version: 67.00
glider: 233
mission: 7
dive: 187
start: 10 24 120 10 50 31
data:
$ID,233
$MISSION,7
$DIVE,187
$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,38.163914
$FG_AHR_24V,162.26247
$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
$GPS1,241020,104245,7128.507,-15154.699,2,1.3,5,15.2
$_CALLS,2
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-73.2
$GPS2,241020,104959,7128.583,-15154.945,4,1.4,9,15.2
$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,131.9,9261,-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,11.37,16386,-214.11,-0.83,0.00,490.9,491.3,490.5,197.9,2028.1,0.00,0.00,0,65.02,50.79,0.00,0.00,0.005,0.000,0.000,1346.41,1372.56,1320.25,198.00,2027.44,0,0,0,15.53,30.00,30.00
$GC,65.27,18983,-214.11,-0.83,-80.00,1347.0,1372.8,1321.1,197.7,2028.1,3.04,-2.93,10,171.85,75.20,19.44,3.90,0.005,0.302,0.136,3701.00,3705.62,3696.38,2437.00,585.31,0,0,0,15.52,15.44,15.54
$GC,355.71,1156,-214.11,-0.75,0.00,3702.9,3709.5,3696.4,2435.9,585.0,53.04,-15.28,67,366.50,0.00,0.00,3.55,0.000,0.000,0.051,3703.44,3711.25,3695.62,2435.06,2069.94,0,0,0,30.00,30.00,15.56
$GC,546.20,260,-214.11,-0.75,80.00,3702.4,3710.3,3694.5,2437.1,2070.8,76.99,-11.68,105,553.51,0.00,0.00,3.31,0.000,0.000,0.130,3703.53,3710.31,3696.75,2435.56,3351.06,0,0,0,30.00,30.00,15.59
$GC,775.74,1028,-214.11,-0.75,0.00,3703.2,3709.6,3696.8,2436.1,3351.4,102.10,-10.79,151,783.27,0.00,0.00,3.22,0.000,0.000,0.045,3704.16,3710.50,3697.81,2436.44,2021.44,0,0,0,30.00,30.00,15.73
$GC,1082.56,516,-214.11,-0.75,-80.00,3702.6,3709.9,3695.4,2436.9,2021.7,134.72,-10.32,182,1089.37,0.00,0.00,3.84,0.000,0.000,0.124,3703.19,3709.81,3696.56,2436.31,585.44,0,0,0,30.00,30.00,15.74
$GC,1121.54,1156,-214.11,-0.82,0.00,3703.5,3710.9,3696.1,2436.2,585.5,139.11,-10.71,190,1129.59,0.00,0.00,3.51,0.000,0.000,0.044,3703.84,3711.25,3696.44,2437.06,2076.31,0,0,0,30.00,30.00,15.71
$GC,1428.42,128,-214.11,-0.90,0.00,3703.0,3710.2,3695.7,2435.4,2076.5,168.77,-9.09,221,1431.32,0.00,0.00,0.00,0.000,0.000,0.000,3702.91,3710.44,3695.38,2436.25,2076.12,0,0,0,30.00,30.00,30.00
$GC,1727.78,4773,-214.11,-1.03,-80.00,3703.1,3710.1,3696.1,2436.6,2078.0,192.75,-7.26,251,1739.79,0.00,0.40,3.94,0.000,0.094,0.118,3702.84,3710.44,3695.25,2378.00,584.50,0,0,0,30.00,15.82,15.79
$GC,1788.50,1028,-214.11,-1.03,0.00,3703.2,3710.4,3695.9,2377.2,584.1,199.10,-11.27,263,1795.79,0.00,0.00,3.51,0.000,0.000,0.049,3704.53,3711.50,3697.56,2376.56,2071.19,0,0,0,30.00,30.00,15.85
$GC,2093.40,0,-214.11,-1.03,0.00,3702.5,3709.6,3695.4,2377.3,2073.2,229.39,-9.88,294,2097.32,0.00,0.00,0.00,0.000,0.000,0.000,3702.72,3710.25,3695.19,2379.12,2073.62,0,0,0,30.00,30.00,30.00
