version: 67.00
glider: 235
mission: 6
dive: 193
start: 10 24 120 7 6 54
data:
$ID,235
$MISSION,6
$DIVE,193
$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,37.020252
$FG_AHR_24V,84.146019
$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
$GPS1,241020,070039,7129.088,-15155.149,77,1.6,82,15.2
$_CALLS,1
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-68.4
$GPS2,241020,070621,7129.153,-15155.321,4,1.6,6,15.2
$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,131.0,10188,-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,11.91,16386,-145.99,-1.06,0.00,490.8,567.6,414.0,217.8,2116.8,0.00,0.00,0,65.53,50.92,0.00,0.00,0.005,0.000,0.000,1404.00,1411.94,1396.06,217.81,2118.38,0,0,0,15.44,30.00,30.00
$GC,65.78,18727,-145.99,-1.06,80.00,1404.8,1413.1,1396.4,217.9,2118.2,3.31,-2.97,10,145.92,53.03,17.49,3.37,0.005,0.305,0.168,3144.59,3164.12,3125.06,2261.81,3408.25,0,0,0,15.45,15.30,15.49
$GC,154.75,3205,-145.99,-0.69,0.00,3146.2,3165.8,3126.5,2261.6,3407.5,20.28,-23.52,27,165.22,0.00,0.69,3.25,0.000,0.202,0.095,3145.81,3166.38,3125.25,2352.69,2083.25,0,0,0,30.00,15.39,15.53
$GC,344.67,4225,-145.99,-0.83,0.00,3145.8,3166.4,3125.2,2353.2,2082.2,51.18,-12.97,65,350.55,0.00,0.32,0.00,0.000,0.102,0.000,3148.72,3169.31,3128.12,2307.12,2081.69,0,0,0,30.00,15.60,30.00
$GC,529.71,644,-145.99,-0.89,-80.00,3145.3,3166.2,3124.4,2307.2,2082.5,76.91,-12.61,102,540.73,0.00,0.00,3.85,0.000,0.000,0.179,3147.91,3168.25,3127.56,2306.94,636.00,0,0,0,30.00,30.00,15.53
$GC,589.96,1028,-145.99,-0.89,0.00,3146.1,3167.3,3124.9,2306.2,635.9,84.78,-12.92,114,601.24,0.00,0.00,3.57,0.000,0.000,0.094,3146.56,3167.12,3126.00,2307.25,2114.94,0,0,0,30.00,30.00,15.59
$GC,780.49,644,-145.99,-0.96,-80.00,3145.3,3166.5,3124.1,2305.8,2115.7,107.09,-11.68,146,787.35,0.00,0.00,3.90,0.000,0.000,0.177,3144.81,3166.19,3123.44,2307.38,636.31,0,0,0,30.00,30.00,15.61
$GC,796.06,5253,-145.99,-1.02,0.00,3145.8,3166.4,3125.1,2306.3,636.6,108.93,-11.79,149,803.17,0.00,0.25,3.55,0.000,0.116,0.091,3145.03,3166.50,3123.56,2260.62,2116.81,0,0,0,30.00,15.67,15.67
$GC,1101.28,516,-145.99,-1.02,-80.00,3146.7,3168.1,3125.3,2260.5,2115.5,149.83,-12.73,180,1108.11,0.00,0.00,3.93,0.000,0.000,0.185,3147.19,3168.06,3126.31,2259.25,636.19,0,0,0,30.00,30.00,15.58
$GC,1140.28,3205,-145.99,-0.91,0.00,3145.3,3166.9,3123.8,2260.9,635.6,155.28,-13.85,188,1148.42,0.00,0.32,3.56,0.000,0.199,0.100,3145.38,3167.19,3123.56,2298.62,2113.38,0,0,0,30.00,15.68,15.67
