version: 67.00
glider: 235
mission: 6
dive: 197
start: 10 24 120 15 3 18
data:
$ID,235
$MISSION,6
$DIVE,197
$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,37.236263
$FG_AHR_24V,85.299553
$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
$GPS1,241020,145457,7128.836,-15153.941,36,1.5,41,15.2
$_CALLS,2
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-69.6
$GPS2,241020,150245,7128.895,-15154.163,3,1.5,4,15.2
$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,131.2,9382,-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,11.92,16386,-145.99,-1.06,0.00,494.1,567.4,420.9,215.2,2114.4,0.00,0.00,0,55.30,40.69,0.00,0.00,0.005,0.000,0.000,1222.53,1240.56,1204.50,215.31,2115.06,0,0,0,15.46,30.00,30.00
$GC,55.56,18727,-145.99,-1.06,80.00,1223.8,1241.6,1205.9,215.4,2114.6,3.03,-2.58,8,146.14,59.87,17.39,3.36,0.005,0.306,0.167,3143.97,3164.50,3123.44,2262.19,3409.75,0,0,0,15.47,15.31,15.40
$GC,184.98,3205,-145.99,-0.88,0.00,3145.8,3166.1,3125.5,2261.7,3411.2,29.17,-22.70,33,195.78,0.00,0.32,3.28,0.000,0.200,0.100,3145.34,3165.56,3125.12,2305.56,2082.12,0,0,0,30.00,15.50,15.53
$GC,375.46,516,-145.99,-0.88,-80.00,3146.5,3167.8,3125.3,2305.8,2083.6,60.50,-13.22,71,386.33,0.00,0.00,3.85,0.000,0.000,0.176,3146.91,3168.88,3124.94,2304.94,635.31,0,0,0,30.00,30.00,15.52
$GC,440.33,1028,-145.99,-0.88,0.00,3146.0,3168.1,3123.9,2305.4,635.4,69.66,-14.19,84,451.65,0.00,0.00,3.58,0.000,0.000,0.093,3146.44,3167.25,3125.62,2307.31,2116.31,0,0,0,30.00,30.00,15.52
$GC,630.92,128,-145.99,-0.97,0.00,3146.3,3168.2,3124.4,2306.2,2115.6,93.13,-11.65,122,636.93,0.00,0.00,0.00,0.000,0.000,0.000,3146.16,3167.50,3124.81,2305.69,2116.94,0,0,0,30.00,30.00,30.00
$GC,821.50,4741,-145.99,-1.08,-80.00,3147.0,3168.6,3125.4,2306.4,2116.9,114.50,-10.73,147,832.86,0.00,0.41,3.91,0.000,0.096,0.176,3147.50,3168.94,3126.06,2245.19,636.44,0,0,0,30.00,15.71,15.63
$GC,841.56,1028,-145.99,-1.08,0.00,3147.3,3169.1,3125.5,2243.9,636.4,117.25,-11.78,151,848.59,0.00,0.00,3.56,0.000,0.000,0.093,3147.25,3169.12,3125.38,2244.88,2115.62,0,0,0,30.00,30.00,15.62
$GC,1146.78,516,-145.99,-1.08,-80.00,3146.6,3168.0,3125.1,2244.1,2115.1,159.00,-13.58,182,1153.63,0.00,0.00,3.94,0.000,0.000,0.184,3147.22,3168.12,3126.31,2242.56,636.94,0,0,0,30.00,30.00,15.62
$GC,1182.36,3205,-145.99,-0.95,0.00,3146.8,3168.4,3125.2,2244.2,637.4,164.19,-14.91,189,1193.95,0.00,0.37,3.56,0.000,0.200,0.097,3146.78,3168.69,3124.88,2288.62,2113.69,0,0,0,30.00,15.69,15.66
$GC,1492.65,4741,-145.99,-1.13,-80.00,3146.6,3167.7,3125.6,2289.2,2114.4,194.26,-8.32,221,1504.09,0.00,0.35,3.95,0.000,0.109,0.191,3148.47,3169.56,3127.38,2231.31,636.12,0,0,0,30.00,15.78,15.64
$GC,1562.80,3205,-145.99,-1.00,0.00,3146.9,3168.1,3125.8,2233.2,636.5,202.11,-11.49,235,1569.87,0.00,0.38,3.58,0.000,0.197,0.106,3145.34,3168.19,3122.50,2278.56,2113.38,0,0,0,30.00,15.73,15.76
$GC,1868.09,4485,-145.99,-1.17,80.00,3146.5,3168.7,3124.2,2277.4,2113.1,225.86,-8.13,266,1874.84,0.00,0.34,3.37,0.000,0.108,0.187,3148.81,3169.69,3127.94,2222.88,3410.12,0,0,0,30.00,15.79,15.74
