version: 67.00
glider: 233
mission: 7
dive: 141
start: 10 20 120 11 19 16
data:
$ID,233
$MISSION,7
$DIVE,141
$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,35.612732
$FG_AHR_24V,147.51387
$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
$GPS1,201020,110709,7134.682,-15204.956,20,1.1,21,15.1
$_CALLS,5
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-53.8
$GPS2,201020,111845,7134.781,-15205.056,2,0.7,4,15.1
$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,143.1,9340,-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,10.81,16386,-145.99,-0.88,0.00,491.6,487.8,495.4,196.5,2023.8,0.00,0.00,0,105.36,92.46,0.00,0.00,0.005,0.000,0.000,1950.75,1953.50,1948.00,196.12,2023.69,0,0,0,15.45,30.00,30.00
$GC,105.62,18727,-145.99,-0.88,80.00,1951.8,1952.4,1951.2,196.9,2024.2,3.09,-1.89,18,181.17,44.44,20.03,3.46,0.005,0.313,0.147,3422.59,3431.00,3414.19,2424.62,3348.75,0,0,0,15.49,15.31,15.50
$GC,224.96,1156,-145.99,-0.82,0.00,3423.9,3433.6,3414.2,2424.6,3348.8,27.69,-20.47,41,232.22,0.00,0.00,3.18,0.000,0.000,0.048,3424.16,3433.31,3415.00,2423.44,2024.75,0,0,0,30.00,30.00,15.57
$GC,411.20,260,-145.99,-0.82,80.00,3424.4,3434.9,3413.9,2424.6,2024.8,54.33,-13.51,78,417.94,0.00,0.00,3.38,0.000,0.000,0.128,3426.38,3435.38,3417.38,2423.44,3349.06,0,0,0,30.00,30.00,15.57
$GC,446.64,1028,-145.99,-0.82,0.00,3424.3,3434.9,3413.7,2424.0,3348.9,59.15,-14.05,85,453.09,0.00,0.00,3.15,0.000,0.000,0.047,3425.06,3435.94,3414.19,2424.62,2023.94,0,0,0,30.00,30.00,15.58
$GC,632.07,516,-145.99,-0.82,-80.00,3425.3,3436.1,3414.6,2425.3,2023.1,82.01,-11.74,122,642.89,0.00,0.00,3.71,0.000,0.000,0.128,3426.47,3436.44,3416.50,2424.19,584.31,0,0,0,30.00,30.00,15.61
$GC,677.12,1028,-145.99,-0.82,0.00,3424.6,3435.6,3413.6,2423.7,583.8,87.35,-12.10,131,683.33,0.00,0.00,3.48,0.000,0.000,0.044,3425.97,3436.50,3415.44,2424.62,2073.56,0,0,0,30.00,30.00,15.64
$GC,862.30,260,-145.99,-0.82,80.00,3425.2,3436.3,3414.2,2424.9,2073.1,107.97,-10.98,161,869.24,0.00,0.00,3.23,0.000,0.000,0.132,3425.62,3436.62,3414.62,2423.12,3349.25,0,0,0,30.00,30.00,15.59
$GC,887.93,1028,-145.99,-0.82,0.00,3425.1,3436.2,3413.9,2424.5,3349.0,110.75,-10.81,166,894.88,0.00,0.00,3.11,0.000,0.000,0.045,3426.88,3437.62,3416.12,2422.50,2020.69,0,0,0,30.00,30.00,15.72
$GC,1192.54,548,-145.99,-0.82,-80.00,3424.8,3435.2,3414.4,2424.6,2020.9,138.54,-7.78,197,1200.01,0.00,0.00,3.68,0.000,0.000,0.126,3427.41,3437.25,3417.56,2422.88,584.56,0,0,0,30.00,30.00,15.72
