version: 67.00
glider: 233
mission: 7
dive: 135
start: 10 19 120 23 20 32
data:
$ID,233
$MISSION,7
$DIVE,135
$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,35.289108
$FG_AHR_24V,145.65009
$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
$GPS1,191020,231450,7134.381,-15201.511,2,1.4,5,15.1
$_CALLS,1
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-72.5
$GPS2,191020,232001,7134.445,-15201.525,2,1.4,3,15.1
$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,157.1,8281,-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,10.80,16386,-145.99,-0.88,0.00,494.2,485.1,503.3,198.9,2024.8,0.00,0.00,0,100.27,87.38,0.00,0.00,0.005,0.000,0.000,1971.09,1971.00,1971.19,199.19,2024.31,0,0,0,15.33,30.00,30.00
$GC,100.52,18727,-145.99,-0.88,80.00,1972.6,1970.6,1974.6,199.1,2024.6,3.48,-2.23,17,175.18,41.56,19.98,3.46,0.005,0.310,0.145,3422.91,3431.31,3414.50,2424.25,3349.19,0,0,0,15.37,15.20,15.34
$GC,284.11,1028,-145.99,-0.88,0.00,3424.5,3434.6,3414.4,2423.8,3350.1,41.01,-18.13,53,290.87,0.00,0.00,3.20,0.000,0.000,0.050,3424.84,3434.88,3414.81,2424.38,2026.25,0,0,0,30.00,30.00,15.54
$GC,469.10,0,-145.99,-0.88,0.00,3425.5,3436.2,3414.8,2422.9,2025.2,67.18,-12.23,90,474.87,0.00,0.00,0.00,0.000,0.000,0.000,3426.09,3437.25,3414.94,2424.12,2026.69,0,0,0,30.00,30.00,30.00
$GC,654.62,0,-145.99,-0.88,0.00,3425.1,3435.4,3414.8,2423.9,2025.6,89.39,-11.96,127,659.91,0.00,0.00,0.00,0.000,0.000,0.000,3424.88,3436.31,3413.44,2423.62,2025.38,0,0,0,30.00,30.00,30.00
$GC,844.18,0,-145.99,-0.88,0.00,3425.2,3436.3,3414.1,2423.4,2026.1,112.08,-11.68,155,847.76,0.00,0.00,0.00,0.000,0.000,0.000,3424.66,3436.00,3413.31,2424.38,2026.62,0,0,0,30.00,30.00,30.00
$GC,1144.26,0,-145.99,-0.88,0.00,3425.5,3436.7,3414.2,2423.6,2025.9,145.30,-10.70,185,1148.10,0.00,0.00,0.00,0.000,0.000,0.000,3424.88,3436.25,3413.50,2424.38,2025.94,0,0,0,30.00,30.00,30.00
$GC,1445.05,4485,-145.99,-1.00,80.00,3425.8,3437.2,3414.4,2424.1,2025.4,174.70,-8.63,215,1452.42,0.00,0.28,3.35,0.000,0.097,0.130,3424.88,3435.38,3414.38,2385.25,3349.94,0,0,0,30.00,15.78,15.71
$GC,1471.23,1156,-145.99,-1.06,0.00,3425.8,3437.0,3414.5,2384.8,3350.3,177.12,-8.49,220,1477.02,0.00,0.00,3.13,0.000,0.000,0.047,3425.28,3436.06,3414.50,2383.50,2023.44,0,0,0,30.00,30.00,15.79
$GC,1776.43,548,-145.99,-1.06,-80.00,3425.1,3436.1,3414.1,2384.5,2023.2,203.10,-7.97,251,1783.16,0.00,0.00,3.73,0.000,0.000,0.130,3426.44,3437.75,3415.12,2383.19,584.38,0,0,0,30.00,30.00,15.76
