version: 67.00
glider: 233
mission: 7
dive: 186
start: 10 24 120 8 52 30
data:
$ID,233
$MISSION,7
$DIVE,186
$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,38.123688
$FG_AHR_24V,161.94308
$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
$GPS1,241020,084631,7128.740,-15155.205,112,0.7,113,15.2
$_CALLS,1
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-73.0
$GPS2,241020,085159,7128.813,-15155.380,2,0.5,4,15.2
$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,133.7,9747,-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,11.42,16386,-214.11,-0.83,0.00,491.5,491.9,491.1,196.9,2024.0,0.00,0.00,0,59.92,45.62,0.00,0.00,0.005,0.000,0.000,1269.44,1299.62,1239.25,196.50,2023.94,0,0,0,15.56,30.00,30.00
$GC,60.22,18467,-214.11,-0.83,0.00,1270.1,1299.4,1240.8,196.6,2023.8,3.10,-3.05,9,165.54,78.99,19.60,0.00,0.005,0.302,0.000,3698.53,3702.19,3694.88,2436.81,2023.94,0,0,0,15.59,15.37,30.00
$GC,343.82,128,-214.11,-0.75,80.00,3702.8,3710.0,3695.6,2436.1,2023.6,52.46,-17.18,65,349.55,0.00,0.00,0.00,0.000,0.000,0.000,3703.09,3710.50,3695.69,2436.12,2024.19,0,0,0,30.00,30.00,30.00
$GC,528.92,516,-214.11,-0.75,-80.00,3703.2,3710.4,3696.0,2436.4,2023.7,76.52,-11.59,102,535.90,0.00,0.00,3.84,0.000,0.000,0.124,3703.94,3710.44,3697.44,2435.56,584.50,0,0,0,30.00,30.00,15.65
$GC,579.79,1028,-214.11,-0.75,0.00,3702.7,3710.6,3694.9,2436.8,584.3,82.29,-11.45,112,586.12,0.00,0.00,3.51,0.000,0.000,0.044,3704.16,3711.56,3696.75,2435.56,2074.06,0,0,0,30.00,30.00,15.66
$GC,765.10,0,-214.11,-0.75,0.00,3702.5,3709.8,3695.2,2436.9,2074.4,102.80,-11.28,147,768.58,0.00,0.00,0.00,0.000,0.000,0.000,3702.59,3709.38,3695.81,2435.88,2073.88,0,0,0,30.00,30.00,30.00
$GC,1065.02,516,-214.11,-0.75,-80.00,3703.0,3710.6,3695.4,2437.7,2074.1,134.80,-10.02,177,1076.82,0.00,0.00,3.93,0.000,0.000,0.118,3702.94,3710.31,3695.56,2435.88,586.38,0,0,0,30.00,30.00,15.70
$GC,1108.99,1156,-214.11,-0.83,0.00,3702.6,3708.8,3696.4,2435.9,586.2,139.49,-10.19,186,1117.03,0.00,0.00,3.49,0.000,0.000,0.044,3703.16,3710.12,3696.19,2436.88,2077.06,0,0,0,30.00,30.00,15.79
$GC,1415.83,644,-214.11,-0.91,-80.00,3702.5,3709.8,3695.2,2436.5,2076.3,168.21,-9.44,217,1427.23,0.00,0.00,3.95,0.000,0.000,0.117,3703.75,3710.88,3696.62,2436.38,585.50,0,0,0,30.00,30.00,15.77
$GC,1459.40,5253,-214.11,-1.03,0.00,3703.2,3709.9,3696.5,2436.7,585.2,172.33,-9.03,226,1467.52,0.00,0.40,3.50,0.000,0.094,0.046,3704.12,3711.38,3696.88,2377.50,2076.12,0,0,0,30.00,15.78,15.76
$GC,1766.23,516,-214.11,-1.03,-80.00,3703.2,3710.9,3695.4,2377.7,2076.7,203.81,-10.21,257,1777.62,0.00,0.00,3.94,0.000,0.000,0.119,3703.03,3710.00,3696.06,2377.44,585.25,0,0,0,30.00,30.00,15.79
$GC,1799.77,1028,-214.11,-1.03,0.00,3702.8,3709.9,3695.6,2378.8,585.3,207.59,-10.70,264,1807.84,0.00,0.00,3.51,0.000,0.000,0.047,3703.06,3710.38,3695.75,2378.38,2073.56,0,0,0,30.00,30.00,15.86
