version: 67.00
glider: 233
mission: 7
dive: 184
start: 10 24 120 4 51 28
data:
$ID,233
$MISSION,7
$DIVE,184
$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,38.018406
$FG_AHR_24V,161.31239
$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
$GPS1,241020,044531,7129.162,-15155.678,80,0.7,81,15.2
$_CALLS,1
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-74.8
$GPS2,241020,045056,7129.231,-15155.832,2,0.7,3,15.2
$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,136.3,10496,-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,11.31,16386,-214.11,-0.83,0.00,494.2,495.6,492.8,197.8,2027.1,0.00,0.00,0,64.97,50.79,0.00,0.00,0.005,0.000,0.000,1363.38,1391.44,1335.31,197.88,2027.25,0,0,0,15.50,30.00,30.00
$GC,65.22,18727,-214.11,-0.83,80.00,1364.4,1391.0,1337.9,197.9,2028.1,3.03,-2.44,10,171.09,74.78,19.65,3.43,0.005,0.301,0.141,3701.69,3705.56,3697.81,2436.19,3349.31,0,0,0,15.49,15.36,15.47
$GC,179.91,3205,-214.11,-0.56,0.00,3701.3,3705.9,3696.6,2436.3,3349.6,21.17,-21.64,32,187.21,0.00,0.47,3.19,0.000,0.187,0.049,3702.19,3706.94,3697.44,2501.06,2026.62,0,0,0,30.00,15.54,15.54
$GC,366.20,516,-214.11,-0.56,-80.00,3703.1,3709.2,3697.0,2502.4,2026.3,48.35,-12.14,69,376.98,0.00,0.00,3.84,0.000,0.000,0.126,3703.12,3710.00,3696.25,2502.19,586.19,0,0,0,30.00,30.00,15.61
$GC,415.88,5253,-214.11,-0.69,0.00,3703.3,3710.4,3696.3,2502.2,586.2,53.80,-10.65,79,422.58,0.00,0.29,3.50,0.000,0.096,0.042,3704.34,3710.62,3698.06,2459.44,2075.50,0,0,0,30.00,15.65,15.68
$GC,600.83,260,-214.11,-0.69,80.00,3703.7,3710.2,3697.1,2459.2,2074.6,75.71,-11.49,116,608.31,0.00,0.00,3.27,0.000,0.000,0.131,3703.34,3709.44,3697.25,2460.44,3349.88,0,0,0,30.00,30.00,15.65
$GC,627.02,1028,-214.11,-0.69,0.00,3703.3,3709.3,3697.3,2458.9,3350.1,78.80,-11.96,121,633.46,0.00,0.00,3.18,0.000,0.000,0.044,3703.66,3710.00,3697.31,2459.31,2023.06,0,0,0,30.00,30.00,15.72
$GC,812.36,516,-214.11,-0.69,-80.00,3703.2,3709.8,3696.8,2459.4,2022.9,99.02,-10.99,158,823.68,0.00,0.00,3.76,0.000,0.000,0.125,3704.12,3710.62,3697.62,2459.88,584.38,0,0,0,30.00,30.00,15.69
$GC,856.11,1028,-214.11,-0.69,0.00,3702.9,3709.2,3696.6,2459.6,584.4,104.31,-12.05,167,864.17,0.00,0.00,3.48,0.000,0.000,0.046,3704.56,3711.06,3698.06,2459.88,2076.44,0,0,0,30.00,30.00,15.63
$GC,1162.89,516,-214.11,-0.69,-80.00,3703.9,3710.9,3696.9,2459.5,2075.8,135.04,-9.43,198,1170.08,0.00,0.00,3.91,0.000,0.000,0.118,3703.09,3709.88,3696.31,2459.69,584.25,0,0,0,30.00,30.00,15.73
$GC,1208.85,1156,-214.11,-0.78,0.00,3703.3,3709.8,3696.8,2458.7,584.3,139.45,-9.68,207,1216.12,0.00,0.00,3.48,0.000,0.000,0.046,3702.75,3709.06,3696.44,2458.94,2076.88,0,0,0,30.00,30.00,15.79
$GC,1513.74,4741,-214.11,-0.87,-80.00,3703.2,3709.7,3696.8,2459.7,2077.1,165.95,-8.26,238,1525.79,0.00,0.23,3.88,0.000,0.108,0.116,3704.16,3710.56,3697.75,2412.81,584.31,0,0,0,30.00,15.80,15.70
$GC,1547.94,1028,-214.11,-0.87,0.00,3702.8,3709.2,3696.4,2413.1,583.7,169.40,-9.78,245,1555.99,0.00,0.00,3.46,0.000,0.000,0.048,3703.78,3710.12,3697.44,2411.88,2076.31,0,0,0,30.00,30.00,15.80
$GC,1854.77,516,-214.11,-0.87,-80.00,3702.8,3709.9,3695.6,2412.2,2076.1,198.69,-9.31,276,1861.76,0.00,0.00,3.88,0.000,0.000,0.118,3702.88,3709.19,3696.56,2412.75,585.62,0,0,0,30.00,30.00,15.78
