version: 67.00
glider: 233
mission: 7
dive: 140
start: 10 20 120 9 13 11
data:
$ID,233
$MISSION,7
$DIVE,140
$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,35.571625
$FG_AHR_24V,147.20578
$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
$GPS1,201020,090609,7134.533,-15204.127,15,0.9,15,15.1
$_CALLS,2
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-71.9
$GPS2,201020,091240,7134.566,-15204.271,3,1.0,6,15.1
$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,143.8,8821,-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,-0.88,0.00,493.4,486.9,499.9,197.8,2032.2,0.00,0.00,0,95.18,82.26,0.00,0.00,0.005,0.000,0.000,1873.78,1878.62,1868.94,197.94,2032.88,0,0,0,15.35,30.00,30.00
$GC,95.42,18727,-145.99,-0.88,80.00,1875.0,1877.8,1872.2,197.9,2032.9,3.05,-1.84,16,177.36,50.99,19.91,3.43,0.005,0.308,0.145,3422.22,3431.06,3413.38,2422.31,3342.06,0,0,0,15.37,15.24,15.41
$GC,386.35,1028,-145.99,-0.88,0.00,3424.8,3435.4,3414.2,2423.3,3342.7,51.79,-13.50,73,393.12,0.00,0.00,3.15,0.000,0.000,0.048,3424.69,3434.50,3414.88,2423.19,2024.94,0,0,0,30.00,30.00,15.57
$GC,571.39,260,-145.99,-0.88,80.00,3425.6,3436.2,3415.1,2422.9,2024.8,74.07,-10.90,110,578.88,0.00,0.00,3.38,0.000,0.000,0.128,3425.41,3435.94,3414.88,2423.44,3344.75,0,0,0,30.00,30.00,15.57
$GC,801.08,1028,-145.99,-0.88,0.00,3425.1,3435.6,3414.6,2423.6,3343.7,101.88,-12.41,156,809.07,0.00,0.00,3.12,0.000,0.000,0.048,3425.88,3436.44,3415.31,2423.69,2025.19,0,0,0,30.00,30.00,15.68
$GC,1107.84,260,-145.99,-0.88,80.00,3425.3,3435.9,3414.6,2423.5,2024.4,137.77,-11.46,187,1115.00,0.00,0.00,3.36,0.000,0.000,0.127,3425.62,3436.62,3414.62,2422.69,3348.62,0,0,0,30.00,30.00,15.67
$GC,1157.17,1156,-145.99,-0.95,0.00,3425.9,3435.9,3416.0,2423.2,3349.8,143.68,-11.49,197,1164.66,0.00,0.00,3.12,0.000,0.000,0.047,3426.09,3437.06,3415.12,2422.81,2022.06,0,0,0,30.00,30.00,15.63
$GC,1463.26,4741,-145.99,-1.06,-80.00,3425.5,3436.8,3414.2,2423.0,2022.6,173.26,-8.26,228,1475.28,0.00,0.37,3.66,0.000,0.088,0.127,3425.25,3436.38,3414.12,2373.31,585.44,0,0,0,30.00,15.76,15.73
$GC,1514.06,3205,-145.99,-0.98,0.00,3425.3,3436.3,3414.2,2372.3,585.5,178.53,-11.02,238,1521.00,0.00,0.29,3.45,0.000,0.204,0.047,3426.19,3437.25,3415.12,2401.75,2073.75,0,0,0,30.00,15.72,15.79
$GC,1818.56,420,-145.99,-1.07,80.00,3426.0,3437.0,3414.9,2402.4,2074.5,198.82,-6.21,269,1824.92,0.00,0.00,3.21,0.000,0.000,0.133,3424.62,3435.94,3413.31,2402.94,3350.12,0,0,0,30.00,30.00,15.76
$GC,1877.50,5285,-145.99,-1.15,0.00,3424.5,3435.3,3413.8,2403.8,3350.1,202.93,-7.00,281,1885.07,0.00,0.38,3.12,0.000,0.099,0.046,3425.22,3436.06,3414.38,2347.50,2022.25,0,0,0,30.00,15.79,15.82
$GC,2184.30,516,-145.99,-1.15,-80.00,3424.6,3435.4,3413.8,2348.0,2022.1,230.86,-9.50,312,2191.28,0.00,0.00,3.67,0.000,0.000,0.130,3424.78,3435.19,3414.38,2347.88,585.44,0,0,0,30.00,30.00,15.79
$GC,2273.50,3205,-145.99,-1.03,0.00,3425.3,3436.3,3414.4,2347.5,585.5,241.80,-12.39,330,2281.57,0.00,0.38,3.44,0.000,0.209,0.049,3426.75,3437.06,3416.44,2390.69,2074.19,0,0,0,30.00,15.77,15.86
