version: 67.00
glider: 233
mission: 7
dive: 171
start: 10 23 120 3 10 51
data:
$ID,233
$MISSION,7
$DIVE,171
$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,37.320923
$FG_AHR_24V,157.17778
$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
$GPS1,231020,030431,7130.721,-15153.324,24,0.9,25,15.2
$_CALLS,1
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-75.3
$GPS2,231020,031019,7130.741,-15153.375,3,0.6,4,15.2
$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,138.4,11986,-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,11.29,16386,-214.11,-0.83,0.00,491.9,491.4,492.4,197.6,2029.3,0.00,0.00,0,80.24,66.81,0.00,0.00,0.005,0.000,0.000,1610.84,1627.38,1594.31,197.88,2029.50,0,0,0,15.54,30.00,30.00
$GC,80.51,18727,-214.11,-0.83,80.00,1612.4,1626.8,1598.0,197.9,2029.7,3.31,-2.52,13,171.26,58.70,19.51,3.40,0.005,0.303,0.140,3700.66,3705.81,3695.50,2436.06,3349.12,0,0,0,15.53,15.39,15.59
$GC,330.05,1028,-214.11,-0.83,0.00,3702.9,3708.6,3697.1,2434.9,3348.4,49.00,-13.69,62,336.74,0.00,0.00,3.16,0.000,0.000,0.051,3703.34,3709.25,3697.44,2435.19,2025.56,0,0,0,30.00,30.00,15.56
$GC,514.99,516,-214.11,-0.83,-80.00,3703.2,3709.2,3697.1,2435.5,2025.6,73.69,-12.81,99,526.51,0.00,0.00,3.78,0.000,0.000,0.131,3704.06,3710.62,3697.50,2434.56,586.44,0,0,0,30.00,30.00,15.54
$GC,560.50,1028,-214.11,-0.83,0.00,3704.2,3710.1,3698.3,2435.4,586.4,79.29,-12.20,108,571.20,0.00,0.00,3.49,0.000,0.000,0.049,3703.03,3709.19,3696.88,2435.50,2073.62,0,0,0,30.00,30.00,15.65
$GC,750.92,0,-214.11,-0.83,0.00,3702.4,3708.5,3696.3,2434.9,2073.5,101.44,-11.45,145,754.84,0.00,0.00,0.00,0.000,0.000,0.000,3702.47,3708.88,3696.06,2435.19,2073.94,0,0,0,30.00,30.00,30.00
$GC,1051.06,516,-214.11,-0.83,-80.00,3703.7,3710.4,3696.9,2435.2,2074.2,134.37,-10.35,175,1057.82,0.00,0.00,3.85,0.000,0.000,0.123,3704.31,3710.88,3697.75,2435.69,585.62,0,0,0,30.00,30.00,15.65
$GC,1126.36,1028,-214.11,-0.83,0.00,3703.2,3709.9,3696.6,2435.4,585.6,142.25,-10.25,190,1133.60,0.00,0.00,3.46,0.000,0.000,0.048,3703.91,3711.25,3696.56,2435.62,2077.25,0,0,0,30.00,30.00,15.81
$GC,1431.27,128,-214.11,-0.90,0.00,3703.2,3710.1,3696.4,2435.6,2076.6,170.68,-8.53,221,1435.17,0.00,0.00,0.00,0.000,0.000,0.000,3702.78,3709.44,3696.12,2435.56,2076.06,0,0,0,30.00,30.00,30.00
$GC,1732.06,4773,-214.11,-1.02,-80.00,3703.0,3709.4,3696.6,2436.3,2077.4,194.83,-7.05,251,1744.09,0.00,0.38,3.87,0.000,0.089,0.119,3703.38,3709.44,3697.31,2380.25,584.38,0,0,0,30.00,15.75,15.79
$GC,1806.24,1028,-214.11,-1.02,0.00,3702.6,3708.9,3696.2,2381.6,584.8,202.40,-10.40,266,1814.31,0.00,0.00,3.46,0.000,0.000,0.048,3703.62,3710.31,3696.94,2380.88,2075.88,0,0,0,30.00,30.00,15.86
$GC,2112.34,516,-214.11,-1.02,-80.00,3703.4,3710.2,3696.6,2380.5,2075.1,232.29,-9.96,297,2119.88,0.00,0.00,3.90,0.000,0.000,0.121,3704.25,3710.62,3697.88,2378.19,586.88,0,0,0,30.00,30.00,15.81
$GC,2172.04,1028,-214.11,-1.02,0.00,3703.6,3709.8,3697.3,2379.9,586.4,238.75,-10.60,309,2180.09,0.00,0.00,3.47,0.000,0.000,0.049,3703.69,3709.50,3697.88,2380.50,2074.12,0,0,0,30.00,30.00,15.75
$GC,2478.14,0,-214.11,-1.02,0.00,3703.6,3710.0,3697.1,2381.7,2074.4,268.70,-9.84,340,2481.81,0.00,0.00,0.00,0.000,0.000,0.000,3703.62,3710.38,3696.88,2380.44,2074.12,0,0,0,30.00,30.00,30.00
