version: 67.00
glider: 511
mission: 20
dive: 577
start: 9 29 121 18 52 6
data:
$ID,511
$MISSION,20
$DIVE,577
$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,21.219879
$FG_AHR_24V,65.340782
$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
$GPS1,290921,184731,2243.727,-15749.471,10,0.9,33,9.8
$_CALLS,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-61.6
$GPS2,290921,185149,2243.733,-15749.479,5,0.8,15,9.8
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T21kma
$TGT_LATLONG,2243.600,-15747.600
$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,91.6,3222,-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,2.75,2,-126.52,-0.86,0.00,1107.5,1182.8,1032.2,180.8,2044.4,0.00,0.00,0,76.42,72.71,0.00,0.00,0.005,0.000,0.000,3076.81,3097.31,3056.31,180.94,2043.44,0,0,0,14.06,30.00,30.00
$GC,76.76,551,-126.52,-0.86,-40.00,3076.2,3095.6,3056.9,180.8,2044.6,3.79,-4.47,14,103.22,4.53,12.06,2.08,0.009,0.328,0.093,3306.22,3341.56,3270.88,2173.25,840.44,0,0,0,14.22,15.27,15.35
$GC,126.94,1157,-126.52,-0.83,0.00,3307.1,3345.9,3268.4,2173.9,839.8,16.33,-18.31,24,132.52,0.00,0.06,2.33,0.000,0.277,0.028,3306.78,3344.94,3268.62,2188.88,2310.81,0,0,0,30.00,15.43,15.68
$GC,191.94,0,-126.52,-0.83,0.00,3307.1,3345.9,3268.3,2187.4,2311.4,25.85,-14.27,37,196.80,0.00,0.00,0.00,0.000,0.000,0.000,3307.88,3346.12,3269.62,2186.94,2311.38,0,0,0,30.00,30.00,30.00
$GC,256.96,0,-126.52,-0.83,0.00,3306.9,3345.8,3268.1,2187.4,2311.1,34.91,-14.44,47,258.30,0.00,0.00,0.00,0.000,0.000,0.000,3306.78,3345.75,3267.81,2187.75,2312.44,0,0,0,30.00,30.00,30.00
$GC,376.98,516,-126.52,-0.83,-40.00,3307.6,3346.5,3268.7,2187.6,2311.2,51.98,-14.06,59,380.43,0.00,0.00,2.56,0.000,0.000,0.092,3308.53,3346.50,3270.56,2188.88,838.50,0,0,0,30.00,30.00,15.77
$GC,396.96,1029,-126.52,-0.83,0.00,3307.4,3346.4,3268.4,2188.4,839.1,54.97,-14.47,61,400.55,0.00,0.05,2.31,0.000,0.229,0.026,3308.84,3347.88,3269.81,2155.62,2311.94,0,0,0,30.00,15.71,15.94
$GC,527.01,129,-126.52,-0.76,0.00,3307.0,3346.2,3267.7,2157.3,2313.9,74.92,-15.62,74,528.50,0.00,0.25,0.00,0.000,0.196,0.000,3303.66,3343.19,3264.12,2205.88,2312.81,0,0,0,30.00,15.75,30.00
$GC,645.01,389,-126.52,-0.85,40.00,3307.8,3346.9,3268.6,2206.9,2314.0,90.36,-11.11,86,650.42,0.00,0.16,2.28,0.000,0.089,0.065,3307.66,3346.31,3269.00,2151.88,3706.19,0,0,0,30.00,15.85,15.88
$GC,679.96,1029,-126.52,-0.85,0.00,3307.4,3346.9,3267.8,2150.3,3704.3,94.82,-11.56,89,685.40,0.00,0.15,2.27,0.000,0.201,0.020,3305.94,3346.62,3265.25,2182.94,2219.75,0,0,0,30.00,15.72,15.96
$GC,925.08,677,-126.52,-0.92,-40.00,3307.6,3347.5,3267.8,2181.1,2217.2,119.46,-8.77,114,930.51,0.00,0.14,2.34,0.000,0.092,0.086,3308.47,3349.00,3267.94,2129.56,838.75,0,0,0,30.00,15.85,15.85
$GC,957.04,1029,-126.52,-0.92,0.00,3307.5,3347.4,3267.5,2130.8,838.6,122.75,-10.19,117,960.63,0.00,0.14,2.29,0.000,0.215,0.026,3309.28,3348.75,3269.81,2158.81,2308.31,0,0,0,30.00,15.65,15.95
