version: 67.00
glider: 231
mission: 2
dive: 24
start: 10 9 119 3 56 19
data:
$ID,231
$MISSION,2
$DIVE,24
$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,1.1914599
$FG_AHR_24V,4.1501603
$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
$GPS1,091019,034744,7431.785,-14554.311,285,0.9,287,17.8
$_CALLS,3
$_SM_DEPTHo,-37.03
$_SM_ANGLEo,-81.0
$GPS2,091019,035603,7431.757,-14554.353,3,0.9,5,17.8
$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,142.1,187389,-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,11,begin dive
$GC,12.10,2,-116.79,-1.09,0.00,524.6,581.3,467.9,455.8,2463.8,0.00,0.00,0,35.04,20.83,0.00,0.00,0.006,0.000,0.000,878.41,955.94,800.88,455.75,2471.62,0,0,0,14.08,30.00,30.00
$GC,35.30,3,-116.79,-1.09,0.00,878.8,955.8,801.8,455.9,2464.9,3.22,-9.89,2,132.31,81.17,10.52,0.00,0.005,0.438,0.000,2924.78,3108.56,2741.00,2599.06,2462.69,0,0,0,14.06,15.39,30.00
$GC,315.25,260,-116.79,-1.09,80.00,2929.9,3109.5,2750.3,2599.9,2463.6,31.31,-9.56,39,322.91,0.00,0.00,4.49,0.000,0.000,0.110,2929.25,3108.00,2750.50,2579.75,3952.31,0,0,0,30.00,30.00,15.60
$GC,544.81,1028,-116.79,-1.09,0.00,2927.7,3105.2,2750.2,2580.1,3951.6,54.21,-10.09,85,552.46,0.00,0.00,4.16,0.000,0.000,0.054,2929.53,3107.25,2751.81,2591.81,2477.50,0,0,0,30.00,30.00,15.66
$GC,730.94,0,-116.79,-1.09,0.00,2927.7,3105.0,2750.3,2593.2,2468.4,72.60,-10.12,104,733.81,0.00,0.00,0.00,0.000,0.000,0.000,2927.56,3105.56,2749.56,2592.56,2468.88,0,0,0,30.00,30.00,30.00
$GC,910.89,0,-116.79,-1.09,0.00,2927.2,3104.4,2749.9,2593.9,2469.2,90.45,-10.03,122,913.76,0.00,0.00,0.00,0.000,0.000,0.000,2926.22,3103.56,2748.88,2593.19,2469.25,0,0,0,30.00,30.00,30.00
$GC,1090.97,516,-116.79,-1.09,-80.00,2926.6,3103.1,2750.1,2594.2,2468.2,108.38,-9.87,140,1102.17,0.00,0.00,4.91,0.000,0.000,0.081,2927.78,3104.75,2750.81,2603.69,791.50,0,0,0,30.00,30.00,15.62
$GC,1104.93,1028,-116.79,-1.09,0.00,2925.7,3101.4,2750.1,2602.0,791.4,109.85,-9.80,143,1113.76,0.00,0.00,4.95,0.000,0.000,0.061,2926.78,3104.44,2749.12,2581.81,2509.56,0,0,0,30.00,30.00,15.71
$GC,1297.12,516,-116.79,-1.09,-80.00,2924.9,3099.9,2749.9,2581.2,2511.1,128.86,-10.10,163,1308.68,0.00,0.00,5.03,0.000,0.000,0.080,2927.09,3102.25,2751.94,2592.62,791.69,0,0,0,30.00,30.00,15.73
$GC,1317.04,1028,-116.79,-1.09,0.00,2925.2,3100.6,2749.9,2592.3,791.4,130.85,-10.06,167,1328.65,0.00,0.00,4.93,0.000,0.000,0.060,2925.53,3100.94,2750.12,2570.50,2509.50,0,0,0,30.00,30.00,15.72
$GC,1507.02,517,-116.79,-1.09,-80.00,2925.8,3101.6,2749.9,2570.9,2509.1,150.00,-9.89,187,1518.97,0.00,0.12,5.05,0.000,0.306,0.081,2925.22,3100.88,2749.56,2623.62,791.12,0,0,0,30.00,15.65,15.73
$GC,1571.10,1028,-116.79,-1.09,0.00,2925.0,3099.0,2751.0,2624.4,791.2,156.54,-10.06,200,1581.77,0.00,0.00,4.94,0.000,0.000,0.064,2927.75,3102.12,2753.38,2602.94,2510.19,0,0,0,30.00,30.00,15.72
$GC,1766.79,0,-116.79,-1.09,0.00,2925.1,3099.8,2750.4,2602.3,2509.7,175.73,-10.14,221,1769.76,0.00,0.00,0.00,0.000,0.000,0.000,2925.88,3099.94,2751.81,2604.00,2509.12,0,0,0,30.00,30.00,30.00
$STATE,1817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1817,begin apogee
$GC,1817.99,3,0.00,-0.19,0.00,2925.6,3100.8,2750.4,2602.7,2368.2,180.78,-10.11,226,1922.67,100.79,1.02,0.12,1.638,0.245,0.166,2446.94,2579.12,2314.75,2892.38,2416.38,0,0,0,12.45,15.65,15.21
$STATE,1924,end apogee,CONTROL_FINISHED_OK
$STATE,1924,begin climb
