version: 67.00
glider: 233
mission: 7
dive: 167
start: 10 22 120 19 22 26
data:
$ID,233
$MISSION,7
$DIVE,167
$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,37.111553
$FG_AHR_24V,155.90767
$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
$GPS1,221020,191309,7132.552,-15154.223,18,1.3,19,15.2
$_CALLS,3
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-70.5
$GPS2,221020,192154,7132.579,-15154.296,3,1.3,5,15.2
$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,142.3,15296,-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,11.27,16386,-214.11,-0.83,0.00,491.7,489.8,493.7,196.8,2032.2,0.00,0.00,0,85.33,71.92,0.00,0.00,0.005,0.000,0.000,1682.09,1690.00,1674.19,196.69,2031.31,0,0,0,15.53,30.00,30.00
$GC,85.63,18727,-214.11,-0.83,80.00,1684.2,1691.9,1676.5,196.8,2031.9,3.37,-2.50,14,176.23,57.59,19.63,3.43,0.005,0.302,0.137,3701.75,3705.25,3698.25,2435.94,3349.00,0,0,0,15.52,15.38,15.48
$GC,324.90,1028,-214.11,-0.83,0.00,3702.2,3708.7,3695.7,2435.8,3349.4,47.49,-15.51,61,331.47,0.00,0.00,3.22,0.000,0.000,0.047,3702.62,3708.44,3696.81,2435.94,2023.88,0,0,0,30.00,30.00,15.68
$GC,509.74,516,-214.11,-0.83,-80.00,3702.9,3709.5,3696.3,2436.9,2023.9,71.17,-12.12,98,521.25,0.00,0.00,3.86,0.000,0.000,0.128,3702.47,3709.56,3695.38,2436.12,585.19,0,0,0,30.00,30.00,15.56
$GC,550.09,1028,-214.11,-0.83,0.00,3702.8,3709.8,3695.9,2436.9,585.4,76.58,-13.34,106,556.79,0.00,0.00,3.52,0.000,0.000,0.043,3703.59,3710.62,3696.56,2436.31,2074.38,0,0,0,30.00,30.00,15.71
$GC,735.02,0,-214.11,-0.83,0.00,3702.8,3709.4,3696.2,2437.1,2075.1,98.20,-11.41,143,740.79,0.00,0.00,0.00,0.000,0.000,0.000,3703.06,3710.81,3695.31,2437.19,2074.62,0,0,0,30.00,30.00,30.00
$GC,925.80,516,-214.11,-0.83,-80.00,3703.7,3710.9,3696.4,2436.0,2075.4,119.78,-11.03,164,932.57,0.00,0.00,3.97,0.000,0.000,0.120,3702.75,3709.75,3695.75,2436.00,585.31,0,0,0,30.00,30.00,15.61
$GC,984.73,1028,-214.11,-0.83,0.00,3703.6,3710.8,3696.3,2436.5,585.4,126.59,-11.19,176,992.80,0.00,0.00,3.52,0.000,0.000,0.046,3703.94,3711.19,3696.69,2436.94,2075.50,0,0,0,30.00,30.00,15.75
$GC,1290.83,516,-214.11,-0.83,-80.00,3703.6,3710.3,3696.9,2436.4,2075.2,157.54,-9.82,207,1298.36,0.00,0.00,3.93,0.000,0.000,0.118,3703.62,3710.75,3696.50,2437.00,584.81,0,0,0,30.00,30.00,15.75
$GC,1320.54,1156,-214.11,-0.91,0.00,3703.8,3711.1,3696.4,2436.8,584.6,160.77,-10.16,213,1328.58,0.00,0.00,3.52,0.000,0.000,0.046,3704.44,3711.62,3697.25,2436.06,2076.44,0,0,0,30.00,30.00,15.80
$GC,1627.37,4741,-214.11,-1.01,-80.00,3703.8,3711.1,3696.5,2435.8,2075.9,188.49,-8.38,244,1638.83,0.00,0.36,3.91,0.000,0.089,0.117,3703.41,3710.56,3696.25,2382.38,584.38,0,0,0,30.00,15.81,15.78
