version: 67.00
glider: 233
mission: 7
dive: 161
start: 10 22 120 7 25 56
data:
$ID,233
$MISSION,7
$DIVE,161
$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,36.794163
$FG_AHR_24V,153.95766
$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
$GPS1,221020,071840,7135.391,-15155.321,1,0.9,4,15.2
$_CALLS,2
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-71.3
$GPS2,221020,072525,7135.403,-15155.279,3,0.9,5,15.2
$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,150.3,20384,-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,10.95,16386,-214.11,-0.83,0.00,491.6,490.5,492.7,196.7,2029.9,0.00,0.00,0,85.03,71.96,0.00,0.00,0.005,0.000,0.000,1676.81,1691.25,1662.38,196.81,2031.06,0,0,0,15.50,30.00,30.00
$GC,85.33,18727,-214.11,-0.83,80.00,1678.4,1690.6,1666.2,196.6,2030.2,3.00,-2.05,14,182.23,66.60,19.92,3.45,0.005,0.308,0.139,3699.91,3705.00,3694.81,2435.88,3349.12,0,0,0,15.52,15.42,15.50
$GC,360.95,1028,-214.11,-0.83,0.00,3702.6,3709.2,3696.0,2436.3,3348.6,48.03,-13.79,68,367.43,0.00,0.00,3.22,0.000,0.000,0.047,3704.50,3710.69,3698.31,2434.44,2024.88,0,0,0,30.00,30.00,15.59
$GC,545.84,516,-214.11,-0.83,-80.00,3702.9,3710.0,3695.9,2435.8,2024.8,71.14,-11.92,105,557.23,0.00,0.00,3.85,0.000,0.000,0.127,3703.31,3710.44,3696.19,2436.31,586.75,0,0,0,30.00,30.00,15.65
$GC,591.36,1028,-214.11,-0.83,0.00,3702.9,3710.3,3695.5,2436.6,586.4,76.55,-12.05,114,602.17,0.00,0.00,3.51,0.000,0.000,0.042,3703.50,3711.44,3695.56,2436.50,2075.50,0,0,0,30.00,30.00,15.68
$GC,781.87,0,-214.11,-0.83,0.00,3703.2,3711.1,3695.3,2436.0,2075.2,98.59,-11.54,152,786.96,0.00,0.00,0.00,0.000,0.000,0.000,3703.09,3710.62,3695.56,2435.75,2075.25,0,0,0,30.00,30.00,30.00
$GC,966.79,516,-214.11,-0.83,-80.00,3703.6,3711.1,3696.1,2436.4,2075.2,119.47,-11.23,172,978.58,0.00,0.00,3.95,0.000,0.000,0.119,3704.03,3710.19,3697.88,2435.81,585.19,0,0,0,30.00,30.00,15.71
$GC,1017.30,1156,-214.11,-0.89,0.00,3703.3,3711.6,3695.1,2436.5,585.2,125.31,-11.53,182,1024.70,0.00,0.00,3.51,0.000,0.000,0.046,3703.91,3711.44,3696.38,2436.00,2076.44,0,0,0,30.00,30.00,15.77
$GC,1322.28,516,-214.11,-0.89,-80.00,3702.7,3710.6,3694.7,2436.6,2076.4,156.95,-10.26,213,1329.81,0.00,0.00,3.93,0.000,0.000,0.118,3702.72,3710.38,3695.06,2436.31,586.19,0,0,0,30.00,30.00,15.69
$GC,1362.00,5253,-214.11,-0.97,0.00,3703.1,3710.7,3695.4,2436.7,585.6,161.34,-10.85,221,1370.08,0.00,0.30,3.50,0.000,0.091,0.046,3704.25,3712.12,3696.38,2390.69,2075.69,0,0,0,30.00,15.78,15.72
