version: 67.00
glider: 511
mission: 20
dive: 516
start: 9 26 121 16 14 35
data:
$ID,511
$MISSION,20
$DIVE,516
$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,19.721991
$FG_AHR_24V,61.144329
$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
$GPS1,260921,160955,2244.433,-15755.435,13,0.8,36,9.8
$_CALLS,1
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-62.0
$GPS2,260921,161419,2244.441,-15755.487,8,0.8,20,9.8
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T9kmb
$TGT_LATLONG,2244.600,-15754.800
$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,71.2,1211,-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,-0.86,0.00,1110.3,1191.2,1029.5,181.0,2341.9,0.00,0.00,0,76.42,72.85,0.00,0.00,0.005,0.000,0.000,3056.56,3080.12,3033.00,180.62,2343.62,0,0,0,14.09,30.00,30.00
$GC,76.76,295,-126.52,-0.86,40.00,3058.2,3082.1,3034.2,180.7,2344.9,3.35,-3.92,14,103.25,5.18,11.86,2.24,0.009,0.311,0.066,3306.12,3347.62,3264.62,2175.00,3708.69,0,0,0,14.37,15.33,15.34
$GC,294.94,1028,-126.52,-0.86,0.00,3306.3,3350.9,3261.7,2174.5,3706.4,39.71,-13.81,51,302.24,0.00,0.00,2.29,0.000,0.000,0.024,3304.56,3350.00,3259.12,2174.44,2228.00,0,0,0,30.00,30.00,15.91
$GC,422.02,389,-126.52,-0.81,40.00,3306.7,3351.2,3262.1,2173.8,2225.0,56.95,-13.98,64,425.57,0.00,0.08,2.47,0.000,0.258,0.071,3307.09,3351.44,3262.75,2189.94,3703.06,0,0,0,30.00,15.74,15.76
$GC,595.06,1157,-126.52,-0.89,0.00,3306.2,3350.6,3261.8,2191.3,3705.6,78.61,-11.75,81,602.55,0.00,0.14,2.28,0.000,0.085,0.023,3307.62,3351.75,3263.50,2135.31,2223.69,0,0,0,30.00,15.78,15.97
$GC,720.08,645,-126.52,-0.84,-40.00,3306.4,3351.2,3261.7,2135.2,2221.2,93.99,-12.14,94,725.53,0.00,0.25,2.35,0.000,0.189,0.084,3307.66,3351.88,3263.44,2182.88,838.38,0,0,0,30.00,15.79,15.81
$GC,765.05,1157,-126.52,-0.89,0.00,3307.0,3351.8,3262.1,2184.6,838.8,99.01,-11.37,98,772.51,0.00,0.12,2.30,0.000,0.104,0.027,3304.72,3349.12,3260.31,2131.19,2312.31,0,0,0,30.00,15.80,15.98
$GC,1012.12,129,-126.52,-0.85,0.00,3307.8,3353.1,3262.6,2132.8,2314.6,131.55,-13.37,123,1013.61,0.00,0.24,0.00,0.000,0.190,0.000,3308.41,3354.69,3262.12,2183.25,2316.69,0,0,0,30.00,15.80,30.00
$GC,1250.31,645,-126.52,-0.93,-40.00,3308.6,3355.1,3262.1,2181.0,2314.8,160.00,-11.94,147,1255.73,0.00,0.15,2.54,0.000,0.082,0.090,3308.81,3356.38,3261.25,2124.94,837.56,0,0,0,30.00,15.89,15.86
$GC,1315.11,1029,-126.52,-0.93,0.00,3308.7,3354.8,3262.6,2126.5,837.1,168.67,-13.47,153,1322.58,0.00,0.15,2.28,0.000,0.203,0.025,3306.41,3353.12,3259.69,2156.56,2308.62,0,0,0,30.00,15.74,16.00
