version: 67.00
glider: 233
mission: 7
dive: 164
start: 10 22 120 13 24 37
data:
$ID,233
$MISSION,7
$DIVE,164
$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,36.965534
$FG_AHR_24V,154.95192
$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
$GPS1,221020,131638,7134.098,-15155.193,15,0.8,15,15.2
$_CALLS,2
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-72.9
$GPS2,221020,132406,7134.101,-15155.074,3,0.9,6,15.2
$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,141.9,18078,-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,11.20,16386,-214.11,-0.83,0.00,491.0,490.3,491.6,195.3,2032.8,0.00,0.00,0,90.43,77.07,0.00,0.00,0.005,0.000,0.000,1756.88,1759.69,1754.06,195.44,2032.06,0,0,0,15.48,30.00,30.00
$GC,90.67,18727,-214.11,-0.83,80.00,1759.3,1761.6,1756.9,195.4,2031.9,3.06,-1.94,15,182.39,62.06,19.85,3.46,0.005,0.305,0.142,3700.00,3704.75,3695.25,2435.19,3348.19,0,0,0,15.55,15.34,15.46
$GC,341.30,1028,-214.11,-0.83,0.00,3702.2,3708.1,3696.2,2436.9,3347.6,45.26,-14.34,64,348.09,0.00,0.00,3.22,0.000,0.000,0.047,3704.12,3710.12,3698.12,2435.94,2024.56,0,0,0,30.00,30.00,15.66
$GC,526.32,516,-214.11,-0.83,-80.00,3702.1,3708.8,3695.4,2436.5,2025.1,70.23,-13.28,101,537.92,0.00,0.00,3.87,0.000,0.000,0.128,3702.47,3708.31,3696.62,2436.75,585.88,0,0,0,30.00,30.00,15.63
$GC,571.83,1028,-214.11,-0.83,0.00,3702.5,3710.1,3694.9,2436.1,585.8,76.39,-13.44,110,582.53,0.00,0.00,3.53,0.000,0.000,0.046,3703.38,3710.81,3695.94,2437.19,2074.81,0,0,0,30.00,30.00,15.70
$GC,762.25,260,-214.11,-0.83,80.00,3703.0,3710.6,3695.4,2436.9,2074.9,100.55,-12.35,148,769.47,0.00,0.00,3.28,0.000,0.000,0.129,3703.22,3709.56,3696.88,2436.06,3349.12,0,0,0,30.00,30.00,15.65
$GC,781.62,1028,-214.11,-0.83,0.00,3701.9,3708.0,3695.9,2437.1,3349.6,103.13,-12.34,152,789.15,0.00,0.00,3.19,0.000,0.000,0.044,3702.16,3709.44,3694.88,2436.69,2020.75,0,0,0,30.00,30.00,15.74
$GC,1087.79,516,-214.11,-0.83,-80.00,3701.8,3708.3,3695.2,2437.4,2020.4,137.28,-10.65,183,1095.24,0.00,0.00,3.82,0.000,0.000,0.126,3703.06,3709.81,3696.31,2435.38,585.38,0,0,0,30.00,30.00,15.72
$GC,1137.41,1156,-214.11,-0.90,0.00,3702.5,3709.7,3695.3,2437.1,585.2,142.79,-10.88,193,1145.46,0.00,0.00,3.49,0.000,0.000,0.041,3704.41,3712.00,3696.81,2436.19,2077.31,0,0,0,30.00,30.00,15.69
$GC,1444.26,4741,-214.11,-0.96,-80.00,3703.1,3710.4,3695.8,2437.0,2076.9,172.41,-9.58,224,1455.61,0.00,0.29,3.94,0.000,0.088,0.118,3703.78,3710.06,3697.50,2389.62,584.44,0,0,0,30.00,15.79,15.72
$GC,1484.36,1028,-214.11,-0.96,0.00,3702.6,3709.6,3695.7,2391.6,584.4,177.23,-12.85,232,1491.39,0.00,0.00,3.50,0.000,0.000,0.047,3702.59,3710.62,3694.56,2390.75,2075.06,0,0,0,30.00,30.00,15.75
$GC,1788.99,516,-214.11,-0.96,-80.00,3702.3,3709.4,3695.3,2391.3,2075.3,211.39,-9.93,263,1796.51,0.00,0.00,3.93,0.000,0.000,0.119,3702.91,3710.38,3695.44,2389.56,585.75,0,0,0,30.00,30.00,15.78
$GC,1868.72,1028,-214.11,-0.96,0.00,3703.5,3710.8,3696.2,2390.9,585.5,219.69,-10.34,279,1876.73,0.00,0.00,3.50,0.000,0.000,0.048,3702.88,3710.06,3695.69,2391.12,2073.94,0,0,0,30.00,30.00,15.85
