version: 67.00
glider: 235
mission: 6
dive: 183
start: 10 23 120 11 42 21
data:
$ID,235
$MISSION,6
$DIVE,183
$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,36.49342
$FG_AHR_24V,81.263832
$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
$GPS1,231020,113609,7128.307,-15148.009,28,1.0,29,15.2
$_CALLS,1
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.4
$GPS2,231020,114148,7128.337,-15148.095,4,0.9,7,15.2
$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,138.2,6637,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,11.84,16386,-145.99,-1.06,0.00,489.6,566.9,412.3,219.1,2114.4,0.00,0.00,0,65.49,50.90,0.00,0.00,0.005,0.000,0.000,1403.47,1414.12,1392.81,219.12,2113.38,0,0,0,15.45,30.00,30.00
$GC,65.74,18727,-145.99,-1.06,80.00,1402.2,1412.6,1391.8,219.1,2115.8,3.13,-2.56,10,151.30,55.26,17.44,3.36,0.005,0.310,0.168,3146.31,3166.06,3126.56,2261.19,3409.88,0,0,0,15.44,15.39,15.45
$GC,159.87,3205,-145.99,-0.65,0.00,3145.0,3164.9,3125.2,2261.9,3409.2,21.31,-26.50,28,170.83,0.00,0.75,3.29,0.000,0.203,0.097,3145.44,3165.62,3125.25,2360.69,2081.69,0,0,0,30.00,15.46,15.52
$GC,350.41,4741,-145.99,-0.83,-80.00,3145.8,3167.2,3124.4,2362.4,2082.1,52.35,-11.91,66,361.38,0.00,0.38,3.85,0.000,0.098,0.176,3147.38,3168.62,3126.12,2305.25,635.81,0,0,0,30.00,15.61,15.53
$GC,450.50,1028,-145.99,-0.83,0.00,3148.3,3170.1,3126.6,2305.8,635.4,66.80,-14.43,86,456.80,0.00,0.00,3.58,0.000,0.000,0.096,3147.22,3168.56,3125.88,2306.06,2114.31,0,0,0,30.00,30.00,15.60
$GC,635.81,128,-145.99,-0.90,0.00,3146.2,3167.6,3124.9,2304.9,2114.9,90.78,-12.48,123,641.44,0.00,0.00,0.00,0.000,0.000,0.000,3147.31,3168.50,3126.12,2302.69,2114.62,0,0,0,30.00,30.00,30.00
$GC,826.02,644,-145.99,-0.97,-80.00,3146.8,3167.9,3125.8,2305.7,2113.9,113.19,-11.18,150,832.76,0.00,0.00,3.92,0.000,0.000,0.178,3147.59,3169.81,3125.38,2305.56,635.62,0,0,0,30.00,30.00,15.62
$GC,861.46,1028,-145.99,-0.97,0.00,3146.8,3169.1,3124.4,2305.0,635.7,117.71,-13.13,157,868.56,0.00,0.00,3.57,0.000,0.000,0.095,3146.69,3168.38,3125.00,2305.50,2116.25,0,0,0,30.00,30.00,15.67
$GC,1166.65,4741,-145.99,-1.10,-80.00,3147.2,3168.9,3125.6,2305.4,2115.1,152.11,-11.19,188,1178.23,0.00,0.35,3.94,0.000,0.108,0.184,3147.66,3169.56,3125.75,2241.62,636.06,0,0,0,30.00,15.73,15.62
$GC,1200.45,3205,-145.99,-0.98,0.00,3145.9,3167.2,3124.6,2242.5,636.4,157.02,-14.70,195,1208.54,0.00,0.33,3.56,0.000,0.197,0.099,3148.16,3169.50,3126.81,2281.88,2112.19,0,0,0,30.00,15.68,15.71
