version: 67.00
glider: 233
mission: 7
dive: 139
start: 10 20 120 7 15 26
data:
$ID,233
$MISSION,7
$DIVE,139
$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,35.506657
$FG_AHR_24V,146.8952
$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
$GPS1,201020,070955,7134.597,-15203.242,4,1.1,9,15.1
$_CALLS,1
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-69.9
$GPS2,201020,071455,7134.639,-15203.279,3,1.1,5,15.1
$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,152.4,8804,-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,10.83,16386,-145.99,-0.88,0.00,493.2,488.4,497.9,196.7,2025.8,0.00,0.00,0,95.20,82.25,0.00,0.00,0.005,0.000,0.000,1892.69,1896.12,1889.25,196.50,2026.75,0,0,0,15.32,30.00,30.00
$GC,95.45,18727,-145.99,-0.88,80.00,1892.7,1894.7,1890.8,196.5,2026.6,3.41,-2.18,16,175.33,46.01,20.10,3.47,0.005,0.313,0.148,3422.47,3430.25,3414.69,2422.19,3350.12,0,0,0,15.37,15.23,15.35
$GC,254.36,1028,-145.99,-0.88,0.00,3424.9,3434.4,3415.4,2423.4,3349.0,37.21,-17.42,47,261.07,0.00,0.00,3.19,0.000,0.000,0.048,3424.25,3434.25,3414.25,2422.88,2025.44,0,0,0,30.00,30.00,15.52
$GC,439.30,516,-145.99,-0.88,-80.00,3425.5,3436.3,3414.8,2422.4,2025.2,61.81,-11.95,84,446.37,0.00,0.00,3.81,0.000,0.000,0.127,3426.41,3436.38,3416.44,2422.94,584.75,0,0,0,30.00,30.00,15.51
$GC,475.26,1028,-145.99,-0.88,0.00,3426.7,3437.6,3415.8,2422.8,584.7,66.39,-13.26,91,486.04,0.00,0.00,3.49,0.000,0.000,0.043,3426.53,3437.44,3415.62,2423.12,2074.00,0,0,0,30.00,30.00,15.48
$GC,665.78,260,-145.99,-0.88,80.00,3425.8,3435.9,3415.6,2423.6,2073.6,88.68,-11.36,129,672.58,0.00,0.00,3.24,0.000,0.000,0.132,3426.53,3437.44,3415.62,2422.56,3348.88,0,0,0,30.00,30.00,15.47
$GC,711.29,1028,-145.99,-0.88,0.00,3426.2,3437.4,3415.1,2422.8,3349.4,94.00,-11.66,138,717.74,0.00,0.00,3.15,0.000,0.000,0.045,3427.47,3437.44,3417.50,2422.06,2020.75,0,0,0,30.00,30.00,15.60
$GC,896.47,516,-145.99,-0.88,-80.00,3426.2,3436.6,3415.9,2422.8,2021.2,114.59,-10.94,162,903.50,0.00,0.00,3.73,0.000,0.000,0.126,3425.50,3436.00,3415.00,2422.44,585.06,0,0,0,30.00,30.00,15.64
$GC,945.65,1028,-145.99,-0.88,0.00,3426.6,3437.6,3415.6,2422.4,584.7,120.55,-11.94,172,953.70,0.00,0.00,3.47,0.000,0.000,0.045,3427.91,3438.75,3417.06,2422.25,2074.56,0,0,0,30.00,30.00,15.69
$GC,1251.75,0,-145.99,-0.88,0.00,3425.8,3436.8,3414.9,2422.5,2075.9,152.12,-10.26,203,1255.31,0.00,0.00,0.00,0.000,0.000,0.000,3425.41,3436.19,3414.62,2422.75,2075.19,0,0,0,30.00,30.00,30.00