$GC,2778.29,516,-214.11,-1.02,-80.00,3702.9,3709.4,3696.5,2379.2,2074.2,296.81,-9.36,370,2785.67,0.00,0.00,3.89,0.000,0.000,0.122,3703.97,3710.88,3697.06,2380.44,585.62,0,0,0,30.00,30.00,15.84
$STATE,2815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2815,begin apogee
$GC,2819.41,10243,0.00,-0.20,0.00,3703.5,3710.6,3696.4,2381.0,1979.7,300.30,-9.81,377,3007.52,183.84,1.58,0.12,1.482,0.170,0.175,2823.56,2855.94,2791.19,2591.62,1913.31,0,0,0,11.91,15.83,15.15
$STATE,3010,end apogee,CONTROL_FINISHED_OK
$STATE,3010,begin climb
$GC,3010.25,10503,214.11,0.83,80.00,2822.1,2854.3,2789.8,2592.2,1912.9,306.48,0.00,386,3209.88,188.68,1.80,3.89,1.393,0.116,0.116,1949.91,2001.00,1898.81,2843.00,3347.50,0,0,0,11.48,15.14,14.86
$GC,3242.10,21639,214.11,0.59,0.00,1942.7,1994.3,1891.1,2844.2,3348.8,287.90,14.58,429,3249.93,0.00,0.62,3.61,0.000,0.197,0.051,1942.88,1995.00,1890.75,2777.88,1929.56,0,0,0,30.00,14.95,15.02
$GC,3548.95,17030,214.11,0.51,-80.00,1936.1,1986.4,1885.8,2777.8,1929.2,256.31,10.56,460,3555.89,0.00,0.00,3.73,0.000,0.000,0.129,1935.62,1985.75,1885.50,2777.38,572.00,0,0,0,30.00,30.00,15.28
$GC,3608.12,21639,214.11,0.38,0.00,1934.1,1981.9,1886.2,2776.6,571.8,249.02,12.34,472,3615.69,0.00,0.37,3.38,0.000,0.179,0.044,1934.31,1981.94,1886.69,2725.69,1978.94,0,0,0,30.00,15.29,15.36
$GC,3914.91,10791,302.88,0.49,-80.00,1933.0,1980.8,1885.2,2725.7,1979.9,225.81,7.17,503,4001.91,78.54,0.28,3.91,1.333,0.106,0.124,1589.25,1638.00,1540.50,2762.31,572.81,0,0,0,11.76,15.44,15.09
$GC,4039.05,1028,302.88,0.49,0.00,1584.1,1629.3,1538.9,2762.0,572.2,214.06,10.95,528,4046.71,0.00,0.00,3.41,0.000,0.000,0.045,1583.84,1629.00,1538.69,2761.44,1977.38,0,0,0,30.00,30.00,15.27
$GC,4345.16,16902,302.88,0.49,-80.00,1577.5,1626.9,1528.1,2761.6,1979.2,186.59,8.50,559,4352.67,0.00,0.00,3.82,0.000,0.000,0.122,1578.12,1627.81,1528.44,2761.62,570.19,0,0,0,30.00,30.00,15.40
$GC,4421.69,17414,302.88,0.49,0.00,1575.8,1623.8,1527.8,2762.8,569.7,179.84,8.54,574,4428.35,0.00,0.00,3.36,0.000,0.000,0.044,1575.69,1623.50,1527.88,2762.75,1978.25,0,0,0,30.00,30.00,15.47
$GC,4726.60,10919,426.86,0.74,-80.00,1574.9,1623.3,1526.5,2761.4,1980.0,159.86,6.04,605,4894.74,160.28,0.36,3.93,1.200,0.096,0.122,1084.88,1137.75,1032.00,2824.94,571.50,0,0,0,11.47,15.52,15.06
$GC,4947.97,1156,426.86,0.80,0.00,1082.0,1133.0,1030.9,2824.8,571.2,140.64,9.64,649,4955.40,0.00,0.00,3.42,0.000,0.000,0.043,1082.28,1133.19,1031.38,2824.94,1978.88,0,0,0,30.00,30.00,15.19
$GC,5253.02,10919,501.29,0.99,-80.00,1078.0,1131.6,1024.5,2824.6,1980.3,115.20,7.62,680,5360.63,99.25,0.35,3.93,1.147,0.096,0.124,781.94,818.25,745.62,2886.06,571.31,0,0,0,11.77,15.39,15.10
$MODEM_MSG,CACST,6,1,20201023040958.260723,18,267,-11,0423,0150,216,04,04,06,04,-1,-01,-01,1,3,0,0,150,-8.1,0.03,-100,2.97,-01,0.00,30,925,0025*1F
$MODEM_MSG,CACST,6,1,20201023041718.533241,18,453,14,0127,0150,246,02,02,02,04,-1,-01,-01,2,3,4,0,150,-34.2,-1.75,-100,4.75,-01,-0.01,50,925,0025*07
$MODEM_MSG,CACST,6,1,20201023042319.738579,18,56,-18,0100,0150,216,01,01,06,03,-1,-01,-01,1,3,4,0,150,-21.8,0.02,-100,2.98,-01,0.00,31,925,0025*1F
$MODEM_MSG,CACST,6,1,20201023043212.547304,18,318,06,0099,0150,216,01,01,03,03,-1,-01,-01,1,3,4,0,150,-6.8,0.02,-100,2.98,-01,0.00,31,925,0025*3D
