version: 67.00
glider: 235
mission: 6
dive: 121
start: 10 16 120 12 51 15
data:
$ID,235
$MISSION,6
$DIVE,121
$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,31.988806
$FG_AHR_24V,62.752068
$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
$GPS1,161020,124530,7133.266,-15151.350,25,0.9,25,15.2
$_CALLS,1
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-67.8
$GPS2,161020,125042,7133.304,-15151.201,2,0.6,4,15.2
$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,311.8,29510,-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,11.31,16386,-145.99,-1.06,0.00,493.0,568.4,417.6,217.7,2075.5,0.00,0.00,0,80.41,67.24,0.00,0.00,0.005,0.000,0.000,1684.03,1682.50,1685.56,217.88,2076.38,0,0,0,15.41,30.00,30.00
$GC,80.67,18983,-145.99,-1.06,-80.00,1682.5,1681.2,1683.8,217.9,2075.6,3.35,-2.17,13,156.20,46.58,17.10,3.73,0.005,0.302,0.166,3145.47,3165.88,3125.06,2259.69,635.25,0,0,0,15.45,15.30,15.45
$GC,375.07,1156,-145.99,-1.00,0.00,3146.4,3168.5,3124.4,2260.4,635.4,63.01,-15.97,71,381.44,0.00,0.00,3.57,0.000,0.000,0.094,3145.75,3167.81,3123.69,2260.75,2116.56,0,0,0,30.00,30.00,15.56
$GC,559.95,0,-145.99,-1.00,0.00,3147.5,3169.6,3125.3,2261.9,2116.4,87.76,-13.02,108,566.01,0.00,0.00,0.00,0.000,0.000,0.000,3147.44,3169.25,3125.62,2261.38,2115.88,0,0,0,30.00,30.00,30.00
$GC,745.36,0,-145.99,-1.00,0.00,3145.2,3166.8,3123.7,2261.1,2115.4,110.36,-11.94,137,748.44,0.00,0.00,0.00,0.000,0.000,0.000,3148.97,3169.56,3128.38,2259.81,2115.88,0,0,0,30.00,30.00,30.00
$GC,1045.37,516,-145.99,-1.00,-80.00,3146.5,3168.2,3124.8,2261.5,2115.2,146.50,-11.68,167,1052.52,0.00,0.00,3.85,0.000,0.000,0.184,3145.50,3167.31,3123.69,2262.38,636.56,0,0,0,30.00,30.00,15.65
$GC,1171.43,3205,-145.99,-0.95,0.00,3148.1,3170.1,3126.1,2260.5,636.2,161.99,-11.73,192,1178.27,0.00,0.19,3.54,0.000,0.207,0.099,3147.34,3168.62,3126.06,2291.12,2112.69,0,0,0,30.00,15.69,15.69
$GC,1476.34,4773,-145.99,-1.13,-80.00,3147.6,3169.8,3125.3,2291.8,2113.1,187.60,-7.60,223,1483.42,0.00,0.38,3.86,0.000,0.104,0.193,3147.38,3170.19,3124.56,2233.38,636.31,0,0,0,30.00,15.76,15.64
$GC,1635.61,3205,-145.99,-1.01,0.00,3146.3,3168.2,3124.5,2233.1,636.2,205.53,-11.55,255,1643.74,0.00,0.35,3.55,0.000,0.196,0.108,3148.94,3170.19,3127.69,2275.31,2111.62,0,0,0,30.00,15.73,15.76
$GC,1942.23,4257,-145.99,-1.16,0.00,3146.4,3168.6,3124.3,2275.5,2111.1,228.05,-7.05,286,1945.39,0.00,0.31,0.00,0.000,0.113,0.000,3146.56,3167.75,3125.38,2226.50,2112.56,0,0,0,30.00,15.81,30.00
$GC,2242.25,516,-145.99,-1.16,-80.00,3146.0,3168.4,3123.6,2227.5,2111.8,256.31,-9.73,316,2249.33,0.00,0.00,3.88,0.000,0.000,0.207,3145.84,3168.94,3122.75,2228.00,637.44,0,0,0,30.00,30.00,15.76
$GC,2298.37,3205,-145.99,-1.06,0.00,3145.4,3168.2,3122.5,2226.3,637.6,262.56,-11.65,327,2305.68,0.00,0.31,3.56,0.000,0.199,0.115,3149.41,3172.25,3126.56,2261.69,2110.62,0,0,0,30.00,15.77,15.80
