version: 67.00
glider: 233
mission: 7
dive: 190
start: 10 24 120 16 46 56
data:
$ID,233
$MISSION,7
$DIVE,190
$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,38.339165
$FG_AHR_24V,163.23592
$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
$GPS1,241020,164104,7127.676,-15153.618,17,1.1,21,15.2
$_CALLS,1
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-75.2
$GPS2,241020,164624,7127.691,-15153.772,2,1.1,3,15.2
$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,125.2,7623,-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
$MODEM_MSG,CACST,6,1,20201024160722.043894,18,699,-1,0097,0150,432,02,02,05,04,-1,-01,-01,1,3,0,0,150,-10.1,0.48,-100,2.52,-01,-0.04,57,925,0025*32
$MODEM_MSG,CACST,6,1,20201024160959.675354,18,1947,-9,0103,0150,171,01,01,07,01,-1,-01,-01,1,3,0,0,150,-4.6,0.55,-100,2.45,-01,0.33,21,925,0025*17
$MODEM_MSG,CACST,6,1,20201024161235.140607,18,491,-15,0104,0150,432,02,02,07,04,-1,-01,-01,1,3,0,0,150,-8.4,0.33,-100,2.67,-01,0.09,57,925,0025*19
$MODEM_MSG,CACST,6,1,20201024161900.039433,18,186,-19,0364,0150,171,01,01,07,01,-1,-01,-01,1,3,0,0,150,-5.9,0.01,-100,2.99,-01,0.00,21,925,0025*1E
$MODEM_MSG,CACST,6,1,20201024162506.171052,18,865,17,0100,0150,07,01,01,02,03,-1,-01,-01,1,3,0,0,150,-12.4,0.07,-100,2.93,-01,-0.09,12,925,0025*1B
$MODEM_MSG,CACST,6,1,20201024163107.419704,18,725,10,0097,0150,07,01,01,03,03,-1,-01,-01,1,3,0,0,150,-12.3,0.03,-100,2.97,-01,0.01,12,925,0025*38
$MODEM_MSG,CACST,6,1,20201024163904.065946,18,51,-19,0094,0150,402,02,02,06,02,-1,-01,-01,1,3,0,0,150,-1.7,0.42,-100,2.58,-01,-0.05,51,925,0025*04
$GC,11.42,16386,-214.11,-0.83,0.00,490.2,491.6,488.9,201.8,2034.4,0.00,0.00,0,59.97,45.63,0.00,0.00,0.005,0.000,0.000,1275.50,1305.06,1245.94,201.69,2034.88,0,0,0,15.44,30.00,30.00
$GC,60.23,18727,-214.11,-0.83,80.00,1275.7,1305.1,1246.2,201.4,2034.4,3.01,-2.73,9,166.11,72.68,19.59,3.47,0.005,0.317,0.140,3701.41,3704.62,3698.19,2436.31,3349.00,0,0,0,15.46,15.30,15.38
$GC,194.40,1156,-214.11,-0.75,0.00,3702.9,3707.1,3698.7,2436.4,3347.3,27.03,-18.63,35,200.81,0.00,0.00,3.24,0.000,0.000,0.048,3703.72,3707.12,3700.31,2436.94,2025.81,0,0,0,30.00,30.00,15.59
$GC,380.15,516,-214.11,-0.75,-80.00,3703.0,3708.1,3697.9,2436.6,2025.6,59.71,-15.05,72,391.48,0.00,0.00,3.90,0.000,0.000,0.126,3703.16,3708.38,3697.94,2436.31,585.00,0,0,0,30.00,30.00,15.57
$GC,430.21,1028,-214.11,-0.75,0.00,3703.5,3708.9,3698.0,2436.4,584.7,66.47,-12.95,82,441.01,0.00,0.00,3.56,0.000,0.000,0.046,3704.84,3709.81,3699.88,2436.50,2072.25,0,0,0,30.00,30.00,15.54
