version: 67.00
glider: 235
mission: 6
dive: 187
start: 10 23 120 19 34 34
data:
$ID,235
$MISSION,6
$DIVE,187
$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,36.708408
$FG_AHR_24V,82.425819
$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
$GPS1,231020,192602,7126.143,-15144.870,186,0.8,187,15.2
$_CALLS,2
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-70.5
$GPS2,231020,193401,7126.171,-15144.935,3,0.7,5,15.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SHELF
$TGT_LATLONG,7130.000,-15200.000
$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,289.9,11343,-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,11.77,16386,-145.99,-1.06,0.00,491.7,566.0,417.3,217.9,2079.9,0.00,0.00,0,55.18,40.67,0.00,0.00,0.005,0.000,0.000,1237.44,1254.56,1220.31,217.81,2081.00,0,0,0,15.47,30.00,30.00
$GC,55.44,18983,-145.99,-1.06,-80.00,1237.6,1254.6,1220.6,217.8,2080.8,3.28,-2.76,8,146.18,60.46,17.32,3.83,0.005,0.305,0.172,3144.22,3164.12,3124.31,2261.44,635.88,0,0,0,15.49,15.34,15.51
$GC,339.94,3205,-145.99,-0.90,0.00,3146.2,3168.3,3124.1,2261.2,635.2,61.86,-17.37,64,350.98,0.00,0.28,3.58,0.000,0.209,0.096,3147.00,3167.56,3126.44,2300.12,2115.19,0,0,0,30.00,15.55,15.56
$GC,530.09,128,-145.99,-0.95,0.00,3145.7,3167.4,3124.1,2302.1,2114.2,86.31,-11.81,102,535.71,0.00,0.00,0.00,0.000,0.000,0.000,3146.78,3169.25,3124.31,2301.19,2115.19,0,0,0,30.00,30.00,30.00
$GC,720.06,4741,-145.99,-1.03,-80.00,3145.9,3167.1,3124.6,2300.9,2115.3,108.13,-11.37,133,732.00,0.00,0.30,3.89,0.000,0.109,0.176,3148.25,3170.00,3126.50,2258.69,636.31,0,0,0,30.00,15.68,15.56
$GC,744.21,3205,-145.99,-0.94,0.00,3146.6,3168.9,3124.3,2258.9,636.8,111.78,-14.16,138,752.27,0.00,0.29,3.56,0.000,0.198,0.094,3148.19,3169.69,3126.69,2290.62,2112.88,0,0,0,30.00,15.64,15.68
$GC,1050.74,128,-145.99,-1.03,0.00,3146.7,3169.2,3124.2,2290.8,2113.9,148.81,-11.32,169,1053.64,0.00,0.00,0.00,0.000,0.000,0.000,3144.78,3166.50,3123.06,2291.12,2114.50,0,0,0,30.00,30.00,30.00
$GC,1350.83,4741,-145.99,-1.18,-80.00,3146.8,3168.7,3124.9,2291.2,2114.6,180.01,-9.77,199,1362.36,0.00,0.44,3.93,0.000,0.101,0.190,3146.38,3167.81,3124.94,2219.19,636.81,0,0,0,30.00,15.76,15.69
$GC,1424.54,3205,-145.99,-0.99,0.00,3145.8,3167.9,3123.6,2220.4,636.4,189.33,-12.50,214,1432.71,0.00,0.47,3.59,0.000,0.198,0.108,3146.66,3168.06,3125.25,2278.75,2112.56,0,0,0,30.00,15.71,15.75
$GC,1731.45,4225,-145.99,-1.15,0.00,3145.9,3168.4,3123.5,2280.1,2113.0,215.03,-8.02,245,1734.50,0.00,0.33,0.00,0.000,0.105,0.000,3145.47,3166.38,3124.56,2226.00,2112.75,0,0,0,30.00,15.81,30.00
$GC,2033.70,516,-145.99,-1.15,-80.00,3146.2,3168.9,3123.4,2227.0,2112.6,244.02,-9.21,275,2040.79,0.00,0.00,3.99,0.000,0.000,0.202,3144.62,3167.12,3122.12,2227.06,636.12,0,0,0,30.00,30.00,15.70
$GC,2052.94,1028,-145.99,-1.15,0.00,3145.9,3168.4,3123.4,2226.5,636.1,246.06,-9.35,279,2061.02,0.00,0.00,3.60,0.000,0.000,0.110,3146.69,3168.69,3124.69,2226.44,2110.69,0,0,0,30.00,30.00,15.75
