version: 67.00
glider: 235
mission: 6
dive: 129
start: 10 17 120 4 27 26
data:
$ID,235
$MISSION,6
$DIVE,129
$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,32.397568
$FG_AHR_24V,64.984192
$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
$GPS1,171020,042147,7143.033,-15145.797,4,1.4,10,15.2
$_CALLS,1
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-65.1
$GPS2,171020,042653,7143.109,-15145.794,3,1.3,5,15.2
$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,2.9,11084,-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,11.38,16386,-145.99,-1.06,0.00,494.7,565.1,424.2,216.4,2117.8,0.00,0.00,0,90.67,77.49,0.00,0.00,0.005,0.000,0.000,1828.88,1825.38,1832.38,216.12,2118.19,0,0,0,15.34,30.00,30.00
$GC,90.92,18727,-145.99,-1.06,80.00,1829.3,1827.2,1831.4,216.3,2118.3,3.16,-1.85,15,160.75,43.22,17.50,3.35,0.005,0.303,0.164,3143.72,3164.25,3123.19,2262.38,3409.31,0,0,0,15.38,15.26,15.35
$GC,344.52,1156,-145.99,-0.97,0.00,3144.8,3165.9,3123.6,2261.0,3408.9,53.74,-16.60,65,351.23,0.00,0.00,3.22,0.000,0.000,0.094,3146.62,3167.88,3125.38,2262.19,2083.75,0,0,0,30.00,30.00,15.47
$GC,529.83,516,-145.99,-0.97,-80.00,3144.6,3166.4,3122.8,2262.4,2082.0,79.32,-12.86,102,536.56,0.00,0.00,3.77,0.000,0.000,0.176,3144.78,3166.56,3123.00,2261.94,637.75,0,0,0,30.00,30.00,15.47
$GC,645.36,3205,-145.99,-0.89,0.00,3144.0,3166.0,3122.0,2262.8,637.5,95.71,-14.47,125,655.87,0.00,0.29,3.55,0.000,0.199,0.089,3145.50,3168.00,3123.00,2302.56,2113.88,0,0,0,30.00,15.51,15.54
$GC,835.33,4485,-145.99,-1.02,80.00,3144.8,3166.5,3123.2,2302.9,2114.4,115.60,-9.55,148,842.63,0.00,0.30,3.33,0.000,0.106,0.168,3146.97,3168.25,3125.69,2257.69,3408.56,0,0,0,30.00,15.58,15.45
$MODEM_MSG,CACST,6,1,20201017040604.790870,18,571,-2,0098,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,13.2,-0.48,-100,3.48,-01,0.02,40,925,0025*11
$MODEM_MSG,CACST,6,1,20201017041118.416583,18,1184,18,0271,0150,07,01,01,02,03,-1,-01,-01,1,3,0,0,150,-17.4,-0.01,-100,3.01,-01,0.00,22,925,0025*21
$MODEM_MSG,CACST,6,1,20201017041249.139163,18,320,13,0124,0150,216,03,03,02,03,-1,-01,-01,1,3,0,0,150,-9.8,0.60,-100,2.40,-01,-0.09,42,925,0025*1C
$MODEM_MSG,CACST,6,1,20201017041923.470795,18,649,-7,0147,0150,216,00,00,06,02,-1,-01,-01,1,3,0,0,150,30.7,0.16,-100,2.84,-01,0.00,33,925,0025*3F
$MODEM_MSG,CACST,6,1,20201017042054.845891,18,293,-5,0110,0150,216,00,00,05,01,-1,-01,-01,1,3,0,0,150,17.3,0.04,-100,2.96,-01,0.14,40,925,0025*30
$GC,904.80,3205,-145.99,-0.95,0.00,3144.6,3167.2,3121.9,2257.8,3408.5,123.98,-11.72,162,912.39,0.00,0.28,3.19,0.000,0.188,0.095,3145.31,3167.81,3122.81,2290.19,2083.44,0,0,0,30.00,15.54,15.61
