version: 67.00
glider: 235
mission: 6
dive: 184
start: 10 23 120 13 35 29
data:
$ID,235
$MISSION,6
$DIVE,184
$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,36.557297
$FG_AHR_24V,81.550011
$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
$GPS1,231020,132939,7127.824,-15147.150,28,1.5,28,15.2
$_CALLS,1
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-68.8
$GPS2,231020,133456,7127.856,-15147.220,3,1.4,5,15.2
$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,142.9,5620,-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,11.86,16386,-145.99,-1.06,0.00,492.4,568.9,415.9,217.9,2115.9,0.00,0.00,0,65.52,50.90,0.00,0.00,0.005,0.000,0.000,1404.66,1412.88,1396.44,218.25,2115.19,0,0,0,15.43,30.00,30.00
$GC,65.77,18727,-145.99,-1.06,80.00,1404.6,1413.6,1395.6,217.4,2116.8,3.10,-2.04,10,146.84,54.03,17.41,3.37,0.005,0.307,0.170,3142.72,3161.25,3124.19,2264.88,3407.62,0,0,0,15.45,15.30,15.44
$GC,165.58,3205,-145.99,-0.70,0.00,3144.6,3163.6,3125.7,2260.5,3408.4,23.80,-27.30,29,176.15,0.00,0.67,3.29,0.000,0.201,0.096,3147.56,3167.62,3127.50,2350.81,2080.69,0,0,0,30.00,15.48,15.43
$GC,355.58,4741,-145.99,-0.87,-80.00,3147.1,3168.1,3126.1,2351.9,2082.9,54.29,-11.96,67,367.01,0.00,0.37,3.87,0.000,0.097,0.175,3147.88,3168.56,3127.19,2298.94,636.81,0,0,0,30.00,15.59,15.51
$GC,451.12,1028,-145.99,-0.87,0.00,3145.0,3166.8,3123.2,2298.4,636.3,69.15,-15.15,86,462.42,0.00,0.00,3.58,0.000,0.000,0.093,3146.06,3167.25,3124.88,2298.75,2115.00,0,0,0,30.00,30.00,15.56
$GC,641.65,0,-145.99,-0.87,0.00,3146.5,3167.3,3125.7,2298.2,2115.6,94.16,-12.61,124,646.83,0.00,0.00,0.00,0.000,0.000,0.000,3146.72,3167.06,3126.38,2296.75,2115.44,0,0,0,30.00,30.00,30.00
$GC,831.57,644,-145.99,-0.91,-80.00,3146.8,3168.4,3125.2,2297.2,2116.9,118.06,-12.73,148,838.57,0.00,0.00,3.97,0.000,0.000,0.178,3146.12,3167.00,3125.25,2297.88,635.31,0,0,0,30.00,30.00,15.62
$GC,857.28,1028,-145.99,-0.91,0.00,3147.1,3168.9,3125.3,2297.5,635.6,121.49,-13.05,153,864.26,0.00,0.00,3.57,0.000,0.000,0.093,3145.81,3168.56,3123.06,2297.56,2115.75,0,0,0,30.00,30.00,15.63
$GC,1162.35,128,-145.99,-1.01,0.00,3146.5,3168.4,3124.6,2298.2,2115.6,157.13,-10.63,184,1165.24,0.00,0.00,0.00,0.000,0.000,0.000,3144.91,3165.62,3124.19,2298.69,2116.75,0,0,0,30.00,30.00,30.00
$GC,1462.47,4741,-145.99,-1.16,-80.00,3146.2,3167.9,3124.6,2298.3,2116.1,186.32,-8.88,214,1474.01,0.00,0.41,3.99,0.000,0.098,0.192,3147.31,3168.56,3126.06,2224.81,637.69,0,0,0,30.00,15.76,15.68
$GC,1516.16,3205,-145.99,-0.99,0.00,3146.8,3168.9,3124.8,2224.6,637.9,193.37,-14.05,225,1524.36,0.00,0.44,3.58,0.000,0.193,0.105,3147.16,3168.50,3125.81,2279.88,2113.88,0,0,0,30.00,15.71,15.75
$GC,1822.58,4257,-145.99,-1.15,0.00,3146.8,3167.9,3125.7,2280.1,2113.2,219.37,-7.82,256,1825.62,0.00,0.32,0.00,0.000,0.113,0.000,3146.66,3168.94,3124.38,2230.88,2114.44,0,0,0,30.00,15.79,30.00
