version: 67.00
glider: 235
mission: 6
dive: 175
start: 10 22 120 20 28 36
data:
$ID,235
$MISSION,6
$DIVE,175
$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,36.091629
$FG_AHR_24V,78.980408
$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
$GPS1,221020,202101,7131.704,-15149.867,26,1.2,27,15.2
$_CALLS,2
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-67.2
$GPS2,221020,202803,7131.715,-15150.006,3,1.2,4,15.2
$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,143.1,12932,-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,11.75,16386,-145.99,-1.06,0.00,492.2,563.5,420.8,217.6,2116.9,0.00,0.00,0,65.95,52.17,0.00,0.00,0.005,0.000,0.000,1419.22,1426.19,1412.25,218.00,2118.62,0,0,0,15.38,30.00,30.00
$GC,66.20,18727,-145.99,-1.06,80.00,1418.6,1426.0,1411.1,217.9,2116.4,3.09,-2.67,10,151.42,57.42,17.36,3.36,0.005,0.307,0.173,3146.81,3165.81,3127.81,2261.50,3409.06,0,0,0,15.39,15.32,15.42
$GC,284.94,3205,-145.99,-0.96,0.00,3146.2,3167.4,3125.1,2260.7,3407.4,49.24,-19.01,53,291.77,0.00,0.17,3.23,0.000,0.208,0.101,3146.25,3166.50,3126.00,2287.25,2083.44,0,0,0,30.00,15.45,15.46
$GC,470.52,516,-145.99,-0.96,-80.00,3146.4,3167.2,3125.5,2286.9,2083.0,75.90,-13.90,90,477.07,0.00,0.00,3.78,0.000,0.000,0.180,3147.09,3168.19,3126.00,2287.06,636.38,0,0,0,30.00,30.00,15.48
$GC,505.63,1028,-145.99,-0.96,0.00,3146.8,3167.9,3125.7,2286.8,636.5,81.06,-14.58,97,516.93,0.00,0.00,3.56,0.000,0.000,0.092,3146.88,3168.12,3125.62,2287.19,2115.38,0,0,0,30.00,30.00,15.54
$GC,696.15,0,-145.99,-0.96,0.00,3147.1,3168.2,3125.9,2286.8,2114.6,105.40,-12.40,131,699.04,0.00,0.00,0.00,0.000,0.000,0.000,3144.72,3166.50,3122.94,2287.50,2115.62,0,0,0,30.00,30.00,30.00
$MODEM_MSG,CACST,6,1,20201022200552.538701,18,24,-10,0114,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,-0.4,0.31,-100,2.69,-01,0.04,38,925,0025*28
$MODEM_MSG,CACST,6,1,20201022201103.746988,18,54,11,0094,0150,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-11.6,-0.01,-100,3.01,-01,0.00,11,925,0025*23
$MODEM_MSG,CACST,6,1,20201022201233.028521,18,240,05,0102,0150,216,04,04,03,04,-1,-01,-01,1,3,0,0,150,-3.7,0.42,-100,2.58,-01,-0.03,38,925,0025*1D
$MODEM_MSG,CACST,6,1,20201022201605.112654,18,1700,20,0234,0150,07,01,01,02,03,-1,-01,-01,1,3,0,0,150,-15.6,0.18,-100,2.82,-01,0.13,19,925,0025*04
$MODEM_MSG,CACST,6,1,20201022202124.165409,18,87,-16,0133,0150,216,04,04,06,04,-1,-01,-01,1,3,0,0,150,-4.6,0.35,-100,2.65,-01,-0.02,41,925,0025*09
