version: 67.00
glider: 233
mission: 7
dive: 138
start: 10 20 120 5 14 31
data:
$ID,233
$MISSION,7
$DIVE,138
$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,35.45977
$FG_AHR_24V,146.58534
$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
$GPS1,201020,050839,7134.658,-15202.777,24,0.8,25,15.1
$_CALLS,1
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-72.9
$GPS2,201020,051400,7134.705,-15202.817,2,0.5,3,15.1
$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,158.5,8868,-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,10.82,16386,-145.99,-0.88,0.00,495.0,486.6,503.4,198.9,2029.2,0.00,0.00,0,95.20,82.29,0.00,0.00,0.005,0.000,0.000,1879.88,1884.94,1874.81,198.88,2029.31,0,0,0,15.32,30.00,30.00
$GC,95.44,18983,-145.99,-0.88,-80.00,1881.3,1884.2,1878.4,199.1,2028.9,3.06,-1.80,16,176.40,47.79,20.09,3.85,0.005,0.315,0.129,3422.50,3432.62,3412.38,2421.19,586.25,0,0,0,15.36,15.28,15.41
$GC,220.41,1028,-145.99,-0.88,0.00,3424.5,3436.9,3412.2,2421.6,586.2,29.66,-21.97,40,231.22,0.00,0.00,3.53,0.000,0.000,0.048,3425.22,3437.81,3412.62,2421.38,2067.62,0,0,0,30.00,30.00,15.50
$GC,410.94,0,-145.99,-0.88,0.00,3425.5,3438.5,3412.6,2422.0,2068.5,58.87,-12.72,78,416.02,0.00,0.00,0.00,0.000,0.000,0.000,3425.66,3438.88,3412.44,2423.69,2067.81,0,0,0,30.00,30.00,30.00
$GC,595.89,0,-145.99,-0.88,0.00,3426.0,3439.2,3412.7,2422.9,2067.9,80.79,-11.32,115,601.44,0.00,0.00,0.00,0.000,0.000,0.000,3425.50,3439.06,3411.94,2422.31,2067.44,0,0,0,30.00,30.00,30.00
$GC,780.75,516,-145.99,-0.88,-80.00,3425.1,3438.8,3411.4,2422.0,2068.5,101.29,-11.00,151,788.25,0.00,0.00,3.88,0.000,0.000,0.119,3424.75,3437.62,3411.88,2421.12,585.62,0,0,0,30.00,30.00,15.55
$GC,820.41,1028,-145.99,-0.88,0.00,3425.6,3439.1,3412.0,2422.0,585.6,106.04,-11.85,159,828.45,0.00,0.00,3.47,0.000,0.000,0.044,3426.53,3439.81,3413.25,2421.81,2074.44,0,0,0,30.00,30.00,15.57
$GC,1126.51,516,-145.99,-0.88,-80.00,3425.5,3438.6,3412.4,2422.6,2074.9,139.21,-10.71,190,1134.00,0.00,0.00,3.88,0.000,0.000,0.120,3426.53,3438.81,3414.25,2421.56,584.69,0,0,0,30.00,30.00,15.64
$GC,1152.69,1028,-145.99,-0.88,0.00,3425.7,3438.9,3412.6,2422.5,584.9,142.02,-10.89,195,1159.64,0.00,0.00,3.46,0.000,0.000,0.048,3426.81,3439.56,3414.06,2422.12,2072.56,0,0,0,30.00,30.00,15.65
$GC,1458.00,128,-145.99,-0.97,0.00,3425.7,3438.6,3412.8,2421.6,2072.9,172.52,-9.62,226,1460.89,0.00,0.00,0.00,0.000,0.000,0.000,3424.66,3438.56,3410.75,2422.19,2073.12,0,0,0,30.00,30.00,30.00
$GC,1758.03,4257,-145.99,-1.11,0.00,3425.9,3438.8,3413.1,2421.3,2073.5,192.96,-6.25,256,1761.09,0.00,0.45,0.00,0.000,0.092,0.000,3424.25,3436.94,3411.56,2356.06,2072.94,0,0,0,30.00,15.76,30.00
$GC,2057.31,516,-145.99,-1.11,-80.00,3425.6,3437.9,3413.2,2355.9,2073.3,220.76,-9.01,286,2064.83,0.00,0.00,3.85,0.000,0.000,0.122,3424.94,3438.75,3411.12,2355.94,585.69,0,0,0,30.00,30.00,15.76
$GC,2076.97,1028,-145.99,-1.11,0.00,3426.4,3439.6,3413.2,2356.4,585.1,222.84,-9.54,290,2085.03,0.00,0.00,3.44,0.000,0.000,0.047,3426.06,3439.62,3412.50,2356.25,2071.81,0,0,0,30.00,30.00,15.79
