version: 67.00
glider: 511
mission: 20
dive: 852
start: 10 14 121 5 32 38
data:
$ID,511
$MISSION,20
$DIVE,852
$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,28.135569
$FG_AHR_24V,85.11821
$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
$GPS1,141021,052719,2243.688,-15737.023,12,0.8,35,9.9
$_CALLS,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-60.6
$GPS2,141021,053221,2243.669,-15737.049,5,0.9,13,9.9
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T39kmb
$TGT_LATLONG,2244.300,-15736.700
$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,28.8,1312,-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,3.08,2,-126.52,-0.86,0.00,977.9,1073.8,882.1,173.3,2209.0,0.00,0.00,0,81.51,77.52,0.00,0.00,0.005,0.000,0.000,3086.22,3109.19,3063.25,173.62,2207.19,0,0,0,13.99,30.00,30.00
$GC,81.86,295,-126.52,-0.86,40.00,3086.8,3110.8,3062.8,173.6,2207.6,3.96,-5.50,15,108.47,4.30,12.38,2.50,0.010,0.337,0.072,3303.47,3350.06,3256.88,2174.38,3711.88,0,0,0,14.19,15.12,15.16
$GC,137.21,1157,-126.52,-0.92,0.00,3305.8,3351.9,3259.6,2173.3,3708.8,16.53,-15.61,26,142.77,0.00,0.12,2.30,0.000,0.100,0.020,3306.88,3354.50,3259.25,2125.25,2227.81,0,0,0,30.00,15.40,15.59
$GC,202.21,645,-126.52,-0.87,-40.00,3305.9,3352.6,3259.2,2127.3,2225.6,24.68,-12.24,39,207.85,0.00,0.24,2.40,0.000,0.197,0.089,3306.62,3352.44,3260.81,2174.44,839.88,0,0,0,30.00,15.67,15.46
$GC,232.20,1028,-126.52,-0.87,0.00,3306.3,3353.4,3259.1,2173.6,840.2,28.04,-11.15,45,237.69,0.00,0.00,2.31,0.000,0.000,0.028,3305.69,3351.62,3259.75,2175.44,2307.31,0,0,0,30.00,30.00,15.58
$GC,302.29,389,-126.52,-0.92,40.00,3306.4,3353.2,3259.6,2173.7,2305.6,35.38,-10.30,54,305.77,0.00,0.11,2.30,0.000,0.102,0.067,3306.72,3354.00,3259.44,2122.06,3708.56,0,0,0,30.00,15.76,15.77
$GC,325.18,1029,-126.52,-0.92,0.00,3306.5,3353.9,3259.1,2122.4,3707.0,38.63,-11.53,56,332.64,0.00,0.17,2.28,0.000,0.204,0.020,3307.81,3355.12,3260.50,2154.62,2204.88,0,0,0,30.00,15.63,15.89
$GC,452.26,645,-126.52,-0.96,-40.00,3306.5,3354.1,3258.9,2157.0,2205.8,53.03,-11.31,69,455.79,0.00,0.09,2.36,0.000,0.120,0.091,3308.94,3355.75,3262.12,2113.25,840.50,0,0,0,30.00,15.81,15.71
$GC,492.25,1029,-126.52,-0.96,0.00,3306.7,3353.8,3259.6,2115.4,839.9,58.52,-13.31,73,495.81,0.00,0.15,2.30,0.000,0.218,0.028,3308.25,3355.56,3260.94,2146.31,2309.06,0,0,0,30.00,15.56,15.90
$GC,622.31,129,-126.52,-1.05,0.00,3307.2,3354.6,3259.9,2145.0,2307.1,73.58,-10.32,86,623.77,0.00,0.16,0.00,0.000,0.081,0.000,3305.41,3352.88,3257.94,2088.44,2308.38,0,0,0,30.00,15.82,30.00
