version: 67.00
glider: 231
mission: 2
dive: 9
start: 10 7 119 9 1 37
data:
$ID,231
$MISSION,2
$DIVE,9
$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,0.54496324
$FG_AHR_24V,2.1319926
$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
$GPS1,071019,085238,7435.085,-14533.855,68,1.3,68,17.9
$_CALLS,3
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-75.0
$GPS2,071019,090121,7435.061,-14533.927,3,0.9,5,17.9
$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,164.6,364,-25.7,-10.000,-28.56
$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,11,begin dive
$GC,12.04,2,-71.36,-1.18,0.00,522.2,586.9,457.4,450.8,2465.2,0.00,0.00,0,65.45,51.33,0.00,0.00,0.005,0.000,0.000,1355.50,1473.50,1237.50,450.38,2464.69,0,0,0,13.98,30.00,30.00
$GC,65.72,295,-134.03,-1.31,80.00,1356.9,1475.0,1238.8,450.6,2467.4,3.67,-4.09,5,143.28,55.74,10.57,4.45,0.005,0.439,0.101,3247.81,3439.00,3056.62,2559.06,3955.94,0,0,0,13.94,15.35,13.96
$GC,356.31,1028,-134.03,-1.31,0.00,3248.7,3431.3,3066.1,2561.1,3954.2,93.32,-23.60,63,363.93,0.00,0.00,4.18,0.000,0.000,0.054,3249.53,3431.88,3067.19,2578.44,2476.19,0,0,0,30.00,30.00,15.60
$GC,541.38,516,-134.03,-1.31,-80.00,3248.0,3429.7,3066.2,2577.3,2467.1,127.80,-17.15,82,552.70,0.00,0.00,4.91,0.000,0.000,0.083,3251.41,3433.75,3069.06,2597.81,789.88,0,0,0,30.00,30.00,15.62
$GC,641.42,1028,-134.03,-1.31,0.00,3245.9,3425.6,3066.2,2598.3,790.1,145.74,-18.62,102,652.63,0.00,0.00,4.99,0.000,0.000,0.063,3247.88,3427.44,3068.31,2576.94,2510.75,0,0,0,30.00,30.00,15.64
$GC,831.32,516,-134.03,-1.31,-80.00,3246.9,3425.8,3068.0,2576.4,2510.6,178.76,-16.98,122,842.88,0.00,0.00,5.05,0.000,0.000,0.080,3245.88,3424.25,3067.50,2592.31,792.38,0,0,0,30.00,30.00,15.64
$STATE,846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,846,begin apogee
$GC,851.97,3,0.00,-0.20,0.00,3245.7,3425.7,3065.7,2574.6,2412.6,181.36,-17.14,125,969.41,111.06,1.32,0.10,1.522,0.261,0.148,2701.34,2834.94,2567.75,2936.12,2366.69,0,0,0,12.36,15.46,15.16
$STATE,971,end apogee,CONTROL_FINISHED_OK
$STATE,971,begin climb
$GC,971.30,263,134.03,1.31,80.00,2696.7,2830.1,2563.2,2935.1,2365.4,187.60,0.00,137,1091.10,107.58,1.52,4.97,1.468,0.121,0.104,2149.34,2260.00,2038.69,3425.44,3950.88,0,0,0,12.23,15.21,14.93
$GC,1253.09,1030,134.03,1.31,0.00,2140.6,2255.8,2025.4,3423.8,3950.2,161.25,13.43,192,1260.73,0.00,0.00,4.53,0.000,0.000,0.051,2141.38,2256.81,2025.94,3445.31,2378.06,0,0,0,30.00,30.00,15.29
$GC,1439.34,66,134.03,1.32,0.00,2138.4,2257.3,2019.4,3444.9,2378.1,141.95,9.29,211,1442.22,0.00,0.00,0.00,0.000,0.000,0.000,2139.44,2258.81,2020.06,3444.75,2377.38,0,0,0,30.00,30.00,30.00
$GC,1619.30,66,134.03,1.36,0.00,2137.6,2259.3,2015.9,3445.0,2377.8,127.15,8.06,229,1622.18,0.00,0.00,0.00,0.000,0.000,0.000,2137.22,2257.62,2016.81,3445.00,2376.75,0,0,0,30.00,30.00,30.00
