version: 67.00
glider: 235
mission: 6
dive: 186
start: 10 23 120 17 32 25
data:
$ID,235
$MISSION,6
$DIVE,186
$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,36.667461
$FG_AHR_24V,82.134445
$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
$GPS1,231020,172105,7126.707,-15145.686,45,0.9,49,15.2
$_CALLS,3
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-71.5
$GPS2,231020,173152,7126.781,-15145.821,3,1.3,5,15.2
$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,145.0,3469,-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,11.86,16386,-145.99,-1.06,0.00,490.6,565.2,416.1,220.1,2119.2,0.00,0.00,0,55.29,40.65,0.00,0.00,0.005,0.000,0.000,1233.84,1251.81,1215.88,220.38,2118.88,0,0,0,15.46,30.00,30.00
$GC,55.55,18727,-145.99,-1.06,80.00,1233.3,1251.7,1214.9,220.4,2118.9,3.20,-2.66,8,146.21,60.97,17.48,3.35,0.005,0.311,0.169,3143.56,3163.00,3124.12,2262.12,3407.75,0,0,0,15.50,15.34,15.40
$GC,150.22,3205,-145.99,-0.65,0.00,3144.8,3164.8,3124.8,2260.4,3407.4,19.31,-23.38,26,160.51,0.00,0.75,3.28,0.000,0.202,0.096,3144.91,3165.94,3123.88,2363.50,2082.75,0,0,0,30.00,15.49,15.42
$GC,339.96,4741,-145.99,-0.77,-80.00,3144.8,3166.3,3123.4,2361.6,2083.6,49.36,-12.77,64,351.06,0.00,0.28,3.87,0.000,0.106,0.175,3145.94,3167.75,3124.12,2321.31,635.50,0,0,0,30.00,15.60,15.50
$GC,354.97,1156,-145.99,-0.85,0.00,3145.0,3167.0,3123.0,2319.4,635.1,51.39,-13.13,67,361.46,0.00,0.00,3.58,0.000,0.000,0.091,3146.09,3168.19,3124.00,2322.12,2116.25,0,0,0,30.00,30.00,15.56
$GC,540.22,644,-145.99,-0.92,-80.00,3146.2,3168.1,3124.2,2319.1,2116.1,75.06,-11.92,104,551.27,0.00,0.00,3.95,0.000,0.000,0.172,3147.81,3169.56,3126.06,2319.12,635.75,0,0,0,30.00,30.00,15.58
$GC,555.26,5253,-145.99,-0.98,0.00,3143.7,3165.8,3121.6,2321.2,635.4,76.87,-11.96,107,566.27,0.00,0.28,3.56,0.000,0.106,0.091,3144.31,3166.06,3122.56,2267.19,2115.50,0,0,0,30.00,15.62,15.52
$GC,745.41,516,-145.99,-0.98,-80.00,3146.0,3167.2,3124.8,2268.1,2114.9,102.97,-12.89,143,757.04,0.00,0.00,3.93,0.000,0.000,0.174,3146.69,3168.12,3125.25,2267.25,636.50,0,0,0,30.00,30.00,15.58
$GC,769.20,3205,-145.99,-0.90,0.00,3145.6,3168.1,3123.1,2267.9,636.6,106.69,-13.89,148,777.34,0.00,0.29,3.55,0.000,0.192,0.094,3144.56,3166.94,3122.19,2302.88,2116.50,0,0,0,30.00,15.63,15.67
$GC,1075.80,4741,-145.99,-1.02,-80.00,3147.6,3169.4,3125.9,2301.9,2115.6,141.83,-11.00,179,1082.88,0.00,0.26,3.93,0.000,0.110,0.183,3145.66,3167.69,3123.62,2260.19,635.69,0,0,0,30.00,15.73,15.61
$GC,1115.10,3205,-145.99,-0.88,0.00,3145.0,3167.6,3122.4,2260.1,635.7,147.20,-13.84,187,1123.19,0.00,0.38,3.56,0.000,0.202,0.098,3147.62,3169.75,3125.50,2306.44,2114.38,0,0,0,30.00,15.66,15.68
$GC,1421.66,4225,-145.99,-1.05,0.00,3145.8,3168.1,3123.4,2305.3,2114.0,177.26,-9.04,218,1424.75,0.00,0.34,0.00,0.000,0.109,0.000,3146.56,3168.62,3124.50,2253.44,2114.25,0,0,0,30.00,15.75,30.00
$GC,1721.69,644,-145.99,-1.11,-80.00,3146.1,3168.9,3123.3,2252.9,2113.5,206.93,-8.24,248,1733.18,0.00,0.00,3.95,0.000,0.000,0.198,3146.44,3168.44,3124.44,2253.38,637.31,0,0,0,30.00,30.00,15.64
