version: 67.00
glider: 235
mission: 6
dive: 114
start: 10 15 120 23 32 9
data:
$ID,235
$MISSION,6
$DIVE,114
$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,250
$LOITER_D_BOTTOM,400
$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,31.613428
$FG_AHR_24V,60.794708
$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
$GPS1,151020,232452,7131.627,-15155.646,2,1.0,5,15.2
$_CALLS,2
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-67.4
$GPS2,151020,233136,7131.661,-15155.485,2,1.0,5,15.2
$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,223.6,4062,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11.06,16386,-145.99,-1.06,0.00,488.9,563.8,414.0,217.8,2117.6,0.00,0.00,0,75.11,62.06,0.00,0.00,0.005,0.000,0.000,1599.28,1599.25,1599.31,217.94,2117.31,0,0,0,15.46,30.00,30.00
$GC,75.37,18983,-145.99,-1.06,-80.00,1601.4,1601.8,1600.9,217.8,2117.1,3.21,-2.21,12,155.49,49.59,16.73,3.83,0.005,0.311,0.167,3146.19,3167.00,3125.38,2263.00,635.50,0,0,0,15.47,15.33,15.42
$GC,264.25,3205,-145.99,-0.77,0.00,3144.8,3166.8,3122.8,2261.6,635.1,43.48,-26.21,49,275.38,0.00,0.50,3.57,0.000,0.201,0.091,3146.34,3168.69,3124.00,2331.12,2114.69,0,0,0,30.00,15.52,15.52
$GC,454.49,4225,-145.99,-0.93,0.00,3145.6,3167.7,3123.4,2329.6,2115.9,67.81,-11.18,87,460.23,0.00,0.34,0.00,0.000,0.098,0.000,3147.84,3170.19,3125.50,2284.75,2115.25,0,0,0,30.00,15.63,30.00
$GC,639.38,516,-145.99,-0.93,-80.00,3146.4,3168.3,3124.6,2283.5,2116.0,91.05,-12.36,124,650.70,0.00,0.00,3.82,0.000,0.000,0.174,3147.19,3170.00,3124.38,2283.12,635.94,0,0,0,30.00,30.00,15.57
$GC,719.76,1156,-145.99,-0.88,0.00,3145.6,3168.4,3122.8,2283.4,635.8,101.95,-14.01,140,726.90,0.00,0.00,3.52,0.000,0.000,0.088,3144.91,3168.69,3121.12,2284.50,2113.88,0,0,0,30.00,30.00,15.60
$GC,1024.97,2049,-145.99,-0.88,0.00,3146.0,3168.8,3123.2,2282.8,2113.5,138.71,-11.31,171,1028.21,0.00,0.22,0.00,0.000,0.201,0.000,3148.25,3171.00,3125.50,2307.56,2114.12,0,0,0,30.00,15.69,30.00
$GC,1325.05,4225,-145.99,-1.03,0.00,3146.2,3168.7,3123.8,2306.6,2114.4,166.98,-8.85,201,1328.57,0.00,0.32,0.00,0.000,0.108,0.000,3147.72,3170.12,3125.31,2257.88,2113.81,0,0,0,30.00,15.75,30.00
$GC,1625.09,0,-145.99,-1.03,0.00,3146.2,3168.7,3123.6,2257.6,2114.9,197.55,-9.55,231,1628.75,0.00,0.00,0.00,0.000,0.000,0.000,3145.91,3167.75,3124.06,2257.12,2114.56,0,0,0,30.00,30.00,30.00
$GC,1926.70,644,-145.99,-1.09,-80.00,3146.4,3169.1,3123.8,2257.8,2114.7,223.78,-9.08,261,1933.42,0.00,0.00,3.88,0.000,0.000,0.202,3144.91,3167.56,3122.25,2258.44,636.50,0,0,0,30.00,30.00,15.73
