version: 67.00
glider: 233
mission: 7
dive: 150
start: 10 21 120 9 22 17
data:
$ID,233
$MISSION,7
$DIVE,150
$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,36.20277
$FG_AHR_24V,150.45111
$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
$GPS1,211020,091609,7133.426,-15206.631,19,1.2,19,15.1
$_CALLS,1
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-68.8
$GPS2,211020,092146,7133.440,-15206.614,4,1.4,6,15.1
$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,142.1,7463,-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,11.09,16386,-214.11,-0.83,0.00,491.8,490.1,493.4,199.1,2027.6,0.00,0.00,0,100.52,87.29,0.00,0.00,0.005,0.000,0.000,1920.28,1915.69,1924.88,199.25,2027.62,0,0,0,15.51,30.00,30.00
$GC,100.78,18727,-214.11,-0.83,80.00,1920.2,1915.0,1925.4,199.2,2027.6,3.32,-1.97,17,186.70,53.17,19.91,3.41,0.005,0.310,0.140,3700.19,3704.75,3695.62,2436.06,3349.12,0,0,0,15.52,15.37,15.53
$GC,335.43,1028,-214.11,-0.83,0.00,3702.2,3708.1,3696.2,2435.9,3349.1,41.59,-12.53,63,341.87,0.00,0.00,3.16,0.000,0.000,0.047,3702.88,3707.94,3697.81,2436.12,2023.38,0,0,0,30.00,30.00,15.51
$GC,520.84,516,-214.11,-0.83,-80.00,3702.3,3708.0,3696.7,2434.5,2022.4,64.59,-11.56,100,531.65,0.00,0.00,3.77,0.000,0.000,0.128,3703.12,3709.38,3696.88,2436.38,584.38,0,0,0,30.00,30.00,15.63
$GC,545.40,1028,-214.11,-0.83,0.00,3702.1,3707.8,3696.4,2435.8,584.4,67.59,-11.90,105,552.11,0.00,0.00,3.48,0.000,0.000,0.043,3703.84,3709.38,3698.31,2434.94,2075.50,0,0,0,30.00,30.00,15.69
$GC,730.34,516,-214.11,-0.83,-80.00,3702.5,3707.9,3697.1,2435.7,2075.6,88.40,-11.23,142,741.86,0.00,0.00,3.84,0.000,0.000,0.119,3703.94,3710.25,3697.62,2435.00,585.44,0,0,0,30.00,30.00,15.62
$GC,766.12,1028,-214.11,-0.83,0.00,3702.8,3708.8,3696.9,2436.3,585.4,92.44,-11.51,149,772.37,0.00,0.00,3.48,0.000,0.000,0.046,3702.88,3708.19,3697.56,2437.12,2073.50,0,0,0,30.00,30.00,15.73
$GC,955.58,516,-214.11,-0.83,-80.00,3702.5,3708.4,3696.6,2435.2,2073.3,113.34,-11.24,175,963.09,0.00,0.00,3.82,0.000,0.000,0.118,3703.75,3708.44,3699.06,2434.25,585.50,0,0,0,30.00,30.00,15.67
$GC,1005.24,1028,-214.11,-0.83,0.00,3702.8,3708.5,3697.2,2436.2,585.2,119.08,-11.28,185,1013.28,0.00,0.00,3.46,0.000,0.000,0.045,3704.56,3710.50,3698.62,2434.69,2074.44,0,0,0,30.00,30.00,15.72
$GC,1311.33,0,-214.11,-0.83,0.00,3703.1,3708.9,3697.2,2436.0,2075.7,150.63,-9.33,216,1314.69,0.00,0.00,0.00,0.000,0.000,0.000,3701.50,3707.06,3695.94,2435.56,2076.44,0,0,0,30.00,30.00,30.00
$GC,1611.45,160,-214.11,-0.91,0.00,3702.2,3707.8,3696.6,2435.9,2076.6,176.26,-8.00,246,1615.03,0.00,0.00,0.00,0.000,0.000,0.000,3702.16,3708.25,3696.06,2435.88,2075.88,0,0,0,30.00,30.00,30.00
$GC,1911.50,4773,-214.11,-1.04,-80.00,3702.4,3708.0,3696.8,2435.8,2076.7,199.36,-7.24,276,1919.01,0.00,0.41,3.81,0.000,0.090,0.118,3703.00,3709.31,3696.69,2374.88,584.50,0,0,0,30.00,15.83,15.72
$GC,2007.71,1028,-214.11,-1.04,0.00,3702.8,3708.4,3697.3,2376.4,584.5,209.50,-10.75,295,2014.68,0.00,0.00,3.44,0.000,0.000,0.048,3702.09,3707.12,3697.06,2377.25,2074.31,0,0,0,30.00,30.00,15.78
