version: 67.00
glider: 235
mission: 6
dive: 130
start: 10 17 120 6 26 8
data:
$ID,235
$MISSION,6
$DIVE,130
$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,32.44714
$FG_AHR_24V,65.265442
$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
$GPS1,171020,061831,7144.156,-15144.812,23,0.8,24,15.2
$_CALLS,2
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-68.6
$GPS2,171020,062535,7144.236,-15144.834,3,0.6,4,15.2
$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,358.9,8934,-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,11.35,16386,-145.99,-1.06,0.00,494.3,564.3,424.2,217.4,2079.1,0.00,0.00,0,90.78,77.36,0.00,0.00,0.005,0.000,0.000,1816.22,1813.44,1819.00,217.94,2079.38,0,0,0,15.42,30.00,30.00
$GC,91.02,18983,-145.99,-1.06,-80.00,1815.2,1812.0,1818.5,217.7,2077.3,3.14,-1.64,15,165.92,44.22,17.30,3.72,0.005,0.303,0.170,3146.12,3167.75,3124.50,2262.62,635.94,0,0,0,15.49,15.29,15.38
$GC,389.68,1156,-145.99,-0.97,0.00,3146.7,3169.1,3124.2,2262.8,635.9,61.01,-16.37,74,396.18,0.00,0.00,3.57,0.000,0.000,0.096,3146.78,3170.44,3123.12,2262.81,2116.25,0,0,0,30.00,30.00,15.50
$GC,574.90,260,-145.99,-0.97,80.00,3145.5,3168.3,3122.7,2263.6,2116.2,85.50,-12.67,111,580.89,0.00,0.00,3.31,0.000,0.000,0.169,3144.16,3167.88,3120.44,2262.75,3408.81,0,0,0,30.00,30.00,15.58
$GC,610.03,1028,-145.99,-0.97,0.00,3147.3,3170.4,3124.2,2261.8,3407.5,89.95,-12.96,118,616.79,0.00,0.00,3.17,0.000,0.000,0.094,3147.56,3169.62,3125.50,2261.44,2081.19,0,0,0,30.00,30.00,15.62
$GC,800.54,516,-145.99,-0.97,-80.00,3145.4,3168.6,3122.2,2262.2,2081.4,111.90,-11.87,146,807.53,0.00,0.00,3.73,0.000,0.000,0.183,3145.97,3168.81,3123.12,2262.50,636.25,0,0,0,30.00,30.00,15.61
$GC,896.18,3205,-145.99,-0.89,0.00,3144.8,3167.2,3122.2,2262.4,636.2,124.67,-13.57,165,903.29,0.00,0.30,3.53,0.000,0.197,0.093,3146.09,3169.88,3122.31,2303.19,2114.94,0,0,0,30.00,15.64,15.68
$GC,1201.66,4485,-145.99,-1.07,80.00,3146.8,3170.0,3123.6,2303.2,2113.7,153.29,-8.09,196,1208.96,0.00,0.38,3.31,0.000,0.099,0.176,3145.94,3170.00,3121.88,2246.69,3409.00,0,0,0,30.00,15.74,15.69
$GC,1301.12,3205,-145.99,-0.99,0.00,3146.7,3169.2,3124.1,2247.6,3409.2,163.72,-10.59,216,1308.76,0.00,0.28,3.18,0.000,0.195,0.104,3147.03,3169.12,3124.94,2280.44,2085.50,0,0,0,30.00,15.70,15.66
$GC,1607.73,4773,-145.99,-1.14,-80.00,3145.8,3169.1,3122.5,2280.1,2085.9,189.22,-7.48,247,1614.80,0.00,0.31,3.79,0.000,0.114,0.202,3144.94,3167.62,3122.25,2230.31,637.81,0,0,0,30.00,15.77,15.71
$GC,1693.52,3205,-145.99,-1.02,0.00,3145.2,3168.9,3121.6,2231.6,637.9,198.94,-11.91,264,1700.56,0.00,0.35,3.54,0.000,0.198,0.106,3148.06,3170.38,3125.75,2273.38,2113.94,0,0,0,30.00,15.74,15.76
$GC,1998.61,4257,-145.99,-1.16,0.00,3146.5,3169.1,3123.8,2273.6,2113.8,223.31,-7.90,295,2002.28,0.00,0.30,0.00,0.000,0.113,0.000,3146.62,3169.19,3124.06,2226.12,2113.12,0,0,0,30.00,15.80,30.00
