version: 67.00
glider: 233
mission: 7
dive: 157
start: 10 21 120 23 33 4
data:
$ID,233
$MISSION,7
$DIVE,157
$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,36.582405
$FG_AHR_24V,152.66138
$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
$GPS1,211020,232536,7135.811,-15157.979,1,0.9,3,15.1
$_CALLS,2
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-73.0
$GPS2,211020,233233,7135.898,-15157.871,3,0.9,3,15.1
$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,64.8,6021,-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,11.14,16386,-214.11,-0.83,0.00,492.3,490.4,494.2,198.9,2033.4,0.00,0.00,0,90.38,77.05,0.00,0.00,0.005,0.000,0.000,1759.53,1764.75,1754.31,199.12,2034.00,0,0,0,15.47,30.00,30.00
$GC,90.62,18727,-214.11,-0.83,80.00,1760.4,1763.4,1757.5,199.2,2033.4,3.12,-1.94,15,181.26,59.28,19.65,3.42,0.005,0.308,0.137,3700.09,3705.69,3694.50,2436.19,3349.00,0,0,0,15.49,15.35,15.54
$GC,379.95,1028,-214.11,-0.83,0.00,3702.6,3709.1,3696.0,2436.2,3348.5,49.10,-12.30,72,386.71,0.00,0.00,3.22,0.000,0.000,0.048,3702.88,3710.00,3695.75,2436.38,2025.00,0,0,0,30.00,30.00,15.61
$GC,564.95,516,-214.11,-0.83,-80.00,3702.9,3710.1,3695.8,2435.7,2025.1,72.27,-12.05,109,572.54,0.00,0.00,3.85,0.000,0.000,0.128,3702.28,3709.44,3695.12,2437.44,585.50,0,0,0,30.00,30.00,15.62
$GC,636.46,1028,-214.11,-0.83,0.00,3702.9,3710.6,3695.2,2436.8,585.6,80.51,-11.38,123,642.77,0.00,0.00,3.51,0.000,0.000,0.042,3704.09,3711.12,3697.06,2436.50,2073.81,0,0,0,30.00,30.00,15.63
$GC,826.00,0,-214.11,-0.83,0.00,3703.2,3710.4,3696.0,2437.0,2074.6,101.26,-11.29,160,829.83,0.00,0.00,0.00,0.000,0.000,0.000,3703.00,3709.94,3696.06,2437.25,2074.31,0,0,0,30.00,30.00,30.00
$GC,1126.54,516,-214.11,-0.83,-80.00,3703.4,3711.0,3695.9,2436.2,2074.3,135.33,-10.78,190,1138.03,0.00,0.00,3.95,0.000,0.000,0.120,3704.31,3711.50,3697.12,2436.12,585.19,0,0,0,30.00,30.00,15.72
$GC,1186.75,1156,-214.11,-0.91,0.00,3702.7,3710.2,3695.1,2436.8,585.4,141.54,-9.94,202,1193.77,0.00,0.00,3.49,0.000,0.000,0.043,3703.12,3710.44,3695.81,2436.75,2075.88,0,0,0,30.00,30.00,15.69
$GC,1491.98,4741,-214.11,-0.98,-80.00,3702.9,3710.3,3695.6,2435.9,2076.1,170.44,-9.53,233,1503.39,0.00,0.32,3.93,0.000,0.090,0.118,3703.72,3711.38,3696.06,2389.62,584.69,0,0,0,30.00,15.78,15.76
$GC,1532.17,3205,-214.11,-0.92,0.00,3702.5,3710.3,3694.8,2390.1,584.6,175.41,-13.23,241,1539.21,0.00,0.26,3.51,0.000,0.187,0.047,3702.81,3710.62,3695.00,2417.88,2074.62,0,0,0,30.00,15.75,15.74
$GC,1836.75,128,-214.11,-1.00,0.00,3703.3,3710.9,3695.7,2419.0,2075.8,204.05,-8.14,272,1840.31,0.00,0.00,0.00,0.000,0.000,0.000,3702.31,3710.06,3694.56,2418.44,2074.94,0,0,0,30.00,30.00,30.00
$GC,2138.78,4773,-214.11,-1.10,-80.00,3703.2,3710.4,3696.0,2417.9,2075.2,227.48,-7.99,302,2150.66,0.00,0.38,3.94,0.000,0.101,0.119,3703.88,3711.44,3696.31,2360.12,585.06,0,0,0,30.00,15.79,15.76
$GC,2169.41,1028,-214.11,-1.10,0.00,3702.7,3709.9,3695.4,2360.7,585.2,230.73,-9.36,308,2176.33,0.00,0.00,3.51,0.000,0.000,0.048,3704.34,3711.44,3697.25,2358.69,2073.69,0,0,0,30.00,30.00,15.81
$GC,2473.90,516,-214.11,-1.10,-80.00,3702.4,3709.8,3695.1,2360.4,2074.8,263.81,-10.35,339,2481.43,0.00,0.00,3.94,0.000,0.000,0.121,3703.12,3711.06,3695.19,2360.50,585.50,0,0,0,30.00,30.00,15.62
