version: 67.00
glider: 231
mission: 2
dive: 43
start: 10 10 119 17 21 59
data:
$ID,231
$MISSION,2
$DIVE,43
$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,1.7485769
$FG_AHR_24V,6.3051982
$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
$GPS1,101019,171704,7435.399,-14533.672,52,1.2,53,17.9
$_CALLS,1
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-81.1
$GPS2,101019,172142,7435.373,-14533.720,5,1.2,9,17.9
$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,234.2,198304,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11.32,2,-116.79,-1.09,0.00,521.2,582.8,459.8,460.3,2472.3,0.00,0.00,0,34.23,20.82,0.00,0.00,0.006,0.000,0.000,865.41,942.50,788.31,460.31,2473.38,0,0,0,14.36,30.00,30.00
$GC,34.49,519,-116.79,-1.09,-80.00,865.4,941.8,789.0,460.2,2464.2,3.09,-9.79,2,149.15,91.24,10.60,4.91,0.005,0.451,0.087,2928.50,3114.31,2742.69,2620.62,790.19,0,0,0,14.24,15.64,15.73
$GC,371.08,1028,-116.79,-1.09,0.00,2930.9,3110.6,2751.1,2621.6,790.4,36.79,-10.01,69,379.87,0.00,0.00,4.97,0.000,0.000,0.070,2929.66,3111.00,2748.31,2601.12,2508.12,0,0,0,30.00,30.00,15.83
$GC,562.72,516,-116.79,-1.09,-80.00,2929.9,3109.6,2750.1,2600.1,2508.1,55.72,-9.97,89,574.19,0.00,0.00,5.05,0.000,0.000,0.086,2930.56,3108.81,2752.31,2620.56,791.12,0,0,0,30.00,30.00,15.83
$GC,796.85,1028,-116.79,-1.09,0.00,2928.7,3106.6,2750.9,2621.0,791.9,79.37,-10.07,136,805.52,0.00,0.00,4.95,0.000,0.000,0.067,2928.72,3107.38,2750.06,2599.88,2509.12,0,0,0,30.00,30.00,15.85
$GC,988.35,516,-116.79,-1.09,-80.00,2927.7,3105.1,2750.2,2601.2,2508.6,98.14,-9.47,156,1000.39,0.00,0.00,5.05,0.000,0.000,0.086,2928.25,3106.88,2749.62,2620.56,791.19,0,0,0,30.00,30.00,15.85
$GC,1222.48,1028,-116.79,-1.09,0.00,2926.9,3103.8,2750.1,2621.9,791.4,121.41,-9.77,203,1230.54,0.00,0.00,4.94,0.000,0.000,0.068,2928.12,3104.25,2752.00,2598.75,2510.25,0,0,0,30.00,30.00,15.86
$GC,1408.96,516,-116.79,-1.09,-80.00,2927.3,3103.4,2751.2,2600.2,2509.1,139.94,-10.07,222,1420.63,0.00,0.00,5.03,0.000,0.000,0.086,2929.28,3105.69,2752.88,2619.00,791.44,0,0,0,30.00,30.00,15.86
$GC,1632.91,1028,-116.79,-1.09,0.00,2927.6,3102.9,2752.2,2618.6,791.8,162.53,-9.81,267,1640.80,0.00,0.00,4.93,0.000,0.000,0.067,2927.66,3104.44,2750.88,2598.38,2509.12,0,0,0,30.00,30.00,15.86
$STATE,1809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1809,begin apogee
$GC,1810.27,3,0.00,-0.19,0.00,2926.2,3101.9,2750.6,2597.7,2372.8,180.03,-9.97,285,1915.42,101.35,1.03,0.12,1.640,0.241,0.157,2449.31,2581.00,2317.62,2892.44,2417.81,0,0,0,12.62,15.78,15.30
$STATE,1917,end apogee,CONTROL_FINISHED_OK
$STATE,1917,begin climb
$GC,1917.32,263,116.79,1.09,80.00,2447.0,2578.1,2315.8,2891.6,2419.4,170.21,0.00,295,2027.00,97.32,1.31,4.89,1.586,0.147,0.122,1971.31,2076.31,1866.31,3302.56,3949.94,0,0,0,12.38,15.33,15.02
$GC,2098.89,1030,116.79,1.09,0.00,1963.9,2068.9,1858.9,3302.0,3949.1,150.82,10.11,330,2106.84,0.00,0.00,4.59,0.000,0.000,0.055,1964.25,2070.19,1858.31,3322.38,2383.44,0,0,0,30.00,30.00,15.28
$GC,2285.16,518,116.79,1.09,-80.00,1960.4,2069.9,1850.9,3322.8,2380.5,132.28,10.06,349,2296.82,0.00,0.00,5.11,0.000,0.000,0.096,1960.81,2069.94,1851.69,3343.75,692.25,0,0,0,30.00,30.00,13.95
