version: 67.00
glider: 235
mission: 6
dive: 125
start: 10 16 120 20 40 12
data:
$ID,235
$MISSION,6
$DIVE,125
$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,32.197575
$FG_AHR_24V,63.868458
$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
$GPS1,161020,202752,7137.116,-15147.714,2,0.9,4,15.2
$_CALLS,5
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-63.4
$GPS2,161020,203939,7137.293,-15147.504,2,0.9,5,15.2
$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,328.6,21880,-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
$MODEM_MSG,CACST,6,1,20201016200645.493125,18,345,19,0104,0150,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-17.7,0.13,-100,2.87,-01,-0.06,23,925,0025*14
$MODEM_MSG,CACST,6,1,20201016201425.649588,18,227,11,0126,0150,216,03,03,02,03,-1,-01,-01,1,3,0,0,150,10.8,-0.38,-100,3.38,-01,0.00,42,925,0025*08
$MODEM_MSG,CACST,6,1,20201016201915.131684,18,387,19,0348,0150,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-18.8,0.24,-100,2.76,-01,0.06,25,925,0025*37
$MODEM_MSG,CACST,6,1,20201016202707.751921,18,488,-9,0129,0150,216,04,04,06,04,-1,-01,-01,1,3,0,0,150,8.4,0.30,-100,2.70,-01,-0.02,36,925,0025*25
$MODEM_MSG,CACST,6,1,20201016203210.491663,18,418,-9,0102,0150,216,04,04,06,04,-1,-01,-01,1,3,0,0,150,10.2,0.34,-100,2.66,-01,-0.01,36,925,0025*19
$MODEM_MSG,CACST,6,1,20201016203347.888676,18,454,-15,0117,0150,246,04,04,07,04,-1,-01,-01,1,3,0,0,150,3.1,0.21,-100,2.79,-01,0.09,44,925,0025*3F
$GC,11.31,16386,-145.99,-1.06,0.00,493.0,560.9,425.0,217.8,2115.7,0.00,0.00,0,85.55,72.26,0.00,0.00,0.005,0.000,0.000,1742.31,1738.50,1746.12,217.69,2117.06,0,0,0,15.40,30.00,30.00
$GC,85.80,18983,-145.99,-1.06,-80.00,1742.0,1738.7,1745.4,217.7,2115.7,3.32,-1.87,14,165.83,49.33,17.33,3.83,0.005,0.304,0.167,3144.75,3165.81,3123.69,2262.50,635.50,0,0,0,15.42,15.32,15.45
$GC,359.71,1028,-145.99,-1.06,0.00,3145.2,3167.9,3122.4,2261.9,635.4,55.98,-16.70,68,371.02,0.00,0.00,3.55,0.000,0.000,0.094,3144.88,3167.62,3122.12,2262.44,2113.88,0,0,0,30.00,30.00,15.49
$GC,550.27,516,-145.99,-1.06,-80.00,3145.4,3168.1,3122.7,2262.5,2113.6,81.47,-12.13,106,561.09,0.00,0.00,3.81,0.000,0.000,0.171,3147.00,3169.25,3124.75,2262.94,635.94,0,0,0,30.00,30.00,15.54
$GC,595.09,1156,-145.99,-0.98,0.00,3145.7,3168.7,3122.7,2262.2,636.0,87.20,-12.94,115,601.58,0.00,0.00,3.53,0.000,0.000,0.091,3148.00,3171.00,3125.00,2260.50,2114.69,0,0,0,30.00,30.00,15.55
