version: 67.00
glider: 511
mission: 20
dive: 619
start: 10 1 121 21 22 41
data:
$ID,511
$MISSION,20
$DIVE,619
$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,22.232578
$FG_AHR_24V,68.19976
$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
$GPS1,011021,211801,2244.092,-15745.170,15,0.8,38,9.9
$_CALLS,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-62.3
$GPS2,011021,212225,2244.095,-15745.184,7,0.8,16,9.9
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T27kma
$TGT_LATLONG,2243.600,-15744.200
$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,111.0,1915,-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,2.81,2,-126.52,-0.86,0.00,1110.2,1192.2,1028.1,180.7,2122.7,0.00,0.00,0,71.31,67.59,0.00,0.00,0.005,0.000,0.000,2926.25,2949.88,2902.62,180.62,2122.62,0,0,0,14.06,30.00,30.00
$GC,71.61,551,-126.52,-0.86,-40.00,2926.2,2951.6,2900.8,180.8,2123.0,3.14,-3.87,13,98.72,8.41,12.10,2.24,0.007,0.329,0.095,3306.03,3348.81,3263.25,2172.75,841.50,0,0,0,14.29,15.25,15.27
$GC,132.45,1157,-126.52,-0.83,0.00,3305.7,3349.9,3261.4,2174.2,840.2,14.26,-14.94,25,138.02,0.00,0.06,2.33,0.000,0.271,0.028,3303.50,3348.12,3258.88,2187.00,2304.88,0,0,0,30.00,15.44,15.68
$GC,197.46,0,-126.52,-0.83,0.00,3306.3,3351.1,3261.5,2188.1,2303.6,22.87,-12.97,38,202.24,0.00,0.00,0.00,0.000,0.000,0.000,3306.75,3350.75,3262.75,2190.06,2305.19,0,0,0,30.00,30.00,30.00
$GC,262.49,0,-126.52,-0.83,0.00,3305.9,3350.8,3261.1,2187.9,2304.1,31.52,-13.15,50,263.83,0.00,0.00,0.00,0.000,0.000,0.000,3307.53,3352.88,3262.19,2188.25,2305.50,0,0,0,30.00,30.00,30.00
$GC,382.53,0,-126.52,-0.83,0.00,3306.4,3351.2,3261.7,2188.2,2304.8,47.19,-12.93,62,383.87,0.00,0.00,0.00,0.000,0.000,0.000,3305.09,3350.50,3259.69,2187.44,2306.62,0,0,0,30.00,30.00,30.00
$GC,502.53,516,-126.52,-0.83,-40.00,3306.2,3351.2,3261.2,2188.3,2304.7,62.58,-12.93,74,506.00,0.00,0.00,2.54,0.000,0.000,0.089,3306.69,3352.19,3261.19,2188.94,840.38,0,0,0,30.00,30.00,15.77
$GC,515.48,1028,-126.52,-0.83,0.00,3305.8,3350.6,3261.1,2188.6,840.4,64.66,-13.11,75,522.87,0.00,0.00,2.31,0.000,0.000,0.028,3306.22,3351.31,3261.12,2188.44,2309.50,0,0,0,30.00,30.00,15.94
$GC,642.58,645,-126.52,-0.87,-40.00,3305.9,3351.2,3260.6,2188.9,2310.4,81.21,-12.72,88,647.14,0.00,0.09,2.57,0.000,0.119,0.097,3302.88,3347.69,3258.06,2144.88,841.31,0,0,0,30.00,15.82,15.76
$GC,690.54,1029,-126.52,-0.87,0.00,3305.8,3351.0,3260.6,2146.1,841.5,88.14,-13.86,92,697.99,0.00,0.14,2.29,0.000,0.214,0.027,3307.44,3351.12,3263.75,2172.88,2307.94,0,0,0,30.00,15.68,15.95
$GC,937.66,129,-126.52,-0.93,0.00,3306.2,3351.4,3261.0,2173.7,2309.6,114.71,-10.27,117,939.12,0.00,0.13,0.00,0.000,0.095,0.000,3307.12,3352.38,3261.88,2124.69,2308.81,0,0,0,30.00,15.86,30.00
$GC,1177.70,517,-126.52,-0.93,-40.00,3306.6,3352.3,3260.9,2125.2,2308.7,141.96,-11.01,141,1182.33,0.00,0.14,2.56,0.000,0.203,0.095,3301.81,3346.88,3256.75,2153.62,839.31,0,0,0,30.00,15.79,15.79
