version: 67.00
glider: 233
mission: 7
dive: 176
start: 10 23 120 13 5 31
data:
$ID,233
$MISSION,7
$DIVE,176
$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,37.597012
$FG_AHR_24V,158.76947
$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
$GPS1,231020,125939,7128.203,-15150.688,18,1.0,19,15.2
$_CALLS,1
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-73.7
$GPS2,231020,130500,7128.221,-15150.693,3,1.0,6,15.2
$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,138.5,7155,-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,-0.83,0.00,490.5,492.2,488.8,197.9,2023.9,0.00,0.00,0,75.19,61.72,0.00,0.00,0.005,0.000,0.000,1529.44,1551.31,1507.56,197.75,2024.25,0,0,0,15.49,30.00,30.00
$GC,75.44,18727,-214.11,-0.83,80.00,1530.6,1550.6,1510.6,197.8,2023.9,3.00,-2.13,12,171.44,64.35,19.75,3.45,0.005,0.306,0.144,3700.47,3704.12,3696.81,2436.06,3349.50,0,0,0,15.50,15.36,15.54
$GC,250.46,1156,-214.11,-0.76,0.00,3702.4,3706.9,3697.9,2436.0,3348.9,36.22,-16.87,46,257.69,0.00,0.00,3.23,0.000,0.000,0.049,3703.03,3706.88,3699.19,2435.88,2026.38,0,0,0,30.00,30.00,15.54
$GC,436.68,516,-214.11,-0.76,-80.00,3702.1,3707.5,3696.8,2436.4,2025.8,64.76,-14.16,83,447.47,0.00,0.00,3.88,0.000,0.000,0.127,3702.19,3708.38,3696.00,2436.44,586.62,0,0,0,30.00,30.00,15.53
$GC,501.45,1028,-214.11,-0.76,0.00,3702.6,3708.9,3696.4,2436.3,586.4,73.35,-12.82,96,512.10,0.00,0.00,3.52,0.000,0.000,0.045,3703.06,3709.19,3696.94,2436.69,2072.69,0,0,0,30.00,30.00,15.61
$GC,691.80,0,-214.11,-0.76,0.00,3703.4,3710.4,3696.4,2436.2,2073.0,95.93,-11.52,134,697.37,0.00,0.00,0.00,0.000,0.000,0.000,3703.09,3709.19,3697.00,2436.50,2072.88,0,0,0,30.00,30.00,30.00
$GC,882.33,516,-214.11,-0.76,-80.00,3701.8,3708.2,3695.4,2436.6,2073.4,117.04,-10.54,157,889.17,0.00,0.00,3.98,0.000,0.000,0.119,3701.69,3708.00,3695.38,2436.12,585.19,0,0,0,30.00,30.00,15.69
$GC,941.33,1028,-214.11,-0.76,0.00,3702.3,3708.3,3696.3,2435.3,585.9,123.67,-10.64,169,949.39,0.00,0.00,3.53,0.000,0.000,0.046,3705.09,3711.00,3699.19,2435.06,2075.94,0,0,0,30.00,30.00,15.66
$GC,1247.41,516,-214.11,-0.76,-80.00,3703.1,3709.0,3697.2,2435.5,2075.8,154.76,-9.72,200,1254.94,0.00,0.00,3.95,0.000,0.000,0.118,3703.34,3709.00,3697.69,2436.62,585.56,0,0,0,30.00,30.00,15.67
$GC,1283.66,1156,-214.11,-0.83,0.00,3703.0,3709.0,3697.0,2436.7,585.4,158.23,-9.73,207,1290.66,0.00,0.00,3.48,0.000,0.000,0.043,3704.31,3710.25,3698.38,2434.75,2073.81,0,0,0,30.00,30.00,15.81
$GC,1588.44,128,-214.11,-0.93,0.00,3703.7,3710.0,3697.4,2436.4,2075.0,184.06,-8.56,238,1592.18,0.00,0.00,0.00,0.000,0.000,0.000,3702.16,3708.81,3695.50,2436.56,2075.00,0,0,0,30.00,30.00,30.00
$GC,1889.10,4773,-214.11,-1.06,-80.00,3702.8,3709.1,3696.5,2436.9,2074.8,207.46,-7.08,268,1901.14,0.00,0.45,3.95,0.000,0.091,0.117,3704.94,3710.69,3699.19,2368.19,584.38,0,0,0,30.00,15.83,15.79
$GC,1923.29,1028,-214.11,-1.06,0.00,3703.1,3709.8,3696.3,2369.9,584.2,211.23,-10.37,275,1931.34,0.00,0.00,3.50,0.000,0.000,0.050,3703.47,3709.19,3697.75,2369.62,2074.00,0,0,0,30.00,30.00,15.86
