version: 67.00
glider: 233
mission: 7
dive: 151
start: 10 21 120 11 35 57
data:
$ID,233
$MISSION,7
$DIVE,151
$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,36.247894
$FG_AHR_24V,150.77036
$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
$GPS1,211020,113009,7133.215,-15206.267,15,1.0,15,15.1
$_CALLS,1
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-70.8
$GPS2,211020,113526,7133.232,-15206.253,4,1.0,5,15.1
$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,146.3,7024,-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,10.93,16386,-214.11,-0.83,0.00,492.5,490.8,494.3,197.8,2034.5,0.00,0.00,0,100.35,87.32,0.00,0.00,0.005,0.000,0.000,1920.25,1917.44,1923.06,198.00,2034.31,0,0,0,15.44,30.00,30.00
$GC,100.61,18727,-214.11,-0.83,80.00,1920.3,1916.4,1924.2,197.8,2034.4,3.24,-1.63,17,186.56,53.46,20.06,3.40,0.005,0.310,0.143,3700.69,3705.19,3696.19,2437.56,3348.81,0,0,0,15.48,15.32,15.52
$GC,350.24,1028,-214.11,-0.83,0.00,3702.7,3708.6,3696.8,2436.8,3348.8,43.16,-12.07,66,356.93,0.00,0.00,3.15,0.000,0.000,0.047,3702.47,3708.50,3696.44,2436.19,2022.56,0,0,0,30.00,30.00,15.64
$GC,535.16,516,-214.11,-0.83,-80.00,3703.4,3709.2,3697.6,2437.1,2023.1,63.83,-11.57,103,542.26,0.00,0.00,3.71,0.000,0.000,0.127,3702.53,3708.94,3696.12,2437.12,584.56,0,0,0,30.00,30.00,15.55
$GC,575.96,1028,-214.11,-0.83,0.00,3704.2,3711.1,3697.3,2437.4,584.5,68.51,-11.51,111,586.82,0.00,0.00,3.46,0.000,0.000,0.045,3703.16,3709.25,3697.06,2437.38,2076.50,0,0,0,30.00,30.00,15.69
$GC,766.57,0,-214.11,-0.83,0.00,3702.5,3709.1,3695.9,2437.4,2075.6,90.46,-12.03,149,772.12,0.00,0.00,0.00,0.000,0.000,0.000,3704.16,3710.56,3697.75,2437.31,2075.69,0,0,0,30.00,30.00,30.00
$GC,957.10,516,-214.11,-0.83,-80.00,3704.2,3710.8,3697.7,2437.0,2075.9,112.96,-11.41,176,963.89,0.00,0.00,3.83,0.000,0.000,0.119,3703.69,3710.06,3697.31,2435.69,584.31,0,0,0,30.00,30.00,15.70
$GC,982.72,1028,-214.11,-0.83,0.00,3703.3,3709.8,3696.9,2436.3,584.4,115.96,-11.35,181,989.98,0.00,0.00,3.45,0.000,0.000,0.047,3703.50,3710.00,3697.00,2435.12,2075.62,0,0,0,30.00,30.00,15.76
$GC,1287.66,516,-214.11,-0.83,-80.00,3702.8,3709.6,3696.0,2437.1,2076.8,148.71,-10.32,212,1295.08,0.00,0.00,3.81,0.000,0.000,0.117,3703.16,3709.50,3696.81,2436.88,583.88,0,0,0,30.00,30.00,15.74
$GC,1327.27,1156,-214.11,-0.91,0.00,3703.2,3710.0,3696.5,2436.9,583.2,152.87,-10.24,220,1335.28,0.00,0.00,3.44,0.000,0.000,0.047,3704.47,3710.62,3698.31,2437.31,2075.25,0,0,0,30.00,30.00,15.75
$GC,1633.48,4741,-214.11,-0.99,-80.00,3703.1,3709.4,3696.8,2437.2,2073.9,179.79,-8.37,251,1645.39,0.00,0.34,3.81,0.000,0.087,0.118,3704.62,3711.75,3697.50,2385.69,584.50,0,0,0,30.00,15.80,15.76