$GC,2298.61,516,-145.99,-1.16,-80.00,3145.4,3168.6,3122.2,2225.6,2113.9,252.74,-9.35,325,2305.64,0.00,0.00,3.87,0.000,0.000,0.206,3143.81,3168.50,3119.12,2226.12,637.75,0,0,0,30.00,30.00,15.76
$GC,2397.80,3205,-145.99,-1.06,0.00,3144.6,3167.7,3121.6,2225.2,637.4,263.20,-10.66,345,2405.94,0.00,0.30,3.56,0.000,0.200,0.117,3148.22,3171.50,3124.94,2261.56,2111.56,0,0,0,30.00,15.78,15.81
$GC,2704.42,4485,-145.99,-1.20,80.00,3144.6,3168.7,3120.6,2261.9,2112.6,287.42,-8.15,376,2711.42,0.00,0.28,3.35,0.000,0.118,0.196,3147.06,3171.75,3122.38,2216.12,3408.75,0,0,0,30.00,15.85,15.70
$GC,2750.14,3205,-145.99,-1.09,0.00,3145.0,3168.4,3121.7,2216.0,3407.8,292.13,-10.69,385,2757.12,0.00,0.34,3.20,0.000,0.200,0.120,3146.56,3169.44,3123.69,2258.00,2087.50,0,0,0,30.00,15.79,15.83
$STATE,2845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2845,begin apogee
$GC,2846.35,10243,0.00,-0.25,0.00,3144.9,3168.7,3121.1,2257.1,2213.3,300.08,-7.89,395,2972.33,122.21,1.48,0.06,1.832,0.176,0.318,2548.97,2614.19,2483.75,2460.69,2185.56,0,0,0,11.88,15.81,15.19
$STATE,2974,end apogee,CONTROL_FINISHED_OK
$STATE,2975,begin climb
$GC,2974.65,10503,145.99,1.06,80.00,2548.0,2612.9,2483.2,2460.5,2186.3,302.21,0.00,401,3109.15,126.46,2.24,3.39,1.714,0.128,0.193,1950.69,2056.94,1844.44,2779.38,3408.94,0,0,0,11.53,15.19,14.86
$GC,3138.15,5253,145.99,0.74,0.00,1946.9,2047.5,1846.2,2778.5,3407.1,286.83,13.88,432,3145.46,0.00,0.70,3.12,0.000,0.213,0.112,1946.66,2047.44,1845.88,2694.31,2187.19,0,0,0,30.00,14.99,15.01
$GC,3443.04,16902,145.99,0.74,-80.00,1940.3,2037.1,1843.6,2693.8,2187.1,258.13,9.21,463,3450.48,0.00,0.00,3.90,0.000,0.000,0.200,1940.31,2036.25,1844.38,2693.81,737.06,0,0,0,30.00,30.00,15.32
$GC,3469.17,17414,145.99,0.74,0.00,1939.8,2036.2,1843.4,2694.2,737.4,255.60,9.43,468,3476.17,0.00,0.00,3.63,0.000,0.000,0.107,1941.25,2037.81,1844.69,2692.81,2213.75,0,0,0,30.00,30.00,15.37
$GC,3773.75,16514,145.99,0.79,0.00,1938.5,2033.9,1843.1,2693.8,2212.4,229.38,8.28,499,3777.11,0.00,0.00,0.00,0.000,0.000,0.000,1939.25,2033.31,1845.19,2693.62,2213.31,0,0,0,30.00,30.00,30.00
$GC,4073.85,18563,145.99,0.85,0.00,1938.8,2032.6,1844.9,2693.9,2213.0,205.13,8.07,529,4077.58,0.00,0.25,0.00,0.000,0.121,0.000,1938.56,2032.94,1844.19,2731.00,2212.75,0,0,0,30.00,15.63,30.00
$GC,4373.84,16514,145.99,0.78,0.00,1936.9,2030.6,1843.2,2729.2,2213.6,176.32,8.68,559,4377.52,0.00,0.00,0.00,0.000,0.000,0.000,1937.91,2030.38,1845.44,2728.25,2213.12,0,0,0,30.00,30.00,30.00
$GC,4674.00,16646,145.99,0.78,80.00,1937.5,2031.2,1843.8,2729.4,2213.6,151.69,8.48,589,4680.24,0.00,0.00,3.06,0.000,0.000,0.177,1937.44,2031.25,1843.62,2731.00,3408.56,0,0,0,30.00,30.00,15.68
$GC,4702.83,21639,145.99,0.73,0.00,1935.2,2027.1,1843.4,2730.1,3409.6,149.17,8.46,595,4710.37,0.00,0.30,2.91,0.000,0.202,0.090,1935.59,2027.94,1843.25,2693.06,2180.69,0,0,0,30.00,15.70,15.72