$GC,1551.90,4257,-145.99,-1.01,0.00,3425.9,3436.5,3415.3,2422.9,2075.2,179.05,-7.47,233,1555.51,0.00,0.28,0.00,0.000,0.096,0.000,3426.28,3437.81,3414.75,2382.31,2075.69,0,0,0,30.00,15.77,30.00
$GC,1851.86,0,-145.99,-1.01,0.00,3426.5,3437.4,3415.6,2383.0,2075.2,204.97,-8.38,263,1855.73,0.00,0.00,0.00,0.000,0.000,0.000,3424.97,3435.56,3414.38,2383.31,2075.25,0,0,0,30.00,30.00,30.00
$GC,2152.71,516,-145.99,-1.01,-80.00,3426.1,3436.8,3415.5,2383.1,2075.5,230.81,-8.82,293,2160.09,0.00,0.00,3.88,0.000,0.000,0.124,3423.41,3433.94,3412.88,2383.12,585.31,0,0,0,30.00,30.00,15.79
$GC,2238.61,1028,-145.99,-1.01,0.00,3425.6,3436.0,3415.2,2382.4,585.6,239.52,-10.36,310,2245.88,0.00,0.00,3.46,0.000,0.000,0.050,3426.03,3436.81,3415.25,2381.94,2074.44,0,0,0,30.00,30.00,15.86
$GC,2543.50,516,-145.99,-1.01,-80.00,3425.4,3436.3,3414.6,2382.6,2074.1,266.91,-8.85,341,2550.98,0.00,0.00,3.83,0.000,0.000,0.121,3425.09,3436.25,3413.94,2382.69,585.12,0,0,0,30.00,30.00,15.82
$GC,2593.13,1028,-145.99,-1.01,0.00,3426.2,3436.6,3415.9,2382.6,585.0,272.21,-10.58,351,2601.19,0.00,0.00,3.45,0.000,0.000,0.049,3426.44,3437.12,3415.75,2381.81,2075.56,0,0,0,30.00,30.00,15.88
$GC,2899.24,32,-145.99,-1.01,0.00,3426.2,3436.8,3415.8,2382.0,2075.7,297.66,-7.66,382,2902.64,0.00,0.00,0.00,0.000,0.000,0.000,3425.50,3436.25,3414.75,2382.44,2075.69,0,0,0,30.00,30.00,30.00
$STATE,2930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2930,begin apogee
$GC,2931.61,10243,0.00,-0.20,0.00,3425.9,3436.6,3415.3,2382.6,1915.2,300.11,-7.72,385,3062.22,126.28,1.60,0.12,1.504,0.176,0.174,2823.59,2846.75,2800.44,2590.94,1993.88,0,0,0,11.88,15.80,15.28
$STATE,3065,end apogee,CONTROL_FINISHED_OK
$STATE,3065,begin climb
$GC,3065.14,10243,145.99,0.88,0.00,2822.8,2846.0,2799.6,2591.5,1994.8,301.51,0.00,391,3199.59,130.57,1.92,0.00,1.409,0.120,0.000,2227.09,2273.00,2181.19,2855.75,1994.69,0,0,0,11.52,15.26,30.00
$GC,3492.86,21127,145.99,0.69,-80.00,2212.8,2257.7,2167.9,2856.1,1994.7,251.59,13.53,432,3500.44,0.00,0.50,3.78,0.000,0.196,0.118,2211.53,2256.25,2166.81,2802.62,569.75,0,0,0,30.00,15.31,15.33
$GC,3612.63,21639,145.99,0.52,0.00,2209.5,2252.4,2166.7,2802.2,569.6,235.46,13.00,456,3620.26,0.00,0.31,3.34,0.000,0.194,0.044,2210.16,2252.81,2167.50,2759.75,1977.94,0,0,0,30.00,15.34,15.43
$GC,3918.74,10791,213.70,0.60,-80.00,2208.2,2252.5,2164.0,2759.2,1979.5,212.07,6.85,487,3985.47,58.78,0.23,3.77,1.344,0.113,0.119,1952.66,2001.12,1904.19,2791.00,570.00,0,0,0,11.56,15.51,15.26
