version: 67.00
glider: 233
mission: 7
dive: 142
start: 10 20 120 13 23 16
data:
$ID,233
$MISSION,7
$DIVE,142
$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,35.67905
$FG_AHR_24V,147.83064
$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
$GPS1,201020,131419,7134.907,-15205.281,2,1.2,5,15.1
$_CALLS,3
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-65.6
$GPS2,201020,132244,7134.995,-15205.359,2,1.1,4,15.1
$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,147.3,9772,-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,10.87,16386,-145.99,-0.88,0.00,492.2,489.6,494.8,197.8,2022.3,0.00,0.00,0,156.37,143.42,0.00,0.00,0.005,0.000,0.000,2644.88,2635.56,2654.19,197.88,2021.38,0,0,0,15.41,30.00,30.00
$GC,156.63,18727,-145.99,-0.88,80.00,2644.2,2634.3,2654.1,197.8,2021.9,3.09,0.00,28,207.24,18.76,19.70,3.44,0.006,0.314,0.144,3422.25,3428.12,3416.38,2423.12,3349.50,0,0,0,15.43,15.28,15.36
$GC,265.94,1028,-145.99,-0.88,0.00,3425.5,3433.7,3417.2,2423.2,3349.8,34.96,-17.42,49,273.21,0.00,0.00,3.17,0.000,0.000,0.049,3426.97,3434.81,3419.12,2422.31,2025.06,0,0,0,30.00,30.00,15.55
$GC,452.19,260,-145.99,-0.88,80.00,3426.3,3435.1,3417.6,2422.9,2025.4,61.53,-12.43,86,458.94,0.00,0.00,3.38,0.000,0.000,0.127,3426.62,3436.94,3416.31,2423.50,3349.06,0,0,0,30.00,30.00,15.48
$GC,487.63,1028,-145.99,-0.88,0.00,3427.1,3435.6,3418.6,2423.8,3348.2,65.94,-12.35,93,494.09,0.00,0.00,3.14,0.000,0.000,0.046,3426.69,3435.31,3418.06,2423.25,2023.06,0,0,0,30.00,30.00,15.63
$GC,673.07,516,-145.99,-0.88,-80.00,3427.2,3437.0,3417.3,2423.7,2023.1,87.15,-11.68,130,683.90,0.00,0.00,3.72,0.000,0.000,0.128,3427.91,3436.94,3418.88,2423.25,584.31,0,0,0,30.00,30.00,15.61
$GC,732.83,1028,-145.99,-0.88,0.00,3426.9,3436.4,3417.4,2424.0,584.5,94.70,-12.45,142,739.33,0.00,0.00,3.46,0.000,0.000,0.043,3427.88,3436.88,3418.88,2422.69,2073.69,0,0,0,30.00,30.00,15.67
$GC,918.41,260,-145.99,-0.88,80.00,3426.8,3436.2,3417.4,2423.2,2074.3,116.01,-11.36,165,925.00,0.00,0.00,3.22,0.000,0.000,0.132,3425.44,3434.75,3416.12,2422.75,3348.19,0,0,0,30.00,30.00,15.65
$GC,967.16,1156,-145.99,-0.95,0.00,3427.3,3437.0,3417.6,2423.9,3348.7,121.98,-12.03,175,974.69,0.00,0.00,3.12,0.000,0.000,0.045,3428.47,3437.19,3419.75,2423.50,2020.38,0,0,0,30.00,30.00,15.72
$GC,1273.91,4741,-145.99,-1.02,-80.00,3427.3,3436.7,3417.9,2422.8,2020.7,156.16,-10.78,206,1285.81,0.00,0.30,3.67,0.000,0.095,0.126,3427.22,3437.69,3416.75,2378.75,586.06,0,0,0,30.00,15.75,15.67
$GC,1287.95,1028,-145.99,-1.02,0.00,3427.5,3437.2,3417.8,2380.0,586.1,157.95,-10.91,209,1296.00,0.00,0.00,3.45,0.000,0.000,0.045,3428.09,3437.62,3418.56,2379.25,2075.81,0,0,0,30.00,30.00,15.76
$GC,1594.72,0,-145.99,-1.02,0.00,3426.6,3435.9,3417.2,2380.0,2075.9,191.52,-9.74,240,1598.65,0.00,0.00,0.00,0.000,0.000,0.000,3426.25,3435.75,3416.75,2380.31,2076.81,0,0,0,30.00,30.00,30.00
