version: 67.00
glider: 233
mission: 7
dive: 136
start: 10 20 120 1 19 38
data:
$ID,233
$MISSION,7
$DIVE,136
$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,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,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,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,450
$LOITER_D_BOTTOM,550
$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,35.354347
$FG_AHR_24V,145.96172
$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
$GPS1,201020,011229,7134.412,-15201.979,31,0.9,31,15.1
$_CALLS,2
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-73.3
$GPS2,201020,011907,7134.488,-15202.023,3,0.6,3,15.1
$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,156.4,8396,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,10.79,16386,-145.99,-0.88,0.00,494.2,487.0,501.5,200.2,2033.6,0.00,0.00,0,95.16,82.16,0.00,0.00,0.005,0.000,0.000,1873.06,1878.25,1867.88,200.69,2033.69,0,0,0,15.39,30.00,30.00
$GC,95.41,18983,-145.99,-0.88,-80.00,1873.2,1876.6,1869.9,200.2,2033.1,3.09,-1.77,16,176.84,49.49,19.78,3.87,0.005,0.307,0.135,3422.75,3433.06,3412.44,2423.44,586.62,0,0,0,15.41,15.29,15.47
$GC,330.11,1028,-145.99,-0.88,0.00,3425.2,3438.9,3411.6,2424.6,586.8,46.41,-14.22,62,337.62,0.00,0.00,3.51,0.000,0.000,0.052,3423.97,3437.44,3410.50,2422.56,2070.75,0,0,0,30.00,30.00,15.51
$GC,516.60,516,-145.99,-0.88,-80.00,3425.3,3439.2,3411.4,2423.6,2071.2,69.53,-12.67,99,523.55,0.00,0.00,3.90,0.000,0.000,0.121,3425.69,3440.25,3411.12,2423.38,585.44,0,0,0,30.00,30.00,15.58
$GC,722.61,1028,-145.99,-0.88,0.00,3425.3,3439.2,3411.5,2424.4,584.9,94.93,-12.11,140,728.82,0.00,0.00,3.48,0.000,0.000,0.048,3424.84,3438.56,3411.12,2423.81,2072.56,0,0,0,30.00,30.00,15.69
$GC,912.13,0,-145.99,-0.88,0.00,3425.2,3439.1,3411.3,2424.1,2073.1,116.14,-11.03,164,915.99,0.00,0.00,0.00,0.000,0.000,0.000,3424.78,3439.31,3410.25,2423.94,2072.38,0,0,0,30.00,30.00,30.00
$GC,1212.91,644,-145.99,-0.95,-80.00,3425.2,3439.2,3411.2,2423.8,2073.0,148.87,-10.75,194,1220.34,0.00,0.00,3.83,0.000,0.000,0.119,3424.59,3438.50,3410.69,2423.81,585.31,0,0,0,30.00,30.00,15.71
$GC,1248.82,1028,-145.99,-0.95,0.00,3424.9,3439.2,3410.5,2423.7,584.9,153.03,-11.41,201,1256.06,0.00,0.00,3.43,0.000,0.000,0.044,3423.94,3437.75,3410.12,2423.56,2074.56,0,0,0,30.00,30.00,15.78
$GC,1553.73,4485,-145.99,-1.08,80.00,3424.9,3438.9,3410.9,2424.0,2074.0,182.22,-8.12,232,1561.20,0.00,0.41,3.22,0.000,0.091,0.134,3424.69,3438.75,3410.62,2363.88,3350.56,0,0,0,30.00,15.79,15.74
$GC,1590.12,1028,-145.99,-1.08,0.00,3425.4,3438.9,3411.9,2363.8,3350.2,185.75,-9.87,239,1597.31,0.00,0.00,3.12,0.000,0.000,0.047,3425.28,3438.88,3411.69,2364.25,2023.75,0,0,0,30.00,30.00,15.78
$GC,1895.00,516,-145.99,-1.08,-80.00,3425.3,3439.6,3411.0,2364.8,2023.2,214.12,-9.00,270,1902.45,0.00,0.00,3.73,0.000,0.000,0.127,3426.03,3439.94,3412.12,2363.88,585.12,0,0,0,30.00,30.00,15.78