$GC,2175.52,0,-214.11,-0.96,0.00,3702.3,3709.5,3695.1,2391.0,2073.8,246.68,-8.65,310,2179.12,0.00,0.00,0.00,0.000,0.000,0.000,3702.28,3709.25,3695.31,2391.12,2074.88,0,0,0,30.00,30.00,30.00
$GC,2475.60,516,-214.11,-0.96,-80.00,3702.6,3710.1,3695.1,2390.8,2074.1,272.40,-8.64,340,2482.91,0.00,0.00,3.91,0.000,0.000,0.121,3703.94,3711.00,3696.88,2389.88,585.25,0,0,0,30.00,30.00,15.81
$GC,2541.59,1028,-214.11,-0.96,0.00,3702.8,3710.4,3695.1,2391.1,585.6,278.68,-9.82,353,2548.78,0.00,0.00,3.49,0.000,0.000,0.049,3703.41,3710.62,3696.19,2391.69,2073.62,0,0,0,30.00,30.00,15.89
$STATE,2796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2796,begin apogee
$GC,2797.60,10243,0.00,-0.20,0.00,3702.7,3709.4,3696.0,2391.6,1913.8,300.07,-8.05,379,2984.55,183.18,1.50,0.12,1.492,0.165,0.164,2822.59,2854.12,2791.06,2591.56,1985.44,0,0,0,11.94,15.71,15.14
$STATE,2987,end apogee,CONTROL_FINISHED_OK
$STATE,2987,begin climb
$GC,2987.21,10503,214.11,0.83,80.00,2822.2,2854.1,2790.4,2591.6,1991.6,304.46,0.00,388,3188.38,189.05,1.81,3.67,1.396,0.115,0.119,1949.97,2000.81,1899.12,2843.25,3350.44,0,0,0,11.52,15.14,14.87
$GC,3220.61,21639,214.11,0.59,0.00,1942.8,1995.2,1890.3,2843.5,3350.7,284.64,15.00,433,3229.30,0.00,0.61,3.61,0.000,0.197,0.049,1942.88,1995.12,1890.62,2777.81,1928.38,0,0,0,30.00,14.97,15.05
$GC,3532.55,17030,214.11,0.52,-80.00,1937.1,1987.4,1886.7,2776.9,1928.8,251.85,10.18,465,3540.02,0.00,0.00,3.71,0.000,0.000,0.129,1936.31,1986.25,1886.38,2776.44,572.19,0,0,0,30.00,30.00,15.33
$GC,3608.32,21639,214.11,0.38,0.00,1934.1,1981.9,1886.2,2777.5,571.5,242.91,12.27,480,3615.76,0.00,0.38,3.35,0.000,0.176,0.046,1932.88,1980.69,1885.06,2725.25,1979.25,0,0,0,30.00,15.34,15.42
$GC,3914.06,10791,305.43,0.49,-80.00,1933.5,1981.2,1885.8,2724.4,1978.9,220.24,7.08,511,4002.49,81.05,0.29,3.88,1.350,0.105,0.125,1578.69,1624.38,1533.00,2762.62,570.56,0,0,0,11.53,15.52,15.21
$GC,4041.46,1028,305.43,0.49,0.00,1574.4,1618.4,1530.4,2763.7,570.2,208.69,9.96,535,4048.13,0.00,0.00,3.37,0.000,0.000,0.045,1574.38,1618.19,1530.56,2764.12,1978.25,0,0,0,30.00,30.00,15.31
$GC,4346.38,10919,399.23,0.68,-80.00,1567.3,1616.3,1518.4,2763.8,1980.0,184.37,7.00,566,4469.64,112.58,0.26,3.88,1.238,0.104,0.126,1197.50,1249.25,1145.75,2812.06,571.12,0,0,0,11.62,15.48,15.12
$GC,4558.58,1156,399.23,0.75,0.00,1192.9,1242.1,1143.8,2812.0,570.4,164.77,9.65,608,4565.81,0.00,0.00,3.39,0.000,0.000,0.045,1192.38,1241.69,1143.06,2812.69,1978.81,0,0,0,30.00,30.00,15.27
$GC,4863.48,10919,469.61,0.92,-80.00,1189.8,1242.0,1137.6,2812.4,1980.0,140.48,7.75,639,4966.98,93.45,0.34,3.90,1.185,0.101,0.125,911.00,952.06,869.94,2869.62,570.94,0,0,0,11.57,15.47,15.13
$GC,5019.14,1028,469.61,0.92,0.00,909.0,949.1,869.0,2869.9,570.8,124.21,10.94,670,5026.72,0.00,0.00,3.40,0.000,0.000,0.045,909.31,948.69,869.94,2870.19,1977.94,0,0,0,30.00,30.00,15.31
$GC,5325.34,516,469.61,0.92,-80.00,906.0,947.2,864.8,2868.8,1980.1,94.64,9.16,706,5332.81,0.00,0.00,3.81,0.000,0.000,0.123,905.53,946.31,864.75,2868.31,570.25,0,0,0,30.00,30.00,15.39
