version: 67.00
glider: 511
mission: 20
dive: 509
start: 9 26 121 7 46 47
data:
$ID,511
$MISSION,20
$DIVE,509
$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,19.553381
$FG_AHR_24V,60.672794
$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
$GPS1,260921,074138,2244.547,-15754.810,12,0.9,22,9.8
$_CALLS,1
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-61.3
$GPS2,260921,074631,2244.569,-15754.842,8,0.8,35,9.8
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T9kma
$TGT_LATLONG,2243.900,-15754.900
$TGT_RADIUS,1100.000
$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,162.7,1242,-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,2.68,2,-126.52,-0.86,0.00,1107.7,1193.8,1021.5,173.8,2210.3,0.00,0.00,0,76.42,72.85,0.00,0.00,0.005,0.000,0.000,3085.62,3102.38,3068.88,173.62,2206.75,0,0,0,14.04,30.00,30.00
$GC,76.76,551,-126.52,-0.86,-40.00,3085.3,3103.2,3067.3,173.8,2208.2,3.86,-4.63,14,103.26,4.43,11.98,2.36,0.010,0.318,0.082,3304.78,3344.81,3264.75,2175.94,839.06,0,0,0,14.22,15.35,15.35
$GC,151.98,1028,-126.52,-0.86,0.00,3306.4,3349.0,3263.9,2174.8,838.7,18.94,-14.43,29,157.47,0.00,0.00,2.33,0.000,0.000,0.030,3307.91,3351.38,3264.44,2173.75,2305.06,0,0,0,30.00,30.00,15.69
$GC,216.99,0,-126.52,-0.86,0.00,3306.8,3349.2,3264.5,2173.8,2304.5,27.41,-15.82,42,221.78,0.00,0.00,0.00,0.000,0.000,0.000,3306.47,3348.31,3264.62,2173.81,2307.12,0,0,0,30.00,30.00,30.00
$GC,282.01,0,-126.52,-0.86,0.00,3306.1,3348.9,3263.2,2174.9,2306.6,37.47,-14.59,50,283.35,0.00,0.00,0.00,0.000,0.000,0.000,3308.25,3351.25,3265.25,2174.00,2307.19,0,0,0,30.00,30.00,30.00
$GC,402.02,516,-126.52,-0.86,-40.00,3306.7,3350.1,3263.3,2174.9,2305.4,52.64,-12.55,62,405.48,0.00,0.00,2.57,0.000,0.000,0.097,3307.34,3350.56,3264.12,2174.25,840.94,0,0,0,30.00,30.00,15.78
$GC,422.00,1028,-126.52,-0.86,0.00,3306.1,3349.0,3263.2,2173.1,841.0,55.39,-12.81,64,425.43,0.00,0.00,2.30,0.000,0.000,0.027,3308.50,3351.19,3265.81,2172.38,2305.69,0,0,0,30.00,30.00,15.93
$GC,552.03,516,-126.52,-0.86,-40.00,3306.3,3349.1,3263.5,2175.3,2307.9,73.65,-14.46,77,555.50,0.00,0.00,2.55,0.000,0.000,0.092,3306.97,3350.88,3263.06,2176.56,839.88,0,0,0,30.00,30.00,15.80
$GC,572.03,1028,-126.52,-0.86,0.00,3306.8,3350.1,3263.6,2174.6,839.1,76.59,-14.62,79,575.45,0.00,0.00,2.29,0.000,0.000,0.025,3305.16,3347.69,3262.62,2174.81,2310.50,0,0,0,30.00,30.00,15.94
$GC,700.05,389,-126.52,-0.90,40.00,3306.5,3349.8,3263.2,2174.7,2309.9,92.55,-11.07,92,705.48,0.00,0.09,2.27,0.000,0.129,0.064,3305.59,3349.31,3261.88,2130.50,3707.00,0,0,0,30.00,15.85,15.89
$GC,715.00,1029,-126.52,-0.90,0.00,3306.8,3350.1,3263.4,2129.9,3707.0,94.29,-11.00,93,720.45,0.00,0.17,2.26,0.000,0.182,0.020,3307.91,3352.25,3263.56,2164.12,2216.56,0,0,0,30.00,15.76,15.97
