version: 67.00
glider: 233
mission: 7
dive: 155
start: 10 21 120 19 34 25
data:
$ID,233
$MISSION,7
$DIVE,155
$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,36.476971
$FG_AHR_24V,152.0276
$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
$GPS1,211020,192837,7134.479,-15202.179,3,1.0,6,15.1
$_CALLS,1
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-72.9
$GPS2,211020,193354,7134.565,-15202.088,2,1.2,5,15.1
$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,71.9,9499,-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,11.17,16386,-214.11,-0.83,0.00,493.0,492.1,493.8,200.3,2067.9,0.00,0.00,0,100.57,87.25,0.00,0.00,0.005,0.000,0.000,1936.31,1932.25,1940.38,200.38,2067.44,0,0,0,15.46,30.00,30.00
$GC,100.83,18727,-214.11,-0.83,80.00,1936.6,1930.9,1942.2,200.4,2067.2,3.43,-2.04,17,182.71,51.99,19.82,3.35,0.005,0.308,0.139,3699.72,3703.81,3695.62,2435.44,3349.00,0,0,0,15.48,15.34,15.48
$GC,331.75,1028,-214.11,-0.83,0.00,3702.1,3708.6,3695.5,2434.9,3348.1,42.67,-14.09,62,337.89,0.00,0.00,3.21,0.000,0.000,0.047,3703.84,3709.69,3698.00,2434.50,2025.88,0,0,0,30.00,30.00,15.63
$GC,516.87,0,-214.11,-0.83,0.00,3702.3,3709.0,3695.7,2435.6,2025.6,68.11,-13.39,99,522.06,0.00,0.00,0.00,0.000,0.000,0.000,3702.59,3709.44,3695.75,2435.56,2025.69,0,0,0,30.00,30.00,30.00
$GC,701.34,516,-214.11,-0.83,-80.00,3702.8,3709.2,3696.4,2435.2,2025.8,89.58,-11.02,136,712.88,0.00,0.00,3.86,0.000,0.000,0.128,3703.22,3709.81,3696.62,2435.50,585.69,0,0,0,30.00,30.00,15.62
$GC,721.85,1028,-214.11,-0.83,0.00,3702.5,3709.1,3695.9,2435.4,585.8,91.90,-11.49,140,732.70,0.00,0.00,3.52,0.000,0.000,0.041,3702.91,3709.69,3696.12,2436.12,2077.44,0,0,0,30.00,30.00,15.71
$GC,912.41,516,-214.11,-0.83,-80.00,3702.2,3709.8,3694.6,2435.7,2077.2,111.60,-10.47,167,924.21,0.00,0.00,3.94,0.000,0.000,0.118,3704.19,3710.12,3698.25,2435.81,586.38,0,0,0,30.00,30.00,15.69
$GC,942.90,1028,-214.11,-0.83,0.00,3703.0,3710.0,3696.0,2435.4,586.8,114.94,-10.83,173,949.85,0.00,0.00,3.47,0.000,0.000,0.042,3703.19,3709.88,3696.50,2436.06,2074.81,0,0,0,30.00,30.00,15.74
$GC,1247.44,0,-214.11,-0.83,0.00,3703.2,3709.9,3696.4,2435.6,2076.4,144.87,-9.76,204,1251.06,0.00,0.00,0.00,0.000,0.000,0.000,3701.47,3708.50,3694.44,2435.56,2075.81,0,0,0,30.00,30.00,30.00
$GC,1547.56,644,-214.11,-0.91,-80.00,3702.2,3709.4,3694.9,2435.2,2075.4,172.92,-9.16,234,1555.02,0.00,0.00,3.92,0.000,0.000,0.119,3702.12,3708.88,3695.38,2436.00,585.31,0,0,0,30.00,30.00,15.76