$GC,1831.88,1028,-145.99,-1.06,0.00,3426.0,3436.8,3415.1,2384.4,584.4,208.06,-9.23,262,1839.16,0.00,0.00,3.43,0.000,0.000,0.045,3425.75,3436.44,3415.06,2385.44,2075.12,0,0,0,30.00,30.00,15.82
$GC,2136.80,548,-145.99,-1.06,-80.00,3425.8,3437.4,3414.1,2385.4,2075.1,230.50,-6.83,293,2144.29,0.00,0.00,3.85,0.000,0.000,0.121,3426.69,3436.38,3417.00,2385.31,584.69,0,0,0,30.00,30.00,15.79
$GC,2182.99,1028,-145.99,-1.06,0.00,3424.9,3435.9,3414.0,2385.0,584.5,234.27,-8.25,302,2189.94,0.00,0.00,3.44,0.000,0.000,0.047,3424.94,3435.44,3414.44,2384.44,2075.25,0,0,0,30.00,30.00,15.85
$GC,2488.29,548,-145.99,-1.06,-80.00,3425.7,3437.4,3414.0,2384.9,2075.7,256.15,-7.44,333,2495.03,0.00,0.00,3.85,0.000,0.000,0.120,3425.06,3436.50,3413.62,2385.31,584.44,0,0,0,30.00,30.00,15.82
$GC,2517.19,1060,-145.99,-1.06,0.00,3425.4,3436.8,3414.1,2385.4,584.0,258.58,-7.68,339,2525.23,0.00,0.00,3.43,0.000,0.000,0.048,3426.69,3438.38,3415.00,2385.06,2074.44,0,0,0,30.00,30.00,15.88
$GC,2824.16,548,-145.99,-1.06,-80.00,3425.0,3435.9,3414.1,2384.9,2074.7,280.77,-7.57,370,2831.65,0.00,0.00,3.85,0.000,0.000,0.120,3424.88,3436.31,3413.44,2384.50,583.56,0,0,0,30.00,30.00,15.75
$GC,2863.80,1028,-145.99,-1.06,0.00,3425.0,3436.1,3413.9,2384.4,583.4,284.23,-8.49,378,2871.84,0.00,0.00,3.43,0.000,0.000,0.048,3426.03,3437.19,3414.88,2385.12,2075.25,0,0,0,30.00,30.00,15.85
$STATE,3070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3070,begin apogee
$GC,3071.15,10243,0.00,-0.20,0.00,3425.4,3436.3,3414.4,2384.7,1914.9,300.57,-8.14,399,3201.61,125.58,1.59,0.12,1.523,0.176,0.174,2825.72,2847.88,2803.56,2590.38,1995.88,0,0,0,11.66,15.77,15.24
$STATE,3204,end apogee,CONTROL_FINISHED_OK
$STATE,3204,begin climb
$GC,3203.88,10243,145.99,0.88,0.00,2821.8,2844.9,2798.8,2591.7,1997.2,302.55,0.00,405,3339.33,130.99,1.92,0.00,1.450,0.119,0.000,2227.34,2275.12,2179.56,2857.12,1997.50,0,0,0,11.50,15.23,30.00
$GC,3634.96,21127,145.99,0.69,-80.00,2212.3,2258.2,2166.4,2856.2,1997.8,255.62,12.69,447,3642.56,0.00,0.52,3.79,0.000,0.199,0.119,2212.81,2259.12,2166.50,2800.56,569.75,0,0,0,30.00,15.31,15.32
$GC,3771.07,21639,145.99,0.50,0.00,2209.9,2253.3,2166.5,2800.6,569.3,238.63,12.49,474,3778.40,0.00,0.33,3.32,0.000,0.191,0.045,2211.47,2255.12,2167.81,2756.31,1979.06,0,0,0,30.00,15.36,15.43
$GC,4075.94,16902,145.99,0.50,-80.00,2207.7,2253.2,2162.1,2756.0,1980.2,208.20,11.06,505,4083.45,0.00,0.00,3.72,0.000,0.000,0.120,2206.59,2251.25,2161.94,2755.69,570.50,0,0,0,30.00,30.00,15.49
