version: 67.00
glider: 511
mission: 20
dive: 724
start: 10 7 121 8 25 42
data:
$ID,511
$MISSION,20
$DIVE,724
$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,24.86582
$FG_AHR_24V,75.403877
$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
$GPS1,071021,082019,2243.806,-15735.300,21,0.9,40,9.9
$_CALLS,1
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-61.9
$GPS2,071021,082527,2243.813,-15735.319,7,0.8,16,9.9
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T42kmb
$TGT_LATLONG,2244.300,-15734.900
$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,34.0,1150,-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,2.93,2,-126.52,-0.86,0.00,1109.5,1195.9,1023.0,178.8,2341.8,0.00,0.00,0,71.33,67.38,0.00,0.00,0.005,0.000,0.000,2931.41,2958.19,2904.62,178.75,2344.75,0,0,0,14.13,30.00,30.00
$GC,71.62,295,-126.52,-0.86,40.00,2929.2,2956.5,2901.9,178.7,2345.1,3.19,-4.01,13,98.73,8.26,12.06,2.30,0.008,0.322,0.073,3303.25,3349.00,3257.50,2175.69,3707.06,0,0,0,14.32,15.26,15.23
$GC,132.45,1028,-126.52,-0.86,0.00,3305.8,3351.6,3260.1,2174.5,3705.0,15.27,-17.35,25,137.94,0.00,0.00,2.33,0.000,0.000,0.026,3305.34,3349.06,3261.62,2173.94,2232.50,0,0,0,30.00,30.00,15.60
$GC,197.49,389,-126.52,-0.82,40.00,3306.4,3352.2,3260.6,2176.5,2231.5,24.55,-12.15,38,203.08,0.00,0.05,2.46,0.000,0.280,0.063,3306.94,3352.38,3261.50,2186.19,3703.56,0,0,0,30.00,15.68,15.59
$GC,212.47,1028,-126.52,-0.82,0.00,3305.8,3351.8,3259.8,2188.2,3708.6,26.37,-12.52,41,217.97,0.00,0.00,2.33,0.000,0.000,0.029,3306.69,3351.56,3261.81,2187.19,2241.75,0,0,0,30.00,30.00,15.62
$GC,277.49,516,-126.52,-0.82,-40.00,3306.7,3352.3,3261.0,2186.9,2240.6,33.55,-11.41,51,280.96,0.00,0.00,2.42,0.000,0.000,0.092,3306.53,3351.44,3261.62,2186.19,840.94,0,0,0,30.00,30.00,15.73
$GC,307.52,1028,-126.52,-0.82,0.00,3306.8,3352.8,3260.9,2186.9,840.3,37.48,-12.38,54,310.93,0.00,0.00,2.30,0.000,0.000,0.029,3304.84,3350.25,3259.44,2185.50,2309.44,0,0,0,30.00,30.00,15.89
$GC,437.54,260,-126.52,-0.82,40.00,3306.6,3352.5,3260.6,2187.2,2308.9,54.26,-13.05,67,440.97,0.00,0.00,2.31,0.000,0.000,0.065,3307.31,3354.06,3260.56,2187.12,3703.75,0,0,0,30.00,30.00,15.85
$GC,457.53,1028,-126.52,-0.82,0.00,3306.9,3353.1,3260.6,2186.8,3706.6,56.90,-13.32,69,460.96,0.00,0.00,2.29,0.000,0.000,0.027,3307.41,3352.88,3261.94,2185.56,2233.94,0,0,0,30.00,30.00,15.87
$GC,587.59,645,-126.52,-0.87,-40.00,3306.5,3352.8,3260.2,2187.0,2234.3,74.27,-13.93,82,591.12,0.00,0.09,2.39,0.000,0.118,0.093,3308.44,3354.94,3261.94,2142.12,840.94,0,0,0,30.00,15.79,15.74
$GC,617.57,1029,-126.52,-0.87,0.00,3306.5,3353.0,3260.1,2143.8,840.2,79.22,-15.94,85,621.13,0.00,0.15,2.29,0.000,0.211,0.026,3307.62,3354.88,3260.38,2174.50,2310.31,0,0,0,30.00,15.61,15.94
