version: 67.00
glider: 511
mission: 20
dive: 777
start: 10 10 121 4 43 55
data:
$ID,511
$MISSION,20
$DIVE,777
$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,400
$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,26.221962
$FG_AHR_24V,79.367805
$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
$GPS1,101021,043901,2242.155,-15732.647,11,0.9,39,9.9
$_CALLS,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-60.1
$GPS2,101021,044339,2242.127,-15732.707,5,0.8,14,9.9
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T51kma
$TGT_LATLONG,2243.600,-15730.300
$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,59.6,4935,-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,3.01,2,-126.52,-0.86,0.00,1149.5,1230.4,1068.6,177.6,2161.9,0.00,0.00,0,71.34,67.42,0.00,0.00,0.005,0.000,0.000,2958.47,2984.62,2932.31,177.94,2160.00,0,0,0,14.01,30.00,30.00
$GC,71.64,551,-126.52,-0.86,-40.00,2958.2,2985.9,2930.4,177.6,2160.9,3.49,-4.52,13,98.76,7.27,12.06,2.32,0.008,0.318,0.099,3304.75,3350.19,3259.31,2174.88,839.50,0,0,0,14.11,15.16,15.28
$GC,107.49,1157,-126.52,-0.67,0.00,3304.2,3349.6,3258.8,2173.3,840.2,12.16,-21.56,20,113.12,0.00,0.34,2.33,0.000,0.193,0.026,3303.81,3347.50,3260.12,2236.88,2304.62,0,0,0,30.00,15.37,15.62
$GC,172.53,161,-126.52,-0.80,0.00,3305.8,3351.9,3259.6,2238.1,2305.5,19.99,-9.74,33,177.47,0.00,0.25,0.00,0.000,0.068,0.000,3305.84,3353.88,3257.81,2160.75,2307.31,0,0,0,30.00,15.75,30.00
$GC,237.53,645,-126.52,-0.74,-40.00,3304.9,3350.9,3258.9,2160.8,2306.1,27.46,-13.05,46,243.21,0.00,0.28,2.62,0.000,0.183,0.099,3306.28,3352.94,3259.62,2215.12,842.62,0,0,0,30.00,15.69,15.44
$GC,252.53,1029,-126.52,-0.74,0.00,3305.5,3351.6,3259.5,2217.8,841.7,29.30,-13.43,49,258.11,0.00,0.04,2.32,0.000,0.242,0.026,3304.12,3352.00,3256.25,2187.12,2313.19,0,0,0,30.00,15.40,13.99
$GC,317.57,1,-126.52,-0.74,0.00,3305.2,3351.4,3259.1,2186.1,2312.6,39.27,-15.42,56,319.04,0.00,0.16,0.00,0.000,0.207,0.000,3306.53,3352.06,3261.00,2215.50,2313.25,0,0,0,30.00,15.67,30.00
$GC,437.59,645,-126.52,-0.82,-40.00,3305.2,3351.3,3259.0,2217.1,2312.9,51.90,-10.41,68,442.18,0.00,0.17,2.58,0.000,0.082,0.099,3303.53,3350.69,3256.38,2153.44,839.38,0,0,0,30.00,15.79,15.70
$GC,465.55,1157,-126.52,-0.87,0.00,3305.4,3351.8,3259.1,2153.9,839.1,55.98,-11.86,70,473.06,0.00,0.10,2.30,0.000,0.236,0.026,3304.62,3350.69,3258.56,2173.06,2305.44,0,0,0,30.00,15.63,15.92
$GC,592.63,389,-126.52,-0.91,40.00,3304.8,3351.1,3258.4,2174.4,2305.8,70.76,-10.75,83,596.16,0.00,0.11,2.31,0.000,0.108,0.065,3307.19,3353.50,3260.88,2124.69,3701.12,0,0,0,30.00,15.80,15.82
$GC,612.61,1029,-126.52,-0.91,0.00,3305.3,3351.6,3259.0,2126.1,3703.9,73.16,-10.94,85,616.15,0.00,0.17,2.28,0.000,0.189,0.022,3305.19,3352.00,3258.38,2159.94,2211.75,0,0,0,30.00,15.64,15.89
$GC,740.64,645,-126.52,-0.96,-40.00,3305.2,3351.5,3258.9,2160.4,2210.9,87.98,-11.02,98,746.06,0.00,0.10,2.38,0.000,0.116,0.094,3306.16,3353.81,3258.50,2118.38,840.94,0,0,0,30.00,15.84,15.76