$GC,1215.65,1028,-126.52,-0.93,0.00,3306.5,3352.3,3260.6,2154.9,839.8,146.04,-10.40,144,1223.09,0.00,0.00,2.30,0.000,0.000,0.026,3307.88,3353.00,3262.75,2154.69,2310.88,0,0,0,30.00,30.00,15.99
$GC,1462.78,645,-126.52,-0.99,-40.00,3307.2,3353.4,3260.9,2155.1,2311.2,171.94,-11.06,169,1467.36,0.00,0.13,2.54,0.000,0.097,0.094,3307.72,3353.62,3261.81,2103.31,836.38,0,0,0,30.00,15.88,15.81
$GC,1515.79,1157,-126.52,-0.96,0.00,3307.4,3353.2,3261.7,2105.5,836.1,179.28,-13.28,174,1521.21,0.00,0.22,2.27,0.000,0.194,0.025,3306.59,3354.00,3259.19,2147.38,2304.56,0,0,0,30.00,15.71,16.01
$STATE,1716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1716,begin apogee
$GC,1717.65,3,0.00,-0.18,0.00,3307.2,3353.5,3260.9,2148.5,1876.8,200.45,-9.86,194,1817.71,95.03,1.22,0.10,1.081,0.155,0.129,2789.31,2866.56,2712.06,2397.00,1987.31,0,0,0,11.22,15.82,15.51
$STATE,1818,end apogee,CONTROL_FINISHED_OK
$STATE,1818,begin climb
$GC,1818.10,519,126.52,0.86,-40.00,2787.9,2865.9,2710.0,2394.9,1988.6,203.50,0.00,204,1923.89,99.50,1.55,2.72,1.060,0.056,0.109,2274.19,2421.06,2127.31,2749.62,491.50,0,0,0,12.50,15.57,15.45
$GC,2015.84,1191,144.79,0.81,0.00,2269.6,2411.8,2127.4,2746.8,490.8,193.06,9.12,224,2038.79,15.44,0.25,2.31,0.924,0.187,0.019,2199.31,2350.62,2048.00,2701.94,1996.94,0,0,0,12.06,15.60,15.76
$GC,2277.92,423,199.32,0.91,40.00,2196.9,2350.6,2043.2,2701.8,1997.1,174.24,7.18,250,2324.33,42.62,0.19,2.20,1.022,0.083,0.047,1976.47,2154.69,1798.25,2762.00,3365.25,0,0,0,11.91,15.81,15.63
$GC,2381.04,1157,199.32,0.84,0.00,1974.8,2152.9,1796.6,2757.8,3363.2,163.87,10.82,260,2386.49,0.00,0.26,2.40,0.000,0.188,0.047,1975.75,2152.56,1798.94,2714.06,1900.38,0,0,0,30.00,15.57,15.78
$GC,2633.19,679,239.56,0.97,-40.00,1970.8,2150.2,1791.3,2711.9,1900.5,143.39,7.95,285,2668.39,30.92,0.22,2.48,0.975,0.078,0.112,1812.12,1992.75,1631.50,2783.62,491.88,0,0,0,11.94,15.84,15.68
$GC,2751.15,1157,239.56,0.93,0.00,1809.1,1988.2,1630.0,2784.7,491.7,129.98,11.79,296,2758.61,0.00,0.22,2.30,0.000,0.192,0.018,1810.06,1989.12,1631.00,2741.06,1978.38,0,0,0,30.00,15.71,15.87
$GC,2998.18,423,264.29,1.02,40.00,1806.1,1987.6,1624.5,2740.8,1980.6,106.26,8.78,321,3022.07,19.75,0.17,2.21,0.898,0.082,0.047,1711.81,1886.50,1537.12,2804.94,3366.12,0,0,0,11.92,15.82,15.75
$GC,3078.16,1157,264.29,0.95,0.00,1710.7,1883.2,1538.1,2801.2,3363.9,97.21,11.61,329,3082.75,0.00,0.28,2.38,0.000,0.184,0.048,1709.78,1882.44,1537.12,2743.94,1902.25,0,0,0,30.00,15.61,15.84
$GC,3323.28,423,319.49,1.11,40.00,1707.9,1882.9,1532.9,2747.3,1901.2,76.84,7.15,353,3367.60,40.14,0.28,2.39,0.914,0.071,0.047,1488.31,1646.25,1330.38,2827.62,3362.62,0,0,0,11.92,15.81,15.72
