version: 67.00
glider: 233
mission: 7
dive: 174
start: 10 23 120 9 10 33
data:
$ID,233
$MISSION,7
$DIVE,174
$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,220
$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,37.492455
$FG_AHR_24V,158.13815
$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
$GPS1,231020,090008,7129.246,-15152.129,4,1.6,7,15.2
$_CALLS,3
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-74.5
$GPS2,231020,091002,7129.307,-15152.394,27,0.8,28,15.2
$SPEED_LIMITS,0.173,0.304
$TGT_NAME,SHELF2
$TGT_LATLONG,7125.000,-15144.000
$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,136.1,9390,-14.2,-10.000,-18.23
$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,11.32,16386,-214.11,-0.83,0.00,490.6,491.1,490.1,200.1,2031.6,0.00,0.00,0,75.19,61.72,0.00,0.00,0.005,0.000,0.000,1527.53,1548.06,1507.00,200.31,2032.25,0,0,0,15.54,30.00,30.00
$GC,75.45,18727,-214.11,-0.83,80.00,1529.0,1547.5,1510.5,200.0,2031.7,3.04,-2.12,12,171.28,63.38,19.59,3.40,0.005,0.308,0.140,3701.25,3705.00,3697.50,2436.88,3347.31,0,0,0,15.60,15.39,15.59
$GC,200.00,3205,-214.11,-0.71,0.00,3702.7,3708.1,3697.2,2436.3,3346.5,27.48,-20.09,36,207.05,0.00,0.22,3.23,0.000,0.194,0.051,3701.56,3707.44,3695.69,2469.25,2027.38,0,0,0,30.00,15.57,15.52
$GC,385.29,516,-214.11,-0.71,-80.00,3703.6,3710.0,3697.2,2469.2,2027.8,55.95,-12.69,73,396.82,0.00,0.00,3.84,0.000,0.000,0.129,3703.38,3710.25,3696.50,2469.25,586.19,0,0,0,30.00,30.00,15.64
$GC,430.81,1156,-214.11,-0.77,0.00,3703.6,3709.9,3697.2,2469.1,586.5,61.44,-12.00,82,441.55,0.00,0.00,3.53,0.000,0.000,0.048,3704.03,3709.12,3698.94,2469.06,2076.25,0,0,0,30.00,30.00,15.72
$GC,621.29,4741,-214.11,-0.84,-80.00,3703.9,3710.6,3697.3,2469.4,2076.2,80.71,-9.83,120,633.24,0.00,0.32,3.96,0.000,0.098,0.120,3704.34,3710.62,3698.06,2422.62,585.50,0,0,0,30.00,15.71,15.60
$GC,652.00,1028,-214.11,-0.84,0.00,3704.2,3710.6,3697.7,2422.3,585.6,84.45,-12.02,126,658.47,0.00,0.00,3.53,0.000,0.000,0.048,3704.84,3711.62,3698.06,2421.25,2076.38,0,0,0,30.00,30.00,15.62
$GC,837.41,516,-214.11,-0.84,-80.00,3703.1,3709.8,3696.3,2422.3,2075.6,107.76,-12.43,157,849.23,0.00,0.00,3.97,0.000,0.000,0.121,3704.91,3711.31,3698.50,2421.25,585.75,0,0,0,30.00,30.00,15.62
$GC,871.38,1028,-214.11,-0.84,0.00,3703.2,3708.8,3697.6,2421.9,585.2,112.08,-12.43,164,879.46,0.00,0.00,3.52,0.000,0.000,0.047,3704.44,3711.94,3696.94,2422.00,2073.25,0,0,0,30.00,30.00,15.78
$GC,1178.11,0,-214.11,-0.84,0.00,3703.9,3710.7,3697.2,2422.6,2073.2,148.03,-11.34,195,1181.00,0.00,0.00,0.00,0.000,0.000,0.000,3702.44,3709.56,3695.31,2422.25,2073.81,0,0,0,30.00,30.00,30.00
$GC,1477.56,516,-214.11,-0.84,-80.00,3703.6,3710.2,3696.9,2422.1,2072.8,178.58,-9.46,225,1485.03,0.00,0.00,3.94,0.000,0.000,0.122,3703.53,3710.69,3696.38,2423.25,584.38,0,0,0,30.00,30.00,15.68
$GC,1557.24,1028,-214.11,-0.84,0.00,3703.6,3710.2,3697.0,2422.5,584.3,186.33,-9.77,241,1565.24,0.00,0.00,3.49,0.000,0.000,0.048,3704.47,3711.75,3697.19,2422.44,2075.94,0,0,0,30.00,30.00,15.79
