version: 67.00
glider: 229
mission: 2
dive: 97
start: 10 9 118 12 44 55
data:
$ID,229
$MISSION,2
$DIVE,97
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$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,120
$T_MISSION,200
$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,1020
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72243
$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,641.70477
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3840
$C_PITCH,1950
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,48
$PITCH_TIMEOUT,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,1.5
$PITCH_W_DBAND,0.5
$ROLL_MIN,340
$ROLL_MAX,3945
$ROLL_DEG,80
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,3166
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,5.5200472
$FG_AHR_24V,22.862822
$PHONE_SUPPLY,2
$PRESSURE_YINT,-162.53629
$PRESSURE_SLOPE,0.00010777653
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-2.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,32
$RAFOS_DEVICE,104
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0044283443
$SEABIRD_T_H,0.00066085911
$SEABIRD_T_I,2.7456792e-05
$SEABIRD_T_J,3.4295531e-06
$SEABIRD_C_G,-9.9373035
$SEABIRD_C_H,1.1186405
$SEABIRD_C_I,-0.003041792
$SEABIRD_C_J,0.00029373623
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,091018,123850,7432.822,-14615.343,9,1.2,64,0.0
$_CALLS,2
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-75.4
$GPS2,091018,124428,7432.840,-14615.255,3,1.4,5,0.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SG227
$TGT_LATLONG,7432.650,-14526.500
$TGT_RADIUS,2000.000
$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,135.8,24065,-17.6,-10.000,-21.24
$D_GRID,360
$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,1,end surface,CONTROL_FINISHED_OK
$STATE,1,begin dive
$GC,5.22,2,-145.99,-0.81,0.00,545.5,604.5,486.5,138.1,2202.8,0.00,0.00,0,53.84,48.03,0.00,0.00,0.005,0.000,0.000,1412.34,1438.62,1386.06,138.06,2198.50,0,0,0,15.58,30.00,30.00
$GC,57.15,295,-145.99,-0.81,80.00,1413.4,1440.1,1386.8,137.9,2200.4,4.16,-6.07,5,128.75,53.45,8.77,5.66,0.005,0.392,0.055,3761.50,3776.19,3746.81,1668.69,3948.88,0,0,0,15.57,15.47,15.59
$GC,308.15,1028,-145.99,-0.81,0.00,3762.8,3781.6,3744.1,1669.8,3946.1,78.94,-19.09,55,316.19,0.00,0.00,5.16,0.000,0.000,0.025,3764.84,3783.62,3746.06,1688.12,2234.12,0,0,0,30.00,30.00,15.75
$GC,503.13,260,-145.99,-0.81,80.00,3762.9,3784.1,3741.7,1688.1,2232.9,121.81,-21.62,76,511.31,0.00,0.00,5.57,0.000,0.000,0.056,3763.91,3785.00,3742.81,1667.69,3948.88,0,0,0,30.00,30.00,15.75
$GC,738.41,1028,-145.99,-0.81,0.00,3763.4,3784.9,3742.0,1667.8,3949.6,163.57,-16.34,123,746.20,0.00,0.00,5.10,0.000,0.000,0.024,3761.22,3783.00,3739.44,1684.88,2231.31,0,0,0,30.00,30.00,15.83
$GC,933.27,260,-145.99,-0.81,80.00,3763.4,3784.9,3741.9,1685.2,2230.8,201.50,-20.05,144,941.38,0.00,0.00,5.56,0.000,0.000,0.056,3764.09,3786.50,3741.69,1664.88,3952.25,0,0,0,30.00,30.00,15.83
$GC,993.24,1028,-145.99,-0.81,0.00,3763.8,3785.7,3741.8,1664.4,3950.6,212.46,-16.60,156,1001.37,0.00,0.00,5.11,0.000,0.000,0.024,3763.12,3784.94,3741.31,1681.81,2232.69,0,0,0,30.00,30.00,15.85