$GC,2603.68,4485,-145.99,-1.20,80.00,3146.7,3169.4,3123.9,2263.9,2111.9,287.97,-8.48,358,2611.11,0.00,0.29,3.36,0.000,0.113,0.198,3144.41,3168.00,3120.81,2217.44,3408.50,0,0,0,30.00,15.83,15.79
$GC,2649.84,3205,-145.99,-1.09,0.00,3145.3,3169.4,3121.3,2215.4,3405.8,292.95,-11.57,367,2656.83,0.00,0.34,3.21,0.000,0.198,0.118,3145.91,3170.06,3121.75,2256.56,2086.44,0,0,0,30.00,15.78,15.78
$STATE,2735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2735,begin apogee
$GC,2736.02,10243,0.00,-0.25,0.00,3145.8,3169.4,3122.2,2256.6,2213.8,300.76,-8.93,376,2863.08,122.55,1.48,0.05,1.821,0.180,0.328,2547.59,2612.94,2482.25,2457.31,2187.88,0,0,0,11.83,15.80,15.19
$STATE,2865,end apogee,CONTROL_FINISHED_OK
$STATE,2865,begin climb
$GC,2865.39,10503,145.99,1.06,80.00,2547.5,2612.2,2482.8,2458.5,2187.8,303.51,0.00,382,3000.05,126.39,2.22,3.40,1.711,0.132,0.195,1953.88,2059.88,1847.88,2778.06,3407.31,0,0,0,11.44,15.19,14.84
$GC,3002.30,5253,145.99,0.79,0.00,1950.1,2053.8,1846.5,2778.4,3406.2,292.24,11.61,404,3009.85,0.00,0.61,3.14,0.000,0.222,0.108,1950.03,2053.25,1846.81,2707.00,2186.88,0,0,0,30.00,14.90,14.94
$GC,3309.03,16902,145.99,0.79,-80.00,1940.6,2037.6,1843.5,2707.1,2187.2,263.26,9.49,435,3316.07,0.00,0.00,3.92,0.000,0.000,0.200,1940.03,2036.00,1844.06,2705.69,736.50,0,0,0,30.00,30.00,15.25
$GC,3344.54,17542,145.99,0.74,0.00,1941.7,2038.6,1844.8,2705.7,736.4,259.49,10.45,442,3351.85,0.00,0.00,3.65,0.000,0.000,0.108,1941.75,2038.00,1845.50,2706.12,2212.19,0,0,0,30.00,30.00,15.36
$GC,3650.01,16386,145.99,0.74,0.00,1939.2,2034.8,1843.8,2706.8,2213.0,230.23,9.89,473,3653.93,0.00,0.00,0.00,0.000,0.000,0.000,1937.78,2033.00,1842.56,2706.31,2212.75,0,0,0,30.00,30.00,30.00
$GC,3950.14,16902,145.99,0.74,-80.00,1938.0,2032.6,1843.5,2706.8,2212.6,202.05,9.36,503,3956.85,0.00,0.00,3.86,0.000,0.000,0.179,1938.12,2031.69,1844.56,2706.12,737.06,0,0,0,30.00,30.00,15.56
$GC,3985.56,17414,145.99,0.74,0.00,1937.6,2032.0,1843.2,2706.2,736.8,198.35,10.30,510,3992.51,0.00,0.00,3.55,0.000,0.000,0.095,1936.97,2031.00,1842.94,2706.62,2215.50,0,0,0,30.00,30.00,15.60
$GC,4290.12,8870,196.96,0.86,-80.00,1937.3,2031.7,1843.0,2705.8,2215.4,173.59,7.63,541,4343.07,44.13,0.00,3.88,1.613,0.000,0.175,1747.62,1851.94,1643.31,2706.31,735.19,0,0,0,11.76,30.00,15.35
$GC,4375.22,3205,196.96,0.92,0.00,1743.4,1845.2,1641.6,2706.1,735.2,166.36,8.82,558,4383.36,0.00,0.28,3.58,0.000,0.115,0.093,1742.44,1844.19,1640.69,2750.00,2212.31,0,0,0,30.00,15.48,15.41
$GC,4681.32,8742,260.83,1.00,-80.00,1738.4,1837.7,1639.1,2750.2,2212.9,139.62,7.03,589,4747.94,56.88,0.00,3.90,1.565,0.000,0.172,1485.03,1593.06,1377.00,2750.69,736.19,0,0,0,11.77,30.00,15.27
$GC,4821.82,3205,260.83,1.09,0.00,1481.1,1584.8,1377.4,2749.6,735.8,129.01,8.28,617,4829.15,0.00,0.20,3.59,0.000,0.124,0.091,1480.62,1584.00,1377.25,2789.88,2213.50,0,0,0,30.00,15.38,15.36