$GC,785.20,0,-145.99,-0.98,0.00,3145.7,3168.2,3123.2,2261.9,2114.5,109.78,-11.69,145,789.12,0.00,0.00,0.00,0.000,0.000,0.000,3147.31,3170.06,3124.56,2262.25,2114.56,0,0,0,30.00,30.00,30.00
$GC,1085.62,644,-145.99,-1.04,-80.00,3145.8,3168.9,3122.6,2261.8,2114.4,141.74,-9.49,175,1092.85,0.00,0.00,3.82,0.000,0.000,0.182,3145.84,3169.44,3122.25,2262.06,636.56,0,0,0,30.00,30.00,15.66
$GC,1265.03,1028,-145.99,-1.04,0.00,3145.5,3168.1,3122.9,2261.3,636.2,162.15,-11.54,211,1273.11,0.00,0.00,3.53,0.000,0.000,0.101,3147.19,3170.12,3124.25,2262.56,2113.62,0,0,0,30.00,30.00,15.61
$GC,1571.87,128,-145.99,-1.15,0.00,3145.4,3168.7,3122.1,2261.4,2113.5,190.47,-8.71,242,1574.76,0.00,0.00,0.00,0.000,0.000,0.000,3144.31,3167.44,3121.19,2261.44,2113.81,0,0,0,30.00,30.00,30.00
$GC,1871.75,4485,-145.99,-1.28,80.00,3145.2,3168.4,3122.1,2262.1,2113.0,215.29,-8.21,272,1878.71,0.00,0.41,3.32,0.000,0.097,0.188,3144.78,3168.75,3120.81,2197.75,3406.81,0,0,0,30.00,15.80,15.75
$GC,1950.94,3205,-145.99,-1.09,0.00,3145.9,3168.2,3123.6,2196.0,3405.6,224.84,-12.59,288,1958.97,0.00,0.47,3.19,0.000,0.198,0.113,3147.16,3169.69,3124.62,2256.31,2085.25,0,0,0,30.00,15.75,15.77
$GC,2257.39,644,-145.99,-1.18,-80.00,3146.1,3170.0,3122.1,2257.1,2084.0,250.90,-8.04,319,2264.64,0.00,0.00,3.79,0.000,0.000,0.209,3147.88,3171.06,3124.69,2256.31,637.31,0,0,0,30.00,30.00,15.76
$GC,2363.66,1028,-145.99,-1.18,0.00,3145.6,3169.4,3121.7,2257.1,637.5,260.87,-9.54,340,2370.34,0.00,0.00,3.55,0.000,0.000,0.115,3145.94,3169.62,3122.25,2257.75,2111.62,0,0,0,30.00,30.00,15.81
$GC,2668.57,4225,-145.99,-1.30,0.00,3144.8,3168.6,3121.1,2257.2,2112.1,285.74,-8.21,371,2671.63,0.00,0.41,0.00,0.000,0.104,0.000,3145.03,3167.75,3122.31,2190.94,2111.44,0,0,0,30.00,15.86,30.00
$STATE,2808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2808,begin apogee
$GC,2809.64,10243,0.00,-0.25,0.00,3145.7,3168.5,3122.9,2191.0,2211.3,300.78,-11.10,385,2935.85,122.01,2.01,0.05,1.823,0.187,0.363,2549.03,2614.12,2483.94,2459.50,2187.31,0,0,0,11.81,15.81,15.20
$STATE,2938,end apogee,CONTROL_FINISHED_OK
$STATE,2938,begin climb
$GC,2938.21,10243,145.99,1.06,0.00,2548.4,2612.9,2483.9,2460.6,2187.4,303.78,0.00,391,3072.79,126.18,2.25,0.00,1.709,0.134,0.000,1951.97,2057.56,1846.38,2779.31,2188.62,0,0,0,11.59,15.20,30.00
$GC,3368.64,21127,145.99,0.83,-80.00,1941.5,2037.4,1845.6,2778.5,2187.0,254.44,13.20,431,3380.55,0.00,0.50,3.90,0.000,0.211,0.195,1943.16,2038.88,1847.44,2714.19,736.31,0,0,0,30.00,15.31,15.30
