version: 67.00
glider: 511
mission: 20
dive: 479
start: 9 24 121 19 38 13
data:
$ID,511
$MISSION,20
$DIVE,479
$N_DIVES,0
$STOP_T,0
$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,180
$T_ABORT,500
$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,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$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,0
$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,2450
$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,2270
$C_ROLL_CLIMB,1920
$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,2790
$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,5
$MAXI_10V,2
$FG_AHR_10V,18.829674
$FG_AHR_24V,58.64946
$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,0
$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
$GPS1,240921,193349,2245.177,-15757.898,13,0.9,36,9.8
$_CALLS,1
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-60.5
$GPS2,240921,193758,2245.195,-15757.915,8,0.8,20,9.8
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T3kma
$TGT_LATLONG,2244.400,-15758.200
$TGT_RADIUS,1200.000
$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,177.9,1550,-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,2.64,2,-126.52,-0.86,0.00,1106.0,1178.4,1033.6,185.6,2213.4,0.00,0.00,0,76.42,72.78,0.00,0.00,0.005,0.000,0.000,3071.31,3091.06,3051.56,185.38,2209.81,0,0,0,14.11,30.00,30.00
$GC,76.76,551,-126.52,-0.86,-40.00,3072.4,3093.4,3051.4,185.5,2209.2,3.68,-4.46,14,103.25,4.72,11.86,2.35,0.009,0.318,0.087,3304.84,3343.12,3266.56,2171.81,836.19,0,0,0,14.35,15.33,15.37
$GC,222.00,1157,-126.52,-0.83,0.00,3307.7,3346.2,3269.2,2173.4,836.3,29.47,-15.29,43,227.55,0.00,0.06,2.30,0.000,0.282,0.026,3309.31,3348.25,3270.38,2188.44,2305.50,0,0,0,30.00,15.49,15.73
$GC,286.98,0,-126.52,-0.83,0.00,3307.3,3346.5,3268.1,2187.9,2309.1,38.81,-14.73,50,288.32,0.00,0.00,0.00,0.000,0.000,0.000,3307.00,3345.31,3268.69,2184.88,2308.62,0,0,0,30.00,30.00,30.00
$GC,407.02,0,-126.52,-0.83,0.00,3307.3,3346.2,3268.4,2187.1,2307.8,55.48,-13.63,62,408.36,0.00,0.00,0.00,0.000,0.000,0.000,3308.16,3347.44,3268.88,2186.06,2308.25,0,0,0,30.00,30.00,30.00
$GC,527.03,516,-126.52,-0.83,-40.00,3308.1,3347.2,3269.0,2187.1,2308.6,71.93,-13.77,74,530.50,0.00,0.00,2.56,0.000,0.000,0.100,3306.91,3347.62,3266.19,2185.56,839.62,0,0,0,30.00,30.00,15.80
$GC,547.02,1028,-126.52,-0.83,0.00,3307.2,3346.1,3268.3,2186.6,840.6,74.72,-13.89,76,550.45,0.00,0.00,2.29,0.000,0.000,0.026,3307.69,3348.06,3267.31,2186.50,2306.44,0,0,0,30.00,30.00,15.95
$GC,677.10,677,-126.52,-0.86,-40.00,3307.3,3346.4,3268.2,2186.5,2308.9,88.46,-9.97,89,681.66,0.00,0.09,2.54,0.000,0.119,0.099,3310.88,3350.19,3271.56,2146.50,841.62,0,0,0,30.00,15.84,15.81
