version: 67.00
glider: 235
mission: 6
dive: 191
start: 10 24 120 3 16 18
data:
$ID,235
$MISSION,6
$DIVE,191
$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,36.915634
$FG_AHR_24V,83.575409
$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
$GPS1,241020,030606,7128.967,-15155.540,17,1.7,21,15.2
$_CALLS,3
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-70.2
$GPS2,241020,031545,7129.084,-15155.887,2,1.6,5,15.2
$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,130.4,10317,-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,11.88,16386,-145.99,-1.06,0.00,492.9,567.1,418.7,218.5,2116.9,0.00,0.00,0,60.37,45.75,0.00,0.00,0.005,0.000,0.000,1313.62,1323.44,1303.81,217.94,2117.12,0,0,0,15.52,30.00,30.00
$GC,60.67,18727,-145.99,-1.06,80.00,1313.7,1324.2,1303.1,217.9,2117.1,3.21,-2.78,9,145.87,58.85,17.30,3.36,0.005,0.305,0.170,3141.59,3161.38,3121.81,2260.38,3407.69,0,0,0,15.49,15.36,15.52
$GC,149.60,3205,-145.99,-0.60,0.00,3144.1,3164.3,3123.8,2262.0,3408.2,17.82,-21.75,26,160.19,0.00,0.84,3.25,0.000,0.200,0.094,3145.28,3164.94,3125.62,2373.31,2081.38,0,0,0,30.00,15.51,15.57
$GC,339.65,4741,-145.99,-0.78,-80.00,3144.9,3166.0,3123.8,2373.3,2081.2,47.34,-13.26,64,351.06,0.00,0.38,3.83,0.000,0.092,0.176,3146.00,3166.62,3125.38,2315.50,636.31,0,0,0,30.00,15.63,15.47
$GC,380.04,1028,-145.99,-0.78,0.00,3144.2,3165.4,3123.1,2316.3,636.7,53.88,-16.95,72,386.47,0.00,0.00,3.56,0.000,0.000,0.093,3146.50,3167.62,3125.38,2317.00,2115.00,0,0,0,30.00,30.00,15.51
$GC,565.24,128,-145.99,-0.86,0.00,3145.4,3167.1,3123.8,2317.6,2114.2,78.27,-11.46,109,570.99,0.00,0.00,0.00,0.000,0.000,0.000,3144.22,3164.56,3123.88,2316.75,2114.25,0,0,0,30.00,30.00,30.00
$GC,750.31,4225,-145.99,-0.95,0.00,3145.3,3166.2,3124.4,2316.6,2114.4,99.35,-11.66,146,756.17,0.00,0.20,0.00,0.000,0.118,0.000,3146.69,3167.88,3125.50,2277.50,2115.50,0,0,0,30.00,15.68,30.00
$GC,940.33,516,-145.99,-0.95,-80.00,3144.6,3166.1,3123.1,2278.2,2113.4,123.57,-12.23,166,947.64,0.00,0.00,3.92,0.000,0.000,0.180,3146.00,3165.62,3126.38,2276.12,636.50,0,0,0,30.00,30.00,15.66
$GC,959.78,1028,-145.99,-0.95,0.00,3144.9,3166.6,3123.2,2279.2,636.5,126.44,-12.65,170,967.85,0.00,0.00,3.54,0.000,0.000,0.094,3145.88,3167.00,3124.75,2276.50,2112.25,0,0,0,30.00,30.00,15.72
$GC,1266.41,644,-145.99,-1.00,-80.00,3144.5,3166.3,3122.6,2278.1,2113.4,162.28,-10.74,201,1273.63,0.00,0.00,3.93,0.000,0.000,0.186,3145.06,3167.19,3122.94,2278.19,636.62,0,0,0,30.00,30.00,15.69