$GC,3399.32,21639,145.99,0.69,0.00,1940.6,2036.7,1844.4,2715.1,736.1,250.66,12.26,437,3406.30,0.00,0.23,3.63,0.000,0.220,0.109,1939.84,2035.69,1844.00,2683.56,2212.88,0,0,0,30.00,15.31,15.35
$GC,3703.84,10403,191.96,0.83,0.00,1939.0,2033.9,1844.1,2682.2,2212.2,224.42,7.86,468,3746.47,39.72,0.30,0.00,1.628,0.112,0.000,1765.03,1870.50,1659.56,2728.00,2211.38,0,0,0,11.70,15.51,30.00
$GC,4049.73,16386,191.96,0.83,-80.00,1758.8,1859.2,1658.4,2727.6,2212.8,189.41,10.03,504,4053.11,0.00,0.00,0.00,0.000,0.000,0.000,1757.94,1858.31,1657.56,2727.69,2211.44,0,0,0,30.00,30.00,30.00
$GC,4349.86,16902,191.96,0.83,-80.00,1757.5,1856.9,1658.1,2726.9,2212.0,161.04,8.99,534,4357.27,0.00,0.00,3.85,0.000,0.000,0.177,1758.69,1857.56,1659.81,2727.88,735.69,0,0,0,30.00,30.00,15.55
$GC,4379.42,17414,191.96,0.83,0.00,1756.6,1854.6,1658.7,2726.5,735.2,158.04,9.21,540,4387.48,0.00,0.00,3.54,0.000,0.000,0.094,1757.44,1856.12,1658.75,2727.38,2213.50,0,0,0,30.00,30.00,15.56
$GC,4686.05,17030,191.96,0.88,-80.00,1756.4,1854.7,1658.1,2727.5,2215.4,130.64,8.50,571,4693.33,0.00,0.00,3.81,0.000,0.000,0.173,1758.81,1857.12,1660.50,2727.94,737.19,0,0,0,30.00,30.00,15.61
$GC,4735.48,17414,191.96,0.88,0.00,1756.2,1854.1,1658.4,2727.0,737.0,125.98,9.33,581,4743.55,0.00,0.00,3.52,0.000,0.000,0.094,1756.84,1854.62,1659.06,2726.50,2216.00,0,0,0,30.00,30.00,15.65
$GC,5041.59,10919,293.52,1.12,-80.00,1755.9,1853.6,1658.3,2727.4,2214.8,107.36,5.28,612,5139.01,89.07,0.41,3.90,1.545,0.098,0.171,1353.38,1464.88,1241.88,2796.69,736.12,0,0,0,11.78,15.71,15.22
$GC,5162.73,1156,293.52,1.07,0.00,1349.1,1457.6,1240.6,2797.2,735.8,97.18,10.00,636,5169.35,0.00,0.00,3.59,0.000,0.000,0.092,1350.25,1459.00,1241.50,2795.69,2212.12,0,0,0,30.00,30.00,15.34
$GC,5348.13,16646,293.52,1.07,80.00,1345.1,1450.2,1240.0,2797.4,2214.1,79.55,9.36,673,5355.40,0.00,0.00,3.10,0.000,0.000,0.173,1343.91,1448.69,1239.12,2796.00,3406.00,0,0,0,30.00,30.00,15.44
$GC,5359.34,17414,293.52,1.07,0.00,1344.3,1448.6,1240.0,2797.5,3406.9,78.54,9.34,675,5365.01,0.00,0.00,2.95,0.000,0.000,0.084,1345.09,1449.75,1240.44,2797.69,2182.00,0,0,0,30.00,30.00,15.49
$GC,5543.82,17030,293.52,1.16,-80.00,1343.6,1446.8,1240.4,2797.1,2180.9,62.60,8.19,712,5551.22,0.00,0.00,3.74,0.000,0.000,0.172,1342.44,1445.88,1239.00,2799.75,736.31,0,0,0,30.00,30.00,15.51
$GC,5614.94,9254,339.70,1.22,0.00,1341.6,1443.5,1239.6,2796.1,736.4,56.92,7.85,726,5666.82,41.49,0.00,3.53,1.465,0.000,0.089,1164.97,1276.75,1053.19,2798.19,2215.31,0,0,0,11.69,30.00,15.54
