version: 67.00
glider: 233
mission: 7
dive: 181
start: 10 23 120 22 55 21
data:
$ID,233
$MISSION,7
$DIVE,181
$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,37.847919
$FG_AHR_24V,160.35416
$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
$GPS1,231020,224939,7126.297,-15147.622,67,0.9,68,15.2
$_CALLS,1
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-74.2
$GPS2,231020,225450,7126.326,-15147.717,3,0.9,6,15.2
$SPEED_LIMITS,0.173,0.304
$TGT_NAME,SHELF
$TGT_LATLONG,7130.000,-15200.000
$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,292.8,9920,-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,11.35,16386,-214.11,-0.83,0.00,491.2,493.1,489.4,199.6,2024.2,0.00,0.00,0,70.12,56.66,0.00,0.00,0.005,0.000,0.000,1455.25,1480.56,1429.94,199.75,2023.38,0,0,0,15.54,30.00,30.00
$GC,70.38,18983,-214.11,-0.83,-80.00,1456.7,1480.6,1432.8,199.6,2024.0,3.13,-2.29,11,166.19,65.12,19.60,3.91,0.005,0.307,0.133,3701.09,3705.88,3696.31,2435.56,585.56,0,0,0,15.56,15.43,15.59
$GC,274.82,1028,-214.11,-0.83,0.00,3703.3,3710.4,3696.3,2435.8,585.6,42.88,-16.33,51,281.42,0.00,0.00,3.56,0.000,0.000,0.048,3704.38,3710.94,3697.81,2435.62,2070.62,0,0,0,30.00,30.00,15.66
$GC,459.73,516,-214.11,-0.83,-80.00,3702.8,3710.4,3695.1,2436.1,2070.0,68.51,-12.29,88,471.24,0.00,0.00,4.01,0.000,0.000,0.117,3704.25,3711.12,3697.38,2435.38,585.69,0,0,0,30.00,30.00,15.55
$GC,490.18,1028,-214.11,-0.83,0.00,3703.4,3711.1,3695.8,2436.0,585.3,72.33,-12.70,94,500.71,0.00,0.00,3.56,0.000,0.000,0.043,3702.84,3711.06,3694.62,2435.31,2074.62,0,0,0,30.00,30.00,15.59
$GC,680.44,516,-214.11,-0.83,-80.00,3703.5,3711.0,3696.0,2434.5,2074.6,94.81,-11.72,132,691.79,0.00,0.00,3.99,0.000,0.000,0.117,3702.72,3710.50,3694.94,2436.12,585.81,0,0,0,30.00,30.00,15.66
$GC,710.75,1028,-214.11,-0.83,0.00,3702.5,3710.2,3694.7,2435.9,585.5,98.48,-12.07,138,721.43,0.00,0.00,3.53,0.000,0.000,0.045,3703.84,3711.69,3696.00,2435.44,2076.06,0,0,0,30.00,30.00,15.75
$GC,905.96,0,-214.11,-0.83,0.00,3703.8,3710.8,3696.8,2436.8,2075.9,119.79,-10.59,159,909.60,0.00,0.00,0.00,0.000,0.000,0.000,3703.00,3710.50,3695.50,2435.75,2075.69,0,0,0,30.00,30.00,30.00
$GC,1206.08,516,-214.11,-0.83,-80.00,3703.0,3710.1,3696.0,2437.2,2076.2,150.23,-10.27,189,1217.84,0.00,0.00,3.98,0.000,0.000,0.118,3702.81,3710.38,3695.25,2436.06,585.69,0,0,0,30.00,30.00,15.72
$GC,1256.62,1156,-214.11,-0.92,0.00,3703.4,3711.1,3695.7,2435.1,585.4,155.20,-10.05,199,1263.97,0.00,0.00,3.50,0.000,0.000,0.044,3703.00,3709.56,3696.44,2435.69,2075.06,0,0,0,30.00,30.00,15.80
$GC,1561.58,4773,-214.11,-1.01,-80.00,3703.8,3711.3,3696.3,2436.1,2076.4,181.75,-7.99,230,1573.62,0.00,0.38,3.96,0.000,0.094,0.115,3704.53,3711.69,3697.38,2380.81,586.50,0,0,0,30.00,15.81,15.78
