version: 67.00
glider: 511
mission: 20
dive: 840
start: 10 13 121 14 23 9
data:
$ID,511
$MISSION,20
$DIVE,840
$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,27.832458
$FG_AHR_24V,84.22718
$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
$GPS1,131021,141738,2242.720,-15736.926,3,1.4,43,9.9
$_CALLS,1
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-62.7
$GPS2,131021,142253,2242.694,-15736.985,5,1.4,46,9.9
$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,39.5,4639,-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,3.11,2,-126.52,-0.86,0.00,932.9,1025.5,840.3,180.8,2230.8,0.00,0.00,0,76.46,72.33,0.00,0.00,0.005,0.000,0.000,2891.19,2927.12,2855.25,180.56,2229.12,0,0,0,14.00,30.00,30.00
$GC,76.80,295,-126.52,-0.86,40.00,2889.5,2925.2,2853.8,180.5,2229.7,3.07,-3.41,14,108.46,9.27,12.24,2.50,0.007,0.330,0.075,3303.53,3355.38,3251.69,2175.00,3701.81,0,0,0,14.08,15.12,15.14
$GC,122.19,1157,-126.52,-0.94,0.00,3305.6,3356.2,3254.9,2174.5,3704.1,11.13,-13.97,23,127.76,0.00,0.14,2.29,0.000,0.093,0.019,3306.97,3358.25,3255.69,2125.38,2228.38,0,0,0,30.00,15.41,15.60
$GC,187.27,645,-126.52,-0.86,-40.00,3305.3,3356.1,3254.5,2124.3,2224.1,19.93,-14.15,36,192.82,0.00,0.28,2.45,0.000,0.197,0.097,3307.59,3358.44,3256.75,2178.75,840.62,0,0,0,30.00,15.66,15.45
$GC,212.18,1028,-126.52,-0.86,0.00,3305.6,3356.9,3254.3,2177.8,840.1,23.08,-12.75,41,217.67,0.00,0.00,2.32,0.000,0.000,0.026,3306.66,3357.00,3256.31,2179.31,2309.06,0,0,0,30.00,30.00,15.60
$GC,277.23,421,-126.52,-0.94,40.00,3306.3,3357.6,3255.1,2179.4,2312.1,29.47,-9.09,54,282.83,0.00,0.16,2.33,0.000,0.078,0.067,3306.50,3358.62,3254.38,2114.31,3707.38,0,0,0,30.00,15.76,15.53
$GC,377.23,1029,-126.52,-0.94,0.00,3305.8,3357.1,3254.5,2116.3,3704.8,40.80,-11.55,65,380.77,0.00,0.17,2.28,0.000,0.194,0.019,3304.59,3356.50,3252.69,2149.94,2205.62,0,0,0,30.00,15.61,15.89
$GC,507.24,260,-126.52,-0.94,40.00,3306.3,3357.6,3255.1,2151.4,2203.8,55.12,-11.19,78,510.68,0.00,0.00,2.50,0.000,0.000,0.067,3306.34,3356.50,3256.19,2153.81,3707.94,0,0,0,30.00,30.00,15.82
$GC,547.27,1157,-126.52,-0.99,0.00,3305.8,3356.9,3254.8,2152.0,3708.0,59.87,-11.79,82,550.80,0.00,0.11,2.28,0.000,0.101,0.018,3306.06,3355.50,3256.62,2108.12,2217.12,0,0,0,30.00,15.68,15.88
$GC,677.30,645,-126.52,-0.92,-40.00,3305.9,3357.3,3254.5,2105.8,2212.3,77.66,-13.73,95,681.87,0.00,0.27,2.36,0.000,0.196,0.088,3306.62,3357.19,3256.06,2158.62,838.69,0,0,0,30.00,15.70,15.71
$GC,725.27,1157,-126.52,-0.97,0.00,3306.4,3357.7,3255.1,2158.2,838.9,83.32,-11.59,99,730.70,0.00,0.12,2.29,0.000,0.100,0.024,3304.06,3356.06,3252.06,2107.69,2318.31,0,0,0,30.00,15.73,15.93