$GC,1664.09,1028,-214.11,-0.99,0.00,3703.5,3709.6,3697.5,2387.7,584.7,183.11,-9.94,257,1671.04,0.00,0.00,3.45,0.000,0.000,0.048,3703.62,3710.56,3696.69,2386.94,2075.00,0,0,0,30.00,30.00,15.84
$GC,1969.93,516,-214.11,-0.99,-80.00,3702.8,3709.4,3696.2,2386.0,2075.1,215.80,-10.71,288,1976.70,0.00,0.00,3.82,0.000,0.000,0.119,3704.56,3710.50,3698.62,2385.75,584.62,0,0,0,30.00,30.00,15.75
$GC,2028.85,1028,-214.11,-0.99,0.00,3702.9,3709.5,3696.4,2386.9,584.6,222.71,-11.25,300,2036.91,0.00,0.00,3.45,0.000,0.000,0.047,3703.84,3710.31,3697.38,2386.50,2076.31,0,0,0,30.00,30.00,15.80
$GC,2334.95,516,-214.11,-0.99,-80.00,3703.2,3709.4,3696.9,2386.3,2076.5,251.86,-9.16,331,2342.58,0.00,0.00,3.79,0.000,0.000,0.119,3701.97,3708.50,3695.44,2386.50,586.62,0,0,0,30.00,30.00,15.73
$GC,2374.72,1028,-214.11,-0.99,0.00,3703.2,3710.2,3696.3,2386.9,586.6,255.82,-10.14,339,2382.77,0.00,0.00,3.45,0.000,0.000,0.047,3704.06,3710.06,3698.06,2385.19,2075.88,0,0,0,30.00,30.00,15.80
$GC,2680.83,516,-214.11,-0.99,-80.00,3703.5,3710.1,3697.0,2385.2,2075.7,282.94,-8.73,370,2688.36,0.00,0.00,3.84,0.000,0.000,0.119,3703.84,3710.88,3696.81,2386.31,584.69,0,0,0,30.00,30.00,15.73
$GC,2740.52,1028,-214.11,-0.99,0.00,3703.2,3710.1,3696.2,2386.5,584.6,288.52,-9.10,382,2748.56,0.00,0.00,3.46,0.000,0.000,0.045,3703.72,3709.88,3697.56,2385.88,2077.38,0,0,0,30.00,30.00,15.79
$GC,3057.26,4773,-214.11,-1.28,-80.00,3702.9,3709.9,3696.0,2386.1,2078.1,305.56,-3.03,405,3067.12,0.00,0.39,3.84,0.000,0.104,0.114,3703.00,3709.69,3696.31,2319.50,584.44,0,0,0,30.00,15.76,15.74
$STATE,3286,end dive,NO_VERTICAL_VELOCITY
$STATE,3286,begin apogee
$GC,3290.45,10243,0.00,-0.20,0.00,3704.0,3710.5,3697.4,2318.7,1975.8,305.48,0.00,451,3480.36,185.02,1.93,0.10,1.535,0.121,0.193,2822.88,2856.19,2789.56,2593.56,1915.50,0,0,0,11.70,15.76,15.05
$STATE,3483,end apogee,CONTROL_FINISHED_OK
$STATE,3483,begin climb
$GC,3482.98,10503,214.11,0.83,80.00,2822.2,2854.2,2790.2,2593.9,1914.8,305.57,0.00,461,3684.12,189.18,1.82,3.86,1.431,0.120,0.117,1948.44,2003.75,1893.12,2842.69,3350.62,0,0,0,11.46,15.05,14.81
$GC,3746.25,17414,214.11,0.83,0.00,1942.6,1999.1,1886.0,2842.8,3349.3,291.31,10.22,512,3753.85,0.00,0.00,3.57,0.000,0.000,0.047,1942.47,1999.38,1885.56,2842.62,1928.06,0,0,0,30.00,30.00,14.97
$MODEM_MSG,CACST,6,1,20201021120943.728460,18,915,00,0298,0150,216,01,01,05,03,-1,-01,-01,1,3,0,0,150,-25.2,0.55,-100,2.45,-01,0.05,38,925,0025*0B
$MODEM_MSG,CACST,6,1,20201021121529.431748,18,432,-9,0459,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,-24.6,0.30,-100,2.70,-01,0.03,37,925,0025*15