$MODEM_MSG,CACST,6,1,20201022202532.137776,18,83,-16,0127,0150,216,03,03,06,03,-1,-01,-01,1,3,0,0,150,-28.5,0.40,-100,2.60,-01,0.01,45,925,0025*15
$MODEM_MSG,CACST,6,1,20201022203628.246979,18,256,-6,0297,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,7.3,0.18,-100,2.82,-01,0.02,40,925,0025*06
$GC,996.03,644,-145.99,-1.04,-80.00,3146.2,3167.4,3125.1,2286.6,2114.9,142.18,-12.15,161,1003.03,0.00,0.00,3.86,0.000,0.000,0.184,3147.50,3169.88,3125.12,2287.12,636.50,0,0,0,30.00,30.00,15.58
$GC,1031.73,1028,-145.99,-1.04,0.00,3147.6,3169.8,3125.4,2286.1,636.2,146.80,-12.96,168,1039.11,0.00,0.00,3.54,0.000,0.000,0.095,3147.38,3167.69,3127.06,2287.94,2113.44,0,0,0,30.00,30.00,15.65
$GC,1337.21,4225,-145.99,-1.17,0.00,3146.5,3167.9,3125.2,2286.8,2113.8,179.77,-9.42,199,1340.46,0.00,0.41,0.00,0.000,0.105,0.000,3144.59,3165.31,3123.88,2224.12,2114.06,0,0,0,30.00,15.69,30.00
$GC,1637.25,516,-145.99,-1.17,-80.00,3146.2,3167.4,3124.9,2223.3,2113.4,210.86,-9.69,229,1644.38,0.00,0.00,3.88,0.000,0.000,0.198,3147.94,3169.06,3126.81,2224.88,635.94,0,0,0,30.00,30.00,15.68
$GC,1706.63,3205,-145.99,-1.03,0.00,3145.8,3166.4,3125.1,2224.0,635.5,219.08,-11.91,243,1714.71,0.00,0.38,3.56,0.000,0.194,0.109,3147.16,3168.44,3125.88,2271.44,2114.19,0,0,0,30.00,15.70,15.73
$GC,2013.19,4773,-145.99,-1.16,-80.00,3146.8,3168.3,3125.2,2271.7,2113.0,244.20,-7.92,274,2020.40,0.00,0.28,3.88,0.000,0.112,0.201,3146.31,3167.25,3125.38,2225.69,636.88,0,0,0,30.00,15.78,15.71
$GC,2042.57,3205,-145.99,-1.09,0.00,3146.2,3168.1,3124.4,2225.2,636.6,247.28,-9.32,280,2050.69,0.00,0.26,3.55,0.000,0.200,0.110,3147.47,3168.88,3126.06,2256.12,2112.81,0,0,0,30.00,15.73,15.76
$GC,2349.21,4225,-145.99,-1.20,0.00,3145.2,3167.1,3123.3,2256.2,2113.4,274.65,-8.90,311,2352.95,0.00,0.25,0.00,0.000,0.117,0.000,3147.31,3169.31,3125.31,2216.12,2113.62,0,0,0,30.00,15.81,30.00
$STATE,2599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2599,begin apogee
$GC,2600.45,10243,0.00,-0.25,0.00,3145.7,3168.1,3123.3,2215.5,2211.4,300.41,-10.60,336,2729.49,124.32,1.84,0.05,1.861,0.182,0.372,2546.56,2610.44,2482.69,2460.50,2186.06,0,0,0,11.84,15.77,15.15
$STATE,2732,end apogee,CONTROL_FINISHED_OK
$STATE,2732,begin climb
$GC,2731.98,10503,145.99,1.06,80.00,2547.3,2610.3,2484.2,2460.2,2187.1,303.45,0.00,342,2872.24,128.31,2.24,3.40,1.742,0.127,0.198,1949.66,2053.50,1845.81,2780.06,3406.25,0,0,0,11.44,15.15,14.83
$GC,2904.42,21639,145.99,0.74,0.00,1946.4,2046.9,1846.0,2778.6,3406.2,287.35,14.84,375,2912.07,0.00,0.70,3.12,0.000,0.218,0.112,1947.41,2046.88,1847.94,2695.06,2185.50,0,0,0,30.00,14.96,15.00