$GC,5845.85,10663,464.42,1.65,80.00,1159.0,1267.1,1050.9,2797.9,2215.1,44.93,4.20,772,5963.85,109.86,0.81,3.15,1.430,0.086,0.166,656.78,771.56,542.00,2926.62,3406.94,0,0,0,11.61,15.50,15.07
$GC,5982.79,1028,464.42,1.65,0.00,654.2,766.1,542.4,2926.4,3406.8,33.11,10.88,799,5988.48,0.00,0.00,3.02,0.000,0.000,0.083,654.62,766.19,543.06,2926.44,2179.69,0,0,0,30.00,30.00,15.10
$GC,6167.24,516,464.42,1.65,-80.00,650.4,758.4,542.3,2927.2,2178.7,12.79,9.96,836,6174.64,0.00,0.00,3.77,0.000,0.000,0.165,651.16,759.25,543.06,2925.12,735.19,0,0,0,30.00,30.00,15.32
$GC,6242.88,1028,464.42,1.65,0.00,649.4,753.5,545.2,2927.5,734.9,5.91,8.27,851,6250.39,0.00,0.00,3.55,0.000,0.000,0.086,649.41,753.50,545.31,2927.62,2217.25,0,0,0,30.00,30.00,15.40
$STATE,6308,end climb,SURFACE_DEPTH_REACHED
$STATE,6309,begin surface coast
$FINISH,0.5,1.012501
$STATE,6344,end surface coast,CONTROL_FINISHED_OK
$STATE,6344,begin surface
$SM_CCo,6404.87,34.22,1.446,0,500.6,586.3,414.8,502.73
$SM_CCo,6405.99,0.00,0.008,0,500.2,584.8,415.7,502.81
$SM_CCo,6407.10,0.00,0.011,0,500.0,584.2,415.8,502.86
$SM_GC,2.04,0.00,17.55,0.31,0.011,0.083,0.133,500.0,584.2,415.8,216.6,2079.4,0,0,0,30.36,15.46,15.47
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7144.46,-15326.10,161020,203514
$TCM_TEMP,3.52
$SC_FREEKB,3838720
$PM_FREEKB_00,40806016
$PM_ACTIVECARD,0
$RAFOS_CLK,-21
$MODEM,5,1602880330,76.41295,-142.47470,130.492,191170.3
$MODEM,4,1602880027,76.55490,-139.99944,127.752,187156.6
$MODEM,2,1602879555,75.67648,-146.03058,255.132,373767.9
$MODEM,1,1602879265,75.02295,-144.31340,265.650,389176.7
$MODEM,0,1602878805,74.83892,-145.28152,105.493,154547.4
$RAFOS_FIX,7521.998047,-13457.582031,161020,202010,5,255,-1371.78
$HUMID,52.97
$TEMP,0.39
$INTERNAL_PRESSURE,7.66953
$24V_AH,14.46,64.540
$10V_AH,14.72,0.000
$FG_AHR_24Vo,64.135
$FG_AHR_10Vo,32.237
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,684.130,42.690,93.105,353.390,0.000,13.871,3885.884,3180.268,2202.798,0.000,0.000,0.000
$DEVICE_MAMPS,1822.776,303.808,362.848,218.615,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6352.000,6364.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.617,9.144,0.000,0.000
$MEM,1152480,29,24408,78
$DATA_FILE_SIZE,25705,871
$CAP_FILE_SIZE,230760,0
$SDSIZE,3918848,3776704
$SDFILEDIR,1044,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.190, 20.6,1
$GPS,161020,222800,7138.627,-15147.393,28,0.7,28,15.2