version: 67.00
glider: 233
mission: 7
dive: 158
start: 10 22 120 1 32 25
data:
$ID,233
$MISSION,7
$DIVE,158
$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,36.648571
$FG_AHR_24V,152.99553
$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
$GPS1,221020,012600,7136.473,-15155.741,21,0.8,21,15.2
$_CALLS,1
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-72.1
$GPS2,221020,013154,7136.521,-15155.658,2,0.6,4,15.2
$SPEED_LIMITS,0.173,0.304
$TGT_NAME,SHELF2
$TGT_LATLONG,7125.000,-15144.000
$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,143.6,22419,-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,11.00,16386,-214.11,-0.83,0.00,491.3,491.2,491.4,198.9,2032.7,0.00,0.00,0,90.24,77.06,0.00,0.00,0.005,0.000,0.000,1766.16,1771.19,1761.12,199.19,2033.19,0,0,0,15.48,30.00,30.00
$GC,90.48,18727,-214.11,-0.83,80.00,1768.3,1770.8,1765.9,198.8,2032.7,3.18,-1.92,15,177.07,56.89,19.85,3.46,0.005,0.306,0.141,3700.09,3705.06,3695.12,2437.12,3349.62,0,0,0,15.49,15.33,15.53
$GC,296.05,1028,-214.11,-0.83,0.00,3702.5,3708.1,3697.0,2437.3,3349.4,39.09,-13.74,55,302.40,0.00,0.00,3.22,0.000,0.000,0.049,3703.84,3710.25,3697.44,2437.31,2027.75,0,0,0,30.00,30.00,15.51
$GC,480.65,0,-214.11,-0.83,0.00,3703.8,3709.7,3697.9,2437.7,2026.8,64.35,-12.60,92,486.41,0.00,0.00,0.00,0.000,0.000,0.000,3703.75,3711.69,3695.81,2437.88,2027.38,0,0,0,30.00,30.00,30.00
$GC,666.56,516,-214.11,-0.83,-80.00,3703.3,3710.7,3696.0,2437.8,2026.6,86.49,-11.53,129,677.84,0.00,0.00,3.87,0.000,0.000,0.130,3703.59,3709.94,3697.25,2436.88,585.38,0,0,0,30.00,30.00,15.63
$GC,706.86,1028,-214.11,-0.83,0.00,3703.8,3711.2,3696.3,2437.5,585.7,91.25,-11.83,137,713.33,0.00,0.00,3.54,0.000,0.000,0.047,3704.94,3712.62,3697.25,2438.06,2074.69,0,0,0,30.00,30.00,15.68
$GC,896.55,0,-214.11,-0.83,0.00,3703.3,3710.6,3696.1,2437.9,2074.7,111.83,-10.74,164,900.22,0.00,0.00,0.00,0.000,0.000,0.000,3703.91,3711.38,3696.44,2436.50,2074.75,0,0,0,30.00,30.00,30.00
$GC,1196.71,516,-214.11,-0.83,-80.00,3702.9,3709.8,3696.1,2437.2,2075.8,143.93,-10.68,194,1204.10,0.00,0.00,3.93,0.000,0.000,0.119,3702.22,3710.25,3694.19,2437.56,586.75,0,0,0,30.00,30.00,15.69
$GC,1252.95,1156,-214.11,-0.91,0.00,3703.4,3710.1,3696.7,2437.8,586.6,149.83,-10.52,205,1259.78,0.00,0.00,3.51,0.000,0.000,0.048,3702.75,3710.50,3695.00,2437.44,2075.94,0,0,0,30.00,30.00,15.79
$GC,1558.11,4225,-214.11,-0.98,0.00,3703.4,3710.6,3696.2,2437.4,2075.9,180.61,-9.44,236,1561.15,0.00,0.34,0.00,0.000,0.090,0.000,3704.44,3711.38,3697.50,2387.94,2076.00,0,0,0,30.00,15.78,30.00
$GC,1858.16,516,-214.11,-0.98,-80.00,3703.0,3710.1,3695.8,2389.5,2075.7,212.38,-9.46,266,1864.91,0.00,0.00,3.91,0.000,0.000,0.121,3702.69,3710.19,3695.19,2388.69,586.12,0,0,0,30.00,30.00,15.78
$GC,1917.06,1028,-214.11,-0.98,0.00,3703.2,3710.7,3695.6,2389.6,586.4,218.58,-10.15,278,1925.11,0.00,0.00,3.50,0.000,0.000,0.049,3703.59,3711.25,3695.94,2388.50,2076.69,0,0,0,30.00,30.00,15.80