$GC,2312.26,0,-214.11,-1.04,0.00,3703.4,3708.6,3698.2,2377.0,2075.2,239.72,-9.47,326,2315.83,0.00,0.00,0.00,0.000,0.000,0.000,3702.75,3708.00,3697.50,2377.44,2074.81,0,0,0,30.00,30.00,30.00
$GC,2612.37,516,-214.11,-1.04,-80.00,3702.7,3708.3,3697.1,2376.1,2074.2,267.46,-9.26,356,2619.77,0.00,0.00,3.69,0.000,0.000,0.120,3704.12,3710.31,3697.94,2377.31,584.44,0,0,0,30.00,30.00,15.84
$GC,2678.48,1028,-214.11,-1.04,0.00,3702.2,3708.2,3696.1,2376.5,584.7,274.37,-10.62,369,2685.83,0.00,0.00,3.40,0.000,0.000,0.047,3703.12,3708.00,3698.25,2376.06,2076.00,0,0,0,30.00,30.00,15.90
$GC,2993.91,0,-214.11,-1.04,0.00,3702.6,3708.1,3697.2,2377.8,2075.9,304.56,-9.38,399,2996.80,0.00,0.00,0.00,0.000,0.000,0.000,3703.66,3709.88,3697.44,2375.38,2076.31,0,0,0,30.00,30.00,30.00
$GC,3294.01,4257,-214.11,-1.33,0.00,3702.3,3708.6,3696.0,2377.6,2077.1,316.20,-2.45,414,3297.07,0.00,0.44,0.00,0.000,0.106,0.000,3702.03,3707.62,3696.44,2306.56,2077.00,0,0,0,30.00,15.92,30.00
$GC,3593.55,4257,-214.11,-1.69,0.00,3702.5,3708.4,3696.6,2307.5,2076.4,316.21,-1.09,429,3597.00,0.00,0.54,0.00,0.000,0.106,0.000,3702.25,3707.44,3697.06,2220.88,2076.50,0,0,0,30.00,15.89,30.00
$STATE,3774,end dive,NO_VERTICAL_VELOCITY
$STATE,3774,begin apogee
$GC,3775.32,10243,0.00,-0.20,0.00,3703.5,3709.6,3697.4,2222.6,1912.0,316.28,0.00,438,3963.81,182.04,2.61,0.12,1.522,0.118,0.159,2821.50,2854.56,2788.44,2593.94,1993.19,0,0,0,11.77,15.91,15.16
$STATE,3966,end apogee,CONTROL_FINISHED_OK
$STATE,3966,begin climb
$GC,3966.44,10243,214.11,0.83,0.00,2822.5,2855.6,2789.4,2593.1,1993.6,316.24,0.00,447,4158.89,187.68,1.79,0.00,1.426,0.115,0.000,1951.78,2006.31,1897.25,2843.19,1995.19,0,0,0,11.60,15.17,30.00
$GC,4453.52,21127,214.11,0.63,-80.00,1938.5,1989.8,1887.2,2842.8,1994.7,262.39,12.47,492,4465.07,0.00,0.50,3.66,0.000,0.182,0.126,1938.56,1989.50,1887.62,2787.00,570.88,0,0,0,30.00,15.30,15.30
$GC,4567.47,21639,214.11,0.50,0.00,1935.4,1983.8,1887.0,2787.3,570.4,248.88,11.17,515,4575.07,0.00,0.23,3.31,0.000,0.183,0.047,1936.84,1985.44,1888.25,2753.12,1979.06,0,0,0,30.00,15.37,15.43
$GC,4874.30,10791,329.79,0.64,-80.00,1934.1,1982.8,1885.4,2754.0,1979.6,227.97,6.31,546,4983.38,101.64,0.34,3.68,1.374,0.100,0.124,1478.25,1525.56,1430.94,2803.00,569.00,0,0,0,11.65,15.53,15.15
$GC,5031.67,1028,329.79,0.64,0.00,1474.2,1518.4,1429.9,2802.3,569.1,212.88,11.62,577,5039.02,0.00,0.00,3.36,0.000,0.000,0.044,1473.31,1517.56,1429.06,2802.62,1979.56,0,0,0,30.00,30.00,15.20
$GC,5336.65,16902,329.79,0.64,-80.00,1467.7,1515.6,1419.9,2801.7,1979.8,184.63,8.92,608,5344.20,0.00,0.00,3.61,0.000,0.000,0.122,1466.94,1514.62,1419.25,2801.38,568.94,0,0,0,30.00,30.00,15.40
$GC,5386.34,17414,329.79,0.64,0.00,1466.4,1513.8,1419.0,2802.3,569.1,179.71,9.88,618,5393.88,0.00,0.00,3.28,0.000,0.000,0.043,1467.56,1514.38,1420.75,2801.50,1981.12,0,0,0,30.00,30.00,15.52
$GC,5693.09,10919,403.48,0.80,-80.00,1465.2,1513.6,1416.9,2801.9,1983.1,155.58,7.65,649,5796.41,94.04,0.20,3.67,1.225,0.111,0.124,1179.81,1228.25,1131.38,2839.50,571.06,0,0,0,11.61,15.59,15.22
