version: 67.00
glider: 235
mission: 6
dive: 126
start: 10 16 120 22 36 47
data:
$ID,235
$MISSION,6
$DIVE,126
$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,32.237991
$FG_AHR_24V,64.15358
$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
$GPS1,161020,222800,7138.627,-15147.393,28,0.7,28,15.2
$_CALLS,2
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-64.0
$GPS2,161020,223614,7138.756,-15147.357,3,0.6,5,15.2
$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,344.6,19187,-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,11.37,16386,-145.99,-1.06,0.00,494.3,563.8,424.9,215.3,2117.8,0.00,0.00,0,85.55,72.33,0.00,0.00,0.005,0.000,0.000,1744.38,1740.12,1748.62,215.38,2118.06,0,0,0,15.45,30.00,30.00
$GC,85.84,18727,-145.99,-1.06,80.00,1744.4,1741.5,1747.4,215.3,2117.0,3.02,-1.75,14,161.97,49.08,17.32,3.31,0.005,0.301,0.164,3146.50,3166.50,3126.50,2259.81,3410.06,0,0,0,15.45,15.40,15.46
$GC,350.69,3205,-145.99,-0.94,0.00,3144.8,3166.7,3122.9,2260.9,3408.8,55.35,-18.88,66,357.51,0.00,0.22,3.20,0.000,0.199,0.096,3145.94,3167.19,3124.69,2293.38,2083.06,0,0,0,30.00,15.54,15.50
$GC,536.28,644,-145.99,-1.03,-80.00,3144.3,3166.4,3122.2,2293.6,2083.5,77.49,-12.19,103,542.88,0.00,0.00,3.74,0.000,0.000,0.177,3147.03,3169.25,3124.81,2294.31,635.69,0,0,0,30.00,30.00,15.53
$GC,631.60,1028,-145.99,-1.03,0.00,3145.2,3168.1,3122.2,2292.8,635.1,90.01,-12.69,122,638.11,0.00,0.00,3.53,0.000,0.000,0.091,3147.69,3170.12,3125.25,2293.44,2116.06,0,0,0,30.00,30.00,15.63
$GC,821.68,4485,-145.99,-1.15,80.00,3145.7,3168.2,3123.1,2293.3,2115.6,109.48,-9.95,151,828.99,0.00,0.44,3.28,0.000,0.100,0.167,3147.75,3171.38,3124.12,2225.44,3408.88,0,0,0,30.00,15.68,15.64
$GC,887.72,3205,-145.99,-0.92,0.00,3145.7,3168.1,3123.3,2225.0,3407.7,118.58,-14.91,164,894.99,0.00,0.57,3.16,0.000,0.193,0.095,3144.66,3166.56,3122.75,2296.62,2083.81,0,0,0,30.00,15.65,15.69
$GC,1193.02,4741,-145.99,-1.08,-80.00,3145.4,3168.6,3122.2,2295.8,2083.1,147.65,-8.48,195,1205.02,0.00,0.32,3.74,0.000,0.112,0.190,3147.19,3170.62,3123.75,2245.31,636.75,0,0,0,30.00,15.74,15.68
$GC,1383.71,3205,-145.99,-0.99,0.00,3145.8,3168.8,3122.7,2245.9,636.4,171.09,-12.23,233,1391.05,0.00,0.31,3.53,0.000,0.198,0.101,3146.78,3171.06,3122.50,2281.62,2113.38,0,0,0,30.00,15.72,15.75
$GC,1689.04,4485,-145.99,-1.15,80.00,3146.1,3169.1,3123.2,2282.6,2113.2,196.67,-8.16,264,1696.51,0.00,0.34,3.31,0.000,0.112,0.181,3146.59,3169.62,3123.56,2228.25,3404.81,0,0,0,30.00,15.79,15.64
$GC,1778.68,3205,-145.99,-1.05,0.00,3145.0,3167.8,3122.1,2228.2,3406.2,206.81,-11.36,282,1786.28,0.00,0.31,3.18,0.000,0.195,0.109,3147.34,3170.88,3123.81,2263.75,2084.44,0,0,0,30.00,15.73,15.78
$GC,2085.30,4741,-145.99,-1.19,-80.00,3144.4,3169.1,3119.8,2264.7,2083.3,232.63,-8.13,313,2096.92,0.00,0.28,3.78,0.000,0.120,0.209,3145.81,3169.50,3122.12,2221.25,635.69,0,0,0,30.00,15.81,15.75