$GC,1668.06,516,-214.11,-0.97,-80.00,3702.9,3710.8,3695.0,2390.4,2074.9,197.26,-10.64,252,1675.58,0.00,0.00,3.92,0.000,0.000,0.118,3702.66,3710.50,3694.81,2391.25,586.50,0,0,0,30.00,30.00,15.78
$GC,1704.29,1028,-214.11,-0.97,0.00,3702.8,3710.8,3694.7,2390.3,586.2,201.12,-10.77,259,1711.25,0.00,0.00,3.49,0.000,0.000,0.047,3704.09,3711.69,3696.50,2389.31,2074.19,0,0,0,30.00,30.00,15.85
$GC,2008.88,516,-214.11,-0.97,-80.00,3702.4,3709.8,3695.1,2390.5,2075.5,230.55,-9.07,290,2016.37,0.00,0.00,3.94,0.000,0.000,0.119,3703.00,3710.62,3695.38,2390.06,585.38,0,0,0,30.00,30.00,15.79
$GC,2045.28,1028,-214.11,-0.97,0.00,3702.9,3710.6,3695.3,2391.3,585.6,234.09,-9.94,297,2052.52,0.00,0.00,3.49,0.000,0.000,0.046,3702.62,3709.50,3695.75,2391.31,2076.56,0,0,0,30.00,30.00,15.87
$GC,2353.16,516,-214.11,-0.97,-80.00,3703.1,3710.6,3695.7,2391.2,2076.5,261.51,-8.76,328,2360.67,0.00,0.00,3.92,0.000,0.000,0.119,3702.91,3710.50,3695.31,2390.12,585.81,0,0,0,30.00,30.00,15.80
$GC,2402.82,1028,-214.11,-0.97,0.00,3702.9,3709.9,3695.8,2391.1,585.4,266.38,-9.73,338,2410.89,0.00,0.00,3.52,0.000,0.000,0.046,3704.22,3711.88,3696.56,2388.50,2076.75,0,0,0,30.00,30.00,15.85
$GC,2709.66,516,-214.11,-0.97,-80.00,3703.1,3710.8,3695.4,2390.5,2077.7,294.33,-9.17,369,2721.47,0.00,0.00,3.94,0.000,0.000,0.118,3703.72,3711.50,3695.94,2390.56,585.50,0,0,0,30.00,30.00,15.66
$GC,2750.01,1028,-214.11,-0.97,0.00,3702.9,3710.8,3695.0,2390.6,585.4,298.30,-9.75,377,2757.13,0.00,0.00,3.49,0.000,0.000,0.045,3702.38,3710.00,3694.75,2390.31,2077.50,0,0,0,30.00,30.00,15.79
$STATE,2775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2775,begin apogee
$GC,2776.64,10243,0.00,-0.20,0.00,3702.8,3710.5,3695.2,2390.5,1913.1,300.72,-9.47,380,2965.91,185.15,1.52,0.12,1.475,0.165,0.156,2822.88,2855.62,2790.12,2591.56,1994.12,0,0,0,11.77,15.76,15.09
$STATE,2968,end apogee,CONTROL_FINISHED_OK
$STATE,2968,begin climb
$GC,2968.52,10503,214.11,0.83,80.00,2821.2,2855.0,2787.5,2591.9,1994.2,306.57,0.00,389,3169.75,190.73,1.83,3.67,1.387,0.112,0.118,1948.91,2000.62,1897.19,2842.88,3350.81,0,0,0,11.60,15.09,14.82
$GC,3361.94,21639,214.11,0.59,0.00,1939.6,1991.7,1887.5,2843.1,3351.1,264.23,14.42,453,3369.64,0.00,0.58,3.59,0.000,0.199,0.050,1940.28,1993.06,1887.50,2778.81,1927.31,0,0,0,30.00,15.14,15.20
$GC,3668.78,16774,214.11,0.53,80.00,1935.4,1986.4,1884.5,2779.1,1926.9,233.63,9.57,484,3675.74,0.00,0.00,3.68,0.000,0.000,0.108,1934.75,1986.00,1883.50,2779.81,3349.31,0,0,0,30.00,30.00,15.35
$GC,3804.71,17414,214.11,0.53,0.00,1934.6,1984.9,1884.3,2779.7,3350.9,220.64,9.43,511,3811.42,0.00,0.00,3.47,0.000,0.000,0.047,1933.91,1984.81,1883.00,2779.94,1927.50,0,0,0,30.00,30.00,15.46
