version: 67.00
glider: 235
mission: 6
dive: 168
start: 10 22 120 7 3 23
data:
$ID,235
$MISSION,6
$DIVE,168
$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,520
$LOITER_D_BOTTOM,660
$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,35.722511
$FG_AHR_24V,76.96817
$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
$GPS1,221020,065544,7134.780,-15152.370,2,0.7,5,15.2
$_CALLS,2
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-68.0
$GPS2,221020,070250,7134.818,-15152.339,3,1.0,4,15.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SHELF2
$TGT_LATLONG,7125.000,-15144.000
$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,148.1,18837,-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,11,begin dive
$GC,11.72,16386,-145.99,-1.06,0.00,492.4,565.8,418.9,217.8,2113.8,0.00,0.00,0,70.51,56.81,0.00,0.00,0.005,0.000,0.000,1496.19,1499.12,1493.25,217.75,2114.12,0,0,0,15.48,30.00,30.00
$GC,70.76,18727,-145.99,-1.06,80.00,1495.6,1498.6,1492.6,217.8,2113.2,3.12,-2.35,11,156.28,56.24,17.18,3.36,0.005,0.315,0.169,3145.38,3164.75,3126.00,2259.50,3405.38,0,0,0,15.44,15.29,15.48
$GC,250.24,3205,-145.99,-0.95,0.00,3147.5,3168.1,3126.9,2261.4,3407.3,37.86,-20.44,46,256.51,0.00,0.20,3.24,0.000,0.207,0.101,3148.50,3168.50,3128.50,2291.06,2082.75,0,0,0,30.00,15.49,15.45
$GC,435.10,0,-145.99,-0.95,0.00,3147.3,3168.1,3126.6,2289.4,2082.4,67.05,-13.94,83,441.13,0.00,0.00,0.00,0.000,0.000,0.000,3147.31,3168.00,3126.62,2289.44,2082.06,0,0,0,30.00,30.00,30.00
$GC,620.46,128,-145.99,-1.00,0.00,3145.7,3166.9,3124.4,2291.0,2082.1,91.15,-12.89,120,626.21,0.00,0.00,0.00,0.000,0.000,0.000,3146.00,3166.88,3125.12,2291.81,2082.25,0,0,0,30.00,30.00,30.00
$GC,805.40,4225,-145.99,-1.07,0.00,3145.8,3167.3,3124.3,2290.5,2082.4,114.04,-12.25,146,808.42,0.00,0.28,0.00,0.000,0.107,0.000,3148.31,3168.00,3128.62,2247.25,2081.75,0,0,0,30.00,15.68,30.00
$GC,1105.70,0,-145.99,-1.07,0.00,3145.9,3166.9,3124.9,2248.1,2081.9,154.96,-13.12,176,1108.60,0.00,0.00,0.00,0.000,0.000,0.000,3144.78,3165.12,3124.44,2247.75,2083.38,0,0,0,30.00,30.00,30.00
$GC,1405.67,516,-145.99,-1.07,-80.00,3146.4,3167.6,3125.2,2248.3,2082.6,191.33,-11.53,206,1412.63,0.00,0.00,3.83,0.000,0.000,0.201,3145.88,3167.56,3124.19,2248.19,637.38,0,0,0,30.00,30.00,15.58
$GC,1444.80,3205,-145.99,-1.00,0.00,3146.1,3167.1,3125.1,2247.9,637.5,196.58,-13.21,214,1452.92,0.00,0.25,3.56,0.000,0.202,0.105,3147.78,3168.81,3126.75,2276.62,2112.19,0,0,0,30.00,15.70,15.65
$GC,1751.41,4741,-145.99,-1.16,-80.00,3146.4,3167.7,3125.1,2275.9,2113.5,222.96,-8.12,245,1758.49,0.00,0.31,3.89,0.000,0.113,0.199,3146.12,3167.81,3124.44,2227.50,636.69,0,0,0,30.00,15.78,15.72
$GC,1780.64,1028,-145.99,-1.16,0.00,3145.8,3166.8,3124.8,2226.7,636.4,226.03,-9.19,251,1788.76,0.00,0.00,3.55,0.000,0.000,0.106,3146.03,3167.50,3124.56,2227.75,2113.94,0,0,0,30.00,30.00,15.72
$GC,2087.24,516,-145.99,-1.16,-80.00,3146.5,3168.1,3124.9,2227.1,2113.1,256.39,-9.78,282,2094.28,0.00,0.00,3.90,0.000,0.000,0.203,3148.00,3169.31,3126.69,2227.12,636.50,0,0,0,30.00,30.00,15.73
$GC,2113.00,3205,-145.99,-1.09,0.00,3146.6,3168.4,3124.8,2227.5,636.6,259.23,-10.15,287,2120.04,0.00,0.25,3.57,0.000,0.200,0.112,3147.25,3167.88,3126.62,2255.62,2113.12,0,0,0,30.00,15.76,15.79
