version: 67.00
glider: 233
mission: 7
dive: 175
start: 10 23 120 11 7 16
data:
$ID,233
$MISSION,7
$DIVE,175
$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,37.532387
$FG_AHR_24V,158.45091
$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
$GPS1,231020,110135,7128.736,-15151.687,3,1.4,6,15.2
$_CALLS,1
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-74.4
$GPS2,231020,110645,7128.755,-15151.762,2,1.3,4,15.2
$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,136.0,8328,-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,11.31,16386,-214.11,-0.83,0.00,492.4,492.9,491.8,198.9,2031.8,0.00,0.00,0,75.18,61.67,0.00,0.00,0.005,0.000,0.000,1538.56,1558.12,1519.00,199.25,2032.25,0,0,0,15.53,30.00,30.00
$GC,75.44,18727,-214.11,-0.83,80.00,1540.2,1557.6,1522.8,199.0,2031.6,3.24,-2.58,12,166.27,61.16,19.50,3.43,0.005,0.305,0.142,3700.75,3704.81,3696.69,2434.44,3348.62,0,0,0,15.54,15.41,15.57
$GC,205.24,3205,-214.11,-0.72,0.00,3701.4,3706.4,3696.4,2435.6,3348.9,30.08,-20.69,37,212.24,0.00,0.19,3.26,0.000,0.193,0.050,3702.47,3707.31,3697.62,2465.25,2027.12,0,0,0,30.00,15.57,15.56
$GC,391.22,516,-214.11,-0.72,-80.00,3702.5,3708.4,3696.5,2464.2,2026.7,59.11,-12.11,74,402.01,0.00,0.00,3.89,0.000,0.000,0.130,3702.56,3708.88,3696.25,2464.75,585.25,0,0,0,30.00,30.00,15.64
$GC,451.00,1156,-214.11,-0.80,0.00,3703.0,3709.2,3696.7,2464.9,585.2,65.74,-10.13,86,461.48,0.00,0.00,3.53,0.000,0.000,0.047,3703.28,3709.25,3697.31,2465.12,2077.38,0,0,0,30.00,30.00,15.70
$GC,641.14,4741,-214.11,-0.86,-80.00,3702.3,3708.9,3695.8,2466.0,2076.9,84.74,-10.71,124,652.67,0.00,0.32,3.97,0.000,0.099,0.119,3703.69,3709.31,3698.06,2415.62,585.38,0,0,0,30.00,15.72,15.59
$GC,681.43,1028,-214.11,-0.86,0.00,3703.0,3709.4,3696.5,2416.6,585.7,90.02,-13.76,132,691.88,0.00,0.00,3.53,0.000,0.000,0.048,3703.25,3709.75,3696.75,2416.94,2073.12,0,0,0,30.00,30.00,15.64
$GC,876.10,260,-214.11,-0.86,80.00,3702.2,3708.8,3695.6,2416.8,2073.2,116.65,-13.29,159,883.33,0.00,0.00,3.28,0.000,0.000,0.131,3703.88,3709.75,3698.00,2416.19,3348.50,0,0,0,30.00,30.00,15.71
$GC,902.03,1028,-214.11,-0.86,0.00,3701.9,3708.6,3695.2,2417.5,3348.9,119.99,-13.30,164,908.94,0.00,0.00,3.18,0.000,0.000,0.046,3702.62,3709.44,3695.81,2417.00,2024.44,0,0,0,30.00,30.00,15.70
$GC,1206.58,516,-214.11,-0.86,-80.00,3702.4,3709.4,3695.4,2416.9,2024.2,155.11,-11.43,195,1214.12,0.00,0.00,3.84,0.000,0.000,0.128,3703.47,3709.19,3697.75,2417.81,585.94,0,0,0,30.00,30.00,15.74
