version: 67.00
glider: 233
mission: 7
dive: 148
start: 10 21 120 4 50 30
data:
$ID,233
$MISSION,7
$DIVE,148
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$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,220
$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,36.086063
$FG_AHR_24V,149.80762
$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
$GPS1,211020,044240,7133.829,-15206.692,24,0.8,25,15.1
$_CALLS,2
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.7
$GPS2,211020,044959,7133.853,-15206.723,2,0.6,3,15.1
$SPEED_LIMITS,0.173,0.304
$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,142.2,8156,-14.2,-10.000,-18.23
$D_GRID,450
$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,10.85,16386,-214.11,-0.83,0.00,493.0,492.4,493.6,200.1,2032.2,0.00,0.00,0,95.19,82.15,0.00,0.00,0.005,0.000,0.000,1843.94,1848.88,1839.00,200.25,2032.44,0,0,0,15.46,30.00,30.00
$GC,95.44,18727,-214.11,-0.83,80.00,1845.5,1848.3,1842.8,200.2,2032.7,3.03,-1.71,16,186.56,59.62,19.85,3.42,0.005,0.308,0.144,3700.91,3703.06,3698.75,2434.81,3349.19,0,0,0,15.47,15.35,15.52
$GC,309.86,1028,-214.11,-0.83,0.00,3703.2,3707.0,3699.5,2435.9,3351.0,37.46,-12.33,58,316.25,0.00,0.00,3.15,0.000,0.000,0.047,3702.03,3705.81,3698.25,2436.50,2022.81,0,0,0,30.00,30.00,15.61
$GC,495.59,0,-214.11,-0.83,0.00,3703.2,3707.8,3698.8,2435.6,2021.3,61.14,-12.08,95,500.61,0.00,0.00,0.00,0.000,0.000,0.000,3703.25,3708.38,3698.12,2436.94,2021.25,0,0,0,30.00,30.00,30.00
$GC,680.10,0,-214.11,-0.83,0.00,3704.2,3708.9,3699.4,2436.9,2020.6,83.92,-12.73,132,685.65,0.00,0.00,0.00,0.000,0.000,0.000,3703.66,3708.06,3699.25,2436.81,2022.38,0,0,0,30.00,30.00,30.00
$GC,864.99,0,-214.11,-0.83,0.00,3703.2,3708.1,3698.4,2436.6,2021.6,105.80,-11.45,164,868.50,0.00,0.00,0.00,0.000,0.000,0.000,3702.69,3707.81,3697.56,2436.06,2021.56,0,0,0,30.00,30.00,30.00
$GC,1165.04,516,-214.11,-0.83,-80.00,3703.4,3708.0,3698.8,2436.9,2021.8,138.02,-10.37,194,1172.45,0.00,0.00,3.71,0.000,0.000,0.128,3703.22,3707.56,3698.88,2436.38,585.50,0,0,0,30.00,30.00,15.69
$GC,1214.62,1156,-214.11,-0.92,0.00,3703.8,3708.3,3699.2,2436.1,585.3,143.53,-10.70,204,1222.65,0.00,0.00,3.46,0.000,0.000,0.044,3703.28,3708.06,3698.50,2436.38,2075.69,0,0,0,30.00,30.00,15.79
$GC,1521.30,4741,-214.11,-1.00,-80.00,3703.8,3708.7,3698.9,2436.9,2076.6,173.07,-9.07,235,1532.78,0.00,0.36,3.85,0.000,0.085,0.118,3704.25,3709.69,3698.81,2384.06,584.56,0,0,0,30.00,15.80,15.76