$GC,2383.61,516,-145.99,-1.11,-80.00,3425.9,3439.8,3412.1,2355.8,2073.0,253.47,-10.25,321,2390.64,0.00,0.00,3.84,0.000,0.000,0.120,3425.50,3438.12,3412.88,2355.56,585.62,0,0,0,30.00,30.00,15.79
$GC,2452.86,3205,-145.99,-1.03,0.00,3425.6,3438.3,3412.8,2355.6,585.6,261.71,-11.73,335,2460.93,0.00,0.32,3.44,0.000,0.210,0.045,3426.69,3440.25,3413.12,2389.62,2076.19,0,0,0,30.00,15.77,15.84
$GC,2759.71,676,-145.99,-1.11,-80.00,3426.2,3439.4,3412.9,2389.2,2075.8,286.62,-7.92,366,2766.96,0.00,0.00,3.83,0.000,0.000,0.119,3426.47,3439.81,3413.12,2389.94,584.94,0,0,0,30.00,30.00,15.80
$GC,2805.68,1028,-145.99,-1.11,0.00,3425.8,3439.2,3412.2,2389.3,584.4,290.72,-9.17,375,2813.01,0.00,0.00,3.44,0.000,0.000,0.047,3426.19,3439.25,3413.12,2389.06,2076.62,0,0,0,30.00,30.00,15.87
$STATE,2921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2921,begin apogee
$GC,2922.41,10243,0.00,-0.20,0.00,3425.5,3439.1,3411.9,2389.6,1912.7,300.33,-8.40,387,3051.76,125.29,1.46,0.12,1.518,0.173,0.164,2823.78,2846.88,2800.69,2590.00,1995.56,0,0,0,11.69,15.78,15.28
$STATE,3054,end apogee,CONTROL_FINISHED_OK
$STATE,3054,begin climb
$GC,3054.10,10759,145.99,0.88,-80.00,2822.7,2846.1,2799.4,2590.9,1997.6,303.68,0.00,393,3193.68,130.35,1.90,3.92,1.429,0.121,0.118,2229.03,2273.69,2184.38,2855.56,569.81,0,0,0,11.31,15.28,14.98
$GC,3222.41,5253,145.99,0.54,0.00,2221.8,2263.7,2179.9,2855.5,569.6,291.45,13.80,425,3233.63,0.00,0.81,3.38,0.000,0.203,0.042,2219.50,2263.31,2175.69,2766.62,1977.31,0,0,0,30.00,15.05,15.13
$GC,3532.67,16902,145.99,0.54,-80.00,2210.9,2256.8,2165.0,2766.8,1978.4,264.51,8.29,457,3539.53,0.00,0.00,3.74,0.000,0.000,0.117,2208.88,2254.94,2162.81,2766.62,571.31,0,0,0,30.00,30.00,15.40
$GC,3597.79,17542,145.99,0.45,0.00,2209.3,2253.4,2165.1,2766.7,570.4,257.74,10.58,470,3605.16,0.00,0.00,3.29,0.000,0.000,0.040,2209.66,2254.56,2164.75,2767.19,1980.00,0,0,0,30.00,30.00,15.37
$GC,3903.55,16902,145.99,0.45,-80.00,2208.0,2253.3,2162.7,2766.6,1982.2,231.54,8.40,501,3910.29,0.00,0.00,3.71,0.000,0.000,0.116,2206.25,2250.94,2161.56,2765.12,570.00,0,0,0,30.00,30.00,15.55
$GC,3979.30,21639,145.99,0.38,0.00,2207.0,2251.8,2162.3,2767.0,570.4,223.75,10.72,516,3986.56,0.00,0.29,3.28,0.000,0.186,0.042,2205.78,2250.31,2161.25,2724.81,1980.62,0,0,0,30.00,15.56,15.63
$GC,4284.17,10919,207.60,0.57,-80.00,2205.9,2250.6,2161.1,2725.1,1983.4,201.44,7.13,547,4346.85,53.19,0.42,3.72,1.371,0.099,0.118,1978.31,2025.94,1930.69,2783.94,568.81,0,0,0,11.66,15.67,15.32
$GC,4395.61,17414,207.60,0.57,0.00,1970.5,2015.7,1925.4,2785.1,569.0,189.81,12.53,569,4402.84,0.00,0.00,3.28,0.000,0.000,0.040,1968.75,2013.56,1923.94,2785.62,1981.06,0,0,0,30.00,30.00,15.41
$GC,4700.54,10919,272.70,0.73,-80.00,1965.2,2013.0,1917.4,2784.9,1981.9,164.91,6.97,600,4767.19,58.28,0.19,3.74,1.322,0.115,0.118,1711.94,1764.25,1659.62,2823.06,570.38,0,0,0,11.59,15.60,15.28
$GC,4810.49,1028,272.70,0.73,0.00,1707.0,1756.0,1657.9,2822.1,570.1,155.29,10.38,622,4817.90,0.00,0.00,3.31,0.000,0.000,0.043,1707.56,1755.62,1659.50,2820.75,1980.69,0,0,0,30.00,30.00,15.44
$GC,5116.29,17030,272.70,0.79,-80.00,1701.5,1753.6,1649.3,2822.8,1981.5,129.69,8.18,653,5122.99,0.00,0.00,3.69,0.000,0.000,0.119,1699.97,1752.25,1647.69,2822.06,570.44,0,0,0,30.00,30.00,15.49
