version: 67.00
glider: 235
mission: 20
dive: 6
start: 5 25 122 6 46 40
data:
$ID,235
$MISSION,20
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,160
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,20
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,40
$T_DIVE,55
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,240
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72383
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,590.98499
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,3
$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,2030
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,15.873871
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$C_PITCH_AUTO_DELTA,0.5
$C_PITCH_AUTO_MAX,200
$PITCH_GAIN_AUTO_DELTA,0.5
$PITCH_GAIN_AUTO_MAX,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,1200
$ROLL_MAX,3900
$ROLL_DEG,80
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,30
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2950
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,2
$C_VBD_AUTO_DELTA,0.5
$C_VBD_AUTO_MAX,100
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,159.11096
$FG_AHR_24V,205.43233
$PHONE_SUPPLY,2
$PRESSURE_YINT,-158.7531
$PRESSURE_SLOPE,0.00022957686
$COMPASS_USE,49156
$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,96
$NAV_DEVICE,6
$NAV2_DEVICE,6
$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
$OPTIONS,2
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,250522,064145,4736.103,-12256.972,1,1.1,3,15.5
$_CALLS,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-57.4
$GPS2,250522,064604,4736.129,-12256.966,2,1.1,5,15.5
$SPEED_LIMITS,0.168,0.255
$TGT_NAME,N
$TGT_LATLONG,4737.000,-12256.400
$TGT_RADIUS,300.000
$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,8.2,1760,-17.1,-9.697,-20.82,2278,0.135
$D_GRID,166
$IRON,1.000000,-0.027890,-0.002849,-0.078325,1.115509,-0.015352,0.031133,-0.052401,1.102101,-982.333374,-1085.457031,-27.933456
$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,10,begin dive
$GC,10.95,16386,-146.63,-1.26,0.00,495.4,561.8,429.1,214.1,2724.9,0.00,0.00,0,100.35,85.89,0.00,0.00,0.005,0.000,0.000,2528.94,2528.19,2529.69,214.12,2724.44,0,0,0,15.80,30.00,30.00
$GC,100.60,18727,-146.63,-1.26,80.00,2527.6,2527.6,2527.6,214.2,2724.2,3.10,-2.04,17,156.25,30.53,11.70,2.93,0.005,0.259,0.120,3545.91,3572.69,3519.12,1725.19,3910.25,0,0,0,15.82,15.68,15.75
$GC,164.60,1060,-146.63,-1.26,0.00,3546.4,3572.7,3520.1,1724.6,3910.3,6.89,-5.92,29,170.80,0.00,0.00,2.70,0.000,0.000,0.063,3547.91,3574.88,3520.94,1725.00,2722.94,0,0,0,30.00,30.00,15.79
$GC,352.60,292,-146.63,-1.26,80.00,3548.6,3576.9,3520.2,1725.4,2722.1,17.91,-5.68,67,358.90,0.00,0.00,3.00,0.000,0.000,0.118,3549.47,3576.94,3522.00,1725.06,3910.88,0,0,0,30.00,30.00,15.82
$GC,586.68,1060,-146.63,-1.26,0.00,3549.3,3577.2,3521.4,1725.4,3910.6,30.70,-5.49,113,593.02,0.00,0.00,2.71,0.000,0.000,0.064,3550.81,3578.75,3522.88,1725.06,2723.94,0,0,0,30.00,30.00,15.90
$GC,776.74,292,-146.63,-1.26,80.00,3550.1,3578.9,3521.2,1725.1,2723.4,41.28,-5.91,151,783.19,0.00,0.00,2.97,0.000,0.000,0.118,3549.66,3578.69,3520.62,1725.25,3910.25,0,0,0,30.00,30.00,15.89
