version: 67.00
glider: 235
mission: 6
dive: 185
start: 10 23 120 15 32 35
data:
$ID,235
$MISSION,6
$DIVE,185
$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,36.596954
$FG_AHR_24V,81.839752
$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
$GPS1,231020,152355,7127.294,-15146.325,29,0.6,75,15.2
$_CALLS,2
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-69.9
$GPS2,231020,153201,7127.374,-15146.468,2,0.6,3,15.2
$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,145.0,4631,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,11.82,16386,-145.99,-1.06,0.00,492.3,567.1,417.4,217.6,2116.2,0.00,0.00,0,50.14,35.53,0.00,0.00,0.005,0.000,0.000,1145.91,1168.25,1123.56,217.88,2115.81,0,0,0,15.47,30.00,30.00
$GC,50.40,18727,-145.99,-1.06,80.00,1145.8,1168.1,1123.5,217.8,2115.2,3.04,-2.72,7,151.22,71.42,17.33,3.35,0.005,0.302,0.163,3147.53,3167.69,3127.38,2261.44,3409.25,0,0,0,15.47,15.35,15.47
$GC,179.73,3205,-145.99,-0.81,0.00,3143.1,3163.8,3122.5,2262.2,3407.4,25.17,-25.63,32,186.48,0.00,0.44,3.29,0.000,0.202,0.094,3147.31,3167.81,3126.81,2320.94,2084.31,0,0,0,30.00,15.49,15.55
$GC,365.25,644,-145.99,-0.88,-80.00,3145.5,3166.9,3124.2,2323.1,2083.1,56.37,-12.41,69,376.56,0.00,0.00,3.89,0.000,0.000,0.176,3148.31,3169.62,3127.00,2321.56,636.56,0,0,0,30.00,30.00,15.54
$GC,430.63,5253,-145.99,-0.94,0.00,3149.2,3170.7,3127.6,2321.4,635.9,65.27,-13.37,82,441.96,0.00,0.28,3.57,0.000,0.099,0.092,3148.81,3170.19,3127.44,2283.06,2115.00,0,0,0,30.00,15.63,15.62
$GC,621.13,516,-145.99,-0.94,-80.00,3147.0,3168.9,3125.0,2281.2,2113.5,91.30,-13.45,120,632.01,0.00,0.00,3.95,0.000,0.000,0.171,3145.69,3166.94,3124.44,2281.38,636.56,0,0,0,30.00,30.00,15.57
$GC,635.96,1028,-145.99,-0.94,0.00,3147.8,3169.4,3126.1,2281.1,636.3,93.49,-14.20,123,647.26,0.00,0.00,3.55,0.000,0.000,0.088,3146.12,3168.12,3124.12,2282.38,2117.81,0,0,0,30.00,30.00,15.56
$GC,826.50,0,-145.99,-0.94,0.00,3147.0,3168.9,3125.1,2280.2,2118.3,119.31,-13.59,147,830.06,0.00,0.00,0.00,0.000,0.000,0.000,3147.22,3169.06,3125.38,2279.00,2117.25,0,0,0,30.00,30.00,30.00
$GC,1126.32,644,-145.99,-1.00,-80.00,3146.5,3168.4,3124.6,2281.1,2117.2,157.67,-11.89,177,1133.42,0.00,0.00,3.98,0.000,0.000,0.185,3146.94,3169.31,3124.56,2280.38,637.88,0,0,0,30.00,30.00,15.66
$GC,1172.36,1028,-145.99,-1.00,0.00,3147.7,3169.8,3125.6,2280.2,637.6,163.34,-12.78,186,1179.62,0.00,0.00,3.56,0.000,0.000,0.098,3146.75,3168.06,3125.44,2279.88,2113.75,0,0,0,30.00,30.00,15.61
$GC,1477.70,4741,-145.99,-1.13,-80.00,3146.6,3168.7,3124.5,2280.7,2114.1,194.37,-9.49,217,1489.27,0.00,0.24,4.00,0.000,0.110,0.191,3147.41,3169.88,3124.94,2233.88,637.44,0,0,0,30.00,15.76,15.69
$GC,1531.49,3205,-145.99,-1.02,0.00,3146.3,3168.1,3124.5,2234.6,637.6,201.26,-13.06,228,1539.57,0.00,0.32,3.58,0.000,0.199,0.105,3147.56,3168.75,3126.38,2272.50,2113.69,0,0,0,30.00,15.72,15.75
$GC,1838.02,4257,-145.99,-1.16,0.00,3146.4,3168.6,3124.1,2273.4,2113.4,225.89,-7.59,259,1841.07,0.00,0.31,0.00,0.000,0.112,0.000,3147.41,3169.38,3125.44,2225.38,2112.19,0,0,0,30.00,15.80,30.00
