version: 67.00
glider: 233
mission: 7
dive: 183
start: 10 24 120 2 52 0
data:
$ID,233
$MISSION,7
$DIVE,183
$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,37.953594
$FG_AHR_24V,160.99274
$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
$GPS1,241020,024540,7128.042,-15152.667,2,1.1,5,15.2
$_CALLS,1
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-75.3
$GPS2,241020,025129,7128.098,-15152.841,3,1.8,4,15.2
$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,284.9,5487,-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,11.41,16386,-214.11,-0.83,0.00,491.0,492.8,489.2,200.2,2032.3,0.00,0.00,0,59.89,45.68,0.00,0.00,0.005,0.000,0.000,1283.47,1311.69,1255.25,200.31,2032.88,0,0,0,15.51,30.00,30.00
$GC,60.19,18983,-214.11,-0.83,-80.00,1283.7,1311.4,1255.9,200.2,2032.2,3.21,-3.09,9,166.21,75.60,19.43,3.93,0.005,0.303,0.134,3699.62,3704.38,3694.88,2437.44,584.62,0,0,0,15.52,15.36,15.57
$GC,310.00,1028,-214.11,-0.83,0.00,3702.6,3709.6,3695.6,2435.9,584.2,47.24,-16.91,58,316.51,0.00,0.00,3.55,0.000,0.000,0.049,3702.09,3709.50,3694.69,2436.19,2068.44,0,0,0,30.00,30.00,15.65
$GC,495.55,0,-214.11,-0.83,0.00,3703.0,3710.1,3695.8,2436.2,2071.6,72.36,-12.12,95,500.53,0.00,0.00,0.00,0.000,0.000,0.000,3703.41,3710.25,3696.56,2435.94,2070.94,0,0,0,30.00,30.00,30.00
$GC,680.46,516,-214.11,-0.83,-80.00,3703.2,3711.1,3695.4,2435.6,2071.6,93.77,-11.84,132,687.87,0.00,0.00,3.96,0.000,0.000,0.118,3702.97,3710.38,3695.56,2434.94,586.38,0,0,0,30.00,30.00,15.68
$GC,726.58,1028,-214.11,-0.83,0.00,3703.3,3711.1,3695.6,2436.9,586.5,99.02,-11.35,141,737.36,0.00,0.00,3.52,0.000,0.000,0.042,3702.97,3710.19,3695.75,2435.75,2074.31,0,0,0,30.00,30.00,15.70
$GC,917.16,516,-214.11,-0.83,-80.00,3702.8,3710.0,3695.6,2436.0,2074.2,119.76,-10.49,161,928.89,0.00,0.00,3.95,0.000,0.000,0.117,3703.00,3710.38,3695.62,2436.06,584.50,0,0,0,30.00,30.00,15.63
$GC,951.04,1028,-214.11,-0.83,0.00,3702.5,3709.8,3695.1,2437.3,584.4,123.65,-10.90,168,959.11,0.00,0.00,3.53,0.000,0.000,0.046,3704.44,3711.38,3697.50,2434.62,2075.12,0,0,0,30.00,30.00,15.78
$GC,1257.80,644,-214.11,-0.89,-80.00,3702.6,3709.8,3695.4,2437.2,2075.2,155.34,-9.85,199,1264.66,0.00,0.00,3.94,0.000,0.000,0.116,3703.09,3710.75,3695.44,2435.06,585.19,0,0,0,30.00,30.00,15.76
$GC,1303.32,5253,-214.11,-1.00,0.00,3702.7,3710.9,3694.4,2436.8,585.1,159.97,-10.21,208,1310.44,0.00,0.34,3.52,0.000,0.098,0.046,3702.88,3710.81,3694.94,2386.50,2074.25,0,0,0,30.00,15.78,15.81