$GC,1295.79,1028,-145.99,-1.00,0.00,3143.7,3165.9,3121.5,2278.5,636.2,165.92,-11.75,207,1303.87,0.00,0.00,3.56,0.000,0.000,0.099,3147.16,3169.06,3125.25,2278.94,2113.69,0,0,0,30.00,30.00,15.74
$GC,1602.43,4225,-145.99,-1.11,0.00,3144.6,3166.3,3122.8,2277.3,2112.8,195.12,-8.05,238,1606.44,0.00,0.19,0.00,0.000,0.122,0.000,3143.19,3164.75,3121.62,2239.69,2114.56,0,0,0,30.00,15.78,30.00
$GC,1902.75,0,-145.99,-1.11,0.00,3145.2,3166.9,3123.4,2238.3,2113.2,223.57,-8.83,268,1906.67,0.00,0.00,0.00,0.000,0.000,0.000,3143.41,3165.50,3121.31,2239.31,2112.62,0,0,0,30.00,30.00,30.00
$GC,2202.56,0,-145.99,-1.11,0.00,3144.6,3166.8,3122.5,2239.7,2114.1,250.12,-8.84,298,2205.45,0.00,0.00,0.00,0.000,0.000,0.000,3142.53,3164.56,3120.50,2239.62,2113.44,0,0,0,30.00,30.00,30.00
$GC,2502.92,644,-145.99,-1.16,-80.00,3144.7,3166.9,3122.5,2239.1,2113.3,276.12,-8.63,328,2509.61,0.00,0.00,4.00,0.000,0.000,0.207,3146.00,3167.81,3124.19,2239.56,636.75,0,0,0,30.00,30.00,15.77
$GC,2558.34,1156,-145.99,-1.11,0.00,3144.0,3166.4,3121.7,2238.8,636.6,281.77,-10.37,339,2565.34,0.00,0.00,3.59,0.000,0.000,0.118,3144.31,3166.50,3122.12,2237.50,2112.81,0,0,0,30.00,30.00,15.82
$STATE,2774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2774,begin apogee
$GC,2774.80,10243,0.00,-0.25,0.00,3144.2,3167.0,3121.5,2238.1,2213.6,300.63,-8.64,361,2903.21,123.63,1.66,0.05,1.862,0.181,0.349,2546.59,2610.81,2482.38,2459.81,2185.75,0,0,0,11.90,15.80,15.17
$STATE,2906,end apogee,CONTROL_FINISHED_OK
$STATE,2906,begin climb
$GC,2905.99,10243,145.99,1.06,0.00,2547.8,2611.6,2484.0,2459.5,2186.1,303.14,0.00,367,3040.69,128.10,2.25,0.00,1.736,0.124,0.000,1953.34,2059.25,1847.44,2779.12,2186.62,0,0,0,11.52,15.17,30.00
$GC,3343.96,20871,145.99,0.83,80.00,1941.4,2037.9,1844.9,2778.9,2185.8,249.82,13.84,415,3351.47,0.00,0.51,3.30,0.000,0.207,0.186,1939.69,2035.00,1844.38,2716.19,3408.00,0,0,0,30.00,15.25,15.25
$GC,3373.63,21639,145.99,0.71,0.00,1940.8,2036.1,1845.5,2716.0,3408.2,246.12,12.05,421,3381.24,0.00,0.22,3.07,0.000,0.207,0.099,1941.38,2036.62,1846.12,2685.56,2183.69,0,0,0,30.00,15.26,15.30
$GC,3680.48,19079,145.99,0.79,-80.00,1939.4,2033.8,1845.0,2684.6,2183.9,220.42,8.16,452,3691.95,0.00,0.22,3.90,0.000,0.118,0.184,1939.41,2033.38,1845.44,2718.81,736.69,0,0,0,30.00,15.44,15.38
$GC,3720.47,21639,145.99,0.69,0.00,1938.5,2032.0,1845.1,2718.1,736.6,216.09,10.96,460,3727.92,0.00,0.29,3.62,0.000,0.205,0.099,1939.84,2032.94,1846.75,2683.19,2213.00,0,0,0,30.00,15.40,15.44
