version: 67.00
glider: 235
mission: 6
dive: 172
start: 10 22 120 14 35 31
data:
$ID,235
$MISSION,6
$DIVE,172
$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,35.928406
$FG_AHR_24V,78.116837
$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
$GPS1,221020,142901,7133.178,-15150.821,43,1.1,44,15.2
$_CALLS,1
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-65.8
$GPS2,221020,143458,7133.179,-15150.740,2,0.6,4,15.2
$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,147.2,15662,-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,11.75,16386,-145.99,-1.06,0.00,492.0,564.2,419.8,216.6,2118.2,0.00,0.00,0,70.53,56.85,0.00,0.00,0.005,0.000,0.000,1493.56,1499.25,1487.88,216.75,2118.38,0,0,0,15.45,30.00,30.00
$GC,70.78,18727,-145.99,-1.06,80.00,1492.6,1497.1,1488.2,216.4,2119.0,3.37,-2.88,11,150.78,51.83,17.33,3.33,0.005,0.312,0.167,3145.12,3163.81,3126.44,2261.25,3408.56,0,0,0,15.45,15.33,15.50
$GC,309.46,3205,-145.99,-0.95,0.00,3144.6,3164.3,3124.8,2261.6,3408.3,52.09,-17.75,58,316.07,0.00,0.20,3.23,0.000,0.215,0.101,3147.22,3167.81,3126.62,2289.88,2083.81,0,0,0,30.00,15.54,15.57
$GC,494.79,516,-145.99,-0.95,-80.00,3145.9,3166.9,3124.9,2289.1,2083.5,78.29,-13.27,95,506.20,0.00,0.00,3.78,0.000,0.000,0.181,3144.56,3165.19,3123.94,2288.44,635.75,0,0,0,30.00,30.00,15.47
$GC,525.18,1028,-145.99,-0.95,0.00,3145.2,3165.4,3125.0,2289.2,635.5,82.63,-14.58,101,531.71,0.00,0.00,3.54,0.000,0.000,0.092,3146.56,3167.56,3125.56,2290.44,2114.88,0,0,0,30.00,30.00,15.62
$GC,715.47,128,-145.99,-0.99,0.00,3146.2,3167.4,3125.0,2290.0,2113.8,106.66,-12.49,134,719.15,0.00,0.00,0.00,0.000,0.000,0.000,3146.84,3167.88,3125.81,2287.31,2113.81,0,0,0,30.00,30.00,30.00
$GC,1015.39,4741,-145.99,-1.07,-80.00,3146.2,3166.9,3125.6,2290.4,2114.5,142.35,-11.81,164,1027.20,0.00,0.29,3.85,0.000,0.106,0.185,3145.81,3167.12,3124.50,2247.25,636.69,0,0,0,30.00,15.72,15.61
$GC,1035.82,1028,-145.99,-1.07,0.00,3144.8,3165.6,3123.9,2247.9,637.2,145.19,-12.39,168,1043.06,0.00,0.00,3.53,0.000,0.000,0.096,3144.78,3165.81,3123.75,2247.44,2113.75,0,0,0,30.00,30.00,15.71
$GC,1341.14,516,-145.99,-1.07,-80.00,3146.1,3166.9,3125.4,2247.2,2113.6,185.50,-12.16,199,1348.17,0.00,0.00,3.86,0.000,0.000,0.192,3147.28,3168.56,3126.00,2247.69,636.25,0,0,0,30.00,30.00,15.68
$GC,1380.34,3205,-145.99,-0.95,0.00,3146.5,3168.1,3125.0,2247.4,636.6,190.63,-12.78,207,1388.54,0.00,0.35,3.55,0.000,0.195,0.103,3144.34,3164.62,3124.06,2290.06,2113.38,0,0,0,30.00,15.71,15.73
$GC,1686.94,4773,-145.99,-1.12,-80.00,3146.5,3167.8,3125.3,2290.9,2113.3,215.09,-7.56,238,1698.47,0.00,0.35,3.88,0.000,0.109,0.197,3146.84,3167.69,3126.00,2236.31,637.00,0,0,0,30.00,15.76,15.71
$GC,1780.65,3205,-145.99,-1.01,0.00,3145.8,3167.8,3123.9,2235.6,636.4,225.90,-11.86,257,1788.88,0.00,0.31,3.57,0.000,0.195,0.111,3146.56,3168.06,3125.06,2273.31,2112.06,0,0,0,30.00,15.73,15.77
$GC,2087.29,4257,-145.99,-1.17,0.00,3146.0,3167.4,3124.6,2272.7,2113.0,249.90,-7.57,288,2091.06,0.00,0.31,0.00,0.000,0.112,0.000,3144.12,3164.81,3123.44,2224.62,2113.44,0,0,0,30.00,15.80,30.00