$GC,2394.20,516,-214.11,-1.03,-80.00,3703.2,3709.9,3696.5,2377.4,2073.2,257.86,-9.48,324,2405.55,0.00,0.00,3.96,0.000,0.000,0.119,3702.66,3710.00,3695.31,2378.06,585.44,0,0,0,30.00,30.00,15.82
$GC,2474.33,1028,-214.11,-1.03,0.00,3702.9,3710.6,3695.2,2377.6,585.3,265.93,-10.04,340,2481.24,0.00,0.00,3.45,0.000,0.000,0.048,3702.97,3710.00,3695.94,2378.38,2073.31,0,0,0,30.00,30.00,15.89
$GC,2778.85,516,-214.11,-1.03,-80.00,3702.4,3709.9,3694.8,2377.8,2073.4,293.84,-9.16,371,2786.37,0.00,0.00,3.94,0.000,0.000,0.118,3702.88,3709.81,3695.94,2377.06,584.56,0,0,0,30.00,30.00,15.79
$GC,2815.08,1028,-214.11,-1.03,0.00,3703.1,3710.6,3695.6,2377.8,584.1,297.41,-9.98,378,2822.04,0.00,0.00,3.49,0.000,0.000,0.046,3702.59,3709.44,3695.75,2378.19,2075.62,0,0,0,30.00,30.00,15.90
$STATE,2850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2850,begin apogee
$GC,2850.84,10243,0.00,-0.20,0.00,3703.2,3710.4,3696.1,2377.8,1911.6,300.73,-9.59,382,3037.43,182.18,1.62,0.13,1.491,0.171,0.151,2821.59,2853.44,2789.75,2591.62,1999.25,0,0,0,11.84,15.83,15.16
$STATE,3040,end apogee,CONTROL_FINISHED_OK
$STATE,3040,begin climb
$GC,3040.30,10243,214.11,0.83,0.00,2821.3,2853.8,2788.8,2591.8,1999.7,306.71,0.00,391,3234.73,186.93,1.83,0.00,1.403,0.115,0.000,1949.03,2001.25,1896.81,2843.44,1999.75,0,0,0,11.32,15.16,30.00
$GC,3529.68,21127,214.11,0.60,-80.00,1937.3,1986.6,1888.0,2843.4,1999.2,250.69,13.91,440,3541.28,0.00,0.56,3.95,0.000,0.189,0.119,1936.78,1985.50,1888.06,2779.94,570.69,0,0,0,30.00,15.24,15.30
$GC,3653.64,21639,214.11,0.44,0.00,1933.5,1980.0,1887.0,2779.4,570.9,234.79,12.43,465,3661.23,0.00,0.28,3.36,0.000,0.182,0.039,1934.66,1981.00,1888.31,2741.12,1979.00,0,0,0,30.00,15.36,15.43
$GC,3959.74,10791,286.66,0.53,-80.00,1932.3,1979.8,1884.8,2741.2,1979.8,209.97,7.68,496,4032.72,64.41,0.25,3.91,1.339,0.112,0.119,1655.78,1702.75,1608.81,2773.62,570.75,0,0,0,11.72,15.53,15.26
$GC,4084.87,1028,286.66,0.53,0.00,1649.5,1692.2,1606.8,2774.3,570.2,197.09,11.29,521,4092.56,0.00,0.00,3.38,0.000,0.000,0.038,1649.62,1692.75,1606.50,2773.88,1978.56,0,0,0,30.00,30.00,15.37
$GC,4391.69,8742,379.55,0.64,-80.00,1643.5,1691.1,1595.8,2773.2,1979.9,171.65,7.03,552,4521.14,119.92,0.00,3.95,1.219,0.000,0.121,1276.38,1330.88,1221.88,2772.75,569.88,0,0,0,11.60,30.00,15.11
$GC,4569.47,11431,482.21,0.91,0.00,1273.6,1326.0,1221.2,2773.4,569.9,160.16,6.72,586,4713.64,134.29,0.57,3.42,1.163,0.090,0.039,860.16,906.38,813.94,2867.44,1983.56,0,0,0,11.69,15.21,15.14
$GC,5009.95,516,482.21,0.91,-80.00,854.7,900.0,809.4,2867.8,1983.6,113.39,10.52,644,5016.92,0.00,0.00,3.92,0.000,0.000,0.121,854.69,899.69,809.69,2868.50,571.44,0,0,0,30.00,30.00,15.30