$GC,1608.67,516,-214.11,-1.00,-80.00,3703.2,3710.4,3696.1,2385.2,2074.9,192.92,-9.89,239,1620.58,0.00,0.00,3.97,0.000,0.000,0.119,3702.84,3709.69,3696.00,2387.06,586.19,0,0,0,30.00,30.00,15.70
$GC,1639.28,1028,-214.11,-1.00,0.00,3703.3,3710.6,3696.1,2385.8,586.6,196.27,-10.31,245,1646.23,0.00,0.00,3.49,0.000,0.000,0.048,3703.09,3710.81,3695.38,2385.62,2075.75,0,0,0,30.00,30.00,15.84
$GC,1943.83,516,-214.11,-1.00,-80.00,3702.5,3709.7,3695.4,2386.4,2076.1,225.68,-9.25,276,1951.36,0.00,0.00,3.93,0.000,0.000,0.119,3703.41,3710.94,3695.88,2385.75,585.38,0,0,0,30.00,30.00,15.80
$GC,1969.95,1028,-214.11,-1.00,0.00,3702.9,3710.2,3695.6,2385.7,585.0,228.32,-9.75,281,1977.02,0.00,0.00,3.49,0.000,0.000,0.047,3702.75,3710.94,3694.56,2386.06,2074.25,0,0,0,30.00,30.00,15.87
$GC,2275.09,516,-214.11,-1.00,-80.00,3702.2,3709.9,3694.4,2386.9,2075.1,256.14,-9.02,312,2282.20,0.00,0.00,3.91,0.000,0.000,0.119,3702.12,3708.75,3695.50,2386.50,585.25,0,0,0,30.00,30.00,15.82
$GC,2310.97,1028,-214.11,-1.00,0.00,3702.9,3710.7,3695.1,2385.9,585.9,259.63,-9.77,319,2317.93,0.00,0.00,3.46,0.000,0.000,0.047,3702.59,3710.75,3694.44,2385.50,2076.56,0,0,0,30.00,30.00,15.89
$GC,2616.13,516,-214.11,-1.00,-80.00,3702.6,3709.9,3695.4,2385.5,2075.4,286.86,-8.86,350,2622.95,0.00,0.00,3.86,0.000,0.000,0.118,3703.88,3710.94,3696.81,2386.38,585.38,0,0,0,30.00,30.00,15.83
$GC,2651.66,1028,-214.11,-1.00,0.00,3702.9,3711.0,3694.8,2385.4,585.4,290.07,-9.01,357,2658.73,0.00,0.00,3.44,0.000,0.000,0.047,3702.44,3710.00,3694.88,2386.38,2076.75,0,0,0,30.00,30.00,15.89
$STATE,2767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2767,begin apogee
$GC,2768.13,10243,0.00,-0.20,0.00,3702.3,3710.1,3694.6,2387.1,1912.6,300.10,-8.66,369,2955.31,182.79,1.56,0.12,1.481,0.167,0.158,2821.28,2853.44,2789.12,2591.44,1994.88,0,0,0,11.89,15.81,15.16
$STATE,2958,end apogee,CONTROL_FINISHED_OK
$STATE,2958,begin climb
$GC,2958.12,10503,214.11,0.83,80.00,2821.1,2854.7,2787.6,2591.7,1995.2,304.79,0.00,378,3154.69,187.93,1.82,3.65,1.397,0.115,0.119,1949.34,2001.75,1896.94,2841.69,3349.44,0,0,0,11.53,15.15,14.87
$GC,3166.86,5253,214.11,0.58,0.00,1945.8,1999.5,1892.1,2843.3,3349.1,288.47,14.31,418,3174.58,0.00,0.62,3.62,0.000,0.197,0.049,1946.75,2000.94,1892.56,2775.56,1926.25,0,0,0,30.00,14.93,14.99
$GC,3473.72,17030,214.11,0.50,-80.00,1936.4,1986.9,1885.9,2776.6,1925.8,256.19,10.20,449,3481.01,0.00,0.00,3.62,0.000,0.000,0.123,1935.00,1986.12,1883.88,2775.00,569.81,0,0,0,30.00,30.00,15.31
