version: 67.00
glider: 231
mission: 4
dive: 3
start: 6 2 121 17 43 52
data:
$ID,231
$MISSION,4
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,0
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72436
$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,609.38251
$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,2
$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,3520
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,27
$PITCH_TIMEOUT,26
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,345
$ROLL_MAX,3945
$ROLL_DEG,80
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2145
$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,2980
$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,23.721872
$FG_AHR_24V,17.950773
$PHONE_SUPPLY,2
$PRESSURE_YINT,-151.59618
$PRESSURE_SLOPE,0.00022543591
$COMPASS_USE,16388
$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
$XPDR_INT,0
$XPDR_REP,0
$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,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,102
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0043565771
$SEABIRD_T_H,0.00062677637
$SEABIRD_T_I,2.4431472e-05
$SEABIRD_T_J,2.7094229e-06
$SEABIRD_C_G,-10.133897
$SEABIRD_C_H,1.1473427
$SEABIRD_C_I,-0.0015492893
$SEABIRD_C_J,0.0002031941
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,020621,174131,4742.820,-12224.066,2,0.7,4,15.5
$_CALLS,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.1
$GPS2,020621,174326,4742.794,-12224.060,2,0.7,3,15.5
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$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,353.9,388,-17.6,-10.000,-21.21
$D_GRID,157
$IRON,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-560.000000,1348.000000,-490.000000
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.09,16386,-146.63,-1.09,0.00,525.3,540.8,509.9,461.4,2257.7,0.00,0.00,0,119.51,109.60,0.00,0.00,0.005,0.000,0.000,3003.47,3101.19,2905.75,461.25,2255.00,0,0,0,15.87,30.00,30.00
$GC,120.64,18983,-146.63,-1.09,-80.00,3005.9,3102.4,2909.3,461.2,2255.8,3.35,-1.69,11,162.97,16.78,12.89,4.53,0.006,0.431,0.065,3577.47,3722.50,3432.44,3170.25,589.38,0,0,0,15.93,15.76,15.89
$GC,191.35,3205,-146.63,-0.08,0.00,3578.2,3721.5,3434.9,3170.9,589.6,11.97,-15.73,25,202.34,0.00,1.23,4.60,0.000,0.295,0.040,3578.38,3721.44,3435.31,3494.50,2316.31,0,0,0,30.00,15.86,15.98
$GC,391.41,4257,-146.63,-0.84,0.00,3580.6,3722.6,3438.5,3494.5,2317.2,23.89,-4.31,46,394.14,0.00,0.68,0.00,0.000,0.066,0.000,3580.75,3721.62,3439.88,3231.12,2317.81,0,0,0,30.00,16.03,30.00
$GC,581.46,2693,-146.63,-0.40,-80.00,3580.2,3722.2,3438.1,3231.4,2316.9,54.92,-17.59,65,592.35,0.00,0.55,4.78,0.000,0.240,0.068,3580.91,3722.44,3439.38,3397.38,592.00,0,0,0,30.00,15.99,16.04
$GC,665.99,5253,-146.63,-0.90,0.00,3580.4,3722.1,3438.7,3397.8,592.1,64.33,-8.55,82,676.29,0.00,0.41,4.61,0.000,0.052,0.039,3581.66,3723.69,3439.62,3204.81,2318.69,0,0,0,30.00,16.03,16.06
$GC,861.49,2437,-146.63,-0.43,80.00,3581.2,3723.5,3438.9,3204.1,2318.4,93.74,-16.85,103,872.31,0.00,0.60,4.55,0.000,0.238,0.083,3581.06,3723.44,3438.69,3363.31,3953.69,0,0,0,30.00,16.01,16.06
$GC,886.02,3205,-146.63,-0.37,0.00,3580.6,3722.1,3439.0,3363.1,3955.2,96.99,-14.79,108,893.42,0.00,0.12,4.40,0.000,0.176,0.035,3582.12,3723.12,3441.12,3406.94,2272.88,0,0,0,30.00,16.02,16.07
$NAV,1622656748,99.1,start
$GC,1076.85,4773,-146.63,-0.81,-80.00,3579.8,3721.4,3438.2,3407.0,2263.3,108.49,-6.28,128,1087.65,0.00,0.41,4.62,0.000,0.057,0.068,3582.06,3723.69,3440.44,3233.56,591.75,0,0,0,30.00,16.04,16.07
$GC,1151.38,3205,-146.63,-0.44,0.00,3581.1,3723.1,3439.1,3233.9,591.1,119.54,-16.61,143,1161.69,0.00,0.51,4.61,0.000,0.246,0.043,3580.12,3721.19,3439.06,3380.38,2313.31,0,0,0,30.00,15.93,16.07
$GC,1346.91,4773,-146.63,-0.78,-80.00,3580.7,3722.8,3438.6,3380.7,2314.4,137.20,-7.66,164,1357.71,0.00,0.31,4.78,0.000,0.063,0.066,3582.22,3723.81,3440.62,3245.06,589.31,0,0,0,30.00,16.04,16.06
