version: 67.00
glider: 511
mission: 20
dive: 523
start: 9 27 121 0 39 17
data:
$ID,511
$MISSION,20
$DIVE,523
$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,19.890783
$FG_AHR_24V,61.623806
$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
$GPS1,270921,003423,2243.841,-15753.851,11,0.9,19,9.8
$_CALLS,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-62.4
$GPS2,270921,003901,2243.811,-15753.905,9,0.7,16,9.8
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T12kma
$TGT_LATLONG,2243.830,-15753.000
$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,48.1,1547,-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,2.69,2,-126.52,-0.86,0.00,1110.1,1194.7,1025.4,175.8,2224.2,0.00,0.00,0,71.33,67.74,0.00,0.00,0.005,0.000,0.000,2925.97,2955.31,2896.62,175.62,2222.31,0,0,0,14.12,30.00,30.00
$GC,71.67,295,-126.52,-0.86,40.00,2924.6,2954.1,2895.2,175.8,2222.2,3.13,-3.73,13,98.88,8.31,12.13,2.46,0.007,0.332,0.062,3303.06,3347.44,3258.69,2173.06,3706.69,0,0,0,15.39,15.31,15.31
$GC,117.62,1157,-126.52,-0.83,0.00,3305.8,3350.8,3260.8,2173.4,3707.6,12.29,-14.96,22,123.16,0.00,0.05,2.30,0.000,0.283,0.019,3304.47,3350.56,3258.38,2183.62,2211.12,0,0,0,30.00,15.51,15.72
$GC,182.65,260,-126.52,-0.83,40.00,3305.8,3351.0,3260.5,2185.7,2208.9,21.23,-13.50,35,188.18,0.00,0.00,2.49,0.000,0.000,0.063,3307.00,3351.69,3262.31,2184.94,3704.94,0,0,0,30.00,30.00,15.64
$GC,202.61,1028,-126.52,-0.83,0.00,3306.4,3351.9,3261.0,2184.6,3702.0,23.88,-13.34,39,208.08,0.00,0.00,2.29,0.000,0.000,0.018,3304.00,3349.06,3258.94,2185.31,2222.44,0,0,0,30.00,30.00,15.68
$GC,272.63,0,-126.52,-0.83,0.00,3305.7,3351.2,3260.1,2184.6,2222.2,32.92,-12.90,51,273.97,0.00,0.00,0.00,0.000,0.000,0.000,3304.78,3350.62,3258.94,2181.69,2223.06,0,0,0,30.00,30.00,30.00
$GC,392.67,260,-126.52,-0.83,40.00,3306.2,3351.8,3260.7,2185.1,2221.2,48.44,-12.94,63,396.12,0.00,0.00,2.44,0.000,0.000,0.062,3304.91,3350.25,3259.56,2186.62,3709.38,0,0,0,30.00,30.00,15.87
$GC,415.63,1028,-126.52,-0.83,0.00,3306.2,3351.8,3260.6,2185.3,3706.4,51.72,-13.00,65,422.94,0.00,0.00,2.27,0.000,0.000,0.018,3306.34,3352.62,3260.06,2184.44,2218.12,0,0,0,30.00,30.00,15.93
$GC,542.70,516,-126.52,-0.83,-40.00,3305.8,3353.1,3258.4,2186.1,2219.8,66.34,-11.31,78,546.13,0.00,0.00,2.36,0.000,0.000,0.085,3306.75,3352.75,3260.75,2185.12,840.19,0,0,0,30.00,30.00,15.81
$GC,572.72,1157,-126.52,-0.87,0.00,3306.4,3352.2,3260.7,2184.9,840.1,69.86,-11.55,81,576.30,0.00,0.09,2.28,0.000,0.128,0.024,3306.12,3352.12,3260.12,2141.94,2314.19,0,0,0,30.00,15.74,15.97
$GC,700.75,389,-126.52,-0.84,40.00,3306.6,3352.5,3260.6,2142.6,2314.9,86.65,-12.90,94,706.18,0.00,0.22,2.26,0.000,0.199,0.063,3304.75,3350.06,3259.44,2185.50,3708.81,0,0,0,30.00,15.77,15.78
$GC,752.78,1157,-126.52,-0.92,0.00,3306.8,3352.6,3261.0,2185.7,3708.2,92.39,-11.47,99,756.31,0.00,0.17,2.26,0.000,0.080,0.019,3308.19,3353.50,3262.88,2128.00,2218.62,0,0,0,30.00,15.75,15.96
