version: 67.00
glider: 231
mission: 2
dive: 21
start: 10 9 119 1 43 54
data:
$ID,231
$MISSION,2
$DIVE,21
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,140
$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,540
$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,2300
$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,1
$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,1.1592741
$FG_AHR_24V,3.8581693
$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,5.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,091019,014028,7431.254,-14551.438,3,5.7,43,17.8
$_CALLS,1
$_SM_DEPTHo,-87.92
$_SM_ANGLEo,-78.8
$GPS2,091019,014339,7431.257,-14551.441,5,1.4,32,17.8
$SPEED_LIMITS,0.135,0.213
$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,232.7,187222,-15.7,-7.778,-20.03
$D_GRID,140
$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,11.88,2,-116.79,-0.93,0.00,520.5,554.8,486.2,468.6,2523.4,0.00,0.00,0,116.42,99.44,0.00,0.10,0.005,0.000,0.192,2775.31,2923.62,2627.00,469.25,2467.75,0,0,0,14.07,30.00,15.61
$GC,116.69,33,-116.79,-0.93,0.00,2776.8,2923.4,2630.2,469.1,2467.2,-97.96,14.54,10,131.39,0.00,10.58,0.00,0.000,0.435,0.000,2779.31,2924.25,2634.38,2650.06,2464.75,0,0,0,30.00,15.47,30.00
$GC,308.39,548,-116.79,-0.93,-80.00,2782.2,2930.6,2633.8,2650.1,2465.6,-97.91,1.50,30,316.32,0.00,0.00,4.89,0.000,0.000,0.083,2781.09,2929.44,2632.75,2667.25,791.25,0,0,0,30.00,30.00,15.61
$GC,318.24,1060,-116.79,-0.93,0.00,2782.9,2930.2,2635.6,2667.2,791.3,-98.31,1.62,32,326.86,0.00,0.00,4.95,0.000,0.000,0.063,2783.38,2933.44,2633.31,2646.94,2511.56,0,0,0,30.00,30.00,15.63
$GC,509.67,292,-116.79,-0.93,80.00,2782.2,2930.8,2633.6,2646.3,2510.4,-61.69,-5.05,52,517.42,0.00,0.00,4.32,0.000,0.000,0.111,2783.25,2931.38,2635.12,2629.12,3954.00,0,0,0,30.00,30.00,15.65
$GC,519.29,1060,-116.79,-0.93,0.00,2782.1,2931.6,2632.6,2627.9,3952.4,-69.70,9.53,54,526.92,0.00,0.00,4.14,0.000,0.000,0.051,2783.59,2932.00,2635.19,2642.88,2474.75,0,0,0,30.00,30.00,15.65
$GC,705.25,292,-116.79,-0.93,80.00,2782.6,2930.8,2634.4,2644.6,2466.9,-87.01,234.60,73,713.01,0.00,0.00,4.48,0.000,0.000,0.109,2780.62,2928.06,2633.19,2625.19,3952.38,0,0,0,30.00,30.00,15.63
$GC,724.88,1028,-116.79,-0.93,0.00,2781.6,2929.0,2634.2,2627.1,3952.6,32.73,-332.68,77,732.59,0.00,0.00,4.16,0.000,0.000,0.052,2781.31,2927.88,2634.75,2642.75,2476.00,0,0,0,30.00,30.00,15.68
$GC,910.87,260,-116.79,-0.93,80.00,2781.2,2928.5,2634.0,2643.4,2467.6,-74.62,-9.60,96,918.59,0.00,0.00,4.48,0.000,0.000,0.111,2782.00,2929.00,2635.00,2625.62,3952.19,0,0,0,30.00,30.00,15.60
$GC,920.47,1060,-116.79,-0.93,0.00,2780.8,2928.3,2633.2,2624.1,3954.2,-74.41,-5.15,98,927.97,0.00,0.00,4.16,0.000,0.000,0.050,2782.03,2928.88,2635.19,2639.06,2474.12,0,0,0,30.00,30.00,15.67
$STATE,997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,997,begin apogee
$GC,997.47,3,0.00,-0.19,0.00,2780.2,2926.2,2634.2,2639.9,2369.2,167.01,-488.96,106,1102.94,101.79,0.92,0.12,1.495,0.267,0.161,2296.81,2424.88,2168.75,2891.50,2419.81,0,0,0,12.41,15.58,15.21
$STATE,1105,end apogee,CONTROL_FINISHED_OK
$STATE,1105,begin loiter
$GC,1277.49,2,0.00,-0.19,0.00,2291.1,2422.2,2159.9,2890.9,2418.9,171.96,2.26,134,1280.47,0.00,0.00,0.00,2.857,0.000,0.000,2300.88,2431.88,2169.88,2891.12,2419.50,0,0,0,30.36,30.00,30.00
$GC,1457.68,35,-109.19,-0.51,0.00,2300.4,2432.5,2168.3,2891.7,2418.6,28.71,280.48,152,1463.81,2.62,0.32,0.00,0.014,0.068,0.000,2742.97,2896.94,2589.00,2760.56,2419.44,0,0,0,15.49,15.57,30.00
$GC,1637.61,34,-116.31,-0.53,0.00,2746.7,2899.2,2594.1,2760.6,2419.4,42.76,18.29,170,1640.59,0.09,0.00,0.00,0.236,0.000,0.000,2774.44,2925.94,2622.94,2761.06,2419.75,0,0,0,15.56,30.00,30.00
$STATE,1728,end loiter,SURFACE_DEPTH_REACHED
$STATE,1728,begin surface coast
$FINISH,-91.4,1.026177
$STATE,1738,end surface coast,CONTROL_FINISHED_OK
$STATE,1738,begin surface
$SM_CCo,2187.75,437.01,1.469,0,525.6,537.6,513.7,435.25
$SM_CCo,2188.86,0.00,2.768,0,533.1,545.4,520.9,433.41
$SM_CCo,2193.52,3.61,0.837,0,525.8,533.5,518.1,435.22
$SM_GC,11.74,3.61,6.51,0.24,0.837,0.063,0.089,525.8,533.5,518.1,458.1,2514.1,0,0,0,12.02,15.67,15.67
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,7432.38,-14553.99,091019,013411
$TCM_TEMP,8.56
$XPDR_PINGS,133
$SC_FREEKB,3870656
$PM_FREEKB_00,61262880
$PM_ACTIVECARD,0
$HUMID,51.46
$TEMP,0.41
$INTERNAL_PRESSURE,8.40188
$24V_AH,14.06,29.274
$10V_AH,14.39,0.000
$FG_AHR_24Vo,3.967
$FG_AHR_10Vo,1.171
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,644.570,18.330,36.375,0.000,33.250,41.285,1203.065,1071.341,292.086,0.000,0.000,0.000
$DEVICE_MAMPS,2856.632,435.008,191.632,0.000,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1104.000,1744.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,41.782,128.763,0.000,0.000
$MEM,1156044,30,23220,48
$DATA_FILE_SIZE,3338,180
$CAP_FILE_SIZE,124917,0
$SDSIZE,3918848,3903840
$SDFILEDIR,170,1
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,7.598,262.5,1
$GPS,091019,014339,7431.257,-14551.441,301,99.0,301,17.8