version: 67.00
glider: 233
mission: 7
dive: 177
start: 10 23 120 15 3 55
data:
$ID,233
$MISSION,7
$DIVE,177
$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,37.637405
$FG_AHR_24V,159.08452
$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
$GPS1,231020,145739,7127.601,-15149.626,41,1.1,42,15.2
$_CALLS,1
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-74.6
$GPS2,231020,150324,7127.619,-15149.642,3,1.1,5,15.2
$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,138.4,5883,-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,11.32,16386,-214.11,-0.83,0.00,493.4,494.1,492.8,196.6,2027.4,0.00,0.00,0,70.10,56.61,0.00,0.00,0.005,0.000,0.000,1454.75,1479.31,1430.19,196.75,2027.88,0,0,0,15.54,30.00,30.00
$GC,70.36,18467,-214.11,-0.83,0.00,1456.5,1479.2,1433.8,196.4,2028.1,3.10,-2.48,11,165.39,69.04,19.34,0.00,0.005,0.306,0.000,3698.28,3702.69,3693.88,2434.94,2027.56,0,0,0,15.58,15.38,30.00
$GC,343.70,388,-214.11,-0.76,80.00,3703.0,3711.1,3694.8,2436.4,2027.8,53.92,-15.19,65,351.17,0.00,0.00,3.42,0.000,0.000,0.131,3703.50,3711.31,3695.69,2434.25,3349.81,0,0,0,30.00,30.00,15.63
$GC,394.87,1028,-214.11,-0.76,0.00,3702.2,3708.9,3695.6,2435.4,3350.8,60.48,-12.24,75,401.33,0.00,0.00,3.24,0.000,0.000,0.046,3703.22,3711.12,3695.31,2434.88,2024.44,0,0,0,30.00,30.00,15.66
$GC,580.31,516,-214.11,-0.76,-80.00,3702.7,3710.1,3695.2,2436.0,2022.8,83.65,-12.23,112,591.64,0.00,0.00,3.85,0.000,0.000,0.125,3703.53,3711.62,3695.44,2435.56,585.38,0,0,0,30.00,30.00,15.68
$GC,620.67,1028,-214.11,-0.76,0.00,3703.2,3710.6,3695.8,2435.4,585.3,88.56,-12.05,120,627.12,0.00,0.00,3.50,0.000,0.000,0.043,3705.62,3713.25,3698.00,2434.56,2074.31,0,0,0,30.00,30.00,15.64
$GC,805.83,516,-214.11,-0.76,-80.00,3702.2,3710.2,3694.2,2435.9,2074.6,108.86,-10.94,149,817.38,0.00,0.00,3.95,0.000,0.000,0.118,3703.41,3711.19,3695.62,2435.81,586.25,0,0,0,30.00,30.00,15.67
$GC,836.08,1028,-214.11,-0.76,0.00,3703.6,3710.8,3696.4,2435.0,586.9,112.27,-11.10,155,843.04,0.00,0.00,3.52,0.000,0.000,0.046,3703.34,3711.38,3695.31,2435.69,2075.44,0,0,0,30.00,30.00,15.73
$GC,1140.64,516,-214.11,-0.76,-80.00,3702.4,3710.1,3694.8,2435.8,2075.2,143.98,-9.52,186,1148.16,0.00,0.00,3.94,0.000,0.000,0.118,3703.66,3711.75,3695.56,2435.62,586.00,0,0,0,30.00,30.00,15.68
$GC,1170.31,1028,-214.11,-0.76,0.00,3703.4,3711.1,3695.6,2434.2,586.7,146.94,-9.74,192,1178.36,0.00,0.00,3.49,0.000,0.000,0.047,3704.12,3711.81,3696.44,2436.50,2076.12,0,0,0,30.00,30.00,15.71