$GC,2106.49,0,-214.11,-1.03,0.00,3703.0,3710.9,3695.1,2377.6,2073.8,238.07,-9.47,295,2109.38,0.00,0.00,0.00,0.000,0.000,0.000,3701.50,3709.25,3693.75,2378.00,2074.25,0,0,0,30.00,30.00,30.00
$GC,2405.98,516,-214.11,-1.03,-80.00,3702.9,3710.3,3695.5,2377.9,2073.7,266.83,-9.59,325,2413.45,0.00,0.00,3.96,0.000,0.000,0.121,3702.03,3709.56,3694.50,2377.38,584.94,0,0,0,30.00,30.00,15.83
$GC,2462.06,1028,-214.11,-1.03,0.00,3703.0,3710.2,3695.8,2378.1,585.2,272.43,-10.17,336,2469.32,0.00,0.00,3.48,0.000,0.000,0.049,3702.91,3710.62,3695.19,2377.94,2073.19,0,0,0,30.00,30.00,15.89
$STATE,2767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2767,begin apogee
$GC,2768.16,10243,0.00,-0.20,0.00,3702.6,3710.2,3695.0,2378.0,1914.2,300.44,-9.15,367,2954.75,181.82,1.63,0.12,1.489,0.169,0.163,2823.97,2856.62,2791.31,2592.06,1993.38,0,0,0,11.97,15.83,15.15
$STATE,2957,end apogee,CONTROL_FINISHED_OK
$STATE,2957,begin climb
$GC,2957.37,10503,214.11,0.83,80.00,2821.5,2854.6,2788.5,2591.5,1994.1,305.98,0.00,376,3152.45,186.74,1.82,3.67,1.406,0.113,0.118,1949.44,2001.38,1897.50,2842.44,3349.88,0,0,0,11.48,15.16,14.82
$GC,3181.34,21639,214.11,0.58,0.00,1943.5,1996.8,1890.3,2843.8,3349.8,287.40,15.23,419,3192.26,0.00,0.62,3.65,0.000,0.193,0.050,1942.94,1997.00,1888.88,2777.06,1928.94,0,0,0,30.00,14.97,15.02
$GC,3491.39,17030,214.11,0.51,-80.00,1935.9,1986.6,1885.2,2775.9,1928.2,254.61,10.15,451,3498.68,0.00,0.00,3.76,0.000,0.000,0.129,1936.03,1986.50,1885.56,2776.06,570.38,0,0,0,30.00,30.00,15.33
$GC,3580.93,21639,214.11,0.36,0.00,1933.1,1981.5,1884.8,2776.8,570.2,243.81,12.16,469,3588.53,0.00,0.40,3.39,0.000,0.176,0.045,1933.28,1981.88,1884.69,2721.25,1978.31,0,0,0,30.00,15.36,15.34
$GC,3887.69,10791,298.42,0.46,-80.00,1932.2,1981.1,1883.2,2721.6,1980.2,221.46,7.31,500,3970.30,73.96,0.28,3.94,1.347,0.102,0.122,1607.44,1655.06,1559.81,2758.44,570.06,0,0,0,11.83,15.54,15.14
$GC,4008.57,1028,298.42,0.46,0.00,1602.6,1646.9,1558.2,2758.6,570.1,209.83,10.37,524,4015.95,0.00,0.00,3.41,0.000,0.000,0.043,1601.28,1646.31,1556.25,2759.12,1979.38,0,0,0,30.00,30.00,15.35
$GC,4313.55,8742,364.90,0.54,-80.00,1595.9,1644.4,1547.3,2758.7,1979.4,183.96,7.88,555,4406.82,84.45,0.00,3.93,1.230,0.000,0.122,1337.16,1390.44,1283.88,2758.56,571.56,0,0,0,11.50,30.00,15.15
$GC,4469.00,11431,445.11,0.78,0.00,1333.6,1383.5,1283.8,2759.7,570.7,172.42,7.44,586,4582.74,105.18,0.46,3.42,1.182,0.094,0.042,1010.88,1063.38,958.38,2834.88,1980.62,0,0,0,11.61,15.30,15.30
$GC,4886.16,644,445.11,0.84,-80.00,1004.0,1057.6,950.4,2835.0,1980.9,133.88,8.85,639,4893.48,0.00,0.00,3.88,0.000,0.000,0.122,1003.34,1056.50,950.19,2834.12,571.38,0,0,0,30.00,30.00,15.30
$GC,4972.51,1156,445.11,0.90,0.00,1002.9,1055.7,950.1,2834.9,570.5,125.48,9.67,656,4979.82,0.00,0.00,3.37,0.000,0.000,0.044,1002.69,1055.94,949.44,2834.25,1978.06,0,0,0,30.00,30.00,15.48