$GC,1205.17,645,-126.52,-0.96,-40.00,3308.0,3348.4,3267.6,2158.6,2306.9,148.34,-10.32,142,1210.65,0.00,0.09,2.52,0.000,0.132,0.089,3310.25,3351.12,3269.38,2118.62,838.12,0,0,0,30.00,15.87,15.86
$GC,1255.08,1029,-126.52,-0.96,0.00,3308.3,3348.5,3268.1,2120.8,838.6,154.65,-12.62,147,1260.48,0.00,0.12,2.28,0.000,0.216,0.024,3307.94,3349.06,3266.81,2146.19,2312.94,0,0,0,30.00,15.72,15.98
$GC,1507.13,260,-126.52,-0.96,40.00,3308.3,3348.9,3267.8,2144.7,2313.4,183.58,-12.29,172,1510.52,0.00,0.00,2.28,0.000,0.000,0.065,3310.84,3351.25,3270.44,2143.88,3711.06,0,0,0,30.00,30.00,15.93
$GC,1550.08,1157,-126.52,-1.01,0.00,3307.1,3347.3,3266.9,2145.8,3709.7,189.16,-12.44,176,1555.52,0.00,0.12,2.25,0.000,0.105,0.019,3307.75,3350.31,3265.19,2094.62,2219.25,0,0,0,30.00,15.81,16.01
$STATE,1635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1635,begin apogee
$GC,1636.43,3,0.00,-0.18,0.00,3308.7,3351.0,3266.3,2094.7,1852.5,200.44,-13.20,185,1734.69,95.22,1.50,0.14,1.084,0.178,0.101,2791.12,2868.19,2714.06,2392.62,1983.31,0,0,0,11.32,15.77,15.54
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1735.07,3,126.52,0.86,0.00,2789.9,2866.3,2713.5,2392.9,2015.3,204.14,0.00,194,1841.46,99.76,1.56,0.00,1.070,0.060,0.000,2279.53,2427.12,2131.94,2742.44,2015.88,0,0,0,12.42,15.58,30.00
$GC,2079.03,679,198.28,0.90,-40.00,2269.9,2414.6,2125.2,2742.8,2014.6,184.88,6.26,229,2140.85,54.74,0.06,2.78,1.044,0.259,0.115,1980.88,2160.94,1800.81,2729.50,492.25,0,0,0,12.02,15.73,15.56
$GC,2177.59,1191,223.70,0.97,0.00,1978.2,2157.7,1798.8,2728.9,492.1,177.40,8.74,239,2203.56,21.58,0.15,2.31,0.967,0.098,0.020,1877.53,2061.81,1693.25,2791.38,1983.81,0,0,0,12.11,15.64,15.76
$GC,2447.64,389,223.70,0.88,40.00,1872.9,2059.9,1685.8,2793.1,1982.9,147.18,11.11,266,2453.11,0.00,0.34,2.21,0.000,0.182,0.045,1872.75,2059.19,1686.31,2726.62,3367.56,0,0,0,30.00,15.73,15.78
$GC,2532.66,1191,234.67,0.95,0.00,1872.6,2059.6,1685.7,2725.5,3365.2,138.89,9.51,274,2547.88,9.76,0.12,2.37,0.819,0.114,0.040,1836.56,2020.50,1652.62,2770.81,1898.44,0,0,0,11.98,15.72,15.91
$GC,2787.70,517,234.67,0.95,-40.00,1830.5,2015.2,1645.8,2768.7,1899.9,112.70,10.16,300,2793.16,0.00,0.11,2.51,0.000,0.217,0.115,1830.84,2015.94,1645.75,2748.31,490.50,0,0,0,30.00,15.78,15.78
$GC,2879.77,1157,234.67,1.00,0.00,1828.5,2011.9,1645.0,2749.2,490.4,103.50,10.22,309,2883.28,0.00,0.09,2.29,0.000,0.137,0.020,1828.72,2012.50,1644.94,2788.62,1982.00,0,0,0,30.00,15.77,15.94
$GC,3129.82,295,261.59,1.03,40.00,1827.6,2011.6,1643.6,2788.0,1981.9,79.02,8.66,334,3154.74,21.25,0.05,2.20,0.887,0.261,0.046,1723.19,1902.12,1544.25,2773.50,3360.69,0,0,0,11.77,15.81,15.80
$GC,3174.80,1063,301.85,1.08,0.00,1722.9,1902.7,1543.2,2776.2,3361.4,75.57,7.95,338,3210.02,30.69,0.09,2.37,0.903,0.144,0.039,1559.06,1724.31,1393.81,2814.25,1901.69,0,0,0,12.41,15.72,15.88
