version: 67.00
glider: 233
mission: 7
dive: 149
start: 10 21 120 7 9 33
data:
$ID,233
$MISSION,7
$DIVE,149
$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,36.132748
$FG_AHR_24V,150.12616
$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
$GPS1,211020,070209,7133.611,-15206.763,2,0.9,7,15.1
$_CALLS,2
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-70.5
$GPS2,211020,070902,7133.641,-15206.735,3,1.1,4,15.1
$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,141.4,7818,-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,10.86,16386,-214.11,-0.83,0.00,494.5,492.3,496.8,200.3,2033.6,0.00,0.00,0,95.19,82.14,0.00,0.00,0.005,0.000,0.000,1842.78,1844.31,1841.25,200.38,2033.56,0,0,0,15.49,30.00,30.00
$GC,95.44,18727,-214.11,-0.83,80.00,1844.8,1844.9,1844.8,200.3,2033.8,3.26,-1.65,16,186.54,57.96,19.91,3.40,0.005,0.313,0.144,3700.91,3704.38,3697.44,2435.88,3347.81,0,0,0,15.50,15.43,15.54
$GC,290.34,1028,-214.11,-0.83,0.00,3703.1,3707.5,3698.7,2437.1,3349.7,35.67,-14.05,54,296.22,0.00,0.00,3.14,0.000,0.000,0.048,3704.56,3709.50,3699.62,2436.50,2022.38,0,0,0,30.00,30.00,15.55
$GC,475.57,0,-214.11,-0.83,0.00,3702.7,3707.8,3697.5,2436.4,2022.7,58.93,-11.83,91,480.80,0.00,0.00,0.00,0.000,0.000,0.000,3702.72,3708.12,3697.31,2437.38,2022.38,0,0,0,30.00,30.00,30.00
$GC,660.07,0,-214.11,-0.83,0.00,3702.7,3708.4,3697.1,2436.6,2023.1,80.59,-11.29,128,665.84,0.00,0.00,0.00,0.000,0.000,0.000,3702.84,3707.75,3697.94,2437.12,2022.75,0,0,0,30.00,30.00,30.00
$GC,845.86,516,-214.11,-0.83,-80.00,3703.5,3709.1,3697.9,2436.2,2023.1,101.16,-10.92,164,852.61,0.00,0.00,3.73,0.000,0.000,0.129,3702.50,3707.56,3697.44,2436.88,585.56,0,0,0,30.00,30.00,15.66
$GC,894.76,1028,-214.11,-0.83,0.00,3702.8,3707.9,3697.6,2437.9,585.4,106.79,-11.19,174,902.85,0.00,0.00,3.47,0.000,0.000,0.045,3704.41,3709.62,3699.19,2435.81,2075.19,0,0,0,30.00,30.00,15.75
$GC,1201.34,516,-214.11,-0.83,-80.00,3702.5,3707.9,3697.1,2436.6,2076.1,140.16,-10.56,205,1208.39,0.00,0.00,3.83,0.000,0.000,0.118,3703.03,3707.50,3698.56,2436.62,585.69,0,0,0,30.00,30.00,15.74
$GC,1240.56,1156,-214.11,-0.90,0.00,3702.8,3708.6,3696.9,2436.5,585.8,144.43,-10.42,213,1248.69,0.00,0.00,3.46,0.000,0.000,0.046,3703.00,3708.19,3697.81,2437.31,2076.06,0,0,0,30.00,30.00,15.68
$GC,1547.40,4225,-214.11,-0.98,0.00,3703.9,3708.9,3698.8,2437.1,2075.8,173.83,-9.06,244,1551.24,0.00,0.31,0.00,0.000,0.089,0.000,3703.47,3707.25,3699.69,2388.62,2076.00,0,0,0,30.00,15.80,30.00
$GC,1847.24,0,-214.11,-0.98,0.00,3703.1,3708.8,3697.4,2390.1,2076.9,202.38,-9.07,274,1851.16,0.00,0.00,0.00,0.000,0.000,0.000,3703.34,3708.19,3698.50,2389.75,2076.88,0,0,0,30.00,30.00,30.00
