version: 67.00
glider: 235
mission: 6
dive: 170
start: 10 22 120 10 50 37
data:
$ID,235
$MISSION,6
$DIVE,170
$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,520
$LOITER_D_BOTTOM,660
$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,35.825027
$FG_AHR_24V,77.541893
$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
$GPS1,221020,104431,7133.924,-15151.921,18,1.0,19,15.2
$_CALLS,1
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-67.8
$GPS2,221020,105004,7133.944,-15151.832,2,0.6,4,15.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SHELF2
$TGT_LATLONG,7125.000,-15144.000
$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,142.8,17197,-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,11.73,16386,-145.99,-1.06,0.00,491.9,564.9,418.9,220.2,2117.9,0.00,0.00,0,65.44,51.70,0.00,0.00,0.005,0.000,0.000,1415.62,1423.62,1407.62,220.38,2119.44,0,0,0,15.42,30.00,30.00
$GC,65.69,18727,-145.99,-1.06,80.00,1415.8,1423.9,1407.8,220.2,2116.6,3.22,-2.56,10,151.21,56.40,17.03,3.34,0.005,0.307,0.162,3146.62,3165.25,3128.00,2261.00,3408.62,0,0,0,15.44,15.34,15.39
$GC,309.98,3205,-145.99,-0.96,0.00,3145.4,3165.6,3125.2,2262.1,3408.6,51.96,-18.21,58,316.80,0.00,0.18,3.24,0.000,0.213,0.100,3148.59,3169.00,3128.19,2287.94,2083.19,0,0,0,30.00,15.51,15.47
$GC,495.55,516,-145.99,-0.96,-80.00,3146.4,3167.7,3125.1,2289.4,2083.8,78.53,-12.99,95,502.09,0.00,0.00,3.80,0.000,0.000,0.183,3146.19,3166.62,3125.75,2288.56,636.50,0,0,0,30.00,30.00,15.46
$GC,540.79,1028,-145.99,-0.96,0.00,3146.0,3167.1,3124.8,2289.1,636.5,85.15,-14.64,104,547.37,0.00,0.00,3.57,0.000,0.000,0.093,3148.25,3169.38,3127.12,2289.50,2115.19,0,0,0,30.00,30.00,15.61
$GC,726.35,516,-145.99,-0.96,-80.00,3146.4,3168.7,3124.1,2289.5,2116.1,108.71,-12.44,134,733.67,0.00,0.00,3.87,0.000,0.000,0.180,3147.16,3168.19,3126.12,2288.88,637.31,0,0,0,30.00,30.00,15.60
$GC,752.37,1028,-145.99,-0.96,0.00,3145.8,3167.1,3124.4,2288.8,637.6,112.34,-12.96,139,759.34,0.00,0.00,3.55,0.000,0.000,0.095,3146.94,3168.12,3125.75,2289.50,2115.62,0,0,0,30.00,30.00,15.66
$GC,1057.45,388,-145.99,-1.04,80.00,3146.4,3167.2,3125.5,2289.4,2113.8,148.69,-11.39,170,1064.36,0.00,0.00,3.34,0.000,0.000,0.176,3147.16,3168.88,3125.44,2289.44,3407.56,0,0,0,30.00,30.00,15.66
$GC,1082.98,5253,-145.99,-1.11,0.00,3146.7,3168.2,3125.2,2290.8,3408.8,151.65,-11.51,175,1090.05,0.00,0.34,3.18,0.000,0.109,0.101,3146.53,3166.75,3126.31,2237.88,2084.50,0,0,0,30.00,15.71,15.64
$GC,1387.85,516,-145.99,-1.11,-80.00,3146.5,3167.6,3125.4,2239.7,2084.9,189.63,-11.52,206,1395.12,0.00,0.00,3.81,0.000,0.000,0.200,3147.16,3169.00,3125.31,2237.69,636.81,0,0,0,30.00,30.00,15.68
$GC,1407.34,3205,-145.99,-1.04,0.00,3146.8,3168.3,3125.4,2238.6,636.5,192.29,-12.26,210,1415.41,0.00,0.25,3.55,0.000,0.202,0.102,3148.19,3169.19,3127.19,2268.38,2111.81,0,0,0,30.00,15.69,15.63
$GC,1713.86,4741,-145.99,-1.17,-80.00,3145.4,3166.7,3124.2,2268.7,2112.1,220.27,-8.40,241,1725.69,0.00,0.28,3.88,0.000,0.110,0.200,3146.31,3168.38,3124.25,2222.75,637.44,0,0,0,30.00,15.79,15.70