$GC,960.11,161,-126.52,-0.93,0.00,3307.1,3350.7,3263.5,2165.1,2215.6,122.36,-9.74,118,961.56,0.00,0.09,0.00,0.000,0.130,0.000,3305.38,3349.06,3261.69,2127.94,2216.62,0,0,0,30.00,15.90,30.00
$GC,1200.22,1,-126.52,-0.93,0.00,3307.6,3351.6,3263.6,2127.3,2214.9,149.79,-11.84,142,1201.69,0.00,0.12,0.00,0.000,0.209,0.000,3306.91,3351.00,3262.81,2151.56,2213.12,0,0,0,30.00,15.81,30.00
$GC,1442.27,645,-126.52,-0.98,-40.00,3307.6,3351.8,3263.4,2153.2,2214.2,176.65,-11.09,166,1446.71,0.00,0.12,2.34,0.000,0.110,0.084,3309.62,3354.31,3264.94,2106.00,834.62,0,0,0,30.00,15.90,15.86
$GC,1507.17,1157,-126.52,-0.93,0.00,3307.8,3351.9,3263.6,2108.1,834.6,185.37,-13.75,172,1510.72,0.00,0.24,2.29,0.000,0.196,0.025,3307.09,3351.38,3262.81,2154.38,2308.56,0,0,0,30.00,15.68,16.01
$STATE,1645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1645,begin apogee
$GC,1647.06,3,0.00,-0.18,0.00,3307.4,3351.6,3263.2,2155.7,1869.3,200.90,-10.64,186,1744.58,94.86,1.17,0.12,1.062,0.149,0.122,2792.16,2871.00,2713.31,2396.25,2006.31,0,0,0,11.39,15.85,15.57
$STATE,1745,end apogee,CONTROL_FINISHED_OK
$STATE,1745,begin climb
$GC,1744.95,519,126.52,0.86,-40.00,2789.9,2868.9,2711.0,2397.1,2006.6,204.08,0.00,195,1850.93,98.88,1.54,2.76,1.052,0.057,0.107,2275.38,2423.88,2126.88,2749.88,490.25,0,0,0,12.48,15.61,15.45
$GC,1982.68,1191,150.55,0.82,0.00,2268.1,2410.4,2125.8,2748.8,490.4,188.88,8.81,218,2008.10,19.81,0.22,2.29,0.961,0.183,0.018,2178.38,2334.12,2022.62,2707.06,1993.25,0,0,0,12.10,15.63,15.80
$GC,2247.76,679,215.57,0.94,-40.00,2172.6,2329.7,2015.4,2705.0,1992.1,173.89,6.62,245,2303.98,50.06,0.22,2.73,1.023,0.069,0.117,1907.88,2091.38,1724.38,2775.69,490.56,0,0,0,12.07,15.84,15.60
$GC,2359.78,1157,215.57,0.90,0.00,1905.4,2085.6,1725.1,2777.2,490.1,160.96,13.60,256,2363.34,0.00,0.23,2.31,0.000,0.185,0.020,1902.66,2082.56,1722.75,2730.75,1968.69,0,0,0,30.00,15.62,15.80
$GC,2609.90,423,246.20,1.00,40.00,1902.9,2085.4,1720.4,2731.4,1967.4,135.78,8.46,281,2638.91,23.76,0.18,2.24,0.951,0.073,0.047,1784.88,1967.50,1602.25,2798.19,3362.25,0,0,0,12.08,15.83,15.76
$GC,2789.84,1157,246.20,0.92,0.00,1783.9,1964.9,1602.9,2796.2,3363.6,115.72,11.35,299,2794.40,0.00,0.30,2.38,0.000,0.177,0.048,1782.66,1963.38,1601.94,2734.81,1900.56,0,0,0,30.00,15.63,15.87
$GC,3034.94,423,291.27,1.07,40.00,1781.6,1964.6,1598.6,2735.9,1901.4,95.09,7.69,323,3075.62,33.14,0.25,2.38,0.927,0.061,0.046,1602.03,1766.31,1437.75,2819.38,3366.88,0,0,0,11.96,15.84,15.77
$GC,3162.93,1157,291.27,0.99,0.00,1600.1,1763.4,1436.8,2821.2,3365.6,79.63,12.58,336,3168.40,0.00,0.30,2.38,0.000,0.167,0.048,1599.97,1763.94,1436.00,2758.12,1901.62,0,0,0,30.00,15.66,15.87
$GC,3294.91,423,321.26,1.14,40.00,1597.3,1759.1,1435.4,2758.5,1902.9,67.47,8.50,349,3325.43,22.99,0.26,2.37,0.866,0.059,0.044,1477.91,1631.81,1324.00,2844.00,3364.31,0,0,0,12.12,15.84,15.76