$GC,1890.28,1156,-214.11,-0.94,0.00,3703.6,3710.6,3696.6,2412.3,585.4,202.18,-9.69,283,1896.42,0.00,0.00,3.45,0.000,0.000,0.047,3703.69,3709.75,3697.62,2410.44,2071.00,0,0,0,30.00,30.00,15.84
$GC,2195.77,676,-214.11,-1.00,-80.00,3702.5,3709.0,3696.0,2412.6,2076.4,226.95,-7.82,314,2203.07,0.00,0.00,3.81,0.000,0.000,0.118,3703.91,3709.81,3698.00,2411.38,585.50,0,0,0,30.00,30.00,15.81
$GC,2241.79,5253,-214.11,-1.07,0.00,3703.9,3710.7,3697.1,2412.1,584.9,230.83,-8.37,323,2249.20,0.00,0.22,3.47,0.000,0.114,0.046,3704.69,3711.56,3697.81,2367.44,2076.88,0,0,0,30.00,15.83,15.87
$GC,2546.73,0,-214.11,-1.07,0.00,3702.8,3709.3,3696.4,2368.9,2077.2,260.75,-9.98,354,2550.30,0.00,0.00,0.00,0.000,0.000,0.000,3702.69,3709.38,3696.00,2368.81,2077.75,0,0,0,30.00,30.00,30.00
$GC,2846.84,516,-214.11,-1.07,-80.00,3704.7,3711.0,3698.4,2369.4,2077.4,289.99,-9.30,384,2854.30,0.00,0.00,3.83,0.000,0.000,0.120,3702.91,3709.62,3696.19,2367.81,584.94,0,0,0,30.00,30.00,15.76
$GC,2913.01,1028,-214.11,-1.07,0.00,3702.9,3709.2,3696.7,2368.4,584.9,296.59,-10.06,397,2920.33,0.00,0.00,3.47,0.000,0.000,0.048,3704.31,3709.69,3698.94,2367.50,2073.62,0,0,0,30.00,30.00,15.91
$STATE,2949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2949,begin apogee
$GC,2949.85,10243,0.00,-0.20,0.00,3703.2,3709.8,3696.5,2369.1,1914.0,300.08,-9.66,401,3137.35,183.18,1.69,0.12,1.485,0.172,0.162,2822.59,2855.56,2789.62,2592.69,1991.94,0,0,0,11.86,15.83,15.16
$STATE,3140,end apogee,CONTROL_FINISHED_OK
$STATE,3140,begin climb
$GC,3140.21,10503,214.11,0.83,80.00,2822.7,2855.6,2789.8,2591.6,1992.2,305.42,0.00,410,3336.72,187.87,1.84,3.68,1.398,0.116,0.120,1947.78,1999.44,1896.12,2844.12,3348.69,0,0,0,11.40,15.15,14.87
$GC,3355.71,5253,214.11,0.58,0.00,1944.2,1998.1,1890.4,2844.4,3349.5,288.79,14.70,451,3366.81,0.00,0.63,3.59,0.000,0.200,0.050,1944.28,1998.38,1890.19,2775.69,1929.12,0,0,0,30.00,14.94,15.00
$GC,3665.30,17030,214.11,0.51,-80.00,1935.5,1986.4,1884.7,2776.3,1929.8,256.06,10.11,483,3672.75,0.00,0.00,3.65,0.000,0.000,0.126,1936.72,1987.38,1886.06,2775.56,570.19,0,0,0,30.00,30.00,15.32
$GC,3761.06,21639,214.11,0.37,0.00,1933.0,1981.2,1884.9,2775.3,570.0,244.38,12.56,502,3768.50,0.00,0.38,3.37,0.000,0.181,0.044,1933.09,1981.75,1884.44,2720.69,1977.56,0,0,0,30.00,15.34,15.31
$GC,4066.04,10791,322.62,0.50,-80.00,1932.0,1979.9,1884.1,2721.6,1979.6,222.84,6.53,533,4169.62,95.99,0.34,3.78,1.335,0.101,0.121,1509.41,1559.19,1459.62,2767.12,571.00,0,0,0,11.65,15.53,15.18
$GC,4208.66,1028,322.62,0.50,0.00,1503.9,1549.9,1457.9,2768.1,570.9,209.68,10.83,561,4215.88,0.00,0.00,3.37,0.000,0.000,0.041,1502.44,1548.94,1455.94,2766.31,1977.75,0,0,0,30.00,30.00,15.29
$GC,4513.54,16902,322.62,0.50,-80.00,1496.6,1546.8,1446.5,2766.4,1980.1,182.34,8.21,592,4520.96,0.00,0.00,3.66,0.000,0.000,0.121,1495.38,1545.50,1445.25,2766.94,569.81,0,0,0,30.00,30.00,15.40
$GC,4569.82,17414,322.62,0.50,0.00,1495.0,1544.2,1445.8,2767.7,570.0,177.41,9.13,603,4576.60,0.00,0.00,3.32,0.000,0.000,0.041,1495.69,1544.94,1446.44,2765.25,1979.12,0,0,0,30.00,30.00,15.52
$GC,4874.72,10919,440.48,0.74,-80.00,1493.5,1543.1,1444.0,2766.9,1981.2,157.67,6.24,634,5033.85,151.87,0.34,3.84,1.208,0.096,0.122,1029.81,1081.19,978.44,2827.81,571.12,0,0,0,11.71,15.56,15.07
