,0.28,3.86,0.000,0.119,0.201,3145.38,3168.06,3122.69,2227.38,636.31,0,0,0,30.00,15.79,15.72
$GC,2008.71,3205,-145.99,-1.02,0.00,3145.0,3167.2,3122.9,2226.2,636.4,236.17,-11.31,298,2015.92,0.00,0.38,3.56,0.000,0.201,0.112,3147.88,3171.38,3124.38,2272.56,2113.12,0,0,0,30.00,15.75,15.78
$GC,2314.22,4257,-145.99,-1.18,0.00,3145.9,3168.2,3123.6,2273.0,2113.5,259.73,-7.14,329,2318.27,0.00,0.32,0.00,0.000,0.121,0.000,3145.72,3168.88,3122.56,2222.62,2114.12,0,0,0,30.00,15.81,30.00
$GC,2613.93,516,-145.99,-1.18,-80.00,3145.7,3168.8,3122.6,2222.9,2113.7,287.25,-9.27,359,2620.93,0.00,0.00,3.88,0.000,0.000,0.211,3147.75,3171.12,3124.38,2223.00,637.88,0,0,0,30.00,30.00,15.77
$GC,2669.66,3205,-145.99,-1.06,0.00,3145.1,3168.1,3122.1,2223.3,638.1,293.19,-10.79,370,2677.11,0.00,0.33,3.56,0.000,0.199,0.117,3147.66,3170.56,3124.75,2263.69,2111.94,0,0,0,30.00,15.79,15.82
$STATE,2755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2755,begin apogee
$GC,2756.26,10243,0.00,-0.25,0.00,3144.2,3168.0,3120.5,2261.2,2212.2,300.30,-7.74,379,2883.47,122.72,1.44,0.05,1.829,0.179,0.325,2547.78,2612.88,2482.69,2460.25,2185.25,0,0,0,11.83,15.78,15.18
$STATE,2886,end apogee,CONTROL_FINISHED_OK
$STATE,2886,begin climb
$GC,2885.82,10243,145.99,1.06,0.00,2547.7,2612.2,2483.1,2460.2,2186.6,302.55,0.00,385,3019.34,126.74,2.28,0.00,1.717,0.135,0.000,1954.06,2060.62,1847.50,2779.00,2186.62,0,0,0,11.50,15.18,30.00
$GC,3315.18,20611,145.99,0.82,0.00,1941.2,2037.6,1844.8,2780.2,2186.6,251.11,13.92,426,3319.25,0.00,0.52,0.00,0.000,0.215,0.000,1939.19,2034.69,1843.69,2714.00,2185.88,0,0,0,30.00,15.30,30.00
$GC,3617.78,16902,145.99,0.82,-80.00,1939.9,2035.2,1844.5,2714.8,2186.2,221.73,9.22,456,3625.07,0.00,0.00,3.83,0.000,0.000,0.187,1938.81,2034.88,1842.75,2715.62,737.06,0,0,0,30.00,30.00,15.43
$GC,3653.60,17542,145.99,0.77,0.00,1938.7,2033.4,1843.9,2715.3,736.9,218.09,10.06,463,3660.75,0.00,0.00,3.59,0.000,0.000,0.100,1939.25,2033.62,1844.88,2715.56,2214.75,0,0,0,30.00,30.00,15.47
$GC,3959.07,8742,198.38,0.83,-80.00,1937.8,2031.9,1843.8,2714.4,2213.8,192.17,7.56,494,4011.90,45.40,0.00,3.92,1.627,0.000,0.180,1740.16,1845.31,1635.00,2715.00,737.31,0,0,0,11.67,30.00,15.28
$GC,4060.87,1028,198.38,0.83,0.00,1737.3,1839.7,1634.9,2714.7,737.4,183.56,9.44,514,4067.60,0.00,0.00,3.61,0.000,0.000,0.096,1738.84,1841.06,1636.62,2715.88,2212.00,0,0,0,30.00,30.00,15.35
$GC,4365.77,10919,277.61,1.09,-80.00,1732.5,1832.8,1632.2,2715.2,2212.7,161.09,6.31,545,4443.23,70.28,0.48,3.95,1.585,0.104,0.177,1417.38,1526.62,1308.12,2788.62,736.75,0,0,0,11.65,15.47,15.13
$GC,4481.79,1028,277.61,1.09,0.00,1413.8,1520.3,1307.3,2788.4,737.2,149.89,11.39,568,4488.92,0.00,0.00,3.64,0.000,0.000,0.095,1413.69,1520.12,1307.25,2789.06,2214.56,0,0,0,30.00,30.00,15.16
$GC,4787.27,16386,277.61,1.09,0.00,1409.4,1511.5,1307.4,2788.8,2213.6,120.78,9.40,599,4791.20,0.00,0.00,0.00,0.000,0.000,0.000,1408.91,1510.56,1307.25,2788.44,2214.06,0,0,0,30.00,30.00,30.00
$GC,5087.64,17030,277.61,1.14,-80.00,1407.7,1507.9,1307.4,2788.6,2214.1,93.64,8.59,636,5098.94,0.00,0.00,3.86,0.000,0.000,0.172,1408.22,1507.94,1308.50,2787.25,734.94,0,0,0,30.00,30.00,15.46
$GC,5127.98,17414,277.61,1.14,0.00,1406.7,1505.4,1307.9,2788.4,735.2,89.87,9.15,644,5134.44,0.00,0.00,3.57,0.000,0.000,0.092,1406.44,1505.38,1307.50,2788.06,2214.56,0,0,0,30.00,30.00,15.50
$GC,5312.88,18823,277.61,1.21,80.00,1406.1,1505.1,1307.1,2787.9,2215.0,74.50,8.10,681,5320.19,0.00,0.16,3.10,0.000,0.135,0.175,1406.06,1504.38,1307.75,2817.56,3407.12,0,0,0,30.00,15.54,15.45