$GC,2223.15,516,-214.11,-0.98,-80.00,3703.2,3710.2,3696.2,2388.4,2076.1,246.06,-8.73,309,2230.67,0.00,0.00,3.92,0.000,0.000,0.120,3704.34,3711.06,3697.62,2387.69,585.19,0,0,0,30.00,30.00,15.81
$GC,2269.38,1028,-214.11,-0.98,0.00,3703.0,3710.4,3695.6,2389.7,585.2,250.36,-9.72,318,2276.39,0.00,0.00,3.49,0.000,0.000,0.047,3702.41,3709.69,3695.12,2388.69,2076.94,0,0,0,30.00,30.00,15.88
$GC,2573.93,516,-214.11,-0.98,-80.00,3703.5,3709.0,3698.0,2388.8,2077.5,276.64,-8.42,349,2581.46,0.00,0.00,3.91,0.000,0.000,0.119,3702.59,3710.19,3695.00,2389.06,586.31,0,0,0,30.00,30.00,15.79
$GC,2603.61,1028,-214.11,-0.98,0.00,3703.3,3711.1,3695.5,2388.8,586.2,279.59,-8.80,355,2611.72,0.00,0.00,3.48,0.000,0.000,0.046,3704.00,3711.25,3696.75,2388.62,2076.69,0,0,0,30.00,30.00,15.90
$STATE,2850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2850,begin apogee
$GC,2851.71,10243,0.00,-0.20,0.00,3704.3,3712.8,3695.9,2388.3,1913.9,300.67,-8.44,380,3041.10,184.95,1.50,0.12,1.536,0.167,0.165,2821.59,2854.75,2788.44,2591.50,1992.62,0,0,0,11.79,15.83,15.13
$STATE,3043,end apogee,CONTROL_FINISHED_OK
$STATE,3044,begin climb
$GC,3043.68,10503,214.11,0.83,80.00,2821.5,2855.2,2787.8,2591.9,1993.0,305.41,0.00,389,3244.87,189.29,1.79,3.66,1.438,0.116,0.118,1950.19,2002.38,1898.00,2843.56,3350.06,0,0,0,11.49,15.13,14.85
$GC,3273.16,21639,214.11,0.58,0.00,1942.8,1996.2,1889.4,2843.2,3350.4,287.06,14.98,433,3284.70,0.00,0.63,3.63,0.000,0.200,0.049,1943.03,1996.62,1889.44,2774.69,1928.00,0,0,0,30.00,14.95,15.03
$GC,3583.78,17030,214.11,0.52,-80.00,1937.1,1987.9,1886.3,2776.6,1928.2,255.21,9.71,465,3590.60,0.00,0.00,3.71,0.000,0.000,0.128,1936.22,1986.56,1885.88,2773.50,569.38,0,0,0,30.00,30.00,15.31
$GC,3679.40,21639,214.11,0.38,0.00,1933.2,1981.5,1884.9,2775.1,569.1,244.61,11.29,484,3686.34,0.00,0.34,3.37,0.000,0.178,0.045,1933.28,1981.38,1885.19,2727.50,1980.25,0,0,0,30.00,15.36,15.44
$GC,3984.63,10791,310.43,0.50,-80.00,1932.6,1980.8,1884.4,2726.9,1981.4,222.76,6.92,515,4077.21,85.36,0.30,3.89,1.378,0.107,0.121,1558.25,1606.25,1510.25,2768.00,572.06,0,0,0,11.56,15.52,15.19
$GC,4135.50,1028,310.43,0.50,0.00,1552.4,1595.8,1509.1,2766.8,571.8,208.31,10.59,545,4142.92,0.00,0.00,3.38,0.000,0.000,0.044,1551.41,1595.25,1507.56,2767.44,1978.12,0,0,0,30.00,30.00,15.33
$GC,4440.56,10919,407.25,0.71,-80.00,1545.8,1593.6,1498.0,2768.2,1980.0,184.94,6.91,576,4537.95,88.96,0.28,3.87,1.324,0.102,0.125,1164.34,1216.12,1112.56,2819.25,572.00,0,0,0,11.80,15.49,15.16
$GC,4581.17,1028,407.25,0.71,0.00,1161.0,1210.8,1111.3,2820.1,571.6,172.71,9.33,604,4588.59,0.00,0.00,3.40,0.000,0.000,0.044,1161.50,1211.75,1111.25,2818.69,1978.00,0,0,0,30.00,30.00,15.27
$GC,4886.23,10919,472.08,0.85,-80.00,1155.9,1209.5,1102.3,2819.4,1980.0,147.98,7.93,635,4979.52,85.32,0.17,3.90,1.210,0.121,0.125,900.59,943.38,857.81,2851.94,571.31,0,0,0,11.43,15.46,15.16