$GC,1228.72,1060,-145.99,-0.82,0.00,3425.2,3436.1,3414.4,2424.7,584.4,141.47,-7.77,204,1235.66,0.00,0.00,3.45,0.000,0.000,0.046,3427.09,3437.81,3416.38,2423.44,2075.75,0,0,0,30.00,30.00,15.78
$GC,1533.29,160,-145.99,-0.89,0.00,3425.2,3436.0,3414.4,2424.8,2076.6,162.73,-7.43,235,1537.15,0.00,0.00,0.00,0.000,0.000,0.000,3424.00,3435.00,3413.00,2424.12,2075.88,0,0,0,30.00,30.00,30.00
$GC,1834.12,4773,-145.99,-1.02,-80.00,3424.8,3435.6,3414.1,2423.8,2076.2,186.41,-6.54,265,1846.07,0.00,0.31,3.80,0.000,0.093,0.119,3425.53,3436.25,3414.81,2381.12,584.94,0,0,0,30.00,15.80,15.69
$GC,1898.21,1028,-145.99,-1.02,0.00,3424.8,3435.4,3414.2,2381.1,584.6,193.48,-11.57,278,1906.26,0.00,0.00,3.43,0.000,0.000,0.048,3425.88,3436.44,3415.31,2381.00,2074.56,0,0,0,30.00,30.00,15.83
$GC,2204.48,0,-145.99,-1.02,0.00,3424.7,3435.5,3413.8,2381.4,2074.8,218.84,-8.50,309,2208.01,0.00,0.00,0.00,0.000,0.000,0.000,3424.34,3435.06,3413.62,2381.56,2075.38,0,0,0,30.00,30.00,30.00
$GC,2505.16,548,-145.99,-1.02,-80.00,3425.3,3436.2,3414.5,2380.9,2075.0,241.74,-7.15,339,2512.12,0.00,0.00,3.78,0.000,0.000,0.122,3425.75,3436.88,3414.62,2380.00,585.31,0,0,0,30.00,30.00,15.82
$GC,2600.82,1028,-145.99,-1.02,0.00,3424.7,3435.3,3414.0,2380.4,584.8,250.35,-9.30,358,2607.78,0.00,0.00,3.42,0.000,0.000,0.049,3424.22,3434.75,3413.69,2381.31,2073.50,0,0,0,30.00,30.00,15.89
$GC,2906.93,32,-145.99,-1.02,0.00,3424.3,3435.1,3413.6,2381.1,2073.5,274.35,-7.90,389,2909.82,0.00,0.00,0.00,0.000,0.000,0.000,3424.38,3435.06,3413.69,2382.00,2073.19,0,0,0,30.00,30.00,30.00
$GC,3206.24,548,-145.99,-1.02,-80.00,3424.8,3435.4,3414.1,2381.6,2073.2,297.96,-7.83,419,3213.66,0.00,0.00,3.78,0.000,0.000,0.120,3424.84,3436.00,3413.69,2381.25,583.88,0,0,0,30.00,30.00,15.79
$STATE,3232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3232,begin apogee
$GC,3237.06,10243,0.00,-0.20,0.00,3424.6,3435.5,3413.8,2381.9,1978.3,300.16,-8.39,424,3367.36,126.23,1.61,0.11,1.545,0.186,0.186,2824.22,2846.50,2801.94,2589.94,1911.00,0,0,0,11.71,15.77,15.23
$STATE,3370,end apogee,CONTROL_FINISHED_OK
$STATE,3370,begin climb
$GC,3370.01,10243,145.99,0.88,0.00,2822.3,2844.7,2800.0,2591.5,1911.2,302.26,0.00,430,3506.72,130.96,1.92,0.00,1.440,0.123,0.000,2228.78,2273.88,2183.69,2856.62,1911.19,0,0,0,11.42,15.22,30.00
$GC,3810.22,20611,145.99,0.68,80.00,2212.2,2256.7,2167.8,2855.5,1910.2,251.61,12.61,481,3814.28,0.00,0.51,0.00,0.000,0.198,0.000,2211.12,2255.19,2167.06,2800.00,1910.94,0,0,0,30.00,15.30,30.00
