version: 67.00
glider: 233
mission: 7
dive: 13
start: 9 26 120 4 51 39
data:
$ID,233
$MISSION,7
$DIVE,13
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,650
$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,60
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,1800
$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,72131
$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,570.32251
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,210
$PITCH_MAX,3900
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,25
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,580
$ROLL_MAX,3340
$ROLL_DEG,80
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1950
$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,2825
$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,100
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,1
$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,18.949715
$FG_AHR_24V,101.96878
$PHONE_SUPPLY,2
$PRESSURE_YINT,-168.21758
$PRESSURE_SLOPE,0.00022579571
$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,4
$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,0.0044157342
$SEABIRD_T_H,0.00064262876
$SEABIRD_T_I,2.7006432e-05
$SEABIRD_T_J,3.3103631e-06
$SEABIRD_C_G,-9.9894733
$SEABIRD_C_H,1.1093811
$SEABIRD_C_I,-0.0026526626
$SEABIRD_C_J,0.00026268355
$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
$GPS1,260920,043738,7214.754,-15153.628,8,1.5,77,15.2
$_CALLS,5
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-75.6
$GPS2,260920,045108,7214.997,-15154.104,74,0.9,75,15.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,N1
$TGT_LATLONG,7301.100,-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,22.1,85442,-17.6,-10.000,-21.24
$D_GRID,180
$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
$MODEM_MSG,CACST,6,1,20200926040453.217996,18,117,-3,0120,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,-5.8,0.10,-100,2.90,-01,-0.01,39,925,0025*02
$MODEM_MSG,CACST,6,1,20200926041119.770959,18,148,-2,0098,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,12.6,0.63,-100,2.37,-01,0.03,39,925,0025*31
$MODEM_MSG,CACST,6,1,20200926041448.195585,18,987,00,0143,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,8.4,0.35,-100,2.65,-01,0.13,39,925,0025*10
$MODEM_MSG,CACST,6,1,20200926042040.801879,18,190,-13,0193,0150,216,03,03,06,03,-1,-01,-01,1,3,0,0,150,-2.7,0.53,-100,2.47,-01,-0.04,39,925,0025*39
$MODEM_MSG,CACST,6,1,20200926042543.091591,18,110,08,0211,0150,246,02,02,02,04,-1,-01,-01,1,3,0,0,150,-31.7,0.01,-100,2.99,-01,0.00,45,925,0025*01
$MODEM_MSG,CACST,6,1,20200926042726.168865,18,126,-9,0107,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,-26.8,0.46,-100,2.54,-01,-0.23,41,925,0025*31
$MODEM_MSG,CACST,6,1,20200926043440.130963,18,184,-1,0262,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,-0.1,0.56,-100,2.44,-01,0.15,38,925,0025*2F
$GC,9.57,16386,-145.99,-0.88,0.00,488.9,481.2,496.7,201.5,2062.9,0.00,0.00,0,48.43,36.65,0.00,0.00,0.005,0.000,0.000,1132.28,1164.31,1100.25,201.56,2062.81,0,0,0,15.51,30.00,30.00
$GC,48.68,18727,-145.99,-0.88,80.00,1132.5,1164.0,1101.1,201.6,2062.6,3.03,-3.48,7,145.33,67.03,19.36,3.36,0.005,0.310,0.168,3421.25,3445.94,3396.56,2423.19,3346.88,0,0,0,15.50,15.43,15.52
$GC,244.34,1028,-145.99,-0.88,0.00,3424.1,3447.8,3400.5,2423.2,3347.1,39.51,-17.91,45,250.99,0.00,0.00,3.16,0.000,0.000,0.081,3424.34,3447.56,3401.12,2424.00,2029.19,0,0,0,30.00,30.00,15.61