$GC,1931.42,1028,-145.99,-1.08,0.00,3425.2,3439.3,3411.1,2364.9,584.9,217.61,-9.79,277,1938.65,0.00,0.00,3.43,0.000,0.000,0.046,3424.50,3438.62,3410.38,2364.31,2074.38,0,0,0,30.00,30.00,15.84
$GC,2236.30,516,-145.99,-1.08,-80.00,3425.5,3439.7,3411.2,2363.5,2074.4,242.87,-8.03,308,2243.75,0.00,0.00,3.83,0.000,0.000,0.122,3424.72,3439.31,3410.12,2364.38,584.94,0,0,0,30.00,30.00,15.80
$GC,2282.45,1028,-145.99,-1.08,0.00,3425.3,3439.1,3411.5,2364.3,584.8,247.14,-9.54,317,2289.65,0.00,0.00,3.44,0.000,0.000,0.048,3423.97,3438.38,3409.56,2365.25,2074.81,0,0,0,30.00,30.00,15.85
$GC,2587.25,516,-145.99,-1.08,-80.00,3424.9,3438.5,3411.3,2365.2,2075.6,272.83,-8.73,348,2594.76,0.00,0.00,3.82,0.000,0.000,0.121,3423.81,3438.31,3409.31,2364.25,584.31,0,0,0,30.00,30.00,15.82
$GC,2623.47,1028,-145.99,-1.08,0.00,3424.9,3438.6,3411.2,2364.6,584.6,276.54,-10.36,355,2630.41,0.00,0.00,3.44,0.000,0.000,0.049,3423.75,3437.69,3409.81,2364.88,2074.69,0,0,0,30.00,30.00,15.87
$STATE,2869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2869,begin apogee
$GC,2870.03,10243,0.00,-0.20,0.00,3425.4,3440.2,3410.6,2364.2,1916.8,300.51,-10.42,380,3001.06,126.49,1.72,0.12,1.616,0.180,0.176,2823.09,2846.69,2799.50,2591.94,1995.00,0,0,0,11.61,15.82,15.27
$STATE,3003,end apogee,CONTROL_FINISHED_OK
$STATE,3004,begin climb
$GC,3003.66,10243,145.99,0.88,0.00,2822.1,2846.0,2798.1,2591.3,1996.2,304.33,0.00,386,3141.40,130.35,1.90,0.00,1.458,0.121,0.000,2227.31,2274.12,2180.50,2857.00,1997.12,0,0,0,11.51,15.25,30.00
$GC,3438.05,21127,145.99,0.68,-80.00,2212.0,2257.1,2166.9,2856.6,1996.7,258.30,13.69,429,3445.71,0.00,0.53,3.79,0.000,0.194,0.119,2210.91,2256.69,2165.12,2800.50,570.12,0,0,0,30.00,15.35,15.37
$GC,3554.45,21639,145.99,0.50,0.00,2210.0,2252.8,2167.2,2799.8,570.1,242.23,14.11,452,3561.45,0.00,0.31,3.30,0.000,0.189,0.044,2208.34,2251.19,2165.50,2757.56,1979.50,0,0,0,30.00,15.41,15.48
$GC,3858.98,16902,145.99,0.50,-80.00,2207.6,2252.4,2162.8,2757.0,1980.9,210.53,9.89,483,3866.52,0.00,0.00,3.72,0.000,0.000,0.118,2208.84,2253.12,2164.56,2756.00,570.12,0,0,0,30.00,30.00,15.56
$GC,3948.74,17414,145.99,0.50,0.00,2207.2,2251.0,2163.3,2756.4,569.9,200.91,10.26,501,3956.21,0.00,0.00,3.28,0.000,0.000,0.043,2207.38,2251.62,2163.12,2757.25,1980.94,0,0,0,30.00,30.00,15.63
$GC,4254.82,10919,215.58,0.67,-80.00,2206.0,2250.1,2161.8,2756.9,1982.0,176.94,6.76,532,4323.64,60.44,0.36,3.76,1.364,0.096,0.120,1943.38,1991.44,1895.31,2808.44,570.00,0,0,0,11.76,15.66,15.37
$GC,4405.79,17414,215.58,0.67,0.00,1937.0,1981.3,1892.6,2809.0,570.1,163.64,9.22,562,4413.33,0.00,0.00,3.30,0.000,0.000,0.044,1937.19,1982.25,1892.12,2808.69,1979.31,0,0,0,30.00,30.00,15.44
$GC,4711.91,8226,318.88,0.79,0.00,1932.5,1980.2,1884.7,2809.8,1980.2,146.21,5.19,593,4845.25,129.17,0.00,0.00,1.239,0.000,0.000,1525.44,1578.94,1471.94,2807.56,1980.94,0,0,0,11.74,30.00,30.00
