version: 67.00
glider: 235
mission: 6
dive: 179
start: 10 23 120 4 5 48
data:
$ID,235
$MISSION,6
$DIVE,179
$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,36.287846
$FG_AHR_24V,80.119537
$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
$GPS1,231020,035709,7130.058,-15149.213,16,0.8,17,15.2
$_CALLS,2
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-69.7
$GPS2,231020,040515,7130.066,-15149.314,3,1.1,6,15.2
$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,134.2,9893,-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,11,begin dive
$GC,11.83,16386,-145.99,-1.06,0.00,489.9,563.6,416.2,217.5,2113.1,0.00,0.00,0,62.15,48.33,0.00,0.00,0.005,0.000,0.000,1352.94,1364.38,1341.50,217.75,2114.31,0,0,0,15.45,30.00,30.00
$GC,62.41,18727,-145.99,-1.06,80.00,1352.7,1364.2,1341.2,217.8,2114.8,3.06,-2.55,8,147.62,58.49,17.25,3.36,0.005,0.311,0.169,3144.69,3164.19,3125.19,2261.50,3409.00,0,0,0,15.48,15.38,15.48
$GC,346.44,1156,-145.99,-0.97,0.00,3145.7,3165.9,3125.4,2261.6,3407.7,59.98,-16.24,64,353.19,0.00,0.00,3.26,0.000,0.000,0.101,3147.06,3167.62,3126.50,2261.75,2082.75,0,0,0,30.00,30.00,15.55
$GC,531.91,516,-145.99,-0.97,-80.00,3146.5,3166.9,3126.1,2261.1,2082.8,88.61,-14.59,101,542.95,0.00,0.00,3.82,0.000,0.000,0.181,3147.81,3168.88,3126.75,2260.62,635.44,0,0,0,30.00,30.00,15.45
$GC,571.71,3205,-145.99,-0.87,0.00,3146.0,3166.6,3125.4,2260.3,635.3,94.80,-15.96,109,583.07,0.00,0.34,3.57,0.000,0.201,0.094,3147.59,3168.56,3126.62,2307.38,2114.88,0,0,0,30.00,15.55,15.53
$GC,766.78,4225,-145.99,-0.98,0.00,3147.3,3168.1,3126.6,2307.6,2113.4,117.54,-11.42,133,769.80,0.00,0.26,0.00,0.000,0.109,0.000,3147.28,3168.69,3125.88,2271.31,2114.75,0,0,0,30.00,15.60,30.00
$GC,1067.09,516,-145.99,-0.98,-80.00,3146.3,3167.8,3124.8,2271.9,2113.9,155.64,-11.82,163,1074.08,0.00,0.00,3.91,0.000,0.000,0.185,3146.44,3167.81,3125.06,2272.75,636.56,0,0,0,30.00,30.00,15.57
$GC,1122.79,1028,-145.99,-0.98,0.00,3146.1,3168.0,3124.1,2271.4,636.9,163.16,-13.73,174,1130.19,0.00,0.00,3.58,0.000,0.000,0.099,3147.12,3168.12,3126.12,2271.38,2113.81,0,0,0,30.00,30.00,15.62
$GC,1428.29,388,-145.99,-1.08,80.00,3146.2,3167.5,3124.9,2272.8,2114.6,195.27,-9.45,205,1435.21,0.00,0.00,3.38,0.000,0.000,0.184,3146.72,3167.69,3125.75,2271.94,3408.19,0,0,0,30.00,30.00,15.60
$GC,1453.92,5253,-145.99,-1.15,0.00,3145.8,3167.0,3124.6,2272.2,3408.4,197.82,-9.44,210,1460.91,0.00,0.22,3.24,0.000,0.121,0.106,3145.81,3166.62,3125.00,2228.38,2085.31,0,0,0,30.00,15.65,15.64
$GC,1758.80,516,-145.99,-1.15,-80.00,3146.9,3168.9,3124.8,2227.6,2084.4,227.01,-9.57,241,1765.96,0.00,0.00,3.88,0.000,0.000,0.203,3144.81,3166.38,3123.25,2228.94,636.44,0,0,0,30.00,30.00,15.60
$GC,1814.68,3205,-145.99,-1.03,0.00,3146.0,3167.6,3124.3,2228.3,636.6,232.95,-11.05,252,1826.45,0.00,0.34,3.60,0.000,0.195,0.107,3145.28,3166.50,3124.06,2269.12,2112.75,0,0,0,30.00,15.62,15.62
$GC,2125.29,4257,-145.99,-1.17,0.00,3146.8,3168.6,3125.0,2270.6,2112.8,256.69,-7.18,284,2128.32,0.00,0.28,0.00,0.000,0.113,0.000,3146.34,3168.19,3124.50,2223.81,2113.25,0,0,0,30.00,15.68,30.00