$GC,4109.76,8742,284.50,0.61,-80.00,1933.1,1983.3,1882.8,2780.1,1927.5,195.61,7.75,542,4182.49,62.96,0.00,3.72,1.318,0.000,0.130,1665.47,1712.00,1618.94,2778.12,569.56,0,0,0,11.78,30.00,15.25
$GC,4250.93,1028,284.50,0.61,0.00,1658.5,1702.2,1614.8,2779.5,569.6,184.58,8.19,570,4258.20,0.00,0.00,3.35,0.000,0.000,0.037,1657.00,1701.06,1612.94,2779.88,1980.94,0,0,0,30.00,30.00,15.32
$MODEM_MSG,CACST,6,1,20201022080513.167807,18,294,-5,1547,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,-11.6,0.25,-100,2.75,-01,0.00,42,925,0025*11
$MODEM_MSG,CACST,6,1,20201022081145.510622,18,115,-3,0108,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,16.5,0.19,-100,2.81,-01,0.00,41,925,0025*36
$MODEM_MSG,CACST,6,1,20201022081509.731266,18,1106,12,0092,0150,216,03,03,03,03,-1,-01,-01,1,3,0,0,150,21.1,0.63,-100,2.37,-01,0.00,41,925,0025*13
$MODEM_MSG,CACST,6,1,20201022081831.886967,18,372,-4,0123,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,-26.9,0.43,-100,2.57,-01,0.05,41,925,0025*1B
$MODEM_MSG,CACST,6,1,20201022082703.884971,18,147,03,0116,0150,216,04,04,03,04,-1,-01,-01,1,3,0,0,150,-1.5,0.44,-100,2.56,-01,-0.09,39,925,0025*10
$MODEM_MSG,CACST,6,1,20201022083526.501386,18,683,-1,0096,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,3.7,0.24,-100,2.76,-01,0.06,41,925,0025*0D
$GC,4555.88,10919,416.46,0.85,-80.00,1653.3,1700.4,1606.2,2780.1,1982.4,165.74,5.79,601,4735.85,171.86,0.51,3.91,1.193,0.090,0.122,1127.12,1180.12,1074.12,2851.94,571.81,0,0,0,11.71,15.50,15.03
$GC,4818.02,1028,416.46,0.85,0.00,1123.1,1173.2,1072.9,2851.9,571.6,139.95,11.12,653,4825.56,0.00,0.00,3.35,0.000,0.000,0.039,1123.62,1173.31,1073.94,2850.56,1979.94,0,0,0,30.00,30.00,15.24
$GC,5124.68,16902,416.46,0.85,-80.00,1118.7,1171.7,1065.6,2852.2,1980.6,109.95,9.35,684,5131.94,0.00,0.00,3.78,0.000,0.000,0.121,1118.94,1171.75,1066.12,2852.44,570.44,0,0,0,30.00,30.00,15.41
$GC,5180.93,17414,416.46,0.85,0.00,1118.5,1171.1,1065.9,2852.5,569.9,104.34,10.16,695,5187.59,0.00,0.00,3.33,0.000,0.000,0.043,1119.47,1172.06,1066.88,2852.56,1980.12,0,0,0,30.00,30.00,15.50
$GC,5485.82,16902,416.46,0.85,-80.00,1117.9,1171.2,1064.6,2851.9,1980.2,78.68,8.44,751,5495.78,0.00,0.00,3.71,0.000,0.000,0.121,1117.56,1170.25,1064.88,2851.75,569.06,0,0,0,30.00,30.00,15.49
$GC,5541.03,17414,416.46,0.85,0.00,1117.2,1169.9,1064.5,2852.8,569.1,73.74,9.26,762,5548.33,0.00,0.00,3.30,0.000,0.000,0.042,1118.03,1170.88,1065.19,2851.19,1982.56,0,0,0,30.00,30.00,15.62