$GC,1864.04,128,-214.11,-0.91,0.00,3703.4,3710.1,3696.8,2423.0,2076.6,213.43,-8.63,272,1867.51,0.00,0.00,0.00,0.000,0.000,0.000,3703.25,3710.19,3696.31,2422.44,2076.56,0,0,0,30.00,30.00,30.00
$GC,2164.02,4773,-214.11,-1.00,-80.00,3702.8,3709.1,3696.4,2422.6,2077.4,237.54,-7.52,302,2175.79,0.00,0.19,3.92,0.000,0.117,0.120,3704.28,3710.50,3698.06,2384.25,586.62,0,0,0,30.00,15.86,15.82
$GC,2244.56,1028,-214.11,-1.00,0.00,3704.0,3710.6,3697.4,2385.6,586.1,245.49,-10.15,318,2251.47,0.00,0.00,3.49,0.000,0.000,0.049,3704.81,3712.00,3697.62,2385.25,2075.94,0,0,0,30.00,30.00,15.89
$GC,2549.05,516,-214.11,-1.00,-80.00,3703.0,3709.1,3696.9,2384.8,2076.6,273.72,-9.34,349,2556.57,0.00,0.00,3.94,0.000,0.000,0.120,3703.03,3710.38,3695.69,2385.38,585.88,0,0,0,30.00,30.00,15.81
$GC,2595.29,1028,-214.11,-1.00,0.00,3703.6,3710.2,3697.0,2384.8,585.6,278.51,-10.54,358,2602.30,0.00,0.00,3.48,0.000,0.000,0.048,3705.25,3710.94,3699.56,2385.06,2076.25,0,0,0,30.00,30.00,15.90
$STATE,2831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2831,begin apogee
$GC,2831.89,10243,0.00,-0.20,0.00,3703.1,3709.4,3696.8,2385.2,1915.8,300.41,-9.29,382,3020.73,184.04,1.57,0.12,1.476,0.168,0.161,2822.12,2853.38,2790.88,2590.81,1994.25,0,0,0,11.99,15.83,15.14
$STATE,3023,end apogee,CONTROL_FINISHED_OK
$STATE,3023,begin climb
$GC,3023.32,10759,214.11,0.83,-80.00,2821.8,2854.3,2789.2,2590.8,1994.7,305.96,0.00,391,3224.70,188.70,1.84,4.07,1.385,0.117,0.122,1950.94,2001.06,1900.81,2842.75,571.44,0,0,0,11.51,15.16,14.87
$GC,3273.44,21639,214.11,0.47,0.00,1942.2,1986.6,1897.8,2842.5,571.6,283.57,16.97,439,3284.89,0.00,0.81,3.46,0.000,0.203,0.045,1943.06,1987.75,1898.38,2749.94,1975.38,0,0,0,30.00,15.00,15.09
$GC,3583.97,16902,214.11,0.47,-80.00,1934.6,1981.6,1887.7,2750.0,1976.3,254.62,8.68,471,3590.83,0.00,0.00,3.86,0.000,0.000,0.121,1933.94,1980.75,1887.12,2749.25,570.19,0,0,0,30.00,30.00,15.35
$GC,3649.13,17542,214.11,0.41,0.00,1934.1,1979.6,1888.6,2750.4,570.1,247.97,10.48,484,3656.49,0.00,0.00,3.38,0.000,0.000,0.044,1933.72,1980.06,1887.38,2747.62,1978.88,0,0,0,30.00,30.00,15.44
$GC,3954.86,8742,283.72,0.49,-80.00,1933.6,1979.6,1887.6,2749.8,1981.2,221.92,7.78,515,4026.80,61.66,0.00,3.88,1.324,0.000,0.122,1665.88,1711.81,1619.94,2749.88,572.44,0,0,0,11.84,30.00,15.28
$GC,4068.95,1028,283.72,0.49,0.00,1661.8,1705.5,1618.1,2749.2,571.9,212.42,8.91,538,4076.51,0.00,0.00,3.37,0.000,0.000,0.043,1663.25,1706.88,1619.62,2749.19,1977.50,0,0,0,30.00,30.00,15.39
$GC,4375.83,10919,366.28,0.68,-80.00,1656.0,1704.2,1607.8,2750.3,1979.9,190.79,7.36,569,4479.89,96.60,0.44,3.91,1.230,0.095,0.123,1330.94,1382.38,1279.50,2813.38,571.81,0,0,0,11.88,15.53,15.19
$GC,4567.04,1028,366.28,0.68,0.00,1326.3,1374.5,1278.2,2812.4,571.8,170.70,11.23,607,4574.60,0.00,0.00,3.38,0.000,0.000,0.043,1327.03,1375.12,1278.94,2811.81,1979.00,0,0,0,30.00,30.00,15.37
$GC,4873.16,8742,448.06,0.78,-80.00,1322.7,1373.8,1271.6,2812.2,1980.4,145.58,7.39,638,4987.93,107.29,0.00,3.93,1.171,0.000,0.123,999.00,1048.56,949.44,2812.19,572.62,0,0,0,11.61,30.00,15.17