$GC,2530.10,1028,-214.11,-1.10,0.00,3703.4,3711.1,3695.8,2359.9,585.2,270.04,-11.41,350,2537.38,0.00,0.00,3.51,0.000,0.000,0.047,3702.66,3710.31,3695.00,2360.62,2074.06,0,0,0,30.00,30.00,15.80
$STATE,2826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2826,begin apogee
$GC,2826.91,10243,0.00,-0.20,0.00,3702.3,3709.6,3695.1,2359.9,1915.2,300.06,-9.97,380,3015.43,184.12,1.78,0.12,1.534,0.174,0.167,2823.28,2856.25,2790.31,2592.44,1991.94,0,0,0,12.00,15.72,15.07
$STATE,3018,end apogee,CONTROL_FINISHED_OK
$STATE,3018,begin climb
$GC,3017.78,10503,214.11,0.83,80.00,2821.9,2854.9,2788.9,2591.8,1991.9,304.61,0.00,389,3219.20,190.23,1.83,3.69,1.438,0.117,0.118,1949.00,2001.56,1896.44,2843.50,3347.31,0,0,0,11.26,15.05,14.80
$GC,3221.50,5253,214.11,0.57,0.00,1946.2,1999.4,1893.1,2843.9,3348.3,288.73,13.29,422,3229.11,0.00,0.65,3.64,0.000,0.199,0.047,1946.44,2000.75,1892.12,2772.75,1926.00,0,0,0,30.00,14.83,14.80
$GC,3527.46,17030,214.11,0.51,-80.00,1937.2,1987.3,1887.1,2773.8,1926.3,258.31,9.28,453,3534.93,0.00,0.00,3.73,0.000,0.000,0.125,1935.72,1985.88,1885.56,2773.75,572.38,0,0,0,30.00,30.00,15.23
$GC,3597.09,21639,214.11,0.39,0.00,1934.4,1982.2,1886.6,2772.6,571.4,250.50,11.40,467,3604.72,0.00,0.33,3.38,0.000,0.177,0.041,1935.31,1983.56,1887.06,2726.00,1978.62,0,0,0,30.00,15.25,15.33
$GC,3903.94,10791,305.93,0.50,-80.00,1933.6,1981.6,1885.6,2726.6,1980.1,228.53,7.07,498,3992.39,81.45,0.30,3.89,1.379,0.105,0.122,1574.91,1621.75,1528.06,2766.50,570.75,0,0,0,11.65,15.44,15.11
$GC,4031.32,1028,305.93,0.50,0.00,1571.6,1615.7,1527.5,2766.6,570.3,216.52,10.45,523,4038.03,0.00,0.00,3.40,0.000,0.000,0.040,1573.19,1617.75,1528.62,2765.00,1979.88,0,0,0,30.00,30.00,15.23
$MODEM_MSG,CACST,6,1,20201022000846.531846,18,148,-14,0100,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,17.0,-1.94,-100,4.94,-01,0.00,35,925,0025*25
$MODEM_MSG,CACST,6,1,20201022001420.533762,18,291,-11,0236,0150,216,04,04,06,04,-1,-01,-01,1,3,0,0,150,-2.9,0.20,-100,2.80,-01,0.01,35,925,0025*19
$MODEM_MSG,CACST,6,1,20201022002631.482579,18,90,-16,0116,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,18.6,0.60,-100,2.40,-01,-3.15,36,925,0025*1B
$MODEM_MSG,CACST,6,1,20201022003149.978141,18,279,-11,0155,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,-23.7,0.03,-100,2.97,-01,0.00,35,925,0025*2F
$GC,4336.23,16902,305.93,0.50,-80.00,1564.7,1613.1,1516.3,2766.4,1980.1,188.93,8.20,554,4343.16,0.00,0.00,3.81,0.000,0.000,0.119,1565.66,1613.31,1518.00,2765.88,570.38,0,0,0,30.00,30.00,15.35
$GC,4375.33,17414,305.93,0.50,0.00,1563.5,1611.2,1515.9,2766.5,569.9,185.58,8.28,562,4382.87,0.00,0.00,3.36,0.000,0.000,0.043,1564.41,1612.44,1516.38,2766.56,1980.75,0,0,0,30.00,30.00,15.44
$GC,4682.09,10919,442.02,0.76,-80.00,1562.3,1610.1,1514.5,2766.1,1981.6,167.49,5.65,593,4866.53,175.21,0.38,3.93,1.249,0.097,0.124,1022.50,1071.94,973.06,2831.12,570.19,0,0,0,11.56,15.57,15.03
$GC,4908.68,1028,442.02,0.76,0.00,1020.2,1067.6,972.9,2830.6,570.0,147.07,10.00,637,4916.26,0.00,0.00,3.43,0.000,0.000,0.043,1020.53,1068.06,973.00,2830.81,1979.25,0,0,0,30.00,30.00,15.21
