version: 67.00
glider: 233
mission: 7
dive: 166
start: 10 22 120 17 21 45
data:
$ID,233
$MISSION,7
$DIVE,166
$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,37.070683
$FG_AHR_24V,155.58481
$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
$GPS1,221020,171120,7133.070,-15154.348,1,0.9,4,15.2
$_CALLS,4
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-73.4
$GPS2,221020,172114,7133.084,-15154.318,2,0.9,5,15.2
$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,146.0,16164,-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,11.24,16386,-214.11,-0.83,0.00,493.9,491.5,496.3,197.6,2026.1,0.00,0.00,0,85.29,71.89,0.00,0.00,0.005,0.000,0.000,1675.47,1684.75,1666.19,197.88,2026.81,0,0,0,15.55,30.00,30.00
$GC,85.59,18727,-214.11,-0.83,80.00,1677.1,1685.5,1668.6,197.9,2026.0,3.08,-2.00,14,181.42,63.68,19.60,3.43,0.005,0.303,0.140,3701.12,3706.62,3695.62,2434.62,3350.75,0,0,0,15.54,15.40,15.58
$GC,345.28,1028,-214.11,-0.83,0.00,3703.0,3709.1,3696.9,2435.4,3349.1,45.91,-12.99,65,351.63,0.00,0.00,3.22,0.000,0.000,0.048,3702.81,3709.56,3696.06,2434.81,2023.88,0,0,0,30.00,30.00,15.67
$GC,530.63,516,-214.11,-0.83,-80.00,3703.4,3710.9,3695.9,2435.2,2023.8,69.93,-12.15,102,541.62,0.00,0.00,3.83,0.000,0.000,0.129,3703.75,3711.44,3696.06,2435.88,585.56,0,0,0,30.00,30.00,15.66
$GC,575.71,1028,-214.11,-0.83,0.00,3703.0,3710.6,3695.4,2435.4,585.6,75.70,-12.77,111,586.48,0.00,0.00,3.50,0.000,0.000,0.047,3704.81,3711.81,3697.81,2435.12,2072.75,0,0,0,30.00,30.00,15.74
$GC,766.22,0,-214.11,-0.83,0.00,3703.4,3710.6,3696.2,2435.9,2073.8,98.68,-12.05,149,771.31,0.00,0.00,0.00,0.000,0.000,0.000,3703.34,3710.62,3696.06,2435.75,2073.69,0,0,0,30.00,30.00,30.00
$GC,951.13,0,-214.11,-0.83,0.00,3704.8,3712.1,3697.6,2436.2,2073.4,120.35,-11.54,169,955.04,0.00,0.00,0.00,0.000,0.000,0.000,3703.16,3710.06,3696.25,2435.25,2073.50,0,0,0,30.00,30.00,30.00
$GC,1251.41,516,-214.11,-0.83,-80.00,3701.9,3709.6,3694.3,2435.4,2073.6,152.75,-10.40,199,1263.30,0.00,0.00,3.94,0.000,0.000,0.121,3705.09,3712.00,3698.19,2434.12,584.81,0,0,0,30.00,30.00,15.76
$GC,1332.07,1156,-214.11,-0.91,0.00,3704.1,3711.6,3696.6,2435.4,584.7,161.08,-10.18,215,1338.94,0.00,0.00,3.49,0.000,0.000,0.046,3704.50,3711.31,3697.69,2433.25,2076.88,0,0,0,30.00,30.00,15.68
$GC,1636.58,4741,-214.11,-1.00,-80.00,3704.1,3712.1,3696.1,2435.6,2076.5,189.13,-8.52,246,1648.63,0.00,0.34,3.91,0.000,0.094,0.117,3704.91,3711.06,3698.75,2386.12,585.38,0,0,0,30.00,15.81,15.78
$GC,1660.77,1028,-214.11,-1.00,0.00,3703.3,3711.2,3695.4,2385.2,585.3,191.80,-9.29,251,1668.82,0.00,0.00,3.49,0.000,0.000,0.046,3704.84,3712.38,3697.31,2384.31,2075.69,0,0,0,30.00,30.00,15.84
$GC,1967.59,516,-214.11,-1.00,-80.00,3703.7,3710.9,3696.5,2386.8,2076.6,223.50,-10.10,282,1974.38,0.00,0.00,3.88,0.000,0.000,0.119,3702.94,3710.50,3695.38,2386.81,585.81,0,0,0,30.00,30.00,15.81
