version: 67.00
glider: 233
mission: 12
dive: 4
start: 4 8 121 19 50 44
data:
$ID,233
$MISSION,12
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,0
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72312
$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,604.66449
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,2
$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,2043
$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,1115
$ROLL_MAX,3875
$ROLL_DEG,80
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2500
$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,2965
$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,550
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,75.279861
$FG_AHR_24V,197.41
$PHONE_SUPPLY,2
$PRESSURE_YINT,-169.65318
$PRESSURE_SLOPE,0.00022579571
$COMPASS_USE,16388
$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,102
$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
$GPS1,080421,194408,4743.183,-12224.471,26,1.4,32,15.5
$_CALLS,1
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-51.8
$GPS2,080421,195008,4743.164,-12224.492,3,0.8,6,15.5
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$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,55.8,684,-17.6,-10.000,-21.21
$D_GRID,176
$IRON,1.000000,-0.030000,0.020000,-0.040000,1.110000,0.060000,0.006000,0.020000,1.100000,-478.000000,-884.000000,-444.000000
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11.56,16386,-146.63,-0.88,0.00,497.0,495.9,498.1,193.9,2525.2,0.00,0.00,0,176.81,162.09,0.00,0.00,0.005,0.000,0.000,3375.00,3374.06,3375.94,193.75,2525.81,0,0,0,13.96,30.00,30.00
$GC,177.92,18727,-146.63,-0.88,80.00,3374.5,3372.4,3376.5,193.9,2524.8,3.03,-5.52,32,207.07,5.26,13.56,3.36,0.009,0.268,0.117,3562.81,3571.69,3553.94,1828.06,3885.94,0,0,0,15.84,15.48,15.66
$GC,236.46,1028,-146.63,-0.88,0.00,3561.2,3570.3,3552.2,1828.6,3885.9,13.12,-12.81,43,243.91,0.00,0.00,3.17,0.000,0.000,0.058,3563.75,3573.44,3554.06,1828.56,2524.69,0,0,0,30.00,30.00,15.72
$MODEM_MSG,CACST,6,1,20210408190603.682884,05,545,15,0208,0150,07,01,01,02,01,-1,-01,-01,1,3,0,0,150,39.7,0.40,-100,2.60,-01,0.02,24,925,0025*11
$MODEM_MSG,CACST,6,1,20210408190808.319609,05,770,10,0091,0150,216,03,03,03,03,-1,-01,-01,1,3,0,0,150,1.9,0.50,-100,2.50,-01,0.10,51,925,0025*1D
$MODEM_MSG,CACST,6,1,20210408192636.320323,05,32767,45,0106,0150,07,01,01,00,01,-1,-01,-01,1,3,0,0,150,-5.7,0.37,-100,2.63,-01,-0.20,59,925,0025*20
$MODEM_MSG,CACST,6,1,20210408193035.274907,05,32767,45,0101,0150,246,04,04,00,06,-1,-01,-01,1,3,0,0,150,-40.3,0.46,-100,2.54,-01,-0.07,50,925,0025*26
$MODEM_MSG,CACST,6,1,20210408193408.615907,05,32767,45,0183,0150,216,03,03,00,03,-1,-01,-01,1,3,0,0,150,-28.6,0.01,-100,2.99,-01,0.00,45,925,0025*06
