version: 67.00
glider: 233
mission: 7
dive: 132
start: 10 19 120 17 32 3
data:
$ID,233
$MISSION,7
$DIVE,132
$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,150
$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,35.145374
$FG_AHR_24V,144.72527
$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
$GPS1,191020,172400,7134.174,-15159.730,25,0.8,25,15.1
$_CALLS,1
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.5
$GPS2,191020,173131,7134.286,-15159.712,3,0.6,4,15.1
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SHELF
$TGT_LATLONG,7130.000,-15200.000
$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,165.0,7940,-17.6,-10.000,-21.24
$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,10.78,16386,-145.99,-0.88,0.00,493.5,485.9,501.2,198.9,2020.1,0.00,0.00,0,100.25,87.29,0.00,0.00,0.005,0.000,0.000,1968.78,1969.81,1967.75,199.25,2019.81,0,0,0,15.40,30.00,30.00
$GC,100.51,18983,-145.99,-0.88,-80.00,1969.6,1969.3,1969.9,199.1,2020.7,3.13,-1.80,17,181.88,47.20,20.00,3.79,0.005,0.309,0.132,3422.47,3431.44,3413.50,2423.44,585.88,0,0,0,15.42,15.28,15.47
$GC,185.66,3205,-145.99,-0.65,0.00,3423.0,3433.2,3412.8,2423.9,585.7,17.35,-20.05,33,196.25,0.00,0.43,3.51,0.000,0.210,0.053,3423.44,3433.62,3413.25,2481.94,2070.50,0,0,0,30.00,15.46,15.43
$GC,375.16,388,-145.99,-0.74,80.00,3425.2,3437.7,3412.8,2481.9,2069.8,47.28,-10.81,71,382.59,0.00,0.00,3.26,0.000,0.000,0.134,3425.22,3437.88,3412.56,2481.38,3348.88,0,0,0,30.00,30.00,15.55
$GC,416.09,5253,-145.99,-0.87,0.00,3425.9,3438.4,3413.4,2481.9,3349.0,51.51,-10.41,79,426.90,0.00,0.46,3.18,0.000,0.086,0.045,3426.25,3438.94,3413.56,2415.19,2023.94,0,0,0,30.00,15.61,15.60
$GC,606.59,516,-145.99,-0.87,-80.00,3425.3,3438.0,3412.6,2415.2,2023.9,76.52,-12.73,117,617.45,0.00,0.00,3.75,0.000,0.000,0.126,3427.31,3440.12,3414.50,2415.31,585.00,0,0,0,30.00,30.00,15.54
$GC,681.67,1028,-145.99,-0.87,0.00,3425.6,3438.2,3413.0,2415.6,584.8,86.69,-13.49,132,687.94,0.00,0.00,3.45,0.000,0.000,0.047,3427.19,3439.62,3414.75,2415.06,2072.44,0,0,0,30.00,30.00,15.62
$GC,871.16,260,-145.99,-0.87,80.00,3425.9,3439.0,3412.9,2415.6,2073.1,109.49,-11.73,162,878.57,0.00,0.00,3.21,0.000,0.000,0.134,3424.97,3437.75,3412.19,2414.69,3350.12,0,0,0,30.00,30.00,15.67
$GC,907.53,1028,-145.99,-0.87,0.00,3425.8,3438.7,3413.0,2414.9,3349.1,113.71,-11.86,169,914.74,0.00,0.00,3.16,0.000,0.000,0.047,3425.22,3438.25,3412.19,2416.06,2023.38,0,0,0,30.00,30.00,15.73
$GC,1212.42,0,-145.99,-0.87,0.00,3425.4,3437.8,3413.1,2415.1,2023.0,149.59,-11.45,200,1216.34,0.00,0.00,0.00,0.000,0.000,0.000,3425.28,3438.12,3412.44,2415.06,2023.00,0,0,0,30.00,30.00,30.00
$GC,1513.22,388,-145.99,-0.95,80.00,3426.1,3439.1,3413.1,2416.1,2022.4,178.45,-8.22,230,1520.58,0.00,0.00,3.32,0.000,0.000,0.129,3425.72,3438.56,3412.88,2415.00,3348.69,0,0,0,30.00,30.00,15.75
$GC,1552.75,1156,-145.99,-1.02,0.00,3424.5,3436.8,3412.1,2414.6,3349.0,182.00,-8.54,238,1560.33,0.00,0.00,3.13,0.000,0.000,0.046,3427.06,3439.75,3414.38,2415.19,2021.94,0,0,0,30.00,30.00,15.73
