version: 67.00
glider: 235
mission: 6
dive: 180
start: 10 23 120 5 59 39
data:
$ID,235
$MISSION,6
$DIVE,180
$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,36.349785
$FG_AHR_24V,80.405815
$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
$GPS1,231020,055333,7129.639,-15148.903,51,1.1,52,15.2
$_CALLS,1
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-69.9
$GPS2,231020,055906,7129.644,-15149.044,4,1.1,7,15.2
$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,136.2,9100,-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,-1.06,0.00,492.5,567.2,417.8,218.8,2115.3,0.00,0.00,0,65.49,51.65,0.00,0.00,0.005,0.000,0.000,1420.94,1428.25,1413.62,218.94,2116.12,0,0,0,15.47,30.00,30.00
$GC,65.74,18727,-145.99,-1.06,80.00,1420.6,1427.9,1413.3,219.2,2115.0,3.38,-2.87,10,145.74,50.42,17.41,3.35,0.005,0.312,0.169,3143.69,3163.44,3123.94,2259.31,3407.38,0,0,0,15.46,15.32,15.40
$GC,329.51,1156,-145.99,-0.98,0.00,3147.2,3168.1,3126.3,2261.1,3407.5,59.87,-17.95,62,335.96,0.00,0.00,3.25,0.000,0.000,0.102,3147.31,3167.56,3127.06,2260.31,2083.06,0,0,0,30.00,30.00,15.59
$GC,514.79,516,-145.99,-0.98,-80.00,3144.7,3165.6,3123.8,2261.3,2083.2,87.01,-14.16,99,526.13,0.00,0.00,3.82,0.000,0.000,0.181,3146.69,3167.88,3125.50,2259.62,635.56,0,0,0,30.00,30.00,15.57
$GC,550.14,3205,-145.99,-0.89,0.00,3146.9,3168.0,3125.9,2260.7,635.2,92.53,-16.16,106,561.18,0.00,0.31,3.56,0.000,0.205,0.093,3147.72,3168.88,3126.56,2302.19,2114.75,0,0,0,30.00,15.59,15.63
$GC,740.07,128,-145.99,-0.98,0.00,3146.1,3167.3,3124.8,2302.9,2115.9,116.12,-12.21,131,744.00,0.00,0.00,0.00,0.000,0.000,0.000,3144.72,3165.44,3124.00,2304.44,2115.75,0,0,0,30.00,30.00,30.00
$GC,1040.47,4225,-145.99,-1.12,0.00,3145.7,3167.2,3124.2,2302.6,2115.5,148.43,-10.48,161,1044.47,0.00,0.47,0.00,0.000,0.098,0.000,3144.88,3166.44,3123.31,2235.56,2116.50,0,0,0,30.00,15.74,30.00
$GC,1340.13,516,-145.99,-1.12,-80.00,3145.8,3167.6,3124.1,2235.2,2115.1,185.70,-11.40,191,1347.31,0.00,0.00,3.92,0.000,0.000,0.194,3144.84,3166.50,3123.19,2235.12,635.31,0,0,0,30.00,30.00,15.59
$GC,1436.31,3205,-145.99,-0.97,0.00,3146.8,3168.2,3125.4,2234.9,635.4,196.69,-11.16,210,1443.69,0.00,0.41,3.58,0.000,0.192,0.106,3145.06,3166.81,3123.31,2284.62,2114.00,0,0,0,30.00,15.72,15.74
$GC,1741.70,4517,-145.99,-1.14,80.00,3146.0,3167.8,3124.2,2284.5,2114.8,219.45,-7.07,241,1749.12,0.00,0.33,3.34,0.000,0.109,0.185,3146.47,3168.19,3124.75,2231.00,3409.12,0,0,0,30.00,15.80,15.65
$GC,1781.30,3205,-145.99,-1.07,0.00,3145.3,3166.7,3123.9,2231.7,3407.9,223.33,-9.39,249,1789.36,0.00,0.26,3.24,0.000,0.199,0.110,3147.41,3168.94,3125.88,2262.06,2084.81,0,0,0,30.00,15.73,15.76
$GC,2087.91,4773,-145.99,-1.19,-80.00,3145.9,3168.6,3123.3,2263.6,2085.2,247.31,-7.91,280,2099.51,0.00,0.27,3.86,0.000,0.114,0.205,3145.09,3167.19,3123.00,2219.38,636.69,0,0,0,30.00,15.81,15.73