$GC,5727.36,10403,505.77,1.04,0.00,1117.0,1169.4,1064.6,2851.9,1984.8,59.17,7.15,799,5860.07,129.82,0.25,0.00,1.141,0.104,0.000,764.09,797.19,731.00,2898.50,1985.00,0,0,0,11.58,15.62,30.00
$GC,6039.07,10919,609.28,1.30,-80.00,760.1,794.6,725.6,2897.9,1983.9,34.70,6.69,861,6157.19,110.43,0.39,3.91,1.083,0.098,0.125,500.53,508.94,492.12,2963.62,571.00,0,0,0,11.62,15.41,15.12
$GC,6276.25,9350,609.28,1.38,0.00,498.2,505.2,491.1,2963.7,570.8,14.97,8.19,908,6283.26,0.00,0.00,3.38,0.000,0.000,0.041,498.28,505.31,491.25,2962.25,1982.50,0,0,0,30.00,30.00,15.33
$GC,6462.27,10919,777.50,1.76,-80.00,496.1,504.4,487.8,2962.5,1984.6,4.84,4.63,945,6473.19,0.00,0.70,3.76,0.000,0.089,0.118,496.31,504.56,488.06,3071.25,571.12,0,0,0,30.00,15.43,15.41
$GC,6487.31,11303,913.71,1.92,0.00,496.3,504.6,488.0,3071.3,570.9,2.74,5.65,950,6497.05,0.00,0.23,3.34,0.000,0.119,0.041,496.50,504.62,488.38,3109.00,1984.06,0,0,0,30.00,15.45,15.38
$STATE,6501,end climb,SURFACE_DEPTH_REACHED
$STATE,6501,begin surface coast
$FINISH,0.3,1.023035
$STATE,6522,end surface coast,CONTROL_FINISHED_OK
$STATE,6522,begin surface
$SM_CCo,6609.41,0.00,0.000,0,493.4,500.6,486.1,571.95
$SM_GC,1.89,0.00,19.41,0.17,0.000,0.072,0.103,493.4,500.6,486.1,200.4,2096.6,0,0,0,30.00,15.46,15.49
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7137.05,-15157.66,221020,072104
$TCM_TEMP,1.03
$SC_FREEKB,3827232
$PM_FREEKB_00,34517952
$PM_ACTIVECARD,0
$RAFOS_CLK,-4
$MODEM,6,1603355726,75.33060,-142.67570,26.501,38824.5
$MODEM,4,1603355223,76.55490,-139.99944,123.885,181491.5
$MODEM,2,1603354509,75.67648,-146.03058,9.731,14256.3
$MODEM,1,1603354305,75.02295,-144.31340,105.511,154573.1
$MODEM,0,1603353913,74.83892,-145.28152,13.168,19290.8
$RAFOS_FIX,7536.685547,-14519.590820,221020,080826,5,255,115.14
$HUMID,52.97
$TEMP,-0.21
$INTERNAL_PRESSURE,8.13526
$24V_AH,14.44,86.020
$10V_AH,14.82,0.000
$FG_AHR_24Vo,154.271
$FG_AHR_10Vo,36.858
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,989.500,45.655,116.705,217.143,0.000,13.508,4124.861,2872.721,2284.154,2212.000,0.000,0.000
$DEVICE_MAMPS,1475.424,307.744,155.880,205.716,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6537.000,6547.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.465,9.684,0.000,0.000
$MEM,1152252,37,24436,80
$DATA_FILE_SIZE,28876,957
$CAP_FILE_SIZE,272763,0
$SDSIZE,3918848,3771136
$SDFILEDIR,1299,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.102,344.5,1
$GPS,221020,091730,7135.000,-15155.556,50,0.8,50,15.2