$GC,4025.92,10663,218.55,0.91,80.00,1938.1,2031.0,1845.2,2682.8,2214.4,192.47,6.62,491,4098.66,63.24,0.42,3.21,1.648,0.104,0.179,1657.06,1764.62,1549.50,2747.69,3407.94,0,0,0,11.58,15.52,15.18
$GC,4127.69,1028,218.55,0.91,0.00,1653.7,1757.7,1549.7,2748.0,3408.3,182.80,10.66,511,4134.27,0.00,0.00,3.06,0.000,0.000,0.093,1652.41,1756.19,1548.62,2746.88,2183.25,0,0,0,30.00,30.00,15.27
$GC,4432.60,8870,266.46,1.04,-80.00,1648.5,1749.9,1547.2,2748.1,2183.5,156.80,7.77,542,4484.88,42.93,0.00,3.95,1.585,0.000,0.179,1462.59,1568.62,1356.56,2745.62,737.25,0,0,0,11.49,30.00,15.19
$GC,4513.59,3205,266.46,1.14,0.00,1459.4,1563.4,1355.4,2748.5,737.2,150.16,8.70,558,4524.81,0.00,0.31,3.64,0.000,0.107,0.093,1459.47,1563.69,1355.25,2802.75,2214.25,0,0,0,30.00,15.27,15.27
$GC,4823.94,260,266.46,1.14,80.00,1455.7,1556.2,1355.2,2802.1,2214.4,119.67,9.42,590,4830.68,0.00,0.00,3.14,0.000,0.000,0.174,1457.03,1557.19,1356.88,2802.19,3408.12,0,0,0,30.00,30.00,15.39
$GC,4858.91,17542,266.46,1.09,0.00,1455.1,1554.3,1355.9,2802.5,3407.1,116.08,10.11,597,4865.27,0.00,0.00,3.01,0.000,0.000,0.089,1456.09,1555.56,1356.62,2802.94,2181.94,0,0,0,30.00,30.00,15.46
$MODEM_MSG,CACST,6,1,20201024040430.027825,18,478,08,1648,0150,171,01,01,03,01,-1,-01,-01,1,3,0,0,150,49.9,0.57,-100,2.43,-01,-0.02,22,925,0025*0D
$MODEM_MSG,CACST,6,1,20201024041736.977621,18,394,-10,0196,0150,171,01,01,06,01,-1,-01,-01,1,3,0,0,150,-1.4,0.00,-100,3.00,-01,0.00,22,925,0025*1D
$MODEM_MSG,CACST,6,1,20201024042424.126860,18,1018,05,0126,0150,171,01,01,04,01,-1,-01,-01,1,3,0,0,150,-12.1,0.01,-100,2.99,-01,0.00,24,925,0025*38
$MODEM_MSG,CACST,6,1,20201024043049.394226,18,109,14,0198,0150,432,02,02,01,04,-1,-01,-01,1,3,0,0,150,-8.8,0.36,-100,2.64,-01,0.05,59,925,0025*3B
$MODEM_MSG,CACST,6,1,20201024043719.799774,18,66,-23,0113,0150,432,02,02,07,04,-1,-01,-01,1,3,0,0,150,-0.9,0.28,-100,2.72,-01,0.06,56,925,0025*27
$GC,5163.95,16902,266.46,1.09,-80.00,1454.6,1553.4,1355.8,2801.2,2181.7,89.54,8.51,640,5170.99,0.00,0.00,3.85,0.000,0.000,0.174,1454.47,1552.75,1356.19,2804.12,736.00,0,0,0,30.00,30.00,15.50
$GC,5244.92,21639,266.46,1.04,0.00,1452.5,1550.0,1354.9,2803.3,735.8,82.24,9.03,656,5255.29,0.00,0.28,3.57,0.000,0.200,0.093,1454.66,1552.19,1357.12,2765.06,2214.56,0,0,0,30.00,15.51,15.56