$GC,2006.54,1028,-214.11,-1.00,0.00,3703.6,3710.9,3696.2,2386.2,585.4,227.92,-10.96,290,2014.59,0.00,0.00,3.49,0.000,0.000,0.048,3703.47,3710.81,3696.12,2386.00,2075.56,0,0,0,30.00,30.00,15.87
$GC,2313.43,516,-214.11,-1.00,-80.00,3703.5,3711.0,3696.0,2385.4,2075.7,258.07,-9.34,321,2320.18,0.00,0.00,3.90,0.000,0.000,0.119,3703.72,3710.44,3697.00,2385.38,585.50,0,0,0,30.00,30.00,15.83
$GC,2372.34,1028,-214.11,-1.00,0.00,3703.8,3711.2,3696.3,2386.5,585.2,264.36,-10.22,333,2380.39,0.00,0.00,3.47,0.000,0.000,0.047,3703.97,3711.44,3696.50,2385.56,2076.44,0,0,0,30.00,30.00,15.88
$GC,2678.43,0,-214.11,-1.00,0.00,3703.5,3711.7,3695.2,2385.1,2076.1,291.50,-8.54,364,2682.01,0.00,0.00,0.00,0.000,0.000,0.000,3702.81,3710.25,3695.38,2386.19,2077.06,0,0,0,30.00,30.00,30.00
$STATE,2778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2778,begin apogee
$GC,2779.65,10243,0.00,-0.20,0.00,3704.7,3712.2,3697.2,2385.9,1913.7,300.08,-8.41,374,2967.62,183.28,1.54,0.12,1.499,0.164,0.161,2824.94,2856.38,2793.50,2589.81,1990.19,0,0,0,12.00,15.83,15.16
$STATE,2970,end apogee,CONTROL_FINISHED_OK
$STATE,2970,begin climb
$GC,2969.98,10503,214.11,0.83,80.00,2821.9,2854.8,2789.1,2592.0,1990.7,304.69,0.00,383,3171.42,188.84,1.83,3.64,1.404,0.115,0.120,1948.00,1999.38,1896.62,2844.00,3350.56,0,0,0,11.53,15.15,14.86
$GC,3199.71,21639,214.11,0.59,0.00,1943.0,1994.9,1891.2,2844.3,3348.8,285.51,14.37,427,3211.24,0.00,0.61,3.62,0.000,0.199,0.049,1943.84,1996.19,1891.50,2776.25,1929.50,0,0,0,30.00,14.97,15.04
$GC,3510.36,17030,214.11,0.52,-80.00,1936.5,1986.2,1886.9,2777.7,1929.1,253.72,9.52,459,3517.17,0.00,0.00,3.71,0.000,0.000,0.128,1937.66,1986.81,1888.50,2776.44,571.00,0,0,0,30.00,30.00,15.33
$GC,3569.33,21639,214.11,0.38,0.00,1933.8,1981.3,1886.4,2777.2,570.9,246.80,11.66,471,3576.96,0.00,0.35,3.36,0.000,0.180,0.044,1934.22,1982.12,1886.31,2727.50,1977.62,0,0,0,30.00,15.33,15.42
$GC,3875.43,10791,322.54,0.52,-80.00,1932.9,1980.2,1885.5,2727.6,1979.2,225.87,6.54,502,3979.00,95.85,0.32,3.89,1.350,0.102,0.122,1509.47,1557.50,1461.44,2770.50,571.94,0,0,0,11.57,15.51,15.16
$GC,4037.22,1028,322.54,0.52,0.00,1503.7,1547.1,1460.2,2771.0,571.6,210.72,10.38,534,4044.63,0.00,0.00,3.38,0.000,0.000,0.039,1503.59,1546.75,1460.44,2770.00,1978.62,0,0,0,30.00,30.00,15.31
$GC,4342.27,10403,392.12,0.67,0.00,1497.8,1545.0,1450.5,2770.2,1979.6,184.64,7.78,565,4434.58,86.41,0.20,0.00,1.226,0.112,0.000,1226.12,1278.25,1174.00,2808.44,1980.12,0,0,0,11.47,15.47,30.00
$GC,4732.79,10919,458.32,0.84,-80.00,1219.6,1273.3,1165.9,2808.0,1980.1,152.20,7.89,607,4829.97,87.07,0.22,3.89,1.188,0.110,0.124,956.91,1002.44,911.38,2847.62,571.75,0,0,0,11.60,15.44,15.12
$GC,4937.14,1028,458.32,0.84,0.00,954.1,997.4,910.8,2847.4,571.6,132.34,9.99,648,4944.69,0.00,0.00,3.38,0.000,0.000,0.039,954.00,997.44,910.56,2848.94,1979.75,0,0,0,30.00,30.00,15.36