$GC,2229.90,516,-214.11,-1.06,-80.00,3703.2,3709.1,3697.2,2370.1,2075.4,243.78,-10.48,306,2241.72,0.00,0.00,3.94,0.000,0.000,0.119,3703.16,3709.19,3697.12,2370.12,586.81,0,0,0,30.00,30.00,15.81
$GC,2313.94,1028,-214.11,-1.06,0.00,3702.0,3707.6,3696.3,2369.6,586.4,253.60,-11.46,323,2321.94,0.00,0.00,3.48,0.000,0.000,0.050,3703.06,3709.12,3697.00,2370.12,2075.06,0,0,0,30.00,30.00,15.88
$GC,2620.65,516,-214.11,-1.06,-80.00,3702.9,3709.1,3696.7,2369.8,2074.9,283.91,-9.71,354,2627.52,0.00,0.00,3.96,0.000,0.000,0.121,3702.69,3708.94,3696.44,2369.81,586.31,0,0,0,30.00,30.00,15.83
$GC,2659.67,1028,-214.11,-1.06,0.00,3702.2,3708.5,3695.9,2370.9,586.4,288.00,-10.32,362,2667.71,0.00,0.00,3.48,0.000,0.000,0.049,3704.09,3709.75,3698.44,2368.50,2074.81,0,0,0,30.00,30.00,15.90
$STATE,2796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2796,begin apogee
$GC,2797.68,10243,0.00,-0.20,0.00,3703.3,3709.1,3697.6,2370.2,1914.8,300.62,-9.06,376,2985.37,183.15,1.65,0.12,1.489,0.174,0.157,2825.03,2854.62,2795.44,2591.44,1994.06,0,0,0,11.71,15.83,15.16
$STATE,2988,end apogee,CONTROL_FINISHED_OK
$STATE,2988,begin climb
$GC,2988.28,10759,214.11,0.83,-80.00,2821.5,2853.2,2789.8,2592.2,1994.9,305.41,0.00,385,3189.32,189.37,1.80,4.07,1.395,0.117,0.121,1950.22,1999.62,1900.81,2844.12,572.12,0,0,0,11.44,15.14,14.87
$GC,3261.48,21639,214.11,0.48,0.00,1940.7,1984.2,1897.2,2844.2,571.5,277.61,17.11,438,3269.70,0.00,0.81,3.45,0.000,0.199,0.044,1941.25,1984.38,1898.12,2750.62,1974.50,0,0,0,30.00,15.03,15.12
$GC,3567.57,16902,214.11,0.48,-80.00,1934.5,1980.6,1888.4,2750.9,1975.3,248.59,9.13,469,3575.07,0.00,0.00,3.83,0.000,0.000,0.118,1935.16,1980.31,1890.00,2751.50,569.81,0,0,0,30.00,30.00,15.35
$GC,3617.24,17542,214.11,0.42,0.00,1934.2,1980.2,1888.1,2752.0,570.0,243.39,10.52,479,3624.77,0.00,0.00,3.37,0.000,0.000,0.041,1933.47,1977.62,1889.31,2751.50,1977.94,0,0,0,30.00,30.00,15.43
$GC,3924.04,8742,285.90,0.50,-80.00,1932.8,1977.8,1887.8,2750.9,1979.4,218.71,7.71,510,3996.16,64.25,0.00,3.89,1.329,0.000,0.120,1657.03,1704.19,1609.88,2751.56,570.00,0,0,0,11.80,30.00,15.26
$GC,4058.39,19591,285.90,0.57,0.00,1651.3,1694.7,1607.9,2751.1,569.8,207.50,9.00,537,4066.01,0.00,0.25,3.37,0.000,0.112,0.042,1652.62,1695.69,1609.56,2784.06,1981.75,0,0,0,30.00,15.36,15.39
$GC,4364.48,16902,285.90,0.57,-80.00,1646.4,1693.6,1599.2,2783.9,1982.8,179.68,8.40,568,4372.02,0.00,0.00,3.83,0.000,0.000,0.120,1645.78,1693.00,1598.56,2783.94,569.94,0,0,0,30.00,30.00,15.49
$GC,4404.16,17414,285.90,0.57,0.00,1645.7,1692.5,1598.9,2784.9,569.7,176.00,8.98,576,4411.71,0.00,0.00,3.34,0.000,0.000,0.042,1646.84,1693.69,1600.00,2784.56,1979.56,0,0,0,30.00,30.00,15.57
$GC,4710.27,10791,393.24,0.70,-80.00,1644.8,1692.1,1597.4,2784.6,1981.9,154.10,6.57,607,4858.59,140.20,0.16,3.92,1.208,0.124,0.121,1222.69,1277.19,1168.19,2817.50,571.50,0,0,0,11.61,15.62,15.17
$GC,4932.60,1028,393.24,0.70,0.00,1217.5,1268.9,1166.1,2816.6,571.0,137.16,8.03,651,4939.84,0.00,0.00,3.38,0.000,0.000,0.043,1218.00,1268.69,1167.31,2816.75,1980.00,0,0,0,30.00,30.00,15.32