$GC,1211.41,4485,-145.99,-1.09,80.00,3145.4,3168.2,3122.7,2290.6,2082.6,151.92,-8.18,193,1218.67,0.00,0.29,3.40,0.000,0.111,0.170,3144.59,3166.75,3122.44,2245.38,3408.06,0,0,0,30.00,15.68,15.57
$GC,1277.44,3205,-145.99,-0.99,0.00,3146.4,3169.1,3123.8,2244.8,3409.1,158.58,-10.52,206,1284.62,0.00,0.29,3.19,0.000,0.195,0.101,3143.56,3167.06,3120.06,2279.25,2085.19,0,0,0,30.00,15.65,15.61
$GC,1582.71,4773,-145.99,-1.14,-80.00,3144.8,3168.0,3121.6,2278.5,2084.4,183.70,-7.65,237,1594.22,0.00,0.29,3.80,0.000,0.116,0.200,3144.34,3167.50,3121.19,2234.00,636.56,0,0,0,30.00,15.73,15.67
$GC,1643.12,3205,-145.99,-1.01,0.00,3145.6,3168.4,3122.9,2233.3,636.7,190.18,-11.43,249,1650.45,0.00,0.34,3.55,0.000,0.196,0.102,3144.16,3167.06,3121.25,2274.25,2113.00,0,0,0,30.00,15.70,15.72
$GC,1948.47,4517,-145.99,-1.16,80.00,3145.8,3168.6,3123.0,2273.9,2113.3,215.81,-7.93,280,1955.87,0.00,0.29,3.33,0.000,0.112,0.184,3144.44,3168.62,3120.25,2229.00,3408.25,0,0,0,30.00,15.77,15.72
$GC,2018.09,3205,-145.99,-1.07,0.00,3145.6,3168.6,3122.6,2228.1,3409.2,223.07,-10.59,294,2025.60,0.00,0.28,3.19,0.000,0.195,0.108,3146.41,3169.06,3123.75,2258.25,2085.69,0,0,0,30.00,15.73,15.76
$GC,2324.66,4773,-145.99,-1.19,-80.00,3144.7,3167.8,3121.5,2261.3,2086.3,246.27,-7.80,325,2331.71,0.00,0.27,3.81,0.000,0.118,0.208,3145.75,3169.19,3122.31,2216.06,637.31,0,0,0,30.00,15.79,15.69
$GC,2383.93,3205,-145.99,-1.06,0.00,3144.2,3168.6,3119.9,2217.1,637.5,252.62,-11.00,337,2392.02,0.00,0.37,3.56,0.000,0.196,0.111,3144.44,3167.88,3121.00,2263.88,2113.44,0,0,0,30.00,15.76,15.79
$GC,2690.51,4517,-145.99,-1.20,80.00,3145.0,3168.7,3121.3,2263.1,2113.9,276.80,-7.95,368,2697.65,0.00,0.29,3.34,0.000,0.114,0.193,3143.12,3165.81,3120.44,2216.88,3406.25,0,0,0,30.00,15.82,15.78
$GC,2746.65,3205,-145.99,-1.11,0.00,3145.9,3169.3,3122.4,2217.5,3408.1,282.55,-10.83,379,2753.87,0.00,0.29,3.20,0.000,0.197,0.118,3143.44,3167.69,3119.19,2250.38,2087.06,0,0,0,30.00,15.77,15.76
$STATE,2952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2952,begin apogee
$GC,2953.08,10243,0.00,-0.25,0.00,3144.9,3168.3,3121.5,2250.9,2212.0,300.16,-8.65,400,3078.55,121.75,1.53,0.05,1.826,0.178,0.364,2546.78,2611.06,2482.50,2460.12,2187.50,0,0,0,11.84,15.79,15.19
$STATE,3081,end apogee,CONTROL_FINISHED_OK
$STATE,3081,begin climb
$GC,3081.24,10503,145.99,1.06,80.00,2547.2,2611.0,2483.4,2459.0,2186.9,302.94,0.00,406,3215.38,126.00,2.27,3.38,1.714,0.129,0.192,1951.22,2056.69,1845.75,2779.62,3407.75,0,0,0,11.55,15.18,14.86
$GC,3253.63,21639,145.99,0.73,0.00,1945.3,2045.2,1845.4,2778.6,3406.6,286.12,15.31,439,3261.13,0.00,0.72,3.12,0.000,0.213,0.113,1946.81,2046.94,1846.69,2690.00,2186.00,0,0,0,30.00,15.00,15.03
