version: 67.00
glider: 231
mission: 4
dive: 4
start: 6 2 121 18 52 26
data:
$ID,231
$MISSION,4
$DIVE,4
$N_DIVES,5
$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,3550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,27
$PITCH_TIMEOUT,26
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$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,23.779819
$FG_AHR_24V,18.147648
$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
$GPS1,020621,184826,4742.996,-12224.031,1,0.9,1,15.5
$_CALLS,2
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.4
$GPS2,020621,185159,4742.948,-12224.037,2,0.9,4,15.5
$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,356.2,107,-27.2,-10.000,-30.00
$D_GRID,165
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6.10,16386,-63.69,-1.20,0.00,524.7,537.3,512.1,460.6,2251.2,0.00,0.00,0,99.15,89.66,0.00,0.00,0.005,0.000,0.000,2573.34,2667.50,2479.19,460.50,2252.62,0,0,0,15.84,30.00,30.00
$GC,100.25,18983,-140.23,-1.43,-80.00,2573.2,2666.6,2479.7,460.4,2252.2,3.17,-1.92,9,157.55,34.01,12.51,4.58,0.005,0.430,0.065,3552.09,3698.12,3406.06,3096.31,586.94,0,0,0,15.89,15.71,15.87
$GC,180.93,3205,-140.23,-1.30,0.00,3553.4,3698.3,3408.6,3096.5,587.1,9.49,-15.23,25,188.43,0.00,0.21,4.64,0.000,0.336,0.044,3553.88,3696.25,3411.50,3131.88,2315.38,0,0,0,30.00,15.82,15.95
$GC,375.97,644,-140.23,-1.24,-80.00,3554.2,3698.5,3409.9,3133.6,2317.4,52.81,-23.14,45,383.41,0.00,0.00,4.74,0.000,0.000,0.065,3553.75,3697.94,3409.56,3139.19,589.50,0,0,0,30.00,30.00,15.99
$NAV,1622660341,58.3,start
$GC,426.32,3205,-140.23,-1.15,0.00,3553.5,3696.7,3410.2,3139.1,589.3,66.70,-28.07,55,433.76,0.00,0.20,4.64,0.000,0.313,0.047,3554.47,3698.12,3410.81,3181.56,2313.06,0,0,0,30.00,15.85,16.00
$GC,617.12,0,-140.23,-1.15,0.00,3553.9,3697.7,3410.1,3181.6,2314.5,107.16,-19.52,75,619.65,0.00,0.00,0.00,0.000,0.000,0.000,3553.28,3696.62,3409.94,3181.38,2314.06,0,0,0,30.00,30.00,30.00
$GC,807.15,516,-140.23,-1.15,-80.00,3553.9,3697.1,3410.8,3182.0,2314.4,145.22,-19.22,94,814.61,0.00,0.00,4.74,0.000,0.000,0.066,3555.16,3697.69,3412.62,3182.56,590.94,0,0,0,30.00,30.00,16.02
$STATE,831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,832,begin apogee
$GC,840.96,10243,0.00,-0.19,0.00,3554.2,3697.8,3410.7,3168.7,2157.4,150.87,-21.88,99,953.86,108.05,1.13,0.10,1.239,0.262,0.130,2976.31,3082.00,2870.62,3492.06,2107.62,0,0,0,12.60,15.88,15.59
$STATE,954,end apogee,CONTROL_FINISHED_OK
$STATE,954,begin climb
$GC,955.88,10503,140.23,1.43,80.00,2977.1,3083.1,2871.1,3491.2,2108.2,158.52,0.00,110,1075.46,106.18,1.10,5.11,1.222,0.132,0.080,2405.25,2496.69,2313.81,3835.44,3848.62,0,0,0,12.65,15.60,15.42
$GC,1133.51,3205,140.23,1.47,0.00,2400.3,2495.0,2305.6,3835.4,3848.3,145.72,10.55,145,1140.79,0.00,0.04,4.68,0.000,0.319,0.035,2397.97,2492.38,2303.56,3846.38,2121.31,0,0,0,30.00,15.55,15.63
$GC,1324.18,18563,140.23,1.53,0.00,2396.1,2494.5,2297.8,3846.2,2120.5,127.13,9.76,165,1326.82,0.00,0.03,0.00,0.000,0.285,0.000,2395.44,2493.94,2296.94,3861.00,2118.75,0,0,0,30.00,15.77,30.00
$GC,1514.20,18563,140.23,1.58,0.00,2395.5,2494.8,2296.2,3861.4,2119.1,107.69,9.80,184,1516.74,0.00,0.00,0.00,0.000,0.000,0.000,2395.06,2493.75,2296.38,3861.94,2119.69,0,0,0,30.00,30.00,30.00
