version: 67.00
glider: 235
mission: 6
dive: 120
start: 10 16 120 10 53 11
data:
$ID,235
$MISSION,6
$DIVE,120
$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,31.922653
$FG_AHR_24V,62.473976
$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
$GPS1,161020,104749,7132.625,-15152.290,1,0.9,4,15.2
$_CALLS,1
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-67.8
$GPS2,161020,105238,7132.664,-15152.216,3,0.9,5,15.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,REC
$TGT_LATLONG,7149.000,-15142.400
$TGT_RADIUS,2000.000
$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,313.6,30782,-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,11.33,16386,-145.99,-1.06,0.00,497.9,576.0,419.8,217.9,2118.8,0.00,0.00,0,80.42,67.15,0.00,0.00,0.005,0.000,0.000,1682.34,1681.19,1683.50,217.88,2118.50,0,0,0,15.42,30.00,30.00
$GC,80.69,18983,-145.99,-1.06,-80.00,1681.8,1680.9,1682.8,217.8,2118.1,3.24,-2.07,13,156.14,45.88,17.00,3.84,0.005,0.304,0.166,3145.41,3165.88,3124.94,2262.19,636.00,0,0,0,15.41,15.30,15.41
$GC,159.91,3205,-145.99,-0.63,0.00,3145.6,3166.5,3124.6,2260.9,635.7,18.61,-24.49,28,171.04,0.00,0.77,3.57,0.000,0.213,0.089,3147.41,3168.38,3126.44,2365.25,2115.75,0,0,0,30.00,15.43,15.48
$GC,350.07,4741,-145.99,-0.86,-80.00,3147.2,3168.7,3125.8,2364.8,2117.1,49.09,-12.62,66,361.08,0.00,0.45,3.83,0.000,0.098,0.169,3146.75,3167.94,3125.56,2301.31,635.69,0,0,0,30.00,15.56,15.49
$GC,585.01,1028,-145.99,-0.86,0.00,3146.5,3168.6,3124.4,2299.9,635.4,81.55,-13.63,113,591.95,0.00,0.00,3.55,0.000,0.000,0.094,3149.66,3171.75,3127.56,2297.94,2114.56,0,0,0,30.00,30.00,15.61
$GC,775.54,644,-145.99,-0.94,-80.00,3146.3,3168.6,3124.0,2299.2,2114.9,103.74,-11.70,148,782.69,0.00,0.00,3.82,0.000,0.000,0.175,3145.84,3167.62,3124.06,2299.00,635.62,0,0,0,30.00,30.00,15.52
$GC,874.91,1028,-145.99,-0.94,0.00,3146.6,3169.3,3123.8,2299.4,635.8,116.74,-13.10,168,882.92,0.00,0.00,3.53,0.000,0.000,0.092,3149.22,3171.62,3126.81,2299.00,2114.06,0,0,0,30.00,30.00,15.60
$GC,1181.48,4741,-145.99,-1.04,-80.00,3146.1,3168.5,3123.7,2299.4,2112.9,150.72,-10.69,199,1193.03,0.00,0.23,3.83,0.000,0.118,0.186,3148.41,3170.75,3126.06,2256.75,636.75,0,0,0,30.00,15.72,15.66
$GC,1255.18,3205,-145.99,-0.95,0.00,3147.1,3168.8,3125.4,2256.1,636.6,161.12,-14.16,214,1263.39,0.00,0.28,3.54,0.000,0.199,0.099,3149.41,3171.06,3127.75,2289.44,2113.06,0,0,0,30.00,15.66,15.70
$GC,1561.78,4741,-145.99,-1.13,-80.00,3147.5,3170.0,3125.0,2288.5,2114.1,188.32,-8.30,245,1573.61,0.00,0.34,3.85,0.000,0.113,0.195,3147.19,3170.19,3124.19,2234.62,636.44,0,0,0,30.00,15.75,15.70