$GC,2418.09,4225,-145.99,-1.20,0.00,3145.6,3167.3,3123.9,2255.4,2113.1,285.09,-8.18,318,2421.20,0.00,0.25,0.00,0.000,0.118,0.000,3147.16,3169.56,3124.75,2215.31,2113.69,0,0,0,30.00,15.83,30.00
$STATE,2578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2578,begin apogee
$GC,2579.03,10243,0.00,-0.25,0.00,3148.4,3170.1,3126.7,2216.2,2213.1,300.80,-10.09,334,2708.63,124.13,1.84,0.05,1.858,0.187,0.339,2550.53,2613.69,2487.38,2458.44,2186.25,0,0,0,11.60,15.79,15.16
$STATE,2711,end apogee,CONTROL_FINISHED_OK
$STATE,2711,begin climb
$GC,2711.08,10503,145.99,1.06,80.00,2547.0,2610.3,2483.8,2458.9,2186.1,303.52,0.00,340,2846.49,127.86,2.26,3.41,1.739,0.132,0.195,1951.41,2057.44,1845.38,2781.31,3407.50,0,0,0,11.45,15.17,14.84
$GC,2874.73,5253,145.99,0.74,0.00,1946.9,2048.1,1845.7,2780.0,3407.2,288.59,13.56,371,2882.26,0.00,0.71,3.13,0.000,0.222,0.109,1946.22,2046.81,1845.62,2693.25,2186.31,0,0,0,30.00,14.95,15.00
$GC,3179.76,16902,145.99,0.74,-80.00,1940.6,2038.2,1842.9,2692.9,2186.5,260.04,8.89,402,3187.27,0.00,0.00,3.94,0.000,0.000,0.196,1940.59,2037.56,1843.62,2694.00,736.25,0,0,0,30.00,30.00,15.29
$GC,3215.99,17414,145.99,0.74,0.00,1938.8,2035.2,1842.4,2692.9,736.4,256.48,9.96,409,3223.25,0.00,0.00,3.65,0.000,0.000,0.106,1942.06,2039.00,1845.12,2692.94,2212.19,0,0,0,30.00,30.00,15.35
$GC,3520.90,16514,145.99,0.80,0.00,1938.7,2034.2,1843.1,2692.6,2211.6,230.66,8.18,440,3524.79,0.00,0.00,0.00,0.000,0.000,0.000,1937.81,2032.81,1842.81,2692.38,2211.69,0,0,0,30.00,30.00,30.00
$GC,3823.99,10403,203.03,0.96,0.00,1937.6,2032.3,1842.9,2693.9,2211.9,207.66,7.35,470,3877.03,49.85,0.44,0.00,1.671,0.106,0.000,1721.09,1827.31,1614.88,2759.94,2211.62,0,0,0,11.68,15.57,30.00
$GC,4173.92,16902,203.03,0.96,-80.00,1713.8,1814.6,1613.0,2759.0,2211.1,174.42,9.20,505,4181.20,0.00,0.00,3.91,0.000,0.000,0.175,1713.41,1814.31,1612.50,2758.25,736.12,0,0,0,30.00,30.00,15.38
$GC,4243.44,17542,203.03,0.91,0.00,1712.9,1812.1,1613.8,2759.7,735.9,167.46,9.93,519,4250.94,0.00,0.00,3.60,0.000,0.000,0.096,1713.09,1813.06,1613.12,2758.69,2214.38,0,0,0,30.00,30.00,15.47
$GC,4549.46,8742,265.78,0.98,-80.00,1711.5,1810.4,1612.6,2760.0,2214.8,143.99,7.08,550,4613.17,56.31,0.00,3.95,1.602,0.000,0.173,1465.31,1572.50,1358.12,2759.50,736.75,0,0,0,11.69,30.00,15.20
$GC,4640.38,1156,265.78,1.05,0.00,1462.9,1567.6,1358.2,2760.1,736.8,136.74,8.19,566,4648.40,0.00,0.00,3.63,0.000,0.000,0.094,1463.94,1568.19,1359.69,2758.38,2214.69,0,0,0,30.00,30.00,15.31
$GC,4947.17,10663,325.34,1.25,80.00,1458.7,1559.5,1357.9,2759.4,2215.6,113.77,7.23,597,5009.07,54.56,0.41,3.18,1.552,0.103,0.176,1222.56,1334.50,1110.62,2828.81,3406.75,0,0,0,11.63,15.45,15.09
$GC,5037.94,1156,325.34,1.19,0.00,1220.3,1330.1,1110.6,2827.0,3407.2,104.45,11.49,615,5043.66,0.00,0.00,3.04,0.000,0.000,0.092,1219.53,1328.94,1110.12,2826.94,2180.94,0,0,0,30.00,30.00,15.26
$GC,5343.09,516,325.34,1.19,-80.00,1216.1,1322.4,1109.8,2827.3,2180.8,72.55,9.58,672,5353.86,0.00,0.00,3.82,0.000,0.000,0.174,1215.66,1321.25,1110.06,2828.06,735.44,0,0,0,30.00,30.00,15.38
$GC,5392.82,17414,325.34,1.19,0.00,1215.1,1320.2,1110.0,2827.4,735.8,67.38,10.49,682,5399.36,0.00,0.00,3.60,0.000,0.000,0.094,1215.69,1320.94,1110.44,2827.56,2216.62,0,0,0,30.00,30.00,15.33
$GC,5577.75,16774,325.34,1.27,80.00,1214.7,1319.6,1109.8,2827.5,2217.1,51.49,8.03,719,5584.03,0.00,0.00,3.10,0.000,0.000,0.170,1214.00,1318.62,1109.38,2827.75,3407.81,0,0,0,30.00,30.00,15.39