$GC,3210.51,17030,145.99,0.79,-80.00,1940.4,2037.6,1843.1,2692.3,2185.2,259.64,8.64,406,3218.09,0.00,0.00,3.91,0.000,0.000,0.197,1939.88,2035.94,1843.81,2693.00,736.81,0,0,0,30.00,30.00,15.29
$GC,3256.84,17414,145.99,0.79,0.00,1940.0,2036.3,1843.7,2693.8,736.9,255.27,9.51,415,3263.79,0.00,0.00,3.65,0.000,0.000,0.109,1938.28,2033.62,1842.94,2693.31,2213.19,0,0,0,30.00,30.00,15.35
$GC,3562.09,18823,145.99,0.86,80.00,1938.1,2032.7,1843.4,2693.4,2214.9,227.97,8.96,446,3568.80,0.00,0.27,3.12,0.000,0.116,0.183,1937.56,2031.56,1843.56,2734.50,3407.12,0,0,0,30.00,15.50,15.46
$GC,3600.96,21639,145.99,0.73,0.00,1937.2,2031.2,1843.2,2733.8,3408.9,223.43,11.10,454,3608.53,0.00,0.34,2.98,0.000,0.211,0.098,1938.44,2032.19,1844.69,2692.62,2181.38,0,0,0,30.00,15.47,15.52
$GC,3907.59,10919,208.23,0.91,-80.00,1937.3,2030.9,1843.8,2691.1,2182.3,200.19,7.10,485,3970.26,54.15,0.37,3.86,1.659,0.114,0.182,1700.34,1805.25,1595.44,2746.06,736.56,0,0,0,11.68,15.60,15.28
$GC,3999.20,1156,208.23,0.84,0.00,1696.4,1799.8,1593.0,2747.8,736.4,191.22,10.79,503,4006.50,0.00,0.00,3.61,0.000,0.000,0.096,1696.34,1800.00,1592.69,2747.19,2214.75,0,0,0,30.00,30.00,15.35
$GC,4304.10,8354,255.16,0.96,0.00,1692.0,1792.8,1591.2,2746.8,2215.9,162.72,7.82,534,4349.56,42.27,0.00,0.00,1.596,0.000,0.000,1509.12,1616.00,1402.25,2747.31,2215.56,0,0,0,11.56,30.00,30.00
$GC,4644.80,10919,319.60,1.18,-80.00,1501.8,1601.6,1402.1,2747.4,2215.8,137.26,7.00,568,4710.93,58.40,0.38,3.94,1.568,0.104,0.172,1246.03,1358.75,1133.31,2812.94,735.75,0,0,0,11.56,15.51,15.19
$GC,4738.08,1028,319.60,1.18,0.00,1243.3,1353.9,1132.8,2813.3,736.1,127.78,10.91,587,4745.69,0.00,0.00,3.62,0.000,0.000,0.093,1244.12,1354.12,1134.12,2813.00,2214.81,0,0,0,30.00,30.00,15.27
$GC,5044.18,0,319.60,1.18,0.00,1239.0,1344.9,1133.1,2812.3,2215.7,96.39,9.89,621,5049.93,0.00,0.00,0.00,0.000,0.000,0.000,1239.12,1345.00,1133.25,2812.94,2215.19,0,0,0,30.00,30.00,30.00
$GC,5229.96,17030,319.60,1.25,-80.00,1238.5,1343.6,1133.4,2813.4,2215.1,79.21,8.39,658,5236.85,0.00,0.00,3.85,0.000,0.000,0.168,1238.81,1343.81,1133.81,2812.81,735.81,0,0,0,30.00,30.00,15.47
$GC,5260.57,17542,319.60,1.30,0.00,1236.8,1340.9,1132.8,2813.3,736.2,76.30,9.22,664,5271.13,0.00,0.00,3.56,0.000,0.000,0.094,1237.06,1341.06,1133.06,2812.81,2214.50,0,0,0,30.00,30.00,15.52