$GC,620.72,0,-214.11,-0.75,0.00,3702.8,3707.5,3698.2,2436.4,2072.4,88.57,-11.44,120,625.80,0.00,0.00,0.00,0.000,0.000,0.000,3703.56,3708.88,3698.25,2436.81,2072.50,0,0,0,30.00,30.00,30.00
$GC,805.63,516,-214.11,-0.75,-80.00,3703.4,3708.8,3698.1,2436.4,2072.0,108.54,-10.97,149,817.43,0.00,0.00,3.99,0.000,0.000,0.118,3703.41,3709.19,3697.62,2436.19,585.44,0,0,0,30.00,30.00,15.58
$GC,856.16,1156,-214.11,-0.81,0.00,3703.6,3709.3,3697.9,2436.4,585.5,114.04,-10.73,159,863.56,0.00,0.00,3.54,0.000,0.000,0.042,3705.28,3710.38,3700.19,2434.62,2076.00,0,0,0,30.00,30.00,15.73
$GC,1161.18,516,-214.11,-0.81,-80.00,3704.6,3710.1,3699.1,2436.2,2076.4,145.75,-10.07,190,1168.67,0.00,0.00,4.00,0.000,0.000,0.117,3703.81,3709.31,3698.31,2436.94,586.38,0,0,0,30.00,30.00,15.68
$GC,1197.39,1156,-214.11,-0.89,0.00,3704.1,3709.3,3698.8,2436.3,585.9,149.57,-10.70,197,1204.37,0.00,0.00,3.52,0.000,0.000,0.045,3703.94,3709.31,3698.56,2436.44,2074.44,0,0,0,30.00,30.00,15.72
$GC,1501.93,4225,-214.11,-0.98,0.00,3703.3,3708.5,3698.2,2436.6,2074.1,177.91,-8.74,228,1505.92,0.00,0.31,0.00,0.000,0.089,0.000,3704.56,3711.12,3698.00,2391.38,2074.75,0,0,0,30.00,15.79,30.00
$GC,1802.69,516,-214.11,-0.98,-80.00,3703.6,3708.8,3698.3,2391.9,2074.4,208.37,-9.39,258,1814.62,0.00,0.00,3.96,0.000,0.000,0.118,3704.19,3710.31,3698.06,2391.94,586.50,0,0,0,30.00,30.00,15.78
$GC,1853.34,1028,-214.11,-0.98,0.00,3703.5,3710.4,3696.7,2390.6,586.5,213.45,-10.22,268,1860.30,0.00,0.00,3.51,0.000,0.000,0.048,3704.69,3709.75,3699.62,2391.88,2074.50,0,0,0,30.00,30.00,15.85
$GC,2157.88,516,-214.11,-0.98,-80.00,3703.9,3710.7,3697.1,2391.8,2075.7,239.83,-8.76,299,2165.42,0.00,0.00,3.94,0.000,0.000,0.117,3703.25,3709.00,3697.50,2390.81,586.75,0,0,0,30.00,30.00,15.81
$GC,2187.57,1028,-214.11,-0.98,0.00,3703.6,3708.7,3698.4,2391.4,586.6,242.69,-8.74,305,2195.68,0.00,0.00,3.50,0.000,0.000,0.045,3703.88,3708.94,3698.81,2390.88,2075.69,0,0,0,30.00,30.00,15.87
$GC,2494.16,516,-214.11,-0.98,-80.00,3703.9,3709.1,3698.8,2391.1,2075.4,268.09,-8.40,336,2505.72,0.00,0.00,3.93,0.000,0.000,0.118,3704.31,3709.88,3698.75,2391.19,585.50,0,0,0,30.00,30.00,15.82
$GC,2534.25,1028,-214.11,-0.98,0.00,3703.3,3708.7,3697.9,2391.7,585.6,271.73,-9.03,344,2541.37,0.00,0.00,3.50,0.000,0.000,0.045,3704.03,3710.56,3697.50,2389.94,2076.75,0,0,0,30.00,30.00,15.89
$GC,2839.74,516,-214.11,-0.98,-80.00,3703.2,3708.2,3698.1,2390.9,2077.4,297.20,-8.06,375,2851.57,0.00,0.00,3.95,0.000,0.000,0.117,3703.66,3708.88,3698.44,2391.31,585.06,0,0,0,30.00,30.00,15.84
