version: 67.00
glider: 235
mission: 6
dive: 189
start: 10 23 120 23 25 10
data:
$ID,235
$MISSION,6
$DIVE,189
$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,36.811485
$FG_AHR_24V,82.995461
$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
$GPS1,231020,231809,7127.347,-15149.799,17,0.9,18,15.2
$_CALLS,1
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-69.9
$GPS2,231020,232437,7127.395,-15149.940,4,0.9,6,15.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SHELF
$TGT_LATLONG,7130.000,-15200.000
$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,288.9,7631,-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,11.92,16386,-145.99,-1.06,0.00,490.7,567.1,414.2,217.8,2115.1,0.00,0.00,0,60.42,45.79,0.00,0.00,0.005,0.000,0.000,1321.50,1333.00,1310.00,218.00,2115.75,0,0,0,15.49,30.00,30.00
$GC,60.72,18983,-145.99,-1.06,-80.00,1321.1,1332.5,1309.7,217.9,2115.9,3.31,-2.70,9,145.84,54.53,17.31,3.95,0.005,0.305,0.171,3147.44,3166.81,3128.06,2262.31,635.56,0,0,0,15.44,15.38,15.48
$GC,319.60,3205,-145.99,-0.91,0.00,3148.1,3170.0,3126.2,2262.5,635.4,59.93,-17.60,60,330.66,0.00,0.27,3.60,0.000,0.200,0.098,3147.31,3169.31,3125.31,2299.38,2115.12,0,0,0,30.00,15.54,15.48
$GC,509.75,128,-145.99,-0.98,0.00,3146.7,3168.8,3124.6,2299.5,2114.6,85.09,-12.46,98,515.41,0.00,0.00,0.00,0.000,0.000,0.000,3146.78,3168.44,3125.12,2298.75,2114.69,0,0,0,30.00,30.00,30.00
$GC,694.71,4741,-145.99,-1.06,-80.00,3147.5,3169.2,3125.8,2299.4,2115.0,107.18,-11.99,129,706.54,0.00,0.34,3.92,0.000,0.103,0.177,3148.06,3170.38,3125.75,2251.38,636.75,0,0,0,30.00,15.67,15.61
$GC,708.69,1028,-145.99,-1.06,0.00,3146.1,3168.4,3123.8,2249.4,636.7,109.19,-12.39,132,716.75,0.00,0.00,3.57,0.000,0.000,0.093,3147.16,3168.56,3125.75,2250.00,2116.44,0,0,0,30.00,30.00,15.66
$GC,1015.44,0,-145.99,-1.06,0.00,3146.5,3168.5,3124.5,2250.4,2115.3,151.43,-13.94,163,1019.36,0.00,0.00,0.00,0.000,0.000,0.000,3148.38,3171.06,3125.69,2247.44,2116.00,0,0,0,30.00,30.00,30.00
$GC,1315.24,516,-145.99,-1.06,-80.00,3147.6,3169.2,3125.9,2249.4,2116.5,187.70,-10.86,193,1322.40,0.00,0.00,3.97,0.000,0.000,0.191,3147.50,3170.06,3124.94,2250.50,636.56,0,0,0,30.00,30.00,15.66
$GC,1404.62,1028,-145.99,-1.06,0.00,3146.8,3168.8,3124.9,2250.0,636.6,197.51,-10.55,211,1412.62,0.00,0.00,3.58,0.000,0.000,0.107,3146.84,3168.69,3125.00,2250.56,2113.06,0,0,0,30.00,30.00,15.63
$GC,1711.10,644,-145.99,-1.12,-80.00,3147.0,3169.1,3124.9,2250.0,2112.9,224.94,-8.70,242,1718.19,0.00,0.00,3.97,0.000,0.000,0.196,3146.91,3169.38,3124.44,2249.69,635.56,0,0,0,30.00,30.00,15.61
$GC,1746.91,1028,-145.99,-1.12,0.00,3147.1,3169.2,3124.9,2250.5,635.8,228.51,-9.96,249,1753.86,0.00,0.00,3.59,0.000,0.000,0.110,3144.81,3166.62,3123.00,2250.00,2110.12,0,0,0,30.00,30.00,15.77
$GC,2051.93,388,-145.99,-1.19,80.00,3146.5,3169.5,3123.6,2250.8,2110.3,255.14,-9.00,280,2058.88,0.00,0.00,3.40,0.000,0.000,0.198,3146.72,3167.56,3125.88,2248.75,3407.12,0,0,0,30.00,30.00,15.66
$GC,2101.03,1028,-145.99,-1.19,0.00,3146.2,3169.1,3123.2,2250.2,3407.5,260.15,-10.15,290,2109.09,0.00,0.00,3.26,0.000,0.000,0.116,3146.94,3170.25,3123.62,2251.50,2087.12,0,0,0,30.00,30.00,15.79