$GC,5450.86,10403,376.12,1.46,0.00,1236.4,1340.1,1132.7,2813.0,2214.4,61.70,7.37,702,5507.62,51.46,0.40,0.00,1.512,0.100,0.000,1017.41,1131.75,903.06,2879.50,2214.25,0,0,0,11.57,15.58,30.00
$GC,5685.90,388,376.12,1.53,80.00,1012.4,1122.4,902.4,2877.9,2214.4,38.43,8.67,749,5692.32,0.00,0.00,3.12,0.000,0.000,0.173,1012.59,1122.31,902.88,2879.19,3407.94,0,0,0,30.00,30.00,15.34
$GC,5716.46,3205,376.12,1.61,0.00,1011.8,1120.6,903.1,2878.4,3408.4,35.93,8.31,755,5722.36,0.00,0.19,2.97,0.000,0.123,0.088,1011.38,1119.69,903.06,2913.38,2179.69,0,0,0,30.00,15.45,15.47
$GC,5901.69,8742,455.47,1.70,-80.00,1010.1,1117.8,902.4,2915.3,2180.6,23.39,6.31,792,5984.24,73.61,0.00,3.84,1.463,0.000,0.170,693.06,806.75,579.38,2916.06,734.75,0,0,0,11.65,30.00,15.13
$GC,6013.23,11431,520.13,1.89,0.00,690.8,802.4,579.2,2916.2,734.8,16.40,6.99,814,6066.25,45.12,0.42,3.62,1.392,0.102,0.090,500.66,601.38,399.94,2984.62,2216.75,0,0,0,11.46,15.28,15.21
$STATE,6215,end climb,SURFACE_DEPTH_REACHED
$STATE,6215,begin surface coast
$FINISH,0.9,1.022824
$STATE,6249,end surface coast,CONTROL_FINISHED_OK
$STATE,6249,begin surface
$SM_CCo,6336.45,0.00,0.000,0,493.8,582.9,404.6,504.40
$SM_GC,2.14,0.00,18.24,0.31,0.000,0.096,0.122,493.8,582.9,404.6,219.1,2075.5,0,0,0,30.00,15.31,15.37
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7130.85,-15152.06,221020,202323
$TCM_TEMP,2.26
$SC_FREEKB,3822720
$PM_FREEKB_00,33917568
$PM_ACTIVECARD,0
$RAFOS_CLK,-21
$MODEM,6,1603398988,75.33060,-142.67570,88.247,129281.8
$MODEM,4,1603398332,76.55490,-139.99944,32.138,47081.8
$MODEM,3,1603398084,75.26195,-145.59448,84.165,123302.3
$MODEM,2,1603397765,75.67648,-146.03058,65.113,95390.0
$MODEM,1,1603397463,75.02295,-144.31340,63.747,93389.3
$MODEM,0,1603397152,74.83892,-145.28152,52.539,76969.2
$RAFOS_FIX,7602.858887,-14251.642578,221020,202028,6,255,1124.72
$HUMID,52.72
$TEMP,-0.34
$INTERNAL_PRESSURE,7.64033
$24V_AH,14.39,83.042
$10V_AH,14.79,0.000
$FG_AHR_24Vo,79.255
$FG_AHR_10Vo,36.145
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,687.220,44.535,93.020,234.929,0.000,12.880,3775.684,3012.390,2165.656,0.000,0.000,0.000
$DEVICE_MAMPS,1861.152,306.760,372.360,210.466,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6265.000,6276.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.512,13.770,0.000,0.000
$MEM,1152204,34,24524,81
$DATA_FILE_SIZE,25710,861
$CAP_FILE_SIZE,231757,0
$SDSIZE,3918848,3762752
$SDFILEDIR,1401,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.091,314.7,1
$GPS,221020,221532,7131.199,-15149.733,16,0.9,29,15.2