version: 67.00
glider: 233
mission: 7
dive: 137
start: 10 20 120 3 14 8
data:
$ID,233
$MISSION,7
$DIVE,137
$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,35.393566
$FG_AHR_24V,146.27992
$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
$GPS1,201020,030702,7134.625,-15202.460,2,1.2,5,15.1
$_CALLS,2
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-73.2
$GPS2,201020,031337,7134.689,-15202.487,3,1.8,5,15.1
$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,158.0,8807,-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,10.84,16386,-145.99,-0.88,0.00,494.1,486.4,501.8,197.9,2032.7,0.00,0.00,0,95.21,82.21,0.00,0.00,0.005,0.000,0.000,1881.12,1885.38,1876.88,198.06,2031.56,0,0,0,15.37,30.00,30.00
$GC,95.46,18983,-145.99,-0.88,-80.00,1882.3,1885.1,1879.6,197.8,2032.6,3.19,-1.86,16,176.81,46.76,19.85,3.84,0.005,0.310,0.131,3421.69,3432.06,3411.31,2423.94,586.38,0,0,0,15.40,15.24,15.44
$GC,180.57,3205,-145.99,-0.62,0.00,3422.8,3434.6,3411.1,2423.4,586.2,20.19,-24.06,32,191.17,0.00,0.49,3.52,0.000,0.215,0.051,3424.81,3436.44,3413.19,2488.56,2068.94,0,0,0,30.00,15.42,15.41
$GC,370.63,4225,-145.99,-0.73,0.00,3425.4,3438.8,3412.0,2488.4,2068.3,49.73,-12.22,70,376.29,0.00,0.28,0.00,0.000,0.098,0.000,3425.75,3439.38,3412.12,2451.00,2068.50,0,0,0,30.00,15.56,30.00
$GC,555.51,0,-145.99,-0.73,0.00,3425.2,3439.6,3410.9,2450.4,2068.4,72.51,-12.04,107,561.21,0.00,0.00,0.00,0.000,0.000,0.000,3426.44,3440.06,3412.81,2450.56,2068.38,0,0,0,30.00,30.00,30.00
$GC,741.31,644,-145.99,-0.79,-80.00,3425.3,3439.5,3411.1,2450.9,2068.6,93.96,-11.41,144,752.02,0.00,0.00,3.88,0.000,0.000,0.121,3426.88,3441.44,3412.31,2450.38,585.38,0,0,0,30.00,30.00,15.62
$GC,781.01,1156,-145.99,-0.86,0.00,3425.9,3439.4,3412.3,2451.3,585.6,98.89,-12.43,152,791.54,0.00,0.00,3.45,0.000,0.000,0.043,3425.22,3439.75,3410.69,2450.62,2073.69,0,0,0,30.00,30.00,15.69
$GC,971.36,4225,-145.99,-0.93,0.00,3425.5,3439.1,3412.0,2451.0,2073.8,120.90,-11.13,172,975.33,0.00,0.28,0.00,0.000,0.097,0.000,3425.56,3439.31,3411.81,2398.75,2074.44,0,0,0,30.00,15.70,30.00
$GC,1271.37,516,-145.99,-0.93,-80.00,3424.6,3437.7,3411.5,2398.8,2074.5,160.50,-12.89,202,1278.13,0.00,0.00,3.88,0.000,0.000,0.121,3424.31,3438.75,3409.88,2398.62,585.38,0,0,0,30.00,30.00,15.71
$GC,1310.29,1028,-145.99,-0.93,0.00,3425.0,3438.7,3411.3,2398.9,584.9,166.27,-14.77,210,1318.33,0.00,0.00,3.43,0.000,0.000,0.044,3425.25,3439.31,3411.19,2398.12,2072.75,0,0,0,30.00,30.00,15.76
