version: 67.00
glider: 233
mission: 7
dive: 165
start: 10 22 120 15 21 12
data:
$ID,233
$MISSION,7
$DIVE,165
$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,37.005505
$FG_AHR_24V,155.26935
$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
$GPS1,221020,151531,7133.615,-15154.675,25,0.7,26,15.2
$_CALLS,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.7
$GPS2,221020,152041,7133.612,-15154.640,2,0.5,3,15.2
$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,144.1,17142,-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,11.22,16386,-214.11,-0.83,0.00,493.1,491.8,494.4,200.2,2030.6,0.00,0.00,0,90.45,77.08,0.00,0.00,0.005,0.000,0.000,1767.38,1774.56,1760.19,200.44,2031.00,0,0,0,15.50,30.00,30.00
$GC,90.70,18727,-214.11,-0.83,80.00,1770.0,1773.7,1766.2,200.1,2030.9,3.26,-2.12,15,181.30,57.60,19.62,3.44,0.005,0.307,0.142,3701.03,3705.81,3696.25,2434.94,3341.62,0,0,0,15.55,15.35,15.56
$GC,340.01,1028,-214.11,-0.83,0.00,3701.9,3708.8,3695.1,2434.6,3340.9,47.09,-13.42,64,346.47,0.00,0.00,3.20,0.000,0.000,0.050,3703.62,3710.00,3697.25,2434.00,2025.75,0,0,0,30.00,30.00,15.64
$GC,525.46,516,-214.11,-0.83,-80.00,3703.3,3710.9,3695.7,2435.1,2026.0,71.51,-12.74,101,536.31,0.00,0.00,3.82,0.000,0.000,0.131,3702.81,3709.94,3695.69,2434.88,583.88,0,0,0,30.00,30.00,15.55
$GC,575.10,1028,-214.11,-0.83,0.00,3703.8,3711.4,3696.1,2435.6,584.3,77.88,-12.61,111,581.78,0.00,0.00,3.53,0.000,0.000,0.049,3704.91,3712.56,3697.25,2433.19,2075.69,0,0,0,30.00,30.00,15.61
$GC,760.01,260,-214.11,-0.83,80.00,3702.3,3710.1,3694.4,2435.1,2075.4,100.40,-11.79,148,767.41,0.00,0.00,3.23,0.000,0.000,0.129,3702.78,3709.56,3696.00,2434.25,3348.94,0,0,0,30.00,30.00,15.64
$GC,789.56,1028,-214.11,-0.83,0.00,3702.9,3709.6,3696.1,2434.6,3351.1,104.13,-12.20,154,797.13,0.00,0.00,3.17,0.000,0.000,0.045,3704.22,3711.00,3697.44,2435.19,2023.44,0,0,0,30.00,30.00,15.73
$GC,1096.48,516,-214.11,-0.83,-80.00,3702.7,3710.2,3695.2,2434.8,2023.0,138.79,-10.80,185,1103.17,0.00,0.00,3.79,0.000,0.000,0.126,3703.34,3710.50,3696.19,2434.94,584.50,0,0,0,30.00,30.00,15.71
$GC,1141.63,1028,-214.11,-0.83,0.00,3702.5,3709.7,3695.4,2435.0,584.6,143.97,-11.38,194,1147.82,0.00,0.00,3.49,0.000,0.000,0.047,3702.16,3709.69,3694.62,2435.38,2073.44,0,0,0,30.00,30.00,15.78
$GC,1447.14,644,-214.11,-0.89,-80.00,3703.1,3710.9,3695.2,2434.5,2075.6,173.45,-9.08,225,1454.46,0.00,0.00,3.90,0.000,0.000,0.118,3701.38,3708.69,3694.06,2435.88,585.38,0,0,0,30.00,30.00,15.76