$GC,1913.60,3205,-145.99,-1.06,0.00,3146.3,3168.1,3124.6,2224.4,3409.8,230.72,-11.37,275,1920.55,0.00,0.33,3.24,0.000,0.197,0.110,3146.69,3168.31,3125.06,2262.69,2085.62,0,0,0,30.00,15.73,15.78
$GC,2218.47,4741,-145.99,-1.20,-80.00,3147.0,3169.0,3124.9,2263.5,2085.6,255.37,-8.05,306,2225.70,0.00,0.28,3.90,0.000,0.113,0.205,3148.09,3170.06,3126.12,2217.19,636.62,0,0,0,30.00,15.82,15.74
$GC,2254.47,3205,-145.99,-1.10,0.00,3145.2,3167.4,3123.1,2217.0,636.3,259.10,-10.42,313,2261.46,0.00,0.31,3.58,0.000,0.200,0.109,3149.28,3171.31,3127.25,2254.12,2111.69,0,0,0,30.00,15.77,15.80
$GC,2559.78,4225,-145.99,-1.22,0.00,3145.8,3168.4,3123.2,2255.0,2112.1,284.16,-8.18,344,2562.81,0.00,0.27,0.00,0.000,0.111,0.000,3148.50,3170.81,3126.19,2211.25,2110.81,0,0,0,30.00,15.84,30.00
$STATE,2729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2730.71,10243,0.00,-0.25,0.00,3146.2,3169.3,3123.1,2211.8,2211.6,300.42,-9.73,361,2859.30,124.17,1.88,0.05,1.853,0.188,0.345,2546.66,2610.62,2482.69,2459.25,2185.19,0,0,0,11.83,15.80,15.16
$STATE,2862,end apogee,CONTROL_FINISHED_OK
$STATE,2862,begin climb
$GC,2861.84,10243,145.99,1.06,0.00,2546.8,2610.2,2483.2,2459.2,2185.8,302.45,0.00,367,2994.27,128.00,2.24,0.00,1.725,0.126,0.000,1953.81,2060.88,1846.75,2777.44,2185.56,0,0,0,11.45,15.18,30.00
$GC,3289.80,20871,145.99,0.83,80.00,1941.7,2037.8,1845.7,2779.1,2185.4,250.70,13.08,411,3296.56,0.00,0.50,3.29,0.000,0.209,0.184,1940.25,2036.38,1844.12,2716.44,3405.56,0,0,0,30.00,15.27,15.28
$GC,3355.54,17542,145.99,0.76,0.00,1939.8,2034.4,1845.1,2716.1,3405.7,242.71,11.63,424,3361.15,0.00,0.00,3.06,0.000,0.000,0.099,1939.56,2034.00,1845.12,2715.56,2185.06,0,0,0,30.00,30.00,15.36
$GC,3660.96,16386,145.99,0.76,0.00,1938.7,2032.1,1845.3,2715.5,2185.3,213.75,9.08,455,3664.87,0.00,0.00,0.00,0.000,0.000,0.000,1937.53,2031.44,1843.62,2716.31,2184.62,0,0,0,30.00,30.00,30.00
$GC,3961.12,8742,193.67,0.81,-80.00,1938.5,2031.3,1845.7,2715.5,2185.0,188.02,7.78,485,4013.25,41.62,0.00,3.93,1.632,0.000,0.179,1759.38,1863.44,1655.31,2715.12,736.75,0,0,0,11.61,30.00,15.27
$GC,4031.86,11431,241.07,0.95,0.00,1756.5,1858.7,1654.2,2715.7,736.8,182.51,7.79,498,4084.19,43.35,0.26,3.63,1.580,0.115,0.093,1566.06,1674.19,1457.94,2757.00,2216.12,0,0,0,11.48,15.36,15.36
$GC,4382.24,10403,295.00,1.09,0.00,1556.7,1656.1,1457.4,2756.8,2216.3,152.92,7.49,538,4433.60,48.29,0.17,0.00,1.568,0.123,0.000,1348.09,1458.56,1237.62,2789.38,2216.12,0,0,0,11.58,15.41,30.00
$GC,4732.59,644,295.00,1.16,-80.00,1340.4,1444.6,1236.3,2789.5,2215.8,120.96,9.26,573,4744.43,0.00,0.00,3.96,0.000,0.000,0.168,1339.91,1443.75,1236.06,2789.44,735.50,0,0,0,30.00,30.00,15.30
$GC,4763.12,17414,295.00,1.16,0.00,1339.1,1442.1,1236.1,2790.3,735.8,117.94,9.64,579,4770.12,0.00,0.00,3.61,0.000,0.000,0.091,1338.84,1441.62,1236.06,2790.06,2216.38,0,0,0,30.00,30.00,15.41
$GC,5067.72,19079,295.00,1.26,-80.00,1338.2,1440.4,1236.1,2789.4,2216.4,89.40,8.75,621,5075.36,0.00,0.22,3.91,0.000,0.113,0.165,1337.66,1439.50,1235.81,2832.19,736.44,0,0,0,30.00,15.50,15.44