$GC,1616.88,292,-145.99,-0.93,80.00,3425.6,3439.7,3411.5,2398.5,2072.7,195.54,-7.83,241,1622.78,0.00,0.00,3.20,0.000,0.000,0.132,3425.88,3440.19,3411.56,2398.19,3350.62,0,0,0,30.00,30.00,15.74
$GC,1631.88,1060,-145.99,-0.93,0.00,3425.3,3439.1,3411.5,2398.4,3349.8,196.80,-7.80,244,1639.06,0.00,0.00,3.12,0.000,0.000,0.044,3424.50,3438.75,3410.25,2399.56,2020.81,0,0,0,30.00,30.00,15.68
$GC,1936.61,160,-145.99,-0.99,0.00,3425.2,3438.8,3411.7,2399.6,2020.6,219.20,-7.22,275,1940.18,0.00,0.00,0.00,0.000,0.000,0.000,3424.88,3439.12,3410.62,2398.94,2020.50,0,0,0,30.00,30.00,30.00
$GC,2236.69,160,-145.99,-1.06,0.00,3425.0,3438.9,3411.2,2398.6,2020.9,239.37,-6.59,305,2240.28,0.00,0.00,0.00,0.000,0.000,0.000,3424.78,3438.44,3411.12,2399.00,2021.06,0,0,0,30.00,30.00,30.00
$GC,2536.80,4773,-145.99,-1.14,-80.00,3424.6,3438.8,3410.4,2398.8,2021.1,259.83,-7.23,335,2544.20,0.00,0.26,3.70,0.000,0.107,0.126,3424.41,3438.56,3410.25,2348.50,585.56,0,0,0,30.00,15.85,15.75
$GC,2593.03,3205,-145.99,-1.05,0.00,3424.7,3438.4,3410.9,2347.4,585.3,265.62,-11.02,346,2599.93,0.00,0.34,3.39,0.000,0.207,0.044,3426.03,3439.75,3412.31,2384.25,2074.50,0,0,0,30.00,15.81,15.88
$GC,2898.21,644,-145.99,-1.13,-80.00,3425.4,3439.1,3411.8,2385.5,2075.1,292.48,-9.05,377,2904.94,0.00,0.00,3.79,0.000,0.000,0.120,3424.91,3438.81,3411.00,2384.75,584.25,0,0,0,30.00,30.00,15.84
$GC,2943.64,1028,-145.99,-1.13,0.00,3425.3,3438.6,3412.1,2384.6,584.4,297.01,-10.16,386,2950.64,0.00,0.00,3.41,0.000,0.000,0.046,3425.84,3440.06,3411.62,2384.62,2075.81,0,0,0,30.00,30.00,15.90
$STATE,2978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2978,begin apogee
$GC,2979.35,10243,0.00,-0.20,0.00,3426.2,3440.1,3412.4,2384.8,1911.7,300.29,-9.56,390,3109.04,125.86,1.50,0.12,1.571,0.174,0.163,2823.41,2847.50,2799.31,2591.75,1976.69,0,0,0,11.75,15.82,15.27
$STATE,3111,end apogee,CONTROL_FINISHED_OK
$STATE,3111,begin climb
$GC,3111.52,10759,145.99,0.88,-80.00,2822.0,2846.8,2797.2,2592.2,1998.6,303.79,0.00,396,3251.09,130.40,1.90,3.91,1.413,0.121,0.118,2228.09,2274.19,2182.00,2855.75,570.12,0,0,0,11.44,15.25,14.96
$GC,3289.85,21639,145.99,0.54,0.00,2220.2,2263.0,2177.4,2855.8,570.1,290.51,15.19,430,3296.91,0.00,0.82,3.37,0.000,0.204,0.042,2220.59,2262.12,2179.06,2764.62,1976.81,0,0,0,30.00,15.05,15.12
$GC,3595.11,8742,209.31,0.62,-80.00,2210.8,2256.8,2164.8,2765.1,1978.8,266.96,7.05,461,3658.00,55.56,0.00,3.79,1.360,0.000,0.120,1968.59,2020.38,1916.81,2764.94,571.06,0,0,0,11.48,30.00,15.15
$GC,3715.14,17414,209.31,0.62,0.00,1962.8,2010.4,1915.2,2765.1,570.6,257.31,9.05,485,3722.71,0.00,0.00,3.33,0.000,0.000,0.042,1964.28,2011.62,1916.94,2765.62,1978.88,0,0,0,30.00,30.00,15.27
