version: 67.00
glider: 511
mission: 20
dive: 804
start: 10 11 121 15 42 30
data:
$ID,511
$MISSION,20
$DIVE,804
$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,26.913446
$FG_AHR_24V,81.459358
$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
$GPS1,111021,153519,2242.305,-15734.174,12,1.0,35,9.9
$_CALLS,2
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-64.6
$GPS2,111021,154214,2242.273,-15734.214,2,0.9,18,9.9
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T48kma
$TGT_LATLONG,2243.600,-15731.700
$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,26.8,4948,-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,3.03,2,-126.52,-0.86,0.00,1150.6,1239.1,1062.1,182.9,2181.8,0.00,0.00,0,71.32,67.33,0.00,0.00,0.005,0.000,0.000,2950.56,2978.31,2922.81,182.69,2180.75,0,0,0,14.00,30.00,30.00
$GC,71.64,295,-126.52,-0.86,40.00,2950.2,2978.1,2922.4,183.0,2180.2,3.16,-3.71,13,98.81,7.52,12.18,2.57,0.008,0.330,0.070,3305.56,3350.31,3260.81,2174.88,3708.75,0,0,0,15.23,15.13,14.19
$GC,107.55,1157,-126.52,-0.72,0.00,3305.7,3351.6,3259.7,2173.1,3706.8,11.36,-18.81,20,113.15,0.00,0.23,2.31,0.000,0.184,0.021,3307.12,3352.62,3261.62,2218.75,2212.00,0,0,0,30.00,15.39,15.60
$GC,172.56,129,-126.52,-0.84,0.00,3306.9,3354.4,3259.4,2220.0,2208.1,20.61,-13.63,33,177.50,0.00,0.21,0.00,0.000,0.070,0.000,3308.38,3355.25,3261.50,2149.06,2210.50,0,0,0,30.00,15.74,30.00
$GC,237.60,389,-126.52,-0.77,40.00,3307.0,3354.4,3259.6,2147.5,2208.2,29.64,-13.48,46,243.25,0.00,0.31,2.54,0.000,0.190,0.068,3306.75,3353.19,3260.31,2205.44,3707.44,0,0,0,30.00,15.68,15.54
$GC,267.60,1157,-126.52,-0.81,0.00,3306.6,3354.2,3259.0,2206.5,3705.2,32.70,-10.21,50,271.16,0.00,0.10,2.30,0.000,0.112,0.022,3307.94,3354.62,3261.25,2156.62,2221.25,0,0,0,30.00,15.64,15.86
$GC,397.65,389,-126.52,-0.76,40.00,3307.1,3354.8,3259.5,2154.6,2220.0,47.89,-13.02,63,402.23,0.00,0.28,2.48,0.000,0.183,0.065,3305.78,3353.12,3258.44,2206.25,3707.56,0,0,0,30.00,15.71,15.70
$GC,412.63,1028,-126.52,-0.76,0.00,3307.0,3354.3,3259.8,2209.2,3707.4,49.66,-12.92,64,416.03,0.00,0.00,2.29,0.000,0.000,0.024,3306.44,3354.44,3258.44,2209.19,2233.75,0,0,0,30.00,30.00,15.86
$GC,542.69,677,-126.52,-0.83,-40.00,3307.2,3354.7,3259.7,2209.1,2229.2,62.69,-8.62,77,547.24,0.00,0.14,2.42,0.000,0.086,0.098,3306.44,3353.31,3259.56,2146.81,841.94,0,0,0,30.00,15.77,15.71
$GC,567.68,1061,-126.52,-0.83,0.00,3307.1,3354.8,3259.4,2148.1,841.7,65.25,-8.87,79,571.21,0.00,0.19,2.30,0.000,0.203,0.027,3309.00,3356.94,3261.06,2184.94,2307.62,0,0,0,30.00,15.60,15.91
$GC,697.72,389,-126.52,-0.88,40.00,3307.7,3355.0,3260.3,2185.2,2308.6,79.53,-10.14,92,701.24,0.00,0.10,2.30,0.000,0.106,0.064,3309.03,3356.00,3262.06,2133.31,3704.69,0,0,0,30.00,15.79,15.84
$GC,720.65,1029,-126.52,-0.88,0.00,3307.3,3355.2,3259.4,2132.1,3705.2,82.50,-10.52,94,728.11,0.00,0.19,2.29,0.000,0.197,0.024,3305.59,3353.69,3257.50,2170.12,2216.12,0,0,0,30.00,15.69,15.94
