version: 67.00
glider: 511
mission: 20
dive: 578
start: 9 29 121 20 3 20
data:
$ID,511
$MISSION,20
$DIVE,578
$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,21.243904
$FG_AHR_24V,65.408821
$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
$GPS1,290921,195833,2243.802,-15749.173,14,1.0,26,9.8
$_CALLS,1
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-62.9
$GPS2,290921,200304,2243.806,-15749.190,6,1.0,22,9.8
$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,102.4,2745,-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,-0.86,0.00,1109.8,1189.9,1029.6,185.6,2132.6,0.00,0.00,0,76.41,72.75,0.00,0.00,0.005,0.000,0.000,3074.44,3093.81,3055.06,185.56,2132.00,0,0,0,14.10,30.00,30.00
$GC,76.77,551,-126.52,-0.86,-40.00,3075.3,3096.2,3054.5,185.6,2131.8,3.75,-4.52,14,103.28,4.59,12.11,2.21,0.009,0.331,0.095,3304.97,3342.81,3267.12,2172.75,840.38,0,0,0,15.35,15.29,15.32
$GC,132.01,1157,-126.52,-0.83,0.00,3307.5,3346.4,3268.6,2174.1,839.9,16.52,-16.52,25,137.59,0.00,0.06,2.31,0.000,0.283,0.027,3309.44,3347.88,3271.00,2187.19,2308.00,0,0,0,30.00,15.45,15.68
$GC,197.00,0,-126.52,-0.83,0.00,3307.8,3347.1,3268.4,2186.1,2304.6,25.56,-13.53,38,201.79,0.00,0.00,0.00,0.000,0.000,0.000,3308.06,3346.31,3269.81,2187.81,2307.62,0,0,0,30.00,30.00,30.00
$GC,262.02,516,-126.52,-0.83,-40.00,3308.3,3347.9,3268.8,2187.1,2306.7,34.95,-14.60,48,265.48,0.00,0.00,2.54,0.000,0.000,0.089,3309.91,3349.06,3270.75,2186.81,838.62,0,0,0,30.00,30.00,15.76
$GC,282.01,1028,-126.52,-0.83,0.00,3308.5,3347.9,3269.1,2187.7,838.6,37.77,-14.42,50,285.43,0.00,0.00,2.29,0.000,0.000,0.026,3308.28,3346.31,3270.25,2187.19,2307.44,0,0,0,30.00,30.00,15.92
$GC,412.02,0,-126.52,-0.83,0.00,3307.7,3347.4,3268.1,2187.4,2309.8,55.26,-13.48,63,413.37,0.00,0.00,0.00,0.000,0.000,0.000,3309.88,3349.06,3270.69,2188.38,2311.69,0,0,0,30.00,30.00,30.00
$GC,532.08,0,-126.52,-0.83,0.00,3308.1,3347.8,3268.4,2187.4,2309.7,71.71,-13.68,75,533.42,0.00,0.00,0.00,0.000,0.000,0.000,3309.66,3349.44,3269.88,2185.19,2310.19,0,0,0,30.00,30.00,30.00
$GC,652.09,645,-126.52,-0.86,-40.00,3308.0,3347.8,3268.2,2187.3,2309.9,87.54,-12.49,87,656.66,0.00,0.08,2.56,0.000,0.141,0.095,3309.19,3348.81,3269.56,2148.75,840.88,0,0,0,30.00,15.86,15.79
$GC,705.06,1029,-126.52,-0.86,0.00,3308.6,3348.4,3268.8,2149.3,839.9,94.80,-13.12,92,710.47,0.00,0.13,2.27,0.000,0.216,0.024,3309.47,3348.31,3270.62,2173.94,2312.94,0,0,0,30.00,15.69,15.99
$GC,957.14,645,-126.52,-0.92,-40.00,3308.5,3348.9,3268.1,2176.0,2312.2,122.05,-10.31,117,961.72,0.00,0.12,2.53,0.000,0.101,0.087,3311.72,3351.69,3271.75,2128.19,840.50,0,0,0,30.00,15.85,15.81
$GC,985.07,1029,-126.52,-0.92,0.00,3309.0,3349.4,3268.6,2128.6,839.0,125.65,-11.05,119,990.51,0.00,0.14,2.28,0.000,0.213,0.023,3311.12,3351.50,3270.75,2158.06,2314.50,0,0,0,30.00,15.70,15.99