$GC,5333.40,17414,277.61,1.21,0.00,1405.9,1503.9,1307.9,2818.2,3406.2,72.52,8.63,685,5339.81,0.00,0.00,2.95,0.000,0.000,0.090,1406.84,1504.81,1308.88,2817.62,2180.81,0,0,0,30.00,30.00,15.56
$GC,5518.43,16902,277.61,1.21,-80.00,1405.7,1504.3,1307.1,2816.9,2181.5,56.31,8.32,722,5525.47,0.00,0.00,3.76,0.000,0.000,0.176,1407.06,1504.88,1309.25,2817.38,736.06,0,0,0,30.00,30.00,15.46
$GC,5554.05,17414,277.61,1.21,0.00,1405.6,1503.2,1307.9,2818.5,735.8,53.15,8.85,729,5564.87,0.00,0.00,3.54,0.000,0.000,0.091,1405.50,1503.12,1307.88,2818.94,2215.94,0,0,0,30.00,30.00,15.52
$MODEM_MSG,CACST,6,1,20201016080436.345864,18,26,-15,0108,0150,216,01,01,05,03,-1,-01,-01,1,3,0,0,150,13.0,-7.48,-100,10.48,-01,0.00,44,925,0025*2F
$MODEM_MSG,CACST,6,1,20201016081053.523237,18,517,15,0207,0150,07,01,01,02,03,-1,-01,-01,1,3,0,0,150,-17.6,0.09,-100,2.91,-01,0.41,23,925,0025*3A
$MODEM_MSG,CACST,6,1,20201016081803.903230,18,638,22,0126,0150,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-17.9,0.10,-100,2.90,-01,0.22,23,925,0025*3F
$MODEM_MSG,CACST,6,1,20201016082905.133008,18,158,-14,0139,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,-23.9,0.03,-100,2.97,-01,0.00,35,925,0025*21
$MODEM_MSG,CACST,6,1,20201016083250.243934,18,171,-13,0294,0150,216,04,04,06,04,-1,-01,-01,1,3,0,0,150,8.2,0.76,-100,2.24,-01,-0.06,37,925,0025*19
$MODEM_MSG,CACST,6,1,20201016083616.752857,18,118,-15,0231,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,18.4,-2.71,-100,5.71,-01,0.00,35,925,0025*21
$GC,5744.60,10403,378.88,1.45,0.00,1405.5,1502.9,1308.0,2817.1,2217.1,41.02,5.29,767,5842.58,91.41,0.35,0.00,1.492,0.109,0.000,1005.03,1124.38,885.69,2874.75,2216.19,0,0,0,11.67,15.60,30.00
$GC,6020.88,10403,440.95,1.62,80.00,999.2,1113.2,885.2,2876.1,2216.6,23.76,7.11,822,6082.85,56.88,0.24,0.00,1.418,0.117,0.000,753.38,870.69,636.06,2916.94,2216.38,0,0,0,11.53,15.40,30.00
$GC,6261.71,10919,547.84,1.90,-80.00,746.6,857.6,635.6,2918.9,2216.4,6.33,5.03,870,6323.85,57.88,0.42,1.04,1.383,0.107,0.131,500.41,601.50,399.31,2986.38,1804.88,0,0,0,11.50,15.36,15.14
$STATE,6324,end climb,SURFACE_DEPTH_REACHED
$STATE,6324,begin surface coast
$FINISH,0.6,1.023369
$STATE,6348,end surface coast,CONTROL_FINISHED_OK
$STATE,6348,begin surface
$SM_CCo,6434.49,0.00,0.000,0,495.7,590.1,401.4,503.92
$SM_GC,2.05,0.00,18.25,0.74,0.000,0.083,0.104,495.7,590.1,401.4,217.8,2118.7,0,0,0,30.00,15.22,15.23
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7133.61,-15154.85,161020,050918
$TCM_TEMP,3.24
$SC_FREEKB,3840960
$PM_FREEKB_00,41446720
$PM_ACTIVECARD,0
$RAFOS_CLK,-5
$MODEM,6,1602837376,75.33060,-142.67570,76.753,112442.9
$MODEM,5,1602837170,76.41295,-142.47470,170.244,249407.4
$MODEM,4,1602836945,76.55490,-139.99944,245.133,359119.9
$MODEM,2,1602836283,75.67648,-146.03058,183.903,269418.2
$MODEM,1,1602835853,75.02295,-144.31340,53.523,78411.5
$RAFOS_FIX,7356.470215,-14257.776367,161020,080816,5,255,69.34
$HUMID,52.47
$TEMP,0.46
$INTERNAL_PRESSURE,7.66166
$24V_AH,14.44,62.263
$10V_AH,14.70,0.000
$FG_AHR_24Vo,62.184
$FG_AHR_10Vo,31.882
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,686.220,43.925,96.280,187.726,0.000,15.683,3782.954,2951.342,2219.378,2219.000,0.000,0.000
$DEVICE_MAMPS,1828.680,301.184,324.800,222.807,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6356.000,6367.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.509,9.213,0.000,0.000
$MEM,1152480,29,24408,78
$DATA_FILE_SIZE,25719,887
$CAP_FILE_SIZE,234386,0
$SDSIZE,3918848,3778624
$SDFILEDIR,995,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.180, 86.1,1
$GPS,161020,085231,7131.960,-15153.286,19,1.0,20,15.2