$GC,5215.55,644,442.02,0.84,-80.00,1016.2,1066.4,966.0,2830.6,1979.9,119.45,8.89,668,5222.40,0.00,0.00,3.83,0.000,0.000,0.123,1015.66,1065.69,965.62,2831.19,570.06,0,0,0,30.00,30.00,15.37
$GC,5281.46,3205,442.02,0.92,0.00,1015.1,1064.8,965.5,2830.2,569.9,113.21,9.56,681,5288.40,0.00,0.22,3.38,0.000,0.114,0.043,1015.16,1064.69,965.62,2870.62,1980.31,0,0,0,30.00,15.46,15.49
$GC,5585.97,16902,442.02,0.92,-80.00,1014.2,1063.6,964.9,2870.6,1981.7,81.76,9.53,730,5593.52,0.00,0.00,3.79,0.000,0.000,0.123,1014.84,1064.44,965.25,2869.88,571.12,0,0,0,30.00,30.00,15.55
$GC,5642.25,17414,442.02,0.92,0.00,1013.8,1063.2,964.5,2870.6,570.6,75.93,10.81,741,5648.24,0.00,0.00,3.34,0.000,0.000,0.044,1014.22,1063.81,964.62,2871.75,1970.62,0,0,0,30.00,30.00,15.60
$GC,5827.54,16902,442.02,0.92,-80.00,1013.8,1063.2,964.3,2869.9,1981.6,60.25,8.22,778,5834.52,0.00,0.00,3.76,0.000,0.000,0.122,1013.94,1063.12,964.75,2870.88,569.94,0,0,0,30.00,30.00,15.61
$GC,5868.49,17414,442.02,0.92,0.00,1013.7,1063.1,964.3,2870.6,570.0,56.70,8.64,786,5875.41,0.00,0.00,3.32,0.000,0.000,0.043,1013.94,1063.31,964.56,2870.88,1981.00,0,0,0,30.00,30.00,15.68
$GC,6054.44,10919,539.09,1.13,-80.00,1013.2,1062.4,964.0,2870.7,1983.9,43.40,6.90,823,6218.46,156.94,0.28,3.91,1.172,0.107,0.125,628.38,649.19,607.56,2916.25,572.06,0,0,0,11.78,15.67,15.17
$GC,6257.27,11431,624.48,1.35,0.00,626.4,646.3,606.6,2918.1,572.1,27.94,7.27,863,6319.69,55.38,0.32,3.40,1.087,0.101,0.043,501.22,508.75,493.69,2970.88,1984.06,0,0,0,11.61,15.27,15.29
$GC,6498.71,10403,745.05,1.61,0.00,497.8,505.7,490.0,2969.8,1984.2,10.25,6.15,911,6504.09,0.00,0.43,0.00,0.000,0.098,0.000,498.34,506.12,490.56,3037.44,1983.81,0,0,0,30.00,15.35,30.00
$STATE,6608,end climb,SURFACE_DEPTH_REACHED
$STATE,6608,begin surface coast
$FINISH,0.3,1.023298
$STATE,6633,end surface coast,CONTROL_FINISHED_OK
$STATE,6633,begin surface
$SM_CCo,6720.43,0.00,0.000,0,494.2,501.8,486.6,571.76
$SM_GC,1.93,0.00,19.10,0.17,0.000,0.074,0.090,494.2,501.8,486.6,199.1,2095.7,0,0,0,30.00,15.44,15.49
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7136.09,-15151.64,211020,232759
$TCM_TEMP,1.01
$SC_FREEKB,3828512
$PM_FREEKB_00,34888192
$PM_ACTIVECARD,0
$RAFOS_CLK,-5
$MODEM,5,1603326709,76.41295,-142.47470,109.978,161118.0
$MODEM,4,1603326391,76.55490,-139.99944,91.483,134022.0
$MODEM,1,1603325660,75.02295,-144.31340,260.534,381681.9
$MODEM,0,1603325326,74.83892,-145.28152,226.532,331869.2
$RAFOS_FIX,7745.429688,-85900.140625,221020,000049,4,255,4702.32
$HUMID,52.92
$TEMP,-0.21
$INTERNAL_PRESSURE,8.13531
$24V_AH,14.40,84.525
$10V_AH,14.80,0.000
$FG_AHR_24Vo,152.984
$FG_AHR_10Vo,36.647
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,979.660,46.215,109.530,231.419,0.000,11.878,4111.355,3033.938,2275.243,2218.000,0.000,0.000
$DEVICE_MAMPS,1534.464,307.744,166.704,206.007,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6648.000,6656.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.435,9.779,0.000,0.000
$MEM,1152432,36,24336,77
$DATA_FILE_SIZE,25761,938
$CAP_FILE_SIZE,266674,0
$SDSIZE,3918848,3772288
$SDFILEDIR,1271,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.159,335.8,1
$GPS,221020,012600,7136.473,-15155.741,21,0.8,21,15.2