$GC,1602.37,1028,-214.11,-1.01,0.00,3703.8,3710.8,3696.8,2381.6,586.6,186.05,-10.95,238,1609.27,0.00,0.00,3.48,0.000,0.000,0.045,3702.50,3709.38,3695.62,2380.50,2075.88,0,0,0,30.00,30.00,15.82
$GC,1906.88,516,-214.11,-1.01,-80.00,3702.9,3710.9,3694.9,2381.5,2076.0,216.09,-9.26,269,1914.40,0.00,0.00,3.96,0.000,0.000,0.119,3703.66,3711.19,3696.12,2380.44,584.38,0,0,0,30.00,30.00,15.80
$GC,1923.10,1028,-214.11,-1.01,0.00,3703.0,3710.6,3695.4,2381.1,584.3,217.67,-9.66,272,1930.04,0.00,0.00,3.48,0.000,0.000,0.046,3703.56,3711.38,3695.75,2380.19,2076.44,0,0,0,30.00,30.00,15.87
$GC,2227.65,516,-214.11,-1.01,-80.00,3702.5,3710.4,3694.6,2380.8,2076.2,246.28,-9.22,303,2235.17,0.00,0.00,3.95,0.000,0.000,0.119,3704.84,3712.44,3697.25,2380.62,586.50,0,0,0,30.00,30.00,15.82
$GC,2283.93,1028,-214.11,-1.01,0.00,3702.9,3710.9,3694.9,2380.5,586.3,251.96,-10.38,314,2290.82,0.00,0.00,3.47,0.000,0.000,0.045,3704.19,3712.31,3696.06,2379.81,2074.69,0,0,0,30.00,30.00,15.88
$GC,2589.16,516,-214.11,-1.01,-80.00,3703.2,3711.2,3695.2,2380.9,2075.4,279.37,-8.89,345,2595.95,0.00,0.00,3.95,0.000,0.000,0.119,3702.66,3709.56,3695.75,2381.62,585.38,0,0,0,30.00,30.00,15.83
$GC,2624.67,1028,-214.11,-1.01,0.00,3703.7,3711.3,3696.1,2381.3,585.7,282.87,-9.77,352,2631.60,0.00,0.00,3.46,0.000,0.000,0.046,3703.75,3711.44,3696.06,2381.19,2077.31,0,0,0,30.00,30.00,15.90
$STATE,2819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2819,begin apogee
$GC,2820.50,10243,0.00,-0.20,0.00,3703.3,3711.2,3695.5,2381.0,1913.0,300.68,-8.98,372,3007.34,182.54,1.59,0.12,1.489,0.167,0.158,2825.56,2858.75,2792.38,2589.88,1993.25,0,0,0,11.88,15.84,15.16
$STATE,3010,end apogee,CONTROL_FINISHED_OK
$STATE,3010,begin climb
$GC,3010.05,10503,214.11,0.83,80.00,2822.1,2855.6,2788.6,2591.2,1994.8,305.59,0.00,381,3206.68,187.38,1.83,3.67,1.397,0.117,0.119,1948.84,2001.50,1896.19,2842.88,3350.81,0,0,0,11.39,15.14,14.84
$GC,3215.69,5253,214.11,0.58,0.00,1945.7,1999.4,1891.9,2843.3,3348.6,290.20,13.96,420,3226.46,0.00,0.63,3.60,0.000,0.194,0.048,1945.88,2000.56,1891.19,2774.88,1927.06,0,0,0,30.00,14.92,14.99
$GC,3525.73,17030,214.11,0.51,-80.00,1935.9,1987.0,1884.8,2774.8,1927.3,258.04,9.83,452,3533.02,0.00,0.00,3.76,0.000,0.000,0.128,1934.81,1985.81,1883.81,2775.38,570.81,0,0,0,30.00,30.00,15.31
$GC,3582.01,21639,214.11,0.37,0.00,1934.6,1984.1,1885.1,2774.2,570.2,251.56,12.02,463,3588.75,0.00,0.36,3.38,0.000,0.176,0.044,1934.59,1983.38,1885.81,2725.19,1978.69,0,0,0,30.00,15.33,15.40
$GC,3886.89,10791,290.63,0.46,-80.00,1932.8,1982.2,1883.5,2724.2,1980.2,228.36,7.56,494,3963.25,67.45,0.26,3.92,1.337,0.107,0.123,1638.56,1687.25,1589.88,2759.44,570.06,0,0,0,11.59,15.52,15.15
