version: 67.00
glider: 235
mission: 14
dive: 6
start: 5 20 122 19 53 26
data:
$ID,235
$MISSION,14
$DIVE,6
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,150
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,240
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,15
$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,2
$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,19.949879
$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
$C_VBD_AUTO_MAX,0
$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,400
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,156.92003
$FG_AHR_24V,196.31683
$PHONE_SUPPLY,2
$PRESSURE_YINT,-158.77972
$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
$GPS1,200522,194917,4737.117,-12256.539,1,0.9,2,15.5
$_CALLS,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-51.4
$GPS2,200522,195250,4737.099,-12256.573,2,0.9,4,15.5
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,S
$TGT_LATLONG,4736.000,-12257.000
$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,179.2,2104,-17.6,-10.000,-21.21,2209,0.168
$D_GRID,150
$IRON,1.000000,-0.062040,0.050775,-0.062746,1.100812,0.019629,0.012334,-0.010716,1.118136,-1014.546082,-1119.837891,-37.738251
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,9.47,16386,-146.63,-1.06,0.00,540.3,613.7,467.0,214.1,2769.6,0.00,0.00,0,133.41,120.96,0.00,0.00,0.005,0.000,0.000,3259.09,3267.00,3251.19,214.00,2771.25,0,0,0,15.70,30.00,30.00
$GC,133.76,18983,-146.63,-1.06,-80.00,3258.3,3266.1,3250.5,214.0,2769.8,3.36,-1.72,12,164.18,7.89,12.06,3.62,0.007,0.277,0.128,3546.03,3575.69,3516.38,1773.38,1281.19,0,0,0,15.77,15.58,15.66
$NAV,1653076743,23.9,start
$GC,380.10,1060,-146.63,-1.06,0.00,3549.0,3581.8,3516.2,1772.8,1280.7,27.24,-7.98,60,385.03,0.00,0.00,3.40,0.000,0.000,0.071,3550.94,3583.75,3518.12,1773.00,2769.19,0,0,0,30.00,30.00,15.76
$GC,700.12,292,-146.63,-1.06,80.00,3549.1,3582.1,3516.1,1772.8,2768.1,50.46,-7.55,75,704.95,0.00,0.00,2.77,0.000,0.000,0.136,3548.91,3583.06,3514.75,1773.44,3915.25,0,0,0,30.00,30.00,15.77
$GC,734.40,1060,-146.63,-1.06,0.00,3549.6,3582.4,3516.8,1773.0,3914.6,53.52,-7.92,82,739.96,0.00,0.00,2.72,0.000,0.000,0.072,3548.78,3581.56,3516.00,1772.88,2725.31,0,0,0,30.00,30.00,15.81
$GC,1120.20,292,-146.63,-1.06,80.00,3548.9,3581.6,3516.2,1773.2,2725.8,82.79,-7.69,99,1125.01,0.00,0.00,2.88,0.000,0.000,0.132,3507.94,3499.31,3516.56,1772.25,3911.44,0,0,0,30.00,30.00,15.80
$GC,1184.42,1060,-146.63,-1.06,0.00,3549.3,3582.2,3516.4,1773.2,3912.1,87.65,-7.59,112,1190.01,0.00,0.00,2.71,0.000,0.000,0.073,3542.09,3567.12,3517.06,1772.06,2726.50,0,0,0,30.00,30.00,15.84
$GC,1570.24,292,-146.63,-1.06,80.00,3549.8,3582.5,3517.0,1772.3,2726.6,115.85,-7.41,129,1575.04,0.00,0.00,2.87,0.000,0.000,0.134,3550.06,3582.81,3517.31,1772.50,3909.44,0,0,0,30.00,30.00,15.82
$GC,1654.48,1028,-146.63,-1.06,0.00,3549.7,3582.3,3517.1,1773.0,3910.8,123.29,-8.86,146,1660.81,0.00,0.00,2.70,0.000,0.000,0.074,3549.41,3582.31,3516.50,1773.00,2727.50,0,0,0,30.00,30.00,15.85
$STATE,1961,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1961,begin apogee
$GC,1961.37,10243,0.00,-0.25,0.00,3549.6,3583.4,3515.8,1772.5,2576.4,147.52,-7.76,157,2069.41,104.77,1.31,0.07,1.354,0.135,0.258,2948.78,3012.94,2884.62,1971.44,2621.50,0,0,0,11.73,15.82,15.40
