version: 67.00
glider: 233
mission: 7
dive: 189
start: 10 24 120 14 46 27
data:
$ID,233
$MISSION,7
$DIVE,189
$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,38.270279
$FG_AHR_24V,162.90582
$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
$GPS1,241020,143901,7128.100,-15154.477,104,0.7,105,15.2
$_CALLS,2
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-74.3
$GPS2,241020,144556,7128.152,-15154.716,3,0.5,3,15.2
$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,127.4,8607,-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,11.39,16386,-214.11,-0.83,0.00,489.4,490.2,488.6,197.8,2030.2,0.00,0.00,0,65.03,50.73,0.00,0.00,0.005,0.000,0.000,1346.75,1375.25,1318.25,198.06,2030.25,0,0,0,15.52,30.00,30.00
$GC,65.28,18727,-214.11,-0.83,80.00,1347.5,1375.2,1319.8,197.9,2030.2,3.13,-2.97,10,167.21,72.61,19.25,3.43,0.005,0.310,0.141,3699.44,3703.00,3695.88,2437.25,3349.06,0,0,0,15.51,15.36,15.48
$GC,171.18,3205,-214.11,-0.51,0.00,3701.3,3705.6,3697.1,2436.2,3350.0,20.27,-20.71,30,178.21,0.00,0.56,3.24,0.000,0.188,0.050,3701.12,3705.56,3696.69,2515.81,2027.94,0,0,0,30.00,15.57,15.64
$GC,357.19,516,-214.11,-0.51,-80.00,3703.3,3709.7,3696.9,2516.2,2028.0,45.56,-11.56,67,368.06,0.00,0.00,3.93,0.000,0.000,0.129,3704.25,3709.62,3698.88,2515.44,586.31,0,0,0,30.00,30.00,15.63
$GC,406.85,5253,-214.11,-0.68,0.00,3703.5,3710.3,3696.7,2516.1,586.4,50.96,-10.25,77,413.59,0.00,0.36,3.56,0.000,0.094,0.048,3704.97,3710.62,3699.31,2467.25,2074.31,0,0,0,30.00,15.67,15.61
$GC,591.85,0,-214.11,-0.68,0.00,3703.8,3710.5,3697.2,2463.4,2074.9,73.34,-11.63,114,597.65,0.00,0.00,0.00,0.000,0.000,0.000,3704.12,3709.94,3698.31,2463.00,2075.12,0,0,0,30.00,30.00,30.00
$GC,777.75,516,-214.11,-0.68,-80.00,3703.3,3709.4,3697.2,2462.9,2074.6,93.27,-10.69,151,788.44,0.00,0.00,3.94,0.000,0.000,0.120,3703.56,3709.94,3697.19,2462.12,584.38,0,0,0,30.00,30.00,15.70
$GC,812.44,1028,-214.11,-0.68,0.00,3703.2,3709.4,3697.1,2462.8,584.4,97.03,-10.76,158,823.21,0.00,0.00,3.49,0.000,0.000,0.048,3703.75,3710.25,3697.25,2462.88,2076.19,0,0,0,30.00,30.00,15.68
$GC,1003.01,0,-214.11,-0.68,0.00,3703.9,3709.6,3698.1,2462.9,2075.8,116.38,-10.11,180,1005.90,0.00,0.00,0.00,0.000,0.000,0.000,3702.53,3708.25,3696.81,2464.12,2076.25,0,0,0,30.00,30.00,30.00
$GC,1302.37,644,-214.11,-0.74,-80.00,3704.2,3709.4,3699.0,2463.0,2076.1,145.21,-9.55,210,1309.82,0.00,0.00,3.99,0.000,0.000,0.119,3704.69,3710.38,3699.00,2461.94,585.75,0,0,0,30.00,30.00,15.76
$GC,1368.61,5253,-214.11,-0.87,0.00,3704.0,3710.4,3697.6,2463.2,585.4,151.49,-9.36,223,1375.54,0.00,0.25,3.49,0.000,0.110,0.047,3703.09,3709.62,3696.56,2415.06,2076.56,0,0,0,30.00,15.78,15.81
$GC,1673.08,0,-214.11,-0.87,0.00,3703.6,3709.9,3697.3,2414.4,2077.4,184.76,-9.88,254,1676.66,0.00,0.00,0.00,0.000,0.000,0.000,3702.53,3709.12,3695.94,2413.62,2077.31,0,0,0,30.00,30.00,30.00