$GC,5092.15,1156,440.48,0.82,0.00,1026.2,1076.1,976.4,2828.0,570.5,137.94,9.35,677,5099.49,0.00,0.00,3.38,0.000,0.000,0.041,1025.97,1075.38,976.56,2827.12,1979.88,0,0,0,30.00,30.00,15.28
$GC,5397.14,10919,504.91,0.99,-80.00,1022.8,1075.6,969.9,2827.6,1980.4,113.44,7.94,708,5490.46,85.23,0.37,3.85,1.161,0.099,0.125,767.47,803.62,731.31,2890.00,571.62,0,0,0,11.61,15.47,15.18
$GC,5564.51,1028,504.91,0.99,0.00,765.6,800.4,730.8,2889.6,571.2,94.65,11.74,741,5571.25,0.00,0.00,3.37,0.000,0.000,0.045,765.34,800.12,730.56,2889.06,1977.50,0,0,0,30.00,30.00,15.32
$GC,5749.48,516,504.91,0.99,-80.00,763.6,798.1,729.1,2888.9,1979.5,75.52,10.29,778,5760.06,0.00,0.00,3.72,0.000,0.000,0.122,763.53,798.00,729.06,2889.00,569.94,0,0,0,30.00,30.00,15.33
$GC,5794.55,1028,504.91,0.99,0.00,763.1,797.2,728.9,2888.9,569.6,70.71,11.03,787,5801.98,0.00,0.00,3.33,0.000,0.000,0.044,763.44,797.31,729.56,2889.25,1979.81,0,0,0,30.00,30.00,15.50
$GC,5981.00,10919,585.24,1.17,-80.00,761.8,796.4,727.2,2889.2,1981.6,54.97,7.43,824,6089.59,100.21,0.22,3.78,1.134,0.112,0.124,500.84,509.19,492.50,2927.75,571.25,0,0,0,11.58,15.54,15.22
$GC,6128.43,9350,585.24,1.25,0.00,498.9,506.2,491.6,2927.8,570.9,42.37,8.48,853,6138.30,0.00,0.00,3.33,0.000,0.000,0.040,498.88,506.25,491.50,2928.06,1980.62,0,0,0,30.00,30.00,15.33
$GC,6317.87,10919,683.95,1.52,-80.00,496.2,504.8,487.6,2927.9,1982.4,28.28,6.85,891,6329.57,0.00,0.57,3.72,0.000,0.090,0.121,496.81,505.12,488.50,3012.94,569.94,0,0,0,30.00,15.46,15.37
$GC,6377.86,13447,683.95,1.41,0.00,496.4,504.8,487.9,3014.4,569.8,21.44,13.05,903,6385.44,0.00,0.36,3.31,0.000,0.184,0.040,496.50,504.81,488.19,2975.00,1978.81,0,0,0,30.00,15.44,15.51
$GC,6563.75,10919,823.16,1.74,-80.00,495.0,503.6,486.4,2975.0,1980.4,8.32,5.55,940,6575.36,0.00,0.64,3.71,0.000,0.091,0.121,494.81,503.50,486.12,3066.19,569.88,0,0,0,30.00,15.55,15.52
$STATE,6644,end climb,SURFACE_DEPTH_REACHED
$STATE,6644,begin surface coast
$FINISH,0.2,1.020626
$STATE,6669,end surface coast,CONTROL_FINISHED_OK
$STATE,6669,begin surface
$SM_CCo,6759.39,0.00,0.000,0,492.8,499.6,485.9,572.09
$SM_GC,2.49,0.00,19.04,3.50,0.000,0.068,0.040,492.8,499.6,485.9,196.7,2070.0,0,0,0,30.00,15.59,15.62
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7129.05,-15155.25,241020,024811
$TCM_TEMP,1.00
$SC_FREEKB,3819872
$PM_FREEKB_00,32385792
$PM_ACTIVECARD,0
$RAFOS_CLK,-15
$RAFOS_FIX,7128.321289,-15154.789062,241020,060628,0,1,0.27
$HUMID,53.21
$TEMP,-0.24
$INTERNAL_PRESSURE,8.13473
$24V_AH,14.48,94.563
$10V_AH,14.91,0.000
$FG_AHR_24Vo,161.615
$FG_AHR_10Vo,38.058
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,929.920,47.285,136.185,190.877,0.000,12.773,4097.189,2964.471,2302.682,0.000,0.000,0.000
$DEVICE_MAMPS,1484.608,301.184,161.784,198.114,0.000,15.000,10.120,1.120,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6684.000,6694.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.469,9.639,0.000,0.000
$MEM,1152312,35,24416,80
$DATA_FILE_SIZE,28895,961
$CAP_FILE_SIZE,284949,0
$SDSIZE,3918848,3764512
$SDFILEDIR,1460,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.170,338.0,1
$GPS,241020,064453,7128.899,-15155.485,11,0.8,13,15.2