$GC,1775.35,1156,-145.99,-1.05,0.00,3146.2,3168.8,3123.7,2253.1,637.6,212.28,-10.33,259,1783.41,0.00,0.00,3.58,0.000,0.000,0.110,3147.44,3170.56,3124.31,2253.62,2112.00,0,0,0,30.00,30.00,15.77
$GC,2081.94,128,-145.99,-1.12,0.00,3144.8,3167.5,3122.2,2253.4,2111.8,238.66,-8.82,290,2084.83,0.00,0.00,0.00,0.000,0.000,0.000,3143.88,3165.88,3121.88,2253.12,2111.81,0,0,0,30.00,30.00,30.00
$GC,2382.34,644,-145.99,-1.20,-80.00,3145.4,3168.2,3122.6,2253.4,2111.9,265.23,-8.08,320,2389.01,0.00,0.00,4.00,0.000,0.000,0.209,3144.41,3167.50,3121.31,2252.00,639.12,0,0,0,30.00,30.00,15.72
$GC,2407.89,5125,-145.99,-1.20,0.00,3144.6,3167.2,3121.9,2253.8,638.4,267.77,-8.87,325,2415.25,0.00,0.18,3.58,0.000,0.130,0.115,3144.16,3167.44,3120.88,2217.44,2111.69,0,0,0,30.00,15.82,15.80
$GC,2713.29,516,-145.99,-1.20,-80.00,3144.8,3168.1,3121.4,2216.6,2110.9,298.43,-10.00,356,2725.20,0.00,0.00,3.99,0.000,0.000,0.207,3145.31,3168.00,3122.62,2216.44,636.25,0,0,0,30.00,30.00,15.76
$STATE,2727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2727,begin apogee
$GC,2732.75,10243,0.00,-0.25,0.00,3144.6,3167.2,3122.0,2215.8,2212.2,300.01,-10.22,359,2861.64,124.29,1.85,0.05,1.860,0.193,0.364,2546.97,2610.81,2483.12,2459.62,2186.62,0,0,0,11.80,15.79,15.16
$STATE,2864,end apogee,CONTROL_FINISHED_OK
$STATE,2864,begin climb
$GC,2864.18,10503,145.99,1.06,80.00,2546.8,2610.5,2483.2,2458.9,2186.9,303.35,0.00,366,3004.41,128.03,2.26,3.44,1.744,0.126,0.200,1953.69,2059.44,1847.94,2779.69,3407.00,0,0,0,11.52,15.17,14.84
$GC,3012.65,5253,145.99,0.77,0.00,1949.4,2051.6,1847.1,2779.9,3406.2,289.83,13.24,393,3020.16,0.00,0.63,3.17,0.000,0.213,0.108,1948.16,2049.56,1846.75,2700.31,2186.12,0,0,0,30.00,14.92,14.95
$GC,3318.44,16386,145.99,0.77,0.00,1940.6,2037.8,1843.3,2702.2,2186.6,259.51,9.68,424,3321.34,0.00,0.00,0.00,0.000,0.000,0.000,1939.47,2036.50,1842.44,2702.50,2187.00,0,0,0,30.00,30.00,30.00
$GC,3617.76,16902,145.99,0.77,-80.00,1939.6,2035.9,1843.4,2703.6,2186.9,232.05,8.96,454,3625.23,0.00,0.00,3.93,0.000,0.000,0.187,1938.84,2034.94,1842.75,2703.25,736.88,0,0,0,30.00,30.00,15.43
$GC,3653.93,17414,145.99,0.77,0.00,1938.2,2032.8,1843.7,2701.8,736.9,228.55,9.77,461,3660.92,0.00,0.00,3.62,0.000,0.000,0.101,1937.12,2031.81,1842.44,2703.69,2215.75,0,0,0,30.00,30.00,15.48
$GC,3958.49,17030,145.99,0.83,-80.00,1937.2,2031.6,1842.8,2703.4,2215.4,202.23,8.51,492,3966.00,0.00,0.00,3.92,0.000,0.000,0.175,1936.75,2031.31,1842.19,2701.44,737.31,0,0,0,30.00,30.00,15.54
$GC,3988.14,17414,145.99,0.83,0.00,1937.8,2031.8,1843.8,2703.5,737.4,199.43,8.69,498,3996.22,0.00,0.00,3.57,0.000,0.000,0.095,1939.47,2033.38,1845.56,2702.12,2213.88,0,0,0,30.00,30.00,15.59
$GC,4295.00,10663,223.93,1.05,80.00,1937.1,2030.8,1843.5,2702.8,2214.6,177.50,6.37,529,4369.81,67.97,0.49,3.17,1.651,0.098,0.180,1634.94,1743.62,1526.25,2780.44,3406.19,0,0,0,11.69,15.66,15.18
$GC,4372.13,5253,223.93,0.97,0.00,1634.7,1741.8,1527.7,2781.6,3409.7,171.12,8.55,538,4379.61,0.00,0.25,3.03,0.000,0.197,0.088,1633.12,1739.44,1526.81,2750.56,2182.31,0,0,0,30.00,15.30,15.29
