version: 67.00
glider: 235
mission: 6
dive: 182
start: 10 23 120 9 45 12
data:
$ID,235
$MISSION,6
$DIVE,182
$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,36.452751
$FG_AHR_24V,80.979332
$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
$GPS1,231020,093909,7128.690,-15148.242,58,1.0,59,15.2
$_CALLS,1
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-70.3
$GPS2,231020,094439,7128.695,-15148.401,3,1.0,5,15.2
$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,136.7,7320,-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,11.82,16386,-145.99,-1.06,0.00,496.3,571.1,421.5,216.4,2079.2,0.00,0.00,0,60.33,45.81,0.00,0.00,0.005,0.000,0.000,1326.22,1340.19,1312.25,216.56,2078.44,0,0,0,15.49,30.00,30.00
$GC,60.62,18727,-145.99,-1.06,80.00,1327.0,1341.1,1313.0,216.7,2078.0,3.12,-2.64,9,145.75,57.22,17.49,3.45,0.005,0.311,0.164,3146.53,3165.44,3127.62,2259.50,3408.62,0,0,0,15.42,15.35,15.48
$GC,284.40,1156,-145.99,-1.00,0.00,3145.3,3165.8,3124.9,2260.5,3408.6,50.23,-18.33,53,291.01,0.00,0.00,3.28,0.000,0.000,0.098,3146.88,3167.44,3126.31,2260.94,2081.38,0,0,0,30.00,30.00,15.55
$GC,469.75,260,-145.99,-1.00,80.00,3146.8,3168.1,3125.6,2259.8,2081.2,79.00,-15.03,90,476.25,0.00,0.00,3.42,0.000,0.000,0.163,3147.62,3168.44,3126.81,2260.81,3408.56,0,0,0,30.00,30.00,15.55
$GC,699.99,1028,-145.99,-1.00,0.00,3146.0,3166.8,3125.2,2261.1,3409.0,112.97,-14.58,136,706.90,0.00,0.00,3.26,0.000,0.000,0.103,3147.44,3168.69,3126.19,2260.69,2085.56,0,0,0,30.00,30.00,15.57
$GC,1005.02,0,-145.99,-1.00,0.00,3146.8,3167.4,3126.2,2260.9,2085.6,152.31,-12.49,167,1008.16,0.00,0.00,0.00,0.000,0.000,0.000,3144.53,3165.44,3123.62,2260.50,2085.94,0,0,0,30.00,30.00,30.00
$GC,1305.13,128,-145.99,-1.08,0.00,3146.0,3167.4,3124.6,2261.0,2086.5,185.56,-9.63,197,1308.50,0.00,0.00,0.00,0.000,0.000,0.000,3144.62,3165.81,3123.44,2261.62,2086.69,0,0,0,30.00,30.00,30.00
$GC,1605.15,4741,-145.99,-1.19,-80.00,3146.3,3166.8,3125.8,2261.5,2084.9,211.77,-8.58,227,1617.14,0.00,0.29,3.89,0.000,0.106,0.202,3145.84,3167.50,3124.19,2218.81,637.69,0,0,0,30.00,15.77,15.70
$GC,1666.11,3205,-145.99,-1.03,0.00,3145.8,3166.9,3124.7,2217.0,637.8,218.54,-11.59,239,1677.97,0.00,0.43,3.57,0.000,0.196,0.108,3147.34,3168.19,3126.50,2270.25,2112.44,0,0,0,30.00,15.73,15.76
$GC,1976.53,4257,-145.99,-1.17,0.00,3145.9,3167.2,3124.6,2270.2,2112.0,242.27,-7.47,271,1979.86,0.00,0.29,0.00,0.000,0.111,0.000,3146.38,3167.88,3124.88,2223.62,2113.25,0,0,0,30.00,15.81,30.00
$GC,2276.54,516,-145.99,-1.17,-80.00,3146.3,3168.0,3124.6,2224.1,2112.8,271.58,-9.91,301,2288.32,0.00,0.00,3.97,0.000,0.000,0.203,3147.25,3169.75,3124.75,2224.62,636.12,0,0,0,30.00,30.00,15.75
$GC,2327.04,3205,-145.99,-1.07,0.00,3145.4,3167.2,3123.6,2223.7,636.5,277.18,-11.46,311,2334.07,0.00,0.31,3.59,0.000,0.191,0.114,3145.47,3167.06,3123.88,2260.69,2113.44,0,0,0,30.00,15.77,15.80