$GC,1705.80,3205,-145.99,-1.03,0.00,3146.9,3169.4,3124.3,2234.8,637.1,204.82,-11.44,274,1713.93,0.00,0.29,3.56,0.000,0.201,0.109,3147.47,3169.44,3125.50,2271.31,2113.88,0,0,0,30.00,15.72,15.76
$GC,2012.43,4773,-145.99,-1.17,-80.00,3145.6,3167.8,3123.4,2271.0,2113.9,229.46,-7.87,305,2024.10,0.00,0.29,3.86,0.000,0.116,0.202,3147.56,3171.38,3123.75,2224.94,637.38,0,0,0,30.00,15.79,15.73
$GC,2086.26,3205,-145.99,-1.04,0.00,3147.7,3171.0,3124.4,2225.0,637.6,237.63,-11.20,320,2094.41,0.00,0.34,3.55,0.000,0.199,0.112,3147.19,3170.44,3123.94,2267.31,2111.19,0,0,0,30.00,15.75,15.79
$GC,2392.87,4257,-145.99,-1.19,0.00,3147.1,3170.8,3123.4,2267.6,2111.9,262.29,-7.67,351,2395.90,0.00,0.29,0.00,0.000,0.113,0.000,3147.44,3170.88,3124.00,2220.19,2111.50,0,0,0,30.00,15.82,30.00
$GC,2692.86,516,-145.99,-1.19,-80.00,3145.0,3168.6,3121.4,2220.8,2111.8,289.13,-9.06,381,2699.88,0.00,0.00,3.88,0.000,0.000,0.212,3145.38,3169.44,3121.31,2220.38,637.94,0,0,0,30.00,30.00,15.77
$GC,2722.05,3205,-145.99,-1.12,0.00,3146.9,3169.8,3123.9,2220.9,637.7,292.34,-9.75,387,2730.18,0.00,0.25,3.57,0.000,0.198,0.119,3148.50,3172.06,3124.94,2249.62,2112.06,0,0,0,30.00,15.80,15.82
$STATE,2819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2819,begin apogee
$GC,2819.97,10243,0.00,-0.25,0.00,3147.0,3171.2,3122.7,2251.5,2212.4,300.53,-8.13,397,2947.22,122.43,1.50,0.05,1.826,0.182,0.332,2546.91,2613.06,2480.75,2460.69,2186.81,0,0,0,11.86,15.81,15.19
$STATE,2949,end apogee,CONTROL_FINISHED_OK
$STATE,2949,begin climb
$GC,2949.58,10759,145.99,1.06,-80.00,2548.1,2613.2,2483.0,2460.5,2186.3,303.04,0.00,403,3089.28,126.53,2.19,4.07,1.715,0.134,0.207,1952.53,2057.12,1847.94,2779.69,738.44,0,0,0,11.41,15.19,14.84
$GC,3098.00,5253,145.99,0.76,0.00,1949.2,2052.4,1846.1,2779.5,738.4,290.08,12.85,430,3109.10,0.00,0.65,3.79,0.000,0.231,0.119,1948.41,2050.56,1846.25,2701.62,2208.94,0,0,0,30.00,14.93,14.96
$GC,3408.19,16646,145.99,0.76,80.00,1940.2,2037.8,1842.7,2701.4,2209.6,260.74,9.30,462,3414.90,0.00,0.00,3.20,0.000,0.000,0.192,1938.88,2036.06,1841.69,2700.75,3406.38,0,0,0,30.00,30.00,15.31
$GC,3433.80,17414,145.99,0.76,0.00,1939.3,2036.0,1842.7,2701.2,3407.1,258.22,9.45,467,3441.00,0.00,0.00,3.03,0.000,0.000,0.101,1939.53,2036.69,1842.38,2700.31,2183.25,0,0,0,30.00,30.00,15.29
$GC,3738.69,16902,145.99,0.76,-80.00,1938.8,2034.7,1843.0,2701.1,2183.5,229.87,9.24,498,3746.19,0.00,0.00,3.83,0.000,0.000,0.190,1937.44,2032.56,1842.31,2701.25,736.06,0,0,0,30.00,30.00,15.46
$GC,3804.69,17414,145.99,0.76,0.00,1937.4,2032.2,1842.6,2699.3,736.0,223.30,9.88,511,3811.95,0.00,0.00,3.58,0.000,0.000,0.099,1936.59,2031.12,1842.06,2699.06,2213.81,0,0,0,30.00,30.00,15.53