$GC,1661.03,1028,-214.11,-1.01,0.00,3702.6,3710.0,3695.2,2382.5,584.4,192.36,-11.31,251,1669.05,0.00,0.00,3.51,0.000,0.000,0.047,3704.84,3711.56,3698.12,2381.44,2074.69,0,0,0,30.00,30.00,15.83
$GC,1967.61,516,-214.11,-1.01,-80.00,3701.7,3708.9,3694.4,2382.3,2075.4,222.53,-9.58,282,1974.60,0.00,0.00,3.92,0.000,0.000,0.121,3703.72,3710.88,3696.56,2382.31,585.69,0,0,0,30.00,30.00,15.80
$GC,2016.76,1028,-214.11,-1.01,0.00,3704.1,3710.8,3697.4,2383.0,585.6,227.62,-10.25,292,2024.81,0.00,0.00,3.49,0.000,0.000,0.046,3704.22,3711.56,3696.88,2381.19,2074.94,0,0,0,30.00,30.00,15.77
$GC,2323.60,516,-214.11,-1.01,-80.00,3703.4,3710.4,3696.4,2382.9,2075.4,255.80,-9.35,323,2334.96,0.00,0.00,3.92,0.000,0.000,0.120,3703.28,3710.31,3696.25,2382.81,584.31,0,0,0,30.00,30.00,15.82
$GC,2363.52,1028,-214.11,-1.01,0.00,3703.0,3710.9,3695.1,2382.5,584.4,259.96,-10.53,331,2370.62,0.00,0.00,3.48,0.000,0.000,0.046,3703.22,3710.81,3695.62,2382.88,2076.75,0,0,0,30.00,30.00,15.89
$GC,2669.30,0,-214.11,-1.01,0.00,3703.2,3710.3,3696.0,2382.3,2076.6,288.82,-9.32,362,2672.92,0.00,0.00,0.00,0.000,0.000,0.000,3703.12,3710.12,3696.12,2383.12,2076.88,0,0,0,30.00,30.00,30.00
$STATE,2790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2790,begin apogee
$GC,2791.30,10243,0.00,-0.20,0.00,3702.8,3710.6,3695.1,2382.8,1916.0,300.03,-9.34,374,2979.98,184.05,1.59,0.12,1.496,0.166,0.162,2822.22,2853.50,2790.94,2592.81,1992.31,0,0,0,11.71,15.78,15.11
$STATE,2982,end apogee,CONTROL_FINISHED_OK
$STATE,2982,begin climb
$GC,2982.64,10503,214.11,0.83,80.00,2821.4,2852.7,2790.1,2592.7,1991.9,305.69,0.00,383,3183.96,188.49,1.82,3.67,1.410,0.114,0.118,1948.47,1999.94,1897.00,2844.19,3349.81,0,0,0,11.64,15.09,14.83
$GC,3206.17,5253,214.11,0.58,0.00,1944.2,1996.1,1892.2,2843.9,3349.9,288.04,14.43,426,3213.88,0.00,0.63,3.65,0.000,0.197,0.050,1944.34,1996.56,1892.12,2775.56,1928.00,0,0,0,30.00,14.91,14.97
$GC,3512.23,17030,214.11,0.51,-80.00,1937.0,1987.1,1886.9,2775.1,1928.1,256.99,9.89,457,3519.71,0.00,0.00,3.72,0.000,0.000,0.129,1938.44,1987.56,1889.31,2774.06,571.69,0,0,0,30.00,30.00,15.26
$GC,3568.68,21639,214.11,0.38,0.00,1934.2,1981.9,1886.6,2774.7,571.0,250.80,11.39,468,3576.13,0.00,0.35,3.38,0.000,0.177,0.045,1935.09,1981.88,1888.31,2725.31,1978.69,0,0,0,30.00,15.28,15.34
$GC,3873.72,10791,289.46,0.47,-80.00,1933.2,1980.4,1886.1,2726.4,1978.8,227.69,7.59,499,3947.72,66.41,0.26,3.84,1.360,0.107,0.123,1643.53,1690.62,1596.44,2759.69,569.69,0,0,0,11.64,15.44,15.18