$GC,1894.90,32,-145.99,-1.02,0.00,3426.9,3436.1,3417.6,2379.4,2076.5,215.64,-7.35,270,1897.79,0.00,0.00,0.00,0.000,0.000,0.000,3425.88,3436.00,3415.75,2379.75,2076.75,0,0,0,30.00,30.00,30.00
$GC,2194.89,548,-145.99,-1.02,-80.00,3427.0,3436.9,3417.1,2379.8,2076.2,238.77,-7.59,300,2201.60,0.00,0.00,3.77,0.000,0.000,0.123,3428.16,3438.25,3418.06,2378.81,584.88,0,0,0,30.00,30.00,15.79
$GC,2280.37,1028,-145.99,-1.02,0.00,3427.1,3436.5,3417.8,2378.9,584.6,246.60,-9.50,317,2287.46,0.00,0.00,3.43,0.000,0.000,0.050,3426.88,3436.38,3417.38,2378.88,2074.31,0,0,0,30.00,30.00,15.87
$GC,2585.06,260,-145.99,-1.02,80.00,3426.7,3435.6,3417.8,2379.8,2075.4,271.57,-9.18,348,2592.45,0.00,0.00,3.19,0.000,0.000,0.134,3425.53,3434.88,3416.19,2379.19,3350.50,0,0,0,30.00,30.00,15.82
$GC,2611.17,1028,-145.99,-1.02,0.00,3426.8,3435.9,3417.6,2380.2,3349.4,274.03,-9.22,353,2617.02,0.00,0.00,3.09,0.000,0.000,0.045,3427.34,3436.88,3417.81,2378.56,2021.94,0,0,0,30.00,30.00,15.75
$STATE,2896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2896,begin apogee
$GC,2897.46,10243,0.00,-0.20,0.00,3427.3,3436.3,3418.2,2379.3,1915.0,300.16,-9.37,382,3027.77,126.25,1.62,0.12,1.544,0.179,0.170,2821.41,2841.12,2801.69,2592.12,1992.31,0,0,0,11.63,15.82,15.30
$STATE,3030,end apogee,CONTROL_FINISHED_OK
$STATE,3030,begin climb
$GC,3030.44,10243,145.99,0.88,0.00,2821.6,2841.1,2802.1,2591.5,1992.4,303.20,0.00,388,3165.17,130.84,1.93,0.00,1.454,0.120,0.000,2231.16,2275.00,2187.31,2854.19,1992.38,0,0,0,11.55,15.28,30.00
$GC,3458.44,21127,145.99,0.69,-80.00,2212.5,2256.5,2168.6,2855.9,1992.0,259.40,11.98,433,3466.02,0.00,0.50,3.74,0.000,0.195,0.124,2212.75,2256.06,2169.44,2801.94,570.19,0,0,0,30.00,15.35,15.36
$GC,3514.99,21639,145.99,0.52,0.00,2210.7,2253.1,2168.2,2802.2,570.4,252.52,12.48,444,3522.34,0.00,0.31,3.31,0.000,0.191,0.043,2213.12,2254.94,2171.31,2758.50,1978.75,0,0,0,30.00,15.36,15.44
$GC,3819.87,16902,145.99,0.52,-80.00,2207.8,2251.1,2164.4,2758.4,1980.2,227.19,8.46,475,3827.35,0.00,0.00,3.65,0.000,0.000,0.119,2205.75,2249.00,2162.50,2760.00,570.25,0,0,0,30.00,30.00,15.54
$GC,3879.50,17414,145.99,0.52,0.00,2207.5,2250.2,2164.8,2758.9,570.7,220.89,10.57,487,3887.04,0.00,0.00,3.28,0.000,0.000,0.043,2206.53,2246.62,2166.44,2759.12,1981.75,0,0,0,30.00,30.00,15.60
$GC,4186.21,8742,200.58,0.58,-80.00,2206.0,2248.9,2163.0,2758.6,1983.5,194.88,7.46,518,4242.45,47.23,0.00,3.69,1.374,0.000,0.120,2005.53,2050.88,1960.19,2759.50,569.88,0,0,0,11.63,30.00,15.31
$GC,4296.04,1028,200.58,0.58,0.00,1999.7,2042.8,1956.5,2759.6,569.9,186.15,8.51,540,4303.43,0.00,0.00,3.30,0.000,0.000,0.043,1997.72,2040.94,1954.50,2759.56,1980.44,0,0,0,30.00,30.00,15.51
$GC,4601.10,10663,322.88,0.90,80.00,1994.0,2040.4,1947.6,2759.2,1983.1,167.15,4.31,571,4719.10,110.19,0.73,3.56,1.328,0.089,0.118,1507.34,1558.44,1456.25,2863.12,3350.81,0,0,0,11.62,15.59,15.19
$GC,4721.39,1028,322.88,0.90,0.00,1505.2,1558.0,1452.5,2865.0,3351.1,156.21,10.71,591,4728.88,0.00,0.00,3.49,0.000,0.000,0.047,1504.75,1556.62,1452.88,2864.19,1926.50,0,0,0,30.00,30.00,15.26