$GC,1183.49,260,-145.99,-0.81,80.00,3763.2,3785.6,3740.8,1682.0,2232.2,247.24,-18.09,176,1191.65,0.00,0.00,5.55,0.000,0.000,0.056,3763.00,3785.44,3740.56,1663.06,3950.62,0,0,0,30.00,30.00,15.86
$GC,1363.66,1028,-145.99,-0.81,0.00,3763.9,3786.2,3741.5,1662.2,3951.3,273.13,-13.16,212,1371.37,0.00,0.00,5.07,0.000,0.000,0.022,3762.84,3786.50,3739.19,1681.31,2230.12,0,0,0,30.00,30.00,15.88
$GC,1683.59,260,-145.99,-0.81,80.00,3764.0,3787.4,3740.6,1680.8,2229.6,317.37,-12.90,231,1691.56,0.00,0.00,5.53,0.000,0.000,0.056,3763.41,3786.44,3740.38,1660.19,3949.25,0,0,0,30.00,30.00,15.91
$GC,1918.64,1028,-145.99,-0.81,0.00,3763.9,3786.7,3741.1,1660.8,3947.6,344.04,-10.63,278,1926.48,0.00,0.00,5.05,0.000,0.000,0.023,3763.88,3787.12,3740.62,1672.19,2231.25,0,0,0,30.00,30.00,15.94
$STATE,2060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2060,begin apogee
$GC,2065.96,3,0.00,-0.10,0.00,3763.5,3787.5,3739.5,1676.7,1876.6,361.75,-12.40,289,2192.63,123.63,1.61,0.12,1.870,0.173,0.104,3169.59,3250.38,3088.81,1913.38,1981.25,0,0,0,12.69,15.86,15.24
$STATE,2192,end apogee,CONTROL_FINISHED_OK
$STATE,2192,begin climb
$GC,2195.94,263,145.99,0.81,80.00,3165.3,3246.6,3084.0,1914.9,1981.8,365.88,0.00,295,2333.59,129.02,1.32,5.32,1.770,0.099,0.040,2565.78,2656.38,2475.19,2190.00,3611.81,0,0,0,12.32,15.25,14.93
$GC,2542.93,1063,199.94,0.97,0.00,2559.0,2641.8,2476.2,2190.7,3609.9,355.52,7.49,364,2599.17,49.09,0.17,5.29,1.721,0.091,0.025,2349.66,2445.06,2254.25,2263.94,1880.44,0,0,0,12.40,15.38,15.42
$GC,2908.63,66,199.94,0.98,0.00,2340.3,2432.8,2247.8,2264.4,1881.1,320.64,9.12,392,2909.97,0.00,0.00,0.00,0.000,0.000,0.000,2340.03,2432.69,2247.38,2263.94,1880.88,0,0,0,30.00,30.00,30.00
$GC,3208.62,295,260.11,1.16,80.00,2338.8,2430.9,2246.6,2263.5,1881.2,296.03,7.20,407,3270.00,53.21,0.20,5.53,1.709,0.083,0.042,2100.59,2196.81,2004.38,2305.94,3604.69,0,0,0,12.54,15.63,15.31
$GC,3319.36,1028,260.11,1.16,0.00,2100.4,2193.8,2007.1,2306.4,3604.1,286.24,9.87,429,3327.48,0.00,0.00,5.30,0.000,0.000,0.027,2100.06,2194.06,2006.06,2326.25,1884.31,0,0,0,30.00,30.00,15.44
$GC,3644.34,551,327.04,1.36,-80.00,2095.6,2190.1,2001.1,2325.7,1884.1,259.24,6.89,449,3709.87,58.29,0.22,5.14,1.675,0.093,0.061,1832.00,1932.06,1731.94,2409.19,333.38,0,0,0,12.46,15.61,15.30
$GC,3934.41,1030,327.04,1.36,0.00,1822.5,1913.1,1731.9,2409.0,333.5,224.10,14.13,507,3941.37,0.00,0.00,4.60,0.000,0.000,0.013,1822.41,1912.88,1731.94,2391.56,1929.69,0,0,0,30.00,30.00,15.55
$GC,4129.58,2,327.04,1.36,0.00,1820.9,1912.4,1729.3,2391.0,1941.9,204.02,9.90,528,4130.92,0.00,0.00,0.00,0.000,0.000,0.000,1819.91,1912.44,1727.38,2391.25,1941.31,0,0,0,30.00,30.00,30.00
$GC,4309.64,582,327.04,1.37,-80.00,1820.2,1912.6,1727.9,2391.1,1941.0,186.81,9.45,546,4317.51,0.00,0.00,5.23,0.000,0.000,0.060,1820.88,1913.94,1727.81,2408.12,333.31,0,0,0,30.00,30.00,15.67
$GC,4379.50,1030,327.04,1.37,0.00,1819.2,1910.7,1727.6,2409.9,333.4,179.09,11.33,560,4386.45,0.00,0.00,4.55,0.000,0.000,0.013,1819.03,1910.69,1727.38,2391.88,1934.31,0,0,0,30.00,30.00,15.71