$MODEM_MSG,CACST,6,1,20201023041137.825028,18,29,-21,0100,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,-21.7,0.52,-100,2.48,-01,0.15,31,925,0025*1E
$MODEM_MSG,CACST,6,1,20201023041518.744117,18,420,-9,0262,0150,216,04,04,06,04,-1,-01,-01,1,3,0,0,150,-7.0,0.47,-100,2.53,-01,-0.12,31,925,0025*08
$GC,2425.04,516,-145.99,-1.17,-80.00,3145.9,3168.4,3123.3,2224.2,2113.1,283.46,-9.32,314,2432.02,0.00,0.00,3.95,0.000,0.000,0.204,3147.28,3169.56,3125.00,2224.06,636.69,0,0,0,30.00,30.00,15.67
$GC,2460.74,3205,-145.99,-1.09,0.00,3146.2,3168.2,3124.2,2224.6,636.6,287.24,-10.57,321,2468.15,0.00,0.27,3.60,0.000,0.196,0.113,3145.06,3167.56,3122.56,2256.25,2111.38,0,0,0,30.00,15.69,15.73
$STATE,2616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2616,begin apogee
$GC,2617.30,10243,0.00,-0.25,0.00,3145.1,3167.4,3122.8,2256.6,2212.9,300.02,-7.85,337,2746.62,124.52,1.49,0.05,1.858,0.179,0.331,2549.53,2612.62,2486.44,2458.81,2186.88,0,0,0,11.77,15.70,15.11
$STATE,2749,end apogee,CONTROL_FINISHED_OK
$STATE,2749,begin climb
$GC,2749.46,10503,145.99,1.06,80.00,2546.6,2609.6,2483.6,2458.9,2186.6,301.77,0.00,343,2889.37,128.27,2.26,3.42,1.738,0.134,0.195,1950.81,2055.00,1846.62,2778.06,3405.25,0,0,0,11.31,15.11,14.81
$GC,2901.54,5253,145.99,0.76,0.00,1947.8,2049.8,1845.8,2776.6,3406.0,287.21,14.35,367,2909.17,0.00,0.64,3.16,0.000,0.222,0.106,1949.31,2050.75,1847.88,2700.06,2186.31,0,0,0,30.00,14.90,14.94
$GC,3208.35,16902,145.99,0.76,-80.00,1941.2,2038.2,1844.1,2700.2,2186.5,256.69,9.51,398,3215.13,0.00,0.00,3.96,0.000,0.000,0.192,1941.38,2038.19,1844.56,2700.69,736.62,0,0,0,30.00,30.00,15.27
$GC,3237.28,17414,145.99,0.76,0.00,1939.8,2036.5,1843.0,2701.6,736.8,253.57,9.91,404,3244.90,0.00,0.00,3.66,0.000,0.000,0.103,1941.31,2038.00,1844.62,2701.50,2213.12,0,0,0,30.00,30.00,15.33
$GC,3543.39,16386,145.99,0.76,0.00,1938.9,2033.4,1844.4,2699.7,2213.6,225.33,8.88,435,3546.91,0.00,0.00,0.00,0.000,0.000,0.000,1938.12,2032.19,1844.06,2699.56,2212.81,0,0,0,30.00,30.00,30.00
$GC,3843.50,10919,195.75,0.89,-80.00,1937.3,2031.5,1843.1,2700.4,2214.2,199.94,7.68,465,3896.46,43.42,0.27,3.96,1.654,0.114,0.175,1751.16,1856.06,1646.25,2741.06,737.50,0,0,0,11.73,15.58,15.23
$GC,3945.14,5253,195.75,0.79,0.00,1746.5,1848.1,1644.9,2741.8,737.3,189.52,11.42,485,3952.23,0.00,0.29,3.61,0.000,0.209,0.094,1747.16,1848.88,1645.44,2705.94,2214.31,0,0,0,30.00,15.36,15.40
$GC,4250.50,10663,263.25,1.04,80.00,1743.2,1843.5,1642.9,2706.9,2213.9,168.12,6.86,516,4318.15,60.47,0.46,3.19,1.614,0.097,0.178,1474.19,1581.81,1366.56,2780.69,3407.62,0,0,0,11.53,15.54,15.22
$GC,4360.35,1028,263.25,1.04,0.00,1471.3,1575.9,1366.8,2780.1,3407.4,157.07,10.22,538,4367.86,0.00,0.00,3.04,0.000,0.000,0.091,1471.97,1576.12,1367.81,2780.75,2183.12,0,0,0,30.00,30.00,15.32
$GC,4667.05,16902,263.25,1.04,-80.00,1466.0,1565.5,1366.4,2781.2,2182.9,129.33,8.62,569,4674.34,0.00,0.00,3.84,0.000,0.000,0.174,1466.59,1565.75,1367.44,2780.75,736.44,0,0,0,30.00,30.00,15.43