$GC,4017.19,1028,290.63,0.46,0.00,1633.1,1677.9,1588.4,2757.8,570.1,215.70,10.58,520,4024.42,0.00,0.00,3.38,0.000,0.000,0.044,1633.66,1678.31,1589.00,2757.06,1977.69,0,0,0,30.00,30.00,15.37
$GC,4324.01,8742,358.74,0.55,-80.00,1626.8,1676.2,1577.2,2758.8,1977.8,189.34,7.82,551,4420.49,87.68,0.00,3.94,1.219,0.000,0.123,1361.03,1413.94,1308.12,2758.12,570.25,0,0,0,11.59,30.00,15.16
$GC,4454.47,11431,431.59,0.77,0.00,1358.5,1409.1,1307.8,2758.4,570.1,179.83,7.67,577,4557.37,95.00,0.44,3.39,1.170,0.094,0.043,1065.94,1122.00,1009.88,2830.44,1982.06,0,0,0,11.52,15.24,15.25
$GC,4854.48,644,431.59,0.83,-80.00,1059.2,1115.7,1002.7,2830.6,1982.4,142.48,9.11,627,4861.80,0.00,0.00,3.91,0.000,0.000,0.120,1059.34,1115.75,1002.94,2831.25,569.88,0,0,0,30.00,30.00,15.33
$GC,4953.97,3205,431.59,0.90,0.00,1057.8,1113.5,1002.0,2830.5,569.9,132.45,9.60,647,4961.63,0.00,0.17,3.39,0.000,0.126,0.043,1058.97,1114.69,1003.25,2862.44,1980.31,0,0,0,30.00,15.39,15.29
$GC,5260.06,16902,431.59,0.90,-80.00,1057.3,1112.9,1001.7,2863.0,1982.4,103.38,9.04,678,5267.57,0.00,0.00,3.85,0.000,0.000,0.119,1057.22,1112.69,1001.75,2864.62,569.75,0,0,0,30.00,30.00,15.47
$GC,5311.54,17414,431.59,0.90,0.00,1056.4,1111.4,1001.4,2864.3,569.3,98.13,10.23,688,5318.29,0.00,0.00,3.37,0.000,0.000,0.043,1056.88,1112.19,1001.56,2864.38,1980.81,0,0,0,30.00,30.00,15.39
$GC,5496.52,16902,431.59,0.90,-80.00,1056.6,1111.6,1001.6,2863.4,1981.7,81.08,8.83,725,5507.15,0.00,0.00,3.80,0.000,0.000,0.118,1056.31,1111.38,1001.25,2864.94,571.69,0,0,0,30.00,30.00,15.46
$GC,5537.06,17414,431.59,0.90,0.00,1056.1,1111.4,1000.8,2864.6,571.6,76.99,10.33,733,5544.37,0.00,0.00,3.32,0.000,0.000,0.042,1056.47,1111.38,1001.56,2862.81,1980.62,0,0,0,30.00,30.00,15.58
$GC,5723.39,10919,516.07,1.07,-80.00,1056.1,1111.0,1001.2,2864.2,1983.3,61.69,7.30,770,5856.77,123.89,0.22,3.93,1.147,0.111,0.122,721.69,753.81,689.56,2905.06,569.94,0,0,0,11.63,15.58,15.16
$GC,5925.62,11431,581.28,1.23,0.00,719.6,750.4,688.8,2905.2,569.9,44.96,7.92,810,6023.36,88.62,0.22,3.39,1.084,0.115,0.038,501.00,510.31,491.69,2943.06,1984.31,0,0,0,11.61,15.29,15.33
$GC,6201.69,10919,686.79,1.48,-80.00,496.3,506.5,486.2,2944.6,1983.0,24.84,6.63,865,6209.29,0.00,0.38,3.91,0.000,0.098,0.121,496.34,506.38,486.31,3001.88,571.94,0,0,0,30.00,15.30,15.28
$GC,6257.99,9350,686.79,1.41,0.00,496.0,505.6,486.3,3002.4,572.1,19.56,10.26,876,6264.99,0.00,0.00,3.39,0.000,0.000,0.038,496.00,505.56,486.44,3002.00,1981.50,0,0,0,30.00,30.00,15.31
$MODEM_MSG,CACST,6,1,20201024000845.847457,18,772,10,0170,0150,246,02,02,03,04,-1,-01,-01,1,3,0,0,150,-31.4,0.00,-100,3.00,-01,0.00,44,925,0025*0F
