version: 67.00
glider: 233
mission: 7
dive: 159
start: 10 22 120 3 29 58
data:
$ID,233
$MISSION,7
$DIVE,159
$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,36.688793
$FG_AHR_24V,153.31354
$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
$GPS1,221020,032404,7136.152,-15155.217,1,1.5,4,15.2
$_CALLS,1
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-71.8
$GPS2,221020,032927,7136.186,-15155.193,2,1.5,4,15.2
$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,152.6,21745,-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,11.19,16386,-214.11,-0.83,0.00,494.0,493.2,494.8,199.2,2027.1,0.00,0.00,0,90.44,77.09,0.00,0.00,0.005,0.000,0.000,1765.09,1770.31,1759.88,199.12,2027.50,0,0,0,15.49,30.00,30.00
$GC,90.69,18727,-214.11,-0.83,80.00,1767.3,1769.6,1765.0,199.1,2027.1,3.21,-2.03,15,181.53,58.22,20.02,3.44,0.005,0.314,0.141,3701.09,3706.12,3696.06,2435.44,3349.06,0,0,0,15.49,15.36,15.53
$GC,335.26,1028,-214.11,-0.83,0.00,3702.0,3708.7,3695.2,2435.2,3348.8,45.81,-13.70,63,341.86,0.00,0.00,3.24,0.000,0.000,0.047,3702.66,3709.62,3695.69,2435.56,2026.38,0,0,0,30.00,30.00,15.64
$GC,520.83,516,-214.11,-0.83,-80.00,3703.3,3710.8,3695.9,2436.6,2025.3,69.24,-11.79,100,531.63,0.00,0.00,3.86,0.000,0.000,0.127,3703.62,3710.50,3696.75,2435.56,584.75,0,0,0,30.00,30.00,15.52
$GC,555.59,1028,-214.11,-0.83,0.00,3702.3,3709.6,3694.9,2436.1,584.6,73.26,-11.48,107,562.11,0.00,0.00,3.55,0.000,0.000,0.046,3702.66,3709.56,3695.75,2437.56,2070.50,0,0,0,30.00,30.00,15.70
$GC,740.34,260,-214.11,-0.83,80.00,3702.8,3709.8,3695.8,2436.4,2074.9,92.72,-10.36,144,746.80,0.00,0.00,3.28,0.000,0.000,0.130,3703.88,3711.50,3696.25,2435.50,3350.31,0,0,0,30.00,30.00,15.60
$GC,765.83,1028,-214.11,-0.83,0.00,3702.9,3709.6,3696.2,2436.7,3350.2,95.32,-10.31,149,772.29,0.00,0.00,3.20,0.000,0.000,0.044,3703.66,3711.56,3695.75,2436.75,2023.31,0,0,0,30.00,30.00,15.59
$GC,955.65,516,-214.11,-0.83,-80.00,3703.7,3710.4,3697.0,2436.2,2022.4,114.76,-10.26,173,963.04,0.00,0.00,3.81,0.000,0.000,0.125,3703.38,3710.62,3696.12,2435.62,586.44,0,0,0,30.00,30.00,15.61
$GC,1001.74,1028,-214.11,-0.83,0.00,3703.5,3710.6,3696.5,2436.3,586.3,119.65,-10.66,182,1009.01,0.00,0.00,3.50,0.000,0.000,0.044,3703.53,3711.25,3695.81,2433.94,2075.69,0,0,0,30.00,30.00,15.77
$GC,1306.62,516,-214.11,-0.83,-80.00,3702.7,3710.1,3695.4,2435.7,2075.6,150.13,-9.76,213,1314.15,0.00,0.00,3.93,0.000,0.000,0.118,3702.09,3710.00,3694.19,2436.81,585.69,0,0,0,30.00,30.00,15.74
