version: 67.00
glider: 511
mission: 20
dive: 603
start: 10 1 121 2 0 31
data:
$ID,511
$MISSION,20
$DIVE,603
$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,21.846272
$FG_AHR_24V,67.093475
$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
$GPS1,011021,015549,2244.096,-15745.790,16,0.9,38,9.9
$_CALLS,1
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-64.1
$GPS2,011021,020015,2244.083,-15745.808,6,0.8,20,9.9
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T24kma
$TGT_LATLONG,2243.600,-15745.800
$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,172.5,894,-25.4,-10.101,-27.71
$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,2.81,2,-76.92,-1.00,0.00,1110.1,1184.5,1035.8,180.9,2114.4,0.00,0.00,0,76.44,72.69,0.00,0.00,0.005,0.000,0.000,3071.41,3091.56,3051.25,180.56,2112.81,0,0,0,14.04,30.00,30.00
$GC,76.78,551,-126.52,-1.06,-40.00,3070.9,3089.9,3051.9,180.9,2111.8,3.77,-4.59,14,103.22,4.72,11.83,2.18,0.010,0.336,0.091,3307.81,3347.31,3268.31,2111.94,833.00,0,0,0,14.27,15.28,15.29
$GC,216.95,1028,-126.52,-1.06,0.00,3306.6,3346.4,3266.8,2110.1,833.1,32.21,-18.33,41,220.36,0.00,0.00,2.30,0.000,0.000,0.029,3308.06,3347.25,3268.88,2109.31,2305.50,0,0,0,30.00,30.00,15.87
$GC,346.97,260,-126.52,-1.06,40.00,3307.4,3349.4,3265.4,2111.8,2304.0,55.68,-18.17,54,350.38,0.00,0.00,2.29,0.000,0.000,0.070,3306.16,3347.00,3265.31,2110.06,3708.88,0,0,0,30.00,30.00,15.85
$GC,359.90,1028,-126.52,-1.06,0.00,3306.8,3346.8,3266.8,2110.1,3706.6,58.41,-18.14,55,367.21,0.00,0.00,2.29,0.000,0.000,0.024,3307.47,3345.62,3269.31,2111.69,2230.75,0,0,0,30.00,30.00,15.92
$GC,486.99,645,-126.52,-1.10,-40.00,3307.1,3347.4,3266.8,2109.8,2230.4,79.95,-16.29,68,490.56,0.00,0.09,2.39,0.000,0.148,0.089,3308.56,3348.94,3268.19,2077.06,838.06,0,0,0,30.00,15.82,15.79
$GC,524.98,1029,-126.52,-1.10,0.00,3306.5,3346.6,3266.4,2077.8,837.6,86.49,-16.25,72,530.38,0.00,0.11,2.29,0.000,0.257,0.027,3307.62,3346.62,3268.62,2097.12,2306.19,0,0,0,30.00,15.66,15.96
$GC,777.05,389,-126.52,-1.17,40.00,3307.1,3347.6,3266.6,2098.1,2306.6,126.63,-15.86,97,780.57,0.00,0.14,2.28,0.000,0.105,0.066,3307.56,3347.44,3267.69,2052.19,3705.19,0,0,0,30.00,15.85,15.88
$GC,857.12,1029,-126.52,-1.17,0.00,3307.3,3347.7,3267.0,2050.9,3707.7,140.59,-17.86,105,860.59,0.00,0.13,2.26,0.000,0.243,0.024,3306.50,3347.56,3265.44,2077.38,2219.56,0,0,0,30.00,15.67,15.95
$GC,1107.12,645,-126.52,-1.22,-40.00,3307.7,3348.9,3266.4,2076.8,2216.3,175.45,-12.97,130,1110.62,0.00,0.09,2.34,0.000,0.137,0.085,3307.22,3349.06,3265.38,2042.31,836.69,0,0,0,30.00,15.86,15.83
$GC,1145.07,1029,-126.52,-1.22,0.00,3307.9,3348.8,3266.9,2043.0,837.2,181.06,-13.79,134,1150.47,0.00,0.11,2.28,0.000,0.259,0.026,3308.00,3348.31,3267.69,2063.19,2315.56,0,0,0,30.00,15.70,16.01
$STATE,1305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1305,begin apogee
$GC,1306.94,3,0.00,-0.18,0.00,3307.9,3349.3,3266.4,2063.9,1881.4,201.35,-13.89,150,1409.04,94.99,1.71,0.09,1.073,0.191,0.136,2793.47,2870.56,2716.38,2394.88,1992.00,0,0,0,11.30,15.74,15.55
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1409,begin climb
$GC,1409.42,519,126.52,1.06,-40.00,2788.7,2864.9,2712.6,2396.5,1990.6,204.91,0.00,160,1516.50,99.86,1.85,2.74,1.062,0.056,0.115,2268.50,2412.00,2125.00,2814.25,490.19,0,0,0,12.45,15.60,15.42
$GC,1565.33,1191,140.34,1.05,0.00,2267.3,2406.6,2128.1,2812.2,490.4,199.59,8.89,175,1581.03,11.99,0.18,2.30,0.880,0.202,0.019,2220.12,2367.62,2072.62,2773.75,1979.50,0,0,0,12.11,15.52,15.67
$GC,1818.30,423,158.18,1.13,40.00,2216.1,2364.6,2067.6,2775.9,1979.1,176.40,8.53,200,1840.62,15.40,0.17,2.22,0.920,0.090,0.049,2144.31,2299.06,1989.56,2827.25,3360.75,0,0,0,11.97,15.82,15.70