$GC,1477.16,644,-214.11,-0.84,-80.00,3703.8,3711.6,3695.9,2435.8,2076.6,175.43,-8.83,223,1484.11,0.00,0.00,3.91,0.000,0.000,0.117,3703.69,3711.44,3695.94,2435.56,584.38,0,0,0,30.00,30.00,15.72
$GC,1536.33,5253,-214.11,-0.96,0.00,3703.2,3710.7,3695.6,2435.8,584.2,181.03,-9.29,235,1544.39,0.00,0.29,3.49,0.000,0.103,0.045,3703.44,3711.12,3695.75,2392.81,2075.62,0,0,0,30.00,15.79,15.84
$GC,1843.10,260,-214.11,-0.96,80.00,3703.0,3710.6,3695.4,2393.7,2076.7,211.64,-9.48,266,1850.33,0.00,0.00,3.24,0.000,0.000,0.132,3702.03,3710.75,3693.31,2392.75,3352.50,0,0,0,30.00,30.00,15.79
$GC,1878.90,1028,-214.11,-0.96,0.00,3702.9,3710.8,3695.1,2392.5,3351.1,215.08,-9.60,273,1884.93,0.00,0.00,3.13,0.000,0.000,0.045,3703.06,3710.81,3695.31,2392.06,2022.12,0,0,0,30.00,30.00,15.86
$GC,2184.06,516,-214.11,-0.96,-80.00,3702.3,3710.1,3694.6,2392.8,2021.9,241.66,-8.31,304,2191.12,0.00,0.00,3.74,0.000,0.000,0.125,3704.09,3712.69,3695.50,2391.81,583.38,0,0,0,30.00,30.00,15.82
$GC,2249.80,1028,-214.11,-0.96,0.00,3704.1,3712.9,3695.2,2392.2,583.3,247.83,-9.34,317,2256.83,0.00,0.00,3.48,0.000,0.000,0.043,3704.03,3713.06,3695.00,2391.69,2074.94,0,0,0,30.00,30.00,15.89
$GC,2555.10,0,-214.11,-0.96,0.00,3701.5,3709.2,3693.8,2393.0,2076.2,273.28,-8.29,348,2558.00,0.00,0.00,0.00,0.000,0.000,0.000,3702.34,3710.25,3694.44,2392.56,2076.06,0,0,0,30.00,30.00,30.00
$GC,2855.07,516,-214.11,-0.96,-80.00,3703.4,3711.4,3695.5,2393.3,2076.4,298.87,-8.39,378,2861.93,0.00,0.00,3.90,0.000,0.000,0.118,3702.69,3710.38,3695.00,2392.88,586.56,0,0,0,30.00,30.00,15.86
$STATE,2871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2871,begin apogee
$GC,2875.75,10243,0.00,-0.20,0.00,3703.0,3711.2,3694.8,2393.1,1980.6,300.15,-8.30,381,3063.81,183.59,1.42,0.11,1.479,0.170,0.177,2823.34,2855.50,2791.19,2592.69,1918.31,0,0,0,11.82,15.84,15.16
$STATE,3066,end apogee,CONTROL_FINISHED_OK
$STATE,3066,begin climb
$GC,3066.36,10503,214.11,0.83,80.00,2822.2,2854.8,2789.5,2591.3,1918.2,306.14,0.00,390,3267.72,188.38,1.80,3.88,1.388,0.118,0.117,1950.78,2002.19,1899.38,2843.62,3350.75,0,0,0,11.45,15.15,14.88
$GC,3326.73,21639,214.11,0.58,0.00,1941.0,1993.9,1888.0,2844.3,3350.4,283.68,14.48,440,3337.53,0.00,0.62,3.60,0.000,0.199,0.049,1940.75,1993.25,1888.25,2777.62,1927.88,0,0,0,30.00,15.03,15.09
$GC,3637.26,17030,214.11,0.52,-80.00,1936.1,1987.2,1884.9,2777.0,1927.7,251.96,9.67,472,3644.72,0.00,0.00,3.71,0.000,0.000,0.128,1937.41,1987.00,1887.81,2775.50,570.44,0,0,0,30.00,30.00,15.33