$GC,2147.29,516,-214.11,-0.98,-80.00,3702.7,3707.7,3697.8,2390.1,2076.6,230.08,-9.82,304,2154.33,0.00,0.00,3.82,0.000,0.000,0.120,3702.72,3707.00,3698.44,2390.69,584.62,0,0,0,30.00,30.00,15.81
$GC,2226.60,1028,-214.11,-0.98,0.00,3701.0,3706.5,3695.6,2390.5,584.4,238.59,-10.59,320,2234.54,0.00,0.00,3.45,0.000,0.000,0.048,3702.72,3708.19,3697.25,2389.62,2074.69,0,0,0,30.00,30.00,15.74
$GC,2532.60,516,-214.11,-0.98,-80.00,3703.6,3709.4,3697.7,2390.2,2074.9,267.85,-8.79,351,2540.11,0.00,0.00,3.82,0.000,0.000,0.118,3704.19,3709.56,3698.81,2389.06,586.62,0,0,0,30.00,30.00,15.84
$GC,2608.89,1028,-214.11,-0.98,0.00,3702.7,3707.6,3697.9,2389.9,586.4,275.40,-10.10,366,2615.77,0.00,0.00,3.44,0.000,0.000,0.047,3702.03,3707.31,3696.75,2389.94,2078.38,0,0,0,30.00,30.00,15.90
$GC,2923.48,0,-214.11,-0.98,0.00,3702.7,3707.8,3697.5,2389.6,2077.3,303.76,-8.77,396,2927.40,0.00,0.00,0.00,0.000,0.000,0.000,3702.16,3707.12,3697.19,2389.88,2078.62,0,0,0,30.00,30.00,30.00
$GC,3224.16,4773,-214.11,-1.18,-80.00,3703.0,3707.9,3698.1,2388.9,2077.9,323.49,-4.06,411,3234.12,0.00,0.27,3.81,0.000,0.109,0.114,3702.84,3708.44,3697.25,2339.19,584.44,0,0,0,30.00,15.89,15.78
$GC,3463.09,5285,-214.11,-1.52,0.00,3701.7,3707.3,3696.1,2338.6,584.2,323.44,0.02,458,3470.74,0.00,0.50,3.47,0.000,0.100,0.052,3703.62,3708.81,3698.44,2259.75,2069.88,0,0,0,30.00,15.85,15.89
$STATE,3490,end dive,NO_VERTICAL_VELOCITY
$STATE,3490,begin apogee
$GC,3491.11,10243,0.00,-0.20,0.00,3702.2,3707.8,3696.7,2260.2,1907.4,323.49,0.00,460,3678.54,181.96,2.40,0.14,1.551,0.126,0.155,2821.94,2854.62,2789.25,2594.50,1997.75,0,0,0,11.96,15.86,15.11
$STATE,3681,end apogee,CONTROL_FINISHED_OK
$STATE,3681,begin climb
$GC,3681.30,10503,214.11,0.83,80.00,2821.8,2855.2,2788.4,2594.6,1997.1,323.45,0.00,469,3877.70,188.15,1.83,3.62,1.451,0.116,0.118,1950.22,2006.94,1893.50,2841.56,3351.06,0,0,0,11.42,15.10,14.83
$GC,3985.92,17414,214.11,0.83,0.00,1941.5,1998.9,1884.1,2842.4,3351.1,304.27,9.16,528,3993.48,0.00,0.00,3.55,0.000,0.000,0.048,1942.22,1998.69,1885.75,2841.12,1926.44,0,0,0,30.00,30.00,15.11
$GC,4292.29,17030,214.11,0.77,-80.00,1937.1,1992.1,1882.1,2841.6,1926.8,275.51,9.15,558,4299.56,0.00,0.00,3.66,0.000,0.000,0.128,1936.53,1991.44,1881.62,2841.25,569.00,0,0,0,30.00,30.00,15.32
$GC,4391.73,21639,214.11,0.65,0.00,1935.1,1988.1,1882.1,2841.4,568.8,264.13,11.59,578,4399.40,0.00,0.46,3.34,0.000,0.175,0.040,1935.56,1989.00,1882.12,2792.38,1977.94,0,0,0,30.00,15.35,15.43