$GC,3523.18,21639,214.11,0.38,0.00,1933.7,1982.4,1884.9,2775.8,569.8,250.10,12.13,459,3530.86,0.00,0.35,3.36,0.000,0.180,0.040,1934.28,1983.38,1885.19,2726.38,1979.62,0,0,0,30.00,15.32,15.40
$GC,3829.28,10791,303.62,0.49,-80.00,1932.2,1981.4,1883.0,2726.8,1980.8,226.79,7.14,490,3916.42,79.47,0.29,3.77,1.338,0.107,0.121,1585.50,1635.19,1535.81,2765.75,569.69,0,0,0,11.60,15.51,15.21
$GC,3960.46,1028,303.62,0.49,0.00,1579.9,1625.6,1534.1,2765.9,569.9,214.21,11.07,516,3967.06,0.00,0.00,3.38,0.000,0.000,0.044,1579.31,1625.38,1533.25,2765.44,1979.00,0,0,0,30.00,30.00,15.32
$GC,4265.17,16902,303.62,0.49,-80.00,1573.3,1622.8,1523.9,2765.7,1980.2,186.69,8.30,547,4272.25,0.00,0.00,3.71,0.000,0.000,0.121,1573.75,1622.94,1524.56,2765.19,569.94,0,0,0,30.00,30.00,15.44
$GC,4331.23,17414,303.62,0.49,0.00,1572.4,1620.9,1523.9,2765.8,569.7,180.35,9.18,559,4338.78,0.00,0.00,3.33,0.000,0.000,0.044,1574.16,1622.69,1525.62,2765.50,1979.31,0,0,0,30.00,30.00,15.46
$GC,4638.07,10919,408.33,0.71,-80.00,1571.3,1620.4,1522.1,2766.1,1980.1,158.82,6.66,590,4781.67,135.72,0.30,3.89,1.213,0.102,0.122,1159.91,1214.69,1105.12,2819.19,570.00,0,0,0,11.82,15.55,15.11
$GC,4840.56,1156,408.33,0.77,0.00,1156.6,1209.2,1104.0,2818.8,569.8,141.43,9.55,630,4847.32,0.00,0.00,3.41,0.000,0.000,0.042,1155.91,1208.31,1103.50,2819.50,1980.94,0,0,0,30.00,30.00,15.14
$GC,5145.47,10919,487.13,0.95,-80.00,1152.9,1208.0,1097.9,2819.8,1982.2,117.26,7.48,661,5258.69,104.45,0.34,3.90,1.164,0.102,0.124,839.56,881.62,797.50,2876.56,570.62,0,0,0,11.64,15.42,15.11
$GC,5337.66,1028,487.13,0.95,0.00,837.3,877.9,796.7,2876.8,570.6,97.09,10.50,699,5348.14,0.00,0.00,3.41,0.000,0.000,0.045,837.03,877.06,797.00,2877.00,1977.88,0,0,0,30.00,30.00,15.27
$GC,5528.30,0,487.13,0.95,0.00,834.5,875.3,793.8,2876.6,1978.8,79.26,9.18,737,5533.84,0.00,0.00,0.00,0.000,0.000,0.000,835.03,876.06,794.00,2875.94,1979.25,0,0,0,30.00,30.00,30.00
$GC,5713.15,644,487.13,1.02,-80.00,833.9,874.9,792.9,2877.7,1979.1,63.05,8.43,774,5720.69,0.00,0.00,3.76,0.000,0.000,0.123,833.81,874.81,792.81,2877.12,570.94,0,0,0,30.00,30.00,15.43
$GC,5794.57,3205,487.13,1.12,0.00,833.1,873.8,792.4,2876.9,570.9,56.03,8.93,790,5801.92,0.00,0.21,3.33,0.000,0.116,0.044,833.41,874.00,792.81,2914.44,1980.69,0,0,0,30.00,15.47,15.50
$GC,5980.95,10919,567.18,1.31,-80.00,832.7,873.4,791.9,2913.9,1982.3,40.78,7.44,827,6125.26,135.56,0.28,3.85,1.124,0.105,0.123,513.91,523.12,504.69,2962.00,571.06,0,0,0,11.65,15.51,15.11
$GC,6174.22,1028,567.18,1.31,0.00,512.2,521.1,503.4,2961.9,570.8,24.56,9.04,865,6180.97,0.00,0.00,3.36,0.000,0.000,0.040,512.59,521.31,503.88,2962.06,1981.69,0,0,0,30.00,30.00,15.26