$GC,5243.25,644,458.32,0.91,-80.00,952.2,996.7,907.7,2848.2,1981.7,104.72,8.60,679,5250.72,0.00,0.00,3.79,0.000,0.000,0.120,952.22,996.75,907.69,2849.25,569.88,0,0,0,30.00,30.00,15.47
$GC,5299.70,3205,458.32,0.99,0.00,951.9,996.1,907.7,2848.6,569.3,99.67,9.33,690,5306.70,0.00,0.19,3.31,0.000,0.113,0.038,951.84,996.19,907.50,2885.19,1981.25,0,0,0,30.00,15.52,15.54
$GC,5485.70,516,458.32,0.99,-80.00,951.5,995.7,907.4,2885.4,1983.2,81.67,10.02,727,5492.48,0.00,0.00,3.79,0.000,0.000,0.120,951.59,995.88,907.31,2885.44,570.12,0,0,0,30.00,30.00,15.55
$GC,5526.31,1028,458.32,0.99,0.00,951.2,995.2,907.3,2885.6,569.9,77.17,11.26,735,5533.18,0.00,0.00,3.31,0.000,0.000,0.042,951.28,995.19,907.38,2885.50,1979.69,0,0,0,30.00,30.00,15.63
$GC,5711.43,0,458.32,0.99,0.00,951.1,995.4,906.8,2886.5,1981.8,60.27,8.18,772,5717.19,0.00,0.00,0.00,0.000,0.000,0.000,951.09,995.25,906.94,2886.19,1981.94,0,0,0,30.00,30.00,30.00
$GC,5897.14,10919,544.24,1.16,-80.00,950.6,995.2,905.9,2885.8,1981.6,46.26,7.26,809,6045.85,139.21,0.22,3.87,1.142,0.112,0.123,607.38,625.81,588.94,2925.06,569.25,0,0,0,11.59,15.67,15.21
$GC,6149.73,11431,633.92,1.40,0.00,605.1,621.9,588.2,2925.2,569.2,27.20,7.14,859,6206.74,47.72,0.35,3.37,1.080,0.097,0.041,500.97,507.19,494.75,2983.88,1986.06,0,0,0,11.72,15.37,15.40
$GC,6385.02,10919,748.30,1.67,-80.00,498.2,505.1,491.2,2982.4,1986.1,9.86,6.35,906,6392.66,0.00,0.43,3.83,0.000,0.096,0.120,498.44,505.31,491.56,3051.38,570.31,0,0,0,30.00,15.39,15.38
$GC,6446.37,13447,748.30,1.55,0.00,498.0,504.8,491.2,3052.8,570.4,5.25,8.40,918,6453.48,0.00,0.38,3.35,0.000,0.190,0.041,498.28,505.12,491.44,3011.12,1985.50,0,0,0,30.00,15.38,15.34
$STATE,6512,end climb,SURFACE_DEPTH_REACHED
$STATE,6512,begin surface coast
$FINISH,0.4,1.022921
$STATE,6547,end surface coast,CONTROL_FINISHED_OK
$STATE,6547,begin surface
$SM_CCo,6633.47,0.00,0.000,0,494.7,500.6,488.9,571.62
$SM_GC,1.82,0.00,18.63,0.17,0.000,0.073,0.104,494.7,500.6,488.9,197.7,2098.2,0,0,0,30.00,15.50,15.53
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7134.29,-15154.85,221020,171657
$TCM_TEMP,1.09
$SC_FREEKB,3825632
$PM_FREEKB_00,34055360
$PM_ACTIVECARD,0
$RAFOS_CLK,-16
$RAFOS_FIX,7132.251465,-15153.957031,221020,191943,0,1,0.24
$HUMID,53.12
$TEMP,-0.21
$INTERNAL_PRESSURE,8.13517
$24V_AH,14.48,87.893
$10V_AH,14.84,0.000
$FG_AHR_24Vo,155.894
$FG_AHR_10Vo,37.110
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,963.930,45.240,101.795,285.190,0.000,13.911,4140.177,3092.004,2266.385,0.000,0.000,0.000
$DEVICE_MAMPS,1498.712,303.480,160.800,198.108,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6562.000,6571.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.426,9.713,0.000,0.000
$MEM,1152344,32,24444,80
$DATA_FILE_SIZE,25704,938
$CAP_FILE_SIZE,256832,0
$SDSIZE,3918848,3769728
$SDFILEDIR,1334,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.089,339.7,1
$GPS,221020,191309,7132.552,-15154.223,18,1.3,19,15.2