version: 67.00
glider: 511
mission: 20
dive: 827
start: 10 12 121 21 12 27
data:
$ID,511
$MISSION,20
$DIVE,827
$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,27.501907
$FG_AHR_24V,83.188393
$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
$GPS1,121021,210731,2242.757,-15735.655,13,0.9,30,9.9
$_CALLS,1
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-59.8
$GPS2,121021,211211,2242.765,-15735.692,5,0.9,18,9.9
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T42kma
$TGT_LATLONG,2243.600,-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,42.1,2055,-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,3.05,2,-126.52,-0.86,0.00,1151.0,1240.9,1061.1,173.5,2159.1,0.00,0.00,0,71.33,67.32,0.00,0.00,0.005,0.000,0.000,2964.91,2990.31,2939.50,173.75,2157.50,0,0,0,14.05,30.00,30.00
$GC,71.62,295,-126.52,-0.86,40.00,2965.7,2991.6,2939.7,173.9,2157.1,3.33,-4.07,13,98.85,7.08,12.40,2.59,0.008,0.338,0.071,3305.72,3349.25,3262.19,2171.56,3709.75,0,0,0,15.22,15.09,15.27
$GC,177.66,1157,-126.52,-0.90,0.00,3304.5,3348.2,3260.9,2172.1,3707.4,21.12,-14.34,34,183.18,0.00,0.09,2.33,0.000,0.123,0.027,3306.69,3352.12,3261.25,2132.38,2236.56,0,0,0,30.00,15.42,15.56
$GC,247.63,645,-126.52,-0.82,-40.00,3304.9,3350.6,3259.2,2132.0,2234.9,31.82,-15.55,47,252.22,0.00,0.30,2.43,0.000,0.202,0.099,3307.94,3353.38,3262.50,2189.06,841.00,0,0,0,30.00,15.65,15.67
$GC,372.69,1157,-126.52,-0.88,0.00,3304.8,3350.7,3258.9,2190.0,841.4,47.56,-11.72,59,376.24,0.00,0.13,2.30,0.000,0.097,0.029,3307.06,3352.62,3261.50,2141.12,2310.00,0,0,0,30.00,15.66,15.89
$GC,502.71,645,-126.52,-0.83,-40.00,3305.1,3351.1,3259.2,2137.1,2308.5,65.74,-14.60,72,507.32,0.00,0.25,2.56,0.000,0.201,0.099,3308.16,3354.56,3261.75,2187.12,840.50,0,0,0,30.00,15.69,15.71
$GC,637.83,1157,-126.52,-0.93,0.00,3304.8,3350.6,3259.1,2186.8,840.1,81.25,-10.98,85,641.29,0.00,0.18,2.29,0.000,0.072,0.026,3306.53,3351.56,3261.50,2139.38,2309.81,0,0,0,30.00,15.69,15.90
$GC,885.78,261,-126.52,-0.93,40.00,3305.4,3351.8,3259.1,2123.7,2310.9,111.20,-11.83,110,891.20,0.00,0.17,2.28,0.000,0.208,0.066,3309.25,3356.00,3262.50,2155.06,3705.31,0,0,0,30.00,15.73,15.74
$GC,970.79,1157,-126.52,-1.03,0.00,3304.9,3351.0,3258.8,2156.3,3704.1,120.41,-10.70,118,978.27,0.00,0.20,2.28,0.000,0.074,0.025,3303.34,3348.94,3257.75,2083.50,2235.19,0,0,0,30.00,15.74,15.95
$GC,1215.85,129,-126.52,-0.96,0.00,3305.2,3351.4,3259.1,2083.8,2233.1,152.46,-12.87,143,1217.36,0.00,0.31,0.00,0.000,0.197,0.000,3303.88,3350.44,3257.31,2144.69,2229.94,0,0,0,30.00,15.73,30.00