$GC,2387.33,516,-145.99,-1.17,-80.00,3145.2,3167.1,3123.3,2224.4,2113.0,278.26,-9.69,318,2394.64,0.00,0.00,3.90,0.000,0.000,0.207,3145.25,3167.38,3123.12,2225.00,637.38,0,0,0,30.00,30.00,15.75
$GC,2403.25,1028,-145.99,-1.17,0.00,3145.9,3168.4,3123.5,2225.0,637.2,279.86,-9.69,321,2410.53,0.00,0.00,3.56,0.000,0.000,0.113,3143.59,3166.12,3121.06,2223.81,2112.69,0,0,0,30.00,30.00,15.80
$STATE,2628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2628,begin apogee
$GC,2629.70,10243,0.00,-0.25,0.00,3144.2,3166.6,3121.9,2225.6,2211.2,300.56,-8.86,344,2757.99,124.07,1.78,0.05,1.853,0.185,0.363,2549.12,2611.88,2486.38,2459.25,2186.81,0,0,0,11.75,15.78,15.17
$STATE,2761,end apogee,CONTROL_FINISHED_OK
$STATE,2761,begin climb
$GC,2760.82,10503,145.99,1.06,80.00,2547.3,2610.4,2484.3,2460.6,2187.7,302.58,0.00,350,2900.33,128.12,2.27,3.41,1.734,0.133,0.198,1951.94,2056.75,1847.12,2777.81,3406.25,0,0,0,11.47,15.18,14.84
$GC,2928.65,5253,145.99,0.74,0.00,1947.8,2048.7,1846.9,2779.5,3406.7,285.69,15.05,382,2936.08,0.00,0.70,3.12,0.000,0.222,0.109,1946.06,2046.31,1845.81,2694.31,2185.50,0,0,0,30.00,14.96,15.00
$GC,3233.57,16902,145.99,0.74,-80.00,1940.2,2037.4,1843.0,2694.2,2186.8,257.05,8.74,413,3241.09,0.00,0.00,3.91,0.000,0.000,0.194,1940.81,2038.69,1842.94,2694.12,736.94,0,0,0,30.00,30.00,15.29
$GC,3273.24,17414,145.99,0.74,0.00,1940.0,2036.2,1843.9,2694.9,737.2,253.12,9.64,421,3281.32,0.00,0.00,3.65,0.000,0.000,0.107,1940.38,2036.50,1844.25,2692.12,2212.56,0,0,0,30.00,30.00,15.36
$GC,3579.39,16774,145.99,0.81,80.00,1938.8,2034.4,1843.2,2693.9,2212.9,227.50,8.19,452,3586.74,0.00,0.00,3.13,0.000,0.000,0.183,1936.62,2031.50,1841.75,2694.81,3406.81,0,0,0,30.00,30.00,15.46
$GC,3615.45,19591,145.99,0.85,0.00,1937.8,2031.4,1844.1,2692.8,3406.6,224.48,8.46,459,3621.37,0.00,0.25,2.97,0.000,0.115,0.095,1937.84,2031.50,1844.19,2729.44,2182.94,0,0,0,30.00,15.52,15.52
$GC,3920.65,16902,145.99,0.85,-80.00,1937.7,2032.1,1843.3,2731.4,2183.4,197.07,8.43,490,3927.96,0.00,0.00,3.79,0.000,0.000,0.180,1936.12,2029.44,1842.81,2731.19,736.94,0,0,0,30.00,30.00,15.56
$GC,4030.12,21639,145.99,0.75,0.00,1936.9,2031.1,1842.8,2731.8,736.7,186.32,9.35,512,4037.78,0.00,0.29,3.55,0.000,0.213,0.096,1938.53,2032.12,1844.94,2695.69,2214.31,0,0,0,30.00,15.58,15.62
$GC,4336.73,10919,258.98,1.06,-80.00,1936.7,2030.2,1843.2,2695.8,2213.8,170.95,4.74,543,4443.83,97.87,0.55,3.95,1.637,0.094,0.173,1492.72,1601.50,1383.94,2782.56,737.06,0,0,0,11.77,15.68,15.17
$GC,4457.64,1028,258.98,1.06,0.00,1490.7,1597.9,1383.6,2783.1,737.1,161.89,8.50,566,4464.90,0.00,0.00,3.62,0.000,0.000,0.092,1491.03,1597.81,1384.25,2783.94,2214.12,0,0,0,30.00,30.00,15.25
$GC,4762.52,16902,258.98,1.06,-80.00,1484.0,1584.1,1383.9,2783.6,2213.5,134.29,8.74,597,4769.98,0.00,0.00,3.86,0.000,0.000,0.169,1483.09,1583.50,1382.69,2783.12,734.88,0,0,0,30.00,30.00,15.43
$GC,4798.94,17414,258.98,1.06,0.00,1482.7,1581.8,1383.5,2783.7,735.0,130.89,9.54,604,4806.19,0.00,0.00,3.56,0.000,0.000,0.092,1482.72,1581.94,1383.50,2784.44,2216.88,0,0,0,30.00,30.00,15.48