$GC,6359.24,10919,681.23,1.55,-80.00,510.2,519.9,500.4,2962.6,1983.6,11.80,6.36,902,6375.98,6.16,0.38,3.77,0.807,0.099,0.122,500.94,509.75,492.12,3020.94,570.81,0,0,0,11.47,15.36,15.33
$GC,6404.29,9254,770.07,1.66,0.00,500.7,509.3,492.1,3022.1,570.6,8.50,7.16,911,6411.80,0.00,0.00,3.34,0.020,0.000,0.042,500.72,509.31,492.12,3021.25,1984.19,0,0,0,30.36,30.00,15.41
$STATE,6561,end climb,SURFACE_DEPTH_REACHED
$STATE,6561,begin surface coast
$MODEM_MSG,CACST,6,1,20201024041125.721188,18,1327,19,0094,0150,07,01,01,02,03,-1,-01,-01,1,3,0,0,150,-13.3,0.11,-100,2.89,-01,0.05,14,925,0025*0E
$MODEM_MSG,CACST,6,1,20201024042712.802119,18,185,-19,0093,0150,432,02,02,07,04,-1,-01,-01,1,3,0,0,150,-38.7,0.49,-100,2.51,-01,-0.23,59,925,0025*05
$MODEM_MSG,CACST,6,1,20201024043356.110877,18,52,-18,0094,0150,432,02,02,06,04,-1,-01,-01,1,3,0,0,150,-3.6,0.35,-100,2.65,-01,0.00,58,925,0025*27
$MODEM_MSG,CACST,6,1,20201024043808.580738,18,60,-18,0115,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,0.1,0.16,-100,2.84,-01,0.00,29,925,0025*0B
$FINISH,0.3,1.021916
$STATE,6611,end surface coast,CONTROL_FINISHED_OK
$STATE,6611,begin surface
$SM_CCo,6697.46,0.00,0.000,0,497.1,503.9,490.2,571.04
$SM_GC,2.66,0.00,18.91,0.17,0.000,0.071,0.092,497.1,503.9,490.2,200.2,2108.4,0,0,0,30.00,15.47,15.52
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7128.09,-15149.29,241020,005030
$TCM_TEMP,1.14
$SC_FREEKB,3820192
$PM_FREEKB_00,32480128
$PM_ACTIVECARD,0
$RAFOS_CLK,-1
$MODEM,6,1603514288,75.33060,-142.67570,188.581,276270.8
$MODEM,5,1603514036,76.41295,-142.47470,236.111,345902.4
$MODEM,4,1603513632,76.55490,-139.99944,132.802,194555.1
$MODEM,1,1603512685,75.02295,-144.31340,85.721,125581.5
$RAFOS_FIX,7410.064941,-13757.664062,241020,040408,4,255,81.04
$HUMID,52.82
$TEMP,0.18
$INTERNAL_PRESSURE,8.14229
$24V_AH,14.48,94.208
$10V_AH,14.83,0.000
$FG_AHR_24Vo,161.302
$FG_AHR_10Vo,38.017
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,953.375,44.820,124.695,213.182,0.000,12.849,4087.286,2938.249,2276.802,2219.000,0.000,0.000
$DEVICE_MAMPS,1481.328,302.824,157.848,194.376,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6627.000,6636.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.390,9.628,0.000,0.000
$MEM,1152276,35,24452,80
$DATA_FILE_SIZE,28922,952
$CAP_FILE_SIZE,277034,0
$SDSIZE,3918848,3764800
$SDFILEDIR,1453,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.154,344.9,1
$GPS,241020,044531,7129.162,-15155.678,80,0.7,81,15.2