$GC,1447.14,4225,-145.99,-1.11,0.00,3146.2,3167.8,3124.6,2298.2,2113.7,183.48,-8.08,219,1450.19,0.00,0.38,0.00,0.000,0.112,0.000,3143.44,3164.44,3122.44,2241.38,2114.81,0,0,0,30.00,15.75,30.00
$GC,1746.87,0,-145.99,-1.11,0.00,3146.4,3166.9,3125.9,2239.0,2113.7,212.79,-9.51,249,1749.96,0.00,0.00,0.00,0.000,0.000,0.000,3143.69,3165.00,3122.38,2240.12,2113.69,0,0,0,30.00,30.00,30.00
$GC,2046.96,0,-145.99,-1.11,0.00,3145.0,3167.3,3122.7,2239.8,2113.3,240.55,-9.33,279,2050.30,0.00,0.00,0.00,0.000,0.000,0.000,3143.84,3165.06,3122.62,2239.31,2113.56,0,0,0,30.00,30.00,30.00
$GC,2347.01,644,-145.99,-1.16,-80.00,3144.6,3166.3,3122.9,2239.3,2114.2,267.26,-8.59,309,2358.89,0.00,0.00,3.97,0.000,0.000,0.205,3146.62,3168.62,3124.62,2238.56,637.31,0,0,0,30.00,30.00,15.70
$GC,2377.74,1028,-145.99,-1.16,0.00,3144.1,3166.2,3122.0,2238.1,637.6,270.14,-8.94,315,2384.56,0.00,0.00,3.59,0.000,0.000,0.117,3145.09,3167.12,3123.06,2239.00,2109.94,0,0,0,30.00,30.00,15.80
$GC,2682.64,644,-145.99,-1.22,-80.00,3145.2,3167.1,3123.2,2239.8,2111.7,297.80,-9.11,346,2689.67,0.00,0.00,3.95,0.000,0.000,0.208,3145.81,3168.50,3123.12,2239.56,638.25,0,0,0,30.00,30.00,15.76
$STATE,2708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2708,begin apogee
$GC,2713.62,10243,0.00,-0.25,0.00,3145.5,3167.1,3123.8,2239.1,2212.2,300.39,-9.36,351,2842.00,123.91,1.67,0.05,1.862,0.187,0.348,2546.50,2611.81,2481.19,2459.81,2186.75,0,0,0,11.68,15.79,15.18
$STATE,2845,end apogee,CONTROL_FINISHED_OK
$STATE,2845,begin climb
$GC,2844.85,10503,145.99,1.06,80.00,2547.4,2611.3,2483.4,2459.9,2186.4,303.74,0.00,357,2984.82,128.05,2.24,3.42,1.740,0.124,0.198,1951.47,2056.19,1846.75,2778.12,3409.62,0,0,0,11.37,15.17,14.84
$GC,2993.05,5253,145.99,0.77,0.00,1949.5,2051.3,1847.8,2778.5,3408.1,291.09,12.99,385,3000.56,0.00,0.63,3.16,0.000,0.218,0.107,1947.47,2048.94,1846.00,2703.00,2186.88,0,0,0,30.00,14.91,14.95
$GC,3298.86,16902,145.99,0.77,-80.00,1940.6,2037.1,1844.2,2704.1,2186.9,260.58,9.94,416,3305.60,0.00,0.00,3.99,0.000,0.000,0.193,1943.31,2040.25,1846.38,2703.69,736.69,0,0,0,30.00,30.00,15.28
$GC,3337.76,17414,145.99,0.77,0.00,1940.1,2035.4,1844.8,2702.3,736.9,256.26,10.69,424,3345.38,0.00,0.00,3.66,0.000,0.000,0.107,1941.25,2037.38,1845.12,2702.19,2211.12,0,0,0,30.00,30.00,15.34
$GC,3645.33,16646,145.99,0.77,80.00,1938.8,2032.6,1844.9,2702.2,2212.6,226.80,9.38,455,3652.69,0.00,0.00,3.16,0.000,0.000,0.182,1937.59,2031.94,1843.25,2702.88,3408.38,0,0,0,30.00,30.00,15.42