$GC,1352.87,1156,-214.11,-0.92,0.00,3701.6,3708.9,3694.4,2436.9,585.4,154.63,-9.92,222,1359.89,0.00,0.00,3.50,0.000,0.000,0.045,3703.81,3710.00,3697.62,2434.12,2076.38,0,0,0,30.00,30.00,15.68
$GC,1658.12,4741,-214.11,-0.99,-80.00,3701.9,3709.6,3694.2,2436.1,2076.0,183.11,-9.26,253,1669.50,0.00,0.34,3.92,0.000,0.088,0.118,3704.34,3710.81,3697.88,2386.88,586.50,0,0,0,30.00,15.78,15.77
$GC,1691.65,1028,-214.11,-0.99,0.00,3703.5,3710.9,3696.1,2387.7,586.6,187.21,-12.03,260,1699.73,0.00,0.00,3.51,0.000,0.000,0.048,3703.00,3710.50,3695.50,2386.75,2073.88,0,0,0,30.00,30.00,15.79
$GC,1997.76,516,-214.11,-0.99,-80.00,3703.5,3711.7,3695.4,2388.2,2074.4,219.27,-9.54,291,2005.29,0.00,0.00,3.91,0.000,0.000,0.119,3701.50,3708.88,3694.12,2387.31,584.56,0,0,0,30.00,30.00,15.80
$GC,2055.25,1028,-214.11,-0.99,0.00,3703.2,3710.3,3696.0,2387.6,584.4,225.40,-10.76,301,2063.22,0.00,0.00,3.50,0.000,0.000,0.047,3703.38,3710.19,3696.56,2386.50,2076.38,0,0,0,30.00,30.00,15.84
$GC,2361.76,516,-214.11,-0.99,-80.00,3703.6,3710.9,3696.3,2387.4,2077.8,253.96,-9.36,332,2373.58,0.00,0.00,3.93,0.000,0.000,0.118,3704.00,3710.62,3697.38,2386.81,584.44,0,0,0,30.00,30.00,15.77
$GC,2405.73,1028,-214.11,-0.99,0.00,3702.7,3711.1,3694.3,2387.5,584.5,258.36,-9.70,341,2413.84,0.00,0.00,3.51,0.000,0.000,0.045,3704.00,3711.81,3696.19,2387.44,2077.25,0,0,0,30.00,30.00,15.80
$GC,2712.57,516,-214.11,-0.99,-80.00,3702.8,3710.4,3695.2,2388.4,2079.1,285.02,-8.95,372,2723.99,0.00,0.00,3.93,0.000,0.000,0.118,3703.31,3710.00,3696.62,2387.31,586.06,0,0,0,30.00,30.00,15.76
$GC,2742.69,1028,-214.11,-0.99,0.00,3703.1,3710.4,3695.7,2387.6,586.0,288.02,-9.29,378,2749.64,0.00,0.00,3.50,0.000,0.000,0.047,3702.19,3709.19,3695.19,2387.69,2077.12,0,0,0,30.00,30.00,15.81
$STATE,2878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2878,begin apogee
$GC,2879.17,10243,0.00,-0.20,0.00,3703.0,3709.2,3696.8,2387.4,1912.2,300.51,-9.25,392,3069.71,185.73,1.55,0.12,1.523,0.166,0.158,2823.22,2857.88,2788.56,2592.00,1993.12,0,0,0,11.89,15.73,15.05
$STATE,3072,end apogee,CONTROL_FINISHED_OK
$STATE,3072,begin climb
$GC,3072.30,10503,214.11,0.83,80.00,2822.3,2856.1,2788.4,2592.8,1993.3,306.10,0.00,401,3273.64,190.88,1.83,3.68,1.408,0.117,0.118,1948.84,2001.12,1896.56,2844.81,3346.75,0,0,0,11.44,15.07,14.81
$GC,3455.82,21639,214.11,0.59,0.00,1939.3,1991.5,1887.1,2844.6,3344.4,266.15,13.53,458,3463.54,0.00,0.60,3.57,0.000,0.203,0.050,1940.69,1993.38,1888.00,2778.19,1930.50,0,0,0,30.00,15.11,15.17
$GC,3762.59,16774,214.11,0.52,80.00,1936.1,1987.0,1885.1,2778.5,1930.1,236.33,9.28,489,3769.40,0.00,0.00,3.67,0.000,0.000,0.108,1936.22,1986.69,1885.75,2777.31,3349.19,0,0,0,30.00,30.00,15.34