$GC,3354.89,1157,321.26,1.07,0.00,1478.2,1632.1,1324.2,2845.7,3364.2,60.20,12.69,355,3359.47,0.00,0.29,2.38,0.000,0.174,0.041,1477.59,1631.31,1323.88,2784.81,1900.25,0,0,0,30.00,15.61,15.84
$GC,3479.92,645,321.26,1.13,-40.00,1475.5,1629.5,1321.4,2785.5,1899.9,48.56,10.35,367,3484.50,0.00,0.13,2.52,0.000,0.093,0.119,1475.69,1629.56,1321.81,2842.50,492.00,0,0,0,30.00,15.81,15.78
$GC,3494.90,1157,321.26,1.17,0.00,1474.3,1626.8,1321.9,2840.9,491.7,46.99,10.52,368,3498.46,0.00,0.12,2.29,0.000,0.219,0.020,1474.50,1627.44,1321.56,2814.94,1979.69,0,0,0,30.00,15.70,15.90
$GC,3624.99,261,321.26,1.17,40.00,1473.9,1626.1,1321.6,2816.9,1986.1,33.33,10.40,381,3628.43,0.00,0.01,2.20,0.000,0.392,0.043,1474.00,1625.81,1322.19,2831.31,3359.81,0,0,0,30.00,30.36,15.79
$GC,3659.91,1029,321.26,1.17,0.00,1473.9,1626.1,1321.7,2830.8,3362.1,28.33,13.46,385,3665.51,0.00,0.08,2.38,0.000,0.248,0.039,1475.06,1627.00,1323.12,2818.00,1902.81,0,0,0,30.00,15.49,15.68
$GC,3724.93,517,321.26,1.17,-40.00,1473.9,1625.9,1321.8,2816.6,1901.4,20.22,12.36,398,3730.55,0.00,0.03,2.53,0.000,0.302,0.114,1473.38,1625.12,1321.62,2848.50,492.00,0,0,0,30.00,15.83,15.61
$GC,3744.92,1029,321.26,1.17,0.00,1472.4,1623.0,1321.9,2847.6,492.0,18.01,11.54,402,3750.51,0.00,0.16,2.30,0.000,0.200,0.018,1471.91,1621.75,1322.06,2815.19,1975.62,0,0,0,30.00,15.54,15.79
$GC,3809.94,263,321.26,1.17,40.00,1472.1,1622.5,1321.7,2816.1,1979.0,10.36,11.65,415,3815.51,0.00,0.04,2.21,0.000,0.247,0.041,1473.25,1623.50,1323.00,2843.44,3362.81,0,0,0,30.00,15.82,15.71
$GC,3830.04,1157,321.26,1.13,0.00,1472.2,1622.6,1321.8,2846.1,3364.1,8.13,10.86,419,3835.57,0.00,0.22,2.38,0.000,0.193,0.042,1472.22,1621.50,1322.94,2802.31,1903.19,0,0,0,30.00,15.47,15.68
$STATE,3875,end climb,SURFACE_DEPTH_REACHED
$STATE,3875,begin surface coast
$FINISH,-0.0,1.010129
$STATE,3900,end surface coast,CONTROL_FINISHED_OK
$STATE,3900,begin surface
$SM_CCo,3959.09,40.63,0.053,0,1115.8,1216.2,1015.3,410.69
$SM_GC,0.87,40.63,11.56,0.61,0.053,0.028,0.032,1115.8,1216.2,1015.3,180.0,2437.8,0,0,0,15.80,15.85,15.94
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2243.65,-15754.99,260921,063028
$TCM_TEMP,26.90
$XPDR_PINGS,68
$HUMID,57.77
$TEMP,23.40
$INTERNAL_PRESSURE,9.62545
$24V_AH,15.11,119.503
$10V_AH,15.00,0.000
$FG_AHR_24Vo,60.736
$FG_AHR_10Vo,19.576
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,461.395,30.120,68.025,191.793,17.000,44.773,2043.817,2188.785,1323.864,0.000,0.000,0.000
$DEVICE_MAMPS,1062.144,392.368,121.768,188.051,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,947.777,1010.260,531.905,613.345,940.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168252,33,14636,88
$DATA_FILE_SIZE,42876,433
$CAP_FILE_SIZE,164771,0
$SDSIZE,3931136,3839712
$SDFILEDIR,1569,2
$ERRORS,0,0,0,0,0,0,3,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,310.0,1
$GPS,260921,085331,2244.165,-15754.813,16,0.7,32,9.8