$GC,4021.26,19079,209.31,0.68,-80.00,1956.4,2005.6,1907.2,2765.1,1981.1,232.92,8.85,516,4032.80,0.00,0.34,3.70,0.000,0.100,0.118,1957.59,2006.94,1908.25,2812.06,569.19,0,0,0,30.00,15.43,15.41
$GC,4095.27,21639,209.31,0.53,0.00,1955.7,2004.2,1907.2,2812.0,569.2,222.70,14.81,531,4102.92,0.00,0.44,3.30,0.000,0.188,0.042,1956.28,2004.25,1908.31,2764.06,1979.31,0,0,0,30.00,15.41,15.49
$GC,4401.32,19079,209.31,0.63,-80.00,1953.8,2003.2,1904.4,2762.8,1980.9,190.85,9.64,562,4408.85,0.00,0.26,3.66,0.000,0.105,0.118,1952.41,2001.44,1903.38,2799.88,570.12,0,0,0,30.00,15.54,15.52
$GC,4457.69,21639,209.31,0.53,0.00,1952.6,2001.8,1903.5,2800.4,570.2,184.00,12.84,573,4464.93,0.00,0.32,3.29,0.000,0.184,0.043,1952.62,2001.62,1903.62,2764.25,1978.88,0,0,0,30.00,15.50,15.57
$GC,4762.54,10919,321.89,0.84,-80.00,1952.4,2001.4,1903.4,2763.9,1981.3,164.69,4.76,604,4870.10,99.64,0.60,3.77,1.299,0.091,0.120,1511.75,1563.94,1459.56,2849.75,570.25,0,0,0,11.72,15.60,15.21
$GC,4907.25,1028,321.89,0.84,0.00,1506.0,1554.4,1457.7,2850.2,570.1,151.80,11.56,632,4914.84,0.00,0.00,3.34,0.000,0.000,0.042,1506.03,1554.88,1457.19,2850.00,1979.69,0,0,0,30.00,30.00,15.31
$GC,5213.33,16902,321.89,0.84,-80.00,1498.3,1549.2,1447.4,2849.9,1981.5,119.59,10.35,663,5220.81,0.00,0.00,3.69,0.000,0.000,0.119,1497.94,1549.12,1446.75,2850.12,569.12,0,0,0,30.00,30.00,15.37
$MODEM_MSG,CACST,6,1,20201020040545.974389,18,1172,18,0365,0150,402,02,02,02,02,-1,-01,-01,1,3,0,0,150,21.1,0.39,-100,2.61,-01,0.00,50,925,0025*19
$MODEM_MSG,CACST,6,1,20201020040812.226318,18,52,-24,0092,0150,171,01,01,07,01,-1,-01,-01,1,3,0,0,150,-10.4,0.00,-100,3.00,-01,0.00,20,925,0025*13
$MODEM_MSG,CACST,6,1,20201020042114.286875,18,184,-19,0090,0150,171,01,01,07,01,-1,-01,-01,1,3,0,0,150,-1.0,0.00,-100,3.00,-01,0.00,19,925,0025*12
$MODEM_MSG,CACST,6,1,20201020043504.876836,18,951,11,0216,0150,246,02,02,03,04,-1,-01,-01,1,3,0,0,150,-24.6,0.00,-100,3.00,-01,0.00,31,925,0025*06
$GC,5269.77,17414,321.89,0.84,0.00,1497.3,1547.8,1446.9,2850.4,568.9,112.94,12.33,674,5277.12,0.00,0.00,3.28,0.000,0.000,0.042,1498.22,1548.25,1448.19,2849.38,1981.38,0,0,0,30.00,30.00,15.41
$GC,5574.84,17030,321.89,0.90,-80.00,1495.2,1545.6,1444.8,2851.0,1983.4,82.46,9.36,723,5582.34,0.00,0.00,3.68,0.000,0.000,0.118,1495.34,1545.88,1444.81,2850.44,570.38,0,0,0,30.00,30.00,15.49
$GC,5641.05,17414,321.89,0.90,0.00,1494.4,1544.9,1443.9,2850.8,570.4,75.43,11.06,736,5648.06,0.00,0.00,3.27,0.000,0.000,0.040,1495.53,1545.75,1445.31,2849.62,1981.00,0,0,0,30.00,30.00,15.64