$GC,745.59,260,-126.52,-0.87,40.00,3306.8,3353.1,3260.6,2173.5,2308.4,98.13,-13.55,98,750.85,0.00,0.00,2.28,0.000,0.000,0.064,3306.44,3354.25,3258.62,2173.50,3711.56,0,0,0,30.00,30.00,15.91
$GC,797.61,1157,-126.52,-0.95,0.00,3308.4,3354.2,3262.6,2174.8,3707.4,104.59,-12.94,103,801.16,0.00,0.16,2.28,0.000,0.085,0.020,3308.19,3355.12,3261.25,2119.25,2222.88,0,0,0,30.00,15.72,15.94
$GC,1045.63,517,-126.52,-0.95,-40.00,3307.0,3353.8,3260.2,2118.9,2219.0,135.10,-10.55,128,1051.06,0.00,0.16,2.36,0.000,0.199,0.090,3306.06,3353.31,3258.81,2151.12,840.56,0,0,0,30.00,15.79,15.79
$GC,1130.66,1189,-126.52,-1.01,0.00,3307.7,3356.3,3259.1,2148.6,839.6,143.25,-9.45,136,1138.12,0.00,0.14,2.27,0.000,0.098,0.026,3306.50,3351.94,3261.06,2101.06,2316.69,0,0,0,30.00,15.78,15.97
$GC,1375.67,517,-126.52,-1.01,-40.00,3307.4,3354.6,3260.2,2099.4,2315.6,171.19,-12.22,161,1381.13,0.00,0.15,2.52,0.000,0.205,0.086,3308.22,3354.19,3262.25,2129.81,838.69,0,0,0,30.00,15.77,15.81
$GC,1427.75,1157,-126.52,-1.06,0.00,3307.9,3355.6,3260.2,2129.1,838.7,177.06,-11.73,166,1431.25,0.00,0.12,2.25,0.000,0.109,0.023,3306.62,3355.44,3257.81,2084.94,2319.38,0,0,0,30.00,15.75,15.95
$STATE,1626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1626,begin apogee
$GC,1627.56,3,0.00,-0.18,0.00,3307.8,3355.4,3260.2,2084.1,1869.8,200.99,-11.46,186,1729.68,95.16,1.59,0.11,1.078,0.168,0.118,2790.94,2867.88,2714.00,2397.81,2053.69,0,0,0,11.21,15.77,15.50
$STATE,1730,end apogee,CONTROL_FINISHED_OK
$STATE,1730,begin climb
$GC,1730.11,263,126.52,0.86,40.00,2791.1,2869.0,2713.2,2396.3,2055.8,204.22,0.00,196,1837.07,100.73,1.50,2.12,1.067,0.024,0.046,2271.75,2418.75,2124.75,2769.75,3369.56,0,0,0,12.17,15.59,15.39
$GC,1908.81,1191,186.74,0.73,0.00,2269.8,2414.9,2124.6,2771.2,3368.2,200.14,6.88,213,1960.47,46.72,0.49,2.38,1.039,0.180,0.043,2028.59,2208.31,1848.88,2676.12,1894.56,0,0,0,12.06,15.50,15.72
$GC,2203.88,423,269.27,0.93,40.00,2022.1,2204.9,1839.2,2677.8,1896.0,182.22,5.68,243,2270.77,61.12,0.32,2.38,1.043,0.060,0.045,1691.97,1868.19,1515.75,2767.81,3361.12,0,0,0,11.85,15.79,15.57
$GC,2353.92,1029,269.27,0.93,0.00,1688.6,1862.4,1514.8,2767.3,3365.6,166.65,11.57,258,2359.36,0.00,0.16,2.38,0.000,0.194,0.048,1689.91,1862.81,1517.00,2738.56,1901.38,0,0,0,30.00,15.56,15.75
$GC,2605.99,423,278.86,1.03,40.00,1686.3,1858.1,1514.6,2737.9,1899.2,140.83,9.59,283,2619.64,8.77,0.20,2.37,0.794,0.076,0.048,1653.59,1817.38,1489.81,2800.44,3363.88,0,0,0,11.71,15.81,15.70
$GC,2773.91,1157,278.86,0.98,0.00,1650.6,1813.0,1488.1,2804.1,3360.9,120.55,11.88,300,2779.37,0.00,0.25,2.37,0.000,0.182,0.049,1650.44,1811.69,1489.19,2755.00,1899.44,0,0,0,30.00,15.65,15.88
$GC,3025.99,423,354.49,1.16,40.00,1648.4,1809.9,1486.9,2756.1,1899.1,103.12,6.05,325,3087.82,55.32,0.30,2.38,0.967,0.061,0.046,1344.62,1501.75,1187.50,2845.19,3360.62,0,0,0,11.86,15.82,14.50