$GC,429.21,516,-145.99,-0.88,-80.00,3425.2,3449.2,3401.2,2423.9,2028.5,65.15,-12.70,82,436.76,0.00,0.00,3.68,0.000,0.000,0.159,3425.50,3449.31,3401.69,2424.12,586.31,0,0,0,30.00,30.00,15.56
$GC,460.71,1156,-145.99,-0.82,0.00,3425.1,3449.0,3401.2,2424.0,586.3,69.35,-13.66,88,468.00,0.00,0.00,3.55,0.000,0.000,0.073,3426.97,3451.69,3402.25,2424.50,2068.62,0,0,0,30.00,30.00,15.62
$GC,646.98,260,-145.99,-0.82,80.00,3425.4,3449.2,3401.6,2423.8,2068.8,92.47,-12.24,125,653.71,0.00,0.00,3.29,0.000,0.000,0.156,3424.31,3448.44,3400.19,2423.81,3345.69,0,0,0,30.00,30.00,15.65
$GC,697.67,1028,-145.99,-0.82,0.00,3425.7,3449.7,3401.8,2423.3,3345.8,98.81,-12.47,135,704.57,0.00,0.00,3.13,0.000,0.000,0.077,3426.19,3450.38,3402.00,2423.00,2029.62,0,0,0,30.00,30.00,15.71
$GC,888.46,0,-145.99,-0.82,0.00,3424.9,3448.4,3401.3,2423.6,2029.6,121.79,-11.82,155,892.37,0.00,0.00,0.00,0.000,0.000,0.000,3424.44,3448.94,3399.94,2424.12,2028.94,0,0,0,30.00,30.00,30.00
$GC,1188.59,0,-145.99,-0.82,0.00,3425.8,3450.8,3400.9,2423.9,2029.2,156.10,-10.97,185,1191.47,0.00,0.00,0.00,0.000,0.000,0.000,3428.31,3452.81,3403.81,2423.44,2029.50,0,0,0,30.00,30.00,30.00
$STATE,1428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1428,begin apogee
$GC,1429.06,10243,0.00,-0.20,0.00,3425.9,3450.6,3401.2,2423.2,1924.4,180.53,-9.79,209,1555.06,121.75,1.19,0.09,1.634,0.178,0.231,2826.59,2845.75,2807.44,2590.25,1975.50,0,0,0,11.86,15.75,15.21
$STATE,1557,end apogee,CONTROL_FINISHED_OK
$STATE,1557,begin loiter
$GC,1851.29,8226,9.26,-0.19,0.00,2817.8,2835.7,2800.0,2591.9,1974.8,192.36,-2.38,251,1863.68,9.22,0.00,0.00,1.393,0.000,0.000,2786.94,2806.50,2767.38,2590.56,1975.25,0,0,0,11.64,30.00,30.00
$GC,2160.82,12451,19.53,-0.56,0.00,2785.2,2804.5,2765.8,2591.2,1975.6,199.85,-2.64,282,2175.98,11.20,0.68,0.00,1.475,0.100,0.000,2742.34,2759.62,2725.06,2493.00,1975.19,0,0,0,11.64,15.53,30.00
$GC,2470.87,8354,28.66,-0.63,0.00,2742.1,2759.6,2724.6,2492.2,1974.7,207.43,-2.34,313,2484.45,10.25,0.00,0.00,1.450,0.000,0.000,2705.16,2721.25,2689.06,2492.25,1974.81,0,0,0,11.75,30.00,30.00
$GC,2781.65,4225,28.66,-0.71,0.00,2705.6,2721.1,2690.1,2493.1,1974.2,211.85,-1.33,344,2784.66,0.00,0.20,0.00,0.000,0.126,0.000,2706.62,2721.62,2691.62,2455.19,1975.06,0,0,0,30.00,15.67,30.00
$GC,3081.61,0,28.66,-0.71,0.00,2704.5,2718.4,2690.6,2455.6,1974.8,215.21,-1.08,374,3084.50,0.00,0.00,0.00,0.000,0.000,0.000,2703.16,2717.50,2688.81,2455.88,1974.62,0,0,0,30.00,30.00,30.00
$STATE,3351,end loiter,LOITER_COMPLETE
$STATE,3351,begin climb
$GC,3351.05,10759,145.99,0.88,-80.00,2704.8,2718.6,2691.0,2455.3,1974.7,216.87,0.00,401,3469.22,107.28,3.03,3.75,1.718,0.186,0.158,2231.03,2255.94,2206.12,2853.38,571.44,0,0,0,11.94,15.64,15.18
$GC,3692.53,21639,145.99,0.58,0.00,2215.5,2233.8,2197.2,2854.1,571.6,182.31,10.85,469,3704.01,0.00,0.69,3.39,0.000,0.223,0.074,2214.56,2233.81,2195.31,2774.81,1971.62,0,0,0,30.00,15.33,15.45
$GC,4003.14,10535,279.63,0.74,80.00,2210.2,2233.4,2186.9,2774.8,1972.8,168.18,3.78,501,4126.40,116.01,0.36,3.68,1.605,0.114,0.143,1683.66,1732.25,1635.06,2825.00,3347.94,0,0,0,11.78,15.58,15.05
$GC,4128.69,9254,333.67,0.81,0.00,1681.5,1730.4,1632.7,2824.8,3347.7,160.09,7.49,515,4187.05,48.90,0.00,3.54,1.525,0.000,0.075,1465.12,1516.88,1413.38,2823.94,1927.62,0,0,0,11.48,30.00,15.10
$GC,4484.67,19079,333.67,0.92,-80.00,1450.9,1501.3,1400.4,2824.0,1927.7,130.79,8.01,556,4492.26,0.00,0.25,3.62,0.000,0.123,0.159,1452.75,1502.75,1402.75,2866.56,572.44,0,0,0,30.00,15.36,15.34