$GC,5008.94,10663,245.85,1.03,80.00,1935.1,2026.9,1843.2,2693.1,2181.5,132.72,5.35,626,5102.22,86.01,0.55,3.21,1.592,0.106,0.170,1548.00,1655.00,1441.00,2776.31,3407.69,0,0,0,11.99,15.75,15.26
$GC,5140.52,1028,245.85,1.03,0.00,1542.3,1644.7,1439.9,2775.2,3407.6,121.89,9.69,652,5146.88,0.00,0.00,2.98,0.000,0.000,0.090,1541.41,1643.06,1439.75,2777.56,2182.94,0,0,0,30.00,30.00,15.39
$GC,5445.55,16902,245.85,1.03,-80.00,1536.1,1633.4,1438.9,2776.2,2182.9,95.65,8.40,688,5453.11,0.00,0.00,3.77,0.000,0.000,0.178,1537.69,1635.00,1440.38,2776.69,736.19,0,0,0,30.00,30.00,15.49
$GC,5471.99,17414,245.85,1.03,0.00,1535.5,1631.8,1439.2,2776.8,735.9,93.37,8.65,693,5478.31,0.00,0.00,3.54,0.000,0.000,0.090,1535.06,1631.12,1439.00,2776.88,2215.56,0,0,0,30.00,30.00,15.49
$GC,5657.31,8354,293.34,1.14,0.00,1535.5,1631.8,1439.2,2777.2,2215.1,77.97,7.79,730,5703.33,42.38,0.00,0.00,1.504,0.000,0.000,1354.41,1462.06,1246.75,2777.31,2214.44,0,0,0,11.64,30.00,30.00
$GC,5889.19,10403,337.23,1.33,80.00,1348.1,1451.9,1244.4,2778.0,2214.6,59.97,7.96,775,5935.86,40.62,0.44,0.00,1.468,0.106,0.000,1175.44,1287.69,1063.19,2847.50,2215.38,0,0,0,11.67,15.50,30.00
$GC,6114.29,10403,398.97,1.52,80.00,1169.9,1278.8,1061.1,2846.9,2215.2,40.84,7.13,820,6176.23,56.40,0.28,0.00,1.435,0.115,0.000,923.47,1041.44,805.50,2895.31,2215.12,0,0,0,11.64,15.42,30.00
$GC,6355.21,8226,450.40,1.59,80.00,917.1,1029.2,804.9,2896.5,2214.7,22.51,7.61,868,6406.17,47.24,0.00,0.00,1.399,0.000,0.000,714.91,829.69,600.12,2896.19,2214.94,0,0,0,11.57,30.00,30.00
$GC,6585.26,10919,549.87,1.90,-80.00,708.8,817.9,599.8,2895.8,2215.1,5.87,5.37,914,6642.74,49.24,0.57,3.92,1.373,0.098,0.164,500.78,598.88,402.69,2986.31,735.12,0,0,0,11.51,15.34,15.08
$STATE,6647,end climb,SURFACE_DEPTH_REACHED
$STATE,6647,begin surface coast
$FINISH,0.6,1.023576
$STATE,6656,end surface coast,CONTROL_FINISHED_OK
$STATE,6656,begin surface
$SM_CCo,6745.47,0.00,0.000,0,497.0,589.9,404.2,503.59
$SM_GC,1.98,0.00,18.28,3.39,0.000,0.084,0.099,497.0,589.9,404.2,220.4,2113.4,0,0,0,30.00,15.20,15.20
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7145.90,-15150.80,171020,062044
$TCM_TEMP,3.26
$SC_FREEKB,3837120
$PM_FREEKB_00,40344256
$PM_ACTIVECARD,0
$RAFOS_CLK,0
$RAFOS_FIX,7144.952637,-15144.516602,171020,080844,0,1,0.20
$HUMID,52.72
$TEMP,0.45
$INTERNAL_PRESSURE,7.66891
$24V_AH,14.45,66.193
$10V_AH,14.62,0.000
$FG_AHR_24Vo,65.531
$FG_AHR_10Vo,32.496
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,692.145,45.235,90.065,244.279,0.000,13.884,3917.011,3234.735,2309.574,2219.000,0.000,0.000
$DEVICE_MAMPS,1832.288,302.824,317.912,214.236,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6671.000,6680.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.555,9.183,0.000,0.000
$MEM,1152440,31,24408,78
$DATA_FILE_SIZE,25696,928
$CAP_FILE_SIZE,230701,0
$SDSIZE,3918848,3775392
$SDFILEDIR,1079,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.075,349.4,1
$GPS,171020,081914,7145.222,-15144.424,2,1.0,8,15.2