$STATE,2602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2602,begin apogee
$GC,2603.23,10243,0.00,-0.25,0.00,3146.9,3169.1,3124.7,2260.8,2210.7,300.25,-8.03,339,2731.58,123.98,1.46,0.05,1.858,0.176,0.354,2546.72,2610.75,2482.69,2459.94,2186.50,0,0,0,11.72,15.80,15.17
$STATE,2734,end apogee,CONTROL_FINISHED_OK
$STATE,2734,begin climb
$GC,2733.98,10503,145.99,1.06,80.00,2547.5,2610.5,2484.5,2460.6,2186.9,303.07,0.00,345,2869.68,127.81,2.24,3.42,1.744,0.130,0.196,1952.00,2057.38,1846.62,2781.25,3406.88,0,0,0,11.42,15.17,14.84
$GC,2871.93,5253,145.99,0.79,0.00,1949.7,2052.5,1846.8,2778.6,3406.4,291.67,11.26,366,2879.48,0.00,0.62,3.18,0.000,0.215,0.106,1951.09,2054.25,1847.94,2704.50,2184.94,0,0,0,30.00,14.89,14.92
$GC,3177.93,16902,145.99,0.79,-80.00,1940.1,2037.2,1842.9,2705.6,2185.0,261.90,9.18,397,3185.45,0.00,0.00,4.00,0.000,0.000,0.193,1939.34,2036.44,1842.25,2705.94,737.00,0,0,0,30.00,30.00,15.24
$GC,3234.47,17542,145.99,0.73,0.00,1938.5,2034.7,1842.4,2705.4,736.9,256.27,10.38,408,3241.75,0.00,0.00,3.66,0.000,0.000,0.108,1940.78,2037.69,1843.88,2703.94,2210.25,0,0,0,30.00,30.00,15.35
$GC,3539.35,16386,145.99,0.73,0.00,1938.8,2033.7,1843.9,2706.0,2210.8,229.08,8.99,439,3543.27,0.00,0.00,0.00,0.000,0.000,0.000,1938.53,2033.62,1843.44,2703.12,2211.25,0,0,0,30.00,30.00,30.00
$GC,3840.14,16646,145.99,0.73,80.00,1937.5,2031.5,1843.5,2705.1,2211.4,203.69,8.23,469,3846.89,0.00,0.00,3.12,0.000,0.000,0.179,1935.84,2030.38,1841.31,2705.31,3406.50,0,0,0,30.00,30.00,15.55
$GC,3855.61,17414,145.99,0.73,0.00,1937.1,2030.6,1843.6,2705.6,3408.4,202.30,8.54,472,3862.80,0.00,0.00,3.00,0.000,0.000,0.094,1936.44,2029.56,1843.31,2705.12,2184.06,0,0,0,30.00,30.00,15.58
$GC,4160.52,10919,212.04,0.91,-80.00,1936.8,2029.8,1843.8,2706.1,2183.1,179.49,6.93,503,4227.22,57.44,0.27,3.93,1.649,0.117,0.179,1684.09,1790.62,1577.56,2747.56,736.25,0,0,0,11.70,15.66,15.26
$GC,4314.43,1028,212.04,0.91,0.00,1679.5,1780.9,1578.1,2747.8,735.9,166.01,9.26,534,4322.04,0.00,0.00,3.61,0.000,0.000,0.096,1679.91,1782.19,1577.62,2747.56,2213.81,0,0,0,30.00,30.00,15.43
$GC,4620.56,10663,291.42,1.09,80.00,1675.8,1775.9,1575.8,2747.6,2215.6,144.49,6.31,565,4697.43,70.58,0.22,3.18,1.589,0.113,0.177,1362.12,1474.06,1250.19,2789.56,3408.00,0,0,0,11.61,15.57,15.20
$GC,4724.58,1028,291.42,1.09,0.00,1358.5,1466.9,1250.1,2790.2,3406.6,135.93,9.02,586,4732.08,0.00,0.00,3.05,0.000,0.000,0.090,1359.00,1467.75,1250.25,2789.56,2183.50,0,0,0,30.00,30.00,15.29
$GC,5031.42,17030,291.42,1.16,-80.00,1353.2,1456.9,1249.6,2789.6,2183.9,109.43,9.06,617,5038.20,0.00,0.00,3.88,0.000,0.000,0.173,1353.78,1457.50,1250.06,2788.75,735.50,0,0,0,30.00,30.00,15.43