$GC,3690.92,17414,145.99,0.77,0.00,1937.5,2030.7,1844.4,2703.1,3408.6,222.10,10.36,464,3697.27,0.00,0.00,3.01,0.000,0.000,0.095,1937.34,2030.38,1844.31,2702.81,2185.19,0,0,0,30.00,30.00,15.48
$GC,3995.97,10919,198.23,0.89,-80.00,1937.5,2030.5,1844.5,2702.6,2185.2,196.47,7.57,495,4049.02,45.65,0.26,3.93,1.652,0.119,0.180,1740.66,1845.19,1636.12,2743.50,737.00,0,0,0,11.52,15.55,15.22
$GC,4097.75,1156,198.23,0.83,0.00,1736.9,1837.4,1636.4,2742.9,736.8,186.53,11.16,515,4104.78,0.00,0.00,3.62,0.000,0.000,0.094,1736.53,1837.12,1635.94,2743.44,2214.38,0,0,0,30.00,30.00,15.33
$GC,4403.00,8354,246.66,0.94,0.00,1732.5,1831.3,1633.7,2742.8,2215.1,160.30,7.75,546,4449.17,43.64,0.00,0.00,1.598,0.000,0.000,1544.88,1650.38,1439.38,2742.69,2215.50,0,0,0,11.58,30.00,30.00
$GC,4742.44,10403,299.45,1.14,0.00,1536.4,1635.2,1437.6,2742.2,2215.5,134.46,7.54,580,4794.29,48.18,0.34,0.00,1.562,0.105,0.000,1328.94,1439.38,1218.50,2801.38,2215.00,0,0,0,11.57,15.45,30.00
$GC,5092.47,516,299.45,1.14,-80.00,1321.6,1426.1,1217.2,2801.7,2215.0,100.73,9.51,615,5099.97,0.00,0.00,3.95,0.000,0.000,0.167,1320.59,1424.81,1216.38,2800.62,736.88,0,0,0,30.00,30.00,15.37
$GC,5143.67,17414,299.45,1.14,0.00,1320.5,1423.9,1217.1,2801.6,736.4,95.47,10.83,625,5150.17,0.00,0.00,3.59,0.000,0.000,0.092,1321.22,1424.62,1217.81,2801.38,2213.62,0,0,0,30.00,30.00,15.40
$GC,5329.03,16514,299.45,1.22,0.00,1320.4,1423.9,1216.9,2801.9,2214.4,79.50,8.17,662,5334.56,0.00,0.00,0.00,0.000,0.000,0.000,1320.81,1424.31,1217.31,2800.69,2212.94,0,0,0,30.00,30.00,30.00
$GC,5513.90,10919,353.64,1.39,-80.00,1319.2,1421.8,1216.6,2802.2,2214.2,65.29,7.48,699,5572.04,49.59,0.37,3.96,1.517,0.103,0.165,1109.25,1221.62,996.88,2864.88,736.81,0,0,0,11.61,15.52,15.26
$GC,5600.81,5253,353.64,1.31,0.00,1105.8,1215.6,996.0,2864.1,736.6,56.54,11.27,716,5611.33,0.00,0.29,3.61,0.000,0.206,0.092,1105.78,1215.69,995.88,2832.19,2214.62,0,0,0,30.00,15.28,15.22
$MODEM_MSG,CACST,6,1,20201024080737.068720,18,349,01,0167,0150,216,01,01,04,03,-1,-01,-01,1,3,0,0,150,-21.1,0.07,-100,2.93,-01,0.00,36,925,0025*07
$MODEM_MSG,CACST,6,1,20201024081414.144401,18,1240,00,0462,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,-19.4,0.08,-100,2.92,-01,0.00,36,925,0025*32
$MODEM_MSG,CACST,6,1,20201024082638.016175,18,4828,24,0099,0150,216,04,04,02,04,-1,-01,-01,1,3,0,0,150,-27.1,0.35,-100,2.65,-01,-0.06,36,925,0025*1F
$MODEM_MSG,CACST,6,1,20201024083145.116845,18,409,-3,0125,0150,216,01,01,05,03,-1,-01,-01,1,3,0,0,150,-24.1,0.02,-100,2.98,-01,0.01,36,925,0025*11