$GC,1562.22,677,-126.52,-0.97,-40.00,3308.3,3354.8,3261.9,2156.8,2310.1,193.66,-9.74,178,1566.77,0.00,0.09,2.53,0.000,0.115,0.090,3308.06,3354.31,3261.81,2109.38,838.88,0,0,0,30.00,15.90,15.83
$GC,1585.16,1029,-126.52,-0.97,0.00,3308.4,3355.1,3261.7,2111.8,838.1,196.33,-10.13,180,1590.57,0.00,0.16,2.29,0.000,0.201,0.026,3308.56,3355.31,3261.81,2142.94,2308.44,0,0,0,30.00,15.74,16.00
$STATE,1627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1627,begin apogee
$GC,1629.03,3,0.00,-0.18,0.00,3308.5,3354.5,3262.4,2145.2,1868.2,200.11,-9.80,184,1727.62,95.26,1.25,0.12,1.075,0.156,0.113,2790.12,2870.25,2710.00,2394.75,2011.50,0,0,0,11.36,15.83,15.54
$STATE,1728,end apogee,CONTROL_FINISHED_OK
$STATE,1728,begin climb
$GC,1728.00,519,126.52,0.86,-40.00,2788.4,2868.8,2708.1,2395.6,2013.5,202.88,0.00,194,1833.23,98.86,1.54,2.79,1.065,0.055,0.113,2275.28,2426.75,2123.81,2747.00,491.69,0,0,0,12.59,15.58,15.46
$GC,1960.19,1191,176.25,0.86,0.00,2268.1,2414.1,2122.1,2749.1,491.9,193.68,7.44,217,2002.59,38.77,0.16,2.30,1.016,0.205,0.020,2072.06,2249.50,1894.62,2715.62,1973.88,0,0,0,12.12,15.61,15.80
$GC,2240.23,295,200.33,0.89,40.00,2067.6,2245.1,1890.0,2720.3,1975.8,172.33,8.81,245,2265.61,19.91,0.08,2.24,0.954,0.140,0.049,1971.56,2155.38,1787.75,2755.75,3364.69,0,0,0,11.99,15.81,15.69
$GC,2325.22,1157,200.33,0.83,0.00,1970.2,2153.7,1786.7,2754.5,3364.2,162.65,11.84,253,2330.70,0.00,0.23,2.40,0.000,0.183,0.051,1972.75,2156.31,1789.19,2708.44,1900.12,0,0,0,30.00,15.63,15.84
$GC,2570.39,163,220.25,0.93,0.00,1967.8,2152.0,1783.5,2709.1,1901.2,140.73,9.03,278,2587.73,16.49,0.19,0.00,0.906,0.078,0.000,1891.06,2074.88,1707.25,2771.69,1899.62,0,0,0,11.97,15.82,30.00
$GC,2822.38,295,237.28,0.95,40.00,1889.1,2074.8,1703.4,2771.9,1900.7,115.53,9.19,303,2843.26,14.79,0.12,2.38,0.874,0.208,0.047,1822.53,2008.94,1636.12,2748.19,3365.12,0,0,0,12.10,15.79,15.80
$GC,2870.43,1063,263.45,0.99,0.00,1821.5,2007.2,1635.8,2748.1,3364.5,111.18,8.70,308,2896.34,21.58,0.07,2.39,0.902,0.162,0.048,1716.25,1897.00,1535.50,2784.94,1899.88,0,0,0,12.33,15.75,15.90
$GC,3142.44,551,291.15,1.02,-40.00,1709.5,1889.7,1529.4,2785.2,1897.9,85.77,8.62,335,3167.42,20.97,0.07,2.52,0.878,0.264,0.122,1600.50,1767.56,1433.44,2772.25,492.88,0,0,0,12.02,15.77,15.75
$GC,3257.84,1191,303.69,1.10,0.00,1597.1,1760.1,1434.1,2770.8,492.4,74.69,9.43,346,3272.24,10.70,0.14,2.30,0.772,0.092,0.021,1552.16,1707.88,1396.44,2824.12,1977.44,0,0,0,12.28,15.76,15.89
$GC,3392.60,389,303.69,1.06,40.00,1549.6,1704.2,1394.9,2826.1,1977.4,60.22,11.72,359,3396.05,0.00,0.22,2.21,0.000,0.169,0.046,1550.09,1704.56,1395.62,2779.56,3363.12,0,0,0,30.00,15.76,15.82