$GC,4531.00,17414,333.67,0.92,0.00,1449.1,1498.2,1399.9,2866.8,572.6,125.89,11.24,565,4537.88,0.00,0.00,3.39,0.000,0.000,0.070,1450.31,1499.06,1401.56,2866.06,1972.25,0,0,0,30.00,30.00,15.40
$GC,4836.24,16386,333.67,0.92,0.00,1448.3,1496.8,1399.8,2866.9,1973.9,95.42,9.83,600,4841.26,0.00,0.00,0.00,0.000,0.000,0.000,1447.81,1496.56,1399.06,2866.88,1974.19,0,0,0,30.00,30.00,30.00
$GC,5021.27,16902,333.67,0.92,-80.00,1447.2,1495.6,1398.9,2866.2,1973.9,78.82,8.54,637,5031.79,0.00,0.00,3.64,0.000,0.000,0.153,1447.72,1496.06,1399.38,2866.06,572.38,0,0,0,30.00,30.00,15.56
$GC,5081.97,17414,333.67,0.92,0.00,1446.3,1494.1,1398.6,2867.4,572.2,73.11,9.85,649,5088.72,0.00,0.00,3.33,0.000,0.000,0.071,1446.22,1493.88,1398.56,2866.00,1975.56,0,0,0,30.00,30.00,15.61
$GC,5266.98,10403,393.74,1.07,0.00,1446.2,1493.7,1398.7,2865.9,1976.3,59.01,7.21,686,5329.00,58.83,0.20,0.00,1.501,0.126,0.000,1220.16,1265.44,1174.88,2902.12,1975.88,0,0,0,11.69,15.65,30.00
$GC,5508.01,10919,463.79,1.26,-80.00,1213.2,1260.9,1165.6,2901.6,1976.3,40.21,6.74,734,5595.75,79.24,0.28,3.78,1.430,0.118,0.158,934.19,973.38,895.00,2950.31,571.81,0,0,0,11.59,15.48,15.14
$GC,5673.99,11431,527.61,1.44,0.00,931.2,968.5,893.8,2950.8,571.8,27.83,7.03,767,5757.02,74.88,0.25,3.41,1.344,0.118,0.071,674.81,694.44,655.19,2989.75,1977.25,0,0,0,11.43,15.28,15.30
$GC,5935.48,10919,637.81,1.76,-80.00,669.9,690.7,649.2,2989.4,1977.1,11.34,4.87,819,5998.04,53.47,0.52,3.78,1.317,0.108,0.155,500.75,500.44,501.06,3071.19,571.19,0,0,0,11.66,15.30,15.06
$GC,6041.81,11431,751.40,1.96,0.00,499.0,497.7,500.3,3071.2,571.5,6.27,4.72,840,6048.84,0.00,0.28,3.42,0.000,0.115,0.069,498.88,497.50,500.25,3119.00,1982.62,0,0,0,30.00,15.19,15.21
$GC,6227.10,10663,959.54,2.31,80.00,496.6,495.9,497.3,3120.1,1982.5,6.03,0.32,877,6234.71,0.00,0.54,3.53,0.000,0.107,0.136,496.75,496.00,497.50,3202.06,3348.88,0,0,0,30.00,15.35,15.34
$FREEZE,5.75,0.630,-1.420,0,1,0
$STATE,6268,end climb,NO_VERTICAL_VELOCITY
$STATE,6268,begin surface
$SM_CCo,6509.48,0.00,0.000,0,492.7,488.9,496.6,572.11
$SM_GC,4.55,0.00,20.40,3.15,0.000,0.117,0.072,492.7,488.9,496.6,201.6,2023.8,0,0,0,30.00,15.44,15.50
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7215.17,-15157.73,260920,044247
$TCM_TEMP,1.91
$SC_FREEKB,3874592
$PM_FREEKB_00,60297024
$PM_ACTIVECARD,0
$RAFOS_CLK,-15
$MODEM,5,1601094880,76.41295,-142.47470,280.131,410391.8
$MODEM,4,1601094343,76.55490,-139.99944,43.092,63129.2
$MODEM,3,1601094040,75.26195,-145.59448,40.802,59774.8
$MODEM,1,1601093479,75.02295,-144.31340,79.771,116864.5
$RAFOS_FIX,7433.025879,-14131.643555,260920,040440,4,255,-400.37
$HUMID,52.81
$TEMP,0.36
$INTERNAL_PRESSURE,8.14528
$24V_AH,14.55,20.991
$10V_AH,14.81,0.000
$FG_AHR_24Vo,102.268
$FG_AHR_10Vo,18.990
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,794.710,48.235,69.950,420.544,0.000,84.746,4020.691,3281.260,2195.804,0.000,0.000,0.000
$DEVICE_MAMPS,1718.472,310.368,230.992,191.722,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6276.000,6286.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.911,10.442,0.000,0.000
$MEM,1152820,33,24128,71
$DATA_FILE_SIZE,25741,885
$CAP_FILE_SIZE,221842,0
$SDSIZE,3918848,3819008
$SDFILEDIR,198,1
$ERRORS,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.331,328.4,1
$GPS,260920,064338,7216.284,-15154.910,116,2.0,176,15.2