$GC,1000.82,645,-126.52,-0.87,-40.00,3307.1,3353.9,3260.3,2126.1,2217.7,127.01,-14.20,124,1006.26,0.00,0.23,2.35,0.000,0.184,0.084,3309.59,3355.38,3263.81,2173.62,836.31,0,0,0,30.00,15.82,15.83
$GC,1035.77,1028,-126.52,-0.87,0.00,3307.9,3355.1,3260.7,2172.8,835.9,131.44,-13.33,127,1041.05,0.00,0.00,2.28,0.000,0.000,0.025,3308.06,3356.69,3259.44,2174.69,2318.19,0,0,0,30.00,30.00,16.00
$GC,1280.86,677,-126.52,-0.94,-40.00,3308.0,3355.4,3260.6,2172.5,2317.1,154.86,-8.00,152,1286.33,0.00,0.14,2.52,0.000,0.091,0.086,3309.50,3357.25,3261.75,2121.50,835.38,0,0,0,30.00,15.91,15.87
$GC,1295.84,1189,-126.52,-0.99,0.00,3308.4,3355.9,3260.9,2121.0,835.9,156.28,-8.32,153,1303.29,0.00,0.07,2.29,0.000,0.267,0.025,3307.97,3355.56,3260.38,2136.50,2309.81,0,0,0,30.00,15.72,16.01
$GC,1542.89,516,-126.52,-0.99,-40.00,3308.3,3355.6,3261.0,2135.4,2311.4,180.53,-10.43,178,1546.34,0.00,0.00,2.54,0.000,0.000,0.091,3309.78,3356.62,3262.94,2134.94,839.31,0,0,0,30.00,30.00,15.83
$GC,1572.88,1028,-126.52,-0.99,0.00,3308.7,3355.9,3261.4,2135.9,838.9,183.69,-10.41,181,1576.29,0.00,0.00,2.28,0.000,0.000,0.024,3309.72,3356.50,3262.94,2135.31,2313.38,0,0,0,30.00,30.00,16.00
$STATE,1731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1731,begin apogee
$GC,1732.73,3,0.00,-0.18,0.00,3307.4,3356.1,3258.8,2136.3,1871.2,200.97,-10.74,197,1830.31,94.54,1.29,0.12,1.074,0.158,0.114,2790.19,2869.44,2710.94,2396.75,2008.88,0,0,0,11.36,15.82,15.58
$STATE,1830,end apogee,CONTROL_FINISHED_OK
$STATE,1830,begin climb
$GC,1830.69,519,126.52,0.86,-40.00,2790.5,2870.6,2710.5,2396.0,2007.9,204.92,0.00,206,1936.67,99.54,1.54,2.77,1.065,0.060,0.111,2273.94,2422.06,2125.81,2741.25,491.44,0,0,0,12.44,15.61,15.45
$GC,2058.41,1191,155.21,0.84,0.00,2268.4,2411.4,2125.3,2741.5,491.7,195.93,8.57,228,2085.57,23.00,0.16,2.30,0.988,0.202,0.018,2155.88,2315.12,1996.62,2709.06,1974.75,0,0,0,12.22,15.62,15.80
$GC,2330.55,679,191.56,0.91,-40.00,2153.3,2314.2,1992.4,2710.6,1976.1,173.50,8.16,256,2364.77,29.03,0.16,2.69,0.999,0.089,0.122,2008.34,2188.06,1828.62,2764.19,490.62,0,0,0,11.93,15.78,15.70
$GC,2398.53,1191,197.16,0.88,0.00,2005.0,2183.2,1826.8,2763.9,490.4,166.99,9.80,263,2409.27,6.39,0.19,2.31,0.700,0.199,0.022,1984.34,2162.75,1805.94,2726.81,1989.81,0,0,0,12.31,15.67,15.81
$GC,2648.56,423,242.23,0.98,40.00,1980.9,2160.9,1800.9,2727.4,1991.8,146.23,7.69,288,2689.31,35.07,0.18,2.22,0.994,0.080,0.049,1801.53,1987.69,1615.38,2789.81,3363.50,0,0,0,11.93,15.83,15.73
$GC,2748.60,1157,242.23,0.90,0.00,1799.7,1984.7,1614.7,2788.6,3362.8,135.95,11.26,298,2754.07,0.00,0.29,2.41,0.000,0.183,0.053,1799.06,1983.31,1614.81,2735.25,1899.81,0,0,0,30.00,15.62,15.81
$GC,3000.73,679,258.85,0.99,-40.00,1796.2,1981.7,1610.6,2733.1,1901.0,114.03,9.21,323,3021.56,13.69,0.16,2.52,0.859,0.092,0.120,1735.97,1914.31,1557.62,2789.50,492.75,0,0,0,12.01,15.85,15.67
$GC,3040.71,1029,258.85,0.99,0.00,1732.8,1909.6,1556.0,2791.6,492.8,109.44,11.04,327,3044.19,0.00,0.16,2.29,0.000,0.207,0.020,1732.09,1909.06,1555.12,2760.50,1975.56,0,0,0,30.00,15.71,15.89