$GC,1509.82,4741,-145.99,-1.11,-80.00,3146.1,3167.5,3124.8,2281.6,2112.9,190.16,-9.18,226,1521.60,0.00,0.28,3.96,0.000,0.116,0.193,3148.41,3170.12,3126.69,2237.69,636.25,0,0,0,30.00,15.72,15.65
$GC,1523.76,1156,-145.99,-1.19,0.00,3146.7,3168.0,3125.3,2237.1,636.6,191.74,-9.24,229,1531.81,0.00,0.00,3.56,0.000,0.000,0.100,3147.44,3169.00,3125.88,2237.75,2113.12,0,0,0,30.00,30.00,15.71
$GC,1830.48,516,-145.99,-1.19,-80.00,3146.8,3168.8,3124.8,2237.2,2113.6,222.74,-10.04,260,1842.35,0.00,0.00,3.97,0.000,0.000,0.199,3148.25,3169.25,3127.25,2236.75,636.69,0,0,0,30.00,30.00,15.65
$GC,1864.52,1156,-145.99,-1.11,0.00,3146.9,3168.5,3125.2,2237.1,636.5,226.70,-11.07,267,1872.57,0.00,0.00,3.58,0.000,0.000,0.109,3147.41,3168.62,3126.19,2237.88,2113.88,0,0,0,30.00,30.00,15.68
$GC,2171.22,516,-145.99,-1.11,-80.00,3146.3,3167.6,3125.0,2237.8,2113.5,257.44,-10.10,298,2178.57,0.00,0.00,3.99,0.000,0.000,0.202,3147.38,3169.44,3125.31,2237.56,636.81,0,0,0,30.00,30.00,15.65
$GC,2260.74,3205,-145.99,-1.02,0.00,3145.7,3167.4,3123.9,2237.2,636.5,267.65,-11.57,316,2269.04,0.00,0.30,3.62,0.000,0.196,0.118,3145.59,3167.50,3123.69,2273.25,2111.69,0,0,0,30.00,15.67,15.70
$GC,2567.17,4257,-145.99,-1.19,0.00,3146.6,3169.5,3123.6,2273.6,2111.5,292.52,-7.54,347,2571.18,0.00,0.34,0.00,0.000,0.111,0.000,3146.66,3168.69,3124.62,2221.25,2112.19,0,0,0,30.00,15.72,30.00
$STATE,2657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2657,begin apogee
$GC,2658.75,10243,0.00,-0.25,0.00,3146.1,3168.2,3123.9,2221.0,2211.4,300.57,-9.12,356,2788.29,124.58,1.82,0.05,1.857,0.184,0.356,2549.75,2613.62,2485.88,2459.31,2188.44,0,0,0,11.59,15.68,15.07
$STATE,2791,end apogee,CONTROL_FINISHED_OK
$STATE,2791,begin climb
$GC,2790.83,10503,145.99,1.06,80.00,2547.7,2611.5,2483.8,2459.3,2187.9,303.05,0.00,362,2930.70,128.38,2.28,3.44,1.737,0.129,0.198,1951.16,2056.19,1846.12,2779.56,3406.75,0,0,0,11.44,15.08,14.78
$GC,2942.87,5253,145.99,0.76,0.00,1948.6,2050.6,1846.7,2778.7,3407.9,288.82,14.75,391,2950.53,0.00,0.67,3.21,0.000,0.216,0.109,1949.47,2051.62,1847.31,2700.69,2186.94,0,0,0,30.00,14.87,14.90
$GC,3249.71,16902,145.99,0.76,-80.00,1940.2,2036.9,1843.4,2700.6,2186.6,259.64,9.03,422,3260.95,0.00,0.00,4.05,0.000,0.000,0.195,1940.50,2037.31,1843.69,2700.69,737.75,0,0,0,30.00,30.00,15.21
