version: 67.00
glider: 231
mission: 2
dive: 6
start: 10 7 119 5 31 50
data:
$ID,231
$MISSION,2
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1020
$D_NO_BLEED,200
$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,60
$T_MISSION,80
$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,72301
$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,631.64746
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,471
$PITCH_MAX,3850
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,25
$PITCH_TIMEOUT,26
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,345
$ROLL_MAX,3945
$ROLL_DEG,80
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3950
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020999999
$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,0.45686877
$FG_AHR_24V,1.8025275
$PHONE_SUPPLY,2
$PRESSURE_YINT,-152.15948
$PRESSURE_SLOPE,0.00010800161
$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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3.25
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,40
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0042873411
$SEABIRD_T_H,0.00062238763
$SEABIRD_T_I,2.1747219e-05
$SEABIRD_T_J,2.1565911e-06
$SEABIRD_C_G,-9.9463768
$SEABIRD_C_H,1.1384684
$SEABIRD_C_I,-0.0018041182
$SEABIRD_C_J,0.00021621768
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$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
$GPS1,071019,052403,7434.818,-14533.204,30,1.5,37,17.9
$_CALLS,2
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-76.2
$GPS2,071019,053134,7434.779,-14533.280,2,1.3,4,17.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,1
$TGT_LATLONG,7434.900,-14533.500
$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,277.7,248,-27.2,-10.000,-30.00
$D_GRID,180
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,12.36,2,-63.62,-1.22,0.00,522.4,589.2,455.5,453.7,2470.2,0.00,0.00,0,65.84,51.35,0.00,0.00,0.005,0.000,0.000,1334.97,1442.44,1227.50,453.44,2467.50,0,0,0,13.89,30.00,30.00
$GC,66.12,35,-123.90,-1.35,0.00,1337.0,1444.6,1229.4,453.4,2472.4,3.35,-3.63,5,140.02,58.33,10.55,0.00,0.005,0.439,0.000,3204.16,3396.38,3011.94,2566.88,2464.69,0,0,0,13.84,15.32,30.00
$GC,314.12,516,-123.90,-1.35,-80.00,3208.9,3395.1,3022.8,2567.8,2463.9,81.76,-24.55,30,325.42,0.00,0.00,4.93,0.000,0.000,0.081,3208.09,3394.12,3022.06,2588.06,792.06,0,0,0,30.00,30.00,15.57
$GC,333.92,1028,-123.90,-1.35,0.00,3207.5,3389.6,3025.5,2586.8,792.0,85.97,-21.52,34,341.84,0.00,0.00,4.98,0.000,0.000,0.063,3205.94,3386.12,3025.75,2566.50,2509.81,0,0,0,30.00,30.00,15.59
$GC,519.09,260,-123.90,-1.35,80.00,3206.2,3387.1,3025.3,2566.2,2508.8,120.89,-18.06,53,526.76,0.00,0.00,4.30,0.000,0.000,0.104,3205.22,3386.25,3024.19,2548.38,3952.62,0,0,0,30.00,30.00,15.62
$GC,568.63,1028,-123.90,-1.35,0.00,3205.8,3382.4,3029.1,2547.6,3952.0,130.89,-20.59,63,576.19,0.00,0.00,4.16,0.000,0.000,0.051,3207.12,3384.38,3029.88,2553.69,2477.19,0,0,0,30.00,30.00,15.63
$GC,754.67,516,-123.90,-1.35,-80.00,3205.4,3383.4,3027.5,2554.2,2469.0,165.17,-18.73,82,766.13,0.00,0.00,4.90,0.000,0.000,0.081,3208.56,3385.94,3031.19,2562.00,791.44,0,0,0,30.00,30.00,15.64
$STATE,835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,835,begin apogee
$GC,841.07,3,0.00,-0.20,0.00,3204.9,3380.9,3028.9,2544.8,2412.6,180.66,-19.18,98,949.89,104.24,1.45,0.11,1.540,0.272,0.146,2696.16,2830.25,2562.06,2935.94,2364.31,0,0,0,12.29,15.59,15.18
$STATE,952,end apogee,CONTROL_FINISHED_OK
$STATE,952,begin climb
$GC,951.77,263,123.90,1.35,80.00,2696.7,2829.9,2563.4,2936.4,2363.8,186.49,0.00,109,1061.94,100.65,1.56,4.95,1.465,0.123,0.100,2192.12,2301.50,2082.75,3437.69,3952.44,0,0,0,12.19,15.21,14.98
$GC,1070.03,1062,151.29,1.41,0.00,2187.9,2296.2,2079.6,3436.2,3951.2,180.68,7.10,131,1101.91,23.80,0.00,4.61,1.354,0.000,0.049,2082.47,2195.19,1969.75,3458.06,2370.19,0,0,0,12.12,30.00,13.66