$GC,800.66,1157,-126.52,-0.90,0.00,3305.7,3352.2,3259.2,2117.3,840.3,95.59,-12.81,104,806.09,0.00,0.22,2.30,0.000,0.203,0.026,3305.47,3351.06,3259.88,2160.50,2306.25,0,0,0,30.00,15.63,15.96
$GC,1052.75,677,-126.52,-0.96,-40.00,3306.1,3353.1,3259.2,2159.6,2307.9,120.91,-9.93,129,1057.30,0.00,0.10,2.54,0.000,0.116,0.092,3308.41,3355.56,3261.25,2116.81,840.81,0,0,0,30.00,15.83,15.76
$GC,1117.74,1029,-126.52,-0.96,0.00,3306.3,3353.4,3259.2,2118.2,841.0,128.07,-11.40,135,1121.27,0.00,0.14,2.29,0.000,0.212,0.026,3308.44,3354.75,3262.12,2145.94,2308.25,0,0,0,30.00,15.62,15.95
$GC,1367.89,421,-126.52,-1.02,40.00,3306.5,3353.9,3259.0,2145.4,2309.6,152.88,-9.59,160,1371.35,0.00,0.13,2.31,0.000,0.096,0.068,3308.12,3356.56,3259.69,2089.00,3706.81,0,0,0,30.00,15.82,15.86
$GC,1435.83,1029,-126.52,-1.02,0.00,3306.8,3354.3,3259.4,2090.7,3704.8,160.96,-11.75,167,1441.24,0.00,0.17,2.27,0.000,0.180,0.024,3309.88,3357.19,3262.56,2126.50,2215.50,0,0,0,30.00,15.71,15.94
$GC,1685.87,421,-126.52,-1.07,40.00,3306.6,3354.4,3258.8,2126.4,2211.8,184.90,-9.40,192,1691.34,0.00,0.11,2.47,0.000,0.109,0.064,3306.09,3353.12,3259.06,2076.50,3706.12,0,0,0,30.00,15.84,15.90
$GC,1770.84,1157,-126.52,-1.12,0.00,3306.8,3354.6,3258.9,2076.2,3706.6,193.74,-10.15,200,1776.27,0.00,0.09,2.27,0.000,0.227,0.021,3305.28,3353.75,3256.81,2096.38,2202.50,0,0,0,30.00,15.74,15.97
$STATE,1848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1848,begin apogee
$GC,1849.18,3,0.00,-0.18,0.00,3307.2,3355.2,3259.2,2094.1,1860.7,200.76,-9.34,208,1948.31,95.43,1.50,0.14,1.086,0.152,0.101,2790.31,2868.62,2712.00,2395.06,2031.19,0,0,0,11.08,15.76,15.42
$STATE,1948,end apogee,CONTROL_FINISHED_OK
$STATE,1948,begin climb
$GC,1948.69,519,126.52,0.86,-40.00,2787.8,2865.9,2709.6,2397.6,2030.9,206.59,0.00,218,2054.96,99.68,1.50,2.83,1.079,0.030,0.114,2270.88,2417.44,2124.31,2784.62,493.25,0,0,0,12.14,15.56,15.35
$GC,2393.84,1191,223.90,0.81,0.00,2265.0,2403.3,2126.7,2784.6,493.1,193.61,4.89,262,2470.96,73.04,0.43,2.28,1.068,0.184,0.018,1874.81,2057.12,1692.50,2702.56,1996.31,0,0,0,11.71,15.66,15.86
$GC,2706.86,423,272.13,0.93,40.00,1871.9,2057.5,1686.4,2700.8,1996.1,170.33,7.52,293,2748.22,36.33,0.22,2.22,1.019,0.073,0.050,1679.88,1850.31,1509.44,2767.38,3357.81,0,0,0,11.64,15.77,15.60
$GC,3229.03,1061,275.35,0.93,0.00,1675.6,1841.4,1509.9,2768.5,3360.3,114.89,9.93,345,3233.52,0.00,0.15,2.39,0.000,0.206,0.049,1676.56,1842.38,1510.75,2740.56,1903.25,0,0,0,30.00,15.59,15.84
$GC,3474.01,163,319.97,1.04,0.00,1673.5,1839.5,1507.6,2739.7,1901.4,94.57,7.71,369,3514.33,35.15,0.20,0.00,0.949,0.076,0.000,1484.88,1640.25,1329.50,2804.88,1901.62,0,0,0,11.34,15.82,30.00
$GC,3754.02,551,343.30,1.06,-40.00,1480.6,1636.1,1325.1,2805.4,1901.6,68.82,8.85,397,3777.96,18.63,0.10,2.53,0.877,0.219,0.117,1390.41,1543.62,1237.19,2782.50,491.38,0,0,0,11.86,15.74,15.61