$GC,1617.24,5253,-214.11,-1.02,0.00,3703.1,3710.2,3696.0,2436.0,585.1,179.11,-8.47,248,1625.32,0.00,0.38,3.51,0.000,0.088,0.047,3703.22,3709.88,3696.56,2379.56,2074.75,0,0,0,30.00,15.79,15.79
$GC,1924.92,516,-214.11,-1.02,-80.00,3702.3,3709.4,3695.3,2379.9,2075.2,209.83,-9.65,279,1932.26,0.00,0.00,3.91,0.000,0.000,0.118,3702.25,3708.69,3695.81,2380.44,585.88,0,0,0,30.00,30.00,15.76
$GC,1944.40,1028,-214.11,-1.02,0.00,3702.7,3710.1,3695.4,2379.7,586.4,212.03,-9.94,283,1952.46,0.00,0.00,3.52,0.000,0.000,0.047,3702.41,3709.06,3695.75,2380.62,2074.94,0,0,0,30.00,30.00,15.81
$GC,2250.49,516,-214.11,-1.02,-80.00,3702.8,3709.6,3696.0,2379.9,2075.4,241.70,-9.89,314,2258.02,0.00,0.00,3.93,0.000,0.000,0.119,3702.75,3709.62,3695.88,2381.25,584.62,0,0,0,30.00,30.00,15.75
$GC,2286.70,1028,-214.11,-1.02,0.00,3702.2,3709.1,3695.4,2380.2,584.2,245.28,-10.03,321,2293.94,0.00,0.00,3.50,0.000,0.000,0.045,3702.72,3709.94,3695.50,2380.38,2076.56,0,0,0,30.00,30.00,15.80
$GC,2591.58,516,-214.11,-1.02,-80.00,3702.3,3708.9,3695.6,2379.9,2077.2,273.23,-8.32,352,2599.05,0.00,0.00,3.92,0.000,0.000,0.118,3702.41,3708.50,3696.31,2381.19,586.75,0,0,0,30.00,30.00,15.73
$GC,2627.99,1028,-214.11,-1.02,0.00,3701.9,3709.1,3694.6,2381.1,586.5,276.59,-9.03,359,2635.24,0.00,0.00,3.51,0.000,0.000,0.046,3701.66,3708.38,3694.94,2380.81,2075.88,0,0,0,30.00,30.00,15.79
$STATE,2913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2913,begin apogee
$GC,2914.04,10243,0.00,-0.20,0.00,3701.8,3708.8,3694.7,2380.2,1913.6,300.24,-8.23,388,3100.03,182.21,1.61,0.12,1.499,0.170,0.162,2822.91,2856.75,2789.06,2590.88,1982.25,0,0,0,11.86,15.73,15.07
$STATE,3102,end apogee,CONTROL_FINISHED_OK
$STATE,3102,begin climb
$GC,3102.47,10503,214.11,0.83,80.00,2821.8,2856.3,2787.4,2591.2,1993.3,304.32,0.00,397,3303.80,188.65,1.84,3.68,1.441,0.114,0.118,1949.28,2000.19,1898.38,2842.62,3348.69,0,0,0,11.44,15.07,14.80
$GC,3356.03,21639,214.11,0.59,0.00,1942.7,1996.2,1889.1,2842.9,3349.6,282.12,14.14,446,3363.76,0.00,0.61,3.61,0.000,0.197,0.046,1942.41,1996.44,1888.38,2778.12,1927.94,0,0,0,30.00,14.96,15.02
$GC,3662.07,17030,214.11,0.52,-80.00,1936.2,1987.6,1884.8,2777.5,1927.8,252.64,9.35,477,3669.55,0.00,0.00,3.72,0.000,0.000,0.125,1935.66,1986.31,1885.00,2778.00,571.88,0,0,0,30.00,30.00,15.27
$GC,3738.32,21639,214.11,0.38,0.00,1934.1,1983.1,1885.1,2777.5,571.6,244.40,11.41,492,3745.28,0.00,0.38,3.38,0.000,0.177,0.043,1932.97,1980.69,1885.25,2724.62,1977.00,0,0,0,30.00,15.29,15.36
$MODEM_MSG,CACST,6,1,20201021200628.970777,18,427,-9,0174,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,18.1,0.34,-100,2.66,-01,-0.09,33,925,0025*15