$GC,970.33,517,-126.52,-0.97,-40.00,3305.9,3357.4,3254.5,2106.2,2317.4,110.57,-10.87,124,975.79,0.00,0.18,2.55,0.000,0.200,0.088,3305.19,3356.75,3253.62,2143.38,838.06,0,0,0,30.00,15.73,15.76
$GC,1002.35,1028,-126.52,-0.97,0.00,3306.5,3358.0,3255.1,2142.1,837.5,113.75,-10.66,127,1005.76,0.00,0.00,2.29,0.000,0.000,0.025,3304.62,3357.44,3251.81,2140.56,2310.81,0,0,0,30.00,30.00,15.91
$GC,1250.42,677,-126.52,-1.12,-40.00,3306.9,3358.9,3254.9,2142.4,2310.7,135.44,-8.26,152,1255.89,0.00,0.25,2.49,0.000,0.058,0.080,3307.94,3358.25,3257.62,2059.19,840.75,0,0,0,30.00,15.85,15.80
$GC,1310.44,1157,-126.52,-1.05,0.00,3306.8,3358.8,3254.8,2060.8,839.9,142.51,-12.06,158,1315.87,0.00,0.29,2.29,0.000,0.194,0.028,3305.50,3356.94,3254.06,2116.06,2302.62,0,0,0,30.00,15.65,15.93
$GC,1560.58,677,-126.52,-1.13,-40.00,3306.7,3358.5,3254.8,2116.9,2303.1,166.59,-9.29,183,1566.04,0.00,0.15,2.51,0.000,0.087,0.086,3309.81,3361.00,3258.62,2062.06,838.19,0,0,0,30.00,15.86,15.79
$GC,1610.50,1157,-126.52,-1.07,0.00,3306.8,3358.6,3254.9,2062.1,839.0,172.63,-12.07,188,1615.94,0.00,0.22,2.29,0.000,0.194,0.029,3308.03,3360.31,3255.75,2105.19,2305.06,0,0,0,30.00,15.67,15.95
$GC,1860.59,677,-126.52,-1.19,-40.00,3307.0,3358.6,3255.4,2106.1,2305.6,196.26,-9.49,213,1866.05,0.00,0.19,2.53,0.000,0.071,0.088,3309.16,3359.25,3259.06,2039.31,839.38,0,0,0,30.00,15.86,15.80
$STATE,1895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1895,begin apogee
$GC,1898.57,3,0.00,-0.18,0.00,3306.4,3358.2,3254.6,2039.8,1963.8,200.69,-11.26,216,1998.12,95.51,1.86,0.12,1.081,0.173,0.146,2790.00,2871.69,2708.31,2398.00,1868.81,0,0,0,11.12,15.40,15.44
$STATE,1998,end apogee,CONTROL_FINISHED_OK
$STATE,1998,begin climb
$GC,1998.49,263,126.52,0.86,40.00,2790.2,2871.7,2708.8,2395.6,1869.8,207.26,0.00,226,2107.93,101.11,1.50,2.46,1.071,0.021,0.044,2270.97,2419.19,2122.75,2757.62,3363.00,0,0,0,12.11,15.58,15.34
$GC,2605.69,1191,253.77,0.86,0.00,2268.6,2414.6,2122.6,2759.1,3365.2,196.90,3.29,287,2705.21,94.46,0.23,2.37,1.087,0.202,0.045,1755.06,1938.81,1571.31,2718.62,1895.69,0,0,0,11.48,15.62,15.88
$GC,2940.69,423,326.84,0.99,40.00,1747.9,1932.7,1563.1,2718.6,1896.6,177.64,6.19,320,2997.42,52.53,0.23,2.43,1.045,0.069,0.051,1458.25,1616.19,1300.31,2792.50,3360.75,0,0,0,11.66,15.76,15.53
$GC,3195.72,1157,326.84,0.93,0.00,1453.9,1607.9,1299.9,2790.0,3358.9,148.11,11.94,345,3201.22,0.00,0.26,2.42,0.000,0.183,0.059,1452.94,1606.12,1299.75,2739.50,1903.19,0,0,0,30.00,15.58,15.79
$GC,3440.82,163,356.10,1.10,0.00,1451.2,1604.0,1298.4,2739.9,1902.8,125.88,8.54,370,3465.43,22.81,0.28,0.00,0.952,0.054,0.000,1338.28,1485.31,1191.25,2828.94,1901.19,0,0,0,11.50,15.79,30.00
$GC,3700.85,389,356.10,1.05,40.00,1333.8,1477.6,1189.9,2829.5,1901.4,96.96,10.57,396,3706.29,0.00,0.26,2.37,0.000,0.166,0.046,1334.22,1477.75,1190.69,2776.25,3360.62,0,0,0,30.00,15.74,15.77