$STATE,2870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2870,begin apogee
$GC,2875.07,10243,0.00,-0.20,0.00,3703.0,3708.2,3697.8,2391.4,1981.3,300.01,-8.46,381,3062.74,183.87,1.48,0.11,1.532,0.166,0.180,2822.53,2854.81,2790.25,2592.94,1917.81,0,0,0,11.80,15.82,15.13
$STATE,3066,end apogee,CONTROL_FINISHED_OK
$STATE,3066,begin climb
$GC,3065.74,10243,214.11,0.83,0.00,2822.0,2854.1,2789.9,2591.6,1917.8,305.77,0.00,390,3259.42,188.86,1.79,0.00,1.430,0.115,0.000,1951.38,2002.19,1900.56,2843.38,1917.88,0,0,0,11.39,15.14,30.00
$GC,3563.23,21127,214.11,0.60,-80.00,1936.6,1985.5,1887.7,2843.5,1916.6,248.85,14.60,439,3574.62,0.00,0.58,3.69,0.000,0.189,0.120,1937.38,1985.69,1889.06,2778.69,571.44,0,0,0,30.00,15.28,15.29
$GC,3643.07,21639,214.11,0.45,0.00,1933.6,1979.8,1887.4,2779.2,572.0,238.69,12.21,455,3650.55,0.00,0.25,3.37,0.000,0.181,0.044,1933.94,1980.25,1887.62,2742.94,1977.31,0,0,0,30.00,15.33,15.41
$GC,3948.09,10791,295.31,0.55,-80.00,1933.4,1979.8,1887.0,2743.3,1979.3,213.98,7.41,486,4031.12,72.42,0.27,3.86,1.332,0.110,0.119,1619.34,1665.69,1573.00,2779.75,571.81,0,0,0,11.85,15.52,15.22
$GC,4070.01,1028,295.31,0.55,0.00,1614.2,1657.2,1571.3,2779.0,571.8,201.84,11.59,510,4076.75,0.00,0.00,3.35,0.000,0.000,0.039,1614.09,1656.75,1571.44,2780.25,1978.25,0,0,0,30.00,30.00,15.33
$GC,4374.90,8742,386.79,0.66,-80.00,1607.0,1654.2,1559.7,2779.6,1980.1,174.89,7.08,541,4502.31,118.17,0.00,3.92,1.203,0.000,0.120,1249.16,1305.00,1193.31,2779.12,572.00,0,0,0,11.64,30.00,15.13
$GC,4555.56,11431,460.64,0.89,0.00,1244.8,1298.1,1191.6,2779.7,571.5,161.83,7.64,577,4660.03,97.54,0.49,3.38,1.154,0.092,0.037,947.50,997.38,897.62,2862.69,1986.12,0,0,0,11.64,15.25,15.27
$GC,4963.33,516,460.64,0.89,-80.00,940.9,990.8,891.1,2862.6,1986.6,121.43,10.19,628,4970.78,0.00,0.00,3.88,0.000,0.000,0.119,941.00,990.75,891.25,2862.25,569.81,0,0,0,30.00,30.00,15.27
$GC,5042.98,1028,460.64,0.89,0.00,940.1,989.5,890.6,2862.8,569.2,112.40,10.95,644,5050.48,0.00,0.00,3.37,0.000,0.000,0.039,940.84,990.31,891.38,2861.81,1978.25,0,0,0,30.00,30.00,15.36
$GC,5349.80,516,460.64,0.89,-80.00,939.5,989.0,890.0,2862.7,1978.8,84.09,9.20,692,5357.29,0.00,0.00,3.81,0.000,0.000,0.119,939.44,989.00,889.88,2861.69,571.81,0,0,0,30.00,30.00,15.54
$GC,5440.51,17414,460.64,0.89,0.00,938.8,988.2,889.4,2862.0,570.8,75.02,9.36,710,5446.98,0.00,0.00,3.30,0.000,0.000,0.039,939.28,988.44,890.12,2862.06,1977.94,0,0,0,30.00,30.00,15.60