$GC,1493.19,5253,-214.11,-0.96,0.00,3703.4,3711.1,3695.8,2434.6,585.4,177.78,-9.61,234,1500.59,0.00,0.29,3.48,0.000,0.094,0.047,3703.31,3710.19,3696.44,2388.38,2077.12,0,0,0,30.00,15.79,15.83
$GC,1798.11,516,-214.11,-0.96,-80.00,3703.6,3711.6,3695.7,2388.6,2076.7,209.98,-10.13,265,1805.64,0.00,0.00,3.90,0.000,0.000,0.119,3704.03,3711.88,3696.19,2389.12,585.25,0,0,0,30.00,30.00,15.79
$GC,1834.35,1028,-214.11,-0.96,0.00,3702.9,3710.9,3694.9,2388.4,584.7,213.76,-10.59,272,1841.30,0.00,0.00,3.46,0.000,0.000,0.047,3702.97,3710.69,3695.25,2389.50,2077.38,0,0,0,30.00,30.00,15.86
$GC,2138.90,516,-214.11,-0.96,-80.00,3702.5,3710.2,3694.8,2388.9,2077.7,243.11,-9.15,303,2146.41,0.00,0.00,3.88,0.000,0.000,0.119,3702.50,3710.75,3694.25,2388.94,586.06,0,0,0,30.00,30.00,15.81
$GC,2175.24,1028,-214.11,-0.96,0.00,3702.5,3710.2,3694.9,2389.2,586.1,246.53,-9.62,310,2182.49,0.00,0.00,3.46,0.000,0.000,0.048,3704.59,3711.50,3697.69,2388.38,2076.69,0,0,0,30.00,30.00,15.87
$GC,2480.12,516,-214.11,-0.96,-80.00,3703.5,3711.1,3695.8,2388.8,2077.4,273.18,-8.71,341,2487.60,0.00,0.00,3.88,0.000,0.000,0.120,3703.34,3710.62,3696.06,2388.50,585.19,0,0,0,30.00,30.00,15.83
$GC,2509.75,1028,-214.11,-0.96,0.00,3702.5,3709.8,3695.2,2388.7,584.6,276.10,-8.94,347,2517.82,0.00,0.00,3.49,0.000,0.000,0.048,3703.19,3710.69,3695.69,2389.12,2077.06,0,0,0,30.00,30.00,15.88
$STATE,2796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2796,begin apogee
$GC,2797.59,10243,0.00,-0.20,0.00,3702.8,3709.9,3695.8,2388.9,1914.2,300.42,-8.27,376,2986.11,183.71,1.51,0.12,1.496,0.165,0.161,2821.97,2853.31,2790.62,2591.62,1991.75,0,0,0,12.00,15.80,15.11
$STATE,2988,end apogee,CONTROL_FINISHED_OK
$STATE,2988,begin climb
$GC,2988.53,10503,214.11,0.83,80.00,2821.6,2853.3,2789.9,2591.2,1992.2,304.91,0.00,385,3189.91,188.50,1.80,3.66,1.398,0.116,0.118,1949.88,2001.50,1898.25,2845.06,3349.75,0,0,0,11.50,15.11,14.83
$GC,3212.08,5253,214.11,0.58,0.00,1944.2,1996.0,1892.5,2844.1,3349.4,286.30,14.77,428,3219.81,0.00,0.63,3.63,0.000,0.197,0.051,1944.31,1997.19,1891.44,2775.38,1927.94,0,0,0,30.00,14.92,14.95
$GC,3518.18,17030,214.11,0.51,-80.00,1936.8,1986.4,1887.1,2776.3,1928.1,255.15,10.03,459,3525.66,0.00,0.00,3.73,0.000,0.000,0.130,1936.53,1986.38,1886.69,2776.06,570.38,0,0,0,30.00,30.00,15.26
$GC,3577.83,21639,214.11,0.38,0.00,1934.2,1981.9,1886.6,2775.8,570.1,248.37,11.59,471,3585.45,0.00,0.35,3.38,0.000,0.178,0.046,1935.97,1982.75,1889.19,2725.50,1976.12,0,0,0,30.00,15.26,15.35
$GC,3884.66,10791,314.09,0.50,-80.00,1933.1,1980.9,1885.4,2726.4,1978.2,226.84,6.81,502,3981.66,89.15,0.31,3.91,1.349,0.102,0.124,1542.78,1590.69,1494.88,2768.62,570.50,0,0,0,11.55,15.45,15.11