$GC,4032.71,5253,213.70,0.52,0.00,1946.5,1991.3,1901.6,2791.7,570.8,200.69,12.29,510,4040.32,0.00,0.29,3.33,0.000,0.183,0.038,1947.12,1992.69,1901.56,2760.50,1977.38,0,0,0,30.00,15.29,15.36
$GC,4338.97,10919,285.24,0.74,-80.00,1938.8,1987.6,1889.9,2760.2,1980.4,176.10,6.67,541,4411.78,63.55,0.47,3.77,1.305,0.094,0.119,1659.94,1711.06,1608.81,2827.00,569.75,0,0,0,11.53,15.48,15.14
$GC,4490.78,17414,285.24,0.74,0.00,1653.1,1700.1,1606.1,2826.0,569.9,162.67,9.13,571,4497.44,0.00,0.00,3.33,0.000,0.000,0.036,1653.03,1700.31,1605.75,2826.06,1981.62,0,0,0,30.00,30.00,15.34
$GC,4795.69,17030,285.24,0.81,-80.00,1646.8,1696.7,1596.9,2827.0,1983.1,137.59,8.63,602,4802.53,0.00,0.00,3.71,0.000,0.000,0.118,1645.69,1695.50,1595.88,2827.38,569.62,0,0,0,30.00,30.00,15.45
$GC,4860.74,17414,285.24,0.81,0.00,1646.3,1695.9,1596.8,2827.1,569.4,131.03,10.57,615,4868.15,0.00,0.00,3.29,0.000,0.000,0.038,1646.19,1695.44,1596.94,2826.69,1982.94,0,0,0,30.00,30.00,15.51
$MODEM_MSG,CACST,6,1,20201020080616.871113,18,983,11,0259,0150,402,02,02,03,02,-1,-01,-01,1,3,0,0,150,22.6,0.58,-100,2.42,-01,0.04,48,925,0025*2D
$MODEM_MSG,CACST,6,1,20201020080835.169296,18,435,-21,0530,0150,171,01,01,08,01,-1,-01,-01,1,3,0,0,150,-10.2,0.64,-100,2.36,-01,-0.19,20,925,0025*07
$MODEM_MSG,CACST,6,1,20201020081543.364630,18,79,-23,0103,0150,171,01,01,07,03,-1,-01,-01,1,3,0,0,150,-6.0,0.30,-100,2.70,-01,0.05,19,925,0025*22
$MODEM_MSG,CACST,6,1,20201020082137.434716,18,640,10,0104,0150,246,02,02,03,04,-1,-01,-01,1,3,0,0,150,-32.6,0.04,-100,2.96,-01,-0.08,47,925,0025*2B
$MODEM_MSG,CACST,6,1,20201020082851.286900,18,114,-27,0142,0150,216,04,04,08,04,-1,-01,-01,1,3,0,0,150,-4.2,0.03,-100,2.97,-01,0.00,26,925,0025*18
$MODEM_MSG,CACST,6,1,20201020083520.078183,18,381,-16,0099,0150,171,01,01,07,01,-1,-01,-01,1,3,0,0,150,-10.6,0.00,-100,3.00,-01,0.00,21,925,0025*2A
$GC,5167.46,19079,285.24,0.89,-80.00,1645.1,1695.1,1595.2,2827.1,1984.8,104.96,8.09,646,5174.49,0.00,0.19,3.65,0.000,0.116,0.118,1644.81,1694.50,1595.12,2862.06,569.19,0,0,0,30.00,15.57,15.54
$GC,5228.46,21639,285.24,0.80,0.00,1644.5,1694.3,1594.8,2862.8,569.1,98.24,11.54,658,5235.98,0.00,0.31,3.26,0.000,0.190,0.038,1646.50,1696.25,1596.75,2828.31,1980.81,0,0,0,30.00,15.56,15.52
$GC,5414.99,18563,285.24,0.91,0.00,1643.7,1693.2,1594.1,2829.0,1982.9,82.71,8.06,695,5420.09,0.00,0.28,0.00,0.000,0.109,0.000,1644.59,1694.19,1595.00,2867.88,1982.25,0,0,0,30.00,15.63,30.00
$GC,5599.73,16902,285.24,0.91,-80.00,1643.5,1693.2,1593.8,2867.7,1982.7,65.36,9.37,732,5606.80,0.00,0.00,3.66,0.000,0.000,0.118,1643.12,1692.31,1593.94,2868.50,569.12,0,0,0,30.00,30.00,15.64
