version: 67.00
glider: 233
mission: 7
dive: 173
start: 10 23 120 7 9 36
data:
$ID,233
$MISSION,7
$DIVE,173
$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,37.427475
$FG_AHR_24V,157.81358
$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
$GPS1,231020,070401,7129.778,-15152.501,27,0.6,28,15.2
$_CALLS,1
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-73.9
$GPS2,231020,070905,7129.799,-15152.652,2,0.5,3,15.2
$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,135.6,10251,-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,11.34,16386,-214.11,-0.83,0.00,492.4,493.8,491.0,200.3,2030.9,0.00,0.00,0,80.26,66.07,0.00,0.00,0.005,0.000,0.000,1612.41,1627.88,1596.94,200.44,2031.31,0,0,0,15.53,30.00,30.00
$GC,80.53,18727,-214.11,-0.83,80.00,1613.2,1627.2,1599.2,200.2,2030.6,3.52,-2.79,13,166.06,54.83,19.58,3.40,0.005,0.309,0.138,3701.56,3705.94,3697.19,2436.62,3350.44,0,0,0,15.51,15.38,15.57
$GC,279.98,1028,-214.11,-0.83,0.00,3703.3,3709.8,3696.9,2437.2,3349.5,44.46,-16.60,52,286.70,0.00,0.00,3.18,0.000,0.000,0.049,3704.28,3710.44,3698.12,2434.56,2024.25,0,0,0,30.00,30.00,15.60
$GC,464.95,516,-214.11,-0.83,-80.00,3702.7,3709.2,3696.2,2435.2,2024.6,70.23,-12.04,89,476.49,0.00,0.00,3.83,0.000,0.000,0.127,3704.19,3710.56,3697.81,2436.75,586.38,0,0,0,30.00,30.00,15.64
$GC,510.45,1028,-214.11,-0.83,0.00,3703.1,3709.5,3696.6,2436.2,586.4,75.82,-12.22,98,521.17,0.00,0.00,3.49,0.000,0.000,0.046,3705.41,3710.69,3700.12,2436.00,2075.56,0,0,0,30.00,30.00,15.63
$GC,700.90,0,-214.11,-0.83,0.00,3703.8,3710.0,3697.5,2436.3,2075.2,97.72,-11.47,136,706.46,0.00,0.00,0.00,0.000,0.000,0.000,3703.38,3709.94,3696.81,2436.62,2074.81,0,0,0,30.00,30.00,30.00
$GC,891.42,516,-214.11,-0.83,-80.00,3703.3,3710.2,3696.3,2437.1,2075.0,118.46,-10.44,157,898.27,0.00,0.00,3.93,0.000,0.000,0.119,3702.97,3709.25,3696.69,2436.81,586.81,0,0,0,30.00,30.00,15.61
$GC,930.42,1028,-214.11,-0.83,0.00,3703.3,3710.0,3696.7,2436.6,586.2,122.70,-10.38,165,938.47,0.00,0.00,3.48,0.000,0.000,0.048,3704.31,3711.06,3697.56,2436.19,2075.81,0,0,0,30.00,30.00,15.65
$GC,1237.26,516,-214.11,-0.83,-80.00,3703.1,3710.3,3695.9,2436.9,2075.9,152.35,-9.31,196,1244.04,0.00,0.00,3.91,0.000,0.000,0.120,3703.78,3710.56,3697.00,2436.75,585.75,0,0,0,30.00,30.00,15.75
$GC,1272.77,1156,-214.11,-0.91,0.00,3703.6,3710.1,3697.1,2436.4,585.5,155.76,-9.25,203,1279.87,0.00,0.00,3.46,0.000,0.000,0.048,3704.12,3711.19,3697.06,2436.56,2076.44,0,0,0,30.00,30.00,15.81
$GC,1577.48,4773,-214.11,-1.01,-80.00,3702.7,3709.0,3696.4,2435.4,2076.3,181.85,-7.76,234,1589.51,0.00,0.37,3.88,0.000,0.091,0.117,3704.00,3710.31,3697.69,2383.38,585.38,0,0,0,30.00,15.80,15.78