$GC,1942.11,1028,-145.99,-1.09,0.00,3146.5,3168.4,3124.6,2257.7,637.1,225.31,-9.40,264,1949.11,0.00,0.00,3.54,0.000,0.000,0.104,3145.78,3169.44,3122.12,2257.88,2113.94,0,0,0,30.00,30.00,15.77
$GC,2247.42,388,-145.99,-1.18,80.00,3147.1,3170.6,3123.6,2257.1,2113.1,251.94,-8.59,295,2254.11,0.00,0.00,3.34,0.000,0.000,0.190,3147.00,3169.69,3124.31,2257.75,3407.00,0,0,0,30.00,30.00,15.73
$GC,2273.04,1028,-145.99,-1.18,0.00,3146.0,3168.9,3123.1,2257.2,3405.6,254.28,-8.68,300,2280.23,0.00,0.00,3.20,0.000,0.000,0.112,3144.94,3166.88,3123.00,2257.81,2087.31,0,0,0,30.00,30.00,15.76
$GC,2578.41,4741,-145.99,-1.27,-80.00,3145.7,3168.8,3122.6,2258.0,2087.2,280.48,-8.61,331,2590.40,0.00,0.31,3.85,0.000,0.109,0.212,3148.41,3171.31,3125.50,2199.12,636.81,0,0,0,30.00,15.77,15.70
$GC,2592.55,1028,-145.99,-1.27,0.00,3146.5,3169.2,3123.8,2199.0,636.7,282.02,-9.15,334,2600.61,0.00,0.00,3.57,0.000,0.000,0.108,3146.97,3169.62,3124.31,2198.94,2112.38,0,0,0,30.00,30.00,15.75
$STATE,2769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2769,begin apogee
$GC,2770.26,10243,0.00,-0.25,0.00,3145.7,3169.0,3122.4,2199.2,2213.8,300.68,-10.60,352,2898.02,123.40,1.96,0.06,1.827,0.191,0.316,2549.56,2614.56,2484.56,2458.75,2186.06,0,0,0,11.87,15.73,15.11
$STATE,2900,end apogee,CONTROL_FINISHED_OK
$STATE,2901,begin climb
$GC,2900.51,10503,145.99,1.06,80.00,2548.0,2612.6,2483.4,2459.2,2186.1,302.97,0.00,358,3039.56,127.44,2.26,3.40,1.707,0.134,0.193,1950.66,2055.25,1846.06,2780.00,3408.50,0,0,0,11.48,15.12,14.81
$GC,3041.80,5253,145.99,0.78,0.00,1949.8,2053.2,1846.3,2780.0,3407.4,290.42,12.18,375,3049.41,0.00,0.63,3.15,0.000,0.227,0.109,1949.88,2053.12,1846.62,2703.69,2185.88,0,0,0,30.00,14.86,14.89
$GC,3348.55,16386,145.99,0.78,0.00,1941.0,2038.8,1843.3,2702.8,2185.9,260.61,9.27,406,3352.02,0.00,0.00,0.00,0.000,0.000,0.000,1938.69,2035.88,1841.50,2702.62,2186.25,0,0,0,30.00,30.00,30.00
$GC,3648.52,16902,145.99,0.78,-80.00,1939.5,2035.5,1843.5,2702.9,2185.5,233.40,8.70,436,3655.78,0.00,0.00,3.87,0.000,0.000,0.192,1939.34,2036.06,1842.62,2702.81,736.06,0,0,0,30.00,30.00,15.39
$GC,3684.26,17414,145.99,0.78,0.00,1938.6,2033.9,1843.2,2703.3,736.1,229.85,9.79,443,3690.48,0.00,0.00,3.60,0.000,0.000,0.100,1937.84,2033.56,1842.12,2702.50,2213.62,0,0,0,30.00,30.00,15.45
$GC,3989.76,16774,145.99,0.83,80.00,1938.4,2033.1,1843.7,2702.9,2213.2,204.75,8.08,474,3996.95,0.00,0.00,3.12,0.000,0.000,0.179,1939.72,2033.44,1846.00,2702.56,3407.81,0,0,0,30.00,30.00,15.49
$GC,4055.76,17414,145.99,0.83,0.00,1936.7,2030.2,1843.1,2703.0,3408.0,198.89,8.89,487,4062.90,0.00,0.00,2.97,0.000,0.000,0.094,1937.72,2031.31,1844.12,2701.50,2183.62,0,0,0,30.00,30.00,15.54