$GC,5141.99,10919,387.17,1.00,-80.00,1512.8,1565.6,1459.9,2808.6,1981.4,117.61,6.82,639,5239.37,88.43,0.50,3.84,1.189,0.094,0.125,1246.47,1299.62,1193.31,2890.38,570.12,0,0,0,11.62,15.47,15.08
$GC,5368.40,1028,387.17,1.00,0.00,1240.7,1289.9,1191.4,2889.8,569.8,89.81,13.48,684,5378.09,0.00,0.00,3.35,0.000,0.000,0.045,1241.09,1290.06,1192.12,2889.19,1977.88,0,0,0,30.00,30.00,15.30
$GC,5557.77,16902,387.17,1.00,-80.00,1237.6,1289.7,1185.4,2890.0,1979.3,68.47,10.20,722,5565.23,0.00,0.00,3.75,0.000,0.000,0.120,1237.56,1289.50,1185.62,2890.12,570.31,0,0,0,30.00,30.00,15.45
$GC,5583.44,17414,387.17,1.00,0.00,1237.2,1288.8,1185.7,2889.0,570.2,65.54,11.14,727,5590.93,0.00,0.00,3.31,0.000,0.000,0.045,1236.69,1288.38,1185.00,2889.06,1980.06,0,0,0,30.00,30.00,15.50
$GC,5769.68,10919,432.75,1.15,-80.00,1236.3,1288.8,1183.8,2889.9,1981.8,48.01,7.88,764,5847.22,66.94,0.19,3.81,1.167,0.118,0.121,1060.72,1108.38,1013.06,2924.38,570.88,0,0,0,11.65,15.55,15.22
$GC,5931.19,1028,432.75,1.15,0.00,1057.4,1102.4,1012.3,2924.2,570.2,32.86,10.14,796,5938.24,0.00,0.00,3.32,0.000,0.000,0.043,1057.72,1103.44,1012.00,2922.94,1980.38,0,0,0,30.00,30.00,15.32
$GC,6117.26,10919,516.48,1.42,-80.00,1055.4,1102.8,1008.0,2925.4,1983.2,19.58,6.10,833,6267.03,142.43,0.41,3.84,1.118,0.093,0.121,719.84,748.81,690.88,2990.69,571.19,0,0,0,11.81,15.49,15.12
$GC,6281.02,11431,584.18,1.61,0.00,719.5,748.4,690.6,2990.5,571.1,7.93,6.85,865,6353.17,65.81,0.26,3.36,1.055,0.107,0.043,554.12,565.75,542.50,3034.69,1986.62,0,0,0,11.52,15.18,15.18
$STATE,6353,end climb,SURFACE_DEPTH_REACHED
$STATE,6353,begin surface coast
$FINISH,1.1,1.023634
$STATE,6356,end surface coast,CONTROL_FINISHED_OK
$STATE,6356,begin surface
$SM_CCo,6404.02,18.11,1.034,0,501.2,496.7,505.7,570.03
$SM_CCo,6405.15,0.00,0.010,0,500.5,495.8,505.2,570.20
$SM_CCo,6406.27,0.00,0.009,0,500.2,495.4,505.1,570.26
$SM_GC,1.47,0.00,19.97,0.17,0.009,0.082,0.096,500.2,495.4,505.1,202.8,2101.4,0,0,0,30.36,15.09,15.13
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7136.21,-15206.87,201020,011443
$TCM_TEMP,1.00
$SC_FREEKB,3835232
$PM_FREEKB_00,37080704
$PM_ACTIVECARD,0
$RAFOS_CLK,-15
$RAFOS_FIX,7133.843750,-15202.140625,201020,030315,0,1,0.19
$HUMID,52.92
$TEMP,-0.10
$INTERNAL_PRESSURE,8.13836
$24V_AH,14.51,76.588
$10V_AH,14.48,0.000
$FG_AHR_24Vo,146.269
$FG_AHR_10Vo,35.393
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,959.840,46.350,100.540,218.220,0.000,11.901,3910.802,2900.371,2143.569,0.000,0.000,0.000
$DEVICE_MAMPS,1616.136,307.088,175.560,196.121,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6370.000,6380.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.477,9.587,0.000,0.000
$MEM,1152496,35,24292,77
$DATA_FILE_SIZE,25732,880
$CAP_FILE_SIZE,252224,0
$SDSIZE,3918848,3778368
$SDFILEDIR,1124,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.226,353.5,1
$GPS,201020,030702,7134.625,-15202.460,2,1.2,5,15.1