$GC,1973.17,516,-214.11,-0.87,-80.00,3703.2,3709.6,3696.9,2415.2,2077.2,210.52,-8.17,284,1980.61,0.00,0.00,3.86,0.000,0.000,0.119,3704.91,3711.06,3698.75,2412.50,584.19,0,0,0,30.00,30.00,15.80
$GC,2042.83,1156,-214.11,-0.94,0.00,3703.5,3709.1,3697.9,2415.0,584.1,216.98,-8.99,298,2050.82,0.00,0.00,3.47,0.000,0.000,0.046,3703.56,3709.94,3697.19,2414.56,2077.12,0,0,0,30.00,30.00,15.87
$GC,2348.92,160,-214.11,-1.01,0.00,3702.8,3709.1,3696.4,2414.5,2077.8,241.31,-7.52,329,2352.43,0.00,0.00,0.00,0.000,0.000,0.000,3703.47,3710.25,3696.69,2414.50,2077.25,0,0,0,30.00,30.00,30.00
$GC,2649.01,4773,-214.11,-1.09,-80.00,3704.1,3710.2,3698.0,2415.2,2076.9,264.04,-7.49,359,2656.51,0.00,0.28,3.90,0.000,0.105,0.117,3702.53,3709.19,3695.88,2361.75,585.56,0,0,0,30.00,15.87,15.73
$GC,2718.66,1028,-214.11,-1.09,0.00,3703.7,3709.8,3697.6,2361.9,585.4,271.23,-10.65,373,2726.71,0.00,0.00,3.48,0.000,0.000,0.045,3704.81,3710.19,3699.44,2360.50,2074.19,0,0,0,30.00,30.00,15.91
$STATE,3015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3015,begin apogee
$GC,3016.13,10243,0.00,-0.20,0.00,3702.9,3708.6,3697.2,2362.6,1914.8,300.25,-9.83,403,3203.77,182.85,1.71,0.12,1.511,0.175,0.160,2823.75,2855.75,2791.75,2590.25,1994.50,0,0,0,11.85,15.84,15.16
$STATE,3207,end apogee,CONTROL_FINISHED_OK
$STATE,3207,begin climb
$GC,3206.78,10759,214.11,0.83,-80.00,2821.2,2853.9,2788.4,2591.1,1994.6,305.50,0.00,412,3403.22,187.65,1.82,4.07,1.439,0.118,0.121,1947.34,1998.25,1896.44,2843.44,571.75,0,0,0,11.45,15.15,14.86
$GC,3481.94,21639,214.11,0.47,0.00,1940.3,1983.8,1896.8,2843.4,571.9,276.78,18.34,465,3493.05,0.00,0.81,3.42,0.000,0.200,0.044,1940.06,1984.06,1896.06,2750.56,1973.75,0,0,0,30.00,15.04,15.11
$GC,3792.13,16902,214.11,0.47,-80.00,1933.9,1980.2,1887.7,2748.9,1974.4,247.32,8.55,497,3798.99,0.00,0.00,3.86,0.000,0.000,0.120,1934.53,1980.81,1888.25,2748.19,571.62,0,0,0,30.00,30.00,15.36
$GC,3851.15,17542,214.11,0.40,0.00,1934.2,1979.9,1888.5,2749.6,571.2,241.24,10.33,509,3858.70,0.00,0.00,3.38,0.000,0.000,0.045,1934.16,1979.94,1888.38,2748.69,1978.00,0,0,0,30.00,30.00,15.44
$GC,4157.23,16902,214.11,0.40,-80.00,1933.1,1978.9,1887.2,2749.4,1979.5,215.75,8.01,540,4164.75,0.00,0.00,3.84,0.000,0.000,0.120,1931.22,1976.25,1886.19,2748.38,570.12,0,0,0,30.00,30.00,15.52
$GC,4202.97,17414,214.11,0.40,0.00,1931.3,1976.2,1886.4,2749.0,569.8,211.51,9.45,549,4210.38,0.00,0.00,3.35,0.000,0.000,0.044,1932.31,1976.38,1888.25,2748.19,1979.06,0,0,0,30.00,30.00,15.60
$GC,4508.01,8742,325.91,0.54,-80.00,1931.6,1976.3,1886.9,2748.4,1981.4,189.24,6.43,580,4656.28,139.74,0.00,3.94,1.248,0.000,0.122,1495.53,1544.44,1446.62,2749.44,570.31,0,0,0,11.92,30.00,15.15
$GC,4720.20,11431,432.99,0.83,0.00,1490.5,1535.7,1445.4,2748.4,570.1,175.60,6.58,621,4869.84,139.41,0.69,3.41,1.185,0.089,0.042,1059.84,1117.12,1002.56,2848.94,1984.81,0,0,0,11.68,15.26,15.30