$GC,5126.72,16386,260.83,1.09,0.00,1476.9,1577.5,1376.2,2790.1,2213.8,102.19,8.65,648,5130.62,0.00,0.00,0.00,0.000,0.000,0.000,1478.28,1578.50,1378.06,2788.88,2213.81,0,0,0,30.00,30.00,30.00
$GC,5427.55,8870,308.40,1.19,-80.00,1476.1,1575.4,1376.8,2789.4,2213.8,77.30,7.79,705,5480.42,43.11,0.00,3.86,1.507,0.000,0.169,1292.22,1401.50,1182.94,2788.06,736.00,0,0,0,11.82,30.00,15.39
$GC,5544.14,3205,308.40,1.26,0.00,1288.9,1395.2,1182.6,2789.6,736.1,67.94,8.33,728,5554.72,0.00,0.22,3.57,0.000,0.123,0.092,1289.78,1395.81,1183.75,2828.69,2212.38,0,0,0,30.00,15.46,15.39
$GC,5734.21,8486,362.55,1.32,80.00,1286.9,1391.4,1182.4,2829.6,2213.8,51.84,7.48,766,5791.54,49.65,0.00,3.13,1.465,0.000,0.172,1071.56,1186.62,956.50,2831.25,3407.62,0,0,0,11.63,30.00,15.27
$GC,5804.79,11431,448.56,1.54,0.00,1070.2,1183.8,956.7,2830.6,3407.8,47.38,6.00,780,5888.65,76.71,0.43,2.97,1.416,0.107,0.084,721.84,841.12,602.56,2899.31,2177.88,0,0,0,11.51,15.35,15.36
$GC,6066.92,644,448.56,1.63,-80.00,715.6,828.6,602.6,2899.1,2178.4,24.86,8.78,832,6074.46,0.00,0.00,3.78,0.000,0.000,0.167,715.53,828.31,602.75,2898.94,735.44,0,0,0,30.00,30.00,15.29
$GC,6112.68,1028,448.56,1.63,0.00,713.8,823.8,603.8,2898.9,735.2,20.14,10.60,841,6119.67,0.00,0.00,3.57,0.000,0.000,0.089,714.09,824.00,604.19,2899.50,2214.12,0,0,0,30.00,30.00,15.33
$GC,6298.50,10919,526.12,1.95,-80.00,713.2,822.2,604.1,2899.1,2214.1,6.83,6.39,878,6357.19,50.24,0.62,3.86,1.393,0.100,0.160,500.34,598.81,401.88,2999.88,736.19,0,0,0,11.59,15.45,15.23
$STATE,6360,end climb,SURFACE_DEPTH_REACHED
$STATE,6360,begin surface coast
$FINISH,0.5,1.013016
$STATE,6385,end surface coast,CONTROL_FINISHED_OK
$STATE,6385,begin surface
$SM_CCo,6474.50,0.00,0.000,0,496.3,588.6,404.1,503.76
$SM_GC,2.10,0.00,18.25,3.31,0.000,0.086,0.085,496.3,588.6,404.1,218.9,2114.1,0,0,0,30.00,15.31,15.32
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7133.61,-15154.85,161020,105001
$TCM_TEMP,3.03
$SC_FREEKB,3840000
$PM_FREEKB_00,41171264
$PM_ACTIVECARD,0
$RAFOS_CLK,-21
$RAFOS_FIX,7133.931152,-15152.269531,161020,141427,0,1,0.21
$HUMID,52.93
$TEMP,0.11
$INTERNAL_PRESSURE,7.66312
$24V_AH,14.45,63.234
$10V_AH,14.76,0.000
$FG_AHR_24Vo,63.018
$FG_AHR_10Vo,32.028
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,683.495,43.590,101.045,195.305,0.000,12.985,3791.720,3006.064,2224.089,0.000,0.000,0.000
$DEVICE_MAMPS,1821.464,301.840,328.408,210.604,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6400.000,6409.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.523,9.154,0.000,0.000
$MEM,1152412,33,24396,78
$DATA_FILE_SIZE,25764,895
$CAP_FILE_SIZE,233993,0
$SDSIZE,3918848,3777792
$SDFILEDIR,1016,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.198, 79.5,1
$GPS,161020,144010,7134.059,-15150.363,8,0.8,27,15.2