$GC,5635.76,17414,285.24,0.91,0.00,1643.0,1692.5,1593.6,2867.3,569.1,61.77,10.02,739,5646.17,0.00,0.00,3.24,0.000,0.000,0.038,1644.44,1693.62,1595.25,2867.25,1982.81,0,0,0,30.00,30.00,15.72
$GC,5826.39,8742,352.90,0.99,-80.00,1642.9,1692.8,1593.0,2867.8,1984.6,47.23,6.85,777,5934.31,99.64,0.00,3.73,1.205,0.000,0.119,1385.75,1431.31,1340.19,2867.12,571.69,0,0,0,11.81,30.00,15.34
$GC,5963.30,11431,428.05,1.17,0.00,1383.5,1427.2,1339.7,2867.9,571.6,38.45,6.50,804,6091.50,120.88,0.38,3.30,1.147,0.102,0.040,1080.47,1130.69,1030.25,2928.81,1984.88,0,0,0,11.72,15.39,15.36
$GC,6270.52,10919,531.53,1.49,-80.00,1072.6,1123.9,1021.2,2929.6,1984.7,19.05,5.19,865,6453.89,173.02,0.50,3.85,1.103,0.094,0.121,658.41,685.19,631.62,3005.25,569.25,0,0,0,11.47,15.31,14.94
$STATE,6482,end climb,SURFACE_DEPTH_REACHED
$STATE,6482,begin surface coast
$FINISH,0.4,1.023794
$STATE,6503,end surface coast,CONTROL_FINISHED_OK
$STATE,6503,begin surface
$SM_CCo,6589.95,54.06,1.080,0,500.9,497.4,504.4,570.09
$SM_CCo,6591.08,0.00,0.008,0,500.4,496.6,504.2,570.22
$SM_CCo,6592.21,0.00,0.011,0,500.2,496.4,503.9,570.28
$SM_GC,1.68,0.00,19.30,3.59,0.011,0.065,0.042,500.2,496.4,503.9,197.9,2077.6,0,0,0,30.36,15.15,15.18
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7136.21,-15206.87,201020,051103
$TCM_TEMP,1.07
$SC_FREEKB,3834272
$PM_FREEKB_00,36797696
$PM_ACTIVECARD,0
$RAFOS_CLK,-2
$MODEM,6,1603182920,75.33060,-142.67570,20.078,29414.5
$MODEM,4,1603182531,76.55490,-139.99944,231.287,338835.3
$MODEM,3,1603182097,75.26195,-145.59448,97.435,142741.9
$MODEM,2,1603181743,75.67648,-146.03058,43.365,63529.2
$MODEM,0,1603181176,74.83892,-145.28152,76.871,112616.2
$RAFOS_FIX,7456.437012,-14747.377930,201020,080820,5,255,81.72
$HUMID,52.81
$TEMP,0.02
$INTERNAL_PRESSURE,8.13865
$24V_AH,14.46,77.685
$10V_AH,14.45,0.000
$FG_AHR_24Vo,147.195
$FG_AHR_10Vo,35.571
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,955.050,46.645,99.380,174.798,0.000,14.002,3893.766,2919.874,2233.805,2214.000,0.000,0.000
$DEVICE_MAMPS,1504.288,312.992,174.248,205.470,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6515.000,6525.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.458,9.561,0.000,0.000
$MEM,1152516,34,24292,77
$DATA_FILE_SIZE,25709,911
$CAP_FILE_SIZE,257600,0
$SDSIZE,3918848,3777504
$SDFILEDIR,1145,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.207,337.8,1
$GPS,201020,090609,7134.533,-15204.127,15,0.9,15,15.1