$GC,1858.88,4773,-145.99,-1.11,-80.00,3425.6,3438.7,3412.5,2414.2,2022.1,205.92,-7.75,269,1866.41,0.00,0.32,3.67,0.000,0.100,0.125,3425.84,3438.69,3413.00,2355.44,584.50,0,0,0,30.00,15.84,15.79
$GC,1898.62,3205,-145.99,-1.03,0.00,3425.3,3437.4,3413.2,2356.6,584.6,210.27,-11.06,277,1906.68,0.00,0.31,3.40,0.000,0.204,0.045,3427.34,3439.69,3415.00,2386.38,2073.94,0,0,0,30.00,15.78,15.86
$GC,2204.69,644,-145.99,-1.10,-80.00,3425.2,3437.8,3412.8,2388.2,2073.4,236.54,-8.45,308,2212.17,0.00,0.00,3.82,0.000,0.000,0.121,3427.56,3439.69,3415.44,2389.06,583.06,0,0,0,30.00,30.00,15.81
$GC,2250.88,1028,-145.99,-1.10,0.00,3425.2,3438.0,3412.3,2389.4,583.6,240.96,-9.86,317,2257.82,0.00,0.00,3.43,0.000,0.000,0.048,3427.50,3439.50,3415.50,2387.50,2076.38,0,0,0,30.00,30.00,15.88
$GC,2555.44,4741,-145.99,-1.18,-80.00,3425.7,3438.6,3412.8,2389.2,2076.3,266.12,-8.21,348,2567.51,0.00,0.31,3.84,0.000,0.102,0.119,3426.38,3439.94,3412.81,2339.75,584.69,0,0,0,30.00,15.87,15.84
$GC,2606.28,3205,-145.99,-1.07,0.00,3425.4,3438.4,3412.4,2340.4,585.1,272.07,-12.76,358,2613.34,0.00,0.37,3.43,0.000,0.202,0.050,3425.22,3438.69,3411.75,2380.38,2075.81,0,0,0,30.00,15.83,15.90
$GC,2911.48,128,-145.99,-1.14,0.00,3426.7,3438.8,3414.6,2380.8,2075.4,298.31,-8.51,389,2914.37,0.00,0.00,0.00,0.000,0.000,0.000,3425.22,3437.81,3412.62,2380.00,2076.06,0,0,0,30.00,30.00,30.00
$STATE,2941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2941,begin apogee
$GC,2942.72,10243,0.00,-0.20,0.00,3425.9,3438.2,3413.6,2380.2,1913.8,300.85,-8.46,392,3073.18,125.68,1.55,0.12,1.611,0.172,0.178,2821.44,2845.62,2797.25,2590.62,1993.12,0,0,0,11.68,15.83,15.30
$STATE,3076,end apogee,CONTROL_FINISHED_OK
$STATE,3076,begin climb
$GC,3075.85,10243,145.99,0.88,0.00,2822.2,2846.7,2797.6,2591.3,1993.5,302.86,0.00,398,3210.50,130.99,1.94,0.00,1.507,0.118,0.000,2228.25,2276.50,2180.00,2855.50,1993.31,0,0,0,11.42,15.29,30.00
$GC,3505.86,21127,145.99,0.69,-80.00,2212.5,2259.4,2165.6,2856.1,1993.9,256.31,12.63,440,3517.91,0.00,0.51,3.79,0.000,0.196,0.120,2211.91,2258.25,2165.56,2802.81,569.56,0,0,0,30.00,15.37,15.38
$GC,3606.64,21639,145.99,0.52,0.00,2210.1,2255.1,2165.1,2801.9,569.3,243.51,12.88,460,3613.66,0.00,0.31,3.31,0.000,0.193,0.047,2208.81,2254.38,2163.25,2758.88,1979.94,0,0,0,30.00,15.41,15.49
$GC,3911.18,8742,196.73,0.58,-80.00,2207.7,2254.0,2161.4,2759.1,1980.4,218.95,7.64,491,3963.63,43.92,0.00,3.76,1.337,0.000,0.122,2020.19,2069.69,1970.69,2759.19,569.44,0,0,0,11.91,30.00,15.38
$GC,4032.65,17414,196.73,0.58,0.00,2014.8,2061.9,1967.7,2759.2,569.3,207.82,10.28,515,4039.31,0.00,0.00,3.31,0.000,0.000,0.045,2014.66,2062.19,1967.12,2756.94,1979.38,0,0,0,30.00,30.00,15.50
$GC,4337.56,10919,241.30,0.73,-80.00,2009.9,2059.7,1960.1,2758.9,1980.4,183.15,7.93,546,4385.35,40.40,0.46,3.79,1.304,0.094,0.121,1838.25,1889.12,1787.38,2823.56,571.69,0,0,0,11.71,15.60,15.31
$GC,4483.86,5253,241.30,0.65,0.00,1833.2,1879.5,1786.9,2824.4,570.4,165.03,12.95,575,4491.08,0.00,0.31,3.30,0.000,0.186,0.045,1832.84,1879.12,1786.56,2790.81,1977.44,0,0,0,30.00,15.45,15.52