$GC,5366.77,1028,469.61,0.92,0.00,904.9,945.6,864.2,2869.9,570.2,90.54,10.28,714,5377.25,0.00,0.00,3.36,0.000,0.000,0.044,905.28,945.88,864.69,2870.44,1979.62,0,0,0,30.00,30.00,15.52
$GC,5557.44,644,469.61,0.98,-80.00,904.4,945.2,863.6,2868.8,1981.5,73.78,8.16,752,5564.78,0.00,0.00,3.77,0.000,0.000,0.123,905.06,945.56,864.56,2869.31,570.62,0,0,0,30.00,30.00,15.54
$GC,5593.50,1028,469.61,0.98,0.00,904.2,945.1,863.4,2869.7,570.2,70.53,8.77,759,5600.50,0.00,0.00,3.33,0.000,0.000,0.044,904.53,945.12,863.94,2869.44,1978.94,0,0,0,30.00,30.00,15.61
$GC,5778.77,10919,543.71,1.16,-80.00,903.6,944.6,862.5,2869.2,1980.7,55.95,7.63,796,5898.65,111.76,0.33,3.86,1.156,0.101,0.124,609.06,626.75,591.38,2926.50,571.19,0,0,0,11.72,15.63,15.16
$GC,5957.72,1156,543.71,1.22,0.00,607.8,624.6,591.1,2926.8,571.2,38.86,9.62,831,5964.51,0.00,0.00,3.38,0.000,0.000,0.043,608.06,624.75,591.38,2926.69,1979.44,0,0,0,30.00,30.00,15.38
$GC,6142.80,10919,668.35,1.52,-80.00,605.3,624.2,586.4,2926.6,1980.9,26.45,6.02,868,6200.47,48.26,0.56,3.85,1.107,0.091,0.125,501.09,507.06,495.12,3013.25,572.06,0,0,0,11.57,15.46,15.28
$GC,6233.75,13447,668.35,1.44,0.00,500.2,505.8,494.6,3014.2,571.7,17.78,10.78,886,6244.30,0.00,0.31,3.36,0.057,0.182,0.043,500.09,505.62,494.56,2983.00,1978.69,0,0,0,30.36,15.33,15.31
$GC,6424.33,10919,802.16,1.70,-80.00,498.5,504.9,492.1,2982.2,1980.0,6.31,5.73,924,6435.82,0.00,0.54,3.79,0.000,0.092,0.124,498.69,505.00,492.38,3058.81,571.25,0,0,0,30.00,15.48,15.36
$GC,6444.86,11303,914.79,1.84,0.00,498.5,505.0,492.0,3059.4,570.7,4.89,6.40,928,6452.16,0.00,0.16,3.35,0.000,0.134,0.043,498.47,504.88,492.06,3086.75,1982.38,0,0,0,30.00,15.49,15.51
$STATE,6481,end climb,SURFACE_DEPTH_REACHED
$STATE,6481,begin surface coast
$FINISH,0.3,1.011974
$STATE,6506,end surface coast,CONTROL_FINISHED_OK
$STATE,6506,begin surface
$SM_CCo,6593.42,0.00,0.000,0,496.1,500.4,491.7,571.29
$SM_GC,1.84,0.00,19.22,0.17,0.000,0.075,0.094,496.1,500.4,491.7,200.2,2098.8,0,0,0,30.00,15.51,15.55
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7136.09,-15151.64,221020,131903
$TCM_TEMP,1.15
$SC_FREEKB,3826272
$PM_FREEKB_00,34239680
$PM_ACTIVECARD,0
$RAFOS_CLK,-16
$RAFOS_FIX,7133.236328,-15154.439453,221020,151554,0,1,0.25
$HUMID,53.16
$TEMP,-0.22
$INTERNAL_PRESSURE,8.13556
$24V_AH,14.48,87.152
$10V_AH,14.86,0.000
$FG_AHR_24Vo,155.258
$FG_AHR_10Vo,37.005
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,958.495,46.440,122.910,256.481,0.000,14.968,4103.309,2942.960,2243.377,0.000,0.000,0.000
$DEVICE_MAMPS,1492.152,305.448,164.408,202.162,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6521.000,6531.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.491,9.678,0.000,0.000
$MEM,1152208,39,24440,80
$DATA_FILE_SIZE,25677,940
$CAP_FILE_SIZE,274189,0
$SDSIZE,3918848,3770272
$SDFILEDIR,1320,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.112,340.7,1
$GPS,221020,151531,7133.615,-15154.675,25,0.7,26,15.2