$GC,4678.16,10919,278.26,1.14,-80.00,1626.0,1727.1,1524.9,2748.2,2181.8,147.35,7.47,569,4734.73,48.76,0.33,3.92,1.578,0.107,0.177,1414.91,1522.69,1307.12,2799.12,736.94,0,0,0,11.58,15.52,15.24
$GC,4752.07,1028,278.26,1.14,0.00,1412.1,1517.7,1306.4,2801.0,737.1,140.20,10.76,584,4759.67,0.00,0.00,3.63,0.000,0.000,0.092,1412.12,1517.06,1307.19,2800.44,2215.75,0,0,0,30.00,30.00,15.32
$GC,5058.16,16902,278.26,1.14,-80.00,1407.0,1507.9,1306.1,2799.9,2215.1,110.75,9.28,615,5065.68,0.00,0.00,3.91,0.000,0.000,0.167,1406.56,1507.50,1305.62,2801.25,736.00,0,0,0,30.00,30.00,15.46
$GC,5087.83,17414,278.26,1.14,0.00,1406.2,1505.6,1306.8,2800.3,735.5,107.56,10.12,621,5095.92,0.00,0.00,3.58,0.000,0.000,0.091,1406.16,1505.38,1306.94,2798.94,2213.00,0,0,0,30.00,30.00,15.51
$GC,5394.16,17030,278.26,1.19,-80.00,1405.2,1504.1,1306.2,2801.7,2213.6,81.37,8.22,674,5401.55,0.00,0.00,3.87,0.000,0.000,0.164,1405.22,1504.19,1306.25,2800.75,735.69,0,0,0,30.00,30.00,15.56
$GC,5425.39,17414,278.26,1.19,0.00,1405.4,1503.9,1306.9,2800.7,735.8,78.71,8.43,680,5431.77,0.00,0.00,3.55,0.000,0.000,0.091,1405.69,1503.88,1307.50,2800.94,2215.81,0,0,0,30.00,30.00,15.60
$GC,5610.79,10403,339.68,1.36,0.00,1405.2,1503.6,1306.9,2800.8,2215.4,64.85,7.14,717,5672.75,56.02,0.32,0.00,1.529,0.104,0.000,1165.34,1277.44,1053.25,2855.62,2215.94,0,0,0,11.69,15.64,30.00
$GC,5851.77,10919,388.35,1.49,-80.00,1159.6,1267.6,1051.6,2855.9,2215.9,44.04,7.74,765,5904.90,45.40,0.16,3.96,1.470,0.132,0.164,965.94,1082.12,849.75,2886.00,735.94,0,0,0,11.58,15.48,15.21
$GC,6108.91,11431,466.16,1.65,0.00,961.2,1072.1,850.4,2886.9,735.4,24.39,6.38,816,6187.49,71.88,0.22,3.61,1.443,0.121,0.093,650.78,764.12,537.44,2926.50,2217.56,0,0,0,11.58,15.45,15.45
$GC,6365.79,10919,585.42,2.04,-80.00,644.2,751.2,537.2,2924.4,2216.1,8.81,4.45,867,6409.24,35.24,0.60,3.97,1.394,0.092,0.163,500.84,598.75,402.94,3019.06,736.06,0,0,0,11.48,15.36,15.13
$STATE,6488,end climb,SURFACE_DEPTH_REACHED
$STATE,6488,begin surface coast
$FINISH,0.8,1.021644
$STATE,6507,end surface coast,CONTROL_FINISHED_OK
$STATE,6507,begin surface
$SM_CCo,6597.50,0.00,0.000,0,496.3,584.6,408.0,503.77
$SM_GC,3.42,0.00,18.58,3.34,0.000,0.097,0.088,496.3,584.6,408.0,217.8,2115.3,0,0,0,30.00,15.32,15.35
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7119.47,-14943.65,231020,152840
$TCM_TEMP,2.19
$SC_FREEKB,3819200
$PM_FREEKB_00,32931712
$PM_ACTIVECARD,0
$RAFOS_CLK,-23
$RAFOS_FIX,7126.086426,-15144.843750,231020,191944,0,1,0.22
$HUMID,52.74
$TEMP,-0.39
$INTERNAL_PRESSURE,7.64114
$24V_AH,14.40,86.741
$10V_AH,14.79,0.000
$FG_AHR_24Vo,82.410
$FG_AHR_10Vo,36.707
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,679.200,45.915,124.760,400.275,0.000,14.116,4080.580,3177.240,2261.584,0.000,0.000,0.000
$DEVICE_MAMPS,1859.840,311.024,363.504,218.964,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6524.000,6533.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.489,9.292,0.000,0.000
$MEM,1152108,38,24540,81
$DATA_FILE_SIZE,25700,895
$CAP_FILE_SIZE,255864,0
$SDSIZE,3918848,3759936
$SDFILEDIR,1478,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.016, 20.0,1
$GPS,231020,192602,7126.143,-15144.870,186,0.8,187,15.2