$GC,4162.46,17414,145.99,0.50,0.00,2207.1,2252.2,2161.9,2755.9,570.4,197.76,12.54,522,4169.64,0.00,0.00,3.28,0.000,0.000,0.044,2207.66,2252.12,2163.19,2755.56,1982.19,0,0,0,30.00,30.00,15.52
$GC,4467.32,10919,228.43,0.70,-80.00,2206.0,2251.1,2161.0,2755.1,1983.4,173.03,6.16,553,4550.29,71.85,0.42,3.76,1.341,0.095,0.121,1892.59,1942.06,1843.12,2815.81,570.00,0,0,0,11.66,15.60,15.22
$GC,4599.28,1028,228.43,0.70,0.00,1886.0,1932.0,1839.9,2815.8,570.0,162.88,8.99,579,4606.50,0.00,0.00,3.32,0.000,0.000,0.045,1884.28,1930.88,1837.69,2816.50,1981.62,0,0,0,30.00,30.00,15.27
$MODEM_MSG,CACST,6,1,20201020000736.538617,18,10,-20,0250,0150,402,02,02,05,02,-1,-01,-01,1,3,0,0,150,-0.6,0.33,-100,2.67,-01,-0.03,48,925,0025*09
$MODEM_MSG,CACST,6,1,20201020001135.867002,18,128,-21,0147,0150,246,02,02,07,04,-1,-01,-01,1,3,0,0,150,4.3,0.41,-100,2.59,-01,0.15,60,925,0025*37
$MODEM_MSG,CACST,6,1,20201020001559.437963,18,886,05,0139,0150,171,01,01,04,01,-1,-01,-01,1,3,0,0,150,-1.7,0.29,-100,2.71,-01,0.04,18,925,0025*37
$MODEM_MSG,CACST,6,1,20201020002105.662411,18,209,-12,0215,0150,402,02,02,06,02,-1,-01,-01,1,3,0,0,150,-28.5,0.52,-100,2.48,-01,-0.05,51,925,0025*01
$MODEM_MSG,CACST,6,1,20201020002953.125719,18,101,-16,0140,0150,432,03,03,06,03,-1,-01,-01,1,3,0,0,150,-10.6,0.39,-100,2.61,-01,-0.02,54,925,0025*06
$MODEM_MSG,CACST,6,1,20201020003607.064695,18,96,07,0184,0150,432,02,02,02,04,-1,-01,-01,1,3,0,0,150,-6.4,0.43,-100,2.57,-01,0.21,54,925,0025*08
$GC,4904.17,8742,328.91,0.82,-80.00,1878.8,1928.4,1829.2,2815.8,1983.2,145.57,5.33,610,5038.34,124.38,0.00,3.84,1.243,0.000,0.122,1483.38,1536.12,1430.62,2815.88,572.12,0,0,0,11.91,30.00,15.12
$GC,5077.11,11431,373.19,0.95,0.00,1478.9,1528.8,1428.9,2815.9,572.0,134.12,7.94,644,5143.59,57.83,0.35,3.35,1.182,0.100,0.045,1303.09,1357.06,1249.12,2877.06,1982.12,0,0,0,11.57,15.21,15.25
$GC,5441.99,16902,373.19,0.95,-80.00,1293.7,1348.5,1238.9,2876.0,1982.1,97.59,10.45,689,5449.53,0.00,0.00,3.76,0.000,0.000,0.120,1293.91,1348.88,1238.94,2875.88,570.00,0,0,0,30.00,30.00,15.35
$GC,5523.50,17414,373.19,0.95,0.00,1292.6,1346.6,1238.5,2875.8,570.0,87.68,12.80,705,5530.34,0.00,0.00,3.30,0.000,0.000,0.045,1292.38,1346.06,1238.69,2875.12,1979.75,0,0,0,30.00,30.00,15.48
$GC,5709.32,16902,373.19,0.95,-80.00,1291.2,1345.2,1237.2,2875.8,1981.4,67.84,10.86,742,5716.12,0.00,0.00,3.70,0.000,0.000,0.121,1291.00,1345.56,1236.44,2876.19,569.00,0,0,0,30.00,30.00,15.51
$GC,5739.34,17414,373.19,0.95,0.00,1291.0,1345.3,1236.8,2875.7,569.1,64.14,12.03,748,5745.82,0.00,0.00,3.28,0.000,0.000,0.045,1290.56,1344.31,1236.81,2875.88,1973.62,0,0,0,30.00,30.00,15.51