$GC,5448.87,1028,501.29,0.99,0.00,779.8,814.3,745.2,2885.6,570.6,95.31,10.52,719,5455.34,0.00,0.00,3.38,0.000,0.000,0.044,779.97,814.44,745.50,2885.44,1979.25,0,0,0,30.00,30.00,15.28
$GC,5634.42,516,501.29,0.99,-80.00,778.1,812.9,743.3,2886.4,1980.8,77.52,9.29,756,5644.48,0.00,0.00,3.83,0.000,0.000,0.122,778.38,813.00,743.75,2885.00,570.06,0,0,0,30.00,30.00,15.38
$GC,5659.46,1028,501.29,0.99,0.00,778.0,812.4,743.6,2885.1,570.0,75.03,9.66,761,5666.41,0.00,0.00,3.35,0.000,0.000,0.044,778.66,812.69,744.62,2884.69,1981.12,0,0,0,30.00,30.00,15.41
$GC,5844.68,644,501.29,1.05,-80.00,777.3,811.8,742.9,2885.8,1982.9,58.79,8.09,798,5852.24,0.00,0.00,3.81,0.000,0.000,0.121,777.16,811.69,742.62,2885.12,569.88,0,0,0,30.00,30.00,15.48
$GC,5885.52,3205,501.29,1.13,0.00,777.1,811.4,742.8,2885.2,569.9,55.41,8.28,806,5893.03,0.00,0.19,3.33,0.000,0.119,0.043,777.62,811.81,743.44,2919.25,1980.31,0,0,0,30.00,15.52,15.56
$GC,6071.98,10919,572.17,1.29,-80.00,776.6,810.9,742.3,2920.6,1982.1,39.30,7.74,843,6200.74,117.54,0.19,3.89,1.122,0.117,0.122,500.94,508.12,493.75,2957.69,572.12,0,0,0,11.75,15.56,15.18
$GC,6259.00,11431,643.57,1.47,0.00,499.1,505.6,492.6,2956.7,572.1,24.25,7.72,880,6269.51,0.00,0.26,3.38,0.000,0.109,0.042,499.06,505.44,492.69,3000.06,1984.06,0,0,0,30.00,15.31,15.31
$GC,6449.62,10919,750.39,1.68,-80.00,497.8,504.8,490.8,2999.0,1985.3,9.08,6.59,918,6461.07,0.00,0.32,3.81,0.000,0.102,0.120,497.84,504.75,490.94,3055.88,570.88,0,0,0,30.00,15.43,15.42
$GC,6514.98,9382,823.94,1.68,0.00,497.6,504.4,490.7,3054.2,570.9,4.37,7.65,931,6521.93,0.00,0.00,3.35,0.000,0.000,0.042,497.47,504.38,490.56,3054.12,1982.44,0,0,0,30.00,30.00,15.50
$STATE,6556,end climb,SURFACE_DEPTH_REACHED
$STATE,6556,begin surface coast
$FINISH,0.4,1.022669
$STATE,6586,end surface coast,CONTROL_FINISHED_OK
$STATE,6586,begin surface
$SM_CCo,6673.46,0.00,0.000,0,494.3,500.0,488.7,571.71
$SM_GC,1.91,0.00,19.07,0.17,0.000,0.070,0.099,494.3,500.0,488.7,199.0,2092.6,0,0,0,30.00,15.51,15.54
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7131.81,-15158.05,231020,011059
$TCM_TEMP,1.10
$SC_FREEKB,3824032
$PM_FREEKB_00,33596736
$PM_ACTIVECARD,0
$RAFOS_CLK,-2
$MODEM,5,1603427532,76.41295,-142.47470,132.547,194181.8
$MODEM,3,1603426999,75.26195,-145.59448,199.739,292617.0
$MODEM,2,1603426638,75.67648,-146.03058,138.533,202951.2
$MODEM,0,1603426198,74.83892,-145.28152,298.261,436951.9
$RAFOS_FIX,7801.380371,-14626.453125,231020,040412,4,255,149.79
$HUMID,52.80
$TEMP,-0.09
$INTERNAL_PRESSURE,8.13739
$24V_AH,14.48,89.761
$10V_AH,14.85,0.000
$FG_AHR_24Vo,157.486
$FG_AHR_10Vo,37.385
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,953.640,45.280,115.900,217.864,0.000,12.896,4052.396,2952.490,2248.891,2213.000,0.000,0.000
$DEVICE_MAMPS,1482.312,303.480,174.576,196.751,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6600.000,6610.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.382,9.604,0.000,0.000
$MEM,1152204,37,24484,80
$DATA_FILE_SIZE,25721,945
$CAP_FILE_SIZE,269192,0
$SDSIZE,3918848,3768256
$SDFILEDIR,1369,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.105,329.8,1
$GPS,231020,050244,7130.271,-15152.975,1,1.0,4,15.2