$GC,5103.85,8614,315.00,1.17,80.00,1481.8,1579.9,1383.7,2783.4,2216.6,106.68,7.39,635,5161.20,50.31,0.00,3.13,1.554,0.000,0.179,1265.59,1376.19,1155.00,2782.75,3407.88,0,0,0,11.58,30.00,15.23
$GC,5195.17,3205,315.00,1.29,0.00,1262.5,1370.2,1154.7,2785.5,3408.8,99.34,8.62,653,5202.17,0.00,0.32,2.97,0.000,0.109,0.090,1262.41,1369.94,1154.88,2835.44,2179.38,0,0,0,30.00,15.39,15.38
$GC,5386.27,516,315.00,1.29,-80.00,1259.8,1365.2,1154.4,2837.2,2181.1,80.45,10.15,690,5393.81,0.00,0.00,3.78,0.000,0.000,0.173,1260.56,1365.56,1155.56,2836.44,736.69,0,0,0,30.00,30.00,15.43
$GC,5437.67,1156,315.00,1.23,0.00,1258.7,1362.9,1154.6,2837.8,736.8,74.85,11.19,700,5444.02,0.00,0.00,3.56,0.000,0.000,0.092,1258.91,1363.31,1154.50,2837.25,2214.81,0,0,0,30.00,30.00,15.38
$GC,5623.01,0,315.00,1.23,0.00,1258.1,1361.7,1154.5,2838.4,2216.2,58.09,8.41,737,5628.12,0.00,0.00,0.00,0.000,0.000,0.000,1257.75,1361.56,1153.94,2837.69,2215.12,0,0,0,30.00,30.00,30.00
$GC,5807.43,8614,401.64,1.40,80.00,1257.1,1359.4,1154.8,2837.2,2215.6,45.45,5.97,774,5895.44,79.04,0.00,3.15,1.494,0.000,0.173,912.62,1031.25,794.00,2838.25,3408.44,0,0,0,11.63,30.00,15.18
$GC,5904.42,11431,481.50,1.71,0.00,911.1,1028.4,793.9,2838.2,3407.6,39.58,6.28,793,5986.22,72.50,0.65,2.99,1.418,0.092,0.084,587.34,697.94,476.75,2940.19,2179.38,0,0,0,11.36,15.23,15.25
$GC,6164.47,644,481.50,1.81,-80.00,581.1,685.0,477.1,2940.0,2178.9,15.52,8.39,845,6172.04,0.00,0.00,3.82,0.000,0.000,0.168,581.34,685.19,477.50,2940.38,734.94,0,0,0,30.00,30.00,15.23
$GC,6230.34,11431,546.56,2.04,0.00,580.4,681.7,479.1,2938.9,735.2,10.61,6.97,858,6262.33,20.82,0.50,3.59,1.354,0.101,0.087,500.84,595.50,406.19,3017.19,2217.62,0,0,0,11.45,15.31,15.31
$STATE,6396,end climb,SURFACE_DEPTH_REACHED
$STATE,6396,begin surface coast
$FINISH,0.5,1.022849
$STATE,6421,end surface coast,CONTROL_FINISHED_OK
$STATE,6421,begin surface
$SM_CCo,6507.49,0.00,0.000,0,495.6,580.9,410.3,503.94
$SM_GC,1.86,0.00,18.31,0.31,0.000,0.089,0.129,495.6,580.9,410.3,219.1,2078.2,0,0,0,30.00,15.35,15.36
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7134.29,-15154.85,221020,123914
$TCM_TEMP,2.29
$SC_FREEKB,3823680
$PM_FREEKB_00,34183936
$PM_ACTIVECARD,0
$RAFOS_CLK,-1
$RAFOS_FIX,7132.437988,-15150.132812,221020,161618,0,1,0.22
$HUMID,52.62
$TEMP,-0.11
$INTERNAL_PRESSURE,7.64574
$24V_AH,14.41,82.028
$10V_AH,14.72,0.000
$FG_AHR_24Vo,78.389
$FG_AHR_10Vo,35.981
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,681.440,44.765,113.725,230.046,0.000,13.530,3844.083,3010.820,2229.283,2217.000,0.000,0.000
$DEVICE_MAMPS,1852.952,311.680,363.176,208.951,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6437.000,6448.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.426,9.429,0.000,0.000
$MEM,1152208,34,24520,81
$DATA_FILE_SIZE,25668,896
$CAP_FILE_SIZE,246083,0
$SDSIZE,3918848,3763520
$SDFILEDIR,1380,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.095,342.6,1
$GPS,221020,162436,7132.758,-15150.301,2,1.3,4,15.2