$GC,3558.64,17030,145.99,0.78,-80.00,1940.1,2037.0,1843.1,2691.6,2186.5,257.65,8.89,470,3566.14,0.00,0.00,3.91,0.000,0.000,0.199,1940.53,2036.94,1844.12,2690.94,737.12,0,0,0,30.00,30.00,15.32
$GC,3614.62,17414,145.99,0.78,0.00,1939.3,2035.6,1843.0,2691.9,737.2,252.32,9.67,481,3621.84,0.00,0.00,3.63,0.000,0.000,0.108,1938.72,2035.19,1842.25,2691.50,2212.50,0,0,0,30.00,30.00,15.39
$GC,3920.13,10663,190.72,0.89,80.00,1938.2,2033.6,1842.8,2690.6,2211.2,226.87,7.92,512,3966.31,38.74,0.34,3.16,1.645,0.116,0.185,1773.84,1877.88,1669.81,2741.38,3406.50,0,0,0,11.68,15.53,15.30
$GC,3990.66,5253,190.72,0.79,0.00,1767.5,1868.1,1667.0,2740.9,3407.9,219.47,11.44,526,3997.63,0.00,0.31,3.01,0.000,0.213,0.098,1768.69,1868.00,1669.38,2703.62,2184.12,0,0,0,30.00,15.33,15.37
$GC,4295.56,2693,190.72,0.86,-80.00,1764.4,1864.1,1664.7,2704.2,2183.4,189.89,8.99,557,4303.05,0.00,0.20,3.80,0.000,0.131,0.184,1765.22,1864.56,1665.88,2732.75,737.44,0,0,0,30.00,15.52,15.48
$GC,4332.01,17542,190.72,0.82,0.00,1763.4,1861.6,1665.2,2734.2,737.2,186.01,10.87,564,4339.20,0.00,0.00,3.56,0.000,0.000,0.095,1762.84,1860.38,1665.31,2733.06,2215.25,0,0,0,30.00,30.00,15.51
$GC,4636.84,16646,190.72,0.82,80.00,1762.7,1860.6,1664.8,2732.9,2215.8,156.03,8.61,595,4643.18,0.00,0.00,3.08,0.000,0.000,0.177,1764.28,1862.00,1666.56,2734.00,3405.56,0,0,0,30.00,30.00,15.58
$GC,4665.75,17414,190.72,0.82,0.00,1762.0,1858.6,1665.4,2735.0,3407.2,153.04,8.99,601,4673.23,0.00,0.00,2.93,0.000,0.000,0.092,1762.16,1859.38,1664.94,2735.81,2184.12,0,0,0,30.00,30.00,15.63
$GC,4971.95,8614,249.95,0.96,80.00,1761.3,1858.4,1664.2,2732.6,2183.2,128.74,7.24,632,5034.30,52.51,0.00,3.19,1.585,0.000,0.170,1529.19,1633.38,1425.00,2733.12,3408.25,0,0,0,11.88,30.00,15.39
$GC,5056.46,3205,249.95,1.08,0.00,1527.3,1629.8,1424.9,2734.1,3409.1,122.23,8.40,649,5064.00,0.00,0.29,2.97,0.000,0.114,0.090,1528.00,1630.06,1425.94,2783.56,2182.75,0,0,0,30.00,15.44,15.46
$GC,5362.66,8742,305.08,1.14,-80.00,1522.9,1620.7,1425.1,2785.2,2183.1,95.10,7.44,686,5420.64,49.93,0.00,3.82,1.525,0.000,0.179,1304.66,1414.69,1194.62,2784.19,736.19,0,0,0,11.72,30.00,15.29
$GC,5469.62,1156,305.08,1.19,0.00,1301.8,1407.9,1195.6,2784.2,736.1,86.40,9.31,707,5480.39,0.00,0.00,3.59,0.000,0.000,0.092,1302.88,1409.00,1196.75,2784.50,2213.00,0,0,0,30.00,30.00,15.40
$GC,5660.15,2437,305.08,1.28,80.00,1299.1,1403.6,1194.6,2784.4,2214.4,69.45,8.46,745,5666.98,0.00,0.31,3.09,0.000,0.113,0.174,1299.88,1404.44,1195.31,2834.88,3407.00,0,0,0,30.00,15.50,15.46
$GC,5690.30,1028,305.08,1.28,0.00,1298.6,1402.0,1195.2,2836.7,3409.1,66.49,9.53,751,5696.61,0.00,0.00,2.94,0.000,0.000,0.087,1299.38,1402.69,1196.06,2836.69,2182.94,0,0,0,30.00,30.00,15.52