$GC,5028.06,16902,322.88,0.90,-80.00,1495.1,1548.0,1442.2,2863.4,1926.7,123.18,10.35,622,5035.32,0.00,0.00,3.56,0.000,0.000,0.125,1493.88,1547.12,1440.62,2865.12,571.25,0,0,0,30.00,30.00,15.36
$GC,5137.48,17542,322.88,0.83,0.00,1492.6,1543.5,1441.7,2865.2,570.0,110.22,11.64,644,5145.01,0.00,0.00,3.27,0.000,0.000,0.039,1493.31,1544.44,1442.19,2865.12,1980.75,0,0,0,30.00,30.00,15.51
$GC,5444.35,8742,366.05,0.89,-80.00,1491.2,1541.6,1440.8,2864.5,1982.7,84.10,7.99,694,5507.96,56.38,0.00,3.70,1.219,0.000,0.121,1331.22,1379.00,1283.44,2864.75,570.00,0,0,0,11.77,30.00,15.39
$GC,5596.88,1028,366.05,0.89,0.00,1328.2,1372.4,1284.1,2864.9,569.9,71.11,8.93,724,5604.17,0.00,0.00,3.28,0.000,0.000,0.039,1326.59,1371.75,1281.44,2864.50,1982.69,0,0,0,30.00,30.00,15.51
$GC,5783.20,10919,420.59,1.06,-80.00,1323.8,1371.6,1276.1,2866.4,1984.1,57.02,7.46,761,5870.63,79.11,0.22,3.74,1.184,0.110,0.121,1110.31,1156.00,1064.62,2904.06,570.06,0,0,0,11.76,15.55,15.27
$GC,5908.90,1028,420.59,1.06,0.00,1107.8,1151.4,1064.1,2902.9,570.0,45.95,9.50,786,5915.33,0.00,0.00,3.33,0.000,0.000,0.039,1108.09,1151.38,1064.81,2902.12,1983.12,0,0,0,30.00,30.00,15.39
$GC,6094.58,2693,420.59,1.20,-80.00,1104.0,1151.1,1056.9,2902.7,1985.5,29.43,8.83,823,6101.49,0.00,0.17,3.68,0.000,0.117,0.120,1103.62,1150.56,1056.69,2935.12,570.12,0,0,0,30.00,15.48,15.38
$GC,6215.50,11431,472.72,1.33,0.00,1102.9,1149.6,1056.2,2935.9,569.9,18.41,7.58,847,6302.20,77.63,0.17,3.27,1.148,0.121,0.036,898.78,937.06,860.50,2965.38,1989.69,0,0,0,11.54,15.52,15.55
$STATE,6480,end climb,SURFACE_DEPTH_REACHED
$STATE,6480,begin surface coast
$FINISH,0.3,1.023929
$STATE,6516,end surface coast,CONTROL_FINISHED_OK
$STATE,6516,begin surface
$SM_CCo,6683.09,138.57,1.121,0,500.8,490.3,511.4,570.12
$SM_CCo,6684.21,0.00,0.007,0,500.2,489.8,510.6,570.28
$SM_CCo,6685.24,0.00,0.000,0,499.9,489.3,510.4,570.35
$SM_GC,1.79,0.00,18.71,0.16,0.000,0.072,0.101,499.9,489.3,510.4,196.6,2105.0,0,0,0,30.00,15.45,15.49
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7136.21,-15206.87,201020,131813
$TCM_TEMP,1.04
$SC_FREEKB,3833312
$PM_FREEKB_00,36515520
$PM_ACTIVECARD,0
$RAFOS_CLK,-16
$RAFOS_FIX,7134.209473,-15204.945312,201020,151538,0,1,0.23
$HUMID,53.10
$TEMP,-0.15
$INTERNAL_PRESSURE,8.13498
$24V_AH,14.51,78.752
$10V_AH,14.50,0.000
$FG_AHR_24Vo,148.122
$FG_AHR_10Vo,35.718
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,928.405,44.370,103.740,262.749,0.000,13.546,4093.653,3104.286,2230.983,0.000,0.000,0.000
$DEVICE_MAMPS,1543.648,314.304,169.984,202.953,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6529.000,6539.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.388,9.545,0.000,0.000
$MEM,1152404,34,24404,77
$DATA_FILE_SIZE,25688,907
$CAP_FILE_SIZE,254380,0
$SDSIZE,3918848,3776640
$SDFILEDIR,1166,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.247,344.4,1
$GPS,201020,151539,7135.073,-15205.570,24,0.8,25,15.1