$GC,1455.97,677,-126.52,-1.03,-40.00,3306.5,3353.4,3259.5,2143.9,2230.2,177.12,-9.50,167,1461.42,0.00,0.14,2.40,0.000,0.093,0.096,3304.44,3350.81,3258.06,2094.12,841.19,0,0,0,30.00,15.85,15.79
$GC,1480.85,1061,-126.52,-1.03,0.00,3305.5,3352.2,3258.8,2093.4,840.7,179.95,-10.10,169,1486.30,0.00,0.17,2.27,0.000,0.211,0.028,3305.06,3352.19,3257.94,2121.69,2304.25,0,0,0,30.00,15.67,15.96
$STATE,1696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1696,begin apogee
$GC,1697.74,3,0.00,-0.18,0.00,3306.2,3353.1,3259.3,2123.2,1875.9,200.62,-9.31,191,1797.80,95.36,1.38,0.10,1.083,0.165,0.126,2791.84,2871.94,2711.75,2396.50,1988.75,0,0,0,11.10,15.74,15.44
$STATE,1798,end apogee,CONTROL_FINISHED_OK
$STATE,1798,begin climb
$GC,1798.18,519,126.52,0.86,-40.00,2791.5,2869.4,2713.5,2395.2,1987.9,203.14,0.00,201,1905.01,100.46,1.53,2.74,1.072,0.045,0.118,2275.84,2422.06,2129.62,2748.62,492.75,0,0,0,12.19,15.57,15.36
$GC,2116.80,1191,170.06,0.85,0.00,2267.0,2406.3,2127.8,2749.8,493.1,188.60,7.77,232,2155.12,34.67,0.17,2.29,1.022,0.189,0.019,2095.66,2264.25,1927.06,2715.81,1980.56,0,0,0,11.72,15.66,15.84
$GC,2396.87,423,223.29,0.95,40.00,2092.5,2263.1,1921.9,2717.9,1983.2,167.14,7.25,261,2443.30,41.35,0.19,2.23,1.019,0.073,0.050,1878.16,2058.19,1698.12,2781.44,3363.88,0,0,0,11.63,15.80,15.53
$GC,2481.92,1157,223.29,0.88,0.00,1877.3,2057.2,1697.4,2780.2,3361.6,158.69,10.80,269,2487.44,0.00,0.31,2.39,0.000,0.178,0.048,1877.69,2058.69,1696.69,2721.94,1897.38,0,0,0,30.00,15.54,15.75
$GC,2726.99,679,282.15,1.02,-40.00,1874.5,2057.1,1691.8,2723.0,1897.6,141.74,6.95,294,2775.44,43.85,0.25,2.53,0.994,0.068,0.120,1638.59,1802.88,1474.31,2807.56,492.38,0,0,0,11.57,15.81,15.57
$GC,2817.22,1157,282.15,0.97,0.00,1633.8,1797.6,1469.9,2808.1,491.6,131.85,12.08,302,2824.70,0.00,0.26,2.30,0.000,0.183,0.020,1635.62,1798.50,1472.75,2752.31,1995.00,0,0,0,30.00,15.59,15.79
$GC,3064.37,163,312.42,1.08,0.00,1631.5,1796.5,1466.6,2753.9,1993.6,109.12,8.48,327,3088.91,22.90,0.19,0.00,0.926,0.068,0.000,1520.09,1674.12,1366.06,2821.81,1995.50,0,0,0,11.69,15.79,30.00
$GC,3324.40,389,312.42,1.04,40.00,1512.0,1664.2,1359.8,2820.9,1992.6,78.20,11.65,353,3327.91,0.00,0.22,2.18,0.000,0.178,0.047,1513.75,1666.06,1361.44,2776.69,3360.44,0,0,0,30.00,15.74,15.77
$GC,3354.36,1029,312.42,1.04,0.00,1512.2,1664.4,1360.0,2775.9,3361.3,74.97,11.11,356,3357.92,0.00,0.03,2.38,0.000,0.304,0.049,1513.19,1665.56,1360.81,2805.25,1903.00,0,0,0,30.00,15.65,15.81