$MODEM_MSG,CACST,6,1,20201021122037.763808,18,75,-17,0147,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,-9.3,0.06,-100,2.94,-01,0.00,37,925,0025*28
$MODEM_MSG,CACST,6,1,20201021122652.610807,18,180,-13,0185,0150,216,01,01,06,02,-1,-01,-01,1,3,0,0,150,-21.8,0.39,-100,2.61,-01,-0.02,37,925,0025*0D
$MODEM_MSG,CACST,6,1,20201021123345.301613,18,459,02,0102,0150,216,01,01,04,03,-1,-01,-01,1,3,0,0,150,33.6,0.47,-100,2.53,-01,0.03,36,925,0025*28
$MODEM_MSG,CACST,6,1,20201021123708.015461,18,58,-18,0113,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,-7.6,0.15,-100,2.85,-01,0.01,35,925,0025*21
$GC,4053.15,16902,214.11,0.83,-80.00,1937.0,1990.6,1883.4,2842.6,1927.4,260.76,9.46,543,4060.44,0.00,0.00,3.66,0.000,0.000,0.126,1937.41,1990.56,1884.25,2842.81,570.00,0,0,0,30.00,30.00,15.31
$GC,4189.43,21639,214.11,0.70,0.00,1934.1,1985.2,1882.9,2843.2,570.0,245.37,11.15,570,4196.21,0.00,0.38,3.32,0.000,0.178,0.038,1935.50,1986.12,1884.88,2803.69,1978.31,0,0,0,30.00,15.38,15.45
$GC,4494.25,10919,330.95,0.92,-80.00,1933.6,1984.2,1882.9,2803.2,1979.3,225.50,6.27,601,4607.40,102.98,0.45,3.82,1.378,0.096,0.121,1474.78,1522.44,1427.12,2870.69,570.19,0,0,0,11.70,15.54,15.14
$GC,4646.47,1028,330.95,0.92,0.00,1469.8,1513.7,1425.8,2869.8,570.4,210.55,10.59,631,4653.05,0.00,0.00,3.37,0.000,0.000,0.040,1468.56,1512.75,1424.38,2868.56,1979.75,0,0,0,30.00,30.00,15.20
$GC,4951.30,8742,399.64,1.00,-80.00,1463.6,1512.0,1415.2,2869.1,1982.4,183.48,7.81,662,5023.37,62.33,0.00,3.82,1.309,0.000,0.121,1195.91,1246.31,1145.50,2868.81,571.19,0,0,0,11.59,30.00,15.22
$GC,5072.16,11431,470.18,1.23,0.00,1192.2,1240.9,1143.4,2869.4,570.9,174.33,7.75,686,5147.58,66.20,0.47,3.35,1.266,0.090,0.042,909.06,952.88,865.25,2944.94,1983.06,0,0,0,11.54,15.31,15.34
$GC,5452.53,516,470.18,1.23,-80.00,901.2,945.2,857.2,2944.6,1983.6,134.16,10.26,732,5459.76,0.00,0.00,3.79,0.000,0.000,0.123,901.00,944.88,857.12,2944.44,571.06,0,0,0,30.00,30.00,15.40
$GC,5518.72,1028,470.18,1.23,0.00,900.6,944.2,856.9,2944.1,570.9,126.68,11.62,745,5525.68,0.00,0.00,3.32,0.000,0.000,0.044,900.72,944.62,856.81,2944.62,1979.25,0,0,0,30.00,30.00,15.49
$GC,5823.34,16902,470.18,1.23,-80.00,899.9,943.9,856.0,2944.2,1980.6,96.46,9.81,779,5830.84,0.00,0.00,3.69,0.000,0.000,0.121,900.06,943.69,856.44,2943.56,571.50,0,0,0,30.00,30.00,15.55
$GC,5894.06,17414,470.18,1.23,0.00,899.4,942.8,856.1,2944.8,570.9,88.92,10.56,793,5900.52,0.00,0.00,3.29,0.000,0.000,0.044,900.09,943.50,856.69,2944.25,1978.62,0,0,0,30.00,30.00,15.52
$GC,6079.86,17030,470.18,1.30,-80.00,899.4,942.9,855.9,2944.4,1981.8,72.22,8.93,830,6086.62,0.00,0.00,3.68,0.000,0.000,0.121,899.94,942.88,857.00,2944.44,570.31,0,0,0,30.00,30.00,15.60