$GC,4697.87,10919,324.19,0.87,-80.00,1934.3,1987.0,1881.7,2792.7,1979.6,243.08,6.48,609,4805.39,97.04,0.46,3.84,1.428,0.091,0.121,1503.75,1552.56,1454.94,2855.12,569.94,0,0,0,11.89,15.50,15.11
$GC,4859.12,1028,324.19,0.87,0.00,1496.5,1540.8,1452.1,2856.9,569.9,227.00,11.02,641,4866.05,0.00,0.00,3.36,0.000,0.000,0.037,1495.50,1539.62,1451.38,2857.19,1978.50,0,0,0,30.00,30.00,15.25
$GC,5163.72,16902,324.19,0.87,-80.00,1490.8,1539.2,1442.3,2857.2,1980.2,198.21,9.80,672,5171.18,0.00,0.00,3.76,0.000,0.000,0.119,1491.81,1539.62,1444.00,2856.31,570.12,0,0,0,30.00,30.00,15.39
$GC,5239.40,17414,324.19,0.87,0.00,1489.4,1536.9,1442.0,2857.4,570.0,190.53,9.67,687,5246.82,0.00,0.00,3.31,0.000,0.000,0.041,1489.25,1536.62,1441.88,2857.50,1978.69,0,0,0,30.00,30.00,15.37
$MODEM_MSG,CACST,6,1,20201021080714.464100,18,319,-5,0095,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,16.5,0.10,-100,2.90,-01,0.00,38,925,0025*36
$MODEM_MSG,CACST,6,1,20201021081038.959657,18,256,06,0150,0150,216,03,03,03,03,-1,-01,-01,1,3,0,0,150,25.0,0.18,-100,2.82,-01,0.00,39,925,0025*26
$MODEM_MSG,CACST,6,1,20201021081357.256293,18,510,-3,0739,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,-17.8,0.44,-100,2.56,-01,0.08,40,925,0025*19
$MODEM_MSG,CACST,6,1,20201021082106.460449,18,334,-4,0090,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,-14.0,0.36,-100,2.64,-01,-0.01,39,925,0025*3A
$MODEM_MSG,CACST,6,1,20201021082921.217517,18,607,15,0305,0150,246,02,02,02,04,-1,-01,-01,1,3,0,0,150,-34.4,0.23,-100,2.77,-01,-0.12,50,925,0025*2A
$GC,5544.48,10919,401.71,1.06,-80.00,1487.7,1535.4,1440.0,2857.1,1981.2,165.09,7.52,718,5648.00,94.94,0.26,3.82,1.283,0.102,0.120,1186.84,1235.19,1138.50,2902.62,569.94,0,0,0,11.59,15.56,15.20
$GC,5700.15,1028,401.71,1.06,0.00,1184.3,1231.1,1137.5,2903.6,569.9,151.54,8.90,749,5707.70,0.00,0.00,3.35,0.000,0.000,0.041,1183.75,1230.62,1136.88,2903.38,1980.56,0,0,0,30.00,30.00,15.28
$GC,6006.27,10919,476.80,1.22,-80.00,1180.3,1230.6,1130.1,2903.4,1982.2,127.94,7.60,780,6114.04,98.92,0.21,3.84,1.211,0.112,0.121,881.97,922.06,841.88,2942.06,571.06,0,0,0,11.74,15.50,15.15
$GC,6177.91,1028,476.80,1.22,0.00,879.9,918.6,841.2,2941.4,570.9,110.44,10.49,814,6184.66,0.00,0.00,3.35,0.000,0.000,0.042,880.62,919.25,842.00,2940.50,1979.75,0,0,0,30.00,30.00,15.25
$GC,6483.06,516,476.80,1.22,-80.00,877.2,918.2,836.2,2941.4,1981.8,81.90,8.91,864,6489.86,0.00,0.00,3.76,0.000,0.000,0.120,876.72,917.62,835.81,2942.00,570.12,0,0,0,30.00,30.00,15.35
$GC,6543.10,1156,476.80,1.29,0.00,876.4,916.9,835.9,2941.9,570.1,75.96,10.01,876,6550.55,0.00,0.00,3.30,0.000,0.000,0.038,876.94,917.62,836.25,2941.44,1981.19,0,0,0,30.00,30.00,15.44