$MODEM_MSG,CACST,6,1,20201016000413.927756,18,308,-11,0104,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,18.6,0.47,-100,2.53,-01,-0.24,36,925,0025*29
$MODEM_MSG,CACST,6,1,20201016000936.312423,18,101,-16,0132,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,13.4,-0.45,-100,3.45,-01,-0.01,39,925,0025*0F
$MODEM_MSG,CACST,6,1,20201016001507.315452,18,88,-16,0160,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,16.9,0.22,-100,2.78,-01,-0.27,37,925,0025*1D
$MODEM_MSG,CACST,6,1,20201016002016.039948,18,403,07,0130,0150,216,04,04,03,04,-1,-01,-01,1,3,0,0,150,20.4,0.34,-100,2.66,-01,0.04,35,925,0025*28
$MODEM_MSG,CACST,6,1,20201016002237.134536,18,214,-6,0334,0150,216,01,01,05,03,-1,-01,-01,1,3,0,0,150,19.3,0.62,-100,2.38,-01,-2.06,34,925,0025*1D
$MODEM_MSG,CACST,6,1,20201016003256.299053,18,110,-15,0110,0150,216,04,04,06,04,-1,-01,-01,1,3,0,0,150,-27.2,0.10,-100,2.90,-01,0.01,36,925,0025*2F
$MODEM_MSG,CACST,6,1,20201016003839.946910,18,24,-16,0120,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,-2.7,0.16,-100,2.84,-01,0.02,35,925,0025*28
$GC,4360.67,10919,224.01,1.02,-80.00,1935.9,2029.6,1842.2,2703.0,2183.8,176.63,6.37,518,4436.20,67.83,0.45,3.88,1.624,0.102,0.183,1637.19,1746.12,1528.25,2773.00,736.00,0,0,0,11.78,15.63,15.24
$GC,4448.38,1156,224.01,0.95,0.00,1634.0,1741.2,1526.8,2772.6,736.4,168.56,10.03,535,4456.43,0.00,0.00,3.61,0.000,0.000,0.089,1632.72,1739.56,1525.88,2773.81,2212.38,0,0,0,30.00,30.00,15.25
$GC,4754.45,16646,224.01,0.95,80.00,1626.4,1728.4,1524.4,2772.9,2213.3,141.33,8.65,566,4760.87,0.00,0.00,3.11,0.000,0.000,0.175,1627.91,1730.50,1525.31,2771.81,3406.38,0,0,0,30.00,30.00,15.46
$GC,4870.04,21639,224.01,0.90,0.00,1624.2,1723.8,1524.6,2773.7,3405.3,130.56,9.01,589,4876.97,0.00,0.31,2.96,0.000,0.207,0.089,1624.81,1724.44,1525.19,2735.31,2181.25,0,0,0,30.00,15.51,15.55
$GC,5175.21,10919,301.37,1.16,-80.00,1623.2,1721.9,1524.5,2733.1,2180.4,110.29,6.40,620,5252.04,68.58,0.46,3.84,1.557,0.099,0.178,1321.47,1433.69,1209.25,2805.94,736.88,0,0,0,11.71,15.62,15.27
$GC,5345.83,1028,301.37,1.16,0.00,1315.2,1422.8,1207.8,2806.6,737.1,93.38,10.83,654,5356.63,0.00,0.00,3.58,0.000,0.000,0.089,1315.78,1422.94,1208.62,2806.56,2215.25,0,0,0,30.00,30.00,15.40
$GC,5536.35,16386,301.37,1.16,0.00,1313.2,1418.8,1207.7,2805.4,2213.2,75.71,9.29,692,5541.54,0.00,0.00,0.00,0.000,0.000,0.000,1312.72,1418.12,1207.31,2805.81,2215.00,0,0,0,30.00,30.00,30.00
$GC,5721.27,17030,301.37,1.22,-80.00,1311.9,1415.8,1208.1,2805.9,2214.5,59.76,8.24,729,5732.59,0.00,0.00,3.83,0.000,0.000,0.166,1312.03,1415.44,1208.62,2806.06,735.06,0,0,0,30.00,30.00,15.52