$GC,4001.12,1028,289.46,0.47,0.00,1638.8,1681.3,1596.3,2759.0,569.1,215.30,10.92,524,4008.36,0.00,0.00,3.38,0.000,0.000,0.043,1637.81,1680.31,1595.31,2759.62,1978.12,0,0,0,30.00,30.00,15.29
$GC,4306.01,8742,377.02,0.58,-80.00,1632.7,1679.1,1586.4,2759.8,1979.6,189.58,7.20,555,4403.28,89.12,0.00,3.90,1.278,0.000,0.124,1288.06,1340.06,1236.06,2759.44,570.31,0,0,0,11.71,30.00,15.10
$GC,4430.51,11431,470.80,0.84,0.00,1284.9,1335.6,1234.3,2760.1,570.0,180.83,7.01,580,4560.22,119.96,0.56,3.42,1.184,0.090,0.043,906.34,952.75,859.94,2850.69,1980.88,0,0,0,11.46,15.18,15.16
$MODEM_MSG,CACST,6,1,20201022201153.316620,18,535,-2,0359,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,25.1,0.66,-100,2.34,-01,0.02,40,925,0025*31
$MODEM_MSG,CACST,6,1,20201022201509.081423,18,768,22,0092,0150,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-17.2,0.08,-100,2.92,-01,-0.08,22,925,0025*1D
$MODEM_MSG,CACST,6,1,20201022202153.722053,18,930,00,0220,0150,216,03,03,05,03,-1,-01,-01,1,3,0,0,150,-26.2,0.45,-100,2.55,-01,-0.20,40,925,0025*2C
$MODEM_MSG,CACST,6,1,20201022202759.874289,18,248,11,0095,0150,07,01,01,02,03,-1,-01,-01,1,3,0,0,150,-14.7,0.09,-100,2.91,-01,0.09,17,925,0025*3C
$MODEM_MSG,CACST,6,1,20201022203812.040800,18,661,10,0108,0150,216,03,03,03,03,-1,-01,-01,1,3,0,0,150,-26.4,0.47,-100,2.53,-01,-0.02,40,925,0025*26
$GC,4856.63,516,470.80,0.84,-80.00,900.6,946.6,854.6,2850.2,1981.8,137.84,10.11,635,4864.08,0.00,0.00,3.88,0.000,0.000,0.123,900.91,946.56,855.25,2850.62,570.19,0,0,0,30.00,30.00,15.31
$GC,4946.31,1156,470.80,0.91,0.00,899.5,944.6,854.5,2848.9,570.2,128.48,9.78,653,4953.79,0.00,0.00,3.38,0.000,0.000,0.045,900.09,945.06,855.12,2849.94,1977.81,0,0,0,30.00,30.00,15.34
$GC,5252.55,2693,470.80,1.00,-80.00,899.2,943.8,854.5,2850.9,1979.9,101.43,8.04,684,5263.89,0.00,0.21,3.81,0.000,0.114,0.124,899.16,943.81,854.50,2888.69,570.62,0,0,0,30.00,15.52,15.50
$GC,5307.33,1028,470.80,1.00,0.00,898.8,943.4,854.1,2887.9,570.6,95.69,10.95,695,5313.82,0.00,0.00,3.35,0.000,0.000,0.045,898.12,942.81,853.44,2890.00,1975.88,0,0,0,30.00,30.00,15.57
$GC,5493.10,516,470.80,1.00,-80.00,898.5,942.9,854.1,2889.0,1980.8,76.86,10.30,732,5499.93,0.00,0.00,3.76,0.000,0.000,0.120,898.38,942.75,854.00,2888.56,571.94,0,0,0,30.00,30.00,15.57
$GC,5543.77,1028,470.80,1.00,0.00,898.2,942.5,854.0,2889.4,571.2,71.20,11.42,742,5551.06,0.00,0.00,3.32,0.000,0.000,0.043,898.34,942.56,854.12,2889.31,1979.25,0,0,0,30.00,30.00,15.59
$GC,5730.04,516,470.80,1.00,-80.00,898.0,941.9,854.0,2888.8,1981.0,53.90,8.90,779,5736.85,0.00,0.00,3.76,0.000,0.000,0.122,898.84,942.94,854.75,2888.62,570.50,0,0,0,30.00,30.00,15.59