$GC,1256.28,1028,-214.11,-0.86,0.00,3702.5,3709.1,3696.0,2417.2,585.7,161.02,-11.36,205,1264.41,0.00,0.00,3.47,0.000,0.000,0.048,3703.00,3710.06,3695.94,2416.62,2076.62,0,0,0,30.00,30.00,15.78
$GC,1563.10,0,-214.11,-0.86,0.00,3702.7,3709.0,3696.4,2417.6,2076.2,190.28,-8.95,236,1567.15,0.00,0.00,0.00,0.000,0.000,0.000,3702.28,3709.62,3694.94,2417.25,2077.06,0,0,0,30.00,30.00,30.00
$GC,1863.05,644,-214.11,-0.92,-80.00,3702.8,3709.3,3696.2,2415.9,2075.6,215.93,-8.18,266,1869.91,0.00,0.00,3.93,0.000,0.000,0.121,3702.88,3708.38,3697.38,2417.38,585.62,0,0,0,30.00,30.00,15.72
$GC,1938.73,1156,-214.11,-1.00,0.00,3702.5,3708.6,3696.4,2415.8,585.4,222.35,-8.42,281,1945.92,0.00,0.00,3.48,0.000,0.000,0.047,3704.09,3709.94,3698.25,2415.62,2076.69,0,0,0,30.00,30.00,15.87
$GC,2243.56,4741,-214.11,-1.08,-80.00,3702.2,3708.8,3695.7,2417.3,2076.6,246.09,-8.17,312,2255.58,0.00,0.28,3.92,0.000,0.108,0.119,3702.84,3710.06,3695.62,2364.69,585.62,0,0,0,30.00,15.87,15.81
$GC,2324.28,1028,-214.11,-1.08,0.00,3702.4,3708.7,3696.1,2364.3,585.6,255.06,-11.63,328,2331.25,0.00,0.00,3.45,0.000,0.000,0.047,3702.34,3709.38,3695.31,2364.06,2075.12,0,0,0,30.00,30.00,15.89
$GC,2628.85,516,-214.11,-1.08,-80.00,3702.5,3708.5,3696.4,2364.1,2074.6,286.90,-10.50,359,2636.38,0.00,0.00,3.93,0.000,0.000,0.122,3701.97,3708.88,3695.06,2363.19,584.56,0,0,0,30.00,30.00,15.84
$GC,2658.55,1028,-214.11,-1.08,0.00,3702.3,3709.0,3695.6,2364.7,584.5,290.31,-10.73,365,2666.59,0.00,0.00,3.48,0.000,0.000,0.047,3703.56,3709.19,3697.94,2363.25,2073.94,0,0,0,30.00,30.00,15.91
$STATE,2755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2755,begin apogee
$GC,2756.58,10243,0.00,-0.20,0.00,3702.3,3708.8,3695.9,2364.6,1915.5,300.09,-10.00,375,2944.16,182.61,1.71,0.12,1.487,0.171,0.167,2823.84,2853.81,2793.88,2590.50,1992.19,0,0,0,11.86,15.84,15.16
$STATE,2947,end apogee,CONTROL_FINISHED_OK
$STATE,2947,begin climb
$GC,2947.30,10503,214.11,0.83,80.00,2821.5,2853.2,2789.8,2591.4,1991.9,306.37,0.00,384,3148.05,188.08,1.83,3.67,1.401,0.117,0.119,1950.72,2002.12,1899.31,2843.12,3351.12,0,0,0,11.37,15.16,14.87
$GC,3176.35,21639,214.11,0.58,0.00,1942.4,1995.2,1889.6,2842.7,3350.9,288.91,14.38,428,3187.87,0.00,0.61,3.64,0.000,0.195,0.051,1942.16,1993.44,1890.88,2777.31,1925.94,0,0,0,30.00,14.98,15.03
$GC,3488.25,17030,214.11,0.52,-80.00,1935.4,1986.2,1884.6,2777.5,1926.4,257.05,9.96,460,3495.72,0.00,0.00,3.72,0.000,0.000,0.130,1935.59,1986.25,1884.94,2776.25,571.50,0,0,0,30.00,30.00,15.29
$GC,3574.06,21639,214.11,0.38,0.00,1932.8,1980.5,1885.0,2777.2,570.8,246.99,11.53,477,3581.45,0.00,0.36,3.38,0.000,0.177,0.046,1932.03,1979.81,1884.25,2725.69,1979.88,0,0,0,30.00,15.34,15.40