$GC,2138.22,3205,-145.99,-1.03,0.00,3146.2,3168.4,3124.1,2218.6,637.1,252.68,-11.27,290,2145.29,0.00,0.41,3.57,0.000,0.197,0.111,3144.78,3167.38,3122.19,2271.00,2111.62,0,0,0,30.00,15.76,15.79
$GC,2443.31,4257,-145.99,-1.19,0.00,3146.7,3169.8,3123.6,2269.9,2111.6,276.41,-7.46,321,2446.36,0.00,0.31,0.00,0.000,0.110,0.000,3145.69,3168.12,3123.25,2218.75,2112.12,0,0,0,30.00,15.81,30.00
$STATE,2693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2693,begin apogee
$GC,2694.57,10243,0.00,-0.25,0.00,3145.4,3168.0,3122.8,2219.2,2210.9,300.12,-9.80,346,2823.52,124.05,1.83,0.05,1.858,0.186,0.360,2546.59,2611.00,2482.19,2458.56,2186.75,0,0,0,11.87,15.80,15.17
$STATE,2826,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin climb
$GC,2826.24,10503,145.99,1.06,80.00,2547.0,2610.4,2483.7,2458.4,2186.7,302.73,0.00,352,2966.29,127.91,2.26,3.42,1.741,0.131,0.196,1953.62,2058.56,1848.69,2778.38,3405.31,0,0,0,11.53,15.17,14.84
$GC,2988.46,5253,145.99,0.74,0.00,1947.4,2048.4,1846.4,2778.5,3405.2,287.52,14.22,379,2996.11,0.00,0.70,3.17,0.000,0.220,0.109,1948.50,2049.56,1847.44,2692.81,2186.69,0,0,0,30.00,14.95,14.98
$GC,3294.69,16902,145.99,0.74,-80.00,1939.7,2036.6,1842.8,2693.6,2187.3,258.74,9.27,410,3302.05,0.00,0.00,3.98,0.000,0.000,0.196,1939.94,2036.75,1843.12,2694.94,737.62,0,0,0,30.00,30.00,15.29
$GC,3330.95,17414,145.99,0.74,0.00,1939.1,2035.4,1842.9,2695.0,738.1,255.28,9.72,417,3338.24,0.00,0.00,3.65,0.000,0.000,0.105,1940.06,2036.38,1843.75,2691.00,2211.25,0,0,0,30.00,30.00,15.36
$GC,3635.86,16514,145.99,0.80,0.00,1938.5,2033.8,1843.3,2693.2,2211.2,228.79,8.25,448,3639.76,0.00,0.00,0.00,0.000,0.000,0.000,1938.62,2033.31,1843.94,2692.50,2211.88,0,0,0,30.00,30.00,30.00
$GC,3936.67,18823,145.99,0.87,80.00,1937.7,2032.6,1842.9,2694.7,2211.6,203.38,8.93,478,3944.05,0.00,0.28,3.12,0.000,0.109,0.178,1938.62,2032.56,1844.69,2733.56,3406.19,0,0,0,30.00,15.61,15.56
$GC,3973.04,21639,145.99,0.78,0.00,1936.7,2030.2,1843.2,2735.4,3407.9,199.38,10.97,485,3979.84,0.00,0.28,2.99,0.000,0.210,0.094,1937.31,2030.75,1843.88,2703.31,2181.69,0,0,0,30.00,15.56,15.59
$GC,4277.51,10919,234.65,0.97,-80.00,1936.8,2030.1,1843.4,2704.7,2181.5,176.32,5.88,516,4364.05,76.82,0.37,3.92,1.642,0.103,0.179,1591.84,1699.88,1483.81,2764.12,736.88,0,0,0,11.77,15.68,15.17
$GC,4417.93,1028,234.65,0.97,0.00,1587.2,1690.7,1483.8,2763.8,736.9,164.29,10.27,544,4424.92,0.00,0.00,3.63,0.000,0.000,0.095,1586.97,1690.50,1483.44,2763.69,2214.81,0,0,0,30.00,30.00,15.34
$GC,4723.24,8870,281.23,1.08,-80.00,1582.2,1681.0,1483.3,2764.8,2215.2,137.95,7.83,575,4775.34,41.92,0.00,3.98,1.566,0.000,0.171,1402.50,1509.44,1295.56,2761.88,736.00,0,0,0,11.63,30.00,15.26
$GC,4813.86,3205,281.23,1.17,0.00,1398.8,1503.3,1294.2,2763.6,735.9,130.68,8.30,593,4821.09,0.00,0.26,3.61,0.000,0.117,0.092,1399.56,1504.69,1294.44,2806.81,2213.75,0,0,0,30.00,15.37,15.30
