version: 67.00
glider: 511
mission: 20
dive: 525
start: 9 27 121 3 10 41
data:
$ID,511
$MISSION,20
$DIVE,525
$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,19.940804
$FG_AHR_24V,61.766621
$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
$GPS1,270921,030420,2243.778,-15753.522,15,0.8,39,9.8
$_CALLS,1
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-64.9
$GPS2,270921,031024,2243.719,-15753.607,8,0.8,18,9.8
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T12kmb
$TGT_LATLONG,2244.300,-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,27.7,1496,-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,-0.86,0.00,1106.8,1188.1,1025.4,175.8,2204.6,0.00,0.00,0,71.31,67.69,0.00,0.00,0.005,0.000,0.000,2926.00,2953.44,2898.56,175.94,2203.62,0,0,0,14.07,30.00,30.00
$GC,71.60,295,-126.52,-0.86,40.00,2923.6,2951.2,2896.0,175.8,2202.9,3.15,-3.90,13,98.74,8.40,11.97,2.53,0.007,0.320,0.072,3306.34,3351.12,3261.56,2171.56,3707.69,0,0,0,14.21,15.33,15.31
$GC,132.48,1157,-126.52,-0.82,0.00,3305.5,3351.1,3260.0,2173.1,3709.8,14.23,-14.39,25,138.04,0.00,0.07,2.31,0.000,0.251,0.020,3306.12,3351.50,3260.75,2187.44,2213.88,0,0,0,30.00,15.45,15.67
$GC,197.50,129,-126.52,-0.78,0.00,3306.4,3352.1,3260.8,2190.8,2209.2,23.25,-13.93,38,202.39,0.00,0.05,0.00,0.000,0.281,0.000,3306.41,3352.56,3260.25,2204.56,2212.06,0,0,0,30.00,15.71,30.00
$GC,262.51,260,-126.52,-0.78,40.00,3306.4,3352.0,3260.8,2203.1,2211.3,31.83,-12.88,50,265.95,0.00,0.00,2.47,0.000,0.000,0.063,3305.72,3352.44,3259.00,2202.81,3706.38,0,0,0,30.00,30.00,15.84
$GC,285.47,1157,-126.52,-0.81,0.00,3306.4,3352.1,3260.8,2203.8,3709.4,34.99,-12.79,52,292.93,0.00,0.09,2.27,0.000,0.128,0.018,3306.66,3353.00,3260.31,2160.06,2215.62,0,0,0,30.00,15.73,15.90
$GC,412.56,645,-126.52,-0.76,-40.00,3306.6,3352.4,3260.8,2161.4,2215.1,53.69,-14.82,65,417.13,0.00,0.23,2.35,0.000,0.181,0.085,3305.59,3351.62,3259.56,2206.31,836.81,0,0,0,30.00,15.76,15.78
$GC,437.55,1028,-126.52,-0.76,0.00,3306.9,3352.9,3260.9,2208.9,837.2,56.74,-13.30,67,440.96,0.00,0.00,2.29,0.000,0.000,0.025,3308.94,3354.88,3263.00,2208.81,2312.81,0,0,0,30.00,30.00,15.91
$GC,567.59,389,-126.52,-0.85,40.00,3306.6,3352.8,3260.5,2208.4,2311.1,70.92,-10.63,80,571.13,0.00,0.17,2.29,0.000,0.083,0.066,3305.84,3352.06,3259.62,2145.69,3706.81,0,0,0,30.00,15.83,15.86
$GC,590.55,1157,-126.52,-0.90,0.00,3306.7,3352.7,3260.8,2147.2,3706.8,74.12,-11.40,82,597.98,0.00,0.09,2.27,0.000,0.228,0.019,3307.84,3353.38,3262.31,2164.31,2210.94,0,0,0,30.00,15.73,15.94
$GC,717.62,516,-126.52,-0.90,-40.00,3307.0,3353.4,3260.6,2165.9,2209.5,90.42,-13.20,95,721.03,0.00,0.00,2.33,0.000,0.000,0.084,3306.03,3353.94,3258.12,2166.88,838.44,0,0,0,30.00,30.00,15.81
