version: 67.00
glider: 235
mission: 6
dive: 178
start: 10 23 120 2 9 9
data:
$ID,235
$MISSION,6
$DIVE,178
$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,36.248158
$FG_AHR_24V,79.834152
$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
$GPS1,231020,020250,7130.433,-15149.514,4,1.3,7,15.2
$_CALLS,1
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-68.1
$GPS2,231020,020836,7130.449,-15149.547,2,1.2,5,15.2
$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,133.8,10609,-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,11.81,16386,-145.99,-1.06,0.00,493.7,567.3,420.1,217.8,2116.2,0.00,0.00,0,65.49,51.67,0.00,0.00,0.005,0.000,0.000,1416.59,1425.00,1408.19,217.50,2115.12,0,0,0,15.43,30.00,30.00
$GC,65.74,18727,-145.99,-1.06,80.00,1416.5,1424.5,1408.4,217.8,2114.8,3.20,-2.51,10,145.85,53.34,17.34,3.33,0.005,0.307,0.164,3145.75,3164.25,3127.25,2261.50,3407.88,0,0,0,15.49,15.38,15.48
$GC,299.60,1156,-145.99,-1.01,0.00,3145.3,3165.6,3125.0,2260.3,3408.1,52.80,-17.43,56,306.05,0.00,0.00,3.23,0.000,0.000,0.100,3147.38,3167.69,3127.06,2259.44,2085.50,0,0,0,30.00,30.00,15.57
$GC,484.61,516,-145.99,-1.01,-80.00,3145.2,3165.2,3125.1,2261.6,2083.6,79.51,-14.03,93,491.33,0.00,0.00,3.78,0.000,0.000,0.179,3147.97,3168.00,3127.94,2260.69,637.88,0,0,0,30.00,30.00,15.55
$GC,539.91,3205,-145.99,-0.89,0.00,3144.9,3165.2,3124.5,2260.2,637.2,88.06,-15.67,104,551.21,0.00,0.31,3.55,0.000,0.204,0.093,3146.91,3168.12,3125.69,2303.75,2115.94,0,0,0,30.00,15.58,15.54
$GC,730.38,128,-145.99,-0.99,0.00,3146.3,3166.9,3125.6,2305.1,2115.2,110.35,-11.68,133,733.27,0.00,0.00,0.00,0.000,0.000,0.000,3146.56,3167.62,3125.50,2301.81,2114.81,0,0,0,30.00,30.00,30.00
$GC,1030.32,4741,-145.99,-1.12,-80.00,3146.3,3166.6,3126.0,2304.4,2115.4,143.48,-11.10,163,1041.84,0.00,0.46,3.87,0.000,0.098,0.185,3148.19,3169.38,3127.00,2234.12,636.25,0,0,0,30.00,15.72,15.64
$GC,1074.06,3205,-145.99,-0.94,0.00,3146.1,3167.7,3124.4,2234.8,636.0,150.38,-16.57,172,1082.17,0.00,0.47,3.55,0.000,0.198,0.098,3147.81,3168.75,3126.88,2291.38,2114.38,0,0,0,30.00,15.66,15.71
$GC,1380.62,4225,-145.99,-1.08,0.00,3145.3,3166.1,3124.4,2291.4,2114.6,183.51,-9.37,203,1383.73,0.00,0.29,0.00,0.000,0.111,0.000,3145.25,3165.81,3124.69,2246.06,2114.62,0,0,0,30.00,15.75,30.00
$GC,1680.63,516,-145.99,-1.08,-80.00,3145.8,3166.5,3125.1,2245.6,2114.9,212.94,-9.08,233,1687.69,0.00,0.00,3.88,0.000,0.000,0.196,3146.94,3167.00,3126.88,2245.06,636.69,0,0,0,30.00,30.00,15.71
$GC,1739.93,3205,-145.99,-1.00,0.00,3145.9,3168.3,3123.6,2245.9,636.6,219.26,-10.51,245,1748.00,0.00,0.26,3.56,0.000,0.193,0.106,3146.75,3167.81,3125.69,2276.06,2114.50,0,0,0,30.00,15.73,15.77
$GC,2046.48,4257,-145.99,-1.16,0.00,3146.0,3167.1,3124.8,2275.3,2113.8,243.27,-7.57,276,2050.15,0.00,0.32,0.00,0.000,0.109,0.000,3144.53,3165.50,3123.56,2227.12,2115.50,0,0,0,30.00,15.81,30.00