$GC,4018.81,1028,314.09,0.50,0.00,1537.6,1581.5,1493.6,2767.9,570.0,214.41,10.35,529,4026.38,0.00,0.00,3.42,0.000,0.000,0.045,1537.38,1582.12,1492.62,2768.62,1978.50,0,0,0,30.00,30.00,15.23
$GC,4325.67,8742,395.71,0.60,-80.00,1531.3,1580.2,1482.4,2768.8,1979.3,189.28,7.39,560,4408.69,74.93,0.00,3.91,1.295,0.000,0.126,1212.12,1264.38,1159.88,2767.56,570.69,0,0,0,11.55,30.00,15.11
$GC,4450.87,11431,471.80,0.85,0.00,1208.8,1259.2,1158.4,2768.8,570.6,180.00,7.57,585,4555.38,97.09,0.51,3.42,1.189,0.091,0.045,902.78,947.12,858.44,2850.62,1981.31,0,0,0,11.58,15.21,15.21
$MODEM_MSG,CACST,6,1,20201022161045.059135,18,725,16,0228,0150,216,02,02,02,02,-1,-01,-01,1,3,0,0,150,27.5,0.54,-100,2.46,-01,0.02,44,925,0025*20
$MODEM_MSG,CACST,6,1,20201022161400.275847,18,1176,24,0093,0150,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-19.4,0.27,-100,2.73,-01,-0.20,26,925,0025*2C
$MODEM_MSG,CACST,6,1,20201022162721.965194,18,443,14,0186,0150,216,03,03,02,03,-1,-01,-01,1,3,0,0,150,-5.6,0.18,-100,2.82,-01,0.11,43,925,0025*3D
$MODEM_MSG,CACST,6,1,20201022163426.420540,18,965,11,0319,0150,07,01,01,03,03,-1,-01,-01,1,3,0,0,150,-15.2,-0.01,-100,3.01,-01,0.00,18,925,0025*16
$MODEM_MSG,CACST,6,1,20201022163656.823925,18,389,07,0113,0150,216,03,03,03,03,-1,-01,-01,1,3,0,0,150,-2.6,0.38,-100,2.62,-01,-0.01,42,925,0025*1F
$GC,4851.95,516,471.80,0.85,-80.00,896.5,940.8,852.3,2851.9,1980.8,139.50,9.65,635,4859.47,0.00,0.00,3.83,0.000,0.000,0.122,896.22,940.50,851.94,2852.12,571.50,0,0,0,30.00,30.00,15.31
$GC,4947.75,1028,471.80,0.85,0.00,895.8,939.7,851.8,2852.1,571.2,129.81,9.97,654,4955.12,0.00,0.00,3.37,0.000,0.000,0.044,895.44,938.94,851.94,2853.44,1978.88,0,0,0,30.00,30.00,15.42
$GC,5253.51,644,471.80,0.92,-80.00,894.7,938.3,851.1,2850.9,1980.1,102.72,8.79,685,5260.23,0.00,0.00,3.77,0.000,0.000,0.122,894.88,938.75,851.00,2853.38,572.06,0,0,0,30.00,30.00,15.51
$GC,5299.01,3205,471.80,1.01,0.00,894.4,937.9,850.9,2851.6,571.7,98.43,9.46,694,5306.00,0.00,0.21,3.33,0.000,0.113,0.041,894.06,937.38,850.75,2891.31,1981.25,0,0,0,30.00,15.54,15.57
$GC,5484.25,516,471.80,1.01,-80.00,894.1,937.2,851.0,2891.1,1982.4,79.98,10.39,731,5491.80,0.00,0.00,3.76,0.000,0.000,0.120,894.69,937.56,851.81,2890.88,570.44,0,0,0,30.00,30.00,15.58
$GC,5530.02,1028,471.80,1.01,0.00,893.9,937.1,850.8,2892.0,570.3,74.80,11.68,740,5537.50,0.00,0.00,3.30,0.000,0.000,0.041,893.69,936.75,850.62,2890.88,1979.31,0,0,0,30.00,30.00,15.64