$GC,3299.69,17414,145.99,0.76,0.00,1940.0,2036.3,1843.6,2700.0,737.9,254.50,10.45,432,3306.64,0.00,0.00,3.68,0.000,0.000,0.108,1938.44,2034.12,1842.75,2699.62,2211.44,0,0,0,30.00,30.00,15.29
$MODEM_MSG,CACST,6,1,20201023121250.277511,18,301,-5,0266,0150,171,01,01,05,01,-1,-01,-01,1,3,0,0,150,17.8,0.06,-100,2.94,-01,0.00,22,925,0025*3D
$MODEM_MSG,CACST,6,1,20201023122000.191418,18,279,-5,0260,0150,171,01,01,05,01,-1,-01,-01,1,3,0,0,150,-12.0,0.35,-100,2.65,-01,0.06,24,925,0025*18
$MODEM_MSG,CACST,6,1,20201023122838.013265,18,2692,10,0124,0150,171,01,01,04,01,-1,-01,-01,1,3,0,0,150,40.1,0.43,-100,2.57,-01,-0.08,32,925,0025*31
$GC,3604.95,16386,145.99,0.76,0.00,1938.7,2033.9,1843.5,2699.8,2210.8,227.98,8.14,463,3607.84,0.00,0.00,0.00,0.000,0.000,0.000,1937.72,2031.94,1843.50,2699.81,2211.38,0,0,0,30.00,30.00,30.00
$GC,3905.00,10403,191.20,0.88,0.00,1937.4,2031.6,1843.2,2699.9,2211.2,204.59,7.90,493,3947.45,39.56,0.25,0.00,1.655,0.120,0.000,1770.03,1873.75,1666.31,2737.38,2212.12,0,0,0,11.55,15.56,30.00
$GC,4245.04,8870,235.85,0.98,-80.00,1762.2,1862.6,1661.8,2737.5,2211.4,173.31,7.92,527,4297.08,40.61,0.00,4.01,1.608,0.000,0.174,1588.31,1694.31,1482.31,2738.94,737.81,0,0,0,11.65,30.00,15.27
$GC,4315.80,3205,235.85,1.06,0.00,1585.2,1688.8,1481.6,2737.1,737.4,167.51,8.12,541,4323.05,0.00,0.25,3.62,0.000,0.115,0.093,1585.88,1689.19,1482.56,2782.12,2213.94,0,0,0,30.00,15.35,15.34
$GC,4620.54,516,235.85,1.06,-80.00,1581.4,1680.8,1482.0,2784.1,2214.4,140.67,8.36,572,4628.05,0.00,0.00,3.96,0.000,0.000,0.169,1581.31,1680.62,1482.00,2784.25,735.00,0,0,0,30.00,30.00,15.46
$GC,4646.73,17414,235.85,1.06,0.00,1579.8,1678.8,1480.8,2784.1,735.2,138.27,8.77,577,4653.71,0.00,0.00,3.59,0.000,0.000,0.092,1580.44,1679.06,1481.81,2784.25,2215.56,0,0,0,30.00,30.00,15.52
$GC,4952.04,8486,289.97,1.13,80.00,1578.9,1676.6,1481.2,2785.0,2216.8,113.95,7.48,608,5008.54,49.30,0.00,3.16,1.567,0.000,0.176,1366.62,1475.25,1258.00,2783.12,3408.62,0,0,0,11.76,30.00,15.33
$GC,5020.70,11431,349.04,1.26,0.00,1365.8,1472.6,1258.9,2784.8,3408.0,108.78,7.25,617,5083.10,54.14,0.27,3.06,1.509,0.113,0.088,1127.19,1244.62,1009.75,2831.56,2182.25,0,0,0,11.46,15.39,15.40
$GC,5382.58,644,349.04,1.31,-80.00,1119.4,1229.8,1009.1,2831.4,2181.1,72.03,9.30,686,5393.55,0.00,0.00,3.90,0.000,0.000,0.170,1118.62,1227.62,1009.62,2831.75,736.19,0,0,0,30.00,30.00,15.36
$GC,5437.53,17414,349.04,1.31,0.00,1117.0,1225.2,1008.8,2831.7,735.8,66.38,10.47,697,5448.21,0.00,0.00,3.60,0.000,0.000,0.092,1117.47,1226.12,1008.81,2830.81,2215.44,0,0,0,30.00,30.00,15.46