$GC,4109.60,10663,192.02,0.88,80.00,1937.2,2031.9,1842.6,2699.8,2214.0,198.39,7.86,542,4156.83,39.79,0.25,3.13,1.630,0.121,0.181,1763.94,1868.19,1659.69,2739.00,3408.06,0,0,0,11.79,15.62,15.32
$GC,4168.98,1156,192.02,0.83,0.00,1763.3,1864.5,1662.1,2738.8,3406.8,192.52,10.30,554,4176.45,0.00,0.00,2.98,0.000,0.000,0.092,1763.59,1864.12,1663.06,2740.06,2182.25,0,0,0,30.00,30.00,15.43
$GC,4476.12,516,192.02,0.83,-80.00,1759.4,1859.2,1659.6,2738.1,2183.7,164.64,8.40,585,4483.64,0.00,0.00,3.80,0.000,0.000,0.181,1758.41,1856.75,1660.06,2737.88,735.19,0,0,0,30.00,30.00,15.39
$GC,4572.40,17414,192.02,0.83,0.00,1758.1,1856.1,1660.1,2738.7,735.1,155.78,9.21,604,4579.32,0.00,0.00,3.56,0.000,0.000,0.094,1757.28,1855.62,1658.94,2738.12,2212.88,0,0,0,30.00,30.00,15.49
$GC,4876.94,10919,271.33,1.00,-80.00,1757.6,1855.2,1659.9,2737.9,2212.4,135.47,6.31,635,4954.91,70.32,0.15,3.93,1.577,0.133,0.175,1441.94,1551.38,1332.50,2770.31,735.94,0,0,0,11.67,15.60,15.17
$GC,5023.64,1028,271.33,1.00,0.00,1437.9,1542.6,1333.2,2770.4,736.2,123.50,9.13,664,5030.61,0.00,0.00,3.61,0.000,0.000,0.093,1438.75,1543.25,1334.25,2770.12,2212.81,0,0,0,30.00,30.00,15.32
$GC,5328.92,16774,271.33,1.09,80.00,1434.5,1536.2,1332.9,2770.2,2213.4,98.18,8.35,697,5335.62,0.00,0.00,3.12,0.000,0.000,0.175,1433.72,1534.62,1332.81,2771.00,3406.50,0,0,0,30.00,30.00,15.40
$GC,5338.84,19591,271.33,1.18,0.00,1433.6,1533.9,1333.3,2770.9,3407.3,97.38,8.09,699,5345.31,0.00,0.22,2.97,0.000,0.123,0.087,1435.16,1535.06,1335.25,2808.44,2181.69,0,0,0,30.00,15.45,15.48
$GC,5524.63,16902,271.33,1.18,-80.00,1432.8,1532.6,1333.0,2809.9,2181.8,80.37,9.18,736,5535.46,0.00,0.00,3.77,0.000,0.000,0.174,1432.94,1532.81,1333.06,2811.62,736.31,0,0,0,30.00,30.00,15.48
$GC,5559.42,17542,271.33,1.10,0.00,1432.7,1532.2,1333.2,2810.8,736.4,76.81,10.16,743,5570.34,0.00,0.00,3.55,0.000,0.000,0.089,1432.94,1532.44,1333.44,2810.50,2213.88,0,0,0,30.00,30.00,15.52
$GC,5750.04,16386,271.33,1.10,0.00,1432.6,1532.1,1333.2,2811.2,2214.0,60.40,8.38,781,5755.62,0.00,0.00,0.00,0.000,0.000,0.000,1432.69,1532.12,1333.25,2810.38,2214.25,0,0,0,30.00,30.00,30.00
$GC,5934.94,8354,365.17,1.27,0.00,1432.2,1531.1,1333.4,2810.8,2214.2,48.36,5.63,818,6022.41,84.28,0.00,0.00,1.492,0.000,0.000,1061.38,1181.50,941.25,2811.38,2214.69,0,0,0,11.73,30.00,30.00
$GC,6200.69,10663,481.20,1.73,80.00,1054.8,1168.9,940.7,2810.6,2213.7,35.26,4.60,871,6314.34,103.33,0.87,3.20,1.420,0.095,0.169,588.03,699.12,476.94,2944.00,3407.56,0,0,0,11.75,15.36,14.99