$GC,5925.18,19079,373.19,1.07,-80.00,1290.4,1344.7,1236.2,2875.3,1982.1,43.14,10.05,785,5931.98,0.00,0.16,3.67,0.000,0.124,0.120,1290.62,1345.00,1236.25,2907.31,569.88,0,0,0,30.00,15.60,15.58
$GC,5975.83,17414,373.19,1.07,0.00,1289.7,1344.1,1235.2,2906.6,570.4,38.06,10.23,795,5983.11,0.00,0.00,3.24,0.000,0.000,0.043,1288.88,1342.81,1234.94,2906.25,1982.69,0,0,0,30.00,30.00,15.65
$GC,6162.12,10919,496.08,1.36,-80.00,1289.1,1343.6,1234.6,2907.2,1984.3,27.87,4.28,832,6371.94,200.65,0.41,3.88,1.147,0.097,0.124,802.78,840.38,765.19,2975.00,570.50,0,0,0,11.69,15.64,15.08
$GC,6410.93,11431,549.98,1.49,0.00,800.8,837.1,764.4,2974.9,570.4,13.07,7.49,881,6498.99,79.49,0.19,3.36,1.080,0.119,0.044,583.91,599.81,568.00,3005.94,1986.12,0,0,0,11.49,15.20,15.24
$STATE,6563,end climb,SURFACE_DEPTH_REACHED
$STATE,6563,begin surface coast
$FINISH,0.2,1.023465
$STATE,6588,end surface coast,CONTROL_FINISHED_OK
$STATE,6588,begin surface
$SM_CCo,6645.77,28.33,1.087,0,500.5,497.4,503.6,570.21
$SM_CCo,6646.89,0.00,0.011,0,500.0,496.2,503.7,570.33
$SM_GC,1.91,0.00,19.59,0.17,0.011,0.069,0.095,500.0,496.2,503.7,200.4,2100.5,0,0,0,30.36,15.24,15.26
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7136.21,-15206.87,191020,211946
$TCM_TEMP,1.13
$SC_FREEKB,3835552
$PM_FREEKB_00,37170624
$PM_ACTIVECARD,0
$RAFOS_CLK,-2
$MODEM,6,1603154167,75.33060,-142.67570,67.065,98249.8
$MODEM,4,1603153793,76.55490,-139.99944,293.126,429429.2
$MODEM,3,1603153265,75.26195,-145.59448,65.662,96195.4
$MODEM,2,1603152959,75.67648,-146.03058,59.438,87076.6
$MODEM,1,1603152695,75.02295,-144.31340,95.867,140445.2
$MODEM,0,1603152456,74.83892,-145.28152,156.539,229329.1
$RAFOS_FIX,7503.448242,-14948.375977,201020,000007,6,255,86.10
$HUMID,52.85
$TEMP,0.05
$INTERNAL_PRESSURE,8.14038
$24V_AH,14.56,76.233
$10V_AH,14.55,0.000
$FG_AHR_24Vo,145.951
$FG_AHR_10Vo,35.353
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,948.030,45.745,99.485,179.209,0.000,12.792,3987.544,2980.778,2228.086,2213.000,0.000,0.000
$DEVICE_MAMPS,1523.312,309.712,173.592,204.848,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6600.000,6609.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.379,9.613,0.000,0.000
$MEM,1152480,34,24328,77
$DATA_FILE_SIZE,25734,916
$CAP_FILE_SIZE,256696,0
$SDSIZE,3918848,3778656
$SDFILEDIR,1117,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.212,351.5,1
$GPS,201020,011229,7134.412,-15201.979,31,0.9,31,15.1