$GC,1279.95,518,151.29,1.41,-80.00,2072.3,2192.0,1952.6,3456.8,2369.6,154.52,12.37,155,1291.26,0.00,0.00,4.99,0.000,0.000,0.078,2071.62,2191.44,1951.81,3479.06,691.12,0,0,0,30.00,30.00,13.82
$GC,1299.81,1030,151.29,1.41,0.00,2071.5,2190.6,1952.3,3479.1,690.9,151.94,12.42,159,1311.28,0.00,0.00,5.01,0.000,0.000,0.056,2073.50,2193.50,1953.50,3474.06,2413.06,0,0,0,30.00,30.00,13.81
$GC,1489.75,518,151.29,1.41,-80.00,2069.7,2191.3,1948.1,3472.9,2412.4,130.87,10.13,179,1501.37,0.00,0.00,5.09,0.000,0.000,0.077,2070.12,2192.00,1948.25,3492.88,690.00,0,0,0,30.00,30.00,14.00
$GC,1503.90,1031,151.29,1.41,0.00,2069.9,2191.0,1948.8,3495.0,689.5,129.30,10.21,182,1512.68,0.00,0.21,4.96,0.000,0.335,0.054,2067.72,2189.75,1945.69,3444.94,2414.62,0,0,0,30.00,15.38,13.84
$GC,1695.60,294,178.49,1.46,80.00,2068.7,2191.2,1946.2,3444.1,2414.3,113.52,7.12,202,1727.82,23.07,0.00,4.63,1.378,0.000,0.101,1969.75,2092.38,1847.12,3444.69,3951.62,0,0,0,12.35,30.00,13.95
$GC,1949.76,1063,203.23,1.52,0.00,1964.3,2088.9,1839.7,3444.1,3951.7,92.60,7.38,253,1981.71,22.35,0.07,4.47,1.473,0.152,0.050,1870.03,1999.62,1740.44,3495.88,2364.75,0,0,0,12.36,15.55,14.04
$GC,2165.78,294,256.05,1.63,80.00,1864.5,1996.5,1732.6,3496.3,2365.4,81.04,4.42,278,2219.59,45.19,0.00,4.83,1.409,0.000,0.099,1652.59,1786.12,1519.06,3492.81,3953.25,0,0,0,12.25,30.00,13.83
$GC,2442.52,1063,317.87,1.76,0.00,1647.6,1778.5,1516.6,3491.2,3953.1,65.58,3.46,333,2505.66,53.04,0.16,4.47,1.417,0.114,0.049,1404.34,1540.00,1268.69,3571.00,2364.06,0,0,0,12.38,15.46,15.43
$GC,2682.48,294,379.03,1.88,80.00,1397.0,1530.5,1263.4,3570.9,2364.1,56.52,3.53,363,2745.41,52.29,0.00,4.88,1.378,0.000,0.100,1154.38,1269.00,1039.75,3572.19,3951.44,0,0,0,12.28,30.00,15.15
$GC,2967.36,1063,434.20,2.00,0.00,1147.5,1256.1,1038.9,3570.4,3951.7,41.43,4.17,420,3026.24,48.72,0.14,4.49,1.310,0.108,0.049,930.41,1021.25,839.56,3651.44,2366.00,0,0,0,12.31,15.40,15.42
$GC,3203.30,294,475.89,2.09,80.00,925.8,1015.3,836.4,3650.6,2366.3,28.93,5.59,449,3251.16,39.31,0.00,4.86,1.285,0.000,0.099,759.41,837.38,681.44,3650.75,3951.44,0,0,0,12.26,30.00,15.25
$GC,3459.07,1063,535.51,2.21,0.00,758.0,835.5,680.5,3651.5,3950.7,22.63,3.70,500,3523.00,55.76,0.10,4.49,1.295,0.118,0.050,525.91,596.62,455.19,3719.81,2366.19,0,0,0,12.26,15.43,15.46
$GC,3705.91,260,535.51,2.21,80.00,522.2,596.6,447.7,3718.3,2365.7,3.91,9.61,531,3717.15,0.00,0.00,4.84,0.000,0.000,0.103,522.78,597.00,448.56,3717.88,3952.06,0,0,0,30.00,30.00,15.36
$STATE,3726,end climb,SURFACE_DEPTH_REACHED
$STATE,3726,begin surface coast
$FINISH,0.2,1.021344
$STATE,3746,end surface coast,CONTROL_FINISHED_OK
$STATE,3746,begin surface
$SM_CCo,3766.64,0.00,0.000,0,521.8,596.1,447.5,534.31
$SM_CCo,3767.66,0.00,0.000,0,521.8,596.2,447.2,534.32
$SM_CCo,3768.68,0.00,0.000,0,522.0,596.4,447.5,534.27
$SM_GC,2.32,0.00,9.35,4.20,0.000,0.061,0.052,522.0,596.4,447.5,458.4,2472.9,0,0,0,30.00,15.47,15.48
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,7433.47,-14531.57,071019,052611
$TCM_TEMP,9.09
$XPDR_PINGS,229
$SC_FREEKB,3876064
$PM_FREEKB_00,62162176
$PM_ACTIVECARD,0
$HUMID,47.85
$TEMP,0.74
$INTERNAL_PRESSURE,8.41058
$24V_AH,14.63,19.587
$10V_AH,14.81,0.000
$FG_AHR_24Vo,1.906
$FG_AHR_10Vo,0.487
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,678.115,23.585,103.865,280.858,57.250,13.327,2248.344,1947.768,868.463,0.000,0.000,0.000
$DEVICE_MAMPS,1540.368,438.616,146.368,198.522,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3756.000,3753.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,38.509,128.770,0.000,0.000
$MEM,1156108,27,23216,48
$DATA_FILE_SIZE,16145,539
$CAP_FILE_SIZE,192592,0
$SDSIZE,3918848,3907584
$SDFILEDIR,70,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104, 23.5,1
$GPS,071019,063709,7435.053,-14533.996,125,0.9,125,17.9