$STATE,2072,end apogee,CONTROL_FINISHED_OK
$STATE,2072,begin climb
$GC,2072.12,10759,146.63,1.06,-80.00,2949.0,3014.0,2884.0,1971.6,2621.8,149.17,0.00,160,2192.27,110.51,2.09,3.62,1.301,0.092,0.135,2351.66,2429.06,2274.25,2290.62,1186.94,0,0,0,11.49,15.41,15.20
$GC,2209.54,1028,146.63,1.06,0.00,2347.9,2425.6,2270.2,2291.2,1186.2,137.55,13.03,187,2215.22,0.00,0.00,3.34,0.000,0.000,0.065,2348.59,2427.19,2270.00,2291.31,2621.50,0,0,0,30.00,30.00,15.32
$NAV,1653078992,90.0,0,stop
$GC,2585.36,16646,146.63,1.06,80.00,2344.0,2419.2,2268.8,2290.8,2621.1,89.98,11.44,202,2590.18,0.00,0.00,3.15,0.000,0.000,0.138,2340.62,2415.81,2265.44,2290.94,3910.56,0,0,0,30.00,30.00,15.66
$GC,2705.30,17414,146.63,1.06,0.00,2342.5,2416.2,2268.9,2291.4,3911.5,74.77,13.08,226,2710.20,0.00,0.00,3.05,0.000,0.000,0.075,2338.00,2408.62,2267.38,2288.75,2578.06,0,0,0,30.00,30.00,15.75
$GC,3095.32,16646,146.63,1.06,80.00,2341.9,2415.8,2268.0,2290.8,2577.6,31.08,11.26,244,3100.24,0.00,0.00,3.20,0.000,0.000,0.132,2325.00,2383.06,2266.94,2289.44,3910.50,0,0,0,30.00,30.00,15.81
$GC,3155.35,17414,146.63,1.06,0.00,2341.0,2413.6,2268.4,2290.8,3908.9,24.32,11.78,256,3160.24,0.00,0.00,3.04,0.000,0.000,0.074,2339.38,2411.56,2267.19,2291.25,2578.56,0,0,0,30.00,30.00,15.86
$FREEZE,9.58,9.600,-1.605,0,1,0
$FREEZE,8.69,9.703,-1.600,0,1,0
$FREEZE,7.87,9.861,-1.593,0,1,0
$FREEZE,7.11,9.914,-1.591,0,1,0
$FREEZE,6.44,9.988,-1.587,0,1,0
$FREEZE,5.87,10.142,-1.580,0,1,0
$FREEZE,5.31,10.157,-1.578,0,1,0
$FREEZE,4.76,10.164,-1.577,0,1,0
$FREEZE,4.24,10.212,-1.575,0,1,0
$FREEZE,3.78,10.364,-1.571,0,1,0
$FREEZE,3.30,10.532,-1.566,0,1,0
$FREEZE,2.92,10.539,-1.564,0,1,0
$FREEZE,2.58,10.598,-1.561,0,1,0
$FREEZE,2.30,10.756,-1.559,0,1,0
$FREEZE,1.99,10.953,-1.554,0,1,0
$STATE,3436,end climb,SURFACE_DEPTH_REACHED
$STATE,3436,begin surface coast
$FREEZE,1.75,11.177,-1.555,0,1,0
$FREEZE,1.64,11.791,-1.527,0,1,0
$FREEZE,1.63,11.844,-1.522,0,1,0
$FREEZE,1.64,11.886,-1.518,0,1,0
$FREEZE,1.68,11.972,-1.515,0,1,0
$FREEZE,1.68,12.022,-1.513,0,1,0
$FINISH,1.7,1.020962
$STATE,3496,end surface coast,CONTROL_FINISHED_OK
$STATE,3496,begin surface
$SM_CCo,3827.30,303.74,1.163,0,541.2,614.9,467.6,590.87
$SM_GC,1.52,303.74,12.78,0.41,1.163,0.084,0.098,541.2,614.9,467.6,216.3,2774.6,0,0,0,11.74,15.87,15.92
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4736.00,-12258.89,200522,190624
$TCM_TEMP,12.63
$SC_FREEKB,3876768
$PM_FREEKB_00,62041728
$PM_ACTIVECARD,0
$RAFOS_CLK,-2
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,48.20
$TEMP,9.81
$INTERNAL_PRESSURE,7.88186
$24V_AH,14.73,124.109
$10V_AH,14.71,0.000
$FG_AHR_24Vo,196.505
$FG_AHR_10Vo,156.969
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,647.870,28.240,44.370,127.845,0.000,13.647,1288.099,1.832,0.000,2430.337,528.470,2248.859,0.000,0.000,4.044
$DEVICE_MAMPS,1354.392,276.584,258.216,201.603,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3505.000,3510.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.582,7140.271,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,942356,30,103932,84
$DATA_FILE_SIZE,6543,291
$CAP_FILE_SIZE,387314,0
$SDSIZE,3918848,3883808
$SDFILEDIR,286,3
$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,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.5,-1107.1,-62.8,35,0.0186,1
$GPS,200522,205749,4736.774,-12256.719,1,1.8,3,15.5