$GC,1571.40,1028,-214.11,-1.00,0.00,3703.5,3707.9,3699.1,2383.8,584.4,179.02,-12.43,245,1578.43,0.00,0.00,3.47,0.000,0.000,0.047,3704.00,3709.00,3699.00,2382.38,2073.25,0,0,0,30.00,30.00,15.83
$GC,1876.51,260,-214.11,-1.00,80.00,3703.8,3708.6,3699.0,2383.4,2073.6,209.72,-9.77,276,1882.42,0.00,0.00,3.22,0.000,0.000,0.133,3702.78,3707.06,3698.50,2383.31,3350.88,0,0,0,30.00,30.00,15.77
$GC,1901.53,1028,-214.11,-1.00,0.00,3702.8,3707.6,3698.0,2382.9,3350.8,212.15,-9.44,281,1907.39,0.00,0.00,3.10,0.000,0.000,0.045,3702.97,3708.00,3697.94,2383.81,2019.94,0,0,0,30.00,30.00,15.86
$GC,2206.74,0,-214.11,-1.00,0.00,3703.6,3708.6,3698.6,2383.1,2020.3,239.50,-9.04,312,2210.67,0.00,0.00,0.00,0.000,0.000,0.000,3703.28,3708.12,3698.44,2383.94,2020.56,0,0,0,30.00,30.00,30.00
$GC,2506.91,516,-214.11,-1.00,-80.00,3703.2,3707.9,3698.5,2383.2,2020.8,265.58,-8.55,342,2513.57,0.00,0.00,3.66,0.000,0.000,0.129,3703.38,3707.31,3699.44,2382.38,585.38,0,0,0,30.00,30.00,15.84
$GC,2552.28,1028,-214.11,-1.00,0.00,3702.6,3707.1,3698.2,2383.6,585.6,269.90,-9.58,351,2559.29,0.00,0.00,3.43,0.000,0.000,0.045,3703.59,3709.31,3697.88,2382.69,2075.25,0,0,0,30.00,30.00,15.90
$GC,2857.49,0,-214.11,-1.00,0.00,3702.8,3707.5,3698.2,2383.7,2075.9,295.89,-8.36,382,2861.41,0.00,0.00,0.00,0.000,0.000,0.000,3702.16,3706.75,3697.56,2383.69,2075.94,0,0,0,30.00,30.00,30.00
$GC,3157.63,548,-214.11,-1.00,-80.00,3702.8,3707.4,3698.3,2384.0,2075.2,318.89,-7.47,400,3164.34,0.00,0.00,3.78,0.000,0.000,0.119,3703.06,3707.75,3698.38,2381.69,584.12,0,0,0,30.00,30.00,15.86
$GC,3226.51,1028,-214.11,-1.00,0.00,3702.5,3708.0,3697.1,2384.1,584.2,325.28,-9.29,414,3234.55,0.00,0.00,3.42,0.000,0.000,0.047,3703.59,3707.94,3699.25,2383.94,2076.50,0,0,0,30.00,30.00,15.93
$GC,3533.30,4773,-214.11,-1.22,-80.00,3703.7,3708.3,3699.1,2382.8,2076.7,339.72,-3.03,430,3543.55,0.00,0.27,3.72,0.000,0.107,0.112,3704.75,3709.81,3699.69,2331.94,583.75,0,0,0,30.00,15.90,15.89
$STATE,3753,end dive,NO_VERTICAL_VELOCITY
$STATE,3753,begin apogee
$GC,3758.13,10243,0.00,-0.20,0.00,3703.0,3708.4,3697.6,2332.1,1977.0,339.67,0.00,474,3943.88,181.70,1.89,0.10,1.603,0.136,0.197,2822.94,2854.81,2791.06,2594.25,1917.50,0,0,0,11.68,15.89,15.14
$STATE,3946,end apogee,CONTROL_FINISHED_OK
$STATE,3946,begin climb
$GC,3946.29,10503,214.11,0.83,80.00,2822.0,2854.6,2789.4,2593.9,1913.4,339.56,0.00,483,4143.19,188.23,1.84,3.83,1.486,0.123,0.115,1948.06,2003.81,1892.31,2843.19,3350.62,0,0,0,11.38,15.13,14.86
