version: 67.00
glider: 511
mission: 20
dive: 517
start: 9 26 121 17 28 19
data:
$ID,511
$MISSION,20
$DIVE,517
$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,19.746469
$FG_AHR_24V,61.21286
$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
$GPS1,260921,172151,2244.675,-15755.319,14,1.0,27,9.8
$_CALLS,2
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-61.9
$GPS2,260921,172804,2244.708,-15755.355,8,0.8,23,9.8
$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,127.9,1687,-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,2,begin dive
$GC,2.76,2,-126.52,-0.86,0.00,1109.2,1188.8,1029.6,180.3,2157.9,0.00,0.00,0,71.43,67.83,0.00,0.00,0.005,0.000,0.000,2923.41,2949.75,2897.06,180.12,2156.56,0,0,0,14.21,30.00,30.00
$GC,71.73,551,-126.52,-0.86,-40.00,2922.8,2950.4,2895.2,180.2,2156.4,3.06,-3.72,13,98.85,8.27,11.86,2.33,0.007,0.315,0.105,3303.06,3347.31,3258.81,2173.25,839.19,0,0,0,15.39,15.34,15.38
$GC,132.58,1028,-126.52,-0.86,0.00,3304.5,3350.9,3258.0,2174.8,840.0,16.53,-19.02,25,138.06,0.00,0.00,2.32,0.000,0.000,0.030,3304.88,3351.19,3258.56,2175.00,2306.62,0,0,0,30.00,30.00,15.68
$GC,197.71,645,-126.52,-0.83,-40.00,3304.9,3351.3,3258.4,2174.7,2304.4,27.05,-16.21,38,203.22,0.00,0.05,2.58,0.000,0.299,0.093,3305.44,3352.50,3258.38,2186.62,839.69,0,0,0,30.00,15.70,15.56
$GC,212.61,1157,-126.52,-0.80,0.00,3304.6,3351.8,3257.4,2186.8,838.8,29.24,-14.93,41,218.18,0.00,0.04,2.30,0.000,0.340,0.025,3305.38,3351.38,3259.38,2196.94,2307.75,0,0,0,30.00,15.45,15.72
$GC,277.61,260,-126.52,-0.80,40.00,3304.7,3351.4,3258.0,2196.5,2309.2,38.91,-14.80,48,281.02,0.00,0.00,2.29,0.000,0.000,0.065,3306.69,3353.00,3260.38,2194.94,3705.75,0,0,0,30.00,30.00,15.86
$GC,290.56,1028,-126.52,-0.80,0.00,3304.7,3351.5,3257.8,2196.8,3708.1,41.15,-14.79,49,297.87,0.00,0.00,2.28,0.000,0.000,0.020,3305.81,3350.62,3261.00,2197.44,2225.62,0,0,0,30.00,30.00,15.92
$GC,417.63,0,-126.52,-0.80,0.00,3304.4,3350.9,3257.9,2196.7,2222.7,58.00,-12.86,62,418.97,0.00,0.00,0.00,0.000,0.000,0.000,3306.78,3354.06,3259.50,2194.75,2220.81,0,0,0,30.00,30.00,30.00
$GC,537.67,389,-126.52,-0.83,40.00,3304.8,3351.5,3258.1,2196.9,2222.6,72.67,-10.75,74,541.21,0.00,0.08,2.44,0.000,0.134,0.064,3305.69,3350.69,3260.69,2150.00,3709.75,0,0,0,30.00,15.82,15.89
$GC,567.72,1029,-126.52,-0.83,0.00,3304.5,3351.1,3257.9,2152.1,3711.3,76.42,-11.00,77,571.20,0.00,0.16,2.29,0.000,0.186,0.019,3304.12,3350.44,3257.81,2188.50,2219.94,0,0,0,30.00,15.71,15.93
$GC,695.69,161,-126.52,-0.88,0.00,3304.8,3351.8,3257.8,2186.6,2215.5,88.95,-8.90,90,697.16,0.00,0.12,0.00,0.000,0.099,0.000,3306.25,3352.38,3260.12,2135.62,2216.88,0,0,0,30.00,15.84,30.00
$GC,935.76,645,-126.52,-0.84,-40.00,3305.2,3352.3,3258.0,2135.9,2215.4,120.74,-13.72,114,941.21,0.00,0.23,2.34,0.000,0.193,0.084,3306.31,3352.50,3260.12,2182.31,836.31,0,0,0,30.00,15.80,15.82
$GC,955.67,1028,-126.52,-0.84,0.00,3305.8,3353.5,3258.2,2182.7,835.7,123.35,-13.48,116,960.93,0.00,0.00,2.29,0.000,0.000,0.027,3305.78,3351.94,3259.62,2181.00,2307.69,0,0,0,30.00,30.00,15.96