$GC,5626.33,10919,543.06,1.08,-80.00,938.5,987.8,889.3,2862.0,1981.8,60.24,7.37,747,5755.67,122.16,0.25,3.92,1.139,0.106,0.121,611.91,633.12,590.69,2905.19,571.06,0,0,0,11.64,15.62,15.23
$GC,5788.92,11431,625.81,1.31,0.00,610.2,630.1,590.2,2906.7,570.9,47.05,7.36,779,5841.41,45.10,0.34,3.40,1.071,0.101,0.040,500.84,509.44,492.25,2964.75,1982.81,0,0,0,11.54,15.30,15.26
$GC,6020.41,8710,625.81,1.31,-80.00,496.5,505.8,487.3,2963.8,1982.8,26.37,8.57,825,6027.94,0.00,0.00,3.83,0.000,0.000,0.120,496.50,505.75,487.25,2963.19,570.00,0,0,0,30.00,30.00,15.35
$GC,6126.87,9222,625.81,1.31,0.00,495.8,504.5,487.2,2964.2,569.8,16.30,9.34,846,6133.66,0.00,0.00,3.35,0.000,0.000,0.037,495.84,504.44,487.25,2962.94,1979.25,0,0,0,30.00,30.00,15.49
$GC,6311.93,10919,817.21,1.79,-80.00,494.5,503.6,485.4,2963.6,1981.2,5.82,3.89,883,6323.62,0.00,0.76,3.84,0.000,0.105,0.119,494.72,503.75,485.69,3077.06,569.94,0,0,0,30.00,15.52,15.39
$STATE,6392,end climb,SURFACE_DEPTH_REACHED
$STATE,6392,begin surface coast
$FINISH,0.6,1.021706
$STATE,6433,end surface coast,CONTROL_FINISHED_OK
$STATE,6433,begin surface
$SM_CCo,6524.46,0.00,0.000,0,492.6,499.5,485.8,572.13
$SM_GC,1.98,0.00,19.60,3.55,0.000,0.083,0.037,492.6,499.5,485.8,201.4,2083.9,0,0,0,30.00,15.53,15.63
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7129.05,-15155.25,241020,144308
$TCM_TEMP,1.16
$SC_FREEKB,3817952
$PM_FREEKB_00,31831424
$PM_ACTIVECARD,0
$RAFOS_CLK,-13
$MODEM,6,1603557544,75.33060,-142.67570,244.066,357556.6
$MODEM,5,1603557067,76.41295,-142.47470,67.420,98769.9
$MODEM,4,1603556706,76.55490,-139.99944,6.171,9040.6
$MODEM,2,1603556340,75.67648,-146.03058,240.039,351657.8
$MODEM,1,1603555955,75.02295,-144.31340,155.141,227281.0
$MODEM,0,1603555642,74.83892,-145.28152,142.044,208094.3
$RAFOS_FIX,7628.438965,-13802.421875,241020,161607,5,255,-714.72
$HUMID,53.20
$TEMP,-0.19
$INTERNAL_PRESSURE,8.13556
$24V_AH,14.46,96.813
$10V_AH,14.91,0.000
$FG_AHR_24Vo,163.548
$FG_AHR_10Vo,38.378
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,946.405,45.720,116.775,188.209,0.000,12.807,4025.738,2846.502,2205.850,0.000,0.000,0.000
$DEVICE_MAMPS,1532.168,316.600,180.480,199.164,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6447.000,6458.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.453,9.601,0.000,0.000
$MEM,1152208,38,24460,80
$DATA_FILE_SIZE,25709,907
$CAP_FILE_SIZE,265535,0
$SDSIZE,3918848,3762784
$SDFILEDIR,1502,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.056,347.9,1
$GPS,241020,183732,7127.075,-15152.522,60,0.9,61,15.2