$GC,967.81,677,-126.52,-0.97,-40.00,3307.4,3355.5,3259.3,2169.3,2214.1,105.47,-8.74,119,972.32,0.00,0.17,2.36,0.000,0.082,0.093,3306.31,3354.00,3258.62,2110.81,837.81,0,0,0,30.00,15.86,15.76
$GC,980.76,1189,-126.52,-1.03,0.00,3307.6,3355.8,3259.5,2112.6,836.9,107.03,-9.25,120,986.16,0.00,0.05,2.29,0.000,0.302,0.027,3308.31,3357.25,3259.38,2122.12,2306.94,0,0,0,30.00,15.66,15.93
$GC,1232.83,292,-126.52,-1.03,40.00,3307.2,3355.6,3258.9,2123.4,2305.6,131.43,-9.46,145,1236.20,0.00,0.00,2.30,0.000,0.000,0.064,3309.84,3358.06,3261.62,2122.62,3705.75,0,0,0,30.00,30.00,15.87
$GC,1265.77,1060,-126.52,-1.03,0.00,3306.1,3353.7,3258.5,2121.4,3705.9,134.97,-9.83,148,1273.07,0.00,0.00,2.27,0.000,0.000,0.023,3308.41,3355.81,3261.00,2123.69,2228.44,0,0,0,30.00,30.00,15.96
$GC,1510.85,516,-126.52,-1.03,-40.00,3307.8,3356.5,3259.0,2123.2,2227.2,159.86,-10.46,173,1516.13,0.00,0.00,2.38,0.000,0.000,0.091,3310.12,3358.31,3261.94,2122.81,840.62,0,0,0,30.00,30.00,15.80
$GC,1525.78,1028,-126.52,-1.03,0.00,3307.2,3354.0,3260.3,2121.5,839.3,161.56,-10.63,174,1533.09,0.00,0.00,2.28,0.000,0.000,0.024,3306.91,3356.19,3257.62,2122.50,2310.94,0,0,0,30.00,30.00,15.97
$GC,1772.90,292,-126.52,-1.03,40.00,3307.9,3356.6,3259.2,2122.9,2311.0,186.96,-9.95,199,1776.28,0.00,0.00,2.29,0.000,0.000,0.064,3306.62,3356.19,3257.06,2121.94,3709.19,0,0,0,30.00,30.00,15.86
$GC,1802.89,1028,-126.52,-1.03,0.00,3307.8,3356.4,3259.3,2123.1,3707.0,190.15,-10.36,202,1806.29,0.00,0.00,2.27,0.000,0.000,0.021,3309.72,3357.69,3261.75,2123.31,2230.06,0,0,0,30.00,30.00,15.94
$STATE,1911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1911,begin apogee
$GC,1912.20,3,0.00,-0.18,0.00,3308.2,3357.1,3259.2,2123.4,1855.7,200.60,-9.20,213,2014.80,95.80,1.36,0.14,1.073,0.159,0.092,2788.59,2866.56,2710.62,2393.75,2050.50,0,0,0,11.19,15.76,15.46
$STATE,2015,end apogee,CONTROL_FINISHED_OK
$STATE,2015,begin climb
$GC,2015.18,519,126.52,0.86,-40.00,2789.2,2868.4,2710.1,2394.9,2051.5,205.30,0.00,223,2122.21,100.39,1.50,2.88,1.075,0.017,0.117,2272.00,2417.56,2126.44,2785.44,492.69,0,0,0,12.31,15.59,15.35
$GC,2339.03,1191,201.25,0.76,0.00,2264.4,2402.0,2126.8,2784.7,493.0,196.36,6.10,255,2400.84,56.69,0.51,2.28,1.055,0.183,0.017,1969.03,2149.31,1788.75,2686.94,2003.81,0,0,0,11.67,15.66,15.86
$GC,2639.08,423,254.90,0.91,40.00,1963.2,2147.4,1778.9,2685.9,2004.2,176.74,7.23,285,2685.48,41.03,0.27,2.21,1.032,0.066,0.048,1749.44,1929.44,1569.44,2760.62,3362.25,0,0,0,11.70,15.77,15.53
$GC,2941.04,1029,254.90,0.91,0.00,1746.4,1922.5,1570.3,2762.9,3361.0,144.54,10.17,315,2944.62,0.00,0.14,2.39,0.000,0.198,0.049,1747.03,1922.88,1571.19,2735.06,1904.44,0,0,0,30.00,15.57,15.81
$GC,3189.15,423,294.71,1.04,40.00,1743.7,1922.1,1565.3,2734.4,1901.3,124.43,7.97,340,3224.79,29.73,0.22,2.38,0.968,0.071,0.046,1588.50,1748.81,1428.19,2807.50,3360.62,0,0,0,11.57,15.82,15.60
$GC,3269.10,1157,294.71,0.97,0.00,1586.2,1745.2,1427.2,2807.6,3361.2,114.86,12.96,348,3274.58,0.00,0.29,2.39,0.000,0.173,0.046,1587.09,1746.44,1427.75,2750.56,1895.69,0,0,0,30.00,15.60,15.80