$GC,3878.98,10791,312.74,0.50,-80.00,1932.6,1980.5,1884.6,2724.8,1981.8,224.87,6.85,508,3976.45,87.99,0.31,3.94,1.343,0.103,0.123,1547.97,1595.75,1500.19,2766.38,570.56,0,0,0,11.77,15.49,15.14
$GC,4040.43,1028,312.74,0.50,0.00,1542.5,1586.8,1498.1,2766.9,570.4,209.61,9.94,540,4047.68,0.00,0.00,3.41,0.000,0.000,0.045,1543.44,1587.75,1499.12,2766.88,1978.06,0,0,0,30.00,30.00,15.28
$GC,4345.34,10919,380.13,0.64,-80.00,1535.9,1585.7,1486.1,2765.7,1979.4,184.40,7.85,571,4432.45,79.60,0.19,3.93,1.233,0.116,0.123,1274.72,1327.62,1221.81,2801.69,571.88,0,0,0,11.52,15.43,15.11
$GC,4479.59,1028,380.13,0.64,0.00,1271.2,1321.8,1220.7,2802.9,571.5,172.30,9.46,598,4487.16,0.00,0.00,3.39,0.000,0.000,0.044,1271.53,1322.00,1221.06,2801.06,1978.31,0,0,0,30.00,30.00,15.21
$GC,4786.48,644,380.13,0.72,-80.00,1267.6,1321.2,1214.0,2801.9,1980.5,147.71,8.13,629,4793.27,0.00,0.00,3.79,0.000,0.000,0.121,1267.88,1320.75,1215.00,2802.44,569.81,0,0,0,30.00,30.00,15.39
$GC,4852.13,19591,380.13,0.80,0.00,1266.3,1319.2,1213.4,2802.1,570.1,141.95,8.83,642,4858.97,0.00,0.19,3.35,0.000,0.118,0.044,1265.53,1318.56,1212.50,2837.81,1981.62,0,0,0,30.00,15.45,15.48
$GC,5157.27,8742,448.80,0.88,-80.00,1265.7,1318.4,1213.0,2837.8,1983.1,116.82,7.81,673,5255.91,91.82,0.00,3.90,1.192,0.000,0.123,995.22,1042.94,947.50,2838.06,572.19,0,0,0,11.68,30.00,15.21
$GC,5324.15,3205,448.80,0.98,0.00,992.8,1038.4,947.1,2838.1,571.8,102.69,9.05,706,5331.62,0.00,0.25,3.38,0.000,0.108,0.045,993.06,1038.38,947.75,2880.12,1978.81,0,0,0,30.00,15.30,15.32
$GC,5629.26,516,448.80,0.98,-80.00,990.5,1038.3,942.8,2882.1,1982.1,73.52,9.07,764,5636.76,0.00,0.00,3.84,0.000,0.000,0.122,990.56,1038.00,943.12,2881.19,571.19,0,0,0,30.00,30.00,15.39
$MODEM_MSG,CACST,6,1,20201023120528.688566,18,254,-18,0109,0150,171,01,01,07,01,-1,-01,-01,1,3,0,0,150,-100.0,0.01,-100,2.99,-01,0.00,22,925,0025*1C
$MODEM_MSG,CACST,6,1,20201023121316.945843,18,369,07,0338,0150,07,01,01,03,03,-1,-01,-01,1,3,0,0,150,-12.9,0.01,-100,2.99,-01,0.00,13,925,0025*3C
$MODEM_MSG,CACST,6,1,20201023122054.243609,18,729,16,0126,0150,246,02,02,02,04,-1,-01,-01,1,3,0,0,150,-32.8,0.07,-100,2.93,-01,-0.08,47,925,0025*2F
$MODEM_MSG,CACST,6,1,20201023122700.877543,18,444,-9,0147,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,-22.2,0.02,-100,2.98,-01,0.00,32,925,0025*1A
$MODEM_MSG,CACST,6,1,20201023123440.707764,18,140,09,0162,0150,171,00,00,02,01,-1,-01,-01,1,3,0,0,150,-2.1,0.01,-100,2.99,-01,0.00,23,925,0025*33