$MODEM_MSG,CACST,6,1,20201021201234.704529,18,398,-10,0452,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,-4.6,0.36,-100,2.64,-01,-0.10,32,925,0025*35
$MODEM_MSG,CACST,6,1,20201021201740.111630,18,67,-17,0104,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,6.1,-3.13,-100,6.13,-01,0.00,43,925,0025*2D
$MODEM_MSG,CACST,6,1,20201021202559.738277,18,135,-14,0112,0150,246,02,02,06,04,-1,-01,-01,1,3,0,0,150,9.3,0.46,-100,2.54,-01,0.11,56,925,0025*36
$MODEM_MSG,CACST,6,1,20201021202911.179048,18,1566,07,0091,0150,216,01,01,04,03,-1,-01,-01,1,3,0,0,150,-5.0,0.01,-100,2.99,-01,0.00,32,925,0025*0C
$MODEM_MSG,CACST,6,1,20201021203530.588680,18,715,-7,0100,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,-22.8,0.02,-100,2.98,-01,0.00,33,925,0025*15
$GC,4043.57,10791,316.00,0.51,-80.00,1933.4,1981.9,1884.9,2726.8,1980.2,222.80,6.75,523,4140.23,89.71,0.31,3.90,1.371,0.102,0.122,1534.97,1583.50,1486.44,2768.50,571.62,0,0,0,11.55,15.47,15.13
$GC,4203.50,1028,316.00,0.51,0.00,1530.1,1574.6,1485.7,2767.8,571.4,208.04,10.19,555,4210.87,0.00,0.00,3.40,0.000,0.000,0.044,1529.53,1574.75,1484.31,2768.00,1979.06,0,0,0,30.00,30.00,15.16
$GC,4508.50,10919,387.71,0.66,-80.00,1525.0,1573.8,1476.2,2767.7,1980.4,181.70,7.71,586,4581.48,65.39,0.20,3.89,1.310,0.110,0.123,1244.41,1295.25,1193.56,2805.94,570.00,0,0,0,11.68,15.46,15.21
$GC,4613.63,1028,387.71,0.66,0.00,1241.0,1289.7,1192.4,2805.9,570.0,172.34,9.41,607,4621.19,0.00,0.00,3.41,0.000,0.000,0.042,1241.59,1290.38,1192.81,2805.88,1978.88,0,0,0,30.00,30.00,15.32
$GC,4919.77,10919,460.89,0.82,-80.00,1236.8,1289.0,1184.6,2806.1,1979.6,148.89,7.66,638,5023.32,95.92,0.21,3.91,1.224,0.111,0.123,947.41,991.31,903.50,2844.81,572.69,0,0,0,11.73,15.48,15.12
$GC,5095.49,1028,460.89,0.82,0.00,945.5,988.6,902.4,2844.1,572.5,130.96,11.12,673,5103.05,0.00,0.00,3.40,0.000,0.000,0.042,945.69,988.56,902.81,2843.56,1979.19,0,0,0,30.00,30.00,15.24
$GC,5402.11,10919,524.23,0.97,-80.00,941.1,986.7,895.6,2845.1,1980.2,105.02,7.98,704,5495.23,84.82,0.19,3.89,1.183,0.115,0.123,689.16,716.62,661.69,2879.00,571.19,0,0,0,11.83,15.48,15.20
$GC,5563.64,1028,524.23,0.97,0.00,687.0,713.6,660.4,2879.9,571.1,89.55,9.79,736,5571.01,0.00,0.00,3.39,0.000,0.000,0.041,687.00,713.56,660.44,2879.62,1980.06,0,0,0,30.00,30.00,15.33
$GC,5750.00,644,524.23,1.03,-80.00,685.5,712.8,658.1,2879.8,1981.1,71.65,9.82,773,5756.82,0.00,0.00,3.84,0.000,0.000,0.121,685.59,712.69,658.50,2879.75,572.62,0,0,0,30.00,30.00,15.33