$GC,2141.02,516,-145.99,-1.16,-80.00,3145.8,3167.7,3123.9,2223.9,2113.1,255.17,-9.60,289,2147.81,0.00,0.00,4.03,0.000,0.000,0.201,3144.28,3166.12,3122.44,2225.81,638.00,0,0,0,30.00,30.00,15.70
$GC,2186.55,3205,-145.99,-1.06,0.00,3145.3,3168.3,3122.4,2225.3,637.8,260.36,-11.83,298,2193.57,0.00,0.32,3.59,0.000,0.197,0.113,3147.09,3169.81,3124.38,2264.06,2109.75,0,0,0,30.00,15.72,15.75
$GC,2491.45,4517,-145.99,-1.20,80.00,3145.8,3168.1,3123.6,2263.8,2110.5,285.81,-7.70,329,2498.56,0.00,0.29,3.39,0.000,0.112,0.196,3147.34,3169.38,3125.31,2214.81,3407.62,0,0,0,30.00,15.76,15.70
$GC,2520.71,1028,-145.99,-1.20,0.00,3145.3,3167.9,3122.8,2216.6,3408.1,288.83,-8.70,335,2528.73,0.00,0.00,3.30,0.000,0.000,0.115,3147.38,3170.38,3124.38,2216.50,2087.25,0,0,0,30.00,30.00,15.73
$STATE,2647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2647,begin apogee
$GC,2648.50,10243,0.00,-0.25,0.00,3145.4,3168.9,3121.9,2216.4,2212.4,300.88,-9.57,348,2778.03,124.71,1.85,0.05,1.858,0.181,0.345,2546.66,2611.62,2481.69,2459.00,2187.12,0,0,0,11.74,15.69,15.09
$STATE,2781,end apogee,CONTROL_FINISHED_OK
$STATE,2781,begin climb
$GC,2780.76,10503,145.99,1.06,80.00,2546.7,2610.1,2483.2,2460.0,2187.3,303.36,0.00,354,2920.76,128.45,2.26,3.43,1.738,0.124,0.192,1951.00,2055.31,1846.69,2778.44,3407.31,0,0,0,11.37,15.10,14.79
$GC,2939.67,5253,145.99,0.74,0.00,1947.6,2049.2,1846.0,2778.8,3408.8,288.45,13.84,384,2947.02,0.00,0.70,3.21,0.000,0.214,0.108,1948.44,2049.75,1847.12,2692.69,2186.62,0,0,0,30.00,14.90,14.93
$GC,3244.54,16386,145.99,0.74,0.00,1940.6,2037.9,1843.2,2693.4,2187.1,258.63,9.02,415,3248.46,0.00,0.00,0.00,0.000,0.000,0.000,1938.84,2036.12,1841.56,2694.38,2187.25,0,0,0,30.00,30.00,30.00
$GC,3545.35,17030,145.99,0.81,-80.00,1939.2,2035.0,1843.5,2694.4,2187.8,232.11,8.78,445,3557.26,0.00,0.00,3.99,0.000,0.000,0.189,1938.59,2033.69,1843.50,2694.62,737.75,0,0,0,30.00,30.00,15.36
$GC,3585.83,17414,145.99,0.81,0.00,1937.9,2032.4,1843.5,2694.2,737.6,228.39,9.06,453,3593.11,0.00,0.00,3.63,0.000,0.000,0.100,1937.22,2030.75,1843.69,2693.38,2211.69,0,0,0,30.00,30.00,15.42
$GC,3890.75,10403,197.33,0.95,0.00,1937.2,2031.2,1843.2,2694.2,2212.1,204.74,7.61,484,3941.89,44.98,0.42,0.00,1.662,0.106,0.000,1744.22,1849.19,1639.25,2757.12,2210.69,0,0,0,11.51,15.50,30.00
$MODEM_MSG,CACST,6,1,20201023160814.070165,18,182,-7,0108,0150,171,00,00,05,01,-1,-01,-01,1,3,0,0,150,-11.4,0.00,-100,3.00,-01,0.00,22,925,0025*17
$MODEM_MSG,CACST,6,1,20201023161438.932357,18,133,-20,0229,0150,402,02,02,07,02,-1,-01,-01,1,3,0,0,150,-5.2,0.33,-100,2.67,-01,-0.06,52,925,0025*35
$MODEM_MSG,CACST,6,1,20201023163804.757437,18,732,16,0105,0150,171,01,01,02,01,-1,-01,-01,1,3,0,0,150,-100.0,0.55,-100,2.45,-01,-0.01,23,925,0025*12
$GC,4241.47,16386,197.33,0.95,-80.00,1736.4,1835.6,1637.1,2757.6,2212.0,169.90,8.34,520,4245.03,0.00,0.00,0.00,0.000,0.000,0.000,1735.44,1834.38,1636.50,2758.81,2211.44,0,0,0,30.00,30.00,30.00
$GC,4541.52,8742,251.53,1.02,-80.00,1735.5,1834.1,1636.9,2758.1,2211.0,146.40,7.48,550,4597.81,48.90,0.00,4.04,1.604,0.000,0.171,1522.94,1627.56,1418.31,2758.00,736.75,0,0,0,11.52,30.00,15.28