$MODEM_MSG,CACST,6,1,20210408194714.664496,05,271,-11,0112,0150,216,00,00,06,02,-1,-01,-01,1,3,0,0,150,12.1,0.40,-100,2.60,-01,0.03,48,925,0025*02
$MODEM_MSG,CACST,6,1,20210408194859.901876,05,177,-19,0138,0150,216,04,04,07,04,-1,-01,-01,1,3,0,0,150,19.3,0.44,-100,2.56,-01,0.01,29,925,0025*34
$NAV,1617911711,16.3,4,stop
$GC,428.21,644,-146.63,-0.96,-80.00,3561.3,3571.5,3551.2,1828.4,2524.8,29.36,-8.05,81,439.25,0.00,0.00,3.58,0.000,0.000,0.153,3563.06,3572.38,3553.75,1828.94,1104.50,0,0,0,30.00,30.00,15.67
$NAV,1617911942,36.1,start
$GC,668.83,1028,-146.63,-0.96,0.00,3562.0,3571.6,3552.4,1828.4,1104.4,51.28,-8.89,129,676.28,0.00,0.00,3.37,0.000,0.000,0.051,3560.69,3570.44,3550.94,1829.00,2581.75,0,0,0,30.00,30.00,15.77
$GC,860.59,4485,-146.63,-1.05,80.00,3561.0,3570.1,3551.9,1829.0,2581.2,65.73,-9.24,167,871.56,0.00,0.34,3.19,0.000,0.076,0.114,3561.69,3571.00,3552.38,1770.88,3885.25,0,0,0,30.00,15.75,15.71
$GC,935.69,1028,-146.63,-1.05,0.00,3560.4,3570.0,3550.8,1770.2,3885.4,73.65,-10.33,182,943.05,0.00,0.00,3.15,0.000,0.000,0.058,3562.66,3572.06,3553.25,1769.44,2524.31,0,0,0,30.00,30.00,15.78
$GC,1126.71,260,-146.63,-1.05,80.00,3561.3,3570.8,3551.8,1770.1,2524.4,92.19,-8.33,220,1134.18,0.00,0.00,3.35,0.000,0.000,0.110,3561.41,3569.75,3553.06,1770.00,3885.75,0,0,0,30.00,30.00,15.71
$GC,1179.08,1028,-146.63,-1.05,0.00,3561.5,3571.0,3551.9,1769.9,3886.9,97.09,-9.84,230,1186.51,0.00,0.00,3.15,0.000,0.000,0.059,3561.28,3570.75,3551.81,1769.81,2524.75,0,0,0,30.00,30.00,15.80
$GC,1370.19,260,-146.63,-1.05,80.00,3561.5,3570.7,3552.4,1769.9,2524.4,115.49,-10.32,252,1377.78,0.00,0.00,3.34,0.000,0.000,0.109,3562.03,3571.75,3552.31,1769.81,3886.38,0,0,0,30.00,30.00,15.71
$GC,1420.51,1028,-146.63,-1.05,0.00,3561.5,3571.4,3551.6,1770.0,3886.6,120.97,-10.72,262,1427.67,0.00,0.00,3.16,0.000,0.000,0.057,3563.38,3572.81,3553.94,1770.56,2521.81,0,0,0,30.00,30.00,15.78
$GC,1616.43,260,-146.63,-1.05,80.00,3561.0,3570.2,3551.9,1769.8,2522.8,139.73,-9.42,282,1623.87,0.00,0.00,3.32,0.000,0.000,0.110,3563.09,3572.88,3553.31,1769.31,3885.88,0,0,0,30.00,30.00,15.71
$GC,1666.60,1028,-146.63,-1.05,0.00,3561.5,3571.1,3551.9,1769.7,3885.2,144.83,-10.06,292,1673.82,0.00,0.00,3.16,0.000,0.000,0.059,3563.03,3571.94,3554.12,1769.75,2525.50,0,0,0,30.00,30.00,15.78
$STATE,1722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1722,begin apogee
$GC,1726.06,10243,0.00,-0.20,0.00,3561.9,3570.9,3552.9,1769.6,2474.9,150.69,-10.68,298,1838.67,107.63,1.69,0.08,1.189,0.156,0.214,2961.66,2972.25,2951.06,1995.25,2536.56,0,0,0,10.81,15.60,15.55
$STATE,1841,end apogee,CONTROL_FINISHED_OK
$STATE,1841,begin climb