$GC,3740.86,1189,357.85,1.09,0.00,1333.6,1477.4,1189.9,2774.3,3359.5,93.00,10.01,400,3746.28,0.00,0.09,2.36,0.000,0.131,0.043,1334.16,1477.50,1190.81,2821.38,1901.06,0,0,0,30.00,15.69,15.86
$GC,3992.89,517,357.85,1.09,-40.00,1333.2,1476.3,1190.1,2822.1,1903.0,68.10,10.86,425,3997.48,0.00,0.17,2.53,0.000,0.190,0.118,1331.69,1474.56,1188.81,2786.19,490.31,0,0,0,30.00,15.74,15.73
$GC,4117.99,1191,403.59,1.26,0.00,1329.8,1469.6,1190.1,2787.4,490.2,58.41,7.65,437,4159.26,35.35,0.30,2.30,0.902,0.064,0.021,1145.91,1280.00,1011.81,2870.12,1978.94,0,0,0,11.64,15.71,15.92
$GC,4277.92,1,403.59,1.26,0.00,1141.6,1273.4,1009.8,2871.9,1981.1,41.38,10.54,453,4279.38,0.00,0.12,0.00,0.000,0.207,0.000,1142.72,1274.19,1011.25,2846.06,1985.62,0,0,0,30.00,15.69,30.00
$GC,4397.95,645,403.59,1.30,-40.00,1140.8,1271.8,1009.8,2847.4,1984.8,29.18,10.30,465,4403.57,0.00,0.09,2.76,0.000,0.130,0.122,1140.47,1271.00,1009.94,2883.94,494.44,0,0,0,30.00,15.78,15.45
$GC,4447.95,1157,403.59,1.26,0.00,1138.6,1267.3,1009.9,2884.7,494.3,22.60,13.52,475,4453.55,0.00,0.20,2.31,0.000,0.184,0.021,1139.28,1267.81,1010.75,2841.50,1993.06,0,0,0,30.00,15.45,15.69
$GC,4512.96,129,403.59,1.32,0.00,1138.3,1266.9,1009.8,2842.5,1995.1,15.25,11.13,488,4517.88,0.00,0.14,0.00,0.000,0.095,0.000,1139.00,1268.00,1010.00,2894.12,1993.62,0,0,0,30.00,15.74,30.00
$GC,4577.98,645,403.59,1.25,-40.00,1138.4,1267.1,1009.8,2894.2,1995.1,6.38,14.17,501,4583.69,0.00,0.25,2.78,0.000,0.171,0.121,1138.81,1267.25,1010.38,2845.75,493.44,0,0,0,30.00,15.70,15.44
$STATE,4608,end climb,SURFACE_DEPTH_REACHED
$STATE,4608,begin surface coast
$FINISH,-0.1,1.001938
$STATE,4633,end surface coast,CONTROL_FINISHED_OK
$STATE,4633,begin surface
$SM_CCo,4713.63,0.00,0.000,0,1136.0,1258.7,1013.3,405.73
$SM_GC,0.78,0.00,11.88,2.86,0.000,0.028,0.027,1136.0,1258.7,1013.3,178.4,2310.6,0,0,0,30.00,15.80,15.89
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2241.76,-15737.19,131021,130226
$TCM_TEMP,25.20
$XPDR_PINGS,71
$HUMID,58.49
$TEMP,21.84
$INTERNAL_PRESSURE,9.57961
$24V_AH,14.92,173.243
$10V_AH,15.00,0.000
$FG_AHR_24Vo,84.302
$FG_AHR_10Vo,27.859
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,483.370,32.635,72.400,190.400,17.750,56.096,2346.723,2657.921,1589.229,0.000,0.000,0.000
$DEVICE_MAMPS,1087.072,330.048,146.040,186.673,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.552,1264.741,628.806,692.056,1062.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168304,31,14624,88
$DATA_FILE_SIZE,50013,512
$CAP_FILE_SIZE,176876,0
$SDSIZE,3931136,3797312
$SDFILEDIR,2562,2
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218,227.0,1
$GPS,131021,154236,2242.645,-15737.186,15,0.9,43,9.9