$GC,1924.41,263,116.79,1.09,80.00,2446.6,2579.3,2313.8,2892.3,2416.5,170.79,0.00,236,2033.80,97.04,1.32,4.88,1.576,0.150,0.117,1969.44,2072.44,1866.44,3302.12,3951.12,0,0,0,12.21,15.25,14.96
$GC,2141.82,1030,116.79,1.09,0.00,1962.9,2064.1,1861.8,3301.4,3952.9,148.61,9.94,278,2149.43,0.00,0.00,4.57,0.000,0.000,0.054,1963.56,2065.75,1861.38,3321.56,2379.75,0,0,0,30.00,30.00,15.29
$GC,2326.75,518,116.79,1.09,-80.00,1959.2,2064.4,1854.1,3321.2,2369.8,130.16,10.01,297,2338.26,0.00,0.00,5.01,0.000,0.000,0.083,1960.69,2065.94,1855.44,3342.25,692.38,0,0,0,30.00,30.00,14.06
$GC,2420.72,1031,116.79,1.09,0.00,1959.1,2064.5,1853.7,3343.5,692.0,120.64,10.09,316,2429.52,0.00,0.20,5.01,0.000,0.278,0.062,1957.53,2062.06,1853.00,3289.50,2410.94,0,0,0,30.00,15.41,15.47
$GC,2612.30,262,116.79,1.09,80.00,1957.4,2064.9,1850.0,3291.0,2410.1,101.49,10.41,336,2620.22,0.00,0.00,4.70,0.000,0.000,0.114,1958.09,2066.25,1849.94,3290.62,3951.62,0,0,0,30.00,30.00,15.51
$GC,2702.10,1030,116.79,1.09,0.00,1957.5,2065.5,1849.6,3291.7,3952.0,92.44,10.01,354,2709.88,0.00,0.00,4.49,0.000,0.000,0.054,1956.59,2065.00,1848.19,3310.69,2379.00,0,0,0,30.00,30.00,15.56
$GC,2888.19,518,116.79,1.09,-80.00,1955.7,2065.8,1845.6,3311.4,2372.1,73.82,9.78,373,2899.62,0.00,0.00,4.97,0.000,0.000,0.084,1957.81,2068.00,1847.62,3332.44,690.81,0,0,0,30.00,30.00,14.08
$GC,3042.22,1031,116.79,1.09,0.00,1956.5,2066.2,1846.7,3331.7,691.0,58.12,9.95,404,3051.12,0.00,0.15,4.98,0.000,0.268,0.062,1954.72,2064.44,1845.00,3290.00,2411.50,0,0,0,30.00,15.55,15.61
$GC,3234.14,262,116.79,1.09,80.00,1955.1,2066.5,1843.6,3290.1,2411.5,39.14,9.87,424,3241.82,0.00,0.00,4.66,0.000,0.000,0.115,1956.75,2068.06,1845.44,3290.69,3949.56,0,0,0,30.00,30.00,14.08
$GC,3333.69,1030,116.79,1.09,0.00,1955.3,2066.4,1844.2,3292.0,3949.0,29.09,9.98,444,3341.31,0.00,0.00,4.46,0.000,0.000,0.053,1955.31,2066.62,1844.00,3310.50,2378.62,0,0,0,30.00,30.00,15.66
$GC,3519.69,518,116.79,1.09,-80.00,1955.0,2067.8,1842.2,3311.8,2376.9,10.80,10.28,463,3527.53,0.00,0.00,4.94,0.000,0.000,0.084,1954.09,2065.88,1842.31,3330.56,690.94,0,0,0,30.00,30.00,14.17
$STATE,3610,end climb,SURFACE_DEPTH_REACHED
$STATE,3610,begin surface coast
$FINISH,-0.0,1.025974
$STATE,3630,end surface coast,CONTROL_FINISHED_OK
$STATE,3630,begin surface
$SM_CCo,3914.94,281.97,1.432,0,525.5,552.1,499.0,472.07
$SM_CCo,3916.05,0.00,2.783,0,533.1,565.4,500.8,470.22
$SM_CCo,3921.22,4.48,0.683,0,525.7,555.7,495.6,472.04
$SM_GC,1.23,0.00,8.00,5.14,0.000,0.067,0.062,518.6,570.8,466.4,462.9,2511.2,0,0,0,30.00,15.85,15.88
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,7430.09,-14558.51,091019,035056
$TCM_TEMP,8.38
$XPDR_PINGS,315
$SC_FREEKB,3869792
$PM_FREEKB_00,61223744
$PM_ACTIVECARD,0
$HUMID,52.07
$TEMP,-0.26
$INTERNAL_PRESSURE,8.39621
$24V_AH,14.12,30.158
$10V_AH,15.00,0.000
$FG_AHR_24Vo,4.254
$FG_AHR_10Vo,1.222
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,586.290,21.330,96.890,300.635,78.750,14.587,2247.584,4037.913,832.130,0.000,0.000,0.000
$DEVICE_MAMPS,2783.160,437.632,166.048,163.577,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3632.000,3638.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.619,128.749,0.000,0.000
$MEM,1156096,29,23188,48
$DATA_FILE_SIZE,12915,485
$CAP_FILE_SIZE,192912,107
$SDSIZE,3918848,3903168
$SDFILEDIR,188,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.270,334.9,1
$GPS,091019,053321,7432.177,-14555.290,9,1.4,11,17.8