$GC,1841.54,10243,146.63,0.88,0.00,2963.1,2973.8,2952.4,1994.9,2537.2,153.59,0.00,309,1963.73,115.48,1.77,0.00,1.122,0.101,0.000,2365.97,2384.25,2347.69,2260.56,2536.69,0,0,0,11.38,15.56,30.00
$GC,2147.42,16646,146.63,0.88,80.00,2355.3,2371.1,2339.5,2260.8,2536.7,130.39,8.82,343,2154.80,0.00,0.00,3.34,0.000,0.000,0.110,2354.75,2371.62,2337.88,2260.62,3884.62,0,0,0,30.00,30.00,15.55
$GC,2187.53,17414,146.63,0.88,0.00,2353.8,2369.4,2338.2,2260.9,3885.1,126.15,10.37,351,2195.74,0.00,0.00,3.30,0.000,0.000,0.056,2356.22,2371.12,2341.31,2261.12,2468.81,0,0,0,30.00,30.00,15.62
$NET,CACST,6,1,20210408203007.331114,05,19647,42,0091,0150,07,00,00,00,00,-1,-01,-01,1,3,6,0,150,17.1,-266.00,-100,269.00,-01,1.89,68,10000,5000*57
$GC,2379.37,16386,146.63,0.88,0.00,2352.8,2366.9,2338.6,2260.8,2469.5,109.94,8.59,371,2390.03,0.00,0.00,0.00,0.000,0.000,0.000,2353.28,2367.75,2338.81,2261.69,2469.50,0,0,0,30.00,30.00,30.00
$GC,2575.08,16646,146.63,0.88,80.00,2352.2,2366.2,2338.1,2261.4,2470.5,91.98,8.54,399,2582.48,0.00,0.00,3.47,0.000,0.000,0.107,2352.44,2366.12,2338.75,2261.62,3886.25,0,0,0,30.00,30.00,15.67
$GC,2616.15,9254,198.75,0.95,0.00,2352.0,2366.2,2337.8,2261.1,3886.6,88.78,7.59,407,2668.27,44.65,0.00,3.29,1.076,0.000,0.057,2153.56,2170.38,2136.75,2261.00,2470.56,0,0,0,11.05,30.00,15.72
$GC,2852.59,18823,198.75,1.05,80.00,2145.7,2163.1,2128.2,2261.8,2471.1,68.60,8.44,454,2863.69,0.00,0.24,3.46,0.000,0.090,0.108,2147.59,2165.69,2129.50,2307.06,3885.88,0,0,0,30.00,15.68,15.66
$GC,2913.37,17414,198.75,1.05,0.00,2145.0,2162.4,2127.6,2307.9,3886.6,62.56,10.24,466,2920.83,0.00,0.00,3.29,0.000,0.000,0.057,2143.81,2161.25,2126.38,2307.06,2472.50,0,0,0,30.00,30.00,15.72
$GC,3105.28,16902,198.75,1.05,-80.00,2144.8,2162.1,2127.4,2307.6,2472.2,44.22,9.42,504,3112.59,0.00,0.00,3.41,0.000,0.000,0.133,2147.50,2164.50,2130.50,2307.44,1104.00,0,0,0,30.00,30.00,15.68
$GC,3151.22,17414,198.75,1.05,0.00,2143.4,2159.8,2127.0,2307.3,1103.9,38.58,12.46,513,3158.52,0.00,0.00,3.27,0.000,0.000,0.050,2143.44,2160.00,2126.88,2307.69,2536.88,0,0,0,30.00,30.00,15.74
$GC,3342.18,16902,198.75,1.05,-80.00,2143.0,2159.4,2126.6,2306.9,2537.7,20.04,8.66,551,3349.68,0.00,0.00,3.57,0.000,0.000,0.129,2141.38,2157.62,2125.12,2307.81,1103.62,0,0,0,30.00,30.00,15.68
$GC,3398.58,17414,198.75,1.05,0.00,2142.0,2158.0,2126.1,2306.9,1103.8,14.86,9.54,562,3406.08,0.00,0.00,3.26,0.000,0.000,0.051,2145.31,2161.69,2128.94,2307.50,2535.75,0,0,0,30.00,30.00,15.78
$STATE,3562,end climb,SURFACE_DEPTH_REACHED
$STATE,3562,begin surface coast
$FINISH,-0.5,1.022193
$STATE,3590,end surface coast,CONTROL_FINISHED_OK
$STATE,3590,begin surface
$SM_CCo,3952.47,336.54,0.966,0,500.8,496.6,505.1,604.46
$SM_GC,0.60,336.54,13.33,0.04,0.966,0.061,0.219,500.8,496.6,505.1,194.0,2583.4,0,0,0,11.13,15.75,15.82