$GC,3702.96,21639,214.11,0.37,0.00,1933.5,1981.8,1885.2,2777.6,570.1,244.21,12.22,485,3710.45,0.00,0.37,3.37,0.000,0.180,0.044,1933.97,1982.44,1885.50,2723.81,1978.19,0,0,0,30.00,15.35,15.41
$GC,4007.99,10791,308.62,0.49,-80.00,1932.8,1981.8,1883.8,2724.2,1980.5,221.15,6.98,516,4101.29,83.82,0.29,3.90,1.329,0.104,0.123,1566.88,1617.31,1516.44,2763.44,569.94,0,0,0,11.57,15.49,15.16
$GC,4139.60,1028,308.62,0.49,0.00,1559.9,1606.2,1513.6,2764.5,570.1,208.75,10.14,542,4146.95,0.00,0.00,3.41,0.000,0.000,0.044,1558.69,1605.25,1512.12,2763.19,1979.06,0,0,0,30.00,30.00,15.27
$GC,4444.56,10919,379.13,0.64,-80.00,1553.3,1603.2,1503.4,2763.7,1980.6,183.07,7.75,573,4543.99,90.99,0.21,3.91,1.211,0.113,0.124,1279.53,1333.25,1225.81,2801.25,570.62,0,0,0,11.51,15.42,15.04
$GC,4592.39,1028,379.13,0.64,0.00,1275.3,1327.2,1223.5,2802.5,570.5,169.78,9.81,602,4599.62,0.00,0.00,3.39,0.000,0.000,0.043,1275.16,1326.88,1223.44,2802.50,1978.94,0,0,0,30.00,30.00,15.23
$GC,4897.29,10919,458.86,0.82,-80.00,1271.2,1325.3,1217.2,2803.2,1978.9,145.60,7.45,633,5011.01,105.41,0.23,3.91,1.174,0.112,0.123,954.84,1002.00,907.69,2844.38,571.44,0,0,0,11.62,15.41,15.09
$GC,5089.24,1156,458.86,0.89,0.00,951.6,996.6,906.6,2843.5,570.9,127.56,10.35,671,5096.72,0.00,0.00,3.41,0.000,0.000,0.044,951.47,996.81,906.12,2845.06,1979.88,0,0,0,30.00,30.00,15.18
$GC,5394.97,2693,458.86,0.97,-80.00,949.2,996.2,902.2,2844.2,1981.4,101.04,8.49,702,5401.83,0.00,0.20,3.82,0.000,0.117,0.123,949.84,996.44,903.25,2880.94,572.00,0,0,0,30.00,15.42,15.30
$GC,5460.04,1028,458.86,0.97,0.00,948.6,995.1,902.1,2881.7,571.9,93.75,11.74,715,5466.52,0.00,0.00,3.34,0.000,0.000,0.045,948.75,995.19,902.31,2881.38,1971.62,0,0,0,30.00,30.00,15.43
$GC,5645.84,516,458.86,0.97,-80.00,948.5,995.1,901.9,2880.1,1981.5,75.69,9.37,752,5653.23,0.00,0.00,3.83,0.000,0.000,0.122,948.59,995.06,902.12,2881.31,570.12,0,0,0,30.00,30.00,15.48
$GC,5687.18,1028,458.86,0.97,0.00,948.0,994.4,901.6,2881.1,569.6,71.75,9.51,760,5694.10,0.00,0.00,3.36,0.000,0.000,0.045,947.59,993.81,901.38,2880.69,1979.19,0,0,0,30.00,30.00,15.54
$MODEM_MSG,CACST,6,1,20201023160436.471132,18,80,-23,0119,0150,402,02,02,07,02,-1,-01,-01,1,3,0,0,150,-4.8,0.20,-100,2.80,-01,-0.01,52,925,0025*07
$MODEM_MSG,CACST,6,1,20201023161201.255091,18,127,08,0171,0150,246,02,02,02,04,-1,-01,-01,1,3,0,0,150,-25.4,0.02,-100,2.98,-01,0.00,32,925,0025*0D
$MODEM_MSG,CACST,6,1,20201023161924.262987,18,929,17,0103,0150,07,01,01,02,03,-1,-01,-01,1,3,0,0,150,-12.5,0.04,-100,2.96,-01,-0.07,13,925,0025*12