$GC,5237.51,10919,487.36,0.89,-80.00,1213.0,1266.8,1159.3,2817.6,1982.1,114.66,6.99,682,5371.65,125.06,0.25,3.93,1.155,0.112,0.122,838.34,879.81,796.88,2863.12,572.06,0,0,0,11.72,15.48,15.13
$GC,5430.70,1156,487.36,0.96,0.00,836.2,876.2,796.2,2862.2,571.8,96.96,9.73,720,5437.37,0.00,0.00,3.41,0.000,0.000,0.044,835.69,875.38,796.00,2863.31,1979.06,0,0,0,30.00,30.00,15.28
$GC,5615.66,10919,555.92,1.13,-80.00,833.9,874.4,793.5,2863.5,1980.6,80.98,7.81,757,5719.23,95.12,0.34,3.95,1.114,0.099,0.122,559.72,573.81,545.62,2918.44,569.94,0,0,0,11.73,15.40,15.09
$GC,5783.24,1028,555.92,1.13,0.00,557.5,570.7,544.4,2919.6,570.2,63.03,11.16,790,5790.00,0.00,0.00,3.40,0.000,0.000,0.044,557.41,570.69,544.12,2919.44,1978.81,0,0,0,30.00,30.00,15.28
$GC,5968.28,644,555.92,1.22,-80.00,555.7,569.6,541.8,2919.9,1979.2,45.47,8.53,827,5975.82,0.00,0.00,3.83,0.000,0.000,0.121,555.53,569.25,541.81,2919.06,571.56,0,0,0,30.00,30.00,15.38
$GC,6014.05,3205,555.92,1.32,0.00,555.3,568.8,541.9,2919.6,570.9,41.78,8.08,836,6021.59,0.00,0.26,3.36,0.000,0.107,0.042,555.53,569.00,542.06,2964.56,1982.31,0,0,0,30.00,15.41,15.33
$GC,6199.98,10919,625.84,1.47,-80.00,554.2,568.0,540.4,2965.1,1983.4,26.34,7.77,873,6231.98,23.49,0.22,3.86,1.085,0.115,0.122,500.53,507.94,493.12,3001.25,571.88,0,0,0,11.85,15.50,15.41
$GC,6310.82,9222,625.84,1.47,0.00,499.4,506.0,492.9,3001.5,571.5,14.88,10.61,895,6320.71,0.00,0.00,3.33,0.000,0.000,0.038,499.72,506.19,493.25,3000.38,1980.25,0,0,0,30.00,30.00,15.51
$GC,6500.31,10403,797.19,1.81,0.00,498.4,505.4,491.3,3000.8,1983.8,3.28,4.53,933,6506.17,0.00,0.52,0.00,0.000,0.093,0.000,498.41,505.50,491.31,3084.81,1983.25,0,0,0,30.00,15.56,30.00
$STATE,6525,end climb,SURFACE_DEPTH_REACHED
$STATE,6525,begin surface coast
$FINISH,0.3,1.022353
$STATE,6566,end surface coast,CONTROL_FINISHED_OK
$STATE,6566,begin surface
$SM_CCo,6653.46,0.00,0.000,0,496.4,502.6,490.2,571.21
$SM_GC,2.27,0.00,19.14,0.17,0.000,0.071,0.093,496.4,502.6,490.2,196.6,2110.6,0,0,0,30.00,15.58,15.62
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7130.85,-15152.06,231020,110406
$TCM_TEMP,1.10
$SC_FREEKB,3822432
$PM_FREEKB_00,33130432
$PM_ACTIVECARD,0
$RAFOS_CLK,-15
$RAFOS_FIX,7127.346680,-15149.656250,231020,141438,0,1,0.26
$HUMID,53.17
$TEMP,-0.24
$INTERNAL_PRESSURE,8.13416
$24V_AH,14.48,91.598
$10V_AH,14.90,0.000
$FG_AHR_24Vo,159.073
$FG_AHR_10Vo,37.636
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,946.700,45.600,117.660,184.697,0.000,15.387,4019.632,2934.239,2258.744,0.000,0.000,0.000
$DEVICE_MAMPS,1489.200,306.104,157.192,203.293,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6582.000,6592.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.432,9.607,0.000,0.000
$MEM,1152308,33,24460,80
$DATA_FILE_SIZE,25724,946
$CAP_FILE_SIZE,267056,0
$SDSIZE,3918848,3766816
$SDFILEDIR,1404,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.070,  3.4,1
$GPS,231020,145739,7127.601,-15149.626,41,1.1,42,15.2