$GC,1804.25,3205,-145.99,-1.03,0.00,3145.6,3167.4,3123.8,2224.2,637.6,230.35,-11.34,259,1811.48,0.00,0.37,3.58,0.000,0.197,0.113,3148.12,3170.06,3126.19,2270.56,2111.44,0,0,0,30.00,15.74,15.76
$GC,2109.77,4773,-145.99,-1.17,-80.00,3145.9,3167.4,3124.4,2270.5,2111.2,255.03,-7.80,290,2121.60,0.00,0.29,3.89,0.000,0.112,0.205,3145.78,3167.00,3124.56,2224.62,637.38,0,0,0,30.00,15.80,15.70
$GC,2183.77,3205,-145.99,-1.04,0.00,3146.4,3168.8,3124.0,2222.7,637.7,263.50,-11.77,305,2191.92,0.00,0.36,3.59,0.000,0.201,0.116,3146.03,3168.38,3123.69,2266.12,2111.88,0,0,0,30.00,15.76,15.79
$GC,2490.40,4773,-145.99,-1.18,-80.00,3145.0,3167.0,3123.0,2267.4,2112.2,288.03,-7.76,336,2502.21,0.00,0.29,3.91,0.000,0.115,0.210,3147.31,3169.06,3125.56,2219.31,636.56,0,0,0,30.00,15.82,15.67
$GC,2504.43,1188,-145.99,-1.26,0.00,3145.2,3167.4,3122.9,2221.1,636.4,289.39,-7.89,339,2512.43,0.00,0.00,3.57,0.000,0.000,0.113,3147.50,3169.38,3125.62,2221.25,2113.25,0,0,0,30.00,30.00,15.80
$STATE,2621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2621,begin apogee
$GC,2622.26,10243,0.00,-0.25,0.00,3146.9,3168.8,3125.0,2220.9,2211.9,300.85,-9.95,351,2751.12,124.21,1.78,0.05,1.860,0.186,0.340,2548.53,2612.75,2484.31,2459.38,2187.19,0,0,0,11.69,15.78,15.16
$STATE,2754,end apogee,CONTROL_FINISHED_OK
$STATE,2754,begin climb
$GC,2753.93,10243,145.99,1.06,0.00,2547.0,2610.1,2484.0,2459.4,2186.6,303.46,0.00,357,2886.13,127.97,2.23,0.00,1.739,0.132,0.000,1952.22,2059.25,1845.19,2778.50,2186.69,0,0,0,11.53,15.16,30.00
$GC,3181.86,20871,145.99,0.83,80.00,1941.6,2038.2,1845.1,2778.7,2186.4,252.53,12.99,408,3189.26,0.00,0.50,3.29,0.000,0.213,0.190,1939.62,2035.81,1843.44,2716.31,3406.44,0,0,0,30.00,15.27,15.27
$GC,3218.25,17542,145.99,0.72,0.00,1942.0,2038.1,1846.0,2715.1,3407.8,248.47,11.17,415,3225.53,0.00,0.00,3.04,0.000,0.000,0.101,1941.78,2037.44,1846.12,2717.81,2186.19,0,0,0,30.00,30.00,15.33
$GC,3523.18,16902,145.99,0.72,-80.00,1938.8,2033.6,1844.0,2716.6,2186.7,219.88,8.82,446,3530.70,0.00,0.00,3.85,0.000,0.000,0.186,1938.72,2033.62,1843.81,2716.62,737.00,0,0,0,30.00,30.00,15.44
$GC,3599.44,21639,145.99,0.65,0.00,1937.4,2031.6,1843.2,2715.6,737.0,212.34,9.91,461,3606.47,0.00,0.32,3.60,0.000,0.215,0.099,1939.50,2032.62,1846.38,2672.19,2215.00,0,0,0,30.00,15.46,15.46
$GC,3904.73,10919,250.61,0.97,-80.00,1938.1,2032.1,1844.1,2672.2,2214.9,194.23,5.13,492,4003.47,90.54,0.58,3.98,1.650,0.100,0.177,1526.25,1634.25,1418.25,2762.88,736.62,0,0,0,11.68,15.59,15.14
$GC,4052.17,1028,250.61,0.97,0.00,1522.5,1626.2,1418.8,2762.2,736.6,180.07,11.30,521,4059.17,0.00,0.00,3.64,0.000,0.000,0.094,1522.50,1626.12,1418.88,2764.19,2215.00,0,0,0,30.00,30.00,15.26
$GC,4357.50,16514,250.61,1.04,0.00,1517.8,1617.2,1418.5,2764.2,2215.7,153.51,8.03,552,4360.39,0.00,0.00,0.00,0.000,0.000,0.000,1517.16,1616.12,1418.19,2763.56,2215.56,0,0,0,30.00,30.00,30.00
