version: 67.00
glider: 235
mission: 6
dive: 171
start: 10 22 120 12 43 11
data:
$ID,235
$MISSION,6
$DIVE,171
$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,35.889221
$FG_AHR_24V,77.828621
$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
$GPS1,221020,123647,7133.569,-15151.417,2,1.3,6,15.2
$_CALLS,1
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-66.5
$GPS2,221020,124238,7133.579,-15151.329,2,1.2,4,15.2
$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,142.9,16466,-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
$MODEM_MSG,CACST,6,1,20201022120859.233485,18,232,00,0109,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,11.2,0.08,-100,2.92,-01,0.00,42,925,0025*27
$MODEM_MSG,CACST,6,1,20201022121740.463933,18,165,-1,0107,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,8.7,0.25,-100,2.75,-01,0.00,40,925,0025*02
$MODEM_MSG,CACST,6,1,20201022122214.791010,18,967,05,0148,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,6.3,-1.37,-100,4.37,-01,-0.01,43,925,0025*18
$MODEM_MSG,CACST,6,1,20201022122653.424026,18,632,09,0312,0150,216,03,03,03,03,-1,-01,-01,1,3,0,0,150,-9.4,0.31,-100,2.69,-01,0.11,42,925,0025*38
$MODEM_MSG,CACST,6,1,20201022123057.912105,18,645,22,0297,0150,216,04,04,01,04,-1,-01,-01,1,3,0,0,150,-31.4,0.41,-100,2.59,-01,0.07,44,925,0025*0B
$GC,11.74,16386,-145.99,-1.06,0.00,495.9,569.1,422.8,219.0,2116.7,0.00,0.00,0,65.44,51.76,0.00,0.00,0.005,0.000,0.000,1415.34,1420.12,1410.56,219.12,2117.69,0,0,0,15.36,30.00,30.00
$GC,65.70,18727,-145.99,-1.06,80.00,1415.7,1422.1,1409.2,218.9,2117.9,3.07,-2.56,10,150.79,57.83,17.30,3.35,0.005,0.309,0.164,3145.19,3164.38,3126.00,2261.50,3408.75,0,0,0,15.39,15.23,15.44
$GC,289.51,1156,-145.99,-0.97,0.00,3144.8,3165.0,3124.7,2260.4,3407.6,48.70,-20.12,54,296.26,0.00,0.00,3.24,0.000,0.000,0.101,3145.59,3165.81,3125.38,2260.88,2081.19,0,0,0,30.00,30.00,15.43
$GC,474.98,0,-145.99,-0.97,0.00,3145.3,3165.9,3124.8,2261.7,2082.4,78.62,-14.65,91,480.75,0.00,0.00,0.00,0.000,0.000,0.000,3146.06,3167.25,3124.88,2259.31,2081.88,0,0,0,30.00,30.00,30.00
$GC,664.97,516,-145.99,-0.97,-80.00,3147.1,3167.9,3126.3,2260.4,2082.5,105.38,-13.40,125,672.22,0.00,0.00,3.80,0.000,0.000,0.184,3145.97,3166.81,3125.12,2260.00,635.50,0,0,0,30.00,30.00,15.47
$GC,704.39,3205,-145.99,-0.88,0.00,3145.3,3165.6,3125.1,2261.4,635.5,111.15,-14.59,133,712.53,0.00,0.32,3.56,0.000,0.203,0.094,3146.91,3168.00,3125.81,2306.62,2116.31,0,0,0,30.00,15.58,15.54
$GC,1010.79,4741,-145.99,-1.02,-80.00,3146.4,3167.3,3125.6,2306.1,2115.4,144.76,-10.62,164,1022.66,0.00,0.32,3.87,0.000,0.102,0.185,3148.59,3169.19,3128.00,2259.94,636.69,0,0,0,30.00,15.69,15.55
$GC,1031.25,1028,-145.99,-1.02,0.00,3146.0,3167.1,3124.9,2258.8,636.4,147.26,-11.51,168,1038.50,0.00,0.00,3.54,0.000,0.000,0.095,3145.94,3166.50,3125.38,2257.88,2115.50,0,0,0,30.00,30.00,15.61
$GC,1336.59,516,-145.99,-1.02,-80.00,3146.9,3168.1,3125.6,2260.2,2115.2,185.14,-11.40,199,1343.61,0.00,0.00,3.88,0.000,0.000,0.193,3146.00,3167.38,3124.62,2259.50,636.44,0,0,0,30.00,30.00,15.66
$GC,1402.18,3205,-145.99,-0.97,0.00,3146.0,3167.0,3125.1,2259.1,636.9,193.15,-11.86,212,1409.49,0.00,0.22,3.55,0.000,0.195,0.103,3147.84,3168.50,3127.19,2285.81,2113.00,0,0,0,30.00,15.68,15.70