$GC,4110.79,16902,145.99,0.68,-80.00,2209.1,2254.0,2164.1,2800.6,1911.1,225.17,8.59,511,4117.76,0.00,0.00,3.49,0.000,0.000,0.125,2211.44,2255.88,2167.00,2798.06,570.12,0,0,0,30.00,30.00,15.44
$GC,4199.99,21639,145.99,0.51,0.00,2207.7,2250.6,2164.9,2799.6,569.9,214.98,11.24,529,4207.64,0.00,0.31,3.28,0.000,0.191,0.041,2209.00,2251.88,2166.12,2757.69,1980.44,0,0,0,30.00,15.45,15.54
$GC,4506.79,10663,217.14,0.66,80.00,2206.2,2249.8,2162.6,2758.5,1982.2,191.15,6.69,560,4579.14,62.33,0.35,3.53,1.354,0.100,0.118,1937.09,1986.19,1888.00,2808.12,3351.31,0,0,0,11.84,15.56,15.29
$GC,4601.28,1028,217.14,0.66,0.00,1933.2,1983.5,1882.9,2808.2,3351.9,182.65,10.37,579,4608.85,0.00,0.00,3.43,0.000,0.000,0.047,1932.88,1983.50,1882.25,2807.69,1923.94,0,0,0,30.00,30.00,15.32
$MODEM_MSG,CACST,6,1,20201020121306.408119,18,142,-20,0106,0150,246,02,02,07,04,-1,-01,-01,1,3,0,0,150,2.9,0.56,-100,2.44,-01,0.12,61,925,0025*3B
$MODEM_MSG,CACST,6,1,20201020121512.329570,18,445,08,0337,0150,171,01,01,03,01,-1,-01,-01,1,3,0,0,150,58.5,0.36,-100,2.64,-01,-0.03,20,925,0025*06
$MODEM_MSG,CACST,6,1,20201020122915.563248,18,101,-22,0101,0150,171,01,01,07,01,-1,-01,-01,1,3,0,0,150,-10.4,0.39,-100,2.61,-01,0.10,20,925,0025*2D
$MODEM_MSG,CACST,6,1,20201020123600.743511,18,220,-18,0119,0150,171,00,00,07,03,-1,-01,-01,1,3,0,0,150,-17.3,0.51,-100,2.49,-01,0.00,22,925,0025*2B
$GC,4907.40,8742,264.72,0.72,-80.00,1926.0,1975.4,1876.6,2808.3,1924.3,154.61,7.79,610,4975.12,60.33,0.00,3.54,1.255,0.000,0.126,1745.94,1795.75,1696.12,2807.06,568.69,0,0,0,11.57,30.00,15.15
$GC,5137.28,17414,264.72,0.72,0.00,1736.8,1782.5,1691.1,2808.0,568.9,131.96,9.97,656,5144.83,0.00,0.00,3.28,0.000,0.000,0.037,1737.00,1783.19,1690.81,2808.25,1983.75,0,0,0,30.00,30.00,15.46
$GC,5444.16,10919,331.53,0.90,-80.00,1733.2,1782.8,1683.7,2808.3,1985.5,108.03,6.89,687,5541.05,88.00,0.32,3.72,1.220,0.104,0.120,1472.62,1518.62,1426.62,2864.31,570.25,0,0,0,11.71,15.47,15.22
$GC,5599.28,1028,331.53,0.90,0.00,1467.5,1510.5,1424.6,2864.7,570.2,93.40,10.81,718,5606.75,0.00,0.00,3.30,0.000,0.000,0.038,1467.75,1511.00,1424.50,2863.75,1979.25,0,0,0,30.00,30.00,15.36
$GC,5785.15,16902,331.53,0.90,-80.00,1463.7,1510.1,1417.3,2864.8,1980.9,76.53,8.58,755,5792.54,0.00,0.00,3.65,0.000,0.000,0.118,1462.53,1509.19,1415.88,2864.69,569.94,0,0,0,30.00,30.00,15.44
$GC,5821.57,17414,331.53,0.90,0.00,1462.6,1509.0,1416.2,2863.9,570.1,73.13,9.51,762,5828.83,0.00,0.00,3.28,0.000,0.000,0.041,1462.62,1508.88,1416.38,2864.12,1980.19,0,0,0,30.00,30.00,15.52