$GC,5875.22,516,305.08,1.28,-80.00,1298.3,1401.0,1195.6,2837.4,2183.1,48.72,8.69,788,5882.79,0.00,0.00,3.72,0.000,0.000,0.172,1298.22,1400.94,1195.50,2835.44,736.31,0,0,0,30.00,30.00,15.54
$GC,5926.75,17414,305.08,1.28,0.00,1297.8,1400.1,1195.4,2837.4,736.6,44.51,8.46,798,5933.53,0.00,0.00,3.52,0.000,0.000,0.089,1298.66,1400.81,1196.50,2838.69,2218.62,0,0,0,30.00,30.00,15.59
$GC,6111.81,10919,425.45,1.56,-80.00,1296.6,1398.2,1194.9,2837.0,2216.3,34.60,4.40,835,6230.75,107.48,0.41,3.89,1.466,0.106,0.164,815.62,933.50,697.75,2903.69,735.88,0,0,0,11.79,15.64,15.09
$GC,6268.96,1028,425.45,1.56,0.00,811.9,926.5,697.4,2903.9,736.1,22.54,10.15,866,6276.49,0.00,0.00,3.59,0.000,0.000,0.089,811.78,926.06,697.50,2905.38,2213.69,0,0,0,30.00,30.00,15.26
$GC,6454.84,10919,487.85,1.70,-80.00,809.2,920.6,697.9,2904.7,2214.1,6.92,7.10,903,6522.54,57.24,0.19,3.88,1.392,0.125,0.162,561.22,665.81,456.62,2937.94,735.06,0,0,0,11.59,15.41,15.18
$STATE,6526,end climb,SURFACE_DEPTH_REACHED
$STATE,6526,begin surface coast
$FINISH,0.7,1.023778
$STATE,6546,end surface coast,CONTROL_FINISHED_OK
$STATE,6546,begin surface
$SM_CCo,6590.62,14.26,1.379,0,500.6,585.2,415.9,502.72
$SM_CCo,6591.75,0.00,0.009,0,500.3,584.6,416.1,502.78
$SM_CCo,6592.87,0.00,0.009,0,500.0,584.4,415.7,502.86
$SM_GC,2.77,0.00,17.86,3.32,0.009,0.081,0.084,500.0,584.4,415.7,217.9,2112.1,0,0,0,30.36,15.27,15.27
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7141.33,-15151.22,171020,022725
$TCM_TEMP,3.29
$SC_FREEKB,3837440
$PM_FREEKB_00,40438400
$PM_ACTIVECARD,0
$RAFOS_CLK,-21
$MODEM,3,1602908454,75.26195,-145.59448,54.846,80349.2
$MODEM,2,1602908363,75.67648,-146.03058,263.471,385984.7
$MODEM,1,1602907878,75.02295,-144.31340,78.417,114880.3
$MODEM,0,1602907564,74.83892,-145.28152,64.791,94918.6
$RAFOS_FIX,7401.665527,-14508.717773,171020,040418,2,510,-345.81
$HUMID,52.93
$TEMP,0.30
$INTERNAL_PRESSURE,7.66746
$24V_AH,14.45,65.852
$10V_AH,14.64,0.000
$FG_AHR_24Vo,65.252
$FG_AHR_10Vo,32.446
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,688.645,45.805,130.310,187.857,0.000,14.314,3912.067,3014.701,2280.330,0.000,0.000,0.000
$DEVICE_MAMPS,1826.384,302.824,363.504,223.627,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6563.000,6571.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.570,9.155,0.000,0.000
$MEM,1152400,33,24408,78
$DATA_FILE_SIZE,25687,921
$CAP_FILE_SIZE,267455,0
$SDSIZE,3918848,3775648
$SDFILEDIR,1072,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.106,356.6,1
$GPS,171020,061831,7144.156,-15144.812,23,0.8,24,15.2