$GC,740.32,645,-126.52,-0.98,-40.00,3307.0,3354.6,3259.4,2086.8,2306.3,88.78,-13.06,98,745.80,0.00,0.26,2.54,0.000,0.188,0.093,3309.75,3356.81,3262.69,2139.12,841.50,0,0,0,30.00,15.74,15.73
$GC,805.30,1157,-126.52,-1.03,0.00,3306.9,3355.1,3258.8,2138.7,841.5,96.59,-11.95,104,812.85,0.00,0.12,2.26,0.000,0.106,0.023,3307.56,3355.25,3259.88,2091.12,2312.94,0,0,0,30.00,15.75,15.94
$GC,1052.42,549,-126.52,-1.03,-40.00,3307.6,3355.3,3259.8,2091.1,2312.9,122.41,-9.62,129,1056.99,0.00,0.17,2.54,0.000,0.211,0.093,3308.66,3356.44,3260.88,2125.56,841.44,0,0,0,30.00,15.72,15.75
$GC,1105.43,1189,-126.52,-1.08,0.00,3307.7,3355.9,3259.4,2124.1,841.5,127.54,-9.32,134,1110.84,0.00,0.12,2.27,0.000,0.098,0.023,3309.31,3356.94,3261.69,2073.56,2317.19,0,0,0,30.00,15.77,15.94
$GC,1355.45,517,-126.52,-1.08,-40.00,3308.2,3356.5,3259.9,2073.0,2318.6,152.89,-10.68,159,1360.91,0.00,0.17,2.54,0.000,0.204,0.087,3308.53,3355.81,3261.25,2105.69,837.75,0,0,0,30.00,15.72,15.76
$GC,1430.46,1157,-126.52,-1.16,0.00,3307.7,3356.2,3259.1,2106.8,837.4,160.77,-10.89,166,1435.94,0.00,0.14,2.27,0.000,0.085,0.025,3305.91,3354.56,3257.25,2049.06,2311.25,0,0,0,30.00,15.76,15.96
$GC,1675.55,645,-126.52,-1.11,-40.00,3307.8,3356.3,3259.2,2048.6,2312.9,187.30,-10.24,191,1681.02,0.00,0.25,2.48,0.000,0.191,0.082,3305.44,3353.88,3257.00,2099.12,838.56,0,0,0,30.00,15.75,15.74
$GC,1790.59,1189,-126.52,-1.24,0.00,3307.7,3356.2,3259.1,2098.9,839.0,196.95,-8.12,202,1796.05,0.00,0.25,2.28,0.000,0.060,0.025,3306.81,3353.38,3260.25,2021.31,2313.75,0,0,0,30.00,15.76,15.97
$STATE,1825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1825,begin apogee
$GC,1827.44,3,0.00,-0.18,0.00,3307.7,3356.1,3259.2,2019.4,1870.1,200.09,-8.77,206,1928.14,95.65,1.90,0.12,1.077,0.172,0.111,2791.97,2871.69,2712.25,2393.06,2019.62,0,0,0,11.05,15.72,15.44
$STATE,1928,end apogee,CONTROL_FINISHED_OK
$STATE,1928,begin climb
$GC,1928.53,519,126.52,0.86,-40.00,2790.2,2869.2,2711.1,2392.8,2022.1,205.42,0.00,216,2038.18,101.29,1.63,2.80,1.064,0.104,0.115,2270.00,2418.38,2121.62,2737.06,491.81,0,0,0,12.23,15.56,15.33
$GC,2065.66,1191,371.41,1.12,0.00,2268.9,2414.6,2123.2,2735.5,491.7,210.16,-3.01,230,2249.36,177.10,0.32,2.31,1.067,0.048,0.019,1276.19,1419.00,1133.38,2842.69,1983.44,0,0,0,11.88,15.52,15.61
$GC,2485.74,645,371.41,1.08,-40.00,1271.5,1410.1,1132.9,2845.0,1984.8,162.54,12.16,272,2491.25,0.00,0.28,2.67,0.000,0.157,0.113,1270.88,1409.56,1132.19,2783.88,494.50,0,0,0,30.00,15.72,15.71
$GC,2690.72,1191,396.32,1.15,0.00,1268.2,1403.4,1132.9,2786.2,494.6,142.85,8.77,292,2718.13,19.75,0.16,2.28,0.935,0.083,0.020,1176.38,1303.56,1049.19,2853.06,1969.06,0,0,0,11.58,15.76,15.90