$GC,2359.53,0,-145.99,-1.15,0.00,3145.1,3167.2,3123.0,2226.6,2111.2,274.80,-9.17,310,2362.42,0.00,0.00,0.00,0.000,0.000,0.000,3145.41,3167.69,3123.12,2225.69,2110.88,0,0,0,30.00,30.00,30.00
$STATE,2640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2640,begin apogee
$GC,2641.11,10243,0.00,-0.25,0.00,3146.2,3169.6,3122.8,2225.9,2212.0,300.38,-9.48,338,2769.65,124.45,1.77,0.05,1.863,0.182,0.350,2548.59,2614.06,2483.12,2460.69,2185.12,0,0,0,11.64,15.71,15.09
$STATE,2772,end apogee,CONTROL_FINISHED_OK
$STATE,2772,begin climb
$GC,2772.55,10243,145.99,1.06,0.00,2547.5,2611.9,2483.0,2460.4,2185.3,302.91,0.00,344,2908.86,128.39,2.22,0.00,1.737,0.123,0.000,1952.56,2058.38,1846.75,2779.00,2184.69,0,0,0,11.30,15.09,30.00
$GC,3204.90,20871,145.99,0.83,80.00,1942.0,2037.8,1846.2,2779.5,2185.8,249.79,13.93,393,3212.42,0.00,0.52,3.33,0.000,0.204,0.190,1942.41,2037.94,1846.88,2715.19,3406.75,0,0,0,30.00,15.23,15.22
$GC,3224.58,21639,145.99,0.66,0.00,1941.1,2036.2,1846.0,2714.5,3408.6,247.15,13.39,397,3232.14,0.00,0.30,3.09,0.000,0.204,0.098,1941.41,2036.88,1845.94,2674.38,2184.25,0,0,0,30.00,15.23,15.27
$GC,3530.70,10919,212.31,0.86,-80.00,1939.3,2033.7,1845.0,2674.6,2184.2,222.87,6.91,428,3597.55,58.08,0.41,4.03,1.663,0.104,0.185,1683.25,1790.62,1575.88,2733.81,737.00,0,0,0,11.50,15.43,15.10
$GC,3611.33,1028,212.31,0.86,0.00,1680.5,1786.1,1574.8,2735.0,736.6,215.03,10.86,442,3618.23,0.00,0.00,3.69,0.000,0.000,0.097,1680.47,1786.06,1574.88,2735.25,2213.44,0,0,0,30.00,30.00,15.17
$GC,3916.55,16646,212.31,0.86,80.00,1673.8,1775.5,1572.0,2734.2,2215.1,183.32,9.66,473,3923.20,0.00,0.00,3.17,0.000,0.000,0.176,1672.84,1774.50,1571.19,2734.94,3407.56,0,0,0,30.00,30.00,15.34
$GC,3942.15,17414,212.31,0.86,0.00,1672.6,1773.1,1572.1,2735.1,3407.8,180.68,9.78,478,3949.08,0.00,0.00,3.05,0.000,0.000,0.092,1671.94,1772.44,1571.44,2734.31,2183.44,0,0,0,30.00,30.00,15.38
$MODEM_MSG,CACST,6,1,20201023202032.828045,18,254,-6,0132,0150,171,01,01,05,01,-1,-01,-01,1,3,0,0,150,43.1,0.50,-100,2.50,-01,-0.06,29,925,0025*1D
$MODEM_MSG,CACST,6,1,20201023202822.324948,18,44,-19,0129,0150,432,02,02,06,04,-1,-01,-01,1,3,0,0,150,-38.4,0.53,-100,2.47,-01,-0.05,58,925,0025*3D
$GC,4246.77,10919,273.00,1.04,-80.00,1670.6,1770.0,1571.1,2734.6,2183.2,156.88,7.18,509,4309.96,53.91,0.22,3.96,1.600,0.115,0.176,1435.78,1542.44,1329.12,2777.06,736.94,0,0,0,11.53,15.53,15.23
$GC,4348.52,1028,273.00,1.04,0.00,1432.9,1536.8,1329.1,2778.0,737.1,147.41,10.25,529,4355.64,0.00,0.00,3.63,0.000,0.000,0.093,1433.75,1536.62,1330.88,2777.69,2213.31,0,0,0,30.00,30.00,15.26
$GC,4653.71,10403,317.99,1.17,0.00,1429.4,1530.1,1328.8,2778.3,2214.0,121.92,7.91,560,4697.41,41.50,0.17,0.00,1.545,0.131,0.000,1253.62,1364.38,1142.88,2808.88,2213.62,0,0,0,11.61,15.50,30.00
$GC,4993.45,644,317.99,1.23,-80.00,1245.9,1350.1,1141.8,2809.4,2212.9,90.66,8.68,604,5000.32,0.00,0.00,3.93,0.000,0.000,0.167,1245.91,1349.88,1141.94,2809.81,735.50,0,0,0,30.00,30.00,15.45