$MODEM_MSG,CACST,6,1,20201024083932.549114,18,89,13,0134,0150,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-15.4,0.07,-100,2.93,-01,-0.11,18,925,0025*22
$GC,5790.98,10403,447.15,1.63,0.00,1104.0,1212.3,995.7,2831.5,2214.9,43.85,5.65,754,5879.29,85.00,0.61,0.00,1.468,0.094,0.000,727.91,844.75,611.06,2922.56,2213.88,0,0,0,11.67,15.45,30.00
$GC,6057.56,644,447.15,1.74,-80.00,721.3,831.9,610.8,2921.9,2214.8,20.63,8.25,807,6065.11,0.00,0.00,3.94,0.000,0.000,0.163,722.00,832.25,611.75,2921.44,735.56,0,0,0,30.00,30.00,15.30
$GC,6114.01,3205,447.15,1.80,0.00,720.5,829.1,611.8,2922.9,735.9,15.87,8.65,818,6121.44,0.00,0.22,3.61,0.000,0.119,0.092,720.19,828.56,611.81,2961.44,2216.19,0,0,0,30.00,15.37,15.38
$GC,6300.47,10663,585.28,2.14,80.00,719.6,827.3,611.9,2961.2,2216.5,5.33,3.57,855,6363.06,52.40,0.51,3.16,1.426,0.096,0.173,500.59,598.06,403.12,3045.94,3408.12,0,0,0,11.55,15.47,15.16
$STATE,6376,end climb,SURFACE_DEPTH_REACHED
$STATE,6376,begin surface coast
$FINISH,0.6,1.022218
$STATE,6417,end surface coast,CONTROL_FINISHED_OK
$STATE,6417,begin surface
$SM_CCo,6506.48,0.00,0.000,0,496.0,585.6,406.5,503.84
$SM_GC,2.28,0.00,18.45,3.25,0.000,0.079,0.091,496.0,585.6,406.5,221.6,2081.6,0,0,0,30.00,15.34,15.34
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7130.85,-15152.06,241020,050853
$TCM_TEMP,2.28
$SC_FREEKB,3816960
$PM_FREEKB_00,32308032
$PM_ACTIVECARD,0
$RAFOS_CLK,-5
$MODEM,6,1603528772,75.33060,-142.67570,272.549,399284.4
$MODEM,5,1603528305,76.41295,-142.47470,105.117,153996.2
$MODEM,4,1603527998,76.55490,-139.99944,98.016,143593.7
$MODEM,1,1603527254,75.02295,-144.31340,254.144,372321.5
$MODEM,0,1603526857,74.83892,-145.28152,157.069,230105.7
$RAFOS_FIX,7755.669434,-626400.250000,241020,080832,5,255,25451.87
$HUMID,52.43
$TEMP,-0.15
$INTERNAL_PRESSURE,7.64327
$24V_AH,14.40,89.102
$10V_AH,14.78,0.000
$FG_AHR_24Vo,84.419
$FG_AHR_10Vo,37.083
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,680.360,45.075,101.415,207.196,0.000,15.045,3850.642,3014.132,2229.056,2211.000,0.000,0.000
$DEVICE_MAMPS,1861.808,305.120,347.760,216.465,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6434.000,6444.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.414,9.339,0.000,0.000
$MEM,1152272,31,24516,81
$DATA_FILE_SIZE,25667,878
$CAP_FILE_SIZE,238145,0
$SDSIZE,3918848,3757888
$SDFILEDIR,1534,1
$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,0.174,328.4,1
$GPS,241020,085639,7128.988,-15154.880,40,1.0,41,15.2