$GC,6729.56,2693,476.80,1.36,-80.00,875.9,916.7,835.1,2940.7,1983.8,59.62,8.40,913,6736.54,0.00,0.19,3.69,0.000,0.116,0.120,875.94,916.44,835.44,2976.69,569.88,0,0,0,30.00,15.58,15.54
$GC,6774.76,1028,476.80,1.36,0.00,875.2,915.6,834.9,2976.2,570.1,54.76,11.23,922,6781.26,0.00,0.00,3.26,0.000,0.000,0.040,875.28,915.81,834.75,2976.69,1972.75,0,0,0,30.00,30.00,15.60
$GC,6960.60,516,476.80,1.36,-80.00,875.1,915.4,834.8,2975.9,1980.7,37.36,8.90,959,6967.35,0.00,0.00,3.63,0.000,0.000,0.120,875.31,915.62,835.00,2976.44,569.88,0,0,0,30.00,30.00,15.56
$GC,6981.08,1028,476.80,1.36,0.00,874.5,914.5,834.6,2976.2,569.9,35.50,9.10,963,6987.02,0.00,0.00,3.26,0.000,0.000,0.042,875.00,915.00,835.00,2976.62,1978.44,0,0,0,30.00,30.00,15.67
$GC,7166.38,10919,577.24,1.60,-80.00,874.2,914.4,834.1,2976.6,1983.6,21.72,6.79,1000,7315.33,139.71,0.35,3.75,1.172,0.100,0.124,500.75,507.31,494.19,3034.00,570.38,0,0,0,11.68,15.67,15.21
$GC,7373.58,11431,669.90,1.85,0.00,498.6,504.9,492.3,3035.6,570.0,5.94,7.04,1041,7381.12,0.00,0.35,3.32,0.000,0.102,0.038,498.78,504.94,492.62,3091.31,1988.50,0,0,0,30.00,15.32,15.29
$STATE,7430,end climb,SURFACE_DEPTH_REACHED
$STATE,7430,begin surface coast
$FINISH,0.3,1.023883
$STATE,7455,end surface coast,CONTROL_FINISHED_OK
$STATE,7455,begin surface
$SM_CCo,7542.42,0.00,0.000,0,495.7,501.2,490.1,571.39
$SM_GC,1.87,0.00,19.43,0.16,0.000,0.069,0.112,495.7,501.2,490.1,202.9,2085.0,0,0,0,30.00,15.42,15.43
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7134.40,-15210.05,211020,070432
$TCM_TEMP,1.00
$SC_FREEKB,3831072
$PM_FREEKB_00,35651840
$PM_ACTIVECARD,0
$RAFOS_CLK,-2
$MODEM,4,1603268961,76.55490,-139.99944,261.218,382683.7
$MODEM,3,1603268466,75.26195,-145.59448,66.460,97364.6
$MODEM,1,1603267838,75.02295,-144.31340,38.960,57075.9
$MODEM,0,1603267634,74.83892,-145.28152,134.464,196989.9
$RAFOS_FIX,7435.674805,-14907.726562,211020,080821,4,255,72.46
$HUMID,52.91
$TEMP,-0.14
$INTERNAL_PRESSURE,8.13628
$24V_AH,14.44,81.538
$10V_AH,14.78,0.000
$FG_AHR_24Vo,150.440
$FG_AHR_10Vo,36.202
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,940.815,46.920,114.340,225.468,0.000,12.914,4364.012,3570.732,2474.757,2218.000,0.000,0.000
$DEVICE_MAMPS,1550.536,312.992,154.568,206.699,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7470.000,7479.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.110,9.572,0.000,0.000
$MEM,1152524,33,24304,77
$DATA_FILE_SIZE,32106,1057
$CAP_FILE_SIZE,276978,0
$SDSIZE,3918848,3774592
$SDFILEDIR,1215,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.173,343.7,1
$GPS,211020,091609,7133.426,-15206.631,19,1.2,19,15.1