$GC,2409.62,4741,-145.99,-1.27,-80.00,3146.4,3169.1,3123.8,2250.8,2086.5,286.88,-8.36,321,2416.90,0.00,0.26,3.92,0.000,0.114,0.211,3145.16,3169.12,3121.19,2198.06,638.06,0,0,0,30.00,15.82,15.64
$GC,2459.13,3205,-145.99,-1.08,0.00,3146.2,3170.2,3122.1,2198.8,637.6,292.74,-12.21,331,2467.23,0.00,0.47,3.60,0.000,0.203,0.117,3146.44,3169.12,3123.75,2257.25,2110.75,0,0,0,30.00,15.75,15.78
$STATE,2545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2546,begin apogee
$GC,2546.87,10243,0.00,-0.25,0.00,3145.8,3169.4,3122.1,2257.8,2210.0,300.12,-8.11,340,2675.02,124.13,1.46,0.05,1.854,0.175,0.360,2547.53,2612.88,2482.19,2458.69,2185.69,0,0,0,11.72,15.74,15.13
$STATE,2677,end apogee,CONTROL_FINISHED_OK
$STATE,2677,begin climb
$GC,2677.51,10243,145.99,1.06,0.00,2547.7,2612.1,2483.2,2459.1,2185.8,302.55,0.00,346,2810.39,128.01,2.23,0.00,1.733,0.125,0.000,1954.06,2060.06,1848.06,2777.38,2186.62,0,0,0,11.40,15.13,30.00
$GC,3105.93,20611,145.99,0.83,0.00,1941.4,2036.8,1845.9,2777.4,2185.4,250.73,13.59,387,3109.02,0.00,0.50,0.00,0.000,0.207,0.000,1942.28,2037.50,1847.06,2714.94,2185.81,0,0,0,30.00,15.23,30.00
$GC,3405.92,16646,145.99,0.83,80.00,1940.6,2036.6,1844.6,2715.5,2185.9,221.56,9.33,417,3412.60,0.00,0.00,3.26,0.000,0.000,0.183,1939.28,2033.31,1845.25,2714.25,3408.00,0,0,0,30.00,30.00,15.37
$GC,3434.82,17542,145.99,0.78,0.00,1938.2,2031.9,1844.5,2715.4,3407.4,218.53,9.89,423,3442.27,0.00,0.00,3.04,0.000,0.000,0.096,1938.97,2032.50,1845.44,2715.94,2184.88,0,0,0,30.00,30.00,15.42
$GC,3741.08,8226,190.12,0.83,0.00,1938.4,2031.6,1845.2,2715.9,2184.8,192.16,7.95,454,3782.42,38.31,0.00,0.00,1.640,0.000,0.000,1774.44,1878.62,1670.25,2713.88,2184.81,0,0,0,11.60,30.00,30.00
$GC,4081.73,10919,265.02,1.08,-80.00,1767.8,1868.1,1667.4,2715.2,2184.7,167.72,6.52,489,4157.94,67.21,0.46,3.98,1.610,0.099,0.177,1468.22,1575.25,1361.19,2786.19,737.19,0,0,0,11.57,15.46,15.11
$GC,4241.65,1156,265.02,1.03,0.00,1462.7,1564.9,1360.5,2786.7,736.9,151.56,10.88,521,4248.85,0.00,0.00,3.65,0.000,0.000,0.095,1462.88,1565.06,1360.69,2786.06,2213.12,0,0,0,30.00,30.00,15.22
$GC,4546.46,16646,265.02,1.03,80.00,1460.3,1559.9,1360.7,2786.9,2214.3,124.80,8.47,552,4553.81,0.00,0.00,3.15,0.000,0.000,0.175,1459.00,1558.50,1359.50,2787.38,3406.88,0,0,0,30.00,30.00,15.39
$GC,4565.95,17414,265.02,1.03,0.00,1458.8,1556.9,1360.6,2787.1,3408.0,122.95,8.79,556,4573.54,0.00,0.00,3.02,0.000,0.000,0.089,1459.75,1557.50,1362.00,2786.81,2184.19,0,0,0,30.00,30.00,15.44
$MODEM_MSG,CACST,6,1,20201024000517.956750,18,215,-12,0111,0150,432,02,02,06,04,-1,-01,-01,1,3,0,0,150,-6.1,0.60,-100,2.40,-01,0.05,58,925,0025*1A
$MODEM_MSG,CACST,6,1,20201024000730.758606,18,57,-24,0103,0150,07,01,01,07,03,-1,-01,-01,1,3,0,0,150,39.7,0.29,-100,2.71,-01,-0.02,30,925,0025*26
$MODEM_MSG,CACST,6,1,20201024000934.051318,18,985,17,0274,0150,171,01,01,02,01,-1,-01,-01,1,3,0,0,150,49.5,0.39,-100,2.61,-01,-0.01,22,925,0025*0D
$MODEM_MSG,CACST,6,1,20201024001651.761110,18,53,-18,0101,0150,171,01,01,06,01,-1,-01,-01,1,3,0,0,150,-12.4,0.49,-100,2.51,-01,0.03,24,925,0025*1E
$MODEM_MSG,CACST,6,1,20201024002226.312224,18,268,-17,0158,0150,171,00,00,07,03,-1,-01,-01,1,3,0,0,150,-18.7,0.50,-100,2.50,-01,0.00,25,925,0025*2F
$MODEM_MSG,CACST,6,1,20201024002802.901046,18,1149,24,0233,0150,432,02,02,01,04,-1,-01,-01,1,3,0,0,150,-10.2,0.36,-100,2.64,-01,-0.05,59,925,0025*19