$GC,3129.53,1157,354.49,1.11,0.00,1344.1,1500.4,1187.7,2845.4,3363.0,92.76,10.94,335,3135.06,0.00,0.23,2.41,0.000,0.173,0.054,1343.34,1499.12,1187.56,2797.06,1900.12,0,0,0,30.00,15.56,15.77
$GC,3376.69,389,354.49,1.20,40.00,1339.7,1497.3,1182.1,2798.6,1900.3,71.55,10.21,360,3381.16,0.00,0.17,2.35,0.000,0.084,0.041,1340.06,1497.75,1182.38,2858.12,3360.38,0,0,0,30.00,15.83,15.86
$GC,3494.58,1029,354.49,1.20,0.00,1339.6,1497.4,1181.8,2857.0,3363.5,55.39,13.77,371,3502.07,0.00,0.17,2.37,0.000,0.194,0.046,1339.66,1496.56,1182.75,2826.06,1902.50,0,0,0,30.00,15.64,15.88
$GC,3621.63,1,354.49,1.20,0.00,1339.0,1497.4,1180.6,2827.4,1903.4,41.48,10.91,384,3623.08,0.00,0.04,0.00,0.000,0.276,0.000,1336.94,1494.75,1179.12,2854.38,1901.12,0,0,0,30.00,15.82,30.00
$GC,3741.67,294,408.07,1.27,40.00,1338.8,1497.1,1180.6,2853.8,1900.1,30.83,7.23,396,3787.47,38.86,0.00,2.36,0.850,0.000,0.043,1125.50,1261.69,989.31,2853.00,3366.31,0,0,0,11.78,30.00,15.64
$GC,3821.66,1028,408.07,1.27,0.00,1125.2,1262.2,988.2,2853.9,3365.8,22.64,11.13,410,3827.13,0.00,0.00,2.40,0.000,0.000,0.047,1125.91,1263.00,988.81,2853.44,1900.75,0,0,0,30.00,30.00,15.61
$GC,3886.67,551,446.04,1.31,-40.00,1123.8,1260.1,987.4,2855.6,1901.5,16.88,8.07,423,3912.66,18.92,0.05,2.55,0.114,0.188,0.123,970.75,1099.44,842.06,2891.81,494.19,0,0,0,15.54,15.77,15.53
$GC,3931.67,1157,446.04,1.23,0.00,968.2,1093.8,842.6,2891.6,494.6,11.36,15.68,432,3937.29,0.00,0.28,2.31,0.000,0.183,0.021,969.09,1094.31,843.88,2833.31,1990.12,0,0,0,30.00,15.47,15.70
$STATE,3992,end climb,SURFACE_DEPTH_REACHED
$STATE,3992,begin surface coast
$FINISH,0.2,1.023078
$STATE,4012,end surface coast,CONTROL_FINISHED_OK
$STATE,4012,begin surface
$SM_CCo,4089.39,0.00,0.000,0,963.3,1079.1,847.5,448.09
$SM_GC,0.68,0.00,12.01,0.47,0.000,0.045,0.045,963.3,1079.1,847.5,184.4,2318.0,0,0,0,30.00,15.78,15.87
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2243.76,-15737.19,071021,070329
$TCM_TEMP,26.30
$XPDR_PINGS,71
$HUMID,58.24
$TEMP,22.82
$INTERNAL_PRESSURE,9.60124
$24V_AH,14.99,153.332
$10V_AH,15.00,0.000
$FG_AHR_24Vo,75.477
$FG_AHR_10Vo,24.890
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,501.255,30.815,71.805,214.460,17.750,25.891,2118.325,2253.731,1374.272,0.000,0.000,0.000
$DEVICE_MAMPS,1077.560,322.176,123.080,183.214,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,992.474,1093.865,550.237,630.643,967.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168176,35,14672,88
$DATA_FILE_SIZE,42696,448
$CAP_FILE_SIZE,169246,0
$SDSIZE,3931136,3812160
$SDFILEDIR,2214,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,192.6,1
$GPS,071021,093424,2243.980,-15735.150,11,0.9,20,9.9