$GC,1009.70,1060,-146.63,-1.26,0.00,3549.3,3578.3,3520.4,1725.1,3911.8,57.20,-7.55,197,1015.30,0.00,0.00,2.73,0.000,0.000,0.066,3551.25,3579.94,3522.56,1725.12,2724.88,0,0,0,30.00,30.00,15.96
$GC,1199.72,292,-146.63,-1.26,80.00,3550.5,3580.0,3521.1,1724.9,2723.9,70.55,-6.67,217,1205.43,0.00,0.00,2.97,0.000,0.000,0.120,3550.62,3579.75,3521.50,1724.94,3910.81,0,0,0,30.00,30.00,15.94
$GC,1279.71,1028,-146.63,-1.26,0.00,3549.9,3578.9,3520.8,1724.6,3911.8,76.81,-8.05,233,1285.35,0.00,0.00,2.72,0.000,0.000,0.067,3551.44,3580.81,3522.06,1724.94,2725.12,0,0,0,30.00,30.00,15.98
$GC,1469.74,0,-146.63,-1.26,0.00,3551.3,3581.1,3521.6,1725.1,2725.1,91.36,-7.91,253,1471.30,0.00,0.00,0.00,0.000,0.000,0.000,3549.34,3577.88,3520.81,1724.88,2725.12,0,0,0,30.00,30.00,30.00
$GC,1659.76,260,-146.63,-1.26,80.00,3551.4,3580.1,3522.8,1725.4,2725.9,106.59,-8.05,272,1665.55,0.00,0.00,2.98,0.000,0.000,0.123,3549.25,3578.94,3519.56,1725.38,3910.19,0,0,0,30.00,30.00,15.97
$GC,1689.77,1028,-146.63,-1.26,0.00,3550.0,3579.2,3520.8,1725.4,3911.0,109.27,-8.39,278,1695.42,0.00,0.00,2.72,0.000,0.000,0.068,3550.84,3580.25,3521.44,1724.88,2725.00,0,0,0,30.00,30.00,16.01
$GC,1879.79,0,-146.63,-1.26,0.00,3550.6,3579.8,3521.4,1725.4,2726.5,125.45,-8.64,298,1881.35,0.00,0.00,0.00,0.000,0.000,0.000,3549.56,3578.38,3520.75,1724.88,2725.88,0,0,0,30.00,30.00,30.00
$GC,2069.82,260,-146.63,-1.26,80.00,3549.5,3578.7,3520.4,1725.1,2725.9,141.71,-8.76,317,2075.58,0.00,0.00,2.98,0.000,0.000,0.126,3550.38,3579.50,3521.25,1725.06,3909.31,0,0,0,30.00,30.00,15.99
$GC,2144.13,1028,-146.63,-1.26,0.00,3549.8,3579.8,3519.8,1725.1,3909.4,148.86,-9.58,332,2151.35,0.00,0.00,2.71,0.000,0.000,0.070,3551.00,3580.06,3521.94,1724.75,2725.06,0,0,0,30.00,30.00,16.02
$STATE,2280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2280,begin apogee
$GC,2281.42,10243,0.00,-0.31,0.00,3550.1,3579.1,3521.2,1725.2,2573.2,160.44,-8.61,346,2396.92,106.00,1.53,0.08,1.342,0.141,0.236,2948.03,3016.62,2879.44,1956.06,2624.00,0,0,0,12.23,15.98,15.55
$STATE,2400,end apogee,CONTROL_FINISHED_OK
$STATE,2400,begin climb
$GC,2400.55,10759,146.63,1.26,-80.00,2947.0,3013.3,2880.7,1955.8,2624.1,162.49,0.00,357,2527.51,110.57,2.54,3.66,1.282,0.091,0.134,2351.81,2434.50,2269.12,2337.75,1190.12,0,0,0,12.03,15.58,15.32
$GC,2530.34,1028,146.63,1.26,0.00,2348.3,2430.4,2266.2,2339.1,1190.7,149.11,13.89,374,2537.84,0.00,0.00,3.39,0.000,0.000,0.060,2349.38,2431.44,2267.31,2339.88,2621.31,0,0,0,30.00,30.00,15.40
$GC,2720.01,16646,146.63,1.26,80.00,2343.4,2422.8,2264.1,2339.4,2622.0,119.94,15.12,394,2726.13,0.00,0.00,3.31,0.000,0.000,0.127,2340.31,2420.12,2260.50,2339.50,3908.38,0,0,0,30.00,30.00,15.63
$GC,2760.02,17414,146.63,1.26,0.00,2342.5,2421.2,2263.9,2339.6,3909.1,113.68,15.55,402,2766.03,0.00,0.00,3.11,0.000,0.000,0.069,2341.78,2420.19,2263.38,2340.50,2577.06,0,0,0,30.00,30.00,15.69
$GC,2950.04,16386,146.63,1.26,0.00,2341.6,2419.9,2263.2,2338.6,2576.6,85.79,14.46,422,2951.64,0.00,0.00,0.00,0.000,0.000,0.000,2338.09,2416.56,2259.62,2339.81,2576.75,0,0,0,30.00,30.00,30.00
$GC,3140.07,16646,146.63,1.26,80.00,2340.5,2418.5,2262.4,2338.9,2575.9,58.38,14.23,441,3146.19,0.00,0.00,3.34,0.000,0.000,0.120,2339.78,2418.50,2261.06,2339.62,3910.75,0,0,0,30.00,30.00,15.81
$GC,3205.09,17414,146.63,1.26,0.00,2341.2,2418.5,2264.0,2339.6,3910.4,48.84,14.64,454,3211.77,0.00,0.00,3.09,0.000,0.000,0.069,2340.34,2416.69,2264.00,2339.62,2577.62,0,0,0,30.00,30.00,15.86