$GC,5827.06,19079,321.89,0.99,-80.00,1494.4,1544.7,1444.1,2850.4,1984.1,58.86,8.64,773,5833.89,0.00,0.19,3.68,0.000,0.112,0.118,1494.38,1544.69,1444.06,2887.56,570.12,0,0,0,30.00,15.66,15.64
$GC,5857.11,17414,321.89,0.99,0.00,1494.1,1544.9,1443.3,2887.6,570.2,55.51,10.28,779,5863.57,0.00,0.00,3.24,0.000,0.000,0.039,1493.78,1544.19,1443.38,2887.12,1983.38,0,0,0,30.00,30.00,15.71
$GC,6042.91,10919,374.54,1.12,-80.00,1493.5,1543.5,1443.4,2886.6,1985.2,39.68,7.55,816,6130.36,80.83,0.15,3.78,1.170,0.129,0.118,1297.94,1346.12,1249.75,2914.31,569.25,0,0,0,11.60,15.71,15.40
$GC,6253.62,11431,462.96,1.30,0.00,1293.4,1339.9,1247.0,2914.6,569.0,25.56,5.89,858,6413.11,149.75,0.27,3.28,1.110,0.105,0.036,937.97,982.56,893.38,2960.31,1990.50,0,0,0,11.58,15.49,15.50
$GC,6591.88,10919,570.66,1.58,-80.00,931.9,977.2,886.6,2960.4,1991.3,8.89,4.99,925,6694.60,99.67,0.43,0.00,1.082,0.095,0.000,687.41,714.81,660.00,3028.25,1991.94,0,0,0,11.53,15.37,30.00
$STATE,6695,end climb,SURFACE_DEPTH_REACHED
$STATE,6695,begin surface coast
$FINISH,0.3,1.023706
$STATE,6719,end surface coast,CONTROL_FINISHED_OK
$STATE,6719,begin surface
$SM_CCo,6811.71,63.81,1.072,0,501.0,494.2,507.8,570.07
$SM_CCo,6812.84,0.00,0.009,0,500.5,493.9,507.1,570.21
$SM_CCo,6813.95,0.00,0.009,0,500.2,493.7,506.8,570.26
$SM_GC,1.67,0.00,19.66,0.16,0.009,0.070,0.097,500.2,493.7,506.8,199.0,2111.3,0,0,0,30.36,15.18,15.22
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7135.25,-15200.86,201020,030919
$TCM_TEMP,1.11
$SC_FREEKB,3834912
$PM_FREEKB_00,36985664
$PM_ACTIVECARD,0
$RAFOS_CLK,-2
$MODEM,6,1603168504,75.33060,-142.67570,4.877,7144.6
$MODEM,3,1603167674,75.26195,-145.59448,74.287,108830.3
$MODEM,0,1603166745,74.83892,-145.28152,45.974,67352.5
$RAFOS_FIX,7513.561523,-14236.427734,201020,040404,3,255,99.56
$HUMID,52.81
$TEMP,0.01
$INTERNAL_PRESSURE,8.1397
$24V_AH,14.48,76.956
$10V_AH,14.48,0.000
$FG_AHR_24Vo,146.574
$FG_AHR_10Vo,35.459
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,934.490,48.365,106.765,213.202,0.000,14.447,4019.815,3103.817,2319.277,2213.000,0.000,0.000
$DEVICE_MAMPS,1571.200,310.368,163.096,198.598,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6733.000,6742.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.337,9.610,0.000,0.000
$MEM,1152468,36,24300,77
$DATA_FILE_SIZE,25704,950
$CAP_FILE_SIZE,267718,0
$SDSIZE,3918848,3778048
$SDFILEDIR,1131,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.222,354.3,1
$GPS,201020,050839,7134.658,-15202.777,24,0.8,25,15.1