$GC,2346.43,0,-145.99,-1.16,0.00,3145.3,3167.2,3123.4,2224.8,2113.3,273.18,-10.32,306,2350.34,0.00,0.00,0.00,0.000,0.000,0.000,3143.91,3165.81,3122.00,2224.94,2113.81,0,0,0,30.00,30.00,30.00
$STATE,2626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2626,begin apogee
$GC,2627.81,10243,0.00,-0.25,0.00,3144.5,3166.6,3122.4,2225.0,2210.8,300.38,-9.21,334,2755.55,123.92,1.77,0.05,1.857,0.183,0.364,2549.75,2614.25,2485.25,2459.94,2188.56,0,0,0,11.78,15.75,15.17
$STATE,2758,end apogee,CONTROL_FINISHED_OK
$STATE,2758,begin climb
$GC,2758.37,10503,145.99,1.06,80.00,2547.2,2610.6,2483.8,2458.3,2188.0,303.09,0.00,340,2897.95,128.11,2.25,3.42,1.735,0.134,0.197,1951.78,2056.81,1846.75,2778.81,3407.94,0,0,0,11.52,15.17,14.84
$GC,2936.19,21639,145.99,0.73,0.00,1946.6,2046.7,1846.5,2779.7,3407.8,285.68,14.70,374,2943.80,0.00,0.71,3.14,0.000,0.219,0.111,1946.44,2045.56,1847.31,2692.31,2186.69,0,0,0,30.00,14.99,15.02
$GC,3241.91,17030,145.99,0.78,-80.00,1940.3,2037.5,1843.1,2692.7,2186.9,257.97,8.83,405,3248.71,0.00,0.00,3.95,0.000,0.000,0.195,1940.97,2037.56,1844.38,2690.88,736.75,0,0,0,30.00,30.00,15.21
$GC,3280.86,17414,145.99,0.78,0.00,1940.1,2035.7,1844.4,2693.6,736.8,253.94,9.92,413,3288.45,0.00,0.00,3.66,0.000,0.000,0.106,1939.28,2035.38,1843.19,2692.50,2211.62,0,0,0,30.00,30.00,15.36
$GC,3587.76,18823,145.99,0.84,80.00,1938.1,2032.8,1843.4,2691.6,2212.2,228.13,8.16,444,3594.44,0.00,0.26,3.14,0.000,0.122,0.181,1939.47,2034.44,1844.50,2727.00,3407.81,0,0,0,30.00,15.52,15.47
$GC,3636.62,21639,145.99,0.70,0.00,1936.6,2030.3,1842.8,2730.6,3408.7,222.94,10.56,454,3644.17,0.00,0.37,3.00,0.000,0.212,0.095,1938.28,2031.75,1844.81,2682.69,2182.94,0,0,0,30.00,15.48,15.53
$GC,3943.31,10919,222.22,0.91,-80.00,1937.0,2030.2,1843.9,2684.4,2181.8,200.64,6.45,485,4019.86,66.32,0.41,3.91,1.658,0.107,0.181,1643.78,1752.12,1535.44,2747.69,736.56,0,0,0,11.64,15.62,15.21
$GC,4083.77,1028,222.22,0.91,0.00,1639.0,1743.2,1534.8,2748.4,736.1,185.24,12.11,513,4090.63,0.00,0.00,3.63,0.000,0.000,0.096,1639.53,1743.25,1535.81,2746.25,2213.19,0,0,0,30.00,30.00,15.35
$GC,4388.95,8614,268.52,1.04,80.00,1634.3,1735.8,1532.9,2748.9,2214.9,157.95,7.85,544,4439.66,41.62,0.00,3.17,1.587,0.000,0.178,1455.34,1561.94,1348.75,2748.12,3409.31,0,0,0,11.56,30.00,15.27
$GC,4452.13,3205,268.52,1.16,0.00,1452.4,1557.1,1347.8,2748.0,3407.4,152.82,8.08,556,4459.71,0.00,0.34,3.02,0.000,0.104,0.090,1452.38,1556.38,1348.38,2805.56,2182.62,0,0,0,30.00,15.34,15.33
$GC,4758.22,516,268.52,1.16,-80.00,1447.9,1548.1,1347.6,2805.1,2182.2,122.80,8.98,587,4765.72,0.00,0.00,3.83,0.000,0.000,0.175,1447.53,1547.81,1347.25,2806.44,735.62,0,0,0,30.00,30.00,15.46