$GC,2122.88,516,-145.99,-1.15,-80.00,3146.7,3168.2,3125.1,2230.8,2113.8,249.23,-10.14,286,2129.83,0.00,0.00,3.99,0.000,0.000,0.201,3146.62,3167.25,3126.00,2228.81,637.31,0,0,0,30.00,30.00,15.74
$GC,2222.00,3205,-145.99,-1.05,0.00,3146.1,3168.4,3123.8,2230.8,637.6,260.34,-11.17,306,2230.15,0.00,0.30,3.61,0.000,0.193,0.115,3147.47,3169.81,3125.12,2267.19,2112.94,0,0,0,30.00,15.78,15.79
$GC,2528.53,4257,-145.99,-1.19,0.00,3145.5,3167.4,3123.7,2267.1,2114.2,284.28,-7.52,337,2532.55,0.00,0.31,0.00,0.000,0.114,0.000,3145.97,3168.25,3123.69,2218.00,2113.25,0,0,0,30.00,15.84,30.00
$STATE,2708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2709,begin apogee
$GC,2709.83,10243,0.00,-0.25,0.00,3145.9,3168.5,3123.3,2218.8,2210.1,300.70,-9.28,355,2837.88,123.95,1.81,0.05,1.855,0.183,0.359,2546.50,2610.38,2482.62,2458.88,2188.38,0,0,0,11.77,15.80,15.18
$STATE,2841,end apogee,CONTROL_FINISHED_OK
$STATE,2841,begin climb
$GC,2840.94,10503,145.99,1.06,80.00,2547.0,2610.6,2483.4,2460.1,2186.7,303.00,0.00,361,2980.61,127.74,2.25,3.44,1.736,0.127,0.200,1952.53,2057.56,1847.50,2778.81,3408.06,0,0,0,11.48,15.17,14.84
$GC,2999.52,5253,145.99,0.74,0.00,1948.3,2050.1,1846.6,2777.9,3407.9,288.29,14.22,391,3006.99,0.00,0.69,3.19,0.000,0.216,0.109,1948.78,2049.75,1847.81,2695.06,2188.00,0,0,0,30.00,14.95,14.98
$GC,3304.39,16902,145.99,0.74,-80.00,1939.8,2037.2,1842.4,2694.7,2187.2,259.05,8.84,422,3311.95,0.00,0.00,4.05,0.000,0.000,0.193,1939.19,2036.38,1842.00,2695.50,737.38,0,0,0,30.00,30.00,15.29
$GC,3330.65,17414,145.99,0.74,0.00,1939.8,2036.4,1843.2,2694.9,736.9,256.69,8.92,427,3337.64,0.00,0.00,3.66,0.000,0.000,0.104,1938.38,2035.25,1841.50,2696.50,2211.25,0,0,0,30.00,30.00,15.35
$GC,3636.00,10919,191.30,0.85,-80.00,1938.3,2033.4,1843.3,2695.6,2211.6,230.69,7.89,458,3683.70,39.64,0.25,4.09,1.661,0.117,0.182,1766.28,1871.12,1661.44,2732.69,737.44,0,0,0,11.70,15.51,15.25
$GC,3715.86,1156,191.30,0.79,0.00,1765.6,1867.6,1663.7,2731.4,737.1,222.03,11.16,474,3723.46,0.00,0.00,3.65,0.000,0.000,0.098,1765.78,1868.19,1663.38,2731.50,2212.12,0,0,0,30.00,30.00,15.33
$GC,4021.95,16646,191.30,0.79,80.00,1761.4,1860.8,1661.9,2731.4,2212.6,192.16,8.60,505,4028.33,0.00,0.00,3.14,0.000,0.000,0.177,1760.34,1860.00,1660.69,2731.50,3407.56,0,0,0,30.00,30.00,15.37
$GC,4070.90,17414,191.30,0.79,0.00,1759.8,1858.1,1661.5,2732.4,3406.2,187.27,9.79,515,4078.41,0.00,0.00,3.05,0.000,0.000,0.093,1761.19,1860.31,1662.06,2731.12,2181.62,0,0,0,30.00,30.00,15.52
$GC,4377.81,8870,261.71,0.96,-80.00,1760.0,1859.0,1661.1,2731.3,2182.4,164.61,6.72,546,4450.34,62.74,0.00,3.99,1.622,0.000,0.178,1480.88,1588.44,1373.31,2731.31,736.31,0,0,0,11.67,30.00,15.21
$GC,4529.15,11431,315.47,1.17,0.00,1476.3,1580.1,1372.4,2731.6,736.1,154.04,7.50,576,4585.51,48.79,0.47,3.62,1.561,0.098,0.095,1264.22,1378.44,1150.00,2809.19,2215.25,0,0,0,11.47,15.38,15.28
