version: 67.00
glider: 511
mission: 20
dive: 6
start: 7 24 121 22 50 52
data:
$ID,511
$MISSION,20
$DIVE,6
$N_DIVES,0
$STOP_T,12052119
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$D_NO_BLEED,200
$D_BOOST,20
$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,66
$T_MISSION,150
$T_ABORT,300
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,130
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53908
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,0
$RAFOS_HIT_WINDOW,0
$RAFOS_MMODEM,0
$PITCH_MIN,197
$PITCH_MAX,3817
$C_PITCH,2440
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$PITCH_GAIN,28
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$SHORTING_PLUG,1
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,2.033133
$FG_AHR_24V,5.5114264
$PHONE_SUPPLY,2
$PRESSURE_YINT,-152.98347
$PRESSURE_SLOPE,0.00010718
$COMPASS_USE,0
$ALTIM_PING_FIT,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,40
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,94
$INT_PRESSURE_SLOPE,1.96e-06
$INT_PRESSURE_YINT,2.4000001
$DEEPGLIDER,0
$MOTHERBOARD,6
$DEVICE1,10
$DEVICE2,27
$DEVICE3,38
$DEVICE4,51
$DEVICE5,71
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,18
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,5
$SIM_W,0
$SEABIRD_T_G,0.0043561007
$SEABIRD_T_H,0.00062493247
$SEABIRD_T_I,2.3474628e-05
$SEABIRD_T_J,2.4990031e-06
$SEABIRD_C_G,-10.107518
$SEABIRD_C_H,1.1354166
$SEABIRD_C_I,-0.0026197033
$SEABIRD_C_J,0.00028627849
$SEABIRD_C_Z,0
$GPS1,240721,224328,2148.769,-15518.345,18,0.8,50,9.9
$_CALLS,1
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-65.3
$GPS2,240721,225032,2148.718,-15518.408,8,0.8,18,9.9
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,B1
$TGT_LATLONG,2231.000,-15527.000
$TGT_RADIUS,1500.000
$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,5.4,79674,-19.8,-10.101,-22.45
$D_GRID,200
$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,1,end surface,CONTROL_FINISHED_OK
$STATE,1,begin dive
$GC,2.07,2,-126.52,-0.86,0.00,1212.7,1284.2,1141.1,180.8,2126.9,0.00,0.00,0,66.21,63.06,0.00,0.00,0.005,0.000,0.000,2838.06,2864.81,2811.31,180.81,2128.75,0,0,0,14.62,30.00,30.00
$GC,66.50,295,-126.52,-0.86,40.00,2839.3,2868.2,2810.4,180.9,2130.6,3.06,-4.01,12,98.59,11.77,11.69,2.27,0.007,0.335,0.077,3362.81,3406.56,3319.06,2162.81,3506.19,0,0,0,15.73,15.68,14.64
$GC,222.35,1028,-126.52,-0.86,0.00,3365.5,3410.0,3321.0,2164.5,3510.1,29.35,-16.48,43,227.77,0.00,0.00,2.27,0.000,0.000,0.025,3367.91,3411.94,3323.88,2165.06,2021.06,0,0,0,30.00,30.00,15.93
$GC,292.97,389,-126.52,-0.80,40.00,3365.8,3410.1,3321.6,2162.6,2019.2,40.53,-17.41,50,297.42,0.00,0.10,2.43,0.000,0.237,0.070,3363.16,3407.69,3318.62,2185.31,3505.75,0,0,0,30.00,15.91,15.95
$GC,329.80,1028,-126.52,-0.80,0.00,3365.9,3410.6,3321.2,2187.1,3509.2,47.95,-17.09,53,337.11,0.00,0.00,2.26,0.000,0.000,0.024,3367.19,3413.88,3320.50,2185.31,2018.38,0,0,0,30.00,30.00,16.03
$GC,396.86,260,-126.52,-0.80,40.00,3366.4,3411.3,3321.5,2187.0,2017.1,58.56,-16.47,60,400.31,0.00,0.00,2.43,0.000,0.000,0.068,3367.34,3412.50,3322.19,2185.56,3511.75,0,0,0,30.00,30.00,16.04
$GC,446.89,1157,-126.52,-0.85,0.00,3366.3,3411.5,3321.1,2187.2,3510.8,65.30,-13.47,65,450.43,0.00,0.12,2.25,0.000,0.107,0.023,3367.62,3411.69,3323.56,2140.00,2014.06,0,0,0,30.00,15.93,16.07