$GC,3897.64,17414,214.11,0.52,0.00,1935.2,1986.2,1884.2,2777.9,3350.6,224.05,8.76,516,3905.10,0.00,0.00,3.49,0.000,0.000,0.048,1933.31,1984.88,1881.75,2778.56,1926.31,0,0,0,30.00,30.00,15.44
$GC,4202.71,8742,291.08,0.62,-80.00,1933.7,1983.7,1883.6,2778.4,1925.9,199.12,7.54,547,4279.60,68.67,0.00,3.73,1.328,0.000,0.130,1638.69,1685.38,1592.00,2777.38,570.12,0,0,0,11.80,30.00,15.21
$MODEM_MSG,CACST,6,1,20201022040413.210285,18,97,-10,0090,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,-6.3,0.42,-100,2.58,-01,0.04,37,925,0025*27
$MODEM_MSG,CACST,6,1,20201022040919.457475,18,570,-2,0097,0150,216,00,00,05,02,-1,-01,-01,1,3,0,0,150,-22.4,0.06,-100,2.94,-01,-0.02,38,925,0025*34
$MODEM_MSG,CACST,6,1,20201022041508.882131,18,619,-2,0133,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,10.3,0.25,-100,2.75,-01,-0.04,37,925,0025*16
$MODEM_MSG,CACST,6,1,20201022042054.918391,18,445,08,0342,0150,216,00,00,03,02,-1,-01,-01,1,3,0,0,150,39.2,0.26,-100,2.74,-01,0.04,37,925,0025*2E
$MODEM_MSG,CACST,6,1,20201022042417.543480,18,257,-12,0917,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,-25.2,0.52,-100,2.48,-01,-0.08,38,925,0025*08
$MODEM_MSG,CACST,6,1,20201022042733.282709,18,43,-13,0100,0150,216,01,01,05,03,-1,-01,-01,1,3,0,0,150,-25.5,0.38,-100,2.62,-01,0.04,39,925,0025*1B
$MODEM_MSG,CACST,6,1,20201022043240.503611,18,106,-9,0109,0150,216,00,00,05,02,-1,-01,-01,1,3,0,0,150,-22.8,0.40,-100,2.60,-01,-0.08,39,925,0025*32
$GC,4363.65,1028,291.08,0.62,0.00,1630.5,1673.0,1588.1,2778.6,570.0,186.28,8.54,579,4370.24,0.00,0.00,3.37,0.000,0.000,0.038,1630.81,1674.19,1587.44,2778.50,1981.00,0,0,0,30.00,30.00,15.38
$GC,4668.63,10919,399.07,0.83,-80.00,1625.5,1672.5,1578.4,2778.1,1982.5,165.10,6.55,610,4817.06,140.32,0.47,3.91,1.213,0.094,0.121,1198.22,1249.88,1146.56,2846.75,570.94,0,0,0,11.72,15.51,15.09
$GC,4871.03,1028,399.07,0.83,0.00,1194.8,1244.6,1145.1,2846.4,571.1,144.41,11.61,650,4877.72,0.00,0.00,3.39,0.000,0.000,0.037,1195.28,1244.56,1146.00,2846.12,1980.38,0,0,0,30.00,30.00,15.23
$GC,5175.80,16902,399.07,0.83,-80.00,1189.8,1242.4,1137.1,2845.6,1981.8,115.48,9.11,681,5182.88,0.00,0.00,3.81,0.000,0.000,0.120,1189.97,1242.44,1137.50,2843.88,569.81,0,0,0,30.00,30.00,15.43
$GC,5235.03,17414,399.07,0.83,0.00,1189.0,1241.6,1136.5,2845.6,570.2,109.14,10.47,693,5242.59,0.00,0.00,3.35,0.000,0.000,0.039,1189.09,1241.50,1136.69,2846.25,1979.94,0,0,0,30.00,30.00,15.51
$GC,5541.89,8742,465.77,0.91,-80.00,1188.0,1240.9,1135.1,2845.2,1981.4,83.64,7.87,744,5639.48,90.11,0.00,3.88,1.179,0.000,0.122,926.78,969.50,884.06,2845.75,570.94,0,0,0,11.77,30.00,15.18