$GC,4889.66,260,315.47,1.17,80.00,1256.5,1363.0,1150.1,2809.5,2215.3,117.46,9.78,618,4896.35,0.00,0.00,3.15,0.000,0.000,0.174,1256.00,1362.56,1149.44,2809.06,3408.06,0,0,0,30.00,30.00,15.32
$GC,4918.49,17414,315.47,1.17,0.00,1255.1,1360.5,1149.7,2810.0,3409.8,114.39,9.73,624,4926.00,0.00,0.00,3.05,0.000,0.000,0.089,1255.06,1360.00,1150.12,2809.31,2182.06,0,0,0,30.00,30.00,15.44
$GC,5224.77,17030,315.47,1.24,-80.00,1253.2,1356.9,1149.6,2809.5,2182.6,85.65,9.60,670,5236.14,0.00,0.00,3.88,0.000,0.000,0.171,1253.69,1357.38,1150.00,2810.19,736.75,0,0,0,30.00,30.00,15.51
$GC,5285.11,17414,315.47,1.24,0.00,1252.4,1355.3,1149.4,2809.9,737.2,79.43,10.38,682,5291.63,0.00,0.00,3.57,0.000,0.000,0.092,1252.94,1356.06,1149.81,2808.88,2216.25,0,0,0,30.00,30.00,15.56
$GC,5470.50,10403,366.88,1.40,0.00,1252.8,1355.8,1149.8,2809.8,2216.1,64.90,7.61,719,5522.16,46.79,0.32,0.00,1.520,0.103,0.000,1054.53,1167.00,942.06,2866.38,2216.88,0,0,0,11.63,15.61,30.00
$GC,5700.41,644,366.88,1.48,-80.00,1050.0,1158.9,941.1,2865.0,2216.8,43.43,8.25,765,5708.00,0.00,0.00,3.97,0.000,0.000,0.161,1050.12,1158.88,941.38,2863.62,735.44,0,0,0,30.00,30.00,15.46
$GC,5741.26,11431,424.75,1.61,0.00,1048.0,1155.2,940.7,2864.1,735.7,40.47,7.31,773,5803.90,53.99,0.29,3.58,1.473,0.111,0.090,818.81,933.06,704.56,2917.00,2217.75,0,0,0,11.54,15.49,15.40
$GC,5982.93,10403,478.28,1.78,0.00,814.1,923.6,704.6,2916.5,2217.4,21.63,7.51,821,6039.75,50.33,0.22,0.00,1.430,0.115,0.000,601.03,708.94,493.12,2955.19,2216.06,0,0,0,11.56,15.43,30.00
$GC,6218.76,10663,603.60,2.14,80.00,595.6,698.2,493.0,2956.4,2217.6,6.36,4.17,868,6250.09,24.66,0.55,3.16,1.380,0.095,0.170,500.12,595.12,405.12,3046.75,3408.81,0,0,0,11.53,15.40,15.18
$STATE,6283,end climb,SURFACE_DEPTH_REACHED
$STATE,6283,begin surface coast
$FINISH,0.5,1.021044
$STATE,6308,end surface coast,CONTROL_FINISHED_OK
$STATE,6308,begin surface
$SM_CCo,6397.49,0.00,0.000,0,496.5,584.7,408.4,503.72
$SM_GC,1.88,0.00,18.49,3.31,0.000,0.082,0.092,496.5,584.7,408.4,219.6,2080.9,0,0,0,30.00,15.36,15.36
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7129.88,-15146.08,231020,113838
$TCM_TEMP,2.19
$SC_FREEKB,3819840
$PM_FREEKB_00,33113472
$PM_ACTIVECARD,0
$RAFOS_CLK,-22
$RAFOS_FIX,7127.127441,-15146.034180,231020,151534,0,1,0.24
$HUMID,52.91
$TEMP,-0.41
$INTERNAL_PRESSURE,7.63964
$24V_AH,14.40,86.048
$10V_AH,14.79,0.000
$FG_AHR_24Vo,81.823
$FG_AHR_10Vo,36.595
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,683.555,45.565,100.685,182.836,0.000,14.749,3745.965,2952.367,2207.589,0.000,0.000,0.000
$DEVICE_MAMPS,1855.248,306.760,358.584,215.904,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6325.000,6335.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.585,9.369,0.000,0.000
$MEM,1152144,35,24564,81
$DATA_FILE_SIZE,25708,886
$CAP_FILE_SIZE,234818,0
$SDSIZE,3918848,3760448
$SDFILEDIR,1464,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.053,334.8,1
$GPS,231020,152355,7127.294,-15146.325,29,0.6,75,15.2