$GC,3465.49,1157,303.69,1.10,0.00,1549.8,1704.4,1395.2,2780.1,3365.6,51.77,11.30,366,3472.99,0.00,0.09,2.40,0.000,0.138,0.051,1550.59,1705.19,1396.00,2817.75,1901.12,0,0,0,30.00,15.73,15.89
$GC,3592.55,129,303.69,1.07,0.00,1548.9,1702.9,1394.8,2820.5,1901.5,37.14,12.33,379,3594.02,0.00,0.18,0.00,0.000,0.187,0.000,1546.09,1699.88,1392.31,2784.00,1901.00,0,0,0,30.00,15.78,30.00
$GC,3712.60,389,303.69,1.11,40.00,1547.8,1700.9,1394.6,2782.1,1902.6,23.71,11.95,396,3718.18,0.00,0.10,2.38,0.000,0.119,0.046,1548.81,1701.81,1395.81,2825.75,3357.69,0,0,0,30.00,15.86,15.74
$GC,3732.56,1029,303.69,1.11,0.00,1547.8,1700.8,1394.8,2826.3,3358.8,21.09,12.63,400,3738.20,0.00,0.15,2.42,0.000,0.198,0.060,1548.12,1700.75,1395.50,2795.69,1902.25,0,0,0,30.00,15.48,15.66
$GC,3797.64,517,303.69,1.11,-40.00,1547.4,1700.2,1394.5,2796.0,1902.0,14.05,11.06,413,3803.22,0.00,0.05,2.54,0.000,0.224,0.117,1548.12,1700.88,1395.38,2829.19,492.12,0,0,0,30.00,15.83,15.62
$GC,3827.62,1157,303.69,1.07,0.00,1545.9,1697.2,1394.7,2826.9,492.2,10.77,10.90,419,3833.22,0.00,0.21,2.30,0.000,0.187,0.021,1546.06,1696.62,1395.50,2781.88,1984.69,0,0,0,30.00,15.53,15.78
$GC,3892.62,1,303.69,1.07,0.00,1545.7,1697.0,1394.4,2783.8,1987.8,3.42,11.49,432,3897.52,0.00,0.04,0.00,0.000,0.247,0.000,1546.44,1697.12,1395.75,2815.50,1987.81,0,0,0,30.00,15.83,30.00
$STATE,3902,end climb,SURFACE_DEPTH_REACHED
$STATE,3902,begin surface coast
$FINISH,0.3,1.023059
$STATE,3927,end surface coast,CONTROL_FINISHED_OK
$STATE,3928,begin surface
$SM_CCo,3994.61,49.13,0.054,0,1119.1,1210.2,1028.0,409.87
$SM_CCo,3995.82,0.05,0.433,0,1116.7,1203.7,1029.7,410.46
$SM_GC,0.86,0.05,11.77,0.47,0.433,0.034,0.038,1116.7,1203.7,1029.7,180.6,2323.2,0,0,0,15.15,15.80,15.95
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2243.65,-15754.99,260921,145637
$TCM_TEMP,26.80
$XPDR_PINGS,62
$HUMID,57.75
$TEMP,23.30
$INTERNAL_PRESSURE,9.62162
$24V_AH,14.99,120.577
$10V_AH,15.00,0.000
$FG_AHR_24Vo,61.206
$FG_AHR_10Vo,19.745
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,464.540,29.880,58.415,176.913,15.500,29.259,2044.174,2195.075,1347.445,0.000,0.000,0.000
$DEVICE_MAMPS,1075.264,311.352,132.920,190.136,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,946.554,1038.534,539.276,619.885,950.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168272,31,14656,88
$DATA_FILE_SIZE,42972,439
$CAP_FILE_SIZE,156651,0
$SDSIZE,3931136,3838848
$SDFILEDIR,1590,2
$ERRORS,0,0,0,0,0,0,3,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,302.1,1
$GPS,260921,172151,2244.675,-15755.319,14,1.0,27,9.8