$GC,6343.32,1028,481.20,1.73,0.00,585.9,693.4,478.4,2944.0,3408.8,20.51,12.24,899,6349.00,0.00,0.00,3.05,0.000,0.000,0.086,586.22,693.62,478.81,2944.69,2183.19,0,0,0,30.00,30.00,15.07
$MODEM_MSG,CACST,6,1,20201016121534.335122,18,211,17,0105,0150,216,04,04,01,04,-1,-01,-01,1,3,0,0,150,-27.1,0.10,-100,2.90,-01,-0.02,36,925,0025*2B
$MODEM_MSG,CACST,6,1,20201016122202.007325,18,68,-11,0130,0150,216,01,01,05,03,-1,-01,-01,1,3,0,0,150,15.9,0.44,-100,2.56,-01,-0.67,36,925,0025*12
$MODEM_MSG,CACST,6,1,20201016122517.702795,18,244,-12,0256,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,17.3,-1.35,-100,4.35,-01,0.00,36,925,0025*27
$MODEM_MSG,CACST,6,1,20201016123322.920951,18,124,08,0093,0150,216,01,01,02,03,-1,-01,-01,1,3,0,0,150,-2.4,0.49,-100,2.51,-01,0.16,34,925,0025*32
$MODEM_MSG,CACST,6,1,20201016123807.984665,18,512,21,0196,0150,07,00,00,01,02,-1,-01,-01,1,3,0,0,150,-15.3,0.53,-100,2.47,-01,-1.35,24,925,0025*10
$GC,6528.23,10919,549.47,1.91,-80.00,581.8,684.8,478.9,2945.1,2183.8,4.42,6.82,936,6560.11,20.88,0.26,3.82,1.317,0.116,0.164,500.03,594.81,405.25,2989.56,735.44,0,0,0,11.51,15.30,15.20
$STATE,6564,end climb,SURFACE_DEPTH_REACHED
$STATE,6564,begin surface coast
$FINISH,0.4,1.023378
$STATE,6589,end surface coast,CONTROL_FINISHED_OK
$STATE,6589,begin surface
$SM_CCo,6678.49,0.00,0.000,0,497.1,587.8,406.3,503.59
$SM_GC,1.97,0.00,18.14,3.35,0.000,0.082,0.092,497.1,587.8,406.3,217.9,2114.1,0,0,0,30.00,15.28,15.28
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7134.29,-15154.85,161020,085447
$TCM_TEMP,3.28
$SC_FREEKB,3840320
$PM_FREEKB_00,41261632
$PM_ACTIVECARD,0
$RAFOS_CLK,-3
$MODEM,6,1602851887,75.33060,-142.67570,187.985,275397.5
$MODEM,5,1602851602,76.41295,-142.47470,202.921,297279.2
$MODEM,4,1602851117,76.55490,-139.99944,17.703,25934.6
$MODEM,3,1602850922,75.26195,-145.59448,122.007,178740.7
$MODEM,2,1602850534,75.67648,-146.03058,34.335,50301.0
$RAFOS_FIX,7647.365234,-14740.657227,161020,121207,5,255,93.76
$HUMID,52.36
$TEMP,0.59
$INTERNAL_PRESSURE,7.66986
$24V_AH,14.45,62.920
$10V_AH,14.72,0.000
$FG_AHR_24Vo,62.741
$FG_AHR_10Vo,31.988
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,680.600,44.750,121.425,168.367,0.000,14.670,3918.353,3034.684,2332.441,2213.000,0.000,0.000
$DEVICE_MAMPS,1825.728,304.136,331.688,231.356,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6603.000,6613.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.384,9.879,0.000,0.000
$MEM,1152428,33,24380,78
$DATA_FILE_SIZE,25720,948
$CAP_FILE_SIZE,257722,0
$SDSIZE,3918848,3778080
$SDFILEDIR,1009,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.188, 79.1,1
$GPS,161020,124530,7133.266,-15151.350,25,0.9,25,15.2