$GC,5838.58,1028,403.48,0.80,0.00,1178.1,1225.6,1130.5,2839.7,570.9,142.02,10.04,678,5846.11,0.00,0.00,3.33,0.000,0.000,0.045,1179.09,1226.56,1131.62,2838.94,1980.12,0,0,0,30.00,30.00,15.36
$GC,6145.23,516,403.48,0.80,-80.00,1174.8,1225.6,1123.9,2838.9,1980.9,115.72,8.31,709,6152.15,0.00,0.00,3.62,0.000,0.000,0.123,1174.03,1224.56,1123.50,2839.12,570.44,0,0,0,30.00,30.00,15.50
$GC,6200.45,1028,403.48,0.80,0.00,1174.2,1224.6,1123.8,2839.8,570.1,110.75,9.13,720,6207.77,0.00,0.00,3.30,0.000,0.000,0.044,1173.69,1223.94,1123.44,2840.06,1980.12,0,0,0,30.00,30.00,15.57
$GC,6505.45,10919,502.78,1.00,-80.00,1173.1,1224.4,1121.8,2838.9,1981.4,88.49,6.83,767,6649.72,134.12,0.27,3.80,1.189,0.104,0.125,775.97,809.00,742.94,2888.94,570.94,0,0,0,11.66,15.63,15.19
$GC,6723.43,1028,502.78,1.00,0.00,773.6,805.4,741.8,2889.1,570.2,67.75,10.47,810,6729.42,0.00,0.00,3.34,0.000,0.000,0.044,773.41,805.12,741.69,2889.25,1971.25,0,0,0,30.00,30.00,15.31
$GC,6908.09,644,502.78,1.08,-80.00,771.2,804.2,738.2,2889.6,1981.1,51.02,8.55,847,6915.55,0.00,0.00,3.70,0.000,0.000,0.121,770.94,804.06,737.81,2889.38,570.00,0,0,0,30.00,30.00,15.41
$GC,6958.78,3205,502.78,1.16,0.00,771.0,804.0,737.9,2889.7,570.2,46.35,9.13,857,6966.30,0.00,0.22,3.29,0.000,0.112,0.042,771.31,804.19,738.44,2926.25,1982.25,0,0,0,30.00,15.48,15.51
$GC,7144.73,128,502.78,1.23,0.00,769.8,802.9,736.6,2928.2,1984.6,29.73,8.19,894,7150.29,0.00,0.00,0.00,0.000,0.000,0.000,769.84,803.00,736.69,2928.69,1984.12,0,0,0,30.00,30.00,30.00
$GC,7329.60,10919,621.57,1.49,-80.00,769.1,802.2,735.9,2927.6,1984.4,16.62,6.21,931,7438.30,100.57,0.49,3.73,1.147,0.095,0.122,500.72,507.00,494.44,3006.56,570.25,0,0,0,11.60,15.63,15.27
$GC,7477.27,9222,621.57,1.49,0.00,499.4,505.3,493.5,3006.2,570.1,4.08,9.55,960,7484.20,0.00,0.00,3.33,0.000,0.000,0.043,499.16,505.06,493.25,3005.50,1982.31,0,0,0,30.00,30.00,15.37
$STATE,7513,end climb,SURFACE_DEPTH_REACHED
$STATE,7513,begin surface coast
$FINISH,0.3,1.013195
$STATE,7538,end surface coast,CONTROL_FINISHED_OK
$STATE,7538,begin surface
$SM_CCo,7625.46,0.00,0.000,0,496.5,501.8,491.2,571.18
$SM_GC,1.68,0.00,18.93,0.17,0.000,0.074,0.095,496.5,501.8,491.2,201.6,2102.2,0,0,0,30.00,15.39,15.43
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7133.72,-15210.05,211020,070609
$TCM_TEMP,1.02
$SC_FREEKB,3830752
$PM_FREEKB_00,35545280
$PM_ACTIVECARD,0
$RAFOS_CLK,-18
$RAFOS_FIX,7132.467285,-15206.011719,211020,111151,0,1,0.24
$HUMID,53.13
$TEMP,-0.20
$INTERNAL_PRESSURE,8.13429
$24V_AH,14.49,81.900
$10V_AH,14.76,0.000
$FG_AHR_24Vo,150.760
$FG_AHR_10Vo,36.247
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,940.540,46.875,99.515,207.041,0.000,15.508,4203.239,3738.071,2384.691,0.000,0.000,0.000
$DEVICE_MAMPS,1522.328,309.712,159.160,197.832,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7549.000,7560.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.262,9.531,0.000,0.000
$MEM,1152392,38,24336,77
$DATA_FILE_SIZE,28954,972
$CAP_FILE_SIZE,256270,0
$SDSIZE,3918848,3774336
$SDFILEDIR,1222,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.184,350.1,1
$GPS,211020,113009,7133.215,-15206.267,15,1.0,15,15.1