$GC,4788.68,10403,322.63,0.88,0.00,1828.7,1878.2,1779.2,2792.1,1979.3,143.02,6.22,606,4884.72,92.78,0.49,0.00,1.252,0.094,0.000,1509.72,1562.50,1456.94,2859.56,1979.50,0,0,0,11.54,15.61,30.00
$GC,5179.40,16902,322.63,0.88,-80.00,1498.8,1551.9,1445.8,2861.1,1979.8,105.53,10.27,647,5186.20,0.00,0.00,3.72,0.000,0.000,0.123,1499.59,1551.88,1447.31,2860.38,570.12,0,0,0,30.00,30.00,15.49
$GC,5269.47,17414,322.63,0.88,0.00,1496.9,1549.2,1444.7,2861.4,570.0,95.09,11.79,665,5276.89,0.00,0.00,3.30,0.000,0.000,0.046,1496.31,1548.69,1443.94,2860.56,1981.00,0,0,0,30.00,30.00,15.58
$GC,5455.32,16902,322.63,0.88,-80.00,1495.9,1548.4,1443.3,2861.1,1981.8,77.75,8.79,702,5462.67,0.00,0.00,3.69,0.000,0.000,0.120,1496.09,1548.25,1443.94,2861.00,570.12,0,0,0,30.00,30.00,15.52
$GC,5491.63,17414,322.63,0.88,0.00,1495.4,1547.8,1442.9,2861.2,570.3,73.99,10.48,709,5499.00,0.00,0.00,3.27,0.000,0.000,0.045,1495.06,1547.25,1442.88,2860.88,1980.56,0,0,0,30.00,30.00,15.65
$GC,5678.03,8870,369.18,1.01,-80.00,1494.3,1546.4,1442.1,2860.8,1982.1,58.39,7.83,746,5750.07,64.57,0.00,3.76,1.196,0.000,0.123,1319.84,1370.44,1269.25,2860.62,571.75,0,0,0,11.71,30.00,15.41
$GC,5769.12,11431,418.55,1.15,0.00,1317.0,1366.2,1267.7,2860.9,571.3,51.30,7.70,764,5851.41,73.36,0.39,3.31,1.143,0.098,0.045,1119.31,1170.06,1068.56,2923.88,1982.62,0,0,0,11.60,15.46,15.48
$GC,6030.39,10919,485.92,1.38,-80.00,1112.0,1165.1,1058.8,2924.3,1983.2,29.50,6.87,816,6148.71,108.35,0.36,3.86,1.106,0.096,0.123,844.31,886.94,801.69,2980.00,571.19,0,0,0,11.74,15.44,15.14
$GC,6222.09,1028,485.92,1.38,0.00,841.2,881.5,800.9,2980.8,571.0,11.13,11.13,854,6229.43,0.00,0.00,3.34,0.000,0.000,0.044,841.06,881.19,800.94,2981.44,1980.19,0,0,0,30.00,30.00,15.32
$STATE,6338,end climb,SURFACE_DEPTH_REACHED
$STATE,6338,begin surface coast
$FINISH,0.4,1.023729
$STATE,6363,end surface coast,CONTROL_FINISHED_OK
$STATE,6363,begin surface
$SM_CCo,6509.51,117.24,1.095,0,500.8,491.0,510.6,570.13
$SM_CCo,6510.64,0.00,0.014,0,500.3,491.2,509.4,570.25
$SM_CCo,6511.76,0.00,0.013,0,499.9,490.8,509.1,570.34
$SM_GC,1.81,0.00,19.43,0.18,0.013,0.066,0.094,499.9,490.8,509.1,202.9,2101.4,0,0,0,30.36,15.41,15.44
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7135.25,-15200.86,191020,082534
$TCM_TEMP,1.16
$SC_FREEKB,3836512
$PM_FREEKB_00,37447744
$PM_ACTIVECARD,0
$RAFOS_CLK,-13
$RAFOS_FIX,7133.504883,-15159.969727,191020,191952,0,1,0.23
$HUMID,53.12
$TEMP,-0.00
$INTERNAL_PRESSURE,8.14071
$24V_AH,14.54,75.148
$10V_AH,14.51,0.000
$FG_AHR_24Vo,145.027
$FG_AHR_10Vo,35.183
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,931.795,47.930,105.640,298.078,0.000,12.920,3913.166,2885.513,2160.542,0.000,0.000,0.000
$DEVICE_MAMPS,1610.888,309.056,178.184,229.057,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6379.000,6387.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.375,9.722,0.000,0.000
$MEM,1152528,34,24280,77
$DATA_FILE_SIZE,25701,882
$CAP_FILE_SIZE,260259,0
$SDSIZE,3918848,3779520
$SDFILEDIR,1096,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.192,353.2,1
$GPS,191020,192112,7134.178,-15200.303,2,1.0,5,15.1