$GC,3794.03,1191,359.18,1.13,0.00,1387.6,1538.9,1236.4,2784.6,491.6,65.07,9.25,401,3814.89,13.73,0.12,2.31,0.826,0.100,0.021,1325.62,1476.50,1174.75,2829.00,1979.94,0,0,0,12.24,15.69,15.87
$GC,3934.00,261,359.18,1.13,40.00,1323.5,1475.0,1172.1,2830.2,1985.1,49.92,11.56,415,3937.56,0.00,0.12,2.22,0.000,0.197,0.043,1324.34,1475.62,1173.06,2804.75,3365.75,0,0,0,30.00,15.69,15.74
$GC,3984.03,1029,359.18,1.13,0.00,1323.5,1474.9,1172.1,2803.4,3363.2,43.69,12.46,420,3987.57,0.00,0.02,2.38,0.000,0.369,0.047,1323.31,1474.62,1172.00,2827.88,1902.38,0,0,0,30.00,30.36,15.79
$GC,4109.05,517,359.18,1.13,-40.00,1322.8,1474.5,1171.1,2828.5,1901.8,27.59,11.90,434,4114.67,0.00,0.11,2.58,0.000,0.211,0.123,1323.75,1475.69,1171.81,2806.75,493.19,0,0,0,30.00,15.72,15.49
$GC,4129.07,1029,359.18,1.13,0.00,1321.1,1471.1,1171.1,2805.8,493.1,25.55,10.61,438,4134.62,0.00,0.03,2.31,0.000,0.347,0.020,1322.47,1472.69,1172.25,2823.56,1983.94,0,0,0,30.00,15.49,15.70
$GC,4194.05,261,359.18,1.13,40.00,1321.2,1471.4,1171.1,2825.4,1985.2,17.26,12.56,451,4199.66,0.00,0.10,2.23,0.000,0.211,0.046,1321.84,1471.31,1172.38,2804.88,3363.19,0,0,0,30.00,15.71,15.61
$GC,4219.08,1157,359.18,1.19,0.00,1320.9,1471.0,1170.8,2803.7,3360.5,14.28,12.09,456,4224.69,0.00,0.11,2.41,0.000,0.112,0.050,1321.34,1470.69,1172.00,2854.25,1900.75,0,0,0,30.00,15.44,15.55
$GC,4284.10,517,359.18,1.19,-40.00,1320.9,1471.1,1170.8,2852.5,1901.3,6.88,11.02,469,4289.70,0.00,0.14,2.56,0.000,0.199,0.117,1322.31,1472.31,1172.31,2820.88,494.56,0,0,0,30.00,15.72,15.48
$GC,4299.07,1029,359.18,1.19,0.00,1321.0,1471.1,1171.0,2822.0,494.6,5.44,10.57,472,4304.72,0.00,0.05,2.31,0.000,0.212,0.020,1320.97,1470.38,1171.56,2845.38,1972.25,0,0,0,30.00,15.46,15.69
$STATE,4334,end climb,SURFACE_DEPTH_REACHED
$STATE,4334,begin surface coast
$FINISH,-0.0,1.010541
$STATE,4369,end surface coast,CONTROL_FINISHED_OK
$STATE,4369,begin surface
$SM_CCo,4406.35,18.50,0.054,0,1157.6,1265.4,1049.9,400.42
$SM_GC,0.89,18.50,11.90,0.48,0.054,0.029,0.022,1157.6,1265.4,1049.9,183.4,2339.2,0,0,0,14.07,15.80,15.91
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2241.89,-15731.98,101021,032302
$TCM_TEMP,25.80
$XPDR_PINGS,78
$HUMID,57.43
$TEMP,22.10
$INTERNAL_PRESSURE,9.58528
$24V_AH,14.94,162.306
$10V_AH,15.00,0.000
$FG_AHR_24Vo,79.437
$FG_AHR_10Vo,26.248
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,465.180,31.535,72.595,189.270,19.500,23.744,2245.432,2416.320,1528.409,0.000,0.000,0.000
$DEVICE_MAMPS,1086.088,368.752,122.752,188.511,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1064.286,1177.988,596.959,670.417,1030.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168256,32,14652,88
$DATA_FILE_SIZE,49971,486
$CAP_FILE_SIZE,176396,0
$SDSIZE,3931136,3805376
$SDFILEDIR,2373,2
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,254.9,1
$GPS,101021,055753,2242.224,-15732.907,14,1.0,23,9.9