$GC,5795.77,3205,524.23,1.09,0.00,685.0,711.8,658.1,2878.8,573.1,66.90,10.41,782,5803.09,0.00,0.16,3.35,0.000,0.125,0.041,684.94,711.75,658.12,2908.25,1980.69,0,0,0,30.00,15.45,15.50
$GC,5982.07,0,524.23,1.09,0.00,684.2,711.1,657.4,2909.0,1983.1,47.69,9.64,819,5987.08,0.00,0.00,0.00,0.000,0.000,0.000,684.41,711.19,657.62,2908.88,1983.00,0,0,0,30.00,30.00,30.00
$GC,6166.87,10919,620.17,1.31,-80.00,683.7,710.6,656.8,2908.4,1982.8,32.16,6.94,856,6254.70,78.75,0.32,3.88,1.162,0.101,0.125,500.88,507.50,494.25,2963.75,570.00,0,0,0,11.72,15.53,15.30
$GC,6328.42,9350,620.17,1.38,0.00,499.9,505.8,494.1,2964.5,570.0,18.48,8.02,888,6335.51,0.00,0.00,3.39,0.022,0.000,0.045,499.59,505.38,493.81,2963.19,1981.06,0,0,0,30.36,30.00,15.44
$GC,6514.54,10403,743.35,1.64,0.00,498.6,505.1,492.0,2963.2,1983.6,6.96,6.07,925,6519.69,0.00,0.51,0.00,0.000,0.091,0.000,498.81,505.25,492.38,3044.88,1983.12,0,0,0,30.00,15.51,30.00
$STATE,6584,end climb,SURFACE_DEPTH_REACHED
$STATE,6584,begin surface coast
$FINISH,0.3,1.023243
$STATE,6609,end surface coast,CONTROL_FINISHED_OK
$STATE,6609,begin surface
$SM_CCo,6695.48,0.00,0.000,0,496.5,501.6,491.4,571.18
$SM_GC,1.78,0.00,19.03,0.19,0.000,0.072,0.097,496.5,501.6,491.4,198.9,2101.4,0,0,0,30.00,15.54,15.58
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7132.77,-15204.04,211020,173301
$TCM_TEMP,1.00
$SC_FREEKB,3829152
$PM_FREEKB_00,35074560
$PM_ACTIVECARD,0
$RAFOS_CLK,-5
$MODEM,6,1603312530,75.33060,-142.67570,30.589,44812.4
$MODEM,4,1603311959,76.55490,-139.99944,59.738,87516.6
$MODEM,2,1603311460,75.67648,-146.03058,160.112,234563.5
$MODEM,1,1603311154,75.02295,-144.31340,154.705,226642.1
$MODEM,0,1603310788,74.83892,-145.28152,88.971,130342.2
$RAFOS_FIX,7539.735840,-13914.222656,211020,202030,5,255,155.89
$HUMID,53.08
$TEMP,-0.24
$INTERNAL_PRESSURE,8.13375
$24V_AH,14.41,83.767
$10V_AH,14.89,0.000
$FG_AHR_24Vo,152.331
$FG_AHR_10Vo,36.541
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,924.685,45.565,109.895,189.082,0.000,14.205,4012.391,2983.229,2266.871,2210.000,0.000,0.000
$DEVICE_MAMPS,1499.040,307.744,161.784,205.899,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6623.000,6632.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.477,9.712,0.000,0.000
$MEM,1152544,31,24324,77
$DATA_FILE_SIZE,25704,944
$CAP_FILE_SIZE,263335,0
$SDSIZE,3918848,3772864
$SDFILEDIR,1257,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.176,343.6,1
$GPS,211020,212701,7135.096,-15200.052,25,0.8,26,15.1