$GC,1631.72,1028,-214.11,-1.01,0.00,3703.2,3710.4,3695.9,2383.0,585.4,187.65,-11.11,245,1639.72,0.00,0.00,3.48,0.000,0.000,0.047,3702.97,3709.62,3696.31,2383.19,2076.31,0,0,0,30.00,30.00,15.82
$GC,1938.51,0,-214.11,-1.01,0.00,3702.9,3709.1,3696.7,2382.5,2075.4,219.86,-10.67,276,1941.41,0.00,0.00,0.00,0.000,0.000,0.000,3702.78,3709.31,3696.25,2383.69,2075.12,0,0,0,30.00,30.00,30.00
$GC,2238.45,516,-214.11,-1.01,-80.00,3704.0,3710.4,3697.6,2382.5,2075.9,249.77,-9.51,306,2245.32,0.00,0.00,3.86,0.000,0.000,0.122,3703.62,3708.75,3698.50,2382.19,586.38,0,0,0,30.00,30.00,15.82
$GC,2294.09,1028,-214.11,-1.01,0.00,3702.8,3709.2,3696.4,2383.1,586.0,255.35,-10.04,317,2301.47,0.00,0.00,3.47,0.000,0.000,0.050,3703.75,3710.06,3697.44,2382.19,2074.88,0,0,0,30.00,30.00,15.87
$GC,2599.07,516,-214.11,-1.01,-80.00,3703.7,3710.1,3697.2,2382.7,2076.1,283.53,-9.03,348,2606.59,0.00,0.00,3.86,0.000,0.000,0.120,3703.53,3709.88,3697.19,2383.44,585.31,0,0,0,30.00,30.00,15.84
$GC,2655.39,1028,-214.11,-1.01,0.00,3703.4,3710.1,3696.8,2382.4,585.5,288.96,-9.77,359,2662.64,0.00,0.00,3.45,0.000,0.000,0.047,3703.97,3709.94,3698.00,2383.25,2077.50,0,0,0,30.00,30.00,15.90
$STATE,2781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2781,begin apogee
$GC,2782.17,10243,0.00,-0.20,0.00,3703.3,3710.1,3696.4,2383.0,1912.8,300.66,-9.39,372,2969.02,182.57,1.56,0.12,1.491,0.167,0.158,2824.78,2856.88,2792.69,2590.50,1996.62,0,0,0,11.92,15.83,15.16
$STATE,2972,end apogee,CONTROL_FINISHED_OK
$STATE,2972,begin climb
$GC,2971.80,10503,214.11,0.83,80.00,2821.6,2854.0,2789.2,2591.9,1996.5,306.98,0.00,381,3167.43,187.82,1.79,3.61,1.403,0.115,0.118,1948.41,2000.75,1896.06,2844.12,3351.19,0,0,0,11.57,15.14,14.87
$GC,3169.71,5253,214.11,0.56,0.00,1947.6,1999.3,1895.9,2843.7,3351.3,293.82,11.49,407,3177.33,0.00,0.67,3.61,0.000,0.195,0.049,1947.91,2000.81,1895.00,2771.06,1927.44,0,0,0,30.00,14.89,14.96
$GC,3478.26,16902,214.11,0.56,-80.00,1936.8,1986.7,1886.8,2771.2,1927.2,262.63,10.05,438,3485.74,0.00,0.00,3.72,0.000,0.000,0.130,1937.50,1987.56,1887.44,2770.88,570.62,0,0,0,30.00,30.00,15.27
$GC,3564.77,21639,214.11,0.43,0.00,1934.1,1981.4,1886.9,2771.7,570.8,252.99,11.35,455,3572.03,0.00,0.22,3.36,0.000,0.185,0.046,1934.12,1981.56,1886.69,2739.62,1979.75,0,0,0,30.00,15.30,15.36
$GC,3869.59,10791,280.06,0.51,-80.00,1932.9,1980.1,1885.7,2739.1,1979.9,228.38,7.89,486,3936.30,58.63,0.24,3.74,1.340,0.114,0.124,1682.66,1731.12,1634.19,2769.69,571.88,0,0,0,11.70,15.46,15.22