$GC,5277.51,19079,445.11,0.98,-80.00,1002.1,1055.1,949.2,2834.8,1979.8,99.73,8.48,687,5285.06,0.00,0.29,3.79,0.000,0.102,0.123,1002.19,1054.62,949.75,2886.69,569.75,0,0,0,30.00,15.57,15.48
$GC,5348.33,17542,445.11,0.92,0.00,1001.6,1054.2,949.0,2885.9,569.8,91.32,12.42,701,5354.81,0.00,0.00,3.35,0.000,0.000,0.045,1001.91,1054.69,949.12,2885.94,1979.50,0,0,0,30.00,30.00,15.62
$GC,5534.04,16902,445.11,0.92,-80.00,1001.6,1053.8,949.4,2885.8,1980.4,72.25,9.57,738,5543.98,0.00,0.00,3.79,0.000,0.000,0.121,1001.69,1054.06,949.31,2885.81,569.38,0,0,0,30.00,30.00,15.53
$GC,5589.11,17414,445.11,0.92,0.00,1000.8,1052.8,948.8,2886.3,569.7,66.43,10.55,749,5596.50,0.00,0.00,3.30,0.000,0.000,0.044,1000.94,1053.00,948.88,2885.75,1979.69,0,0,0,30.00,30.00,15.68
$GC,5775.52,8742,543.14,1.04,-80.00,1001.0,1052.9,949.0,2886.1,1981.4,51.50,6.87,786,5934.36,152.05,0.00,3.86,1.142,0.000,0.124,611.81,633.50,590.12,2886.31,571.19,0,0,0,11.74,30.00,15.17
$GC,5978.32,11431,673.40,1.42,0.00,609.9,630.1,589.7,2885.8,570.9,39.25,5.84,826,6035.72,47.40,0.67,3.38,1.071,0.094,0.043,500.78,509.56,492.00,2986.56,1985.38,0,0,0,11.40,15.29,15.31
$GC,6214.72,8710,673.40,1.42,-80.00,497.4,506.6,488.1,2986.2,1984.9,17.99,8.58,873,6221.52,0.00,0.00,3.83,0.000,0.000,0.123,497.66,506.75,488.56,2987.38,569.81,0,0,0,30.00,30.00,15.31
$GC,6355.40,11431,759.77,1.61,0.00,496.5,504.9,488.1,2985.9,569.8,6.34,7.24,901,6365.36,0.00,0.30,3.35,0.000,0.106,0.044,496.19,504.62,487.75,3037.44,1983.25,0,0,0,30.00,15.46,15.37
$STATE,6445,end climb,SURFACE_DEPTH_REACHED
$STATE,6445,begin surface coast
$FINISH,0.3,1.021307
$STATE,6491,end surface coast,CONTROL_FINISHED_OK
$STATE,6491,begin surface
$SM_CCo,6577.46,0.00,0.000,0,493.8,501.8,485.8,571.85
$SM_GC,2.33,0.00,18.94,0.17,0.000,0.066,0.091,493.8,501.8,485.8,197.8,2099.5,0,0,0,30.00,15.53,15.58
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7129.05,-15155.25,241020,064903
$TCM_TEMP,1.08
$SC_FREEKB,3819232
$PM_FREEKB_00,32200512
$PM_ACTIVECARD,0
$RAFOS_CLK,-15
$RAFOS_FIX,7128.007812,-15154.121094,241020,101031,0,1,0.26
$HUMID,53.09
$TEMP,-0.20
$INTERNAL_PRESSURE,8.13497
$24V_AH,14.48,95.305
$10V_AH,14.86,0.000
$FG_AHR_24Vo,162.251
$FG_AHR_10Vo,38.163
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,956.210,45.395,102.985,191.716,0.000,13.160,3995.059,2914.440,2235.531,0.000,0.000,0.000
$DEVICE_MAMPS,1488.872,302.168,163.424,203.927,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6506.000,6516.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.462,9.580,0.000,0.000
$MEM,1152296,35,24432,80
$DATA_FILE_SIZE,25756,928
$CAP_FILE_SIZE,254117,0
$SDSIZE,3918848,3763968
$SDFILEDIR,1474,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$WARN,PPS timeout
$CURRENT,0.150,339.2,1
$GPS,241020,104245,7128.507,-15154.699,2,1.3,5,15.2