$GC,5750.82,1028,470.80,1.00,0.00,897.8,941.8,853.9,2889.5,570.6,52.02,8.78,783,5758.13,0.00,0.00,3.32,0.000,0.000,0.042,897.66,941.62,853.69,2890.06,1981.75,0,0,0,30.00,30.00,15.63
$GC,5937.14,10919,590.75,1.27,-80.00,897.9,941.8,854.0,2889.2,1983.4,38.77,6.17,820,6116.45,169.06,0.40,3.90,1.129,0.097,0.123,500.44,507.81,493.06,2956.31,571.06,0,0,0,11.79,15.58,15.17
$GC,6165.44,9350,590.75,1.36,0.00,499.1,505.8,492.5,2957.4,570.9,20.44,8.69,865,6175.90,0.00,0.00,3.41,0.000,0.000,0.044,499.47,505.88,493.06,2957.25,1980.38,0,0,0,30.00,30.00,15.30
$GC,6356.07,10919,788.53,1.84,-80.00,497.2,504.8,489.7,2956.2,1981.5,10.68,3.68,903,6367.62,0.00,0.89,3.85,0.000,0.088,0.125,497.28,504.69,489.88,3089.88,571.12,0,0,0,30.00,15.43,15.40
$GC,6406.41,13447,788.53,1.63,0.00,497.4,504.9,489.9,3088.8,571.1,6.33,9.50,913,6413.56,0.00,0.52,3.36,0.000,0.197,0.043,497.50,504.88,490.12,3029.81,1979.31,0,0,0,30.00,15.40,15.41
$STATE,6468,end climb,SURFACE_DEPTH_REACHED
$STATE,6468,begin surface coast
$FINISH,0.4,1.004264
$STATE,6497,end surface coast,CONTROL_FINISHED_OK
$STATE,6498,begin surface
$SM_CCo,6584.47,0.00,0.000,0,494.8,502.3,487.4,571.59
$SM_GC,1.94,0.00,18.86,0.18,0.000,0.071,0.099,494.8,502.3,487.4,199.0,2094.4,0,0,0,30.00,15.51,15.55
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7135.25,-15200.86,221020,191709
$TCM_TEMP,1.13
$SC_FREEKB,3825312
$PM_FREEKB_00,33963456
$PM_ACTIVECARD,0
$RAFOS_CLK,-3
$MODEM,6,1603399092,75.33060,-142.67570,192.041,281339.8
$MODEM,4,1603398479,76.55490,-139.99944,179.874,263515.8
$MODEM,3,1603398113,75.26195,-145.59448,113.722,166602.8
$MODEM,2,1603397709,75.67648,-146.03058,9.081,13304.3
$MODEM,1,1603397513,75.02295,-144.31340,113.317,166008.8
$RAFOS_FIX,7601.488770,-14929.037109,221020,202012,5,255,109.95
$HUMID,52.96
$TEMP,-0.12
$INTERNAL_PRESSURE,8.136
$24V_AH,14.44,88.279
$10V_AH,14.84,0.000
$FG_AHR_24Vo,156.215
$FG_AHR_10Vo,37.175
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,946.595,46.075,124.075,275.621,0.000,14.704,4101.413,2995.560,2244.618,2215.000,0.000,0.000
$DEVICE_MAMPS,1496.088,301.840,162.440,198.287,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6514.000,6522.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.470,9.795,0.000,0.000
$MEM,1152256,35,24472,80
$DATA_FILE_SIZE,25747,931
$CAP_FILE_SIZE,276501,0
$SDSIZE,3918848,3769408
$SDFILEDIR,1341,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.109,330.7,1
$GPS,221020,211331,7132.011,-15154.078,41,0.8,42,15.2