$GC,2580.30,644,-145.99,-1.11,-80.00,3425.0,3436.1,3413.9,2390.4,2074.8,267.18,-8.03,361,2587.21,0.00,0.00,3.78,0.000,0.000,0.120,3426.09,3437.19,3415.00,2390.56,583.62,0,0,0,30.00,30.00,15.80
$GC,2625.92,1028,-145.99,-1.11,0.00,3425.3,3436.1,3414.5,2390.7,583.8,271.16,-8.99,370,2633.26,0.00,0.00,3.43,0.000,0.000,0.046,3423.53,3434.25,3412.81,2391.31,2077.12,0,0,0,30.00,30.00,15.88
$GC,2930.91,4773,-145.99,-1.20,-80.00,3425.2,3436.4,3413.9,2390.2,2077.5,294.51,-7.63,401,2942.94,0.00,0.37,3.78,0.000,0.099,0.118,3424.84,3436.06,3413.62,2335.50,584.88,0,0,0,30.00,15.88,15.84
$GC,2965.10,3205,-145.99,-1.13,0.00,3423.7,3433.9,3413.4,2333.2,584.6,298.17,-10.40,408,2973.21,0.00,0.29,3.43,0.000,0.206,0.049,3426.19,3436.38,3416.00,2366.56,2075.12,0,0,0,30.00,15.81,15.90
$STATE,2992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2992,begin apogee
$GC,2992.95,10243,0.00,-0.20,0.00,3424.4,3434.5,3414.2,2365.9,1909.6,300.61,-10.01,411,3123.45,125.54,1.66,0.13,1.533,0.180,0.158,2821.00,2842.19,2799.81,2590.56,2000.12,0,0,0,11.95,15.80,15.31
$STATE,3126,end apogee,CONTROL_FINISHED_OK
$STATE,3126,begin climb
$GC,3126.18,10759,145.99,0.88,-80.00,2822.7,2845.6,2799.8,2591.2,2001.4,302.75,0.00,417,3265.31,129.65,1.92,3.85,1.428,0.121,0.118,2227.44,2272.25,2182.62,2856.44,571.31,0,0,0,11.52,15.28,14.99
$GC,3324.09,21639,145.99,0.54,0.00,2219.2,2260.8,2177.6,2855.9,570.6,283.28,16.45,455,3331.13,0.00,0.81,3.36,0.000,0.207,0.040,2220.94,2260.94,2180.94,2764.50,1977.56,0,0,0,30.00,15.12,15.19
$GC,3628.57,16902,145.99,0.54,-80.00,2211.1,2255.6,2166.5,2764.4,1980.0,255.77,8.36,486,3636.07,0.00,0.00,3.66,0.000,0.000,0.118,2211.94,2256.69,2167.19,2763.62,569.88,0,0,0,30.00,30.00,15.32
$GC,3694.31,17542,145.99,0.47,0.00,2209.5,2252.9,2166.1,2764.6,570.4,249.03,10.67,499,3701.68,0.00,0.00,3.29,0.000,0.000,0.038,2207.94,2251.31,2164.56,2765.31,1982.94,0,0,0,30.00,30.00,15.50
$GC,3999.32,16902,145.99,0.47,-80.00,2207.8,2251.5,2164.1,2765.7,1984.8,221.73,8.37,530,4006.79,0.00,0.00,3.62,0.000,0.000,0.117,2205.97,2249.62,2162.31,2765.44,569.31,0,0,0,30.00,30.00,15.56
$GC,4088.95,17414,145.99,0.47,0.00,2206.8,2250.2,2163.3,2765.4,569.0,213.21,9.27,548,4096.56,0.00,0.00,3.25,0.000,0.000,0.038,2206.91,2249.94,2163.88,2764.94,1980.62,0,0,0,30.00,30.00,15.55
$GC,4395.05,8742,229.90,0.57,-80.00,2206.2,2249.4,2163.0,2765.4,1983.4,193.76,6.10,579,4477.98,72.62,0.00,3.68,1.354,0.000,0.119,1885.06,1933.81,1836.31,2764.94,569.00,0,0,0,11.63,30.00,15.36
$GC,4516.76,17414,229.90,0.57,0.00,1879.0,1924.6,1833.3,2765.2,569.1,185.31,8.49,603,4523.59,0.00,0.00,3.29,0.000,0.000,0.039,1880.06,1925.50,1834.62,2763.50,1981.25,0,0,0,30.00,30.00,15.47
$GC,4821.99,10919,299.12,0.83,-80.00,1872.5,1921.4,1823.7,2764.8,1982.9,165.47,6.78,634,4894.20,62.14,0.56,3.70,1.305,0.091,0.119,1605.25,1654.56,1555.94,2844.50,569.00,0,0,0,11.55,15.56,15.31
$GC,4916.33,1028,299.12,0.83,0.00,1600.5,1647.9,1553.1,2845.0,568.9,154.95,12.43,653,4923.87,0.00,0.00,3.30,0.000,0.000,0.038,1600.34,1647.81,1552.88,2846.38,1981.69,0,0,0,30.00,30.00,15.40