$GC,5434.38,10663,368.41,1.35,80.00,1453.1,1550.8,1355.5,2765.9,2215.5,71.50,5.26,694,5533.71,91.88,0.57,3.18,1.529,0.098,0.172,1047.62,1164.50,930.75,2853.88,3406.81,0,0,0,11.73,15.62,15.18
$GC,5757.73,11431,418.96,1.53,0.00,1041.9,1152.6,931.2,2854.1,3407.5,41.62,7.65,758,5810.42,46.39,0.25,3.02,1.454,0.113,0.090,842.44,959.31,725.56,2897.06,2181.12,0,0,0,11.65,15.42,15.41
$GC,5989.52,10663,496.27,1.74,80.00,836.8,948.2,725.5,2896.9,2180.2,25.36,6.40,804,6068.35,71.28,0.30,3.28,1.430,0.102,0.165,526.88,629.56,424.19,2947.50,3408.25,0,0,0,11.48,15.41,15.11
$GC,6071.65,1028,496.27,1.74,0.00,526.4,628.5,424.3,2946.4,3407.4,18.56,8.75,820,6078.00,0.00,0.00,3.07,0.000,0.000,0.087,526.34,627.94,424.75,2947.19,2181.12,0,0,0,30.00,30.00,15.11
$GC,6257.40,10663,619.75,2.14,80.00,521.4,618.6,424.1,2948.0,2180.7,6.30,4.26,857,6273.40,7.67,0.61,3.21,1.113,0.092,0.161,500.72,593.19,408.25,3043.44,3408.31,0,0,0,11.40,15.36,15.30
$STATE,6332,end climb,SURFACE_DEPTH_REACHED
$STATE,6332,begin surface coast
$FINISH,0.4,1.021902
$STATE,6362,end surface coast,CONTROL_FINISHED_OK
$STATE,6362,begin surface
$SM_CCo,6452.44,0.00,0.000,0,497.0,583.9,410.1,503.59
$SM_GC,1.58,0.00,18.45,3.27,0.000,0.083,0.097,497.0,583.9,410.1,221.4,2080.4,0,0,0,30.00,15.39,15.40
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7129.05,-15155.25,241020,031041
$TCM_TEMP,2.23
$SC_FREEKB,3817600
$PM_FREEKB_00,32487488
$PM_ACTIVECARD,0
$RAFOS_CLK,-6
$MODEM,6,1603514239,75.33060,-142.67570,139.800,204806.7
$MODEM,5,1603513849,76.41295,-142.47470,49.394,72362.5
$MODEM,3,1603513464,75.26195,-145.59448,264.127,386945.8
$MODEM,2,1603513056,75.67648,-146.03058,156.978,229972.2
$RAFOS_FIX,7809.604004,-14843.038086,241020,040424,2,510,181.40
$HUMID,52.69
$TEMP,-0.27
$INTERNAL_PRESSURE,7.64489
$24V_AH,14.39,88.430
$10V_AH,14.82,0.000
$FG_AHR_24Vo,83.848
$FG_AHR_10Vo,36.979
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,679.705,45.265,97.190,328.430,0.000,14.664,3920.505,3096.572,2233.261,2208.000,0.000,0.000
$DEVICE_MAMPS,1861.808,304.792,349.400,218.554,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6376.000,6386.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.642,9.395,0.000,0.000
$MEM,1152216,35,24492,81
$DATA_FILE_SIZE,25762,878
$CAP_FILE_SIZE,236696,0
$SDSIZE,3918848,3758400
$SDFILEDIR,1520,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$WARN,PPS timeout
$CURRENT,0.182,331.0,1
$GPS,241020,050610,7129.104,-15155.618,105,0.8,106,15.2