$GC,3329.83,517,301.85,1.08,-40.00,1554.0,1718.5,1389.4,2813.6,1900.3,60.49,10.35,353,3334.42,0.00,0.12,2.51,0.000,0.210,0.112,1552.97,1717.62,1388.31,2790.56,492.19,0,0,0,30.00,15.73,15.74
$GC,3354.82,1029,301.85,1.08,0.00,1552.5,1715.4,1389.6,2791.4,492.1,57.96,10.25,355,3358.35,0.00,0.02,2.30,0.000,0.385,0.020,1552.72,1716.12,1389.31,2811.62,1970.00,0,0,0,30.00,30.36,15.88
$GC,3484.85,261,301.85,1.08,40.00,1552.2,1715.3,1389.2,2809.8,1968.7,43.87,11.22,368,3488.38,0.00,0.09,2.22,0.000,0.224,0.043,1552.59,1715.75,1389.44,2789.06,3360.38,0,0,0,30.00,15.75,15.78
$GC,3507.79,1029,301.85,1.08,0.00,1552.1,1715.2,1389.0,2790.8,3363.2,41.13,11.11,370,3515.25,0.00,0.01,2.37,0.000,0.404,0.043,1552.84,1716.12,1389.56,2805.44,1903.00,0,0,0,30.00,30.36,15.88
$GC,3634.86,1,301.85,1.08,0.00,1551.5,1714.7,1388.2,2806.2,1902.9,27.86,10.25,385,3639.75,0.00,0.06,0.00,0.000,0.257,0.000,1551.91,1715.44,1388.38,2792.12,1903.88,0,0,0,30.00,15.76,30.00
$GC,3699.88,3,301.85,1.08,0.00,1551.1,1715.1,1387.1,2791.7,1903.1,20.90,10.66,398,3704.78,0.00,0.01,0.00,0.000,0.394,0.000,1551.44,1714.75,1388.12,2806.25,1901.69,0,0,0,30.00,30.36,30.00
$GC,3764.89,3,301.85,1.08,0.00,1551.0,1714.8,1387.2,2804.1,1902.6,13.80,11.20,411,3769.80,0.00,0.08,0.00,0.000,0.232,0.000,1552.12,1716.00,1388.25,2785.12,1903.00,0,0,0,30.00,15.76,30.00
$GC,3829.92,391,301.85,1.11,40.00,1550.8,1714.9,1386.6,2787.2,1903.1,6.98,10.62,424,3835.48,0.00,0.08,2.38,0.000,0.155,0.043,1551.09,1714.62,1387.56,2818.69,3361.12,0,0,0,30.00,15.80,15.71
$GC,3854.89,1031,301.85,1.11,0.00,1550.8,1714.9,1386.8,2819.2,3363.1,3.75,12.56,429,3860.51,0.00,0.10,2.39,0.000,0.223,0.042,1550.59,1714.56,1386.62,2796.50,1902.25,0,0,0,30.00,15.43,15.63
$STATE,3865,end climb,SURFACE_DEPTH_REACHED
$STATE,3865,begin surface coast
$FINISH,0.2,1.023060
$STATE,3885,end surface coast,CONTROL_FINISHED_OK
$STATE,3885,begin surface
$SM_CCo,3952.46,49.22,0.053,0,1119.9,1210.4,1029.4,409.67
$SM_CCo,3953.66,0.03,0.661,0,1117.1,1204.5,1029.8,410.36
$SM_GC,0.69,0.03,11.78,0.59,0.661,0.044,0.024,1117.1,1204.5,1029.8,185.7,2334.3,0,0,0,15.07,15.83,15.94
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2244.11,-15751.94,290921,174401
$TCM_TEMP,26.90
$XPDR_PINGS,66
$HUMID,57.77
$TEMP,23.37
$INTERNAL_PRESSURE,9.62557
$24V_AH,14.66,130.183
$10V_AH,15.00,0.000
$FG_AHR_24Vo,65.403
$FG_AHR_10Vo,21.243
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,459.500,29.800,62.290,177.377,16.500,24.561,1995.834,2198.904,1303.152,0.000,0.000,0.000
$DEVICE_MAMPS,1084.448,403.520,115.208,184.099,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,952.702,1037.212,534.291,617.582,947.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168292,31,14636,88
$DATA_FILE_SIZE,42784,435
$CAP_FILE_SIZE,160193,0
$SDSIZE,3931136,3831040
$SDFILEDIR,1773,2
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,312.2,1
$GPS,290921,195833,2243.802,-15749.173,14,1.0,26,9.8