$GC,3484.42,645,312.42,1.08,-40.00,1510.9,1662.9,1358.9,2804.8,1901.3,62.29,10.11,369,3488.99,0.00,0.07,2.54,0.000,0.246,0.120,1509.38,1660.88,1357.88,2793.00,491.75,0,0,0,30.00,15.74,15.72
$GC,3519.43,1157,312.42,1.14,0.00,1509.4,1659.8,1359.1,2791.9,491.8,58.55,10.60,372,3522.96,0.00,0.11,2.29,0.000,0.111,0.020,1510.62,1660.94,1360.31,2834.38,1975.62,0,0,0,30.00,15.72,15.89
$GC,3649.44,261,312.42,1.14,40.00,1509.2,1659.4,1358.9,2834.6,1975.0,43.34,11.68,385,3652.98,0.00,0.13,2.21,0.000,0.196,0.046,1510.38,1660.69,1360.06,2807.06,3363.19,0,0,0,30.00,15.75,15.78
$GC,3679.50,1029,312.42,1.14,0.00,1509.0,1659.2,1358.7,2806.0,3362.1,39.96,11.58,388,3682.99,0.00,0.05,2.39,0.000,0.229,0.050,1509.44,1659.62,1359.25,2833.88,1899.94,0,0,0,30.00,15.65,15.82
$GC,3804.51,129,312.42,1.10,0.00,1509.3,1659.6,1358.9,2839.7,1897.5,26.38,11.12,403,3809.44,0.00,0.23,0.00,0.000,0.183,0.000,1509.44,1659.06,1359.81,2792.19,1899.44,0,0,0,30.00,15.74,30.00
$GC,3869.53,129,312.42,1.16,0.00,1509.0,1659.4,1358.5,2790.8,1899.4,19.44,10.34,416,3874.53,0.00,0.14,0.00,0.000,0.092,0.000,1509.62,1659.81,1359.44,2844.38,1899.38,0,0,0,30.00,15.79,30.00
$GC,3934.59,129,312.42,1.11,0.00,1509.2,1659.6,1358.8,2844.0,1899.2,10.86,14.04,429,3939.52,0.00,0.23,0.00,0.000,0.173,0.000,1510.06,1660.75,1359.38,2797.69,1897.69,0,0,0,30.00,15.73,30.00
$STATE,3994,end climb,SURFACE_DEPTH_REACHED
$STATE,3994,begin surface coast
$FINISH,0.0,1.023198
$STATE,4019,end surface coast,CONTROL_FINISHED_OK
$STATE,4019,begin surface
$SM_CCo,4078.21,39.80,0.053,0,1159.7,1262.4,1057.0,399.92
$SM_CCo,4079.40,0.03,0.783,0,1159.1,1260.8,1057.4,400.06
$SM_GC,0.86,0.03,11.61,0.61,0.783,0.025,0.036,1159.1,1260.8,1057.4,179.1,2318.8,0,0,0,14.89,15.83,15.92
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2243.90,-15731.98,121021,195510
$TCM_TEMP,25.60
$XPDR_PINGS,62
$HUMID,58.41
$TEMP,22.18
$INTERNAL_PRESSURE,9.58976
$24V_AH,14.33,170.912
$10V_AH,15.00,0.000
$FG_AHR_24Vo,83.252
$FG_AHR_10Vo,27.525
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,452.810,31.445,53.705,185.262,15.500,27.410,2053.100,2283.756,1356.583,0.000,0.000,0.000
$DEVICE_MAMPS,1082.808,337.920,125.704,184.078,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,965.273,1065.963,547.925,616.409,947.189,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168244,32,14664,88
$DATA_FILE_SIZE,42727,446
$CAP_FILE_SIZE,152912,0
$SDSIZE,3931136,3799008
$SDFILEDIR,2523,2
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,270.9,1
$GPS,121021,222101,2242.936,-15735.493,13,1.2,24,9.9