version: 67.00
glider: 231
mission: 2
dive: 42
start: 10 10 119 15 36 19
data:
$ID,231
$MISSION,2
$DIVE,42
$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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,21600
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,435.4075
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,27
$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,2450
$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,20
$LOITER_DBDW,40
$LOITER_D_TOP,100
$LOITER_D_BOTTOM,200
$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,1.7313918
$FG_AHR_24V,6.1976848
$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,0.1
$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,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,101019,153038,7436.128,-14534.633,29,1.0,29,17.9
$_CALLS,1
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-82.0
$GPS2,101019,153603,7436.116,-14534.620,6,1.0,8,17.9
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,a
$TGT_LATLONG,7300.000,-14820.200
$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,224.9,199311,-19.9,-10.000,-23.25
$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,12.44,2,-116.79,-1.09,0.00,521.3,582.9,459.8,458.0,2465.9,0.00,0.00,0,35.34,20.79,0.00,0.00,0.006,0.000,0.000,863.66,944.38,782.94,458.38,2469.94,0,0,0,14.36,30.00,30.00
$GC,35.60,519,-116.79,-1.09,-80.00,864.1,945.0,783.2,458.3,2473.3,3.40,-9.94,2,143.67,85.65,10.43,4.91,0.005,0.441,0.087,2928.47,3111.94,2745.00,2621.44,791.12,0,0,0,14.20,15.62,15.71
$GC,146.51,1028,-116.79,-1.09,0.00,2930.5,3112.9,2748.2,2621.5,791.7,14.62,-9.79,22,158.04,0.00,0.00,4.97,0.000,0.000,0.067,2931.19,3111.19,2751.19,2600.00,2508.44,0,0,0,30.00,30.00,15.80
$GC,336.53,516,-116.79,-1.09,-80.00,2931.5,3110.9,2752.1,2601.1,2510.4,33.56,-9.78,42,348.03,0.00,0.00,5.05,0.000,0.000,0.086,2932.41,3112.25,2752.56,2604.44,792.69,0,0,0,30.00,30.00,15.82
$GC,570.67,1028,-116.79,-1.09,0.00,2930.4,3108.7,2752.1,2603.7,792.7,56.94,-9.87,89,579.42,0.00,0.00,4.93,0.000,0.000,0.066,2928.78,3108.31,2749.25,2583.19,2508.88,0,0,0,30.00,30.00,15.84
$GC,762.54,516,-116.79,-1.09,-80.00,2929.3,3106.5,2752.1,2582.7,2510.0,76.12,-9.91,109,773.83,0.00,0.00,5.03,0.000,0.000,0.084,2931.06,3109.31,2752.81,2583.06,791.75,0,0,0,30.00,30.00,15.84
$GC,962.30,1028,-116.79,-1.09,0.00,2928.1,3104.6,2751.6,2581.9,791.5,96.02,-9.84,149,973.81,0.00,0.00,4.94,0.000,0.000,0.066,2929.53,3105.00,2754.06,2560.69,2509.75,0,0,0,30.00,30.00,15.85
$GC,1152.48,517,-116.79,-1.09,-80.00,2928.6,3105.3,2751.8,2561.4,2510.0,115.24,-10.20,169,1163.86,0.00,0.16,5.04,0.000,0.293,0.085,2929.72,3105.19,2754.25,2625.75,791.44,0,0,0,30.00,15.76,15.84
$GC,1166.43,1028,-116.79,-1.09,0.00,2928.8,3105.1,2752.6,2623.3,791.6,116.78,-10.19,172,1175.17,0.00,0.00,4.93,0.000,0.000,0.064,2927.03,3104.62,2749.44,2602.69,2508.81,0,0,0,30.00,30.00,15.86
$GC,1357.96,516,-116.79,-1.09,-80.00,2928.9,3104.9,2752.9,2604.2,2509.6,135.90,-10.19,192,1369.58,0.00,0.00,5.02,0.000,0.000,0.085,2929.78,3104.69,2754.88,2603.69,792.56,0,0,0,30.00,30.00,15.84
$GC,1498.02,1028,-116.79,-1.09,0.00,2927.1,3102.1,2752.1,2605.4,792.8,149.73,-9.58,220,1505.90,0.00,0.00,4.92,0.000,0.000,0.066,2928.12,3103.12,2753.12,2580.25,2509.81,0,0,0,30.00,30.00,15.84
$GC,1683.06,516,-116.79,-1.09,-80.00,2927.2,3101.5,2753.0,2582.2,2510.1,168.40,-9.95,239,1694.47,0.00,0.00,5.03,0.000,0.000,0.085,2927.00,3102.00,2752.00,2581.69,791.38,0,0,0,30.00,30.00,15.85
$GC,1727.11,1028,-116.79,-1.09,0.00,2927.4,3102.8,2752.1,2583.1,791.4,172.91,-10.08,248,1735.91,0.00,0.00,4.93,0.000,0.000,0.064,2928.81,3104.94,2752.69,2562.38,2510.88,0,0,0,30.00,30.00,15.86
$STATE,1809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1809,begin apogee