$GC,4569.63,66,327.04,1.40,0.00,1818.5,1910.5,1726.6,2391.1,1944.4,162.61,8.30,580,4570.97,0.00,0.00,0.00,0.000,0.000,0.000,1819.50,1911.19,1727.81,2390.50,1945.19,0,0,0,30.00,30.00,30.00
$GC,4749.80,66,327.04,1.42,0.00,1818.4,1911.0,1725.8,2391.1,1945.1,147.92,8.18,598,4751.14,0.00,0.00,0.00,0.000,0.000,0.000,1817.97,1910.94,1725.00,2391.25,1945.19,0,0,0,30.00,30.00,30.00
$GC,4929.86,35,393.00,1.62,0.00,1818.3,1911.1,1725.6,2391.1,1945.1,134.41,6.93,616,4987.84,55.59,0.28,0.00,1.583,0.084,0.000,1562.44,1658.19,1466.69,2471.56,1945.62,0,0,0,12.66,15.80,30.00
$GC,5169.73,0,393.00,1.62,0.00,1557.3,1652.5,1462.1,2471.6,1944.9,108.35,10.95,640,5171.06,0.00,0.00,0.00,0.000,0.000,0.000,1557.12,1652.00,1462.25,2471.31,1945.06,0,0,0,30.00,30.00,30.00
$GC,5349.91,64,393.00,1.63,0.00,1555.8,1651.1,1460.5,2471.9,1945.2,90.55,9.09,658,5351.25,0.00,0.00,0.00,0.000,0.000,0.000,1555.22,1650.81,1459.62,2472.31,1944.50,0,0,0,30.00,30.00,30.00
$GC,5529.75,35,462.63,1.84,0.00,1555.3,1651.5,1459.1,2472.1,1945.2,77.08,6.76,676,5601.45,70.74,0.24,0.00,1.487,0.082,0.000,1280.91,1378.62,1183.19,2543.75,1944.75,0,0,0,12.58,15.73,30.00
$GC,5779.97,295,570.99,2.17,80.00,1274.0,1371.4,1176.7,2544.9,1945.8,58.82,4.96,701,5899.62,110.96,0.38,5.41,1.430,0.081,0.043,837.22,930.81,743.62,2636.12,3605.31,0,0,0,12.47,15.55,15.16
$GC,5914.74,1063,638.28,2.37,0.00,836.5,928.0,745.0,2637.2,3604.7,50.88,6.87,718,5993.65,70.43,0.18,5.36,1.368,0.081,0.027,563.31,650.56,476.06,2716.25,1884.50,0,0,0,12.28,15.25,15.27
$GC,6179.89,295,733.08,2.65,80.00,558.6,643.3,473.9,2715.9,1885.2,28.73,5.59,753,6193.25,4.95,0.29,5.48,0.885,0.079,0.039,549.88,632.50,467.25,2781.19,3608.88,0,0,0,12.35,15.40,15.34
$GC,6254.80,1063,826.53,2.93,0.00,549.3,629.3,469.4,2781.5,3608.1,24.54,5.65,768,6263.09,0.00,0.32,5.25,0.000,0.080,0.025,548.84,628.94,468.75,2892.38,1880.56,0,0,0,30.00,15.44,15.48
$GC,6449.96,66,826.53,2.94,0.00,547.7,626.8,468.6,2892.4,1880.8,9.17,9.44,789,6451.31,0.00,0.00,0.00,0.000,0.000,0.000,547.62,626.75,468.50,2892.12,1881.00,0,0,0,30.00,30.00,30.00
$STATE,6526,end climb,SURFACE_DEPTH_REACHED
$STATE,6527,begin surface coast
$FINISH,0.2,1.028479
$STATE,6547,end surface coast,CONTROL_FINISHED_OK
$STATE,6547,begin surface
$SM_CCo,6620.78,0.00,0.000,0,546.9,625.8,468.0,642.47
$SM_GC,5.58,0.00,8.89,1.12,0.000,0.131,0.017,546.9,625.8,468.0,124.2,2280.6,0,0,0,30.00,15.51,15.61
$SUPER,59,126,254,1,0,0
$IRIDIUM_FIX,7432.97,-14611.88,091018,124018
$TCM_TEMP,177.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,20.4
$RAFOS_CLK,-8
$RAFOS_FIX,7432.529297,-14615.595703,091018,141430,0,1,0.09
$HUMID,53.85
$TEMP,-0.84
$INTERNAL_PRESSURE,9.13848
$24V_AH,14.51,45.876
$10V_AH,14.92,0.000
$FG_AHR_24Vo,23.060
$FG_AHR_10Vo,5.530
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,827.375,22.890,118.220,202.136,0.500,14.100,2127.929,4818.738,859.482,0.000,1.000,0.000
$DEVICE_MAMPS,1869.680,392.368,104.384,189.679,420.000,15.000,19.920,2.310,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,1165680,30,13884,56
$DATA_FILE_SIZE,30547,799
$CAP_FILE_SIZE,226977,0
$SDSIZE,3918848,3887712
$ERRORS,0,0,0,0,0,0,0,9
$SOUNDSPEED,1465.0
$CURRENT,0.250,330.7,1
$GPS,091018,143731,7433.325,-14616.160,116,0.9,117,0.0