$STATE,1436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1436,begin apogee
$GC,1444.85,10243,0.00,-0.19,0.00,3579.9,3721.1,3438.7,3243.1,2158.2,150.53,-16.91,182,1561.09,112.00,0.74,0.10,1.231,0.229,0.129,2978.44,3079.50,2877.38,3465.12,2107.06,0,0,0,12.60,15.92,15.63
$STATE,1563,end apogee,CONTROL_FINISHED_OK
$STATE,1563,begin climb
$GC,1563.13,10243,146.63,1.09,0.00,2977.1,3078.0,2876.1,3465.1,2107.8,158.94,0.00,194,1681.11,111.38,1.21,0.00,1.201,0.155,0.000,2380.41,2469.31,2291.50,3855.88,2104.81,0,0,0,12.60,15.64,30.00
$GC,1868.77,20611,146.63,0.89,80.00,2371.5,2467.3,2275.6,3855.6,2105.9,134.91,10.49,227,1871.43,0.00,0.20,0.00,0.000,0.267,0.000,2372.94,2468.06,2277.81,3800.06,2106.25,0,0,0,30.00,15.73,30.00
$GC,2058.80,16514,146.63,0.95,80.00,2369.8,2467.4,2272.3,3800.6,2107.8,118.08,8.22,246,2061.33,0.00,0.00,0.00,0.000,0.000,0.000,2369.47,2466.56,2272.38,3800.44,2106.81,0,0,0,30.00,30.00,30.00
$GC,2248.84,18823,146.63,1.03,80.00,2368.8,2467.0,2270.5,3799.4,2107.2,103.03,8.00,265,2259.64,0.00,0.16,4.97,0.000,0.138,0.082,2368.94,2467.75,2270.12,3851.50,3849.69,0,0,0,30.00,15.92,15.96
$GC,2313.36,21639,146.63,0.60,0.00,2368.4,2467.6,2269.2,3850.8,3850.2,95.27,12.78,278,2323.68,0.00,0.65,4.59,0.000,0.334,0.036,2369.38,2469.12,2269.62,3707.06,2120.00,0,0,0,30.00,15.84,15.97
$GC,2508.89,10403,289.58,1.52,0.00,2367.1,2467.6,2266.6,3707.1,2119.2,87.04,3.38,299,2620.48,106.21,0.41,0.00,1.147,0.085,0.000,1798.25,1893.00,1703.50,3869.00,2118.56,0,0,0,12.60,15.95,30.00
$GC,2808.92,2437,289.58,1.68,80.00,1791.6,1892.8,1690.3,3867.7,2119.1,56.28,9.58,329,2816.39,0.00,0.00,4.95,0.000,0.000,0.079,1793.91,1896.12,1691.69,3866.56,3848.19,0,0,0,30.00,30.00,15.82
$GC,2874.79,19591,289.58,2.04,0.00,1790.3,1892.6,1688.1,3865.9,3849.1,50.37,8.66,342,2882.21,0.00,0.00,4.62,0.000,0.000,0.037,1789.56,1892.62,1686.50,3886.31,2122.06,0,0,0,30.00,30.00,15.86
$GC,3069.81,19079,289.58,2.16,-80.00,1788.9,1893.1,1684.7,3886.8,2121.4,30.98,10.26,362,3077.23,0.00,0.00,4.70,0.000,0.000,0.071,1789.34,1893.25,1685.44,3908.19,437.19,0,0,0,30.00,30.00,15.90
$GC,3125.62,19591,289.58,2.58,0.00,1788.7,1893.0,1684.4,3908.5,437.0,25.02,10.31,373,3133.04,0.00,0.00,4.66,0.000,0.000,0.037,1791.00,1895.88,1686.12,3905.50,2160.56,0,0,0,30.00,30.00,15.92
$NAV,1622658972,23.5,0,stop
$GC,3320.65,18823,289.58,2.67,80.00,1788.1,1893.1,1683.0,3906.4,2162.2,4.34,9.93,393,3328.11,0.00,0.00,4.73,0.000,0.000,0.081,1787.75,1893.56,1681.94,3905.56,3849.62,0,0,0,30.00,30.00,15.98
$STATE,3341,end climb,SURFACE_DEPTH_REACHED
$STATE,3341,begin surface coast
$FINISH,0.2,1.019093
$STATE,3366,end surface coast,CONTROL_FINISHED_OK
$STATE,3366,begin surface
$SM_CCo,3616.18,218.65,1.026,0,526.1,519.9,532.3,601.94
$SM_GC,1.67,218.65,9.73,4.15,1.026,0.091,0.036,526.1,519.9,532.3,463.1,2276.1,0,0,0,12.69,15.96,16.03
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4742.17,-12225.08,020621,173842
$TCM_TEMP,14.14
$XPDR_PINGS,16,14.0,10.5
$SC_FREEKB,3877344
$RAFOS_CLK,-3
$RAFOS_FIX,4829.836426,-12254.357422,310521,101015,3,255,-53.82
$HUMID,56.98
$TEMP,11.75
$INTERNAL_PRESSURE,8.43581
$24V_AH,14.90,24.724
$10V_AH,14.94,0.000
$FG_AHR_24Vo,18.137
$FG_AHR_10Vo,23.779
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,674.615,30.790,83.240,0.000,4.000,11.914,1713.788,1963.001,598.987,2223.944,0.000,0.000,0.000
$DEVICE_MAMPS,1230.736,430.744,128.984,0.000,420.000,15.000,11.920,2.920,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3363.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.587,0.000,0.000,0.000
$MEM0,60860,1,0,0
$MEM1,65508,1,0,0
$MEM2,997468,29,49320,60
$DATA_FILE_SIZE,9763,402
$CAP_FILE_SIZE,186995,0
$SDSIZE,3918848,3901792
$SDFILEDIR,253,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.087,177.2,1
$MAGCAL,1.000000,-0.057190,-0.038904,-0.025958,1.067318,-0.021554,-0.004879,0.005935,1.062267,-554.6,1329.6,-469.7,36,0.0273,0
$IMPLIED_C_PITCH,3578,21.04,218
$IMPLIED_C_VBD,2745,41.322620,209
$GPS,020621,184429,4743.048,-12224.025,1,0.9,3,15.5