$GC,1707.53,4773,-145.99,-1.14,-80.00,3146.4,3167.5,3125.3,2284.2,2113.5,218.85,-7.91,243,1719.52,0.00,0.33,3.89,0.000,0.106,0.199,3147.09,3168.88,3125.31,2232.62,636.75,0,0,0,30.00,15.75,15.69
$GC,1741.74,3205,-145.99,-1.06,0.00,3145.5,3167.7,3123.4,2232.5,636.8,222.50,-10.19,250,1749.81,0.00,0.26,3.55,0.000,0.194,0.106,3146.09,3166.94,3125.25,2262.38,2111.31,0,0,0,30.00,15.71,15.75
$GC,2048.32,4741,-145.99,-1.17,-80.00,3145.8,3167.9,3123.6,2262.9,2111.3,248.20,-8.28,281,2060.33,0.00,0.25,3.88,0.000,0.114,0.203,3146.34,3168.31,3124.38,2223.88,637.31,0,0,0,30.00,15.80,15.72
$GC,2079.10,3205,-145.99,-1.11,0.00,3146.0,3168.1,3123.9,2222.3,637.7,251.49,-9.69,287,2086.09,0.00,0.25,3.56,0.000,0.196,0.109,3146.22,3168.75,3123.69,2249.31,2112.25,0,0,0,30.00,15.74,15.78
$GC,2384.08,644,-145.99,-1.20,-80.00,3146.1,3168.6,3123.6,2251.3,2112.6,278.81,-8.70,318,2391.08,0.00,0.00,3.90,0.000,0.000,0.208,3145.12,3166.69,3123.56,2250.69,637.69,0,0,0,30.00,30.00,15.74
$GC,2410.09,1028,-145.99,-1.20,0.00,3146.3,3168.9,3123.6,2250.1,637.4,281.14,-8.73,323,2417.34,0.00,0.00,3.56,0.000,0.000,0.113,3148.31,3171.50,3125.12,2250.25,2111.31,0,0,0,30.00,30.00,15.79
$STATE,2635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2635,begin apogee
$GC,2636.51,10243,0.00,-0.25,0.00,3144.5,3166.6,3122.4,2251.1,2211.2,300.80,-8.31,346,2764.43,124.14,1.53,0.05,1.857,0.183,0.348,2549.25,2613.25,2485.25,2460.00,2186.62,0,0,0,11.84,15.78,15.16
$STATE,2767,end apogee,CONTROL_FINISHED_OK
$STATE,2767,begin climb
$GC,2767.16,10243,145.99,1.06,0.00,2547.7,2610.8,2484.6,2460.2,2186.9,302.87,0.00,352,2900.08,128.13,2.24,0.00,1.737,0.133,0.000,1953.38,2060.56,1846.19,2777.25,2187.00,0,0,0,11.43,15.17,30.00
$GC,3195.73,20611,145.99,0.83,-80.00,1941.2,2038.3,1844.2,2777.7,2186.1,252.76,13.20,393,3198.80,0.00,0.49,0.00,0.000,0.213,0.000,1941.50,2038.81,1844.19,2717.06,2187.50,0,0,0,30.00,15.27,30.00
$GC,3495.61,16902,145.99,0.83,-80.00,1939.5,2036.2,1842.8,2717.7,2186.8,223.38,9.41,423,3502.51,0.00,0.00,3.86,0.000,0.000,0.185,1938.62,2035.31,1841.94,2718.00,736.75,0,0,0,30.00,30.00,15.42
$GC,3524.68,17542,145.99,0.79,0.00,1938.6,2033.8,1843.4,2717.8,737.2,220.32,9.59,429,3532.28,0.00,0.00,3.61,0.000,0.000,0.100,1938.41,2033.94,1842.88,2717.44,2215.31,0,0,0,30.00,30.00,15.48
$GC,3830.78,8742,208.37,0.86,-80.00,1938.0,2032.6,1843.4,2716.7,2214.8,196.18,7.10,460,3893.95,54.28,0.00,3.95,1.651,0.000,0.178,1699.28,1806.81,1591.75,2716.50,736.75,0,0,0,11.66,30.00,15.22
$GC,3912.62,3205,208.37,0.95,0.00,1696.2,1801.1,1591.4,2717.6,736.9,189.69,8.49,476,3919.96,0.00,0.25,3.62,0.000,0.113,0.094,1697.75,1802.19,1593.31,2756.50,2215.56,0,0,0,30.00,15.33,15.25
$GC,4217.51,8742,252.82,1.00,-80.00,1691.8,1793.6,1590.0,2755.9,2216.8,164.22,7.93,507,4265.84,40.26,0.00,3.94,1.598,0.000,0.173,1519.28,1623.81,1414.75,2757.19,735.12,0,0,0,11.55,30.00,15.27
$GC,4298.01,1156,252.82,1.05,0.00,1515.8,1617.9,1413.8,2756.2,735.3,157.60,8.48,523,4306.10,0.00,0.00,3.62,0.000,0.000,0.092,1515.56,1617.06,1414.06,2754.69,2213.94,0,0,0,30.00,30.00,15.32