$GC,2395.39,1031,116.79,1.09,0.00,1960.5,2070.3,1850.6,3346.5,692.4,121.47,9.91,371,2406.84,0.00,0.19,5.05,0.000,0.244,0.067,1959.91,2070.81,1849.00,3291.31,2409.75,0,0,0,30.00,15.43,15.52
$GC,2585.24,262,116.79,1.09,80.00,1957.5,2069.6,1845.5,3291.3,2409.9,102.44,9.96,391,2596.61,0.00,0.00,4.72,0.000,0.000,0.119,1958.78,2071.44,1846.12,3292.25,3951.38,0,0,0,30.00,30.00,15.57
$GC,2679.26,1094,116.79,1.10,0.00,1958.2,2070.7,1845.8,3292.9,3951.6,93.06,9.48,410,2686.90,0.00,0.00,4.47,0.000,0.000,0.053,1958.41,2071.69,1845.12,3310.31,2379.56,0,0,0,30.00,30.00,15.61
$GC,2865.28,518,116.79,1.10,-80.00,1956.6,2070.4,1842.8,3311.1,2378.9,74.75,9.98,429,2876.44,0.00,0.00,4.97,0.000,0.000,0.087,1956.66,2071.25,1842.06,3332.25,693.50,0,0,0,30.00,30.00,14.06
$GC,2949.03,1031,116.79,1.10,0.00,1956.8,2071.4,1842.2,3332.7,693.1,66.21,9.88,446,2957.93,0.00,0.13,4.99,0.000,0.240,0.067,1957.25,2070.38,1844.12,3291.94,2411.50,0,0,0,30.00,15.59,15.67
$GC,3141.08,262,116.79,1.10,80.00,1956.3,2071.6,1841.1,3293.6,2409.9,47.52,9.85,466,3152.28,0.00,0.00,4.68,0.000,0.000,0.119,1956.09,2071.19,1841.00,3293.38,3948.94,0,0,0,30.00,30.00,15.67
$GC,3230.86,1030,116.79,1.10,0.00,1956.0,2071.1,1840.9,3294.1,3949.0,38.54,9.63,484,3238.60,0.00,0.00,4.45,0.000,0.000,0.052,1954.91,2069.44,1840.38,3313.50,2379.56,0,0,0,30.00,30.00,15.71
$GC,3415.80,518,116.79,1.10,-80.00,1955.6,2071.8,1839.4,3313.6,2379.6,20.34,9.94,503,3423.71,0.00,0.00,4.96,0.000,0.000,0.088,1953.53,2069.19,1837.88,3337.12,690.94,0,0,0,30.00,30.00,15.73
$GC,3541.73,1031,116.79,1.10,0.00,1956.2,2072.8,1839.6,3334.8,690.9,7.57,10.32,528,3553.24,0.00,0.14,4.97,0.000,0.236,0.066,1955.44,2071.69,1839.19,3292.69,2410.81,0,0,0,30.00,15.67,15.75
$STATE,3602,end climb,SURFACE_DEPTH_REACHED
$STATE,3602,begin surface coast
$FINISH,-0.0,1.025964
$STATE,3622,end surface coast,CONTROL_FINISHED_OK
$STATE,3622,begin surface
$SM_CCo,3907.05,281.83,1.432,0,525.6,567.2,484.0,472.06
$SM_CCo,3908.16,0.00,2.784,0,532.9,578.8,487.1,470.26
$SM_CCo,3913.34,4.39,0.669,0,525.9,571.4,480.4,471.98
$SM_GC,1.37,0.00,7.96,0.27,0.000,0.064,0.102,519.5,588.4,450.6,459.3,2510.2,0,0,0,30.00,15.86,15.86
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,7436.35,-14533.66,101019,153240
$TCM_TEMP,8.47
$XPDR_PINGS,348
$SC_FREEKB,3861280
$PM_FREEKB_00,60679200
$PM_ACTIVECARD,0
$HUMID,52.17
$TEMP,-0.21
$INTERNAL_PRESSURE,8.38535
$24V_AH,14.11,38.166
$10V_AH,15.00,0.000
$FG_AHR_24Vo,6.409
$FG_AHR_10Vo,1.765
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,596.960,21.370,98.560,174.867,87.000,18.454,2268.562,3787.678,939.208,0.000,0.000,0.000
$DEVICE_MAMPS,2784.472,451.408,156.864,171.325,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3625.000,3631.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.371,128.638,0.000,0.000
$MEM,1156012,31,23232,48
$DATA_FILE_SIZE,16123,537
$CAP_FILE_SIZE,183064,0
$SDSIZE,3918848,3898304
$SDFILEDIR,321,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$CURRENT,0.236,137.6,1
$GPS,101019,185909,7434.655,-14532.633,15,1.0,15,17.9