$GC,3973.51,1028,280.06,0.51,0.00,1676.8,1721.3,1632.2,2769.2,571.3,217.96,11.11,507,3981.07,0.00,0.00,3.38,0.000,0.000,0.045,1677.56,1722.81,1632.31,2769.94,1979.38,0,0,0,30.00,30.00,15.21
$GC,4279.61,16902,280.06,0.51,-80.00,1671.2,1720.8,1621.8,2769.4,1980.7,190.04,9.00,538,4287.11,0.00,0.00,3.76,0.000,0.000,0.121,1670.81,1720.94,1620.69,2769.69,570.12,0,0,0,30.00,30.00,15.41
$GC,4319.27,17414,280.06,0.51,0.00,1670.5,1719.6,1621.5,2769.1,570.0,186.06,9.78,546,4326.81,0.00,0.00,3.36,0.000,0.000,0.044,1670.75,1719.56,1621.94,2770.69,1980.19,0,0,0,30.00,30.00,15.49
$GC,4625.36,8742,379.52,0.63,-80.00,1669.8,1719.3,1620.2,2770.5,1980.5,163.44,6.82,577,4763.44,129.31,0.00,3.91,1.216,0.000,0.122,1277.25,1330.56,1223.94,2770.25,571.62,0,0,0,11.86,30.00,15.12
$GC,4860.63,11431,486.73,0.94,0.00,1273.4,1323.8,1223.0,2769.6,571.0,147.88,6.58,624,5011.11,140.96,0.64,3.40,1.152,0.089,0.042,841.41,885.00,797.81,2875.00,1984.06,0,0,0,11.40,15.26,15.26
$GC,5307.48,516,486.73,0.94,-80.00,835.2,878.2,792.1,2874.6,1983.3,101.77,9.69,683,5314.90,0.00,0.00,3.88,0.000,0.000,0.124,834.88,878.00,791.75,2874.38,571.56,0,0,0,30.00,30.00,15.28
$GC,5398.87,1028,486.73,0.94,0.00,834.3,876.8,791.9,2874.0,571.2,92.17,10.49,701,5405.90,0.00,0.00,3.38,0.000,0.000,0.045,834.47,876.69,792.25,2874.62,1979.19,0,0,0,30.00,30.00,15.38
$MODEM_MSG,CACST,6,1,20201023080736.786911,18,122,-21,0160,0150,216,04,04,07,04,-1,-01,-01,1,3,0,0,150,-1.7,0.01,-100,2.99,-01,0.00,25,925,0025*14
$MODEM_MSG,CACST,6,1,20201023081458.845968,18,80,13,0258,0150,246,02,02,01,04,-1,-01,-01,1,3,0,0,150,-31.9,0.02,-100,2.98,-01,-0.08,45,925,0025*14
$MODEM_MSG,CACST,6,1,20201023082134.285793,18,165,-19,0323,0150,432,02,02,07,04,-1,-01,-01,1,3,0,0,150,-10.6,0.47,-100,2.53,-01,0.04,56,925,0025*2F
$MODEM_MSG,CACST,6,1,20201023082850.335804,18,290,-17,0093,0150,432,02,02,07,04,-1,-01,-01,1,3,0,0,150,-37.9,0.43,-100,2.57,-01,0.10,57,925,0025*2E
$MODEM_MSG,CACST,6,1,20201023083252.969258,18,380,01,0206,0150,432,02,02,04,04,-1,-01,-01,1,3,0,0,150,-37.7,0.56,-100,2.44,-01,0.04,57,925,0025*0E
$MODEM_MSG,CACST,6,1,20201023083802.300148,18,145,-14,0170,0150,432,02,02,06,04,-1,-01,-01,1,3,0,0,150,-5.1,0.54,-100,2.46,-01,-0.04,56,925,0025*37
$GC,5584.90,516,486.73,0.94,-80.00,833.6,875.5,791.6,2875.0,1980.7,74.72,8.91,738,5591.71,0.00,0.00,3.74,0.000,0.000,0.123,833.38,875.50,791.25,2874.19,572.19,0,0,0,30.00,30.00,15.32
$GC,5625.52,1028,486.73,0.94,0.00,833.2,875.2,791.2,2874.9,571.9,70.83,9.52,746,5635.42,0.00,0.00,3.35,0.000,0.000,0.043,833.47,875.50,791.44,2873.94,1981.31,0,0,0,30.00,30.00,15.38