$GC,3521.14,645,294.71,1.05,-40.00,1582.3,1740.8,1423.9,2752.4,1896.5,88.64,10.14,373,3525.73,0.00,0.16,2.52,0.000,0.085,0.119,1584.16,1742.69,1425.62,2813.19,492.56,0,0,0,30.00,15.81,15.72
$GC,3559.08,1029,294.71,1.05,0.00,1580.6,1737.4,1423.9,2813.1,493.0,83.67,11.54,376,3566.56,0.00,0.17,2.28,0.000,0.189,0.020,1579.69,1736.25,1423.12,2779.19,1997.69,0,0,0,30.00,15.71,15.93
$GC,3806.19,163,319.28,1.17,0.00,1580.1,1736.8,1423.4,2777.3,1998.3,60.12,8.79,401,3826.71,19.25,0.22,0.00,0.863,0.069,0.000,1488.75,1638.56,1338.94,2850.31,1998.81,0,0,0,11.51,15.83,30.00
$GC,3946.18,645,319.28,1.11,-40.00,1484.5,1633.4,1335.6,2849.6,1998.3,43.57,12.33,415,3950.83,0.00,0.28,2.74,0.000,0.172,0.119,1484.56,1633.00,1336.12,2791.25,493.00,0,0,0,30.00,15.72,15.72
$GC,3971.17,1029,319.28,1.11,0.00,1482.8,1629.9,1335.8,2792.4,492.9,40.70,11.94,417,3974.70,0.00,0.05,2.29,0.000,0.191,0.020,1483.28,1630.75,1335.81,2820.56,1964.12,0,0,0,30.00,15.70,15.89
$GC,4101.20,35,350.24,1.14,0.00,1482.5,1629.4,1335.5,2821.7,1965.1,29.05,8.44,430,4126.80,24.02,0.06,0.00,0.839,0.247,0.000,1360.81,1509.88,1211.75,2807.81,1970.31,0,0,0,11.98,15.73,30.00
$GC,4186.20,1,350.24,1.14,0.00,1360.1,1510.0,1210.1,2808.2,1969.6,20.25,11.30,447,4191.18,0.00,0.05,0.00,0.000,0.222,0.000,1360.25,1510.75,1209.75,2838.94,1969.56,0,0,0,30.00,15.73,30.00
$GC,4251.23,389,350.24,1.10,40.00,1359.0,1509.0,1209.1,2839.2,1970.0,11.82,12.95,460,4256.79,0.00,0.19,2.27,0.000,0.179,0.044,1359.91,1509.38,1210.44,2797.44,3362.12,0,0,0,30.00,15.70,15.62
$GC,4276.19,1029,350.24,1.10,0.00,1359.0,1509.1,1209.0,2797.8,3362.3,9.37,10.53,465,4281.82,0.00,0.00,2.43,0.000,0.072,0.058,1360.16,1510.50,1209.81,2801.31,1907.06,0,0,0,30.00,30.36,15.56
$GC,4341.26,679,375.13,1.19,-40.00,1358.3,1508.9,1207.8,2800.3,1902.9,3.25,8.77,478,4346.42,4.51,0.11,0.00,0.067,0.111,0.000,1323.22,1466.50,1179.94,2847.50,1902.88,0,0,0,15.62,15.76,30.00
$STATE,4346,end climb,SURFACE_DEPTH_REACHED
$STATE,4346,begin surface coast
$FINISH,-0.1,1.023406
$STATE,4381,end surface coast,CONTROL_FINISHED_OK
$STATE,4381,begin surface
$SM_CCo,4418.81,18.33,0.053,0,1158.6,1262.4,1054.8,400.19
$SM_GC,0.69,18.33,12.01,0.60,0.053,0.039,0.026,1158.6,1262.4,1054.8,181.2,2317.0,0,0,0,15.75,15.80,15.90
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2244.22,-15734.14,111021,142033
$TCM_TEMP,25.70
$XPDR_PINGS,75
$HUMID,58.39
$TEMP,22.15
$INTERNAL_PRESSURE,9.59095
$24V_AH,14.93,167.006
$10V_AH,15.00,0.000
$FG_AHR_24Vo,81.527
$FG_AHR_10Vo,26.939
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,464.600,31.720,72.625,259.324,18.750,30.822,2261.646,2549.427,1479.640,0.000,0.000,0.000
$DEVICE_MAMPS,1075.264,330.376,118.816,189.552,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1073.168,1180.079,597.083,681.407,1046.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168276,31,14652,88
$DATA_FILE_SIZE,49745,486
$CAP_FILE_SIZE,175286,0
$SDSIZE,3931136,3801920
$SDFILEDIR,2454,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,210.2,1
$GPS,111021,165655,2242.167,-15734.177,13,1.0,36,9.9