$GC,5119.33,260,281.23,1.17,80.00,1395.6,1496.8,1294.4,2807.9,2215.1,102.03,8.77,624,5126.53,0.00,0.00,3.12,0.000,0.000,0.173,1394.34,1495.06,1293.62,2808.25,3409.38,0,0,0,30.00,30.00,15.46
$GC,5160.30,17414,281.23,1.17,0.00,1395.0,1495.0,1295.1,2807.1,3407.1,98.19,9.29,632,5166.52,0.00,0.00,2.99,0.000,0.000,0.089,1395.31,1495.00,1295.62,2809.12,2182.25,0,0,0,30.00,30.00,15.54
$GC,5345.16,8742,326.21,1.22,-80.00,1394.0,1493.4,1294.6,2809.8,2182.2,82.71,7.91,669,5398.06,41.46,0.00,3.88,1.528,0.000,0.173,1218.75,1327.75,1109.75,2809.81,735.50,0,0,0,11.66,30.00,15.35
$GC,5416.81,1156,326.21,1.29,0.00,1217.2,1324.6,1109.8,2808.3,735.6,76.36,9.30,683,5423.28,0.00,0.00,3.61,0.000,0.000,0.092,1218.12,1325.62,1110.62,2807.19,2217.06,0,0,0,30.00,30.00,15.41
$GC,5601.72,2177,326.21,1.41,0.00,1214.9,1320.6,1109.2,2808.2,2217.3,59.55,8.66,720,5607.42,0.00,0.35,0.00,0.000,0.102,0.000,1215.78,1321.56,1110.00,2864.94,2217.00,0,0,0,30.00,15.51,30.00
$GC,5786.58,8742,384.83,1.48,-80.00,1214.0,1318.5,1109.4,2866.8,2216.6,43.68,7.27,757,5849.24,54.20,0.00,3.96,1.489,0.000,0.165,981.31,1097.69,864.94,2865.69,735.38,0,0,0,11.55,30.00,15.29
$GC,5863.24,11431,454.45,1.68,0.00,978.8,1093.3,864.3,2865.3,734.4,38.50,6.76,772,5936.17,63.86,0.41,3.61,1.432,0.102,0.088,698.00,814.31,581.69,2930.88,2216.00,0,0,0,11.57,15.36,15.35
$GC,6114.43,10403,506.97,1.85,0.00,691.7,802.2,581.2,2933.9,2217.1,17.61,7.56,822,6166.21,45.28,0.22,0.00,1.399,0.115,0.000,500.91,600.00,401.81,2973.38,2215.62,0,0,0,11.36,15.35,30.00
$GC,6345.14,10919,625.32,2.17,-80.00,496.0,589.6,402.4,2973.9,2216.8,2.84,4.49,868,6356.12,0.00,0.48,3.95,0.000,0.097,0.164,496.12,589.25,403.00,3051.75,735.06,0,0,0,30.00,15.35,15.32
$STATE,6364,end climb,SURFACE_DEPTH_REACHED
$STATE,6364,begin surface coast
$FINISH,0.5,1.017788
$STATE,6405,end surface coast,CONTROL_FINISHED_OK
$STATE,6405,begin surface
$SM_CCo,6495.50,0.00,0.000,0,494.3,581.8,406.9,504.25
$SM_GC,2.69,0.00,18.51,3.34,0.000,0.085,0.092,494.3,581.8,406.9,219.0,2114.6,0,0,0,30.00,15.40,15.41
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7130.85,-15152.06,231020,040348
$TCM_TEMP,2.23
$SC_FREEKB,3821120
$PM_FREEKB_00,33470016
$PM_ACTIVECARD,0
$RAFOS_CLK,-23
$RAFOS_FIX,7128.969727,-15148.009766,231020,070705,0,1,0.22
$HUMID,52.69
$TEMP,-0.39
$INTERNAL_PRESSURE,7.64608
$24V_AH,14.40,84.707
$10V_AH,14.83,0.000
$FG_AHR_24Vo,80.677
$FG_AHR_10Vo,36.389
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,677.585,46.120,99.765,199.800,0.000,15.986,3794.183,3046.844,2204.567,0.000,0.000,0.000
$DEVICE_MAMPS,1858.200,312.008,360.224,222.791,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6422.000,6431.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.441,9.721,0.000,0.000
$MEM,1152184,34,24544,81
$DATA_FILE_SIZE,25729,880
$CAP_FILE_SIZE,235565,0
$SDSIZE,3918848,3761472
$SDFILEDIR,1436,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.085,315.2,1
$GPS,231020,074901,7129.184,-15148.621,32,1.2,33,15.2