$GC,4660.03,10919,300.56,1.20,-80.00,1516.2,1614.0,1418.4,2764.6,2215.4,129.75,7.68,582,4712.34,44.79,0.29,3.93,1.572,0.114,0.173,1324.91,1432.62,1217.19,2814.75,736.81,0,0,0,11.63,15.53,15.19
$GC,4730.81,1156,300.56,1.15,0.00,1322.2,1428.1,1216.2,2815.1,736.8,122.97,10.14,595,4738.06,0.00,0.00,3.61,0.000,0.000,0.091,1322.59,1428.31,1216.88,2814.38,2215.12,0,0,0,30.00,30.00,15.33
$GC,5035.68,0,300.56,1.15,0.00,1318.1,1421.1,1215.0,2814.2,2215.1,92.99,9.10,633,5041.40,0.00,0.00,0.00,0.000,0.000,0.000,1318.81,1421.94,1215.69,2813.56,2214.25,0,0,0,30.00,30.00,30.00
$GC,5220.72,644,300.56,1.20,-80.00,1317.7,1419.9,1215.4,2814.8,2215.0,76.76,8.70,670,5228.27,0.00,0.00,3.86,0.000,0.000,0.168,1317.88,1419.75,1216.00,2814.94,736.06,0,0,0,30.00,30.00,15.48
$GC,5256.97,1028,300.56,1.20,0.00,1316.9,1418.7,1215.2,2814.1,736.2,73.53,9.05,677,5267.79,0.00,0.00,3.57,0.000,0.000,0.092,1317.38,1418.88,1215.88,2815.75,2216.50,0,0,0,30.00,30.00,15.47
$GC,5447.53,10663,358.20,1.35,80.00,1316.6,1418.1,1215.1,2814.6,2216.9,58.53,7.32,715,5509.99,53.44,0.21,3.14,1.519,0.118,0.173,1089.06,1201.75,976.38,2852.75,3408.12,0,0,0,11.67,15.56,15.27
$GC,5528.81,1028,358.20,1.35,0.00,1087.2,1198.0,976.4,2853.8,3409.1,51.72,8.96,731,5534.67,0.00,0.00,3.01,0.000,0.000,0.087,1087.78,1198.50,977.06,2852.88,2180.12,0,0,0,30.00,30.00,15.30
$GC,5713.75,10403,433.04,1.56,0.00,1084.6,1192.8,976.3,2853.4,2179.5,37.78,6.52,768,5785.84,69.25,0.29,0.00,1.468,0.110,0.000,785.12,902.38,667.88,2903.88,2180.31,0,0,0,11.56,15.42,30.00
$GC,5964.17,10403,501.36,1.79,-80.00,779.4,891.4,667.5,2904.1,2179.8,18.60,6.82,818,6031.22,63.40,0.33,0.00,1.419,0.106,0.000,507.09,609.44,404.75,2959.31,2179.81,0,0,0,11.41,15.34,30.00
$STATE,6189,end climb,SURFACE_DEPTH_REACHED
$STATE,6189,begin surface coast
$FINISH,0.5,1.002990
$STATE,6235,end surface coast,CONTROL_FINISHED_OK
$STATE,6235,begin surface
$SM_CCo,6321.49,0.00,0.000,0,499.6,590.9,408.2,502.97
$SM_GC,2.43,0.00,18.01,0.22,0.000,0.090,0.146,499.6,590.9,408.2,220.2,2078.5,0,0,0,30.00,15.31,15.32
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7136.09,-15151.64,221020,085331
$TCM_TEMP,2.35
$SC_FREEKB,3824320
$PM_FREEKB_00,34362240
$PM_ACTIVECARD,0
$RAFOS_CLK,-2
$RAFOS_FIX,7133.236328,-15151.023438,221020,121218,0,1,0.22
$HUMID,52.36
$TEMP,0.00
$INTERNAL_PRESSURE,7.64786
$24V_AH,14.40,81.357
$10V_AH,14.70,0.000
$FG_AHR_24Vo,77.815
$FG_AHR_10Vo,35.884
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,681.700,43.940,100.720,204.711,0.000,13.529,3773.397,2901.340,2177.221,2215.000,0.000,0.000
$DEVICE_MAMPS,1860.496,307.416,339.888,221.533,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6250.000,6258.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.441,9.388,0.000,0.000
$MEM,1152164,35,24544,81
$DATA_FILE_SIZE,25750,872
$CAP_FILE_SIZE,234222,0
$SDSIZE,3918848,3764032
$SDFILEDIR,1366,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.112,329.3,1
$GPS,221020,123647,7133.569,-15151.417,2,1.3,6,15.2