$GC,1704.25,18823,140.23,1.64,80.00,2395.0,2494.4,2295.6,3860.8,2119.2,88.14,10.42,203,1711.69,0.00,0.00,4.90,0.000,0.000,0.076,2398.47,2498.88,2298.06,3839.50,3851.38,0,0,0,30.00,30.00,15.94
$GC,1754.59,19591,140.23,1.67,0.00,2394.8,2494.2,2295.2,3840.9,3852.0,82.10,12.09,213,1761.99,0.00,0.06,4.59,0.000,0.321,0.035,2394.47,2494.94,2294.00,3845.75,2121.62,0,0,0,30.00,15.83,15.94
$GC,1945.40,18823,140.23,1.74,80.00,2394.5,2495.8,2293.1,3845.7,2114.4,64.53,8.30,233,1952.89,0.00,0.01,4.89,0.000,0.292,0.076,2395.62,2496.75,2294.50,3831.38,3848.38,0,0,0,30.00,30.36,15.95
$GC,2021.28,19591,140.23,1.78,0.00,2394.4,2495.3,2293.5,3831.9,3848.5,57.09,10.03,248,2028.73,0.00,0.03,4.59,0.000,0.341,0.036,2398.12,2500.50,2295.75,3845.25,2119.75,0,0,0,30.00,15.86,15.97
$GC,2216.30,19079,140.23,1.86,-80.00,2394.2,2496.4,2292.1,3844.9,2118.4,42.11,8.25,268,2223.76,0.00,0.03,4.66,0.000,0.288,0.069,2395.31,2497.38,2293.25,3881.19,437.31,0,0,0,30.00,15.94,15.95
$GC,2436.73,19591,140.23,1.91,0.00,2394.2,2496.2,2292.1,3880.8,436.1,21.70,8.53,312,2444.08,0.00,0.00,4.61,0.000,0.000,0.035,2395.19,2496.81,2293.56,3869.25,2162.56,0,0,0,30.00,30.00,15.97
$MODEM_MSG,CACST,6,1,20210531133123.971808,05,187,16,0142,0150,246,01,01,01,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*34
$NAV,1622662572,8.9,1,stop
$GC,2627.83,10663,175.16,2.08,80.00,2394.2,2496.7,2291.8,3869.3,2163.9,8.93,6.31,332,2663.48,27.50,0.00,4.74,1.087,0.000,0.079,2263.31,2369.81,2156.81,3864.69,3850.31,0,0,0,12.76,30.00,15.86
$STATE,2720,end climb,SURFACE_DEPTH_REACHED
$STATE,2721,begin surface coast
$FINISH,0.1,1.020053
$STATE,2746,end surface coast,CONTROL_FINISHED_OK
$STATE,2746,begin surface
$SM_CCo,3080.78,300.62,1.081,0,526.1,521.2,531.0,601.94
$SM_GC,1.67,300.62,10.10,4.14,1.081,0.125,0.034,526.1,521.2,531.0,461.2,2270.0,0,0,0,12.69,15.89,15.97
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4742.53,-12217.96,020621,184901
$TCM_TEMP,14.09
$XPDR_PINGS,8,14.0,10.5
$SC_FREEKB,3876960
$RAFOS_CLK,-2
$MODEM,6,1622467883,48.25000,-122.50000,83.972,123018.7
$RAFOS_FIX,4829.836426,-12254.357422,310521,101015,3,255,-53.82
$HUMID,56.05
$TEMP,11.50
$INTERNAL_PRESSURE,8.42005
$24V_AH,14.80,24.963
$10V_AH,14.85,0.000
$FG_AHR_24Vo,18.332
$FG_AHR_10Vo,23.831
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,666.030,25.445,74.695,0.000,2.000,13.737,1233.566,1581.240,525.593,2231.401,0.000,0.000,0.000
$DEVICE_MAMPS,1238.608,430.088,129.640,0.000,420.000,15.000,11.920,2.920,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2746.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.488,0.000,0.000,0.000
$MEM0,60860,1,0,0
$MEM1,65508,1,0,0
$MEM2,997500,28,49308,60
$DATA_FILE_SIZE,9757,356
$CAP_FILE_SIZE,169829,0
$SDSIZE,3918848,3901600
$SDFILEDIR,258,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.057,167.9,1
$MAGCAL,1.000000,-0.056809,-0.017757,-0.029514,1.087057,-0.008340,-0.007155,0.006212,1.100157,-584.4,1314.4,-483.9,29,0.0210,0
$IMPLIED_C_PITCH,3565,24.05,177
$IMPLIED_C_VBD,2748,18.197258,177
$GPS,020621,194408,4743.144,-12223.984,1,1.2,5,15.5