version: 67.00
glider: 233
mission: 7
dive: 154
start: 10 21 120 17 36 26
data:
$ID,233
$MISSION,7
$DIVE,154
$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,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,36.436768
$FG_AHR_24V,151.70595
$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
$GPS1,211020,172901,7133.671,-15204.263,24,0.7,25,15.1
$_CALLS,2
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-70.7
$GPS2,211020,173554,7133.775,-15204.204,3,0.5,4,15.1
$SPEED_LIMITS,0.173,0.304
$TGT_NAME,MID
$TGT_LATLONG,7138.000,-15150.000
$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,68.1,11399,-14.2,-10.000,-18.23
$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,10.93,16386,-214.11,-0.83,0.00,491.0,489.4,492.6,200.3,2033.1,0.00,0.00,0,100.34,87.21,0.00,0.00,0.005,0.000,0.000,1915.00,1912.56,1917.44,200.50,2032.19,0,0,0,15.48,30.00,30.00
$GC,100.60,18727,-214.11,-0.83,80.00,1915.8,1911.6,1920.0,200.3,2032.8,3.15,-1.69,17,187.54,56.41,19.78,3.43,0.005,0.306,0.140,3699.56,3703.75,3695.38,2436.75,3348.25,0,0,0,15.48,15.37,15.53
$GC,336.56,1028,-214.11,-0.83,0.00,3702.0,3708.4,3695.6,2435.1,3347.7,39.17,-12.85,63,343.29,0.00,0.00,3.21,0.000,0.000,0.049,3702.25,3709.81,3694.69,2435.88,2026.94,0,0,0,30.00,30.00,15.57
$GC,521.52,516,-214.11,-0.83,-80.00,3702.1,3709.6,3694.7,2435.8,2027.1,62.78,-12.13,100,529.10,0.00,0.00,3.83,0.000,0.000,0.128,3701.97,3709.69,3694.25,2435.88,585.25,0,0,0,30.00,30.00,15.62
$GC,582.80,1028,-214.11,-0.83,0.00,3702.2,3709.6,3694.8,2435.6,585.2,69.64,-10.94,112,593.66,0.00,0.00,3.52,0.000,0.000,0.044,3702.53,3709.62,3695.44,2436.12,2073.75,0,0,0,30.00,30.00,15.70
$GC,773.37,0,-214.11,-0.83,0.00,3702.9,3710.6,3695.2,2435.7,2073.9,91.40,-11.32,150,778.94,0.00,0.00,0.00,0.000,0.000,0.000,3703.47,3711.06,3695.88,2435.44,2074.12,0,0,0,30.00,30.00,30.00
$GC,958.22,516,-214.11,-0.83,-80.00,3701.8,3709.1,3694.6,2435.9,2073.3,113.60,-11.88,176,965.71,0.00,0.00,3.90,0.000,0.000,0.119,3702.72,3709.75,3695.69,2435.75,585.56,0,0,0,30.00,30.00,15.70
$GC,1004.43,1156,-214.11,-0.89,0.00,3702.6,3711.0,3694.2,2435.6,585.4,118.88,-11.46,185,1011.36,0.00,0.00,3.48,0.000,0.000,0.042,3702.22,3710.00,3694.44,2435.62,2075.62,0,0,0,30.00,30.00,15.77
$GC,1309.74,0,-214.11,-0.89,0.00,3702.6,3710.0,3695.2,2435.8,2075.9,150.05,-10.35,216,1312.64,0.00,0.00,0.00,0.000,0.000,0.000,3702.78,3710.31,3695.25,2435.38,2076.69,0,0,0,30.00,30.00,30.00
$GC,1609.10,4741,-214.11,-0.96,-80.00,3702.0,3709.2,3694.9,2435.3,2075.3,179.53,-9.21,246,1621.05,0.00,0.29,3.89,0.000,0.089,0.117,3702.88,3710.38,3695.38,2393.75,585.50,0,0,0,30.00,15.81,15.75
$GC,1669.89,1028,-214.11,-0.96,0.00,3702.8,3710.6,3694.9,2393.4,585.5,186.72,-12.15,258,1677.10,0.00,0.00,3.48,0.000,0.000,0.044,3703.16,3710.44,3695.88,2393.38,2073.88,0,0,0,30.00,30.00,15.74
$GC,1974.73,516,-214.11,-0.96,-80.00,3702.5,3710.2,3694.8,2393.3,2073.6,216.17,-8.94,289,1982.23,0.00,0.00,3.88,0.000,0.000,0.118,3703.53,3710.00,3697.06,2392.50,586.56,0,0,0,30.00,30.00,15.80