$GC,5692.79,3205,465.77,1.01,0.00,925.6,967.9,883.2,2845.6,570.9,71.13,8.65,774,5700.34,0.00,0.25,3.38,0.000,0.106,0.038,925.06,967.50,882.62,2890.44,1982.12,0,0,0,30.00,15.35,15.40
$GC,5879.21,516,465.77,1.01,-80.00,923.5,966.2,880.8,2891.5,1983.8,53.71,8.66,811,5886.59,0.00,0.00,3.83,0.000,0.000,0.120,923.28,965.44,881.12,2891.00,572.06,0,0,0,30.00,30.00,15.35
$GC,5910.46,1028,465.77,1.01,0.00,922.4,964.9,880.0,2891.9,571.6,50.78,9.25,817,5920.39,0.00,0.00,3.33,0.000,0.000,0.038,922.91,965.12,880.69,2891.44,1981.00,0,0,0,30.00,30.00,15.52
$GC,6099.93,10403,572.47,1.24,0.00,921.4,964.1,878.7,2892.3,1981.5,35.97,6.59,855,6283.31,176.77,0.32,0.00,1.103,0.105,0.000,501.09,509.44,492.75,2944.75,1981.00,0,0,0,11.70,15.54,30.00
$GC,6461.72,10919,710.15,1.59,-80.00,496.5,505.5,487.5,2945.2,1981.9,10.57,5.60,927,6473.23,0.00,0.56,3.86,0.000,0.095,0.122,496.62,505.44,487.81,3031.12,570.88,0,0,0,30.00,15.32,15.32
$STATE,6562,end climb,SURFACE_DEPTH_REACHED
$STATE,6562,begin surface coast
$FINISH,1.1,1.023388
$STATE,6567,end surface coast,CONTROL_FINISHED_OK
$STATE,6567,begin surface
$SM_CCo,6658.45,0.00,0.000,0,493.1,500.1,486.0,572.02
$SM_GC,2.01,0.00,18.97,3.59,0.000,0.072,0.041,493.1,500.1,486.0,200.4,2075.0,0,0,0,30.00,15.40,15.45
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7137.05,-15157.66,221020,012823
$TCM_TEMP,1.01
$SC_FREEKB,3827872
$PM_FREEKB_00,34702336
$PM_ACTIVECARD,0
$RAFOS_CLK,-5
$MODEM,5,1603341160,76.41295,-142.47470,160.504,235137.8
$MODEM,4,1603340853,76.55490,-139.99944,153.283,224559.2
$MODEM,3,1603340454,75.26195,-145.59448,54.918,80455.4
$MODEM,2,1603340108,75.67648,-146.03058,8.882,13012.3
$MODEM,0,1603339759,74.83892,-145.28152,259.457,380105.2
$RAFOS_FIX,7627.782715,-14913.967773,221020,040440,5,255,143.94
$HUMID,53.00
$TEMP,-0.21
$INTERNAL_PRESSURE,8.13427
$24V_AH,14.42,85.279
$10V_AH,14.79,0.000
$FG_AHR_24Vo,153.633
$FG_AHR_10Vo,36.753
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,987.775,44.910,123.465,196.494,0.000,13.047,4094.452,2868.397,2274.960,2217.000,0.000,0.000
$DEVICE_MAMPS,1522.984,314.304,158.176,194.670,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6581.000,6591.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.408,9.684,0.000,0.000
$MEM,1152232,37,24456,80
$DATA_FILE_SIZE,28901,948
$CAP_FILE_SIZE,275205,0
$SDSIZE,3918848,3771712
$SDFILEDIR,1285,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.141,355.9,1
$GPS,221020,052201,7135.897,-15155.205,27,0.7,28,15.2