$GC,1205.74,645,-126.52,-0.93,-40.00,3306.6,3354.9,3258.3,2182.9,2308.8,152.74,-11.20,141,1211.21,0.00,0.16,2.54,0.000,0.079,0.093,3305.16,3352.31,3258.00,2123.69,836.94,0,0,0,30.00,15.91,15.86
$GC,1230.70,1157,-126.52,-0.96,0.00,3306.6,3354.8,3258.4,2124.3,837.5,155.97,-11.66,143,1236.15,0.00,0.10,2.28,0.000,0.232,0.026,3305.59,3354.69,3256.50,2143.94,2311.12,0,0,0,30.00,15.72,16.02
$GC,1475.75,260,-126.52,-0.96,40.00,3306.2,3354.5,3257.9,2144.4,2313.4,185.10,-11.30,168,1481.00,0.00,0.00,2.28,0.000,0.000,0.066,3305.97,3354.31,3257.62,2144.19,3708.12,0,0,0,30.00,30.00,15.96
$GC,1500.74,1028,-126.52,-0.96,0.00,3306.7,3354.9,3258.5,2144.6,3708.5,187.83,-11.09,170,1506.02,0.00,0.00,2.26,0.000,0.000,0.018,3306.12,3353.56,3258.69,2142.94,2214.19,0,0,0,30.00,30.00,16.01
$STATE,1638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1638,begin apogee
$GC,1639.14,3,0.00,-0.18,0.00,3306.7,3353.6,3259.8,2146.1,1857.4,200.23,-8.47,184,1737.68,94.46,1.24,0.14,1.074,0.156,0.106,2789.41,2867.62,2711.19,2395.19,2017.00,0,0,0,11.41,15.83,15.57
$STATE,1738,end apogee,CONTROL_FINISHED_OK
$STATE,1738,begin climb
$GC,1738.09,519,126.52,0.86,-40.00,2789.2,2869.1,2709.4,2395.8,2018.2,202.26,0.00,194,1843.86,99.22,1.54,2.79,1.056,0.058,0.114,2275.75,2425.25,2126.25,2740.56,491.44,0,0,0,12.54,15.63,15.45
$GC,2027.85,1191,156.17,0.86,0.00,2267.8,2409.9,2125.6,2741.9,491.8,186.22,8.51,223,2058.96,23.65,0.12,2.30,0.973,0.204,0.020,2155.19,2313.75,1996.62,2717.50,1971.56,0,0,0,12.04,15.65,15.87
$GC,2297.87,295,216.89,0.93,40.00,2150.9,2312.0,1989.8,2716.4,1970.2,167.91,6.85,250,2348.42,46.53,0.15,2.25,1.023,0.091,0.048,1905.12,2091.94,1718.31,2769.25,3364.19,0,0,0,12.02,15.79,15.68
$GC,2412.88,1157,216.89,0.86,0.00,1903.3,2088.2,1718.5,2766.2,3361.8,156.57,11.05,262,2417.47,0.00,0.25,2.42,0.000,0.182,0.053,1903.50,2088.31,1718.69,2717.75,1903.19,0,0,0,30.00,15.57,15.78
$GC,2655.97,163,254.17,0.98,0.00,1900.5,2086.2,1714.8,2720.8,1903.1,137.01,8.11,286,2688.58,28.89,0.19,0.00,0.956,0.074,0.000,1754.28,1937.88,1570.69,2785.38,1901.69,0,0,0,12.04,15.83,30.00
$GC,2928.07,261,254.17,0.98,40.00,1747.0,1931.1,1562.9,2784.3,1902.7,107.67,10.40,313,2932.49,0.00,0.14,2.37,0.000,0.199,0.047,1747.91,1932.31,1563.50,2753.69,3357.81,0,0,0,30.00,15.78,15.81
$GC,2972.92,1029,254.17,0.98,0.00,1747.1,1931.5,1562.6,2754.4,3358.8,103.13,10.16,317,2976.48,0.00,0.03,2.38,0.000,0.309,0.050,1746.28,1930.81,1561.75,2784.06,1896.25,0,0,0,30.00,15.72,15.88
$GC,3222.98,517,254.17,0.98,-40.00,1745.8,1930.0,1561.5,2782.7,1894.9,75.69,10.96,342,3227.57,0.00,0.14,2.50,0.000,0.204,0.117,1743.66,1926.62,1560.69,2754.94,491.56,0,0,0,30.00,15.80,15.79
$GC,3300.99,1191,279.33,1.09,0.00,1743.8,1926.8,1560.9,2756.0,492.0,68.42,8.75,349,3323.91,18.82,0.19,2.28,0.861,0.074,0.020,1654.31,1822.94,1485.69,2829.75,1970.44,0,0,0,11.99,15.81,15.97
