version: 67.00
glider: 231
mission: 3
dive: 4
start: 7 9 120 18 45 28
data:
$ID,231
$MISSION,3
$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,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,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,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,71877
$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,462.20248
$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,3430
$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,2145
$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,3050
$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,4.2857661
$FG_AHR_24V,3.4877346
$PHONE_SUPPLY,2
$PRESSURE_YINT,-151.62212
$PRESSURE_SLOPE,0.00022543591
$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
$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,104
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,5
$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
$GPS1,090720,184035,4743.419,-12223.542,1,2.0,3,15.4
$_CALLS,2
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.0
$GPS2,090720,184502,4743.435,-12223.537,2,0.8,24,15.4
$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,195.5,990,-17.6,-10.000,-21.21
$D_GRID,157
$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,6.37,16386,-146.63,-1.09,0.00,1160.2,1211.2,1109.2,462.8,2102.5,0.00,0.00,0,109.18,102.18,0.00,0.00,0.005,0.000,0.000,3232.44,3337.69,3127.19,462.88,2102.50,0,0,0,15.91,30.00,30.00
$GC,109.44,18467,-146.63,-1.09,0.00,3232.1,3336.6,3127.6,462.8,2101.9,3.01,-1.54,10,139.59,12.12,12.67,0.00,0.007,0.428,0.000,3645.72,3787.19,3504.25,3079.38,2100.94,0,0,0,15.93,15.75,30.00
$GC,317.09,2693,-146.63,-0.89,-80.00,3647.9,3786.4,3509.4,3080.1,2101.4,32.95,-14.19,31,323.76,0.00,0.22,4.67,0.000,0.220,0.073,3647.25,3785.50,3509.00,3149.62,438.31,0,0,0,30.00,15.92,16.00
$GC,382.09,1028,-146.63,-0.89,0.00,3648.3,3786.0,3510.6,3150.4,438.2,40.72,-11.78,44,388.85,0.00,0.00,4.62,0.000,0.000,0.031,3649.62,3787.81,3511.44,3129.62,2165.31,0,0,0,30.00,30.00,15.97
$GC,567.12,260,-146.63,-0.89,80.00,3648.7,3786.0,3511.4,3128.6,2166.9,62.97,-12.13,63,573.75,0.00,0.00,4.73,0.000,0.000,0.074,3647.59,3785.38,3509.81,3107.50,3852.44,0,0,0,30.00,30.00,15.99
$GC,602.19,3077,-146.63,-0.89,0.00,3648.7,3786.9,3510.5,3107.6,3852.0,67.40,-12.84,70,608.80,0.00,0.14,4.64,0.000,0.215,0.032,3647.94,3785.62,3510.25,3150.25,2117.62,0,0,0,30.00,15.98,16.03
$GC,787.17,4741,-146.63,-0.98,-80.00,3648.7,3786.4,3511.0,3149.8,2115.6,86.00,-10.25,89,793.95,0.00,0.11,4.68,0.000,0.098,0.071,3649.84,3787.62,3512.06,3087.50,438.44,0,0,0,30.00,16.02,16.04
$GC,846.36,3205,-146.63,-0.69,0.00,3648.2,3785.8,3510.7,3087.5,438.4,94.21,-14.84,100,853.15,0.00,0.48,4.62,0.000,0.226,0.033,3650.72,3787.69,3513.75,3210.44,2166.12,0,0,0,30.00,15.94,16.02
$GC,1031.35,4257,-146.63,-1.08,0.00,3648.2,3786.2,3510.3,3210.1,2170.4,108.59,-6.86,119,1032.84,0.00,0.35,0.00,0.000,0.054,0.000,3651.19,3788.62,3513.75,3059.25,2174.19,0,0,0,30.00,16.00,30.00
$GC,1211.34,2177,-146.63,-0.92,0.00,3648.5,3786.9,3510.1,3060.0,2173.8,126.39,-9.38,137,1212.81,0.00,0.25,0.00,0.000,0.220,0.000,3649.00,3786.38,3511.62,3136.25,2177.38,0,0,0,30.00,15.98,30.00
$GC,1391.42,4773,-146.63,-1.04,-80.00,3648.9,3786.2,3511.6,3136.2,2176.9,139.93,-7.54,155,1398.17,0.00,0.12,4.86,0.000,0.088,0.069,3650.53,3788.81,3512.25,3069.50,437.38,0,0,0,30.00,16.03,15.95
$STATE,1476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1476,begin apogee
$GC,1482.96,10243,0.00,-0.19,0.00,3648.3,3785.4,3511.2,3051.2,2166.9,150.12,-12.69,172,1598.16,111.11,1.09,0.13,1.238,0.226,0.115,3050.81,3154.75,2946.88,3372.38,2104.56,0,0,0,12.76,15.97,15.62