$GC,516.92,129,-126.52,-0.79,0.00,3366.4,3411.4,3321.4,2141.7,2012.5,75.47,-15.00,72,518.40,0.00,0.23,0.00,0.000,0.207,0.000,3365.34,3410.38,3320.31,2187.44,2009.88,0,0,0,30.00,15.95,30.00
$GC,574.92,389,-126.52,-0.83,40.00,3366.8,3412.1,3321.6,2188.8,2009.6,83.33,-12.77,78,580.34,0.00,0.09,2.43,0.000,0.141,0.068,3367.53,3414.00,3321.06,2151.44,3514.31,0,0,0,30.00,16.02,16.03
$GC,629.89,1029,-126.52,-0.83,0.00,3367.0,3412.4,3321.6,2152.9,3512.8,91.14,-14.21,83,635.32,0.00,0.12,2.26,0.000,0.227,0.023,3365.72,3412.81,3318.62,2176.19,2008.25,0,0,0,30.00,15.95,16.07
$GC,874.97,260,-126.52,-0.83,40.00,3367.1,3412.9,3321.3,2176.7,2005.4,123.66,-13.56,108,880.26,0.00,0.00,2.45,0.000,0.000,0.068,3365.84,3411.81,3319.88,2176.62,3515.19,0,0,0,30.00,30.00,16.09
$GC,975.04,1157,-126.52,-0.90,0.00,3367.3,3412.9,3321.8,2175.0,3512.9,136.71,-12.93,118,980.44,0.00,0.12,2.25,0.000,0.113,0.023,3368.56,3414.12,3323.00,2129.38,2013.69,0,0,0,30.00,16.02,16.11
$GC,1225.09,389,-126.52,-0.85,40.00,3366.9,3412.4,3321.4,2127.8,2014.3,174.58,-14.16,143,1230.55,0.00,0.21,2.43,0.000,0.214,0.067,3367.19,3413.75,3320.62,2171.38,3514.31,0,0,0,30.00,16.00,16.06
$GC,1345.13,1157,-126.52,-0.94,0.00,3367.4,3412.9,3321.8,2170.0,3511.4,187.65,-10.23,155,1350.53,0.00,0.17,2.23,0.000,0.092,0.021,3372.62,3418.25,3327.00,2110.69,2006.81,0,0,0,30.00,16.04,16.11
$STATE,1445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1445,begin apogee
$GC,1446.37,3,0.00,-0.18,0.00,3366.8,3412.4,3321.1,2112.3,2143.6,200.12,-12.86,165,1539.42,89.79,1.36,0.14,1.153,0.179,0.103,2848.72,2959.50,2737.94,2385.38,1984.62,0,0,0,12.23,15.98,15.63
$STATE,1539,end apogee,CONTROL_FINISHED_OK
$STATE,1539,begin climb
$GC,1539.86,519,126.52,0.86,-40.00,2850.0,2960.4,2739.6,2386.2,1983.8,202.48,0.00,167,1639.62,93.96,1.56,2.24,1.128,0.079,0.065,2334.62,2474.25,2195.00,2726.75,634.19,0,0,0,12.38,15.67,15.48
$GC,1676.77,1191,275.39,0.96,0.00,2330.1,2466.4,2193.7,2726.8,634.3,199.34,2.13,170,1786.60,105.12,0.09,2.33,1.114,0.138,0.028,1727.97,1899.94,1556.00,2760.88,2115.31,0,0,0,12.36,15.69,15.75
$GC,2021.83,517,275.39,0.96,-40.00,1720.8,1887.5,1554.1,2760.4,2115.4,157.83,12.51,203,2027.27,0.00,0.10,2.43,0.000,0.233,0.063,1722.88,1890.12,1555.62,2738.19,637.25,0,0,0,30.00,15.85,15.91
$GC,2043.83,1029,275.39,0.96,0.00,1719.7,1884.8,1554.5,2739.2,637.0,155.52,12.15,205,2047.38,0.00,0.04,2.29,0.000,0.267,0.026,1720.94,1885.19,1556.69,2764.44,2118.94,0,0,0,30.00,15.89,15.96
$GC,2291.90,645,275.39,0.93,-40.00,1719.6,1884.7,1554.6,2764.8,2119.8,125.56,11.91,230,2297.34,0.00,0.17,2.41,0.000,0.214,0.064,1720.44,1885.12,1555.75,2729.06,636.00,0,0,0,30.00,15.97,16.01
$GC,2323.90,1031,275.39,0.93,0.00,1718.5,1882.2,1554.8,2730.4,635.8,122.37,11.11,233,2327.43,0.00,0.05,2.29,0.000,0.238,0.026,1718.84,1882.44,1555.25,2754.62,2121.88,0,0,0,30.00,15.96,16.04
$GC,2571.95,519,275.39,0.93,-40.00,1718.7,1882.4,1554.9,2755.6,2122.0,94.46,11.01,258,2577.38,0.00,0.12,2.41,0.000,0.225,0.063,1718.97,1883.12,1554.81,2729.44,632.94,0,0,0,30.00,15.99,16.05
$GC,2623.99,1159,275.39,0.99,0.00,1718.1,1881.2,1554.9,2731.1,633.1,89.05,10.81,263,2627.52,0.00,0.13,2.28,0.000,0.109,0.026,1718.38,1882.12,1554.62,2779.25,2122.62,0,0,0,30.00,15.99,16.11