$GC,5135.67,1028,482.21,0.91,0.00,853.3,897.6,809.0,2868.4,570.8,99.89,10.10,669,5143.01,0.00,0.00,3.38,0.000,0.000,0.042,853.50,897.62,809.38,2867.56,1979.25,0,0,0,30.00,30.00,15.41
$GC,5322.00,516,482.21,0.91,-80.00,852.9,896.6,809.2,2867.9,1980.5,81.71,9.31,706,5328.82,0.00,0.00,3.84,0.000,0.000,0.119,853.12,896.62,809.62,2867.00,571.75,0,0,0,30.00,30.00,15.32
$GC,5357.03,1028,482.21,0.91,0.00,852.0,895.6,808.5,2868.1,571.7,78.08,10.12,713,5367.61,0.00,0.00,3.35,0.000,0.000,0.043,852.09,895.50,808.69,2867.69,1979.56,0,0,0,30.00,30.00,15.37
$GC,5547.83,10919,557.49,1.09,-80.00,851.9,895.0,808.8,2868.2,1980.5,62.50,7.60,751,5666.19,109.83,0.23,3.92,1.139,0.106,0.121,552.88,566.69,539.06,2910.00,570.94,0,0,0,11.44,15.51,15.16
$GC,5715.30,1156,557.49,1.21,0.00,551.3,564.0,538.6,2909.3,570.8,47.90,8.66,784,5721.96,0.00,0.00,3.38,0.000,0.000,0.043,551.16,563.81,538.50,2909.75,1980.81,0,0,0,30.00,30.00,15.26
$GC,5900.22,10919,680.03,1.52,-80.00,549.0,562.7,535.2,2909.8,1980.8,35.54,6.09,821,5932.40,23.25,0.69,3.89,1.082,0.088,0.121,500.53,508.12,492.94,3014.69,571.06,0,0,0,11.61,15.38,15.24
$GC,6011.38,13447,680.03,1.44,0.00,499.5,506.1,492.9,3014.4,570.8,22.14,12.95,843,6018.20,0.00,0.31,3.36,0.000,0.182,0.042,499.66,506.25,493.06,2981.19,1979.81,0,0,0,30.00,15.33,15.40
$GC,6196.49,10919,828.28,1.76,-80.00,498.5,505.8,491.2,2982.1,1981.6,9.50,5.27,880,6208.15,0.00,0.64,3.84,0.000,0.090,0.120,498.50,505.81,491.19,3072.00,570.19,0,0,0,30.00,15.44,15.34
$STATE,6291,end climb,SURFACE_DEPTH_REACHED
$STATE,6292,begin surface coast
$FINISH,1.4,1.022111
$STATE,6296,end surface coast,CONTROL_FINISHED_OK
$STATE,6297,begin surface
$SM_CCo,6388.41,0.00,0.000,0,496.0,500.4,491.5,571.31
$SM_GC,1.88,0.00,19.53,3.57,0.000,0.088,0.042,496.0,500.4,491.5,197.7,2078.2,0,0,0,30.00,15.45,15.52
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7130.01,-15201.23,241020,104530
$TCM_TEMP,1.12
$SC_FREEKB,3818912
$PM_FREEKB_00,32111488
$PM_ACTIVECARD,0
$RAFOS_CLK,0
$RAFOS_FIX,7127.882812,-15154.233398,241020,121214,0,1,0.22
$HUMID,52.61
$TEMP,0.21
$INTERNAL_PRESSURE,8.14418
$24V_AH,14.48,95.686
$10V_AH,14.78,0.000
$FG_AHR_24Vo,162.569
$FG_AHR_10Vo,38.223
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,946.800,46.360,102.650,234.790,0.000,18.422,3975.836,2822.628,2177.589,2217.000,0.000,0.000
$DEVICE_MAMPS,1491.496,301.840,150.632,199.152,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6306.000,6317.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.423,9.598,0.000,0.000
$MEM,1152272,35,24456,80
$DATA_FILE_SIZE,25724,900
$CAP_FILE_SIZE,252476,0
$SDSIZE,3918848,3763680
$SDFILEDIR,1481,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.136,343.8,1
$GPS,241020,123810,7128.336,-15154.645,34,1.1,38,15.2