$GC,705.03,1029,-126.52,-0.86,0.00,3307.6,3346.9,3268.4,2145.9,841.3,91.98,-10.84,91,710.47,0.00,0.16,2.27,0.000,0.208,0.027,3306.88,3347.50,3266.25,2178.88,2308.69,0,0,0,30.00,15.72,15.98
$GC,950.14,389,-126.52,-0.91,40.00,3308.3,3347.7,3268.9,2177.8,2306.7,117.55,-10.36,116,955.55,0.00,0.12,2.26,0.000,0.102,0.062,3308.75,3347.62,3269.88,2129.06,3706.25,0,0,0,30.00,15.87,15.93
$GC,982.13,1029,-126.52,-0.91,0.00,3308.0,3347.8,3268.2,2129.7,3708.3,121.33,-11.62,119,985.70,0.00,0.15,2.26,0.000,0.199,0.020,3309.56,3350.25,3268.88,2161.94,2217.75,0,0,0,30.00,15.74,15.98
$GC,1230.20,645,-126.52,-0.94,-40.00,3308.5,3348.5,3268.5,2161.1,2218.6,149.33,-10.32,144,1235.62,0.00,0.09,2.34,0.000,0.134,0.085,3307.38,3346.56,3268.19,2121.19,835.25,0,0,0,30.00,15.92,15.90
$GC,1260.18,1029,-126.52,-0.94,0.00,3308.3,3348.8,3267.8,2122.5,835.8,153.08,-11.53,147,1265.60,0.00,0.14,2.28,0.000,0.222,0.027,3312.00,3350.69,3273.31,2150.62,2304.00,0,0,0,30.00,15.73,16.02
$GC,1512.28,0,-126.52,-0.94,0.00,3308.5,3349.0,3268.0,2149.5,2304.9,179.48,-10.54,172,1513.62,0.00,0.00,0.00,0.000,0.000,0.000,3308.00,3348.75,3267.25,2145.75,2308.31,0,0,0,30.00,30.00,30.00
$STATE,1700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1700,begin apogee
$GC,1702.14,3,0.00,-0.18,0.00,3309.2,3349.5,3268.8,2149.9,1868.5,201.14,-12.10,191,1799.73,94.68,1.21,0.12,1.063,0.157,0.116,2788.94,2867.88,2710.00,2395.69,2001.25,0,0,0,11.41,15.85,15.57
$STATE,1800,end apogee,CONTROL_FINISHED_OK
$STATE,1800,begin climb
$GC,1800.11,519,126.52,0.86,-40.00,2791.3,2870.1,2712.6,2395.6,1999.9,205.74,0.00,200,1907.11,99.88,1.54,2.74,1.051,0.054,0.111,2273.59,2421.62,2125.56,2747.69,493.25,0,0,0,12.52,15.61,15.47
$GC,2073.86,1157,126.52,0.79,0.00,2267.7,2409.6,2125.8,2748.9,493.4,187.22,10.28,227,2079.29,0.00,0.28,2.29,0.000,0.180,0.020,2267.22,2410.12,2124.31,2691.94,1995.00,0,0,0,30.00,15.65,15.83
$GC,2323.91,423,189.86,0.92,40.00,2267.0,2409.4,2124.7,2694.5,1995.0,168.96,6.71,252,2376.49,48.19,0.23,2.20,1.004,0.066,0.046,2014.50,2186.12,1842.88,2766.62,3365.31,0,0,0,11.95,15.86,15.69
$GC,2413.87,1157,189.86,0.82,0.00,2015.0,2186.1,1843.9,2767.6,3367.2,160.06,11.25,261,2421.39,0.00,0.33,2.38,0.000,0.183,0.043,2014.28,2184.81,1843.75,2703.00,1901.94,0,0,0,30.00,15.58,15.79
$GC,2659.05,679,218.66,0.93,-40.00,2010.8,2184.2,1837.4,2705.1,1902.4,139.48,8.56,286,2687.12,23.35,0.20,2.51,0.938,0.072,0.118,1896.50,2074.62,1718.38,2778.56,491.75,0,0,0,12.07,15.84,15.75
$GC,2748.96,1157,218.66,0.88,0.00,1891.8,2069.4,1714.1,2775.4,491.1,128.72,12.55,294,2756.44,0.00,0.28,2.30,0.000,0.189,0.020,1893.47,2070.25,1716.69,2723.50,1988.31,0,0,0,30.00,15.70,15.89
$GC,2996.01,423,243.50,0.98,40.00,1890.9,2069.8,1712.0,2724.2,1988.2,107.37,8.77,319,3019.91,19.82,0.18,2.20,0.888,0.073,0.047,1795.28,1975.38,1615.19,2790.19,3359.94,0,0,0,11.99,15.87,15.79