$GC,2874.03,519,275.39,0.99,-40.00,1717.9,1880.9,1554.9,2778.5,2123.1,58.32,11.65,288,2877.60,0.00,0.14,2.42,0.000,0.209,0.063,1719.03,1882.38,1555.69,2748.06,634.19,0,0,0,30.00,16.00,16.06
$GC,2904.05,1159,275.39,1.03,0.00,1717.9,1880.9,1554.8,2748.9,633.5,55.37,10.68,291,2907.57,0.00,0.10,2.29,0.000,0.126,0.026,1718.38,1881.88,1554.88,2790.56,2122.31,0,0,0,30.00,16.00,16.10
$GC,2974.07,35,295.08,1.05,0.00,1717.8,1880.5,1555.0,2789.9,2124.4,48.94,9.05,298,2989.35,14.64,0.09,0.00,0.874,0.231,0.000,1646.91,1802.62,1491.19,2767.69,2126.12,0,0,0,12.39,16.00,30.00
$GC,3049.07,679,304.43,1.10,-40.00,1645.2,1800.4,1490.1,2768.9,2127.2,41.91,9.60,305,3062.82,8.66,0.12,2.42,0.762,0.115,0.064,1608.16,1759.12,1457.19,2813.00,634.81,0,0,0,12.61,15.98,15.92
$GC,3092.05,1157,304.43,1.07,0.00,1606.7,1756.7,1456.8,2812.0,634.4,36.83,11.02,309,3099.51,0.00,0.18,2.28,0.000,0.206,0.026,1607.09,1757.12,1457.06,2774.31,2129.50,0,0,0,30.00,15.93,16.04
$GC,3159.09,1,304.43,1.07,0.00,1606.4,1756.1,1456.8,2775.0,2130.9,29.97,10.27,316,3163.99,0.00,0.02,0.00,0.000,0.381,0.000,1605.72,1755.56,1455.88,2794.38,2128.81,0,0,0,30.00,30.36,30.00
$GC,3224.11,1,304.43,1.07,0.00,1605.8,1754.9,1456.8,2792.6,2131.1,22.86,11.00,329,3229.00,0.00,0.08,0.00,0.000,0.246,0.000,1607.59,1756.62,1458.56,2774.31,2133.00,0,0,0,30.00,15.94,30.00
$GC,3289.15,549,306.57,1.07,-40.00,1605.8,1754.9,1456.7,2775.1,2134.4,16.28,9.99,342,3294.73,0.00,0.03,2.44,0.000,0.308,0.062,1606.41,1755.94,1456.88,2799.56,632.62,0,0,0,30.00,15.98,15.95
$GC,3309.13,1029,306.57,1.07,0.00,1605.1,1753.3,1456.9,2798.6,633.0,14.12,10.40,346,3314.72,0.00,0.12,2.29,0.000,0.222,0.026,1606.38,1754.44,1458.31,2773.25,2129.19,0,0,0,30.00,15.84,15.99
$GC,3374.15,261,306.57,1.07,40.00,1605.0,1753.1,1456.9,2774.1,2131.4,7.27,10.24,359,3379.71,0.00,0.04,2.22,0.000,0.283,0.062,1604.38,1753.12,1455.62,2799.12,3511.19,0,0,0,30.00,15.95,15.95
$GC,3404.16,1157,306.57,1.00,0.00,1605.0,1753.1,1456.9,2798.7,3514.2,3.32,13.22,365,3409.76,0.00,0.22,2.30,0.000,0.216,0.030,1604.81,1753.31,1456.31,2753.94,2016.12,0,0,0,30.00,15.81,15.92
$STATE,3414,end climb,SURFACE_DEPTH_REACHED
$STATE,3414,begin surface coast
$FINISH,0.0,1.022764
$STATE,3434,end surface coast,CONTROL_FINISHED_OK
$STATE,3434,begin surface
$SM_CCo,3495.89,44.50,0.056,0,1219.2,1312.9,1125.6,400.02
$SM_GC,0.88,44.50,11.42,0.12,0.056,0.046,0.082,1219.2,1312.9,1125.6,184.1,2127.9,0,0,0,15.96,15.97,16.04
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2147.87,-15519.33,240721,213700
$TCM_TEMP,26.90
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,40.5,4.5
$HUMID,56.59
$TEMP,23.60
$INTERNAL_PRESSURE,9.62653
$24V_AH,15.17,6.562
$10V_AH,15.00,0.000
$FG_AHR_24Vo,5.573
$FG_AHR_10Vo,2.053
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,431.500,29.025,65.920,358.745,15.500,27.168,2053.079,1856.447,1181.437,0.000,2.000,0.000
$DEVICE_MAMPS,1153.000,381.216,103.072,223.204,420.000,10.110,8.190,2.190,18.880,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,834.485,884.996,451.007,552.138,848.567,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168696,22,14512,83
$DATA_FILE_SIZE,35676,371
$CAP_FILE_SIZE,158653,0
$SDSIZE,3931136,3920032
$SDFILEDIR,60,2
$ERRORS,0,0,0,0,0,0,3,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.350,190.2,1
$GPS,240721,234937,2148.494,-15518.280,2,1.0,15,9.9