$MODEM_MSG,CACST,6,1,20201023162717.331192,18,165,-13,0336,0150,432,02,02,06,04,-1,-01,-01,1,3,0,0,150,-9.3,0.43,-100,2.57,-01,0.04,57,925,0025*17
$MODEM_MSG,CACST,6,1,20201023163352.532067,18,172,-19,0223,0150,432,02,02,07,04,-1,-01,-01,1,3,0,0,150,-38.0,0.37,-100,2.63,-01,0.00,58,925,0025*2C
$GC,5873.09,516,458.86,0.97,-80.00,947.8,994.6,901.1,2881.1,1981.7,55.86,8.45,797,5879.90,0.00,0.00,3.81,0.000,0.000,0.121,948.09,994.44,901.75,2879.62,569.94,0,0,0,30.00,30.00,15.53
$GC,5918.89,1028,458.86,0.97,0.00,947.5,994.1,900.8,2880.5,569.9,51.68,9.31,806,5926.19,0.00,0.00,3.32,0.000,0.000,0.044,947.19,993.56,900.81,2881.31,1980.19,0,0,0,30.00,30.00,15.61
$GC,6105.20,10403,599.95,1.28,0.00,946.9,993.9,899.8,2880.8,1982.1,40.00,5.49,843,6299.02,189.01,0.46,0.00,1.115,0.097,0.000,501.38,510.19,492.56,2957.56,1981.06,0,0,0,11.71,15.62,30.00
$GC,6478.05,10919,705.02,1.54,-80.00,496.4,506.1,486.8,2958.2,1982.3,12.99,6.64,917,6488.90,0.00,0.38,3.85,0.000,0.099,0.124,496.47,505.94,487.00,3019.50,569.88,0,0,0,30.00,15.34,15.24
$STATE,6633,end climb,SURFACE_DEPTH_REACHED
$STATE,6633,begin surface coast
$FINISH,0.7,1.022565
$STATE,6652,end surface coast,CONTROL_FINISHED_OK
$STATE,6652,begin surface
$SM_CCo,6742.46,0.00,0.000,0,493.2,500.2,486.1,572.00
$SM_GC,2.31,0.00,18.91,3.57,0.000,0.070,0.046,493.2,500.2,486.1,200.5,2082.9,0,0,0,30.00,15.46,15.51
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7129.05,-15155.25,231020,130206
$TCM_TEMP,1.14
$SC_FREEKB,3822112
$PM_FREEKB_00,33036352
$PM_ACTIVECARD,0
$RAFOS_CLK,-2
$MODEM,5,1603470832,76.41295,-142.47470,232.532,340659.5
$MODEM,4,1603470437,76.55490,-139.99944,137.331,201190.2
$MODEM,2,1603469964,75.67648,-146.03058,264.263,387145.3
$MODEM,1,1603469521,75.02295,-144.31340,121.255,177638.7
$RAFOS_FIX,7426.437500,-13603.875000,231020,161652,4,255,106.09
$HUMID,52.81
$TEMP,0.02
$INTERNAL_PRESSURE,8.13963
$24V_AH,14.49,91.986
$10V_AH,14.81,0.000
$FG_AHR_24Vo,159.395
$FG_AHR_10Vo,37.702
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,966.835,44.530,122.720,204.103,0.000,14.377,4074.175,2984.083,2272.472,2218.000,0.000,0.000
$DEVICE_MAMPS,1479.360,306.104,177.200,197.331,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6668.000,6677.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.364,9.623,0.000,0.000
$MEM,1152292,34,24456,80
$DATA_FILE_SIZE,28870,952
$CAP_FILE_SIZE,274954,0
$SDSIZE,3918848,3766528
$SDFILEDIR,1411,1
$ERRORS,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.032, 17.7,1
$GPS,231020,165709,7126.912,-15148.704,17,1.1,17,15.2