$GC,5061.75,1028,472.08,0.85,0.00,898.3,940.1,856.6,2851.4,571.3,130.40,10.53,670,5069.35,0.00,0.00,3.40,0.000,0.000,0.044,898.66,940.25,857.06,2851.56,1978.94,0,0,0,30.00,30.00,15.35
$GC,5368.61,644,472.08,0.91,-80.00,896.0,938.2,853.8,2851.9,1980.1,102.26,8.67,701,5375.50,0.00,0.00,3.80,0.000,0.000,0.123,896.53,938.56,854.50,2851.25,570.19,0,0,0,30.00,30.00,15.47
$GC,5424.56,3205,472.08,0.98,0.00,896.0,937.8,854.2,2852.0,570.1,96.80,10.00,712,5431.25,0.00,0.16,3.34,0.000,0.124,0.043,895.81,937.62,854.00,2881.31,1979.62,0,0,0,30.00,15.52,15.55
$GC,5609.49,0,472.08,0.98,0.00,895.5,937.2,853.7,2882.1,1981.8,77.82,9.98,749,5615.30,0.00,0.00,0.00,0.000,0.000,0.000,895.66,937.56,853.75,2882.94,1982.44,0,0,0,30.00,30.00,30.00
$GC,5794.52,516,472.08,0.98,-80.00,895.1,936.8,853.4,2881.8,1981.9,60.18,9.06,786,5802.09,0.00,0.00,3.78,0.000,0.000,0.123,895.00,936.75,853.25,2881.94,569.88,0,0,0,30.00,30.00,15.50
$GC,5846.03,1028,472.08,0.98,0.00,894.7,936.4,853.1,2882.6,570.1,54.89,10.62,796,5853.31,0.00,0.00,3.32,0.000,0.000,0.044,894.78,936.38,853.19,2881.75,1981.00,0,0,0,30.00,30.00,15.54
$GC,6032.31,10403,561.03,1.17,0.00,894.6,936.2,852.9,2882.4,1982.4,39.37,7.16,833,6185.33,148.45,0.27,0.00,1.147,0.107,0.000,538.97,548.94,529.00,2929.56,1981.88,0,0,0,11.94,15.66,30.00
$GC,6364.29,10919,730.55,1.56,-80.00,535.9,546.5,525.4,2929.6,1982.5,17.75,4.59,899,6390.74,15.85,0.62,3.87,1.044,0.096,0.126,500.84,507.38,494.31,3023.31,569.88,0,0,0,11.90,15.41,15.31
$GC,6499.03,9350,730.55,1.50,0.00,500.0,506.1,493.9,3024.1,570.1,5.76,8.78,926,6506.46,0.00,0.00,3.36,0.000,0.000,0.044,500.06,506.12,494.00,3023.19,1980.56,0,0,0,30.00,30.00,15.48
$STATE,6550,end climb,SURFACE_DEPTH_REACHED
$STATE,6550,begin surface coast
$FINISH,0.4,1.023326
$STATE,6575,end surface coast,CONTROL_FINISHED_OK
$STATE,6575,begin surface
$SM_CCo,6661.48,0.00,0.000,0,497.2,502.9,491.6,571.00
$SM_GC,1.73,0.00,18.89,0.18,0.000,0.072,0.096,497.2,502.9,491.6,200.2,2097.9,0,0,0,30.00,15.47,15.52
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7135.13,-15145.64,211020,232935
$TCM_TEMP,1.00
$SC_FREEKB,3828192
$PM_FREEKB_00,34795200
$PM_ACTIVECARD,0
$RAFOS_CLK,-16
$RAFOS_FIX,7135.613770,-15155.204102,221020,030346,0,1,0.26
$HUMID,53.12
$TEMP,-0.26
$INTERNAL_PRESSURE,8.13399
$24V_AH,14.45,84.886
$10V_AH,14.82,0.000
$FG_AHR_24Vo,153.303
$FG_AHR_10Vo,36.688
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,932.155,45.140,102.230,226.737,0.000,13.069,4025.220,2971.883,2259.909,0.000,0.000,0.000
$DEVICE_MAMPS,1535.776,306.432,165.064,183.905,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6590.000,6598.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.391,9.705,0.000,0.000
$MEM,1152368,33,24400,80
$DATA_FILE_SIZE,25708,941
$CAP_FILE_SIZE,253257,0
$SDSIZE,3918848,3772032
$SDFILEDIR,1278,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.150,353.3,1
$GPS,221020,032404,7136.152,-15155.217,1,1.5,4,15.2