$STATE,1599,end apogee,CONTROL_FINISHED_OK
$STATE,1599,begin climb
$GC,1599.40,10243,146.63,1.09,0.00,3046.6,3149.0,2944.1,3372.5,2104.9,153.14,0.00,184,1713.68,111.28,1.22,0.00,1.204,0.111,0.000,2451.84,2536.50,2367.19,3788.00,2105.38,0,0,0,12.68,15.64,30.00
$GC,1896.43,20871,146.63,0.86,80.00,2442.0,2532.8,2351.3,3786.4,2104.9,125.66,9.93,222,1904.23,0.00,0.31,5.01,0.000,0.236,0.071,2441.31,2532.56,2350.06,3697.12,3851.00,0,0,0,30.00,15.72,15.76
$GC,1921.39,17542,146.63,0.75,0.00,2439.7,2531.7,2347.7,3698.1,3851.6,123.60,9.12,227,1928.01,0.00,0.00,4.70,0.000,0.000,0.030,2439.62,2531.31,2347.94,3718.25,2120.19,0,0,0,30.00,30.00,15.81
$GC,2106.39,20999,146.63,0.75,-80.00,2439.1,2531.8,2346.4,3718.0,2119.3,109.61,8.16,246,2113.19,0.00,0.19,4.72,0.000,0.218,0.067,2437.25,2529.62,2344.88,3680.44,437.06,0,0,0,30.00,15.82,15.86
$GC,2146.08,11431,207.34,1.07,0.00,2439.2,2533.0,2345.4,3680.6,437.2,107.08,7.19,254,2199.75,46.45,0.25,4.67,1.120,0.056,0.029,2201.53,2297.81,2105.25,3805.06,2179.00,0,0,0,12.73,15.88,15.86
$GC,2376.44,20611,207.34,0.94,0.00,2196.5,2297.8,2095.1,3804.1,2180.1,82.50,10.73,282,2377.92,0.00,0.28,0.00,0.000,0.226,0.000,2199.81,2301.81,2097.81,3722.44,2181.69,0,0,0,30.00,15.80,30.00
$GC,2556.47,19079,207.34,1.09,-80.00,2195.0,2297.8,2092.2,3721.3,2181.4,67.42,8.62,300,2563.18,0.00,0.16,4.93,0.000,0.068,0.068,2196.62,2300.00,2093.25,3826.75,436.19,0,0,0,30.00,15.90,15.88
$GC,2606.12,21639,207.34,0.83,0.00,2194.2,2297.0,2091.3,3827.1,435.9,60.38,15.75,310,2613.56,0.00,0.48,4.66,0.000,0.242,0.030,2193.44,2296.00,2090.88,3688.50,2174.69,0,0,0,30.00,15.84,15.88
$GC,2796.50,18823,207.34,1.13,80.00,2193.8,2298.0,2089.6,3688.2,2179.2,40.03,9.65,330,2803.20,0.00,0.28,4.74,0.000,0.053,0.076,2192.31,2295.62,2089.00,3818.75,3852.62,0,0,0,30.00,15.94,15.91
$GC,2826.13,21639,207.34,0.93,0.00,2193.1,2297.1,2089.1,3818.8,3851.9,36.25,12.59,336,2833.57,0.00,0.41,4.68,0.000,0.248,0.032,2192.97,2296.88,2089.06,3721.19,2118.12,0,0,0,30.00,15.86,15.91
$GC,3016.54,19079,207.34,1.14,-80.00,2193.1,2297.1,2089.1,3721.0,2116.6,16.13,9.60,356,3023.22,0.00,0.21,4.72,0.000,0.060,0.070,2194.09,2298.19,2090.00,3838.81,438.56,0,0,0,30.00,15.96,15.89
$GC,3096.18,21639,207.34,0.85,0.00,2193.0,2296.6,2089.4,3840.4,438.3,6.08,12.84,372,3103.64,0.00,0.50,4.64,0.000,0.242,0.031,2191.66,2295.81,2087.50,3694.69,2176.19,0,0,0,30.00,15.90,15.97
$STATE,3156,end climb,SURFACE_DEPTH_REACHED
$STATE,3156,begin surface coast
$FINISH,0.0,1.021618
$STATE,3186,end surface coast,CONTROL_FINISHED_OK
$STATE,3186,begin surface
$SM_CCo,3378.74,177.40,1.025,0,1165.2,1188.5,1141.9,462.34
$SM_GC,1.45,177.40,8.85,0.14,1.025,0.054,0.077,1165.2,1188.5,1141.9,449.1,2110.9,0,0,0,12.78,15.99,16.02
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4743.51,-12226.80,090720,184109
$TCM_TEMP,15.27
$XPDR_PINGS,2,14.0,10.5
$SC_FREEKB,3876960
$RAFOS_CLK,0
$RAFOS_FIX,4743.074707,-12223.929688,090720,191912,0,1,0.26
$HUMID,56.93
$TEMP,12.50
$INTERNAL_PRESSURE,8.71579
$24V_AH,14.91,1.266
$10V_AH,14.96,0.000
$FG_AHR_24Vo,3.637
$FG_AHR_10Vo,4.352
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,560.555,28.585,85.330,0.000,0.500,33.046,1347.489,2106.310,355.241,2216.000,0.000,0.000
$DEVICE_MAMPS,1238.280,428.120,114.880,0.000,420.000,15.000,11.920,2.920,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3186.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,39.837,0.000,0.000,0.000
$MEM,1130408,31,47000,82
$DATA_FILE_SIZE,9724,382
$CAP_FILE_SIZE,178882,0
$SDSIZE,3918848,3908192
$SDFILEDIR,56,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.129, 25.0,1
$GPS,090720,194206,4743.289,-12223.650,0,0.7,2,15.4