$GC,2199.10,3205,-145.99,-1.07,0.00,3144.9,3169.4,3120.4,2220.9,635.3,245.47,-11.51,336,2207.34,0.00,0.34,3.55,0.000,0.196,0.113,3147.22,3169.25,3125.19,2261.19,2112.44,0,0,0,30.00,15.68,15.81
$GC,2505.70,4485,-145.99,-1.20,80.00,3146.0,3169.3,3122.6,2260.6,2113.8,270.74,-8.28,367,2512.69,0.00,0.28,3.34,0.000,0.117,0.194,3145.22,3169.12,3121.31,2215.25,3409.75,0,0,0,30.00,15.83,15.78
$GC,2551.42,3205,-145.99,-1.09,0.00,3144.2,3167.6,3120.9,2216.2,3408.2,275.63,-11.06,376,2558.81,0.00,0.34,3.20,0.000,0.197,0.118,3145.38,3169.00,3121.75,2256.06,2088.38,0,0,0,30.00,15.79,15.82
$STATE,2837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2837,begin apogee
$GC,2838.17,10243,0.00,-0.25,0.00,3144.1,3167.8,3120.3,2255.2,2212.6,300.31,-8.39,405,2964.54,121.56,1.50,0.05,1.816,0.178,0.329,2552.03,2616.81,2487.25,2459.88,2186.88,0,0,0,11.87,15.81,15.20
$STATE,2967,end apogee,CONTROL_FINISHED_OK
$STATE,2967,begin climb
$GC,2967.11,10503,145.99,1.06,80.00,2547.5,2610.9,2484.1,2459.0,2187.7,303.35,0.00,411,3101.34,125.94,2.28,3.37,1.704,0.132,0.195,1950.62,2056.25,1845.00,2778.81,3406.19,0,0,0,11.46,15.21,14.80
$GC,3110.31,5253,145.99,0.79,0.00,1950.0,2052.8,1847.2,2779.9,3406.6,291.43,12.60,438,3117.77,0.00,0.61,3.12,0.000,0.221,0.114,1951.41,2054.31,1848.50,2706.12,2186.88,0,0,0,30.00,14.93,14.96
$GC,3415.28,16386,145.99,0.79,0.00,1941.7,2039.4,1843.9,2707.2,2187.4,260.95,9.52,469,3418.88,0.00,0.00,0.00,0.000,0.000,0.000,1940.56,2037.62,1843.50,2706.88,2186.88,0,0,0,30.00,30.00,30.00
$GC,3715.36,16902,145.99,0.79,-80.00,1939.8,2036.0,1843.6,2707.2,2187.6,232.86,9.16,499,3722.82,0.00,0.00,3.85,0.000,0.000,0.197,1938.41,2034.44,1842.38,2707.19,737.06,0,0,0,30.00,30.00,15.46
$GC,3751.45,17414,145.99,0.79,0.00,1938.7,2033.9,1843.6,2706.1,737.0,229.37,9.76,506,3758.75,0.00,0.00,3.58,0.000,0.000,0.103,1937.62,2033.38,1841.88,2707.19,2213.50,0,0,0,30.00,30.00,15.51
$GC,4056.34,16386,145.99,0.79,0.00,1937.8,2032.3,1843.4,2707.5,2212.6,202.25,8.82,537,4060.25,0.00,0.00,0.00,0.000,0.000,0.000,1939.03,2032.81,1845.25,2704.69,2212.75,0,0,0,30.00,30.00,30.00
$GC,4357.19,10663,197.30,0.90,80.00,1938.3,2032.6,1843.9,2707.1,2212.8,178.20,7.61,567,4409.58,44.47,0.25,3.13,1.613,0.117,0.182,1744.66,1847.62,1641.69,2744.56,3407.00,0,0,0,11.75,15.68,15.40
$GC,4411.72,1156,197.30,0.84,0.00,1742.2,1844.9,1639.6,2744.7,3409.4,173.13,9.14,575,4419.22,0.00,0.00,2.97,0.000,0.000,0.092,1743.34,1845.50,1641.19,2744.94,2183.31,0,0,0,30.00,30.00,15.46
$GC,4718.51,16902,197.30,0.84,-80.00,1736.3,1835.3,1637.4,2746.2,2183.8,144.17,9.24,606,4725.74,0.00,0.00,3.79,0.000,0.000,0.184,1735.66,1834.75,1636.56,2745.69,736.00,0,0,0,30.00,30.00,15.48
$GC,4747.88,17414,197.30,0.84,0.00,1736.6,1834.5,1638.8,2745.8,736.2,140.81,10.06,612,4755.95,0.00,0.00,3.55,0.000,0.000,0.093,1737.78,1835.94,1639.62,2746.75,2217.12,0,0,0,30.00,30.00,15.59