$GC,5815.01,10919,571.27,1.14,-80.00,833.1,874.8,791.3,2873.9,1982.4,55.98,7.30,784,5949.15,125.46,0.27,3.92,1.125,0.106,0.124,500.88,509.56,492.19,2922.06,572.12,0,0,0,11.61,15.55,15.16
$GC,5997.42,11431,636.65,1.35,0.00,499.2,506.6,491.8,2922.3,571.9,40.52,7.91,820,6007.93,0.00,0.29,3.39,0.000,0.102,0.044,499.06,506.44,491.69,2972.31,1981.75,0,0,0,30.00,15.26,15.31
$GC,6188.16,10919,708.30,1.50,-80.00,497.0,505.0,488.9,2972.6,1982.4,24.55,7.71,858,6199.57,0.00,0.21,3.84,0.000,0.113,0.122,497.06,505.06,489.06,3009.44,571.62,0,0,0,30.00,15.42,15.38
$GC,6243.03,9222,708.30,1.50,0.00,497.0,504.9,489.1,3008.6,572.1,18.86,10.96,869,6249.44,0.00,0.00,3.35,0.000,0.000,0.044,497.34,505.06,489.62,3008.00,1977.25,0,0,0,30.00,30.00,15.43
$GC,6428.73,10919,869.17,1.82,-80.00,495.4,503.7,487.2,3009.0,1982.1,5.95,4.86,906,6439.67,0.00,0.47,3.81,0.000,0.094,0.122,495.53,503.69,487.38,3086.38,569.56,0,0,0,30.00,15.53,15.49
$STATE,6479,end climb,SURFACE_DEPTH_REACHED
$STATE,6479,begin surface coast
$FINISH,0.3,1.022490
$STATE,6498,end surface coast,CONTROL_FINISHED_OK
$STATE,6498,begin surface
$SM_CCo,6588.48,0.00,0.000,0,492.8,498.7,486.9,572.09
$SM_GC,2.19,0.00,19.18,3.53,0.000,0.071,0.045,492.8,498.7,486.9,200.3,2075.1,0,0,0,30.00,15.55,15.59
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7130.85,-15152.06,231020,050514
$TCM_TEMP,1.08
$SC_FREEKB,3823392
$PM_FREEKB_00,33409216
$PM_ACTIVECARD,0
$RAFOS_CLK,-2
$MODEM,6,1603442282,75.33060,-142.67570,182.300,267069.7
$MODEM,5,1603441972,76.41295,-142.47470,172.969,253400.0
$MODEM,4,1603441730,76.55490,-139.99944,230.336,337441.9
$MODEM,3,1603441294,75.26195,-145.59448,94.286,138128.7
$MODEM,1,1603440898,75.02295,-144.31340,298.846,437809.3
$MODEM,0,1603440456,74.83892,-145.28152,156.787,229692.8
$RAFOS_FIX,7627.853027,-15232.868164,231020,080802,6,255,103.67
$HUMID,52.73
$TEMP,-0.04
$INTERNAL_PRESSURE,8.13887
$24V_AH,14.48,90.500
$10V_AH,14.89,0.000
$FG_AHR_24Vo,158.123
$FG_AHR_10Vo,37.491
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,945.650,45.515,123.290,171.541,0.000,12.690,3976.463,2896.496,2210.743,2217.000,0.000,0.000
$DEVICE_MAMPS,1491.168,309.056,158.176,199.652,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6513.000,6523.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.423,9.590,0.000,0.000
$MEM,1152256,37,24432,80
$DATA_FILE_SIZE,25673,920
$CAP_FILE_SIZE,272686,0
$SDSIZE,3918848,3767680
$SDFILEDIR,1383,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.091,338.9,1
$GPS,231020,090008,7129.246,-15152.129,4,1.6,7,15.2