$GC,5065.11,11431,523.40,1.00,0.00,995.7,1043.2,948.1,2811.5,572.2,130.58,7.59,676,5174.82,100.34,0.47,3.38,1.130,0.094,0.041,691.72,721.81,661.62,2890.25,1981.50,0,0,0,11.67,15.29,15.21
$GC,5471.20,516,523.40,1.00,-80.00,686.8,716.7,656.9,2890.4,1982.6,87.75,10.10,738,5478.77,0.00,0.00,3.88,0.000,0.000,0.124,686.31,716.19,656.44,2889.75,572.38,0,0,0,30.00,30.00,15.38
$GC,5567.07,1028,523.40,1.00,0.00,685.8,714.9,656.7,2890.5,572.0,77.56,10.60,757,5577.56,0.00,0.00,3.37,0.000,0.000,0.044,685.97,715.12,656.81,2889.94,1979.00,0,0,0,30.00,30.00,15.46
$GC,5757.80,644,523.40,1.08,-80.00,685.2,714.3,656.1,2891.7,1980.8,60.27,8.65,795,5764.88,0.00,0.00,3.83,0.000,0.000,0.123,685.59,714.56,656.62,2889.44,571.00,0,0,0,30.00,30.00,15.50
$GC,5793.92,3205,523.40,1.15,0.00,684.8,713.7,655.9,2889.4,570.7,57.01,9.12,802,5801.26,0.00,0.19,3.35,0.000,0.121,0.044,684.75,713.50,656.00,2923.50,1980.62,0,0,0,30.00,15.53,15.58
$GC,5980.28,10919,588.43,1.31,-80.00,684.3,713.2,655.4,2924.9,1981.2,41.19,7.92,839,6067.76,78.00,0.22,3.89,1.130,0.113,0.125,501.06,508.69,493.44,2963.38,570.62,0,0,0,11.70,15.58,15.30
$GC,6126.10,9222,588.43,1.31,0.00,499.5,506.2,492.9,2962.9,570.4,28.51,9.25,868,6133.48,0.00,0.00,3.36,0.000,0.000,0.044,499.25,505.88,492.62,2964.62,1981.31,0,0,0,30.00,30.00,15.43
$GC,6312.51,10919,722.69,1.59,-80.00,498.1,505.2,490.9,2963.7,1982.1,16.00,5.71,905,6323.45,0.00,0.43,3.84,0.000,0.098,0.123,498.31,505.19,491.44,3031.62,570.00,0,0,0,30.00,15.50,15.48
$GC,6346.80,9222,722.69,1.59,0.00,498.0,505.1,491.0,3031.6,570.1,12.99,8.19,912,6354.25,0.00,0.00,3.34,0.000,0.000,0.044,498.06,505.00,491.12,3031.75,1982.25,0,0,0,30.00,30.00,15.54
$STATE,6503,end climb,SURFACE_DEPTH_REACHED
$STATE,6503,begin surface coast
$FINISH,0.3,1.022498
$STATE,6538,end surface coast,CONTROL_FINISHED_OK
$STATE,6538,begin surface
$SM_CCo,6624.48,0.00,0.000,0,495.0,500.3,489.6,571.56
$SM_GC,2.30,0.00,18.93,0.17,0.000,0.071,0.091,495.0,500.3,489.6,202.2,2102.3,0,0,0,30.00,15.59,15.63
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7130.85,-15152.06,231020,090412
$TCM_TEMP,1.16
$SC_FREEKB,3823072
$PM_FREEKB_00,33316736
$PM_ACTIVECARD,0
$RAFOS_CLK,-16
$RAFOS_FIX,7128.429688,-15151.416016,231020,101017,0,1,0.26
$HUMID,53.05
$TEMP,-0.21
$INTERNAL_PRESSURE,8.13621
$24V_AH,14.49,90.859
$10V_AH,14.91,0.000
$FG_AHR_24Vo,158.441
$FG_AHR_10Vo,37.531
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,941.720,45.200,117.460,319.982,0.000,37.437,4188.325,3009.670,2264.444,0.000,0.000,0.000
$DEVICE_MAMPS,1476.408,307.744,160.800,198.041,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6553.000,6563.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.430,9.631,0.000,0.000
$MEM,1152256,36,24452,80
$DATA_FILE_SIZE,28914,950
$CAP_FILE_SIZE,267231,0
$SDSIZE,3918848,3767392
$SDFILEDIR,1390,1
$ERRORS,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.089,342.1,1
$GPS,231020,110135,7128.736,-15151.687,3,1.4,6,15.2