$MODEM_MSG,CACST,6,1,20201024003555.850911,18,109,-21,0205,0150,432,02,02,07,04,-1,-01,-01,1,3,0,0,150,-2.2,0.53,-100,2.47,-01,0.04,57,925,0025*18
$GC,4872.10,8870,313.79,1.15,-80.00,1458.2,1555.6,1360.7,2786.9,2185.2,98.32,7.73,589,4925.07,44.24,0.00,3.91,1.547,0.000,0.175,1270.38,1378.19,1162.56,2787.31,737.12,0,0,0,11.53,30.00,15.30
$GC,4944.05,3205,313.79,1.24,0.00,1268.6,1375.1,1162.2,2787.4,736.4,92.11,9.04,603,4954.36,0.00,0.20,3.62,0.000,0.120,0.092,1268.16,1374.31,1162.00,2825.19,2214.50,0,0,0,30.00,15.37,15.36
$GC,5133.50,0,313.79,1.24,0.00,1265.4,1368.8,1162.1,2825.1,2215.0,73.53,9.30,641,5139.07,0.00,0.00,0.00,0.000,0.000,0.000,1265.84,1369.44,1162.25,2825.12,2215.44,0,0,0,30.00,30.00,30.00
$GC,5318.38,10403,359.63,1.37,0.00,1264.3,1367.1,1161.5,2825.2,2214.8,57.91,7.87,678,5365.04,42.69,0.17,0.00,1.502,0.121,0.000,1084.84,1197.56,972.12,2857.69,2214.50,0,0,0,11.62,15.54,30.00
$GC,5543.48,10919,438.53,1.58,-80.00,1078.8,1187.2,970.4,2858.1,2215.1,40.34,6.33,723,5625.99,72.38,0.30,4.01,1.465,0.104,0.164,761.88,877.88,645.88,2911.88,734.88,0,0,0,11.52,15.47,15.08
$GC,5850.02,11431,488.69,1.72,0.00,757.1,866.2,647.9,2911.4,734.9,13.93,7.67,784,5906.81,47.21,0.17,3.62,1.417,0.127,0.095,557.78,661.81,453.75,2943.75,2217.25,0,0,0,11.50,15.40,15.31
$GC,6085.09,10919,625.50,2.21,-80.00,552.8,651.6,453.9,2944.2,2217.1,2.28,3.64,831,6096.18,7.40,0.74,0.00,1.106,0.091,0.000,535.09,631.31,438.88,3061.50,2217.75,0,0,0,11.49,15.39,30.00
$STATE,6096,end climb,SURFACE_DEPTH_REACHED
$STATE,6096,begin surface coast
$FINISH,0.3,1.008942
$STATE,6155,end surface coast,CONTROL_FINISHED_OK
$STATE,6155,begin surface
$SM_CCo,6192.38,8.94,1.394,0,500.8,582.5,419.1,502.67
$SM_CCo,6193.51,0.00,0.008,0,500.4,582.1,418.8,502.77
$SM_CCo,6194.63,0.00,0.009,0,500.4,582.1,418.8,502.76
$SM_GC,4.95,0.00,18.56,0.32,0.009,0.085,0.132,500.4,582.1,418.8,216.6,2080.6,0,0,0,30.36,15.41,15.41
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7127.40,-15149.29,231020,213017
$TCM_TEMP,2.25
$SC_FREEKB,3818240
$PM_FREEKB_00,32667584
$PM_ACTIVECARD,0
$RAFOS_CLK,-7
$MODEM,6,1603499755,75.33060,-142.67570,55.851,81821.6
$MODEM,4,1603499282,76.55490,-139.99944,182.901,267950.0
$MODEM,3,1603498946,75.26195,-145.59448,146.312,214347.4
$MODEM,2,1603498611,75.67648,-146.03058,111.761,163730.0
$MODEM,0,1603497917,74.83892,-145.28152,17.957,26306.6
$RAFOS_FIX,7419.267090,-14257.531250,241020,000055,5,255,97.26
$HUMID,52.57
$TEMP,-0.27
$INTERNAL_PRESSURE,7.64102
$24V_AH,14.37,87.756
$10V_AH,14.77,0.000
$FG_AHR_24Vo,83.272
$FG_AHR_10Vo,36.874
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,680.840,43.440,80.260,254.134,0.000,15.523,3777.395,2820.691,2146.078,2212.000,0.000,0.000
$DEVICE_MAMPS,1853.936,304.792,360.224,205.087,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6168.000,6179.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.471,9.379,0.000,0.000
$MEM,1152208,34,24520,81
$DATA_FILE_SIZE,25680,845
$CAP_FILE_SIZE,218050,0
$SDSIZE,3918848,3758944
$SDFILEDIR,1506,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.110,328.9,1
$GPS,241020,011131,7128.062,-15152.508,148,0.9,149,15.2