$GC,4604.60,10403,322.00,1.24,0.00,1512.3,1611.0,1413.6,2757.0,2214.8,134.77,6.78,554,4670.77,62.53,0.41,0.00,1.568,0.094,0.000,1238.31,1350.75,1125.88,2827.44,2216.00,0,0,0,11.60,15.51,30.00
$GC,4964.14,516,322.00,1.24,-80.00,1230.2,1336.8,1123.5,2827.2,2214.2,96.95,9.86,594,4971.70,0.00,0.00,3.89,0.000,0.000,0.170,1229.59,1335.19,1124.00,2828.69,737.25,0,0,0,30.00,30.00,15.39
$GC,5010.40,17414,322.00,1.24,0.00,1228.5,1333.8,1123.2,2828.6,736.9,91.98,11.01,603,5016.93,0.00,0.00,3.58,0.000,0.000,0.092,1229.12,1334.31,1123.94,2827.56,2215.00,0,0,0,30.00,30.00,15.46
$GC,5195.87,16646,322.00,1.24,80.00,1228.1,1333.0,1123.1,2828.9,2215.8,74.33,9.20,640,5203.10,0.00,0.00,3.10,0.000,0.000,0.173,1228.69,1333.25,1124.12,2828.81,3408.44,0,0,0,30.00,30.00,15.50
$GC,5232.06,17414,322.00,1.24,0.00,1227.7,1331.2,1124.1,2827.8,3407.9,70.70,10.01,647,5237.73,0.00,0.00,2.95,0.000,0.000,0.086,1228.06,1331.56,1124.56,2827.94,2181.19,0,0,0,30.00,30.00,15.56
$GC,5416.86,10919,374.48,1.38,-80.00,1226.9,1330.4,1123.5,2829.0,2181.5,55.22,7.56,684,5474.52,48.05,0.17,3.82,1.505,0.123,0.171,1023.25,1136.12,910.38,2862.19,736.44,0,0,0,11.60,15.61,15.32
$GC,5503.48,1028,374.48,1.38,0.00,1020.5,1131.5,909.6,2862.0,736.2,47.95,8.50,701,5510.40,0.00,0.00,3.59,0.000,0.000,0.090,1021.16,1132.25,910.06,2860.31,2215.25,0,0,0,30.00,30.00,15.41
$GC,5689.44,10403,467.42,1.64,0.00,1019.3,1128.9,909.6,2861.8,2217.6,34.79,5.68,738,5780.40,84.92,0.38,0.00,1.460,0.104,0.000,644.88,758.62,531.12,2923.56,2217.69,0,0,0,11.58,15.50,30.00
$GC,5958.74,10403,523.05,1.86,80.00,639.0,746.6,531.4,2924.1,2218.0,12.93,7.41,792,5999.30,33.84,0.29,0.00,1.391,0.111,0.000,500.66,598.94,402.38,2976.25,2217.19,0,0,0,11.50,15.37,30.00
$STATE,6144,end climb,SURFACE_DEPTH_REACHED
$STATE,6144,begin surface coast
$FINISH,0.3,1.014839
$STATE,6184,end surface coast,CONTROL_FINISHED_OK
$STATE,6184,begin surface
$SM_CCo,6269.49,0.00,0.000,0,495.1,585.0,405.2,504.06
$SM_GC,1.94,0.00,17.93,0.31,0.000,0.084,0.121,495.1,585.0,405.2,221.7,2073.6,0,0,0,30.00,15.42,15.41
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7138.40,-15108.66,221020,104706
$TCM_TEMP,2.24
$SC_FREEKB,3824000
$PM_FREEKB_00,34274816
$PM_ACTIVECARD,0
$RAFOS_CLK,-22
$MODEM,5,1603369857,76.41295,-142.47470,57.912,84841.2
$MODEM,4,1603369613,76.55490,-139.99944,113.424,166166.2
$MODEM,3,1603369334,75.26195,-145.59448,134.791,197468.8
$MODEM,2,1603369060,75.67648,-146.03058,160.464,235079.7
$MODEM,0,1603368539,74.83892,-145.28152,239.233,350477.1
$RAFOS_FIX,7730.336914,-14346.726562,221020,121257,5,255,-968.57
$HUMID,52.90
$TEMP,-0.39
$INTERNAL_PRESSURE,7.64049
$24V_AH,14.40,81.680
$10V_AH,14.81,0.000
$FG_AHR_24Vo,78.103
$FG_AHR_10Vo,35.927
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,685.740,42.945,95.285,223.570,0.000,13.481,3721.254,2914.172,2124.738,0.000,0.000,0.000
$DEVICE_MAMPS,1857.216,309.384,348.416,218.840,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6195.000,6205.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.603,9.398,0.000,0.000
$MEM,1152220,33,24528,81
$DATA_FILE_SIZE,25688,837
$CAP_FILE_SIZE,228835,0
$SDSIZE,3918848,3763808
$SDFILEDIR,1373,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.107,338.3,1
$GPS,221020,142901,7133.178,-15150.821,43,1.1,44,15.2