$GC,5116.96,17414,291.42,1.16,0.00,1351.7,1454.0,1249.4,2790.5,735.6,101.35,9.36,634,5124.01,0.00,0.00,3.58,0.000,0.000,0.094,1351.47,1453.88,1249.06,2789.12,2213.44,0,0,0,30.00,30.00,15.49
$GC,5421.72,19079,291.42,1.28,-80.00,1351.2,1452.9,1249.5,2790.0,2213.9,77.86,8.17,694,5429.28,0.00,0.26,3.89,0.000,0.110,0.165,1350.94,1452.75,1249.12,2835.50,735.19,0,0,0,30.00,15.62,15.56
$GC,5458.05,17542,291.42,1.22,0.00,1350.0,1450.8,1249.2,2834.0,735.2,74.10,10.43,701,5468.85,0.00,0.00,3.55,0.000,0.000,0.091,1350.59,1451.44,1249.75,2837.06,2216.31,0,0,0,30.00,30.00,15.58
$GC,5648.55,16646,291.42,1.22,80.00,1350.2,1450.9,1249.5,2835.5,2216.8,56.69,8.31,739,5655.81,0.00,0.00,3.08,0.000,0.000,0.171,1350.38,1451.19,1249.56,2837.00,3408.19,0,0,0,30.00,30.00,15.61
$GC,5689.51,17414,291.42,1.22,0.00,1348.9,1448.5,1249.3,2837.0,3407.6,53.18,8.52,747,5695.74,0.00,0.00,2.97,0.000,0.000,0.087,1350.12,1449.56,1250.69,2837.12,2179.06,0,0,0,30.00,30.00,15.67
$GC,5874.40,10919,422.44,1.48,-80.00,1349.1,1448.8,1249.4,2836.6,2178.8,44.14,3.91,784,6003.38,117.72,0.28,3.93,1.498,0.111,0.169,827.50,946.69,708.31,2883.62,735.69,0,0,0,11.60,15.68,15.14
$GC,6031.61,1156,422.44,1.56,0.00,824.7,941.8,707.7,2882.1,735.9,33.19,9.43,815,6039.20,0.00,0.00,3.64,0.000,0.000,0.090,824.41,941.12,707.69,2882.38,2216.00,0,0,0,30.00,30.00,15.26
$GC,6217.47,10403,517.78,1.89,0.00,821.5,935.0,708.1,2882.1,2216.0,21.10,5.56,852,6294.92,73.84,0.63,0.00,1.424,0.092,0.000,500.41,602.44,398.38,2984.06,2217.75,0,0,0,11.41,15.42,30.00
$STATE,6474,end climb,SURFACE_DEPTH_REACHED
$STATE,6474,begin surface coast
$FINISH,0.4,1.020203
$STATE,6509,end surface coast,CONTROL_FINISHED_OK
$STATE,6509,begin surface
$SM_CCo,6594.49,0.00,0.000,0,492.8,583.1,402.5,504.64
$SM_GC,2.75,0.00,18.17,0.31,0.000,0.087,0.130,492.8,583.1,402.5,218.9,2080.5,0,0,0,30.00,15.37,15.38
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7129.88,-15146.08,231020,075126
$TCM_TEMP,2.19
$SC_FREEKB,3820480
$PM_FREEKB_00,33291648
$PM_ACTIVECARD,0
$RAFOS_CLK,-23
$RAFOS_FIX,7128.128418,-15147.511719,231020,111122,0,1,0.18
$HUMID,52.79
$TEMP,-0.38
$INTERNAL_PRESSURE,7.64226
$24V_AH,14.40,85.377
$10V_AH,14.79,0.000
$FG_AHR_24Vo,81.251
$FG_AHR_10Vo,36.492
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,674.405,42.950,91.785,196.957,0.000,13.825,3841.538,3070.391,2272.582,0.000,0.000,0.000
$DEVICE_MAMPS,1857.544,311.352,353.992,218.349,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6526.000,6535.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.452,9.372,0.000,0.000
$MEM,1152216,33,24532,81
$DATA_FILE_SIZE,25698,910
$CAP_FILE_SIZE,224547,0
$SDSIZE,3918848,3760992
$SDFILEDIR,1450,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.067,318.1,1
$GPS,231020,113609,7128.307,-15148.009,28,1.0,29,15.2