$GC,3443.03,389,279.33,1.03,40.00,1647.2,1812.8,1481.6,2831.1,1970.5,53.93,10.51,363,3446.58,0.00,0.28,2.23,0.000,0.175,0.045,1646.72,1812.88,1480.56,2772.19,3363.44,0,0,0,30.00,15.77,15.81
$GC,3483.03,1029,279.33,1.03,0.00,1646.9,1812.5,1481.3,2773.5,3363.1,49.74,10.50,367,3486.60,0.00,0.04,2.39,0.000,0.280,0.049,1647.25,1812.75,1481.75,2803.88,1899.81,0,0,0,30.00,15.72,15.89
$GC,3613.06,517,279.33,1.03,-40.00,1645.8,1810.5,1481.1,2801.8,1899.1,36.93,10.36,380,3617.66,0.00,0.14,2.52,0.000,0.186,0.118,1645.94,1809.81,1482.06,2770.25,490.38,0,0,0,30.00,15.79,15.80
$GC,3628.07,1063,293.68,1.05,0.00,1645.0,1808.8,1481.2,2770.4,490.2,35.79,9.33,381,3643.84,11.98,0.07,2.29,0.773,0.159,0.022,1591.16,1748.56,1433.75,2808.06,1961.44,0,0,0,12.11,15.76,15.95
$GC,3763.08,261,293.68,1.05,40.00,1588.8,1745.7,1431.9,2805.4,1960.8,22.85,10.77,400,3768.68,0.00,0.14,2.27,0.000,0.187,0.046,1590.25,1747.06,1433.44,2777.56,3363.25,0,0,0,30.00,15.77,15.74
$GC,3783.09,1029,293.68,1.05,0.00,1589.3,1746.7,1431.9,2776.7,3361.4,20.39,11.80,404,3788.69,0.00,0.04,2.38,0.000,0.277,0.045,1590.06,1747.69,1432.44,2805.88,1900.88,0,0,0,30.00,15.57,15.67
$GC,3848.15,129,293.68,1.02,0.00,1589.2,1746.6,1431.8,2807.3,1901.7,13.17,11.84,417,3853.07,0.00,0.19,0.00,0.000,0.183,0.000,1588.91,1747.19,1430.62,2767.75,1902.50,0,0,0,30.00,15.76,30.00
$GC,3913.17,645,293.68,1.08,-40.00,1588.2,1745.5,1431.0,2767.6,1901.5,5.98,10.31,430,3918.81,0.00,0.14,2.54,0.000,0.098,0.117,1587.75,1744.62,1430.88,2820.94,490.69,0,0,0,30.00,15.80,15.62
$GC,3928.16,1063,304.16,1.10,0.00,1587.2,1743.0,1431.4,2820.7,490.4,4.37,9.54,433,3938.87,4.76,0.14,2.31,0.070,0.198,0.020,1548.72,1704.25,1393.19,2791.69,1996.94,0,0,0,15.50,15.51,15.75
$STATE,3943,end climb,SURFACE_DEPTH_REACHED
$STATE,3943,begin surface coast
$FINISH,-0.1,1.015636
$STATE,3968,end surface coast,CONTROL_FINISHED_OK
$STATE,3968,begin surface
$SM_CCo,4035.16,48.95,0.053,0,1119.2,1208.8,1029.6,409.85
$SM_CCo,4036.36,0.04,0.540,0,1117.4,1206.2,1028.6,410.29
$SM_GC,0.77,0.04,11.62,0.44,0.540,0.035,0.026,1117.4,1206.2,1028.6,184.9,2332.5,0,0,0,15.25,15.84,15.94
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2245.65,-15754.99,260921,172316
$TCM_TEMP,26.90
$XPDR_PINGS,69
$HUMID,57.75
$TEMP,23.41
$INTERNAL_PRESSURE,9.62232
$24V_AH,14.93,120.730
$10V_AH,15.00,0.000
$FG_AHR_24Vo,61.273
$FG_AHR_10Vo,19.770
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,453.420,29.600,72.190,224.468,17.250,32.424,2072.188,2316.646,1321.888,0.000,0.000,0.000
$DEVICE_MAMPS,1073.624,339.888,118.488,179.041,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,966.008,1044.876,541.750,622.221,953.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168264,31,14664,88
$DATA_FILE_SIZE,42929,441
$CAP_FILE_SIZE,168892,0
$SDSIZE,3931136,3838688
$SDFILEDIR,1593,2
$ERRORS,0,0,0,0,0,0,3,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,334.6,1
$GPS,260921,183625,2244.611,-15755.114,14,0.8,36,9.8