$GC,5024.29,17414,317.99,1.23,0.00,1244.4,1348.1,1140.8,2810.8,736.1,87.73,9.46,610,5030.53,0.00,0.00,3.59,0.000,0.000,0.091,1245.62,1349.31,1141.94,2809.38,2215.31,0,0,0,30.00,30.00,15.44
$GC,5209.55,18563,317.99,1.32,0.00,1245.2,1348.8,1141.6,2810.1,2214.4,71.49,8.42,647,5214.87,0.00,0.20,0.00,0.000,0.121,0.000,1245.81,1349.19,1142.44,2845.06,2214.25,0,0,0,30.00,15.56,30.00
$GC,5394.04,16386,317.99,1.32,0.00,1244.7,1347.9,1141.5,2845.4,2214.5,54.80,8.64,684,5399.81,0.00,0.00,0.00,0.000,0.000,0.000,1244.78,1347.69,1141.88,2844.19,2214.56,0,0,0,30.00,30.00,30.00
$GC,5579.86,10403,396.99,1.52,0.00,1243.9,1346.7,1141.2,2845.4,2215.1,41.23,6.32,721,5656.44,72.46,0.28,0.00,1.499,0.110,0.000,932.44,1048.88,816.00,2895.69,2215.44,0,0,0,11.71,15.65,30.00
$GC,5835.21,10919,486.07,1.74,-80.00,926.0,1036.5,815.5,2895.1,2214.8,24.63,5.86,772,5928.08,81.78,0.31,4.02,1.436,0.106,0.165,568.28,675.00,461.56,2948.00,735.88,0,0,0,11.49,15.45,15.04
$GC,5951.39,1028,486.07,1.74,0.00,566.7,671.4,461.9,2947.1,735.8,15.32,8.89,795,5958.40,0.00,0.00,3.66,0.000,0.000,0.090,566.72,671.19,462.25,2947.00,2214.00,0,0,0,30.00,30.00,15.19
$GC,6137.43,10663,613.44,2.12,80.00,563.4,664.5,462.4,2947.1,2214.8,5.69,4.07,832,6164.35,17.03,0.58,3.17,1.330,0.092,0.171,500.31,593.56,407.06,3038.12,3406.88,0,0,0,11.51,15.38,15.28
$GC,6173.35,11431,745.53,2.42,0.00,499.9,592.6,407.2,3038.4,3408.3,4.08,3.86,839,6180.10,0.00,0.45,3.03,0.000,0.103,0.084,499.72,592.12,407.31,3110.88,2178.62,0,0,0,30.00,15.33,15.34
$STATE,6208,end climb,SURFACE_DEPTH_REACHED
$STATE,6208,begin surface coast
$FINISH,0.5,1.021941
$STATE,6244,end surface coast,CONTROL_FINISHED_OK
$STATE,6244,begin surface
$SM_CCo,6330.38,0.00,0.000,0,496.8,584.7,408.8,503.66
$SM_GC,3.05,0.00,18.99,0.22,0.000,0.086,0.145,496.8,584.7,408.8,222.0,2078.9,0,0,0,30.00,15.38,15.39
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7127.40,-15149.29,231020,172727
$TCM_TEMP,2.22
$SC_FREEKB,3818880
$PM_FREEKB_00,32843456
$PM_ACTIVECARD,0
$RAFOS_CLK,-10
$MODEM,4,1603484902,76.55490,-139.99944,202.325,296406.1
$MODEM,3,1603484432,75.26195,-145.59448,32.828,48093.1
$RAFOS_FIX,7448.938477,-14721.578125,231020,202022,2,510,122.01
$HUMID,52.69
$TEMP,-0.36
$INTERNAL_PRESSURE,7.64415
$24V_AH,14.35,87.093
$10V_AH,14.80,0.000
$FG_AHR_24Vo,82.700
$FG_AHR_10Vo,36.771
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,678.720,45.855,79.875,286.797,0.000,14.192,3809.207,2987.549,2178.165,2214.000,0.000,0.000
$DEVICE_MAMPS,1863.448,305.448,350.384,218.857,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6257.000,6268.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.540,9.424,0.000,0.000
$MEM,1152204,34,24524,81
$DATA_FILE_SIZE,25702,853
$CAP_FILE_SIZE,218142,0
$SDSIZE,3918848,3759680
$SDFILEDIR,1485,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.030,  0.0,1
$GPS,231020,212107,7126.694,-15147.071,25,1.3,28,15.2