$GC,3393.68,16646,146.63,1.26,80.00,2340.5,2418.5,2262.6,2339.1,2578.0,22.93,13.49,491,3400.53,0.00,0.00,3.34,0.000,0.000,0.120,2338.34,2415.69,2261.00,2340.25,3911.00,0,0,0,30.00,30.00,15.85
$GC,3414.00,17414,146.63,1.26,0.00,2339.8,2417.1,2262.6,2339.5,3909.6,20.18,13.55,495,3420.68,0.00,0.00,3.08,0.000,0.000,0.068,2341.19,2417.25,2265.12,2339.56,2577.19,0,0,0,30.00,30.00,15.89
$FREEZE,9.85,9.943,-1.594,0,1,0
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$FREEZE,8.29,10.038,-1.589,0,1,0
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$FREEZE,5.91,11.069,-1.555,0,1,0
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$FREEZE,3.91,12.338,-1.508,0,1,0
$FREEZE,3.90,12.602,-1.497,0,1,0
$FREEZE,3.84,12.771,-1.488,0,1,0
$FREEZE,3.81,12.723,-1.491,0,1,0
$FREEZE,3.80,12.635,-1.499,0,1,0
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$FREEZE,3.74,12.949,-1.484,0,1,0
$GC,3604.26,10791,264.70,1.40,-80.00,2339.4,2417.0,2261.9,2340.2,2578.6,4.26,4.39,533,3705.19,86.96,0.17,3.47,1.140,0.096,0.134,1866.50,1957.31,1775.69,2379.31,1189.62,0,0,0,12.22,15.92,15.57
$FREEZE,3.64,13.043,-1.476,0,1,0
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$FREEZE,3.44,13.441,-1.435,0,1,0
$FREEZE,3.38,13.399,-1.438,0,1,0
$FREEZE,3.34,13.351,-1.442,0,1,0
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$FREEZE,3.18,13.217,-1.451,0,1,0
$FREEZE,3.14,13.217,-1.452,0,1,0
$FREEZE,3.15,13.266,-1.450,0,1,0
$FREEZE,3.17,13.561,-1.440,0,1,0
$FREEZE,3.16,13.543,-1.441,0,1,0
$GC,3933.87,11303,475.88,1.66,0.00,1860.1,1944.2,1776.1,2379.4,1189.8,3.14,0.21,598,3951.67,10.74,0.32,3.37,0.962,0.077,0.057,1819.59,1905.25,1733.94,2443.69,2628.69,0,0,0,12.09,15.77,15.78
$FREEZE,3.16,13.543,-1.441,0,1,0
$STATE,3952,end climb,NO_VERTICAL_VELOCITY
$STATE,3952,begin surface
$SM_CCo,4199.46,231.74,1.104,0,500.8,578.4,423.2,600.79
$SM_GC,1.35,0.00,13.98,0.30,0.000,0.056,0.095,497.0,571.4,422.6,209.4,2772.6,0,0,0,30.00,15.46,15.45
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4735.53,-12254.47,250522,052534
$TCM_TEMP,13.53
$SC_FREEKB,3876768
$PM_FREEKB_00,61794112
$PM_ACTIVECARD,0
$RAFOS_CLK,-10
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,48.79
$TEMP,10.97
$INTERNAL_PRESSURE,7.94341
$24V_AH,14.97,111.365
$10V_AH,14.93,0.000
$FG_AHR_24Vo,205.627
$FG_AHR_10Vo,159.146
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,662.420,30.245,68.065,166.007,0.000,14.194,2531.999,0.565,0.000,1777.360,1217.194,0.000,0.000,0.000,165.712
$DEVICE_MAMPS,1341.600,258.872,235.912,209.019,0.000,15.000,5.120,0.000,0.000,0.320,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3964.000,3970.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.467,17.705,0.000,0.000
$MEM0,60132,1,0,0
$MEM1,65508,1,0,0
$MEM2,942932,23,103596,79
$DATA_FILE_SIZE,16160,601
$CAP_FILE_SIZE,404822,0
$SDSIZE,3918848,3881088
$SDFILEDIR,310,3
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$MAGCAL,1.000000,-0.020484,0.020678,-0.070769,1.109790,-0.005205,0.024548,-0.024885,1.095297,-1006.5,-1096.4,-34.2,36,0.0292,1
$IMPLIED_C_PITCH,2011,15.82,287,2020.6,15.84
$IMPLIED_C_VBD,3141,28.897648,287,3045.6
$GPS,250522,075931,4736.410,-12256.755,1,0.8,24,15.5