$GC,5223.18,16902,299.12,0.83,-80.00,1592.5,1642.8,1542.2,2845.1,1983.1,122.95,10.15,684,5230.57,0.00,0.00,3.66,0.000,0.000,0.117,1592.59,1642.25,1542.94,2846.25,570.00,0,0,0,30.00,30.00,15.40
$GC,5309.58,17414,299.12,0.83,0.00,1590.9,1640.0,1541.8,2845.9,569.8,112.47,12.52,701,5316.36,0.00,0.00,3.26,0.000,0.000,0.037,1591.09,1640.00,1542.19,2844.81,1981.56,0,0,0,30.00,30.00,15.50
$GC,5614.07,17030,299.12,0.89,-80.00,1589.2,1638.9,1539.4,2845.8,1983.0,79.02,10.56,751,5621.58,0.00,0.00,3.62,0.000,0.000,0.117,1589.66,1639.81,1539.50,2845.94,569.06,0,0,0,30.00,30.00,15.61
$GC,5645.31,17414,299.12,0.89,0.00,1589.3,1638.9,1539.8,2846.1,568.8,75.28,12.13,757,5651.25,0.00,0.00,3.24,0.000,0.000,0.039,1589.56,1639.75,1539.38,2845.19,1980.94,0,0,0,30.00,30.00,15.61
$GC,5830.60,19079,299.12,0.98,-80.00,1588.8,1638.6,1539.1,2844.9,1984.1,57.60,8.95,794,5837.64,0.00,0.21,3.61,0.000,0.110,0.118,1588.31,1637.81,1538.81,2886.12,569.88,0,0,0,30.00,15.67,15.67
$GC,5861.45,17414,299.12,0.98,0.00,1588.4,1638.0,1538.8,2884.7,569.8,54.55,9.75,800,5867.34,0.00,0.00,3.24,0.000,0.000,0.042,1588.69,1638.12,1539.25,2885.69,1976.19,0,0,0,30.00,30.00,15.71
$GC,6046.64,8226,383.57,1.09,0.00,1588.4,1638.3,1538.5,2885.7,1985.9,41.20,6.07,837,6179.58,130.26,0.00,0.00,1.180,0.000,0.000,1261.75,1311.19,1212.31,2885.75,1986.56,0,0,0,11.71,30.00,30.00
$GC,6358.60,10919,496.72,1.42,-80.00,1253.7,1305.4,1201.9,2885.4,1986.3,24.57,4.74,899,6548.78,182.27,0.69,3.84,1.106,0.087,0.124,801.03,840.50,761.56,2990.75,573.12,0,0,0,11.67,15.45,15.04
$GC,6642.75,1028,496.72,1.42,0.00,796.7,833.4,759.9,2991.4,572.6,2.30,9.44,955,6648.72,0.00,0.00,2.97,0.000,0.000,0.044,796.97,833.75,760.19,2991.38,1822.69,0,0,0,30.00,30.00,15.25
$STATE,6649,end climb,SURFACE_DEPTH_REACHED
$STATE,6649,begin surface coast
$FINISH,1.3,1.023936
$STATE,6652,end surface coast,CONTROL_FINISHED_OK
$STATE,6652,begin surface
$SM_CCo,6784.27,103.21,1.081,0,501.1,500.6,501.6,570.05
$SM_CCo,6785.39,0.00,0.008,0,500.4,499.5,501.2,570.23
$SM_CCo,6786.51,0.00,0.013,0,500.2,499.4,500.9,570.28
$SM_GC,1.61,0.00,19.30,0.50,0.013,0.086,0.062,500.2,499.4,500.9,196.7,2087.1,0,0,0,30.36,15.21,15.28
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7135.25,-15200.86,201020,090827
$TCM_TEMP,1.05
$SC_FREEKB,3833952
$PM_FREEKB_00,36703616
$PM_ACTIVECARD,0
$RAFOS_CLK,-15
$RAFOS_FIX,7133.915527,-15204.040039,201020,111100,0,1,0.18
$HUMID,52.86
$TEMP,-0.06
$INTERNAL_PRESSURE,8.13759
$24V_AH,14.46,78.029
$10V_AH,14.46,0.000
$FG_AHR_24Vo,147.499
$FG_AHR_10Vo,35.611
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,938.985,47.135,118.045,206.528,0.000,15.475,3993.614,3058.053,2311.080,0.000,0.000,0.000
$DEVICE_MAMPS,1533.152,307.744,157.848,207.080,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6666.000,6676.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.502,9.565,0.000,0.000
$MEM,1152508,30,24380,77
$DATA_FILE_SIZE,28920,957
$CAP_FILE_SIZE,272196,0
$SDSIZE,3918848,3777184
$SDFILEDIR,1152,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.224,337.8,1
$GPS,201020,110709,7134.682,-15204.956,20,1.1,21,15.1