$GC,5054.61,8742,265.35,0.92,-80.00,1735.3,1832.9,1637.8,2745.9,2215.1,114.62,6.83,643,5121.70,60.06,0.00,3.89,1.544,0.000,0.176,1466.31,1573.62,1359.00,2745.62,736.56,0,0,0,11.83,30.00,15.33
$GC,5133.84,1156,265.35,1.02,0.00,1464.8,1571.2,1358.4,2746.9,737.6,108.45,8.08,659,5141.91,0.00,0.00,3.58,0.000,0.000,0.090,1466.44,1572.56,1360.31,2746.31,2213.00,0,0,0,30.00,30.00,15.32
$GC,5442.07,10403,314.57,1.23,0.00,1459.8,1561.2,1358.4,2745.3,2212.8,84.80,7.71,709,5493.63,44.63,0.47,0.00,1.485,0.099,0.000,1267.09,1376.94,1157.25,2825.56,2212.44,0,0,0,11.57,15.52,30.00
$GC,5671.88,516,314.57,1.23,-80.00,1261.5,1368.0,1155.0,2824.4,2212.3,61.77,9.63,755,5679.46,0.00,0.00,3.85,0.000,0.000,0.170,1260.53,1366.44,1154.62,2824.94,736.56,0,0,0,30.00,30.00,15.39
$GC,5738.18,1028,314.57,1.23,0.00,1260.4,1365.8,1154.9,2824.6,736.5,54.97,11.43,768,5744.69,0.00,0.00,3.56,0.000,0.000,0.091,1261.09,1366.31,1155.88,2822.69,2214.94,0,0,0,30.00,30.00,15.44
$GC,5923.79,10403,439.04,1.51,0.00,1259.8,1364.6,1154.9,2823.8,2215.1,43.84,4.21,805,6036.02,109.90,0.41,0.00,1.443,0.098,0.000,761.22,880.69,641.75,2892.81,2214.88,0,0,0,11.59,15.51,30.00
$GC,6215.00,644,439.04,1.60,-80.00,754.5,867.2,641.7,2893.7,2215.3,21.22,8.55,863,6221.85,0.00,0.00,3.87,0.000,0.000,0.161,754.81,867.62,642.00,2891.62,736.31,0,0,0,30.00,30.00,15.27
$GC,6260.82,3205,439.04,1.65,0.00,752.8,862.9,642.8,2891.8,736.1,16.95,9.28,872,6267.64,0.00,0.17,3.59,0.000,0.129,0.089,752.72,862.69,642.75,2923.62,2214.25,0,0,0,30.00,15.34,15.33
$STATE,6436,end climb,SURFACE_DEPTH_REACHED
$STATE,6437,begin surface coast
$FINISH,0.4,1.023580
$STATE,6466,end surface coast,CONTROL_FINISHED_OK
$STATE,6466,begin surface
$SM_CCo,6549.57,56.75,1.449,0,500.8,583.0,418.7,502.66
$SM_CCo,6550.70,0.00,0.009,0,500.1,582.9,417.2,502.85
$SM_CCo,6551.81,0.00,0.011,0,500.1,582.8,417.4,502.85
$SM_GC,1.66,0.00,17.68,0.31,0.011,0.088,0.118,500.1,582.8,417.4,216.8,2071.8,0,0,0,30.36,15.43,15.44
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7140.66,-15151.22,161020,223015
$TCM_TEMP,3.58
$SC_FREEKB,3838400
$PM_FREEKB_00,40714560
$PM_ACTIVECARD,0
$RAFOS_CLK,-1
$RAFOS_FIX,7139.519531,-15147.399414,171020,000029,0,1,0.22
$HUMID,52.50
$TEMP,0.73
$INTERNAL_PRESSURE,7.67795
$24V_AH,14.46,64.883
$10V_AH,14.57,0.000
$FG_AHR_24Vo,64.417
$FG_AHR_10Vo,32.291
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,684.745,44.445,98.235,320.718,0.000,13.575,3933.010,3044.607,2270.644,2212.000,0.000,0.000
$DEVICE_MAMPS,1816.216,300.856,328.736,222.489,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6479.000,6489.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.476,9.134,0.000,0.000
$MEM,1152472,31,24376,78
$DATA_FILE_SIZE,25678,913
$CAP_FILE_SIZE,236913,0
$SDSIZE,3918848,3776448
$SDFILEDIR,1051,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.189,  2.3,1
$GPS,171020,002639,7140.192,-15147.336,3,1.2,6,15.2