$GC,1809.87,3,0.00,-0.19,0.00,2927.0,3102.0,2752.0,2560.5,2371.4,180.91,-9.90,257,1915.61,101.37,1.17,0.12,1.640,0.253,0.161,2448.53,2584.25,2312.81,2891.31,2417.00,0,0,0,12.63,15.78,15.29
$STATE,1917,end apogee,CONTROL_FINISHED_OK
$STATE,1917,begin climb
$GC,1917.50,3,116.79,1.09,0.00,2445.9,2580.4,2311.4,2891.6,2417.4,170.88,0.00,267,2021.28,97.15,1.30,0.00,1.587,0.144,0.000,1972.31,2070.75,1873.88,3299.12,2415.81,0,0,0,12.32,15.34,30.00
$GC,2198.24,262,116.79,1.09,80.00,1961.9,2065.4,1858.4,3301.3,2417.6,141.76,10.15,300,2209.48,0.00,0.00,4.78,0.000,0.000,0.118,1962.59,2066.44,1858.75,3300.62,3949.50,0,0,0,30.00,30.00,15.35
$GC,2278.26,1030,116.79,1.09,0.00,1960.2,2062.8,1857.7,3302.2,3950.5,133.70,10.13,316,2285.74,0.00,0.00,4.53,0.000,0.000,0.054,1958.22,2060.62,1855.81,3320.88,2380.38,0,0,0,30.00,30.00,15.45
$GC,2463.09,518,116.79,1.09,-80.00,1958.8,2063.5,1854.2,3321.2,2373.4,115.02,10.74,335,2474.18,0.00,0.00,5.04,0.000,0.000,0.091,1959.78,2063.12,1856.44,3343.12,691.00,0,0,0,30.00,30.00,15.54
$GC,2577.08,1031,116.79,1.09,0.00,1957.8,2062.1,1853.4,3343.6,691.0,103.61,10.00,358,2587.78,0.00,0.19,5.02,0.000,0.249,0.065,1958.47,2063.38,1853.56,3290.31,2411.06,0,0,0,30.00,15.51,15.58
$GC,2773.20,262,116.79,1.09,80.00,1956.8,2062.6,1851.0,3288.9,2411.5,84.15,9.96,379,2780.85,0.00,0.00,4.70,0.000,0.000,0.117,1956.62,2062.44,1850.81,3289.56,3949.88,0,0,0,30.00,30.00,15.63
$GC,2902.77,1030,116.79,1.09,0.00,1956.4,2061.8,1851.1,3290.2,3951.6,71.30,10.06,405,2910.75,0.00,0.00,4.46,0.000,0.000,0.052,1956.72,2062.31,1851.12,3309.31,2378.12,0,0,0,30.00,30.00,15.65
$GC,3088.64,518,116.79,1.09,-80.00,1955.7,2062.1,1849.2,3308.1,2376.7,52.81,9.93,424,3096.83,0.00,0.00,4.96,0.000,0.000,0.088,1954.62,2061.19,1848.06,3330.88,690.81,0,0,0,30.00,30.00,14.20
$GC,3208.72,1031,116.79,1.09,0.00,1956.2,2061.8,1850.6,3330.4,691.1,40.81,9.72,448,3217.50,0.00,0.14,4.99,0.000,0.240,0.066,1957.06,2063.94,1850.19,3289.81,2410.25,0,0,0,30.00,15.64,15.72
$GC,3400.36,262,116.79,1.09,80.00,1954.7,2061.6,1847.7,3289.4,2409.7,21.47,10.16,468,3408.20,0.00,0.00,4.68,0.000,0.000,0.118,1955.72,2062.75,1848.69,3288.06,3951.62,0,0,0,30.00,30.00,15.70
$GC,3470.05,1030,116.79,1.09,0.00,1954.5,2061.5,1847.4,3289.9,3951.9,14.38,10.21,482,3477.71,0.00,0.00,4.45,0.000,0.000,0.053,1954.75,2061.75,1847.75,3310.00,2379.50,0,0,0,30.00,30.00,15.74
$STATE,3606,end climb,SURFACE_DEPTH_REACHED
$STATE,3606,begin surface coast
$FINISH,-0.0,1.026007
$STATE,3626,end surface coast,CONTROL_FINISHED_OK
$STATE,3626,begin surface
$SM_CCo,3911.86,282.61,1.470,0,525.5,567.7,483.4,472.07
$SM_CCo,3912.97,0.00,2.785,0,533.2,579.8,486.6,470.19
$SM_CCo,3918.15,4.39,0.664,0,526.1,572.2,479.9,471.94
$SM_GC,0.33,0.00,8.01,0.40,0.000,0.068,0.082,518.9,589.0,448.8,461.5,2512.2,0,0,0,30.00,15.87,15.89
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,7501.12,-15237.73,101019,112743
$TCM_TEMP,8.47
$XPDR_PINGS,263
$SC_FREEKB,3861728
$PM_FREEKB_00,60704768
$PM_ACTIVECARD,0
$HUMID,47.30
$TEMP,-0.23
$INTERNAL_PRESSURE,8.3851
$24V_AH,14.12,37.793
$10V_AH,15.00,0.000
$FG_AHR_24Vo,6.301
$FG_AHR_10Vo,1.748
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,591.980,21.400,108.275,209.745,65.750,17.401,2236.006,4033.146,864.414,0.000,0.000,0.000
$DEVICE_MAMPS,2785.128,440.912,161.128,186.663,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3632.000,3637.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.219,128.633,0.000,0.000
$MEM,1156004,31,23240,48
$DATA_FILE_SIZE,12932,498
$CAP_FILE_SIZE,190366,0
$SDSIZE,3918848,3898560
$SDFILEDIR,314,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,132.9,1
$GPS,101019,171704,7435.399,-14533.672,52,1.2,53,17.9