$GC,3288.72,423,275.87,1.05,40.00,1730.2,1908.8,1551.7,2759.4,1974.8,83.87,9.19,352,3306.57,14.24,0.12,2.21,0.846,0.102,0.048,1663.00,1829.69,1496.31,2804.88,3362.00,0,0,0,12.02,15.84,15.79
$GC,3325.78,1061,277.60,1.05,0.00,1662.9,1828.9,1496.9,2805.3,3363.2,80.27,10.01,355,3330.28,0.00,0.13,2.39,0.000,0.211,0.052,1664.12,1829.94,1498.31,2778.44,1902.38,0,0,0,30.00,15.67,15.88
$GC,3570.85,163,319.87,1.14,0.00,1659.5,1822.9,1496.1,2777.4,1901.4,58.98,7.84,379,3604.48,32.37,0.18,0.00,0.891,0.084,0.000,1485.38,1640.69,1330.06,2838.00,1902.19,0,0,0,11.94,15.82,30.00
$GC,3730.86,645,319.87,1.08,-40.00,1481.5,1636.9,1326.0,2837.3,1901.5,41.31,12.59,395,3735.40,0.00,0.23,2.52,0.000,0.183,0.117,1480.94,1635.75,1326.12,2788.94,493.25,0,0,0,30.00,15.73,15.76
$GC,3748.76,1157,319.87,1.05,0.00,1479.4,1633.2,1325.7,2790.9,493.0,38.88,12.36,396,3756.20,0.00,0.07,2.29,0.000,0.239,0.020,1479.69,1633.31,1326.06,2777.62,1978.75,0,0,0,30.00,15.72,15.90
$GC,3875.83,389,319.87,1.11,40.00,1479.2,1632.5,1325.9,2775.9,1977.7,26.15,10.15,412,3881.39,0.00,0.14,2.23,0.000,0.093,0.043,1480.44,1633.88,1327.00,2827.19,3360.69,0,0,0,30.00,15.82,15.72
$GC,3900.81,1029,319.87,1.11,0.00,1479.1,1632.7,1325.6,2828.6,3363.4,23.10,11.91,417,3906.43,0.00,0.15,2.39,0.000,0.202,0.046,1478.38,1631.75,1325.00,2798.88,1904.06,0,0,0,30.00,15.50,15.68
$GC,3965.83,1,319.87,1.11,0.00,1479.1,1632.7,1325.6,2797.2,1902.9,15.41,11.67,430,3970.73,0.00,0.04,0.00,0.000,0.275,0.000,1478.50,1631.38,1325.62,2825.44,1901.75,0,0,0,30.00,15.81,30.00
$GC,4030.86,389,319.87,1.07,40.00,1479.1,1632.6,1325.6,2825.6,1903.3,7.16,12.89,443,4036.44,0.00,0.19,2.39,0.000,0.183,0.048,1479.00,1631.81,1326.19,2783.62,3361.56,0,0,0,30.00,15.76,15.70
$STATE,4066,end climb,SURFACE_DEPTH_REACHED
$STATE,4066,begin surface coast
$FINISH,-0.1,1.010574
$STATE,4091,end surface coast,CONTROL_FINISHED_OK
$STATE,4091,begin surface
$SM_CCo,4151.93,41.56,0.054,0,1118.2,1215.6,1020.9,410.09
$SM_GC,0.80,41.56,11.60,1.75,0.054,0.034,0.037,1118.2,1215.6,1020.9,180.9,2233.2,0,0,0,15.79,15.84,15.89
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2243.65,-15754.99,260921,233014
$TCM_TEMP,26.70
$XPDR_PINGS,65
$HUMID,57.85
$TEMP,23.07
$INTERNAL_PRESSURE,9.61402
$24V_AH,15.09,121.678
$10V_AH,15.00,0.000
$FG_AHR_24Vo,61.687
$FG_AHR_10Vo,19.915
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,465.485,30.095,76.180,197.392,16.250,25.195,2082.409,2329.206,1358.710,0.000,0.000,0.000
$DEVICE_MAMPS,1073.624,331.688,122.096,179.143,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,985.685,1063.491,558.771,643.474,986.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168236,34,14632,88
$DATA_FILE_SIZE,42944,455
$CAP_FILE_SIZE,172740,0
$SDSIZE,3931136,3837920
$SDFILEDIR,1611,2
$ERRORS,0,0,0,0,0,0,3,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169,210.3,1
$GPS,270921,014907,2243.765,-15753.638,15,0.9,25,9.8