$GC,3383.26,1157,319.49,1.07,0.00,1486.5,1644.4,1328.6,2828.1,3360.9,70.85,10.73,359,3387.76,0.00,0.20,2.40,0.000,0.184,0.050,1487.25,1644.50,1330.00,2784.75,1902.25,0,0,0,30.00,15.57,15.78
$GC,3508.22,129,319.49,1.13,0.00,1483.0,1640.2,1325.8,2786.3,1902.2,58.26,10.48,371,3509.69,0.00,0.12,0.00,0.000,0.108,0.000,1480.41,1637.12,1323.69,2832.38,1901.69,0,0,0,30.00,15.78,30.00
$GC,3628.23,389,319.49,1.10,40.00,1482.5,1639.2,1325.7,2832.0,1902.9,43.68,12.01,383,3631.76,0.00,0.17,2.37,0.000,0.189,0.046,1482.75,1639.50,1326.00,2796.25,3361.12,0,0,0,30.00,15.74,15.77
$GC,3648.22,1029,319.49,1.10,0.00,1482.3,1639.1,1325.6,2796.0,3360.7,41.32,11.92,385,3651.75,0.00,0.00,2.38,0.000,0.058,0.045,1483.59,1640.62,1326.56,2796.88,1900.69,0,0,0,30.00,30.36,15.85
$GC,3773.23,0,319.49,1.10,0.00,1481.4,1637.8,1325.1,2798.9,1899.9,27.93,10.74,399,3778.02,0.00,0.00,0.00,0.000,0.000,0.000,1481.19,1637.50,1324.88,2801.06,1901.56,0,0,0,30.00,30.00,30.00
$GC,3838.24,260,319.49,1.10,40.00,1481.1,1637.1,1325.1,2798.9,1900.4,20.87,10.84,412,3843.70,0.00,0.00,2.39,0.000,0.000,0.045,1481.03,1636.38,1325.69,2797.00,3365.62,0,0,0,30.00,30.00,15.68
$GC,3858.23,1028,319.49,1.10,0.00,1480.5,1635.8,1325.2,2801.4,3360.9,18.63,11.05,416,3863.71,0.00,0.00,2.38,0.000,0.000,0.040,1482.16,1637.69,1326.62,2799.88,1903.50,0,0,0,30.00,30.00,15.66
$GC,3923.25,0,319.49,1.10,0.00,1480.9,1636.9,1324.9,2798.9,1901.3,11.50,11.01,429,3928.04,0.00,0.00,0.00,0.000,0.000,0.000,1481.03,1637.38,1324.69,2798.12,1902.25,0,0,0,30.00,30.00,30.00
$GC,3988.29,516,319.49,1.10,-40.00,1480.7,1636.6,1324.8,2798.9,1901.2,4.35,10.82,442,3993.78,0.00,0.00,2.54,0.000,0.000,0.115,1479.75,1634.44,1325.06,2798.75,492.19,0,0,0,30.00,30.00,15.54
$STATE,4003,end climb,SURFACE_DEPTH_REACHED
$STATE,4003,begin surface coast
$FINISH,-0.1,1.011007
$STATE,4028,end surface coast,CONTROL_FINISHED_OK
$STATE,4028,begin surface
$SM_CCo,4090.80,41.44,0.053,0,1118.6,1212.2,1025.0,409.99
$SM_CCo,4091.99,0.02,0.929,0,1117.4,1207.9,1026.9,410.29
$SM_GC,0.83,0.02,11.66,2.84,0.929,0.031,0.028,1117.4,1207.9,1026.9,184.4,2303.9,0,0,0,30.36,15.82,15.93
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2243.94,-15744.57,011021,200716
$TCM_TEMP,26.60
$XPDR_PINGS,66
$HUMID,57.97
$TEMP,23.05
$INTERNAL_PRESSURE,9.6098
$24V_AH,14.43,136.706
$10V_AH,15.00,0.000
$FG_AHR_24Vo,68.264
$FG_AHR_10Vo,22.257
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,460.865,29.830,63.470,176.816,16.500,25.190,2045.542,2288.527,1352.465,0.000,0.000,0.000
$DEVICE_MAMPS,1080.840,329.064,128.984,183.568,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,993.620,1081.689,552.880,640.099,983.433,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168316,29,14652,88
$DATA_FILE_SIZE,42873,450
$CAP_FILE_SIZE,160376,0
$SDSIZE,3931136,3825664
$SDFILEDIR,1899,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,315.6,1
$GPS,011021,223126,2243.928,-15744.757,11,1.0,22,9.9