$GC,1230.15,645,-126.52,-0.96,-40.00,3309.1,3349.5,3268.6,2156.9,2312.6,152.43,-10.68,144,1235.60,0.00,0.09,2.52,0.000,0.131,0.086,3307.94,3349.94,3265.94,2120.88,836.62,0,0,0,30.00,15.86,15.86
$GC,1272.14,1029,-126.52,-0.96,0.00,3309.2,3350.1,3268.4,2119.5,836.3,157.37,-12.09,148,1275.69,0.00,0.13,2.30,0.000,0.212,0.024,3311.34,3352.25,3270.44,2145.00,2309.31,0,0,0,30.00,15.68,15.97
$GC,1520.20,389,-126.52,-0.99,40.00,3309.7,3350.5,3268.8,2146.1,2308.9,184.26,-11.00,173,1525.59,0.00,0.09,2.27,0.000,0.137,0.062,3309.94,3350.00,3269.88,2106.19,3709.69,0,0,0,30.00,15.91,15.90
$GC,1575.16,1157,-126.52,-0.96,0.00,3309.6,3350.6,3268.7,2105.1,3707.9,191.65,-13.44,178,1580.60,0.00,0.19,2.25,0.000,0.194,0.016,3308.34,3349.50,3267.19,2143.75,2207.81,0,0,0,30.00,15.76,15.99
$STATE,1650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1650,begin apogee
$GC,1651.49,3,0.00,-0.18,0.00,3308.0,3348.6,3267.4,2145.8,1856.7,200.11,-11.15,186,1749.64,95.53,1.25,0.14,1.078,0.158,0.107,2786.72,2863.44,2710.00,2396.06,2006.25,0,0,0,11.22,15.81,15.54
$STATE,1750,end apogee,CONTROL_FINISHED_OK
$STATE,1750,begin climb
$GC,1750.01,3,126.52,0.86,0.00,2788.7,2865.4,2712.0,2397.5,2015.8,203.43,0.00,195,1854.42,99.79,1.54,0.00,1.077,0.056,0.000,2275.09,2422.00,2128.19,2742.69,2015.44,0,0,0,12.44,15.55,30.00
$GC,2091.95,679,177.82,0.87,-40.00,2270.9,2416.4,2125.5,2746.3,2013.4,184.51,7.36,230,2137.86,39.97,0.12,2.75,1.029,0.209,0.113,2063.78,2237.75,1889.81,2721.25,493.19,0,0,0,11.94,15.72,15.62
$GC,2176.92,1191,226.17,0.96,0.00,2059.2,2230.4,1887.9,2720.9,493.1,178.69,7.51,238,2218.29,37.70,0.17,2.30,1.011,0.088,0.019,1869.16,2053.25,1685.06,2791.94,1982.81,0,0,0,12.19,15.67,15.79
$GC,2463.99,389,226.17,0.89,40.00,1861.1,2047.4,1674.8,2792.3,1980.1,146.27,12.09,267,2467.59,0.00,0.31,2.20,0.000,0.179,0.045,1861.44,2047.44,1675.44,2728.31,3359.94,0,0,0,30.00,15.75,15.77
$GC,2536.97,1157,226.17,0.94,0.00,1861.7,2047.9,1675.4,2726.2,3361.5,138.40,10.38,274,2544.43,0.00,0.09,2.36,0.000,0.129,0.039,1861.59,2047.00,1676.19,2769.06,1901.25,0,0,0,30.00,15.72,15.90
$GC,2784.03,517,226.17,0.94,-40.00,1860.2,2046.8,1673.8,2769.2,1899.9,111.41,10.75,299,2788.61,0.00,0.14,2.50,0.000,0.203,0.114,1861.31,2048.44,1674.19,2741.19,490.25,0,0,0,30.00,15.78,15.79
$GC,2809.04,1061,230.15,0.94,0.00,1858.6,2044.1,1673.1,2742.0,490.4,109.08,9.89,301,2812.55,0.00,0.04,2.29,0.000,0.253,0.020,1859.09,2044.06,1674.12,2768.25,1980.94,0,0,0,30.00,15.77,15.97
$GC,3057.07,295,294.51,1.02,40.00,1858.3,2044.1,1672.5,2767.2,1980.6,89.98,6.66,326,3110.64,49.30,0.04,2.24,0.939,0.251,0.046,1587.53,1754.75,1420.31,2800.94,3367.56,0,0,0,11.66,15.88,15.64