$MODEM_MSG,CACST,6,1,20201024001618.379052,18,105,-15,0106,0150,432,02,02,06,04,-1,-01,-01,1,3,0,0,150,-4.5,0.48,-100,2.52,-01,0.09,59,925,0025*1F
$MODEM_MSG,CACST,6,1,20201024002701.919408,18,84,-16,0135,0150,432,02,02,06,04,-1,-01,-01,1,3,0,0,150,-5.4,0.21,-100,2.79,-01,0.08,59,925,0025*26
$MODEM_MSG,CACST,6,1,20201024003240.370126,18,1282,19,0111,0150,07,01,01,02,03,-1,-01,-01,1,3,0,0,150,-13.0,0.09,-100,2.91,-01,-0.04,13,925,0025*21
$MODEM_MSG,CACST,6,1,20201024003531.322934,18,121,-3,0090,0150,171,00,00,04,02,-1,-01,-01,1,3,0,0,150,-3.8,0.55,-100,2.45,-01,0.00,24,925,0025*2A
$MODEM_MSG,CACST,6,1,20201024003846.340547,18,194,-19,0245,0150,216,01,01,07,03,-1,-01,-01,1,3,0,0,150,-12.6,0.04,-100,2.96,-01,0.00,31,925,0025*23
$GC,6443.26,10919,855.35,1.73,-80.00,495.1,504.8,485.5,3002.4,1982.6,6.92,4.62,913,6454.94,0.00,0.38,3.86,0.000,0.098,0.118,495.22,504.69,485.75,3063.81,570.06,0,0,0,30.00,15.44,15.42
$GC,6479.06,11303,1019.58,1.93,0.00,495.0,504.6,485.5,3063.7,570.1,4.95,4.76,920,6486.44,0.00,0.28,3.35,0.000,0.113,0.036,495.28,504.88,485.69,3111.62,1987.81,0,0,0,30.00,15.46,15.49
$STATE,6530,end climb,SURFACE_DEPTH_REACHED
$STATE,6530,begin surface coast
$FINISH,0.2,1.021130
$STATE,6565,end surface coast,CONTROL_FINISHED_OK
$STATE,6565,begin surface
$SM_CCo,6653.46,0.00,0.000,0,492.8,499.8,485.9,572.08
$SM_GC,2.65,0.00,19.58,0.16,0.000,0.072,0.092,492.8,499.8,485.9,198.9,2109.9,0,0,0,30.00,15.50,15.55
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7124.64,-15146.52,231020,205714
$TCM_TEMP,1.13
$SC_FREEKB,3820832
$PM_FREEKB_00,32666688
$PM_ACTIVECARD,0
$RAFOS_CLK,-1
$MODEM,6,1603499731,75.33060,-142.67570,31.323,45888.1
$MODEM,5,1603499560,76.41295,-142.47470,160.370,234942.2
$MODEM,4,1603499221,76.55490,-139.99944,121.919,178611.9
$MODEM,2,1603498578,75.67648,-146.03058,78.379,114825.3
$MODEM,0,1603498125,74.83892,-145.28152,225.847,330866.5
$RAFOS_FIX,7511.253906,-13825.241211,241020,000031,5,255,93.49
$HUMID,52.77
$TEMP,0.14
$INTERNAL_PRESSURE,8.14353
$24V_AH,14.48,93.465
$10V_AH,14.85,0.000
$FG_AHR_24Vo,160.663
$FG_AHR_10Vo,37.912
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,954.360,46.305,133.060,176.421,0.000,15.471,4025.517,2923.910,2251.731,2216.000,0.000,0.000
$DEVICE_MAMPS,1488.544,307.088,158.176,207.218,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6581.000,6590.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.422,9.607,0.000,0.000
$MEM,1152320,34,24428,80
$DATA_FILE_SIZE,25715,937
$CAP_FILE_SIZE,284786,0
$SDSIZE,3918848,3765376
$SDFILEDIR,1439,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.061,351.2,1
$GPS,241020,004801,7127.138,-15150.050,70,0.7,71,15.2