$GC,2020.93,1028,-214.11,-0.96,0.00,3702.1,3709.2,3694.9,2392.5,586.3,220.71,-10.45,298,2028.10,0.00,0.00,3.48,0.000,0.000,0.046,3702.75,3710.69,3694.81,2392.81,2075.38,0,0,0,30.00,30.00,15.82
$GC,2325.72,0,-214.11,-0.96,0.00,3702.2,3710.2,3694.2,2393.9,2076.0,250.70,-10.14,329,2329.31,0.00,0.00,0.00,0.000,0.000,0.000,3702.31,3709.44,3695.19,2393.75,2075.94,0,0,0,30.00,30.00,30.00
$GC,2625.82,516,-214.11,-0.96,-80.00,3702.9,3711.1,3694.8,2393.9,2076.3,277.60,-8.36,359,2633.27,0.00,0.00,3.88,0.000,0.000,0.118,3702.88,3710.56,3695.19,2392.19,586.50,0,0,0,30.00,30.00,15.83
$GC,2655.42,1028,-214.11,-0.96,0.00,3702.3,3709.9,3694.7,2394.3,586.2,280.42,-8.66,365,2663.46,0.00,0.00,3.47,0.000,0.000,0.047,3703.50,3711.25,3695.75,2393.56,2075.56,0,0,0,30.00,30.00,15.90
$STATE,2892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2892,begin apogee
$GC,2892.96,10243,0.00,-0.20,0.00,3702.8,3709.9,3695.8,2393.8,1914.2,300.21,-8.26,389,3079.64,182.16,1.50,0.12,1.507,0.166,0.166,2822.91,2856.62,2789.19,2591.62,1991.62,0,0,0,11.76,15.84,15.15
$STATE,3082,end apogee,CONTROL_FINISHED_OK
$STATE,3082,begin climb
$GC,3082.22,10503,214.11,0.83,80.00,2822.3,2856.4,2788.2,2591.6,1991.9,305.40,0.00,398,3278.84,187.90,1.82,3.68,1.452,0.114,0.119,1948.12,2001.31,1894.94,2843.44,3348.69,0,0,0,11.49,15.15,14.86
$GC,3291.00,5253,214.11,0.58,0.00,1945.3,1998.9,1891.6,2843.8,3349.7,289.99,13.38,438,3298.72,0.00,0.62,3.60,0.000,0.199,0.048,1944.84,1999.62,1890.06,2777.38,1927.44,0,0,0,30.00,14.91,14.97
$GC,3597.89,17030,214.11,0.51,-80.00,1936.7,1987.2,1886.1,2776.2,1927.9,260.42,9.07,469,3605.17,0.00,0.00,3.70,0.000,0.000,0.129,1935.88,1986.81,1884.94,2776.75,570.38,0,0,0,30.00,30.00,15.31
$GC,3637.33,21639,214.11,0.37,0.00,1935.6,1985.2,1886.0,2776.5,570.4,256.16,10.59,477,3644.97,0.00,0.38,3.38,0.000,0.180,0.044,1936.41,1986.06,1886.75,2724.50,1978.50,0,0,0,30.00,15.32,15.40
$GC,3944.16,10791,344.54,0.53,-80.00,1933.1,1982.2,1884.0,2726.5,1979.9,236.39,5.84,508,4067.61,114.07,0.37,3.90,1.359,0.100,0.124,1418.31,1466.62,1370.00,2775.06,571.62,0,0,0,11.93,15.51,15.09
$GC,4096.57,1028,344.54,0.53,0.00,1413.8,1459.2,1368.4,2775.6,571.3,223.85,9.35,538,4103.41,0.00,0.00,3.41,0.000,0.000,0.044,1415.19,1461.00,1369.38,2774.25,1977.19,0,0,0,30.00,30.00,15.22
$GC,4401.06,16902,344.54,0.53,-80.00,1407.7,1457.1,1358.2,2776.4,1978.9,194.61,10.11,569,4408.54,0.00,0.00,3.81,0.000,0.000,0.123,1406.84,1455.88,1357.81,2776.75,570.00,0,0,0,30.00,30.00,15.35
$GC,4460.71,17414,344.54,0.53,0.00,1406.5,1454.9,1358.1,2775.9,570.2,188.27,10.60,581,4468.25,0.00,0.00,3.37,0.000,0.000,0.044,1406.72,1455.19,1358.25,2776.12,1979.19,0,0,0,30.00,30.00,15.39
$GC,4767.40,10919,444.32,0.77,-80.00,1405.3,1454.3,1356.4,2776.2,1981.4,162.50,6.81,612,4902.43,126.57,0.32,3.89,1.213,0.098,0.124,1013.16,1060.19,966.12,2831.75,570.25,0,0,0,11.55,15.58,15.16
$GC,4969.66,1156,444.32,0.83,0.00,1011.2,1056.6,965.9,2831.9,570.1,144.80,9.31,652,4977.15,0.00,0.00,3.39,0.000,0.000,0.043,1011.94,1057.25,966.62,2830.50,1979.19,0,0,0,30.00,30.00,15.32