$GC,4200.33,17414,214.11,0.83,0.00,1943.0,2000.7,1885.4,2842.0,3350.3,325.98,10.04,532,4207.92,0.00,0.00,3.52,0.000,0.000,0.047,1941.41,1999.31,1883.50,2842.56,1928.88,0,0,0,30.00,30.00,15.08
$GC,4506.99,17030,214.11,0.76,-80.00,1937.5,1991.6,1883.4,2842.9,1928.3,293.90,9.58,551,4513.89,0.00,0.00,3.56,0.000,0.000,0.123,1936.34,1990.81,1881.88,2842.19,569.44,0,0,0,30.00,30.00,15.35
$GC,4602.93,21639,214.11,0.63,0.00,1935.6,1988.3,1882.9,2843.3,569.1,282.78,11.91,570,4609.66,0.00,0.50,3.32,0.000,0.174,0.041,1935.88,1987.88,1883.88,2784.81,1977.94,0,0,0,30.00,15.40,15.45
$GC,4907.92,10919,326.28,0.86,-80.00,1934.4,1986.6,1882.2,2785.1,1980.1,262.50,6.42,601,5015.42,98.61,0.48,3.79,1.381,0.092,0.122,1494.03,1541.44,1446.62,2853.81,569.56,0,0,0,11.55,15.55,15.17
$GC,5089.46,1028,326.28,0.86,0.00,1489.0,1533.9,1444.2,2854.8,569.7,243.30,11.60,637,5096.07,0.00,0.00,3.35,0.000,0.000,0.043,1487.78,1531.75,1443.81,2854.06,1978.00,0,0,0,30.00,30.00,15.26
$GC,5394.29,16902,326.28,0.86,-80.00,1484.6,1532.0,1437.2,2854.9,1979.9,209.55,11.03,668,5401.17,0.00,0.00,3.69,0.000,0.000,0.119,1485.00,1533.00,1437.00,2853.00,569.44,0,0,0,30.00,30.00,15.48
$GC,5440.13,17414,326.28,0.86,0.00,1483.3,1530.4,1436.2,2855.0,570.1,204.41,11.47,677,5446.78,0.00,0.00,3.29,0.000,0.000,0.039,1483.88,1530.81,1436.94,2853.44,1979.50,0,0,0,30.00,30.00,15.55
$GC,5745.18,10403,402.05,1.02,0.00,1481.9,1530.2,1433.5,2854.6,1981.5,177.16,7.58,708,5816.64,68.46,0.22,0.00,1.299,0.109,0.000,1186.09,1233.75,1138.44,2893.88,1981.62,0,0,0,11.96,15.54,30.00
$GC,6114.48,10919,473.51,1.19,-80.00,1178.3,1229.9,1126.7,2895.8,1981.8,147.75,7.72,748,6217.90,92.43,0.22,3.81,1.201,0.109,0.123,895.00,936.31,853.69,2934.19,571.38,0,0,0,11.73,15.53,15.22
$GC,6296.13,1028,473.51,1.19,0.00,893.2,933.0,853.4,2934.1,571.1,130.23,10.27,784,6303.54,0.00,0.00,3.34,0.000,0.000,0.041,893.88,933.50,854.25,2934.75,1979.31,0,0,0,30.00,30.00,15.37
$GC,6601.15,516,473.51,1.19,-80.00,889.8,931.0,848.5,2934.2,1981.9,101.47,9.07,815,6608.64,0.00,0.00,3.73,0.000,0.000,0.120,890.06,931.38,848.75,2933.88,569.81,0,0,0,30.00,30.00,15.51
$GC,6666.87,1028,473.51,1.19,0.00,889.1,930.4,847.9,2933.9,569.9,95.03,9.90,828,6674.32,0.00,0.00,3.30,0.000,0.000,0.041,889.22,930.25,848.19,2934.12,1978.81,0,0,0,30.00,30.00,15.60
$GC,6853.05,644,473.51,1.25,-80.00,889.0,930.2,847.8,2934.2,1981.3,78.98,8.68,865,6860.09,0.00,0.00,3.69,0.000,0.000,0.120,888.59,930.06,847.12,2934.12,568.88,0,0,0,30.00,30.00,15.48