$MODEM_MSG,CACST,6,1,20210408200742.918172,05,32767,45,0139,0150,216,00,00,00,02,-1,-01,-01,1,3,0,0,150,-25.2,0.00,-100,3.00,-01,0.00,44,925,0025*02
$MODEM_MSG,CACST,6,1,20210408201109.593451,05,32767,45,0109,0150,216,00,00,00,00,-1,-01,-01,1,3,0,0,150,-19.5,0.00,-100,3.00,-01,0.00,45,925,0025*00
$MODEM_MSG,CACST,6,1,20210408201444.228526,05,32767,45,0136,0150,246,03,03,00,05,-1,-01,-01,1,3,0,0,150,-39.3,0.27,-100,2.73,-01,-0.02,54,925,0025*29
$MODEM_MSG,CACST,6,1,20210408201809.273003,05,4929,36,0113,0150,246,03,03,00,04,-1,-01,-01,1,3,0,0,150,-36.8,0.11,-100,2.89,-01,0.01,55,925,0025*30
$MODEM_MSG,CACST,6,1,20210408202109.390769,05,559,03,0090,0150,246,03,03,04,05,-1,-01,-01,1,3,0,0,150,8.3,0.44,-100,2.56,-01,-0.11,50,925,0025*33
$MODEM_MSG,CACST,6,1,20210408202311.409234,05,682,16,0109,0150,216,03,03,02,03,-1,-01,-01,1,3,0,0,150,-12.4,0.35,-100,2.65,-01,0.03,51,925,0025*08
$MODEM_MSG,CACST,6,1,20210408202524.590570,05,32767,45,0176,0150,246,03,03,00,03,-1,-01,-01,1,3,0,0,150,-33.9,0.10,-100,2.90,-01,0.01,55,925,0025*0E
$NAV,1617915397,-0.6,5,stop
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4744.47,-12222.38,080421,183040
$TCM_TEMP,11.03
$SC_FREEKB,3877472
$PM_FREEKB_00,62171840
$PM_ACTIVECARD,0
$RAFOS_CLK,-9
$MODEM,5,1617913524,47.25000,-122.00000,24.591,34630.2
$MODEM,4,1617913269,48.25000,-123.50000,69.391,97721.0
$MODEM,3,1617913089,46.25000,-123.50000,189.273,266547.6
$MODEM,2,1617912669,47.00000,-123.00000,69.593,98006.4
$MODEM,1,1617912462,47.50000,-123.50000,162.918,229432.8
$MODEM,9,1617911234,47.55000,-122.50000,134.664,189644.0
$MODEM,6,1617910235,48.15000,-122.50000,35.275,49676.6
$MODEM,5,1617909996,47.25000,-122.00000,96.320,135645.0
$MODEM,1,1617908763,47.50000,-123.50000,63.683,89682.7
$RAFOS_FIX,4811.570801,-12134.945312,080421,202024,8,255,4973.81
$HUMID,50.17
$TEMP,9.90
$INTERNAL_PRESSURE,8.76499
$24V_AH,14.82,106.923
$10V_AH,14.83,0.000
$FG_AHR_24Vo,197.599
$FG_AHR_10Vo,75.346
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,771.650,30.940,73.515,211.410,0.000,14.004,2499.863,1431.235,1197.407,4110.786,0.000,0.000,148.475
$DEVICE_MAMPS,1189.080,268.056,218.856,178.338,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3599.000,3605.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.994,15.749,0.000,0.000
$MEM0,60932,1,0,0
$MEM1,65508,1,0,0
$MEM2,996336,24,50132,81
$DATA_FILE_SIZE,16123,600
$CAP_FILE_SIZE,590112,0
$SDSIZE,3918848,3901824
$SDFILEDIR,180,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1429.0
$CURRENT,0.193,203.0,1
$MAGCAL,1.000000,-0.032905,0.060885,-0.040010,1.143075,0.028376,0.020531,-0.024680,1.153879,-308.2,-768.5,-556.5,36,0.0203,0
$IMPLIED_C_PITCH,2050,16.73,377
$IMPLIED_C_VBD,2987,31.029217,377
$GPS,080421,205724,4742.894,-12224.259,1,1.1,4,15.5