$GC,3063.97,1157,243.50,0.90,0.00,1795.5,1974.9,1616.0,2793.7,3359.3,98.66,13.35,326,3069.43,0.00,0.29,2.37,0.000,0.182,0.046,1794.53,1973.25,1615.81,2733.12,1902.94,0,0,0,30.00,15.67,15.88
$GC,3316.12,423,294.03,1.06,40.00,1791.8,1972.2,1611.4,2732.3,1902.6,79.24,7.40,351,3357.48,37.05,0.26,2.38,0.902,0.060,0.044,1590.34,1754.38,1426.31,2818.50,3364.25,0,0,0,11.99,15.87,15.72
$GC,3366.22,1157,294.03,1.00,0.00,1589.8,1752.9,1426.7,2817.6,3361.6,73.86,10.79,356,3370.80,0.00,0.26,2.38,0.000,0.176,0.043,1589.81,1752.94,1426.69,2766.12,1903.88,0,0,0,30.00,15.64,15.83
$GC,3491.26,163,313.39,1.11,0.00,1585.5,1748.9,1422.0,2764.6,1903.1,62.41,9.06,368,3511.07,15.33,0.17,0.00,0.810,0.074,0.000,1512.47,1667.50,1357.44,2830.56,1903.00,0,0,0,12.17,15.81,30.00
$GC,3631.35,129,313.39,1.04,0.00,1508.5,1661.1,1356.0,2832.8,1903.0,46.87,12.16,382,3632.83,0.00,0.28,0.00,0.000,0.174,0.000,1506.31,1658.31,1354.31,2774.62,1904.06,0,0,0,30.00,15.77,30.00
$GC,3751.31,423,322.12,1.11,40.00,1507.0,1659.5,1354.4,2774.4,1902.7,34.76,9.63,394,3765.02,8.43,0.14,2.36,0.685,0.098,0.044,1474.94,1623.94,1325.94,2828.75,3366.62,0,0,0,12.15,15.86,15.74
$GC,3774.27,1063,326.06,1.11,0.00,1474.8,1623.2,1326.4,2828.3,3365.0,32.05,9.89,396,3784.96,5.24,0.19,2.37,0.538,0.192,0.041,1461.00,1606.44,1315.56,2795.12,1901.31,0,0,0,12.56,15.70,15.90
$GC,3906.30,1,326.06,1.11,0.00,1458.3,1602.8,1313.9,2790.9,1901.1,17.60,11.01,420,3911.29,0.00,0.06,0.00,0.000,0.179,0.000,1460.50,1605.75,1315.25,2829.19,1900.75,0,0,0,30.00,15.80,30.00
$GC,3971.36,129,326.06,1.08,0.00,1458.6,1603.6,1313.5,2829.2,1900.4,9.38,12.02,433,3976.30,0.00,0.20,0.00,0.000,0.185,0.000,1459.84,1604.69,1315.00,2785.00,1900.69,0,0,0,30.00,15.75,30.00
$STATE,4036,end climb,SURFACE_DEPTH_REACHED
$STATE,4036,begin surface coast
$FINISH,-0.1,1.023258
$STATE,4061,end surface coast,CONTROL_FINISHED_OK
$STATE,4062,begin surface
$SM_CCo,4118.59,38.81,0.054,0,1117.1,1202.5,1031.8,410.36
$SM_GC,0.79,38.81,11.57,0.60,0.054,0.038,0.020,1117.1,1202.5,1031.8,185.5,2371.3,0,0,0,15.80,15.85,15.94
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2244.28,-15759.32,240921,183216
$TCM_TEMP,27.00
$XPDR_PINGS,67
$HUMID,57.67
$TEMP,23.43
$INTERNAL_PRESSURE,9.62059
$24V_AH,15.11,114.873
$10V_AH,15.00,0.000
$FG_AHR_24Vo,58.712
$FG_AHR_10Vo,18.853
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,468.265,30.365,53.335,167.663,16.750,29.850,2018.734,2333.326,1337.500,0.000,0.000,0.000
$DEVICE_MAMPS,1063.128,317.584,118.488,179.712,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,997.253,1074.265,553.971,632.836,970.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168236,32,14672,88
$DATA_FILE_SIZE,42829,451
$CAP_FILE_SIZE,153204,0
$SDSIZE,3931136,3843584
$SDFILEDIR,1479,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 23.7,1
$GPS,240921,204724,2244.783,-15757.943,10,0.9,19,9.8