$GC,4746.56,17414,263.25,1.04,0.00,1464.3,1562.6,1366.0,2781.3,736.8,121.19,9.96,585,4754.56,0.00,0.00,3.58,0.000,0.000,0.093,1465.56,1563.62,1367.50,2779.75,2213.81,0,0,0,30.00,30.00,15.52
$GC,5053.21,10663,325.88,1.20,80.00,1464.3,1562.1,1366.6,2780.9,2215.8,97.19,7.09,619,5116.23,56.37,0.19,3.14,1.552,0.121,0.173,1221.25,1332.00,1110.50,2817.38,3405.50,0,0,0,11.62,15.61,15.31
$GC,5149.44,1028,325.88,1.20,0.00,1218.5,1326.7,1110.4,2817.3,3407.6,88.41,9.70,638,5155.88,0.00,0.00,3.02,0.000,0.000,0.087,1219.00,1326.62,1111.38,2817.00,2182.12,0,0,0,30.00,30.00,15.39
$GC,5334.49,644,325.88,1.26,-80.00,1215.7,1321.2,1110.1,2816.1,2182.6,71.67,8.57,675,5341.54,0.00,0.00,3.82,0.000,0.000,0.172,1216.03,1321.94,1110.12,2817.12,736.75,0,0,0,30.00,30.00,15.44
$GC,5395.09,1028,325.88,1.26,0.00,1214.7,1319.2,1110.2,2816.7,736.8,65.99,9.58,687,5405.91,0.00,0.00,3.58,0.000,0.000,0.092,1214.41,1318.81,1110.00,2815.50,2214.75,0,0,0,30.00,30.00,15.47
$GC,5585.65,10403,411.30,1.48,0.00,1213.9,1317.8,1110.0,2816.5,2216.1,52.92,6.03,725,5667.47,77.46,0.41,0.00,1.493,0.097,0.000,873.34,990.31,756.38,2886.25,2215.56,0,0,0,11.63,15.57,30.00
$GC,5845.76,10403,471.37,1.71,80.00,867.5,978.8,756.2,2885.5,2216.6,31.58,7.21,777,5903.74,55.19,0.31,0.00,1.436,0.098,0.000,629.28,739.50,519.06,2939.75,2216.00,0,0,0,11.57,15.42,30.00
$GC,6082.77,10919,534.28,1.89,-80.00,623.6,728.2,519.1,2941.1,2216.0,13.00,7.07,824,6124.30,30.42,0.23,3.97,1.389,0.109,0.164,500.72,597.25,404.19,2985.94,735.69,0,0,0,11.49,15.38,15.20
$GC,6143.46,11431,636.94,2.07,0.00,499.2,594.4,403.9,2984.4,735.8,9.86,5.22,836,6150.31,0.00,0.24,3.61,0.000,0.109,0.087,498.84,593.88,403.81,3029.00,2215.88,0,0,0,30.00,15.29,15.25
$STATE,6264,end climb,SURFACE_DEPTH_REACHED
$STATE,6264,begin surface coast
$FINISH,0.5,1.011365
$STATE,6294,end surface coast,CONTROL_FINISHED_OK
$STATE,6294,begin surface
$SM_CCo,6380.51,0.00,0.000,0,496.2,584.2,408.2,503.79
$SM_GC,2.72,0.00,18.22,0.31,0.000,0.078,0.124,496.2,584.2,408.2,219.2,2078.3,0,0,0,30.00,15.40,15.42
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7130.85,-15152.06,231020,035935
$TCM_TEMP,2.22
$SC_FREEKB,3821440
$PM_FREEKB_00,33560640
$PM_ACTIVECARD,0
$RAFOS_CLK,-14
$MODEM,2,1603426518,75.67648,-146.03058,18.744,27460.1
$MODEM,1,1603426297,75.02295,-144.31340,97.825,143313.7
$RAFOS_FIX,7558.900391,-14649.948242,231020,040418,2,510,869.61
$HUMID,52.87
$TEMP,-0.39
$INTERNAL_PRESSURE,7.64028
$24V_AH,14.36,84.384
$10V_AH,14.81,0.000
$FG_AHR_24Vo,80.393
$FG_AHR_10Vo,36.349
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,682.960,43.985,100.365,297.502,0.000,15.591,3812.745,3042.915,2169.102,2093.000,0.000,0.000
$DEVICE_MAMPS,1857.544,311.352,331.032,208.462,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6310.000,6321.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.471,9.285,0.000,0.000
$MEM,1152240,32,24528,81
$DATA_FILE_SIZE,25708,866
$CAP_FILE_SIZE,235307,0
$SDSIZE,3918848,3761728
$SDFILEDIR,1429,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.095,314.2,1
$GPS,231020,055333,7129.639,-15148.903,51,1.1,52,15.2