$GC,740.56,1029,-126.52,-0.90,0.00,3307.2,3355.5,3258.9,2166.4,838.3,93.78,-13.36,97,745.99,0.00,0.05,2.28,0.000,0.224,0.026,3307.19,3352.50,3261.88,2131.50,2309.44,0,0,0,30.00,15.77,15.97
$GC,985.67,645,-126.52,-0.85,-40.00,3307.3,3354.2,3260.4,2131.2,2311.6,125.78,-12.23,122,991.14,0.00,0.24,2.51,0.000,0.185,0.086,3308.16,3356.00,3260.31,2178.25,839.62,0,0,0,30.00,15.79,15.82
$GC,1005.64,1029,-126.52,-0.85,0.00,3307.9,3355.2,3260.6,2180.1,840.2,128.00,-11.67,124,1011.04,0.00,0.05,2.28,0.000,0.209,0.024,3306.25,3354.44,3258.06,2144.31,2313.50,0,0,0,30.00,15.80,15.99
$GC,1255.70,33,-126.52,-0.85,0.00,3308.0,3355.5,3260.6,2144.2,2315.2,153.27,-9.66,149,1257.16,0.00,0.17,0.00,0.000,0.189,0.000,3304.31,3352.25,3256.38,2178.81,2314.75,0,0,0,30.00,15.82,30.00
$GC,1495.91,677,-126.52,-0.95,-40.00,3308.3,3356.3,3260.4,2179.5,2315.6,172.74,-8.24,173,1501.31,0.00,0.19,2.51,0.000,0.077,0.084,3310.16,3357.12,3263.19,2117.19,838.56,0,0,0,30.00,15.89,15.87
$GC,1565.72,1029,-126.52,-0.95,0.00,3308.6,3356.1,3261.1,2118.2,838.8,180.47,-11.45,180,1571.16,0.00,0.14,2.27,0.000,0.204,0.025,3309.09,3356.94,3261.25,2147.81,2309.69,0,0,0,30.00,15.74,16.01
$STATE,1758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1758,begin apogee
$GC,1759.61,3,0.00,-0.18,0.00,3308.6,3356.5,3260.6,2148.6,1866.2,200.64,-10.93,199,1858.14,94.44,1.22,0.12,1.075,0.155,0.115,2791.44,2870.19,2712.69,2399.12,2002.44,0,0,0,11.33,15.83,15.55
$STATE,1858,end apogee,CONTROL_FINISHED_OK
$STATE,1858,begin climb
$GC,1858.52,519,126.52,0.86,-40.00,2789.5,2868.9,2710.2,2396.9,2003.3,204.77,0.00,209,1964.84,99.86,1.54,2.76,1.067,0.057,0.110,2269.28,2417.69,2120.88,2742.56,490.19,0,0,0,12.39,15.59,15.46
$GC,2153.66,1191,173.66,0.85,0.00,2265.9,2407.4,2124.4,2743.4,490.1,190.40,7.58,238,2194.06,36.24,0.15,2.30,1.035,0.195,0.019,2082.31,2254.00,1910.62,2711.88,1986.25,0,0,0,12.06,15.65,15.84
$GC,2436.68,423,217.76,0.94,40.00,2078.7,2252.5,1904.9,2713.4,1986.3,168.00,7.74,267,2474.97,34.45,0.19,2.23,1.021,0.087,0.051,1899.03,2085.12,1712.94,2772.31,3358.75,0,0,0,11.90,15.80,15.68
$GC,2526.68,1157,217.76,0.86,0.00,1899.2,2084.3,1714.1,2770.9,3356.0,158.98,10.89,275,2532.16,0.00,0.26,2.42,0.000,0.188,0.057,1900.56,2085.81,1715.31,2720.38,1903.62,0,0,0,30.00,15.59,15.80
$GC,2771.79,163,274.03,1.00,0.00,1895.3,2081.1,1709.5,2718.2,1903.4,140.88,7.09,300,2814.66,41.40,0.24,0.00,0.998,0.076,0.000,1675.59,1850.69,1500.50,2791.12,1903.00,0,0,0,12.01,15.82,30.00
$GC,3058.77,389,274.03,0.96,40.00,1666.9,1839.2,1494.6,2789.8,1903.5,109.22,11.83,329,3063.34,0.00,0.20,2.38,0.000,0.193,0.046,1665.16,1836.94,1493.38,2746.06,3362.06,0,0,0,30.00,15.76,15.79
$GC,3123.79,1157,274.03,1.00,0.00,1666.8,1838.8,1494.7,2747.8,3361.0,102.22,10.51,335,3127.31,0.00,0.10,2.38,0.000,0.127,0.044,1666.94,1838.44,1495.44,2785.31,1899.75,0,0,0,30.00,15.70,15.87