$GC,6119.84,17414,470.18,1.30,0.00,899.0,942.2,855.8,2944.2,569.9,68.29,9.61,838,6127.30,0.00,0.00,3.29,0.000,0.000,0.043,898.91,941.88,855.94,2944.19,1980.50,0,0,0,30.00,30.00,15.59
$GC,6305.73,10919,541.97,1.48,-80.00,898.9,942.0,855.8,2944.1,1982.6,52.96,7.71,875,6420.31,106.57,0.38,3.81,1.193,0.096,0.122,616.59,635.31,597.88,3002.69,570.31,0,0,0,11.60,15.68,15.29
$GC,6483.53,1156,541.97,1.55,0.00,615.2,632.8,597.5,3002.2,570.1,35.48,9.85,910,6490.00,0.00,0.00,3.34,0.000,0.000,0.043,615.69,633.19,598.19,3002.56,1979.75,0,0,0,30.00,30.00,15.43
$GC,6669.16,10919,605.13,1.72,-80.00,613.6,632.9,594.4,3002.4,1981.9,20.44,7.98,947,6721.11,44.65,0.35,3.71,1.131,0.095,0.123,500.59,506.69,494.50,3062.19,570.31,0,0,0,11.44,15.51,15.33
$GC,6765.07,9222,605.13,1.72,0.00,499.7,505.1,494.2,3061.9,570.4,10.72,10.95,966,6771.80,0.00,0.00,3.33,0.000,0.000,0.039,499.94,505.31,494.56,3061.56,1979.50,0,0,0,30.00,30.00,15.34
$STATE,6886,end climb,SURFACE_DEPTH_REACHED
$STATE,6886,begin surface coast
$FINISH,0.4,1.023870
$STATE,6916,end surface coast,CONTROL_FINISHED_OK
$STATE,6916,begin surface
$SM_CCo,7003.46,0.00,0.000,0,497.0,502.9,491.2,571.05
$SM_GC,1.86,0.00,19.09,0.19,0.000,0.068,0.106,497.0,502.9,491.2,196.5,2087.8,0,0,0,30.00,15.49,15.52
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7136.21,-15206.87,211020,091831
$TCM_TEMP,1.01
$SC_FREEKB,3830432
$PM_FREEKB_00,35447488
$PM_ACTIVECARD,0
$RAFOS_CLK,-4
$MODEM,6,1603283828,75.33060,-142.67570,128.015,187542.6
$MODEM,5,1603283625,76.41295,-142.47470,225.302,330066.9
$MODEM,4,1603283212,76.55490,-139.99944,112.611,164974.8
$MODEM,3,1603282837,75.26195,-145.59448,37.764,55324.0
$MODEM,2,1603282529,75.67648,-146.03058,29.432,43117.5
$MODEM,0,1603282183,74.83892,-145.28152,283.728,415662.2
$RAFOS_FIX,7631.329102,-14933.278320,211020,121208,6,255,150.60
$HUMID,53.09
$TEMP,-0.24
$INTERNAL_PRESSURE,8.13503
$24V_AH,14.41,82.274
$10V_AH,14.85,0.000
$FG_AHR_24Vo,151.068
$FG_AHR_10Vo,36.313
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,897.730,45.655,128.835,190.117,0.000,13.897,4151.417,3178.176,2337.034,2214.000,0.000,0.000
$DEVICE_MAMPS,1534.792,310.040,192.616,193.197,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6931.000,6939.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.299,9.547,0.000,0.000
$MEM,1152528,32,24320,77
$DATA_FILE_SIZE,28892,996
$CAP_FILE_SIZE,278104,0
$SDSIZE,3918848,3774016
$SDFILEDIR,1229,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.172,341.6,1
$GPS,211020,133339,7132.973,-15206.388,23,0.9,24,15.1