$GC,4621.80,11431,296.69,1.14,0.00,1521.1,1623.7,1418.4,2759.6,737.0,140.20,7.90,566,4673.95,41.89,0.23,3.62,1.545,0.117,0.092,1340.91,1453.19,1228.62,2799.19,2211.25,0,0,0,11.44,15.33,15.33
$GC,4971.56,16386,296.69,1.14,0.00,1332.1,1437.0,1227.1,2799.8,2212.0,107.41,9.08,606,4975.39,0.00,0.00,0.00,0.000,0.000,0.000,1331.00,1435.81,1226.19,2800.06,2213.25,0,0,0,30.00,30.00,30.00
$GC,5271.85,10919,344.45,1.27,-80.00,1330.1,1433.3,1226.8,2799.5,2212.3,81.58,7.78,657,5324.72,43.29,0.18,4.01,1.524,0.120,0.167,1144.50,1256.12,1032.88,2835.12,735.62,0,0,0,11.75,15.56,15.30
$GC,5358.30,1028,344.45,1.27,0.00,1142.0,1251.4,1032.6,2835.6,736.0,73.01,11.13,674,5369.12,0.00,0.00,3.62,0.000,0.000,0.093,1142.69,1252.06,1033.31,2835.38,2217.00,0,0,0,30.00,30.00,15.33
$GC,5548.82,388,344.45,1.34,80.00,1140.4,1248.4,1032.5,2835.2,2216.9,54.97,8.71,712,5554.59,0.00,0.00,3.12,0.000,0.000,0.169,1141.06,1249.00,1033.12,2834.44,3407.62,0,0,0,30.00,30.00,15.36
$GC,5568.16,3205,344.45,1.42,0.00,1139.3,1245.4,1033.2,2833.9,3408.3,53.23,8.71,716,5575.64,0.00,0.19,3.01,0.000,0.121,0.086,1139.78,1246.06,1033.50,2870.25,2182.25,0,0,0,30.00,15.48,15.50
$GC,5754.66,10403,403.68,1.59,0.00,1138.7,1244.8,1032.7,2868.4,2180.5,38.42,7.24,753,5816.62,55.25,0.23,0.00,1.486,0.115,0.000,904.47,1019.31,789.62,2914.06,2181.69,0,0,0,11.55,15.55,30.00
$GC,5995.40,10919,464.39,1.76,-80.00,899.2,1009.4,789.1,2912.8,2181.4,20.92,7.18,801,6063.01,56.77,0.22,3.94,1.437,0.115,0.169,656.94,767.62,546.25,2950.81,735.81,0,0,0,11.55,15.43,15.10
$GC,6146.33,11431,530.26,1.90,0.00,653.5,760.6,546.3,2950.3,735.4,8.97,6.94,831,6193.67,37.25,0.19,3.63,1.390,0.122,0.092,500.91,599.38,402.44,2987.38,2215.31,0,0,0,11.47,15.32,15.33
$STATE,6292,end climb,SURFACE_DEPTH_REACHED
$STATE,6292,begin surface coast
$FINISH,1.3,1.021653
$STATE,6342,end surface coast,CONTROL_FINISHED_OK
$STATE,6342,begin surface
$SM_CCo,6427.45,0.00,0.000,0,495.2,582.1,408.3,504.05
$SM_GC,2.54,0.00,18.31,0.31,0.000,0.095,0.127,495.2,582.1,408.3,220.2,2079.7,0,0,0,30.00,15.33,15.36
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7128.09,-15149.29,231020,152626
$TCM_TEMP,2.22
$SC_FREEKB,3819520
$PM_FREEKB_00,33023744
$PM_ACTIVECARD,0
$RAFOS_CLK,-10
$MODEM,6,1603471084,75.33060,-142.67570,184.757,270669.6
$MODEM,1,1603469678,75.02295,-144.31340,278.932,408635.9
$MODEM,0,1603469294,74.83892,-145.28152,194.070,284312.8
$RAFOS_FIX,7755.390137,-14508.627930,231020,161604,3,255,185.97
$HUMID,52.78
$TEMP,-0.34
$INTERNAL_PRESSURE,7.64809
$24V_AH,14.35,86.408
$10V_AH,14.79,0.000
$FG_AHR_24Vo,82.114
$FG_AHR_10Vo,36.666
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,688.445,44.330,95.000,298.465,0.000,12.818,3880.089,3046.699,2196.243,2216.000,0.000,0.000
$DEVICE_MAMPS,1858.200,302.496,345.136,211.585,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6359.000,6368.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.464,12.729,0.000,0.000
$MEM,1152148,36,24540,81
$DATA_FILE_SIZE,25694,870
$CAP_FILE_SIZE,232522,0
$SDSIZE,3918848,3760192
$SDFILEDIR,1471,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.034,328.0,1
$GPS,231020,172105,7126.707,-15145.686,45,0.9,49,15.2