$GC,3373.80,263,274.03,1.00,40.00,1664.5,1834.3,1494.7,2790.6,1901.2,71.31,12.23,360,3377.35,0.00,0.13,2.37,0.000,0.218,0.044,1665.72,1835.88,1495.56,2763.38,3361.12,0,0,0,30.00,15.77,15.82
$GC,3396.75,1031,274.03,1.00,0.00,1663.2,1832.1,1494.4,2764.6,3363.1,68.39,11.88,362,3404.21,0.00,0.04,2.38,0.000,0.278,0.047,1664.09,1833.69,1494.50,2789.12,1897.44,0,0,0,30.00,15.74,15.93
$GC,3523.82,3,274.03,1.00,0.00,1663.0,1831.6,1494.3,2789.1,1898.2,54.28,11.65,375,3525.29,0.00,0.12,0.00,0.000,0.209,0.000,1662.69,1831.31,1494.06,2762.56,1897.88,0,0,0,30.00,15.78,30.00
$GC,3643.86,163,301.70,1.13,0.00,1662.5,1830.8,1494.2,2763.6,1898.4,42.62,8.62,387,3665.42,20.22,0.22,0.00,0.847,0.074,0.000,1559.34,1717.44,1401.25,2833.75,1896.94,0,0,0,11.79,15.88,30.00
$GC,3783.87,129,301.70,1.07,0.00,1557.9,1714.6,1401.2,2832.7,1898.4,27.07,11.40,403,3788.80,0.00,0.23,0.00,0.000,0.178,0.000,1558.62,1715.31,1401.94,2786.25,1897.38,0,0,0,30.00,15.75,30.00
$GC,3848.89,423,310.59,1.13,40.00,1556.5,1713.2,1399.8,2784.2,1898.0,20.77,9.63,416,3859.64,4.53,0.13,2.37,0.459,0.104,0.047,1523.69,1676.88,1370.50,2831.69,3362.31,0,0,0,12.26,15.83,15.73
$GC,3898.88,1157,310.59,1.06,0.00,1521.8,1675.1,1368.6,2832.5,3362.6,14.65,13.10,426,3904.51,0.00,0.26,2.41,0.000,0.179,0.048,1522.19,1675.19,1369.19,2778.38,1899.25,0,0,0,30.00,15.53,15.70
$GC,3963.95,163,323.16,1.13,0.00,1521.0,1673.9,1368.1,2780.1,1898.2,8.07,9.43,439,3974.08,6.14,0.16,0.00,0.084,0.092,0.000,1473.22,1624.69,1321.75,2834.88,1895.56,0,0,0,15.67,15.83,30.00
$STATE,4009,end climb,SURFACE_DEPTH_REACHED
$STATE,4009,begin surface coast
$FINISH,0.1,1.023004
$STATE,4034,end surface coast,CONTROL_FINISHED_OK
$STATE,4034,begin surface
$SM_CCo,4093.27,40.40,0.054,0,1117.3,1215.9,1018.8,410.30
$SM_GC,0.72,40.40,11.90,0.62,0.054,0.036,0.037,1117.3,1215.9,1018.8,179.1,2332.4,0,0,0,15.77,15.82,15.92
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2241.97,-15757.16,270921,015032
$TCM_TEMP,26.20
$XPDR_PINGS,67
$HUMID,57.91
$TEMP,22.65
$INTERNAL_PRESSURE,9.60256
$24V_AH,15.08,122.000
$10V_AH,15.00,0.000
$FG_AHR_24Vo,61.828
$FG_AHR_10Vo,19.965
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,453.785,30.605,58.420,283.545,16.750,27.581,2136.882,2302.610,1345.698,0.000,0.000,0.000
$DEVICE_MAMPS,1074.608,319.552,114.880,192.293,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,998.672,1074.432,556.405,637.075,976.958,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168324,27,14684,88
$DATA_FILE_SIZE,42915,453
$CAP_FILE_SIZE,158659,0
$SDSIZE,3931136,3837696
$SDFILEDIR,1617,2
$ERRORS,0,0,0,0,0,0,3,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,225.1,1
$GPS,270921,041931,2243.874,-15753.633,12,0.9,23,9.8