$GC,3169.47,1063,304.57,1.03,0.00,1586.0,1750.4,1421.6,2800.4,3364.4,80.19,9.56,337,3183.23,9.40,0.17,2.37,0.753,0.197,0.038,1547.41,1706.62,1388.19,2772.00,1902.25,0,0,0,12.20,15.57,15.80
$GC,3309.59,679,341.59,1.16,-40.00,1543.8,1702.6,1385.1,2771.4,1901.4,69.38,8.12,351,3341.79,28.11,0.24,2.53,0.880,0.075,0.117,1394.94,1548.25,1241.62,2843.00,490.62,0,0,0,12.22,15.81,15.63
$GC,3350.51,1029,341.59,1.16,0.00,1395.3,1548.3,1242.2,2842.0,490.3,65.00,10.13,355,3354.07,0.00,0.14,2.31,0.000,0.215,0.019,1395.81,1548.44,1243.19,2814.75,1993.25,0,0,0,30.00,15.63,15.81
$GC,3480.56,1,341.59,1.16,0.00,1394.1,1549.4,1238.7,2816.8,1997.1,49.92,11.62,368,3482.01,0.00,0.03,0.00,0.000,0.340,0.000,1394.38,1549.06,1239.69,2835.50,1995.69,0,0,0,30.00,15.80,30.00
$GC,3600.58,389,341.59,1.12,40.00,1392.3,1546.1,1238.5,2834.5,1995.4,34.59,13.03,380,3604.08,0.00,0.17,2.19,0.000,0.188,0.043,1392.88,1547.12,1238.62,2797.44,3367.56,0,0,0,30.00,15.74,15.79
$GC,3620.65,1029,341.59,1.12,0.00,1391.2,1544.8,1237.8,2800.1,3364.9,32.25,12.71,382,3624.12,0.00,0.04,2.38,0.000,0.277,0.044,1391.88,1545.81,1237.94,2820.44,1903.12,0,0,0,30.00,15.68,15.85
$GC,3745.62,1,341.59,1.12,0.00,1390.7,1543.2,1238.2,2824.6,1901.8,17.12,12.65,404,3750.53,0.00,0.12,0.00,0.000,0.216,0.000,1391.22,1542.75,1239.69,2799.75,1901.62,0,0,0,30.00,15.74,30.00
$GC,3810.64,1,341.59,1.12,0.00,1390.9,1543.1,1238.8,2800.1,1901.9,9.45,11.95,417,3815.54,0.00,0.01,0.00,0.000,0.320,0.000,1391.78,1544.19,1239.38,2803.38,1902.38,0,0,0,30.00,30.36,30.00
$STATE,3865,end climb,SURFACE_DEPTH_REACHED
$STATE,3865,begin surface coast
$FINISH,-0.1,1.015041
$STATE,3890,end surface coast,CONTROL_FINISHED_OK
$STATE,3891,begin surface
$SM_CCo,3940.39,31.20,0.054,0,1117.5,1215.8,1019.2,410.26
$SM_GC,0.59,31.20,11.74,0.60,0.054,0.040,0.025,1117.5,1215.8,1019.2,182.3,2349.4,0,0,0,15.78,15.83,15.93
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2243.80,-15749.78,290921,184857
$TCM_TEMP,26.80
$XPDR_PINGS,66
$HUMID,57.77
$TEMP,23.28
$INTERNAL_PRESSURE,9.61833
$24V_AH,15.06,130.344
$10V_AH,15.00,0.000
$FG_AHR_24Vo,65.475
$FG_AHR_10Vo,21.267
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,468.345,29.490,58.085,180.295,16.500,31.130,1984.651,2206.592,1282.476,0.000,0.000,0.000
$DEVICE_MAMPS,1077.888,339.560,116.848,178.562,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,974.296,1046.179,531.925,609.072,934.183,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168296,30,14652,88
$DATA_FILE_SIZE,42873,433
$CAP_FILE_SIZE,154680,0
$SDSIZE,3931136,3830912
$SDFILEDIR,1776,2
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,321.5,1
$GPS,290921,211007,2243.869,-15748.839,15,1.8,56,9.8