$GC,2020.38,1157,158.18,1.07,0.00,2145.2,2300.3,1990.2,2829.1,3363.4,153.77,11.31,220,2024.96,0.00,0.24,2.38,0.000,0.202,0.050,2144.34,2299.31,1989.38,2787.12,1897.94,0,0,0,30.00,15.61,15.86
$GC,2263.50,679,180.69,1.18,-40.00,2143.0,2300.4,1985.6,2785.2,1897.8,134.04,8.12,244,2288.85,19.50,0.20,2.47,0.929,0.089,0.117,2051.47,2218.56,1884.38,2846.44,492.69,0,0,0,11.74,15.88,15.77
$GC,2358.40,1029,180.69,1.18,0.00,2047.9,2213.0,1882.9,2848.2,492.7,123.45,12.04,253,2363.84,0.00,0.14,2.28,0.000,0.233,0.019,2049.34,2214.12,1884.56,2819.69,1996.00,0,0,0,30.00,15.72,15.92
$GC,2603.53,423,190.58,1.24,40.00,2046.6,2212.6,1880.6,2820.2,1997.4,98.55,9.23,278,2616.28,9.40,0.13,2.18,0.779,0.108,0.049,2012.03,2179.69,1844.38,2860.69,3362.94,0,0,0,11.99,15.83,15.71
$GC,2670.54,1157,190.58,1.17,0.00,2010.2,2178.1,1842.2,2862.3,3364.6,91.52,11.02,285,2675.11,0.00,0.22,2.38,0.000,0.220,0.053,2008.97,2176.69,1841.25,2819.62,1902.56,0,0,0,30.00,15.61,15.89
$GC,2915.74,163,222.62,1.29,0.00,2008.0,2178.4,1837.6,2819.6,1902.4,71.48,7.29,309,2945.68,25.58,0.20,0.00,0.889,0.089,0.000,1880.31,2059.00,1701.62,2880.38,1901.50,0,0,0,12.11,15.83,30.00
$GC,3065.59,261,222.62,1.29,40.00,1878.5,2059.0,1697.9,2879.4,1900.3,57.43,10.28,324,3069.15,0.00,0.12,2.36,0.000,0.230,0.042,1878.53,2059.50,1697.56,2854.38,3362.38,0,0,0,30.00,15.73,15.77
$GC,3088.54,1029,222.62,1.29,0.00,1878.5,2059.0,1698.0,2855.2,3364.1,54.72,10.49,326,3095.99,0.00,0.04,2.38,0.000,0.263,0.049,1879.34,2060.25,1698.44,2876.44,1898.62,0,0,0,30.00,15.70,15.89
$GC,3215.62,261,222.62,1.29,40.00,1877.5,2058.8,1696.2,2876.3,1899.1,41.04,11.09,339,3219.16,0.00,0.09,2.36,0.000,0.260,0.042,1877.94,2059.00,1696.88,2859.44,3364.88,0,0,0,30.00,15.73,15.80
$GC,3265.63,1029,222.62,1.29,0.00,1877.6,2059.1,1696.1,2857.7,3363.9,35.52,11.05,344,3269.18,0.00,0.03,2.38,0.000,0.323,0.051,1878.72,2060.62,1696.81,2874.06,1896.31,0,0,0,30.00,15.69,15.87
$GC,3390.68,1,222.62,1.29,0.00,1877.2,2059.3,1695.0,2874.6,1896.2,21.86,11.05,363,3395.57,0.00,0.09,0.00,0.000,0.268,0.000,1876.91,2059.81,1694.00,2858.62,1896.38,0,0,0,30.00,15.73,30.00
$GC,3455.73,677,224.31,1.34,-40.00,1876.4,2059.1,1693.8,2858.6,1896.6,14.93,9.95,376,3461.35,0.00,0.10,2.52,0.000,0.134,0.114,1875.56,2057.44,1693.69,2897.81,492.00,0,0,0,30.00,15.83,15.57
$GC,3550.73,1157,224.31,1.28,0.00,1874.6,2055.1,1694.2,2898.2,491.6,4.01,11.29,395,3556.38,0.00,0.23,2.29,0.000,0.227,0.018,1873.91,2054.94,1692.88,2854.38,1985.31,0,0,0,30.00,15.48,15.75
$STATE,3561,end climb,SURFACE_DEPTH_REACHED
$STATE,3561,begin surface coast
$FINISH,-0.0,1.023219
$STATE,3591,end surface coast,CONTROL_FINISHED_OK
$STATE,3591,begin surface
$SM_CCo,3694.61,85.21,0.052,0,1118.0,1203.0,1032.9,410.15
$SM_GC,0.66,85.21,12.02,0.47,0.052,0.044,0.027,1118.0,1203.0,1032.9,185.2,2349.5,0,0,0,15.79,15.83,15.94
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2243.48,-15747.62,011021,004405
$TCM_TEMP,26.70
$XPDR_PINGS,64
$HUMID,57.83
$TEMP,23.13
$INTERNAL_PRESSURE,9.62022
$24V_AH,15.06,134.171
$10V_AH,15.00,0.000
$FG_AHR_24Vo,67.147
$FG_AHR_10Vo,21.868
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,439.345,30.275,57.435,175.139,16.000,29.879,1914.121,2025.532,1230.432,0.000,0.000,0.000
$DEVICE_MAMPS,1072.640,335.952,135.872,192.517,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,882.968,973.104,495.015,576.316,884.822,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168356,28,14632,88
$DATA_FILE_SIZE,39225,403
$CAP_FILE_SIZE,148903,0
$SDSIZE,3931136,3827712
$SDFILEDIR,1851,2
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,167.9,1
$GPS,011021,030255,2243.599,-15745.772,10,0.9,38,9.8