$GC,5155.13,17414,272.70,0.79,0.00,1699.7,1751.6,1647.8,2822.6,570.0,126.06,8.93,661,5162.66,0.00,0.00,3.28,0.000,0.000,0.043,1699.81,1751.31,1648.31,2821.81,1982.00,0,0,0,30.00,30.00,15.62
$GC,5461.26,10919,329.85,0.93,-80.00,1697.8,1749.9,1645.8,2821.1,1984.0,101.97,7.34,692,5544.37,74.49,0.28,3.77,1.252,0.107,0.122,1479.75,1527.31,1432.19,2870.06,569.94,0,0,0,11.84,15.65,15.36
$GC,5608.41,1028,329.85,0.93,0.00,1475.1,1519.8,1430.4,2870.8,569.8,87.29,11.36,721,5615.66,0.00,0.00,3.31,0.000,0.000,0.045,1474.59,1519.56,1429.62,2869.31,1977.62,0,0,0,30.00,30.00,15.45
$GC,5794.67,16902,329.85,0.93,-80.00,1471.4,1519.2,1423.7,2870.5,1980.2,70.02,8.62,758,5801.46,0.00,0.00,3.69,0.000,0.000,0.120,1470.44,1518.06,1422.81,2871.19,570.19,0,0,0,30.00,30.00,15.51
$GC,5820.42,17414,329.85,0.93,0.00,1470.8,1518.4,1423.1,2870.4,570.1,67.61,9.02,763,5827.24,0.00,0.00,3.28,0.000,0.000,0.044,1470.06,1517.25,1422.88,2871.81,1981.31,0,0,0,30.00,30.00,15.57
$GC,6006.22,16902,329.85,0.93,-80.00,1469.3,1517.7,1421.0,2869.9,1983.1,52.51,8.07,800,6013.02,0.00,0.00,3.67,0.000,0.000,0.118,1468.97,1517.00,1420.94,2870.94,570.56,0,0,0,30.00,30.00,15.58
$GC,6096.96,17414,329.85,0.93,0.00,1468.5,1516.4,1420.6,2871.4,570.0,43.69,9.49,818,6106.78,0.00,0.00,3.24,0.000,0.000,0.040,1468.44,1516.44,1420.44,2870.50,1982.44,0,0,0,30.00,30.00,15.57
$GC,6286.42,10919,419.46,1.18,-80.00,1467.2,1516.1,1418.4,2871.1,1983.2,31.27,5.83,856,6440.85,145.85,0.37,3.82,1.189,0.100,0.119,1116.03,1165.19,1066.88,2931.56,570.12,0,0,0,11.85,15.67,15.19
$GC,6449.66,11431,520.14,1.42,0.00,1113.8,1161.8,1065.8,2932.1,570.1,22.55,5.32,888,6623.93,167.13,0.37,3.35,1.072,0.097,0.042,705.41,738.00,672.81,2989.00,1986.94,0,0,0,11.65,15.24,15.26
$STATE,6758,end climb,SURFACE_DEPTH_REACHED
$STATE,6758,begin surface coast
$FINISH,0.5,1.023784
$STATE,6783,end surface coast,CONTROL_FINISHED_OK
$STATE,6783,begin surface
$SM_CCo,6881.93,70.60,1.070,0,501.1,500.4,501.7,570.06
$SM_CCo,6883.04,0.00,0.013,0,500.5,499.8,501.3,570.19
$SM_CCo,6884.17,0.00,0.015,0,500.3,499.6,501.1,570.24
$SM_GC,2.14,0.00,19.29,0.17,0.015,0.075,0.095,500.3,499.6,501.1,196.9,2099.1,0,0,0,30.36,15.28,15.31
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7136.21,-15206.87,201020,031055
$TCM_TEMP,1.04
$SC_FREEKB,3834592
$PM_FREEKB_00,36889728
$PM_ACTIVECARD,0
$RAFOS_CLK,-15
$RAFOS_FIX,7133.873047,-15202.755859,201020,070715,0,1,0.23
$HUMID,52.88
$TEMP,-0.12
$INTERNAL_PRESSURE,8.13815
$24V_AH,14.50,77.313
$10V_AH,14.51,0.000
$FG_AHR_24Vo,146.885
$FG_AHR_10Vo,35.506
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,955.275,46.230,115.175,199.745,0.000,12.154,4005.009,3106.928,2310.700,0.000,0.000,0.000
$DEVICE_MAMPS,1518.064,315.288,164.080,209.181,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6797.000,6806.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.358,12.477,0.000,0.000
$MEM,1152472,35,24316,77
$DATA_FILE_SIZE,28919,954
$CAP_FILE_SIZE,269472,0
$SDSIZE,3918848,3777760
$SDFILEDIR,1138,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.199,347.6,1
$GPS,201020,070955,7134.597,-15203.242,4,1.1,9,15.1