$GC,5716.24,516,471.80,1.01,-80.00,893.6,936.8,850.5,2892.1,1980.9,57.15,9.34,777,5723.35,0.00,0.00,3.73,0.000,0.000,0.120,894.34,937.06,851.62,2891.19,569.56,0,0,0,30.00,30.00,15.55
$GC,5752.05,1028,471.80,1.01,0.00,893.7,936.8,850.5,2892.1,569.5,53.56,10.00,784,5758.03,0.00,0.00,3.27,0.000,0.000,0.043,893.62,936.69,850.56,2892.19,1981.31,0,0,0,30.00,30.00,15.68
$GC,5936.72,10919,560.26,1.21,-80.00,893.4,936.4,850.4,2891.3,1982.3,39.46,7.18,821,6096.25,149.74,0.28,3.81,1.139,0.108,0.123,542.12,552.38,531.88,2939.81,572.19,0,0,0,11.62,15.69,15.20
$GC,6169.51,11431,646.60,1.43,0.00,540.7,550.6,530.8,2940.3,571.7,23.10,7.24,867,6196.47,19.52,0.31,3.33,1.032,0.101,0.040,501.06,507.38,494.75,2991.19,1983.94,0,0,0,11.53,15.30,15.37
$GC,6375.49,10919,782.55,1.67,-80.00,499.7,506.6,492.8,2991.7,1984.5,7.99,5.66,908,6386.35,0.00,0.37,3.79,0.000,0.098,0.121,500.09,507.19,493.00,3053.19,570.81,0,0,0,30.00,15.43,15.34
$GC,6410.30,9382,866.75,1.71,0.00,499.6,506.6,492.6,3052.2,570.9,5.12,7.31,915,6417.27,0.00,0.00,3.33,0.000,0.000,0.041,500.06,506.69,493.44,3051.62,1983.25,0,0,0,30.00,30.00,15.37
$STATE,6455,end climb,SURFACE_DEPTH_REACHED
$STATE,6455,begin surface coast
$FINISH,0.3,1.022139
$STATE,6481,end surface coast,CONTROL_FINISHED_OK
$STATE,6481,begin surface
$SM_CCo,6567.45,0.00,0.000,0,497.2,502.8,491.7,571.00
$SM_GC,1.98,0.00,19.03,0.17,0.000,0.071,0.103,497.2,502.8,491.7,199.1,2090.8,0,0,0,30.00,15.48,15.53
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7135.25,-15200.86,221020,132037
$TCM_TEMP,1.14
$SC_FREEKB,3825952
$PM_FREEKB_00,34147968
$PM_ACTIVECARD,0
$RAFOS_CLK,-3
$MODEM,6,1603384616,75.33060,-142.67570,116.824,171147.0
$MODEM,5,1603384466,76.41295,-142.47470,266.421,390306.1
$MODEM,4,1603384041,76.55490,-139.99944,141.965,207979.0
$MODEM,1,1603383045,75.02295,-144.31340,45.059,66011.6
$RAFOS_FIX,7359.723145,-14302.767578,221020,161656,4,255,83.98
$HUMID,52.97
$TEMP,-0.11
$INTERNAL_PRESSURE,8.13724
$24V_AH,14.45,87.530
$10V_AH,14.83,0.000
$FG_AHR_24Vo,155.572
$FG_AHR_10Vo,37.069
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,937.335,45.245,129.600,179.322,0.000,12.647,3969.469,2891.239,2222.570,2211.000,0.000,0.000
$DEVICE_MAMPS,1496.416,306.760,161.456,216.778,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6496.000,6505.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.316,9.649,0.000,0.000
$MEM,1152280,34,24468,80
$DATA_FILE_SIZE,25757,929
$CAP_FILE_SIZE,278630,0
$SDSIZE,3918848,3769984
$SDFILEDIR,1327,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.105,347.5,1
$GPS,221020,171120,7133.070,-15154.348,1,0.9,4,15.2