$GC,5618.36,17414,325.34,1.27,0.00,1214.1,1317.9,1110.2,2828.2,3407.1,48.14,8.20,727,5624.03,0.00,0.00,2.97,0.000,0.000,0.090,1214.00,1317.88,1110.12,2827.50,2180.44,0,0,0,30.00,30.00,15.50
$MODEM_MSG,CACST,6,1,20201022080750.880911,18,1028,18,0116,0150,216,04,04,02,04,-1,-01,-01,1,3,0,0,150,-3.6,0.77,-100,2.23,-01,-0.21,39,925,0025*2C
$MODEM_MSG,CACST,6,1,20201022081407.030823,18,578,-2,0094,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,-26.9,0.28,-100,2.72,-01,-0.02,41,925,0025*3E
$MODEM_MSG,CACST,6,1,20201022082002.418077,18,763,16,0399,0150,07,01,01,02,03,-1,-01,-01,1,3,0,0,150,-16.7,0.10,-100,2.90,-01,0.02,21,925,0025*3B
$MODEM_MSG,CACST,6,1,20201022082637.890299,18,249,17,0123,0150,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-18.3,0.21,-100,2.79,-01,0.05,24,925,0025*34
$MODEM_MSG,CACST,6,1,20201022083225.045291,18,136,-2,0090,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,-11.6,0.12,-100,2.88,-01,-0.05,41,925,0025*3B
$GC,5803.44,10919,417.51,1.57,-80.00,1213.3,1316.5,1110.1,2827.4,2179.9,36.60,5.71,764,5896.17,84.11,0.48,3.87,1.492,0.101,0.170,847.69,965.12,730.25,2905.19,734.94,0,0,0,11.71,15.54,15.16
$GC,5905.14,1156,417.51,1.62,0.00,846.6,963.1,730.2,2906.6,734.6,28.65,8.24,784,5911.92,0.00,0.00,3.62,0.000,0.000,0.088,846.09,962.44,729.75,2905.38,2214.94,0,0,0,30.00,30.00,15.20
$GC,6090.19,10403,490.61,1.82,0.00,842.5,955.0,730.1,2905.6,2215.6,14.62,6.60,821,6162.45,68.14,0.38,0.00,1.425,0.102,0.000,550.97,657.25,444.69,2966.50,2216.19,0,0,0,11.38,15.39,30.00
$STATE,6286,end climb,SURFACE_DEPTH_REACHED
$STATE,6286,begin surface coast
$FINISH,0.5,1.011682
$STATE,6336,end surface coast,CONTROL_FINISHED_OK
$STATE,6336,begin surface
$SM_CCo,6374.02,11.51,1.421,0,501.0,584.6,417.4,502.63
$SM_CCo,6375.15,0.00,0.014,0,500.7,584.6,416.8,502.70
$SM_CCo,6376.26,0.00,0.009,0,500.5,584.4,416.6,502.75
$SM_GC,4.04,0.00,17.99,0.31,0.009,0.087,0.131,500.5,584.4,416.6,220.3,2078.3,0,0,0,30.36,15.35,15.35
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7136.09,-15151.64,221020,065802
$TCM_TEMP,2.24
$SC_FREEKB,3824960
$PM_FREEKB_00,34539520
$PM_ACTIVECARD,0
$RAFOS_CLK,-3
$MODEM,5,1603355545,76.41295,-142.47470,145.045,212491.3
$MODEM,4,1603355197,76.55490,-139.99944,97.890,143409.3
$MODEM,3,1603354802,75.26195,-145.59448,2.418,3542.5
$MODEM,1,1603354447,75.02295,-144.31340,247.031,361900.2
$MODEM,0,1603354070,74.83892,-145.28152,170.881,250340.5
$RAFOS_FIX,7527.690430,-13737.114258,221020,080825,5,255,109.34
$HUMID,52.45
$TEMP,-0.06
$INTERNAL_PRESSURE,7.64545
$24V_AH,14.40,80.686
$10V_AH,14.70,0.000
$FG_AHR_24Vo,77.241
$FG_AHR_10Vo,35.785
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,689.515,43.215,85.995,241.896,0.000,12.931,3782.869,2997.191,2197.520,2215.000,0.000,0.000
$DEVICE_MAMPS,1857.872,314.960,338.904,223.536,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6352.000,6361.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.414,9.330,0.000,0.000
$MEM,1152248,32,24520,81
$DATA_FILE_SIZE,25707,870
$CAP_FILE_SIZE,225870,0
$SDSIZE,3918848,3764576
$SDFILEDIR,1352,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.102,332.4,1
$GPS,221020,085109,7134.341,-15152.194,54,1.1,55,15.2