$GC,4817.89,21639,268.52,1.07,0.00,1446.7,1545.9,1347.4,2806.9,735.9,117.05,9.83,599,4826.03,0.00,0.26,3.58,0.000,0.213,0.094,1446.94,1546.00,1347.88,2775.25,2215.69,0,0,0,30.00,15.49,15.53
$GC,5124.51,10403,330.76,1.28,0.00,1445.8,1544.1,1347.4,2773.8,2215.8,95.93,7.10,635,5186.04,56.78,0.41,0.00,1.548,0.108,0.000,1201.44,1313.69,1089.19,2836.19,2213.81,0,0,0,11.58,15.62,30.00
$GC,5365.03,0,330.76,1.28,80.00,1195.7,1303.1,1088.2,2836.8,2216.1,70.34,11.09,683,5370.04,0.00,0.00,0.00,0.000,0.000,0.000,1195.50,1302.31,1088.69,2835.44,2214.88,0,0,0,30.00,30.00,30.00
$GC,5550.07,644,330.76,1.34,-80.00,1193.8,1299.4,1088.3,2837.2,2215.7,52.81,8.41,720,5557.05,0.00,0.00,3.88,0.000,0.000,0.167,1195.03,1300.69,1089.38,2837.25,736.12,0,0,0,30.00,30.00,15.42
$GC,5590.61,17414,330.76,1.34,0.00,1192.9,1297.9,1087.9,2837.0,736.1,49.09,9.05,728,5601.42,0.00,0.00,3.57,0.000,0.000,0.093,1193.88,1298.62,1089.12,2838.44,2218.12,0,0,0,30.00,30.00,15.48
$GC,5781.17,10403,441.88,1.67,0.00,1192.6,1296.9,1088.2,2836.8,2218.1,38.13,4.83,766,5887.47,100.83,0.57,0.00,1.476,0.097,0.000,748.25,865.50,631.00,2928.94,2218.00,0,0,0,11.68,15.61,30.00
$GC,6066.50,10919,510.75,1.84,-80.00,742.0,852.8,631.1,2931.0,2217.9,17.35,6.80,823,6133.76,56.57,0.23,3.99,1.415,0.117,0.166,499.72,599.50,399.94,2971.94,736.12,0,0,0,11.60,15.38,15.14
$GC,6147.82,9222,510.75,1.84,0.00,498.1,596.6,399.6,2972.1,736.1,10.62,8.67,839,6154.56,0.00,0.00,3.64,0.000,0.000,0.089,498.12,596.44,399.81,2971.75,2214.38,0,0,0,30.00,30.00,15.12
$STATE,6303,end climb,SURFACE_DEPTH_REACHED
$STATE,6303,begin surface coast
$FINISH,0.5,1.022679
$STATE,6343,end surface coast,CONTROL_FINISHED_OK
$STATE,6344,begin surface
$SM_CCo,6429.50,0.00,0.000,0,493.8,583.4,404.1,504.40
$SM_GC,2.48,0.00,17.92,0.31,0.000,0.084,0.124,493.8,583.4,404.1,221.6,2079.2,0,0,0,30.00,15.40,15.40
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7132.77,-15204.04,231020,001141
$TCM_TEMP,2.21
$SC_FREEKB,3821760
$PM_FREEKB_00,33649664
$PM_ACTIVECARD,0
$RAFOS_CLK,-22
$RAFOS_FIX,7129.777344,-15148.407227,231020,030348,0,1,0.22
$HUMID,52.90
$TEMP,-0.39
$INTERNAL_PRESSURE,7.64502
$24V_AH,14.41,84.034
$10V_AH,14.80,0.000
$FG_AHR_24Vo,80.104
$FG_AHR_10Vo,36.287
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,679.135,44.970,85.925,214.766,0.000,13.726,3771.867,3015.204,2205.885,0.000,0.000,0.000
$DEVICE_MAMPS,1856.888,306.760,363.504,228.752,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6360.000,6371.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.391,9.303,0.000,0.000
$MEM,1152268,31,24520,81
$DATA_FILE_SIZE,25756,878
$CAP_FILE_SIZE,221805,0
$SDSIZE,3918848,3762016
$SDFILEDIR,1422,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.116,313.8,1
$GPS,231020,035709,7130.058,-15149.213,16,0.8,17,15.2