$GC,5627.97,10919,395.48,1.48,-80.00,1117.1,1225.3,1008.9,2830.0,2215.4,49.97,7.84,735,5680.35,42.51,0.32,4.01,1.480,0.106,0.163,937.84,1051.31,824.38,2886.75,735.75,0,0,0,11.52,15.54,15.30
$GC,5703.57,1028,395.48,1.48,0.00,935.6,1047.1,824.2,2885.2,735.9,43.05,9.78,750,5711.10,0.00,0.00,3.61,0.000,0.000,0.089,936.03,1047.31,824.75,2885.19,2217.19,0,0,0,30.00,30.00,15.38
$GC,5890.11,10403,471.92,1.72,0.00,933.7,1043.4,824.0,2885.8,2218.4,30.75,6.44,787,5967.32,70.50,0.34,0.00,1.449,0.102,0.000,626.97,737.69,516.25,2940.50,2217.31,0,0,0,11.55,15.47,30.00
$GC,6146.11,10919,525.38,1.92,-80.00,621.5,726.7,516.3,2942.4,2218.1,10.48,7.51,838,6183.87,30.05,0.28,4.01,1.388,0.109,0.163,500.09,596.94,403.25,2990.44,736.12,0,0,0,11.46,15.37,15.23
$GC,6187.67,11431,602.28,2.13,0.00,499.6,596.1,403.0,2990.3,735.9,7.91,6.42,846,6195.11,0.00,0.29,3.63,0.000,0.113,0.086,499.16,595.19,403.12,3038.19,2215.56,0,0,0,30.00,15.28,15.28
$STATE,6263,end climb,SURFACE_DEPTH_REACHED
$STATE,6263,begin surface coast
$FINISH,0.7,1.022581
$STATE,6288,end surface coast,CONTROL_FINISHED_OK
$STATE,6288,begin surface
$SM_CCo,6374.49,0.00,0.000,0,496.2,588.2,404.2,503.78
$SM_GC,2.03,0.00,18.51,0.32,0.000,0.086,0.129,496.2,588.2,404.2,219.1,2081.0,0,0,0,30.00,15.37,15.37
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7130.85,-15152.06,231020,094135
$TCM_TEMP,2.18
$SC_FREEKB,3820160
$PM_FREEKB_00,33202688
$PM_ACTIVECARD,0
$RAFOS_CLK,-11
$MODEM,4,1603456118,76.55490,-139.99944,218.013,319389.4
$MODEM,3,1603455600,75.26195,-145.59448,0.191,280.4
$MODEM,1,1603455170,75.02295,-144.31340,170.278,249456.5
$RAFOS_FIX,7459.170410,-15004.263672,231020,121238,3,255,140.58
$HUMID,52.70
$TEMP,-0.36
$INTERNAL_PRESSURE,7.64347
$24V_AH,14.34,85.725
$10V_AH,14.80,0.000
$FG_AHR_24Vo,81.539
$FG_AHR_10Vo,36.556
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,685.785,45.470,110.960,206.902,0.000,15.531,3767.678,2936.935,2166.568,2211.000,0.000,0.000
$DEVICE_MAMPS,1856.888,309.712,355.960,214.004,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6305.000,6314.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.483,9.349,0.000,0.000
$MEM,1152200,34,24528,81
$DATA_FILE_SIZE,25713,866
$CAP_FILE_SIZE,245280,0
$SDSIZE,3918848,3760704
$SDFILEDIR,1457,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.065,332.1,1
$GPS,231020,132939,7127.824,-15147.150,28,1.5,28,15.2