$GC,5700.78,1028,448.80,0.98,0.00,989.6,1036.8,942.4,2881.7,570.9,66.33,10.28,778,5707.48,0.00,0.00,3.34,0.000,0.000,0.044,989.78,1036.94,942.62,2881.81,1981.00,0,0,0,30.00,30.00,15.53
$GC,5885.77,10919,532.95,1.15,-80.00,988.7,1036.2,941.2,2882.4,1982.5,50.85,7.31,815,6025.09,131.74,0.23,3.93,1.136,0.111,0.124,653.38,677.38,629.38,2923.44,571.75,0,0,0,11.49,15.58,15.17
$GC,6093.34,11431,635.75,1.39,0.00,651.3,674.1,628.6,2924.1,571.2,35.05,6.72,856,6166.26,65.32,0.37,3.40,1.075,0.098,0.044,501.06,508.88,493.25,2983.12,1983.50,0,0,0,11.50,15.29,15.23
$GC,6345.33,10919,705.22,1.54,-80.00,497.0,505.4,488.6,2982.6,1984.4,14.75,7.78,906,6356.76,0.00,0.20,3.89,0.000,0.115,0.123,497.28,505.31,489.25,3019.25,570.00,0,0,0,30.00,15.36,15.33
$GC,6385.71,9222,705.22,1.54,0.00,497.0,505.0,488.9,3019.7,569.9,10.92,9.44,914,6392.63,0.00,0.00,3.38,0.000,0.000,0.044,497.25,505.25,489.25,3019.94,1981.06,0,0,0,30.00,30.00,15.41
$STATE,6557,end climb,SURFACE_DEPTH_REACHED
$STATE,6557,begin surface coast
$FINISH,0.3,1.012404
$STATE,6601,end surface coast,CONTROL_FINISHED_OK
$STATE,6601,begin surface
$SM_CCo,6687.46,0.00,0.000,0,493.9,501.6,486.2,571.82
$SM_GC,2.11,0.00,18.97,0.18,0.000,0.072,0.097,493.9,501.6,486.2,197.5,2100.0,0,0,0,30.00,15.50,15.54
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7130.85,-15152.06,231020,090625
$TCM_TEMP,1.07
$SC_FREEKB,3822752
$PM_FREEKB_00,33223360
$PM_ACTIVECARD,0
$RAFOS_CLK,-2
$MODEM,5,1603456480,76.41295,-142.47470,280.708,411236.9
$MODEM,4,1603456020,76.55490,-139.99944,120.878,177085.6
$MODEM,3,1603455654,75.26195,-145.59448,54.244,79466.9
$MODEM,1,1603455196,75.02295,-144.31340,196.946,288525.7
$MODEM,0,1603454728,74.83892,-145.28152,28.689,42028.8
$RAFOS_FIX,7440.792480,-14916.101562,231020,121240,5,255,69.08
$HUMID,52.89
$TEMP,-0.05
$INTERNAL_PRESSURE,8.13749
$24V_AH,14.48,91.243
$10V_AH,14.85,0.000
$FG_AHR_24Vo,158.759
$FG_AHR_10Vo,37.596
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,949.970,45.515,123.690,176.494,0.000,13.397,4087.098,2918.181,2286.170,2217.000,0.000,0.000
$DEVICE_MAMPS,1486.576,304.792,167.360,201.585,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6615.000,6626.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.438,9.624,0.000,0.000
$MEM,1152300,35,24428,80
$DATA_FILE_SIZE,28909,957
$CAP_FILE_SIZE,276402,0
$SDSIZE,3918848,3767104
$SDFILEDIR,1397,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.086,352.8,1
$GPS,231020,125939,7128.203,-15150.688,18,1.0,19,15.2