$GC,6007.84,8870,382.87,1.03,-80.00,1461.3,1508.6,1414.1,2864.9,1981.5,58.11,7.61,799,6090.08,72.34,0.00,3.72,1.178,0.000,0.120,1264.19,1311.31,1217.06,2864.38,570.38,0,0,0,11.82,30.00,15.24
$GC,6138.31,3205,382.87,1.10,0.00,1260.6,1304.9,1216.2,2864.3,570.0,47.96,8.33,825,6148.86,0.00,0.28,3.31,0.000,0.106,0.039,1259.41,1304.69,1214.12,2912.38,1984.88,0,0,0,30.00,15.37,15.33
$GC,6328.97,10403,437.24,1.23,0.00,1256.8,1304.6,1209.1,2911.8,1986.6,32.38,7.47,863,6421.39,88.54,0.16,0.00,1.139,0.123,0.000,1043.16,1088.50,997.81,2943.25,1986.25,0,0,0,11.50,15.47,30.00
$GC,6599.75,10919,542.45,1.52,-80.00,1036.9,1084.0,989.8,2942.7,1986.5,14.34,5.11,917,6763.78,161.01,0.46,0.00,1.084,0.093,0.000,644.50,667.38,621.62,3013.88,1987.06,0,0,0,11.68,15.40,30.00
$STATE,6764,end climb,SURFACE_DEPTH_REACHED
$STATE,6764,begin surface coast
$FINISH,0.4,1.023881
$STATE,6782,end surface coast,CONTROL_FINISHED_OK
$STATE,6782,begin surface
$SM_CCo,6859.60,48.92,1.070,0,501.1,503.1,499.2,570.05
$SM_CCo,6860.73,0.00,0.013,0,500.5,502.8,498.2,570.20
$SM_CCo,6861.85,0.00,0.007,0,500.3,502.9,497.8,570.24
$SM_GC,1.34,0.00,19.39,0.17,0.007,0.070,0.095,500.3,502.9,497.8,200.6,2102.4,0,0,0,30.36,15.12,15.15
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7136.21,-15206.87,201020,111418
$TCM_TEMP,1.00
$SC_FREEKB,3833632
$PM_FREEKB_00,36607680
$PM_ACTIVECARD,0
$RAFOS_CLK,-2
$MODEM,6,1603197360,75.33060,-142.67570,60.744,88989.2
$MODEM,4,1603196955,76.55490,-139.99944,255.563,374400.2
$MODEM,2,1603196112,75.67648,-146.03058,12.330,18062.8
$MODEM,1,1603195986,75.02295,-144.31340,186.408,273087.9
$RAFOS_FIX,7452.229492,-15030.080078,201020,121200,4,255,79.69
$HUMID,52.87
$TEMP,-0.03
$INTERNAL_PRESSURE,8.13836
$24V_AH,14.46,78.413
$10V_AH,14.45,0.000
$FG_AHR_24Vo,147.818
$FG_AHR_10Vo,35.678
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,975.570,45.650,97.155,334.240,0.000,13.602,4174.093,3313.791,2314.195,2218.000,0.000,0.000
$DEVICE_MAMPS,1544.960,312.992,186.384,206.424,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6796.000,6805.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.446,9.566,0.000,0.000
$MEM,1152484,35,24304,77
$DATA_FILE_SIZE,25718,953
$CAP_FILE_SIZE,262693,0
$SDSIZE,3918848,3776896
$SDFILEDIR,1159,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.235,342.5,1
$GPS,201020,131419,7134.907,-15205.281,2,1.2,5,15.1