$GC,5098.96,17414,295.00,1.26,0.00,1337.9,1439.3,1236.5,2831.2,736.5,86.14,10.28,627,5109.79,0.00,0.00,3.58,0.000,0.000,0.091,1338.34,1439.56,1237.12,2831.62,2217.81,0,0,0,30.00,30.00,15.47
$GC,5289.46,16902,295.00,1.26,-80.00,1337.6,1439.1,1236.2,2831.6,2216.7,68.23,8.92,665,5299.94,0.00,0.00,3.90,0.000,0.000,0.162,1337.88,1439.00,1236.75,2831.62,735.94,0,0,0,30.00,30.00,15.50
$GC,5314.51,17414,295.00,1.26,0.00,1337.2,1438.1,1236.2,2831.9,735.9,65.91,9.08,670,5320.83,0.00,0.00,3.57,0.000,0.000,0.090,1337.88,1438.69,1237.06,2831.44,2216.50,0,0,0,30.00,30.00,15.54
$GC,5499.84,10663,369.82,1.40,80.00,1337.2,1438.1,1236.4,2831.5,2216.6,51.79,6.52,707,5577.13,68.54,0.19,3.16,1.511,0.121,0.171,1042.12,1157.69,926.56,2864.50,3408.19,0,0,0,11.63,15.56,15.13
$GC,5800.43,11431,437.72,1.58,0.00,1036.8,1146.8,926.8,2865.2,3407.9,30.65,6.84,767,5873.03,62.71,0.23,3.03,1.451,0.113,0.088,765.62,881.38,649.88,2908.06,2179.88,0,0,0,11.54,15.42,15.43
$MODEM_MSG,CACST,6,1,20201024160956.384416,18,98,13,0092,0150,432,02,02,01,04,-1,-01,-01,1,3,0,0,150,-5.3,0.11,-100,2.89,-01,0.00,57,925,0025*08
$MODEM_MSG,CACST,6,1,20201024161702.232258,18,2552,16,0127,0150,216,01,01,03,03,-1,-01,-01,1,3,0,0,150,-20.8,0.48,-100,2.52,-01,-0.03,29,925,0025*19
$MODEM_MSG,CACST,6,1,20201024163559.292205,18,601,21,0107,0150,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-17.1,0.70,-100,2.30,-01,-0.36,22,925,0025*15
$GC,6052.04,10919,552.41,1.88,-80.00,760.5,871.4,649.6,2906.6,2180.4,15.12,4.67,817,6120.23,60.95,0.46,3.95,1.414,0.099,0.169,499.81,599.31,400.31,2980.56,737.12,0,0,0,11.60,15.36,15.09
$STATE,6273,end climb,SURFACE_DEPTH_REACHED
$STATE,6273,begin surface coast
$FINISH,0.2,1.021870
$STATE,6323,end surface coast,CONTROL_FINISHED_OK
$STATE,6323,begin surface
$SM_CCo,6413.45,0.00,0.000,0,494.5,582.7,406.3,504.21
$SM_GC,3.46,0.00,18.02,3.35,0.000,0.082,0.091,494.5,582.7,406.3,220.2,2114.6,0,0,0,30.00,15.38,15.38
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7129.88,-15146.08,241020,130102
$TCM_TEMP,2.22
$SC_FREEKB,3815680
$PM_FREEKB_00,31945216
$PM_ACTIVECARD,0
$RAFOS_CLK,-4
$MODEM,6,1603557359,75.33060,-142.67570,59.292,86863.1
$MODEM,2,1603556222,75.67648,-146.03058,122.232,179070.3
$MODEM,0,1603555796,74.83892,-145.28152,296.384,434203.2
$RAFOS_FIX,7759.128906,-14805.734375,241020,161602,2,510,163.72
$HUMID,52.38
$TEMP,-0.10
$INTERNAL_PRESSURE,7.64021
$24V_AH,14.41,90.461
$10V_AH,14.80,0.000
$FG_AHR_24Vo,85.574
$FG_AHR_10Vo,37.299
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,678.175,44.940,100.915,273.801,0.000,13.363,3868.466,2998.790,2214.595,2211.000,0.000,0.000
$DEVICE_MAMPS,1852.952,306.432,345.136,211.760,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6337.000,6348.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.493,9.490,0.000,0.000
$MEM,1152208,34,24520,81
$DATA_FILE_SIZE,25707,871
$CAP_FILE_SIZE,234848,0
$SDSIZE,3918848,3756832
$SDFILEDIR,1562,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.118,325.1,1
$GPS,241020,165225,7128.659,-15153.594,51,0.8,98,15.2