$GC,5761.62,17414,301.37,1.22,0.00,1311.4,1414.8,1208.0,2806.8,735.2,56.14,8.94,737,5768.09,0.00,0.00,3.54,0.000,0.000,0.087,1312.28,1415.81,1208.75,2805.44,2216.50,0,0,0,30.00,30.00,15.58
$GC,5946.55,10919,395.77,1.48,-80.00,1311.1,1414.4,1207.7,2805.7,2216.1,43.26,5.61,774,6039.81,84.74,0.47,3.90,1.480,0.092,0.164,936.75,1055.69,817.81,2883.12,736.19,0,0,0,11.83,15.62,15.23
$GC,6043.85,9254,461.86,1.56,0.00,935.0,1052.9,817.1,2884.2,736.4,36.74,6.93,793,6110.78,59.72,0.00,3.59,1.392,0.000,0.082,667.78,786.31,549.25,2884.25,2215.50,0,0,0,11.69,30.00,15.28
$GC,6289.81,10919,512.73,1.77,-80.00,661.1,772.5,549.7,2884.4,2215.6,18.18,7.63,842,6337.03,38.19,0.44,3.90,1.369,0.097,0.160,499.84,599.25,400.44,2953.19,734.81,0,0,0,11.53,15.30,15.14
$GC,6381.01,9350,512.73,1.71,0.00,497.9,593.6,402.2,2952.0,734.9,7.64,13.48,860,6388.46,0.00,0.00,3.61,0.000,0.000,0.089,497.66,593.06,402.25,2952.62,2213.25,0,0,0,30.00,30.00,15.23
$STATE,6442,end climb,SURFACE_DEPTH_REACHED
$STATE,6443,begin surface coast
$FINISH,0.5,1.023509
$STATE,6468,end surface coast,CONTROL_FINISHED_OK
$STATE,6468,begin surface
$SM_CCo,6552.32,0.00,0.000,0,494.5,585.6,403.3,504.22
$SM_GC,1.81,0.00,17.70,0.31,0.000,0.077,0.138,494.5,585.6,403.3,219.1,2081.7,0,0,0,30.00,15.34,15.35
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7131.81,-15158.05,151020,232658
$TCM_TEMP,3.09
$SC_FREEKB,3842240
$PM_FREEKB_00,41801344
$PM_ACTIVECARD,0
$RAFOS_CLK,-9
$MODEM,6,1602808719,75.33060,-142.67570,219.947,322222.2
$MODEM,5,1602808376,76.41295,-142.47470,176.299,258278.1
$MODEM,3,1602807616,75.26195,-145.59448,16.040,23498.5
$MODEM,2,1602807307,75.67648,-146.03058,7.315,10717.1
$MODEM,0,1602806976,74.83892,-145.28152,276.312,404797.7
$RAFOS_FIX,7401.347656,597849.375000,161020,000039,5,255,46728.40
$HUMID,52.96
$TEMP,0.11
$INTERNAL_PRESSURE,7.66109
$24V_AH,14.41,60.950
$10V_AH,14.78,0.000
$FG_AHR_24Vo,61.062
$FG_AHR_10Vo,31.677
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,681.565,43.090,100.195,232.399,0.000,13.829,3818.106,3137.549,2217.230,2215.000,0.000,0.000
$DEVICE_MAMPS,1827.368,310.696,316.272,218.831,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6482.000,6491.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.570,9.356,0.000,0.000
$MEM,1152428,33,24380,78
$DATA_FILE_SIZE,25732,877
$CAP_FILE_SIZE,237084,0
$SDSIZE,3918848,3779680
$SDFILEDIR,967,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.181, 80.4,1
$GPS,161020,012231,7131.354,-15155.593,26,0.7,27,15.2