$GC,2957.81,129,396.32,1.09,0.00,1171.1,1295.6,1046.6,2853.4,1971.3,109.41,12.21,319,2959.30,0.00,0.30,0.00,0.000,0.160,0.000,1171.97,1296.44,1047.50,2791.06,1974.44,0,0,0,30.00,15.75,30.00
$GC,3197.93,161,396.93,1.18,0.00,1170.8,1294.6,1046.9,2791.2,1975.4,85.61,10.07,343,3199.40,0.00,0.17,0.00,0.000,0.075,0.000,1170.22,1293.88,1046.56,2855.19,1974.94,0,0,0,30.00,15.87,30.00
$GC,3437.96,517,396.93,1.18,-40.00,1169.9,1293.1,1046.8,2857.4,1974.0,57.68,10.50,367,3442.48,0.00,0.18,2.66,0.000,0.178,0.117,1169.91,1292.81,1047.00,2820.62,493.38,0,0,0,30.00,15.76,15.74
$GC,3555.92,1191,412.13,1.31,0.00,1167.8,1288.8,1046.8,2820.2,493.2,46.49,9.29,378,3573.75,13.39,0.22,2.28,0.809,0.075,0.022,1109.81,1228.31,991.31,2890.06,1970.62,0,0,0,11.44,15.76,15.94
$GC,3692.90,129,412.13,1.23,0.00,1107.4,1225.2,989.6,2889.6,1970.1,31.43,11.90,392,3694.39,0.00,0.26,0.00,0.000,0.184,0.000,1107.56,1225.44,989.69,2835.88,1973.31,0,0,0,30.00,15.74,30.00
$GC,3813.00,129,412.13,1.29,0.00,1107.0,1224.7,989.2,2835.1,1975.2,19.40,10.47,414,3817.92,0.00,0.12,0.00,0.000,0.097,0.000,1107.53,1225.06,990.00,2885.81,1975.75,0,0,0,30.00,15.79,30.00
$GC,3877.96,645,412.13,1.25,-40.00,1107.0,1224.8,989.3,2885.8,1973.4,11.22,12.42,427,3883.60,0.00,0.22,2.65,0.000,0.181,0.109,1107.75,1225.19,990.31,2845.25,492.81,0,0,0,30.00,15.72,15.51
$GC,3922.96,1157,412.13,1.34,0.00,1104.7,1220.1,989.3,2843.1,493.0,5.77,12.42,436,3928.54,0.00,0.17,2.31,0.000,0.082,0.021,1105.28,1220.56,990.00,2900.19,1966.19,0,0,0,30.00,15.47,15.65
$STATE,3943,end climb,SURFACE_DEPTH_REACHED
$STATE,3943,begin surface coast
$FINISH,0.0,1.023235
$STATE,3963,end surface coast,CONTROL_FINISHED_OK
$STATE,3963,begin surface
$SM_CCo,4040.62,0.00,0.000,0,1102.9,1215.9,989.8,413.85
$SM_GC,0.74,0.00,12.20,0.50,0.000,0.034,0.030,1102.9,1215.9,989.8,185.9,2351.1,0,0,0,30.00,15.82,15.92
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2244.08,-15914.87,141021,040956
$TCM_TEMP,25.30
$XPDR_PINGS,65
$HUMID,58.49
$TEMP,22.02
$INTERNAL_PRESSURE,9.57999
$24V_AH,14.92,175.258
$10V_AH,15.00,0.000
$FG_AHR_24Vo,85.194
$FG_AHR_10Vo,28.159
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,489.005,33.015,59.230,209.230,16.250,22.827,2099.677,2219.204,1366.560,0.000,0.000,0.000
$DEVICE_MAMPS,1076.576,337.264,122.752,182.032,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,993.509,1118.838,545.309,629.967,967.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168240,34,14628,88
$DATA_FILE_SIZE,42927,444
$CAP_FILE_SIZE,160842,0
$SDSIZE,3931136,3795808
$SDFILEDIR,2598,2
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,224.2,1
$GPS,141021,064032,2243.715,-15737.032,11,0.8,22,9.9