$GC,1799.45,294,179.54,1.46,80.00,2136.0,2256.6,2015.4,3445.0,2377.5,115.60,5.71,247,1845.84,37.44,0.00,4.82,1.388,0.000,0.103,1964.66,2088.69,1840.62,3446.00,3952.31,0,0,0,12.35,30.00,15.38
$GC,2069.34,1063,205.08,1.51,0.00,1958.8,2082.1,1835.6,3444.1,3952.2,92.13,7.59,301,2101.65,22.87,0.06,4.47,1.340,0.166,0.050,1864.12,1995.62,1732.62,3492.81,2367.56,0,0,0,12.32,15.52,15.54
$GC,2279.30,551,271.13,1.65,-80.00,1856.5,1990.8,1722.2,3491.8,2367.2,81.98,3.77,325,2343.54,55.58,0.10,5.01,1.363,0.117,0.079,1592.12,1724.69,1459.56,3556.94,689.25,0,0,0,12.31,15.54,13.80
$GC,2345.49,1062,339.46,1.79,0.00,1591.8,1724.1,1459.5,3558.1,689.5,79.36,3.55,334,2414.11,57.38,0.00,5.03,1.341,0.000,0.054,1317.28,1437.75,1196.81,3557.62,2412.62,0,0,0,12.30,30.00,15.30
$GC,2591.47,518,339.46,1.79,-80.00,1307.2,1427.1,1187.4,3557.6,2413.0,55.88,9.61,365,2602.79,0.00,0.00,5.16,0.000,0.000,0.080,1307.56,1426.88,1188.25,3580.62,690.88,0,0,0,30.00,30.00,15.35
$GC,2825.49,1063,441.49,2.01,0.00,1305.6,1423.4,1187.8,3580.2,691.2,52.24,0.37,412,2920.25,85.69,0.19,4.97,1.349,0.100,0.054,900.59,984.56,816.62,3656.06,2414.38,0,0,0,12.37,15.49,15.47
$GC,3096.44,580,441.49,2.04,-80.00,895.2,978.9,811.6,3656.5,2413.9,34.24,8.56,448,3108.04,0.00,0.00,5.17,0.000,0.000,0.081,895.72,979.50,811.94,3678.19,692.06,0,0,0,30.00,30.00,15.37
$GC,3330.57,1063,554.42,2.27,0.00,893.3,975.6,811.1,3678.7,692.2,30.21,-0.66,495,3393.66,54.94,0.14,4.97,1.269,0.103,0.055,657.53,728.25,586.81,3742.75,2414.38,0,0,0,12.34,15.50,15.49
$FREEZE,29.46,0.201,-1.491,0,1,0
$STATE,3394,end climb,NO_VERTICAL_VELOCITY
$STATE,3394,begin surface
$SM_CCo,3428.88,32.10,1.199,0,525.4,589.4,461.4,533.44
$SM_CCo,3429.98,0.00,0.012,0,525.2,589.3,461.2,533.47
$SM_CCo,3431.08,0.00,0.011,0,525.3,589.4,461.2,533.44
$SM_CCo,3725.00,0.00,0.000,0,521.5,592.6,450.3,534.39
$SM_CCo,3726.02,0.00,0.000,0,521.5,591.0,452.1,534.38
$SM_CCo,3727.04,0.00,0.000,0,521.4,590.4,452.4,534.41
$SM_GC,3.37,0.00,10.65,0.25,0.000,0.165,0.085,521.4,590.4,452.4,454.9,2513.9,0,0,0,30.00,15.44,15.53
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,7433.47,-14531.57,071019,085612
$TCM_TEMP,9.14
$XPDR_PINGS,277
$SC_FREEKB,3874720
$PM_FREEKB_00,62089248
$PM_ACTIVECARD,0
$HUMID,52.23
$TEMP,0.62
$INTERNAL_PRESSURE,8.4106
$24V_AH,14.62,20.835
$10V_AH,14.85,0.000
$FG_AHR_24Vo,2.234
$FG_AHR_10Vo,0.572
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,671.730,24.560,77.785,303.552,69.250,15.088,2159.093,2075.491,804.109,0.000,0.000,0.000
$DEVICE_MAMPS,1521.672,438.944,148.336,185.303,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3402.000,3403.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.251,128.723,0.000,0.000
$MEM,1156048,31,23196,48
$DATA_FILE_SIZE,16130,507
$CAP_FILE_SIZE,171793,0
$SDSIZE,3918848,3906816
$SDFILEDIR,91,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131, 31.9,1
$GPS,071019,100630,7435.087,-14533.560,142,0.8,142,17.9