$GC,5276.45,2693,444.32,0.91,-80.00,1008.3,1055.9,960.7,2831.6,1980.2,119.93,8.66,683,5283.27,0.00,0.18,3.81,0.000,0.117,0.123,1008.53,1055.94,961.12,2867.12,571.06,0,0,0,30.00,15.49,15.45
$GC,5345.47,1028,444.32,0.91,0.00,1007.7,1055.0,960.3,2867.1,570.6,111.68,12.01,697,5352.99,0.00,0.00,3.33,0.000,0.000,0.044,1008.44,1055.44,961.44,2866.38,1978.50,0,0,0,30.00,30.00,15.53
$GC,5652.28,516,444.32,0.91,-80.00,1007.3,1054.8,959.8,2866.7,1980.3,78.34,10.21,747,5659.09,0.00,0.00,3.74,0.000,0.000,0.122,1006.97,1054.31,959.62,2866.38,570.06,0,0,0,30.00,30.00,15.58
$GC,5723.02,1028,444.32,0.91,0.00,1006.4,1053.5,959.3,2866.8,569.9,70.68,10.97,761,5730.31,0.00,0.00,3.31,0.000,0.000,0.043,1006.94,1053.75,960.12,2866.12,1980.75,0,0,0,30.00,30.00,15.65
$GC,5909.30,260,444.32,0.91,80.00,1006.3,1053.5,959.1,2866.9,1983.2,52.04,9.92,798,5916.06,0.00,0.00,3.50,0.000,0.000,0.118,1006.81,1053.81,959.81,2866.31,3350.25,0,0,0,30.00,30.00,15.54
$GC,5924.93,17542,444.32,0.97,0.00,1005.5,1051.6,959.4,2867.1,3350.2,50.46,9.99,801,5934.84,0.00,0.00,3.45,0.000,0.000,0.047,1005.69,1051.75,959.62,2866.19,1927.00,0,0,0,30.00,30.00,15.69
$GC,6114.38,10919,555.28,1.20,-80.00,1005.3,1051.8,958.8,2866.4,1926.4,36.02,6.46,839,6309.56,184.12,0.44,3.77,1.131,0.094,0.131,562.38,574.62,550.12,2937.69,571.94,0,0,0,12.04,15.69,15.04
$GC,6367.80,11431,686.74,1.48,0.00,560.4,572.2,548.5,2938.4,571.0,19.29,5.80,889,6399.89,24.27,0.43,3.40,1.036,0.093,0.039,500.91,507.38,494.44,3004.12,1985.12,0,0,0,11.50,15.27,15.31
$GC,6578.88,8454,686.74,1.48,80.00,499.3,506.4,492.1,3004.8,1986.6,3.01,8.45,931,6585.87,0.00,0.00,3.57,0.000,0.000,0.113,499.09,506.00,492.19,3003.25,3351.00,0,0,0,30.00,30.00,15.36
$STATE,6595,end climb,SURFACE_DEPTH_REACHED
$STATE,6595,begin surface coast
$FINISH,0.8,1.023797
$STATE,6604,end surface coast,CONTROL_FINISHED_OK
$STATE,6604,begin surface
$SM_CCo,6694.43,0.00,0.000,0,496.4,501.9,491.0,571.20
$SM_GC,1.70,0.00,18.97,3.24,0.000,0.067,0.045,496.4,501.9,491.0,200.4,2021.6,0,0,0,30.00,15.43,15.45
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7133.72,-15210.05,211020,173126
$TCM_TEMP,0.92
$SC_FREEKB,3829472
$PM_FREEKB_00,35168064
$PM_ACTIVECARD,0
$RAFOS_CLK,-16
$RAFOS_FIX,7133.775391,-15201.990234,211020,191911,0,1,0.20
$HUMID,53.00
$TEMP,-0.25
$INTERNAL_PRESSURE,8.13385
$24V_AH,14.46,83.388
$10V_AH,14.79,0.000
$FG_AHR_24Vo,152.017
$FG_AHR_10Vo,36.476
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,962.735,45.080,115.315,228.974,0.000,12.898,4035.797,3050.329,2253.644,0.000,0.000,0.000
$DEVICE_MAMPS,1506.912,306.432,166.048,192.094,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6618.000,6628.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.332,9.726,0.000,0.000
$MEM,1152440,37,24308,77
$DATA_FILE_SIZE,25739,936
$CAP_FILE_SIZE,264963,0
$SDSIZE,3918848,3773152
$SDFILEDIR,1250,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.206,340.3,1
$GPS,211020,192837,7134.479,-15202.179,3,1.0,6,15.1