$GC,6898.91,3205,473.51,1.32,0.00,888.6,929.8,847.4,2934.5,569.0,74.90,9.05,874,6906.22,0.00,0.17,3.28,0.000,0.120,0.041,888.69,929.88,847.50,2965.00,1981.62,0,0,0,30.00,15.62,15.66
$GC,7085.20,516,473.51,1.32,-80.00,888.1,929.2,847.1,2965.2,1983.5,56.80,9.91,911,7091.99,0.00,0.00,3.69,0.000,0.000,0.120,888.94,930.19,847.69,2965.31,569.38,0,0,0,30.00,30.00,15.55
$GC,7100.77,1028,473.51,1.32,0.00,888.2,929.4,847.1,2965.2,569.6,55.13,10.09,914,7110.65,0.00,0.00,3.28,0.000,0.000,0.043,888.22,929.12,847.31,2965.44,1980.69,0,0,0,30.00,30.00,15.57
$GC,7290.26,644,473.51,1.39,-80.00,887.8,929.1,846.4,2965.1,1982.5,37.67,8.70,952,7297.76,0.00,0.00,3.66,0.000,0.000,0.122,888.00,929.19,846.81,2964.19,571.44,0,0,0,30.00,30.00,15.67
$GC,7351.68,3205,473.51,1.46,0.00,887.7,929.0,846.3,2964.4,571.0,32.03,9.34,964,7359.03,0.00,0.19,3.26,0.000,0.117,0.043,887.31,928.75,845.88,2999.31,1981.69,0,0,0,30.00,15.69,15.75
$GC,7538.04,10919,555.63,1.63,-80.00,887.4,928.9,845.8,2998.8,1983.2,17.21,7.38,1001,7666.32,121.32,0.23,3.78,1.169,0.109,0.123,561.16,573.00,549.31,3041.44,570.06,0,0,0,11.96,15.74,15.30
$GC,7700.31,11431,643.71,1.82,0.00,559.7,571.1,548.3,3041.3,570.2,5.49,7.19,1033,7732.25,23.00,0.27,3.34,1.077,0.110,0.043,501.00,507.12,494.88,3086.81,1985.31,0,0,0,11.51,15.37,15.33
$STATE,7745,end climb,SURFACE_DEPTH_REACHED
$STATE,7745,begin surface coast
$FINISH,0.5,1.023878
$STATE,7770,end surface coast,CONTROL_FINISHED_OK
$STATE,7771,begin surface
$SM_CCo,7858.42,0.00,0.000,0,498.2,502.7,493.8,570.76
$SM_GC,1.95,0.00,19.65,0.17,0.000,0.072,0.104,498.2,502.7,493.8,200.5,2089.6,0,0,0,30.00,15.38,15.39
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7134.40,-15210.05,211020,044504
$TCM_TEMP,0.98
$SC_FREEKB,3831392
$PM_FREEKB_00,35757248
$PM_ACTIVECARD,0
$RAFOS_CLK,-16
$RAFOS_FIX,7132.903809,-15206.174805,211020,060652,0,1,0.23
$HUMID,53.17
$TEMP,-0.18
$INTERNAL_PRESSURE,8.13568
$24V_AH,14.45,81.143
$10V_AH,14.75,0.000
$FG_AHR_24Vo,150.114
$FG_AHR_10Vo,36.132
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,915.510,46.145,119.435,249.593,0.000,12.626,4368.733,3905.560,2470.366,0.000,0.000,0.000
$DEVICE_MAMPS,1603.344,307.744,196.552,205.474,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7786.000,7794.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.082,9.601,0.000,0.000
$MEM,1152484,33,24344,77
$DATA_FILE_SIZE,28914,1047
$CAP_FILE_SIZE,275255,0
$SDSIZE,3918848,3774880
$SDFILEDIR,1208,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.175,341.7,1
$GPS,211020,070209,7133.611,-15206.763,2,0.9,7,15.1