$GC,5167.01,516,432.99,0.83,-80.00,1052.4,1109.6,995.1,2848.2,1984.6,133.57,9.62,680,5178.32,0.00,0.00,3.91,0.000,0.000,0.122,1052.53,1109.50,995.56,2848.38,571.94,0,0,0,30.00,30.00,15.28
$GC,5246.89,17414,432.99,0.83,0.00,1051.4,1108.2,994.6,2848.1,571.9,125.20,10.12,696,5254.26,0.00,0.00,3.39,0.000,0.000,0.044,1051.88,1108.19,995.56,2847.69,1979.75,0,0,0,30.00,30.00,15.41
$GC,5551.90,16902,432.99,0.83,-80.00,1050.6,1107.1,994.1,2848.3,1981.2,96.53,9.46,730,5559.46,0.00,0.00,3.85,0.000,0.000,0.120,1050.47,1106.88,994.06,2847.56,571.00,0,0,0,30.00,30.00,15.47
$GC,5628.28,17414,432.99,0.83,0.00,1050.0,1106.1,993.9,2848.6,570.2,88.97,10.17,745,5638.17,0.00,0.00,3.34,0.000,0.000,0.043,1050.22,1106.25,994.19,2847.75,1980.50,0,0,0,30.00,30.00,15.45
$GC,5817.77,10919,509.76,1.01,-80.00,1049.8,1105.8,993.8,2848.8,1982.2,72.92,7.55,783,5936.55,108.31,0.23,3.91,1.163,0.109,0.123,747.28,782.38,712.19,2890.25,572.00,0,0,0,11.86,15.54,15.08
$GC,5999.77,1028,509.76,1.01,0.00,745.7,779.4,711.9,2889.5,571.5,55.94,9.78,819,6007.27,0.00,0.00,3.40,0.000,0.000,0.043,745.75,779.50,712.00,2890.50,1981.69,0,0,0,30.00,30.00,15.20
$GC,6186.02,10919,630.29,1.30,-80.00,744.0,778.0,710.1,2890.2,1983.1,43.24,6.15,856,6295.26,101.34,0.43,3.96,1.109,0.097,0.123,500.72,509.56,491.88,2959.88,571.62,0,0,0,11.42,15.31,15.02
$GC,6348.49,9222,630.29,1.30,0.00,499.0,506.7,491.3,2959.2,571.1,28.60,10.04,888,6355.99,0.00,0.00,3.41,0.000,0.000,0.044,498.91,506.56,491.25,2960.44,1978.38,0,0,0,30.00,30.00,15.18
$GC,6534.74,10919,732.54,1.54,-80.00,496.3,505.1,487.4,2960.7,1979.9,14.49,6.74,925,6545.93,0.00,0.36,3.88,0.000,0.100,0.122,496.47,505.19,487.75,3018.25,571.12,0,0,0,30.00,15.35,15.33
$STATE,6719,end climb,SURFACE_DEPTH_REACHED
$STATE,6719,begin surface coast
$FINISH,1.6,1.021951
$STATE,6730,end surface coast,CONTROL_FINISHED_OK
$STATE,6730,begin surface
$SM_CCo,6822.44,0.00,0.000,0,492.9,498.3,487.6,572.05
$SM_GC,2.53,0.00,19.33,3.61,0.000,0.085,0.043,492.9,498.3,487.6,201.4,2082.3,0,0,0,30.00,15.42,15.49
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7130.01,-15201.23,241020,144132
$TCM_TEMP,1.15
$SC_FREEKB,3818272
$PM_FREEKB_00,31922432
$PM_ACTIVECARD,0
$RAFOS_CLK,0
$RAFOS_FIX,7127.339844,-15153.265625,241020,161633,0,1,0.26
$HUMID,52.66
$TEMP,0.22
$INTERNAL_PRESSURE,8.1439
$24V_AH,14.47,96.452
$10V_AH,14.75,0.000
$FG_AHR_24Vo,163.225
$FG_AHR_10Vo,38.334
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,982.630,46.075,110.280,220.837,0.000,12.384,4145.108,3069.152,2324.264,2212.000,0.000,0.000
$DEVICE_MAMPS,1510.848,309.712,160.472,202.293,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6745.000,6756.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.570,9.576,0.000,0.000
$MEM,1152260,35,24468,80
$DATA_FILE_SIZE,28917,964
$CAP_FILE_SIZE,264959,0
$SDSIZE,3918848,3763072
$SDFILEDIR,1495,1
$ERRORS,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.095,343.0,1
$GPS,241020,164104,7127.676,-15153.618,17,1.1,21,15.2