version: 67.00
glider: 511
mission: 20
dive: 856
start: 10 14 121 10 47 58
data:
$ID,511
$MISSION,20
$DIVE,856
$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,28.231289
$FG_AHR_24V,85.474968
$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
$GPS1,141021,103931,2244.099,-15737.654,12,0.8,28,9.9
$_CALLS,3
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-59.1
$GPS2,141021,104742,2244.102,-15737.717,1,0.8,14,9.9
$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,67.3,1776,-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,3.09,2,-126.52,-0.86,0.00,972.3,1065.9,878.8,179.3,2151.3,0.00,0.00,0,81.51,77.44,0.00,0.00,0.005,0.000,0.000,3068.31,3093.44,3043.19,179.31,2150.31,0,0,0,14.00,30.00,30.00
$GC,81.86,35,-126.52,-0.86,0.00,3070.3,3097.2,3043.4,179.3,2151.6,3.76,-4.25,15,103.39,4.68,12.14,0.00,0.009,0.321,0.000,3305.16,3350.12,3260.19,2171.00,2149.50,0,0,0,14.07,15.14,30.00
$GC,162.13,645,-126.52,-0.91,-40.00,3307.3,3356.3,3258.2,2172.9,2148.7,17.76,-10.37,31,167.69,0.00,0.09,2.32,0.000,0.123,0.098,3304.69,3352.06,3257.31,2133.81,841.38,0,0,0,30.00,15.73,15.44
$GC,177.10,1029,-126.52,-0.91,0.00,3306.5,3355.1,3257.9,2136.2,841.4,19.40,-10.29,34,182.71,0.00,0.15,2.33,0.000,0.213,0.030,3307.50,3357.50,3257.50,2162.19,2304.19,0,0,0,30.00,15.31,15.59
$GC,242.13,645,-126.52,-0.97,-40.00,3307.0,3356.1,3258.0,2162.2,2305.8,26.66,-11.48,47,247.76,0.00,0.13,2.59,0.000,0.095,0.095,3307.62,3354.31,3260.94,2106.56,841.19,0,0,0,30.00,15.73,15.43
$GC,267.14,1157,-126.52,-0.93,0.00,3307.6,3356.2,3258.9,2108.4,841.8,29.62,-11.48,52,272.79,0.00,0.23,2.32,0.000,0.205,0.028,3306.44,3356.12,3256.75,2153.81,2305.88,0,0,0,30.00,15.30,15.59
$GC,332.14,516,-126.52,-0.93,-40.00,3306.8,3355.6,3258.1,2152.2,2306.6,38.88,-14.29,59,335.60,0.00,0.00,2.57,0.000,0.000,0.094,3307.84,3355.44,3260.25,2151.75,840.69,0,0,0,30.00,30.00,15.69
$GC,362.16,1157,-126.52,-0.96,0.00,3307.1,3355.8,3258.5,2152.7,839.1,43.15,-14.75,62,365.69,0.00,0.08,2.31,0.000,0.136,0.025,3309.34,3357.94,3260.75,2108.94,2309.12,0,0,0,30.00,15.66,15.89
$GC,492.17,645,-126.52,-0.89,-40.00,3307.0,3355.8,3258.1,2110.6,2310.4,61.30,-14.40,75,496.78,0.00,0.29,2.57,0.000,0.197,0.091,3305.94,3355.00,3256.88,2167.19,839.94,0,0,0,30.00,15.69,15.70
$GC,517.18,1028,-126.52,-0.89,0.00,3307.2,3356.3,3258.1,2168.6,840.4,64.59,-13.86,77,520.56,0.00,0.00,2.29,0.000,0.000,0.024,3308.03,3355.75,3260.31,2167.31,2311.56,0,0,0,30.00,30.00,15.88
$GC,647.19,645,-126.52,-1.00,-40.00,3307.4,3356.6,3258.3,2168.4,2311.7,77.91,-10.40,90,651.78,0.00,0.19,2.55,0.000,0.068,0.093,3304.94,3354.31,3255.56,2098.44,837.62,0,0,0,30.00,15.78,15.73
$GC,715.14,1029,-126.52,-1.00,0.00,3307.7,3356.7,3258.7,2099.6,837.2,86.96,-13.06,96,722.60,0.00,0.17,2.29,0.000,0.207,0.026,3308.72,3358.44,3259.00,2132.88,2307.31,0,0,0,30.00,15.64,15.94
$GC,962.25,677,-126.52,-1.05,-40.00,3307.1,3356.4,3257.7,2131.7,2305.2,111.66,-9.14,121,966.83,0.00,0.12,2.53,0.000,0.098,0.088,3310.16,3358.31,3262.00,2079.62,840.19,0,0,0,30.00,15.80,15.76
$GC,1010.20,1029,-126.52,-1.05,0.00,3307.8,3357.1,3258.5,2081.2,840.3,117.30,-10.81,125,1015.64,0.00,0.17,2.28,0.000,0.211,0.027,3306.06,3354.44,3257.69,2113.69,2305.62,0,0,0,30.00,15.64,15.95
$GC,1255.32,421,-126.52,-1.12,40.00,3308.2,3357.6,3258.8,2115.5,2307.7,137.53,-8.02,150,1260.73,0.00,0.14,2.30,0.000,0.086,0.068,3307.00,3355.56,3258.44,2055.06,3702.56,0,0,0,30.00,15.81,15.88
$GC,1287.32,1061,-126.52,-1.12,0.00,3307.8,3357.2,3258.4,2054.4,3705.5,140.72,-9.51,153,1290.87,0.00,0.19,2.30,0.000,0.195,0.028,3309.91,3359.69,3260.12,2092.50,2230.88,0,0,0,30.00,15.64,15.89
$GC,1537.45,421,-126.52,-1.17,40.00,3308.4,3357.9,3258.9,2093.2,2227.3,161.86,-9.09,178,1541.94,0.00,0.11,2.41,0.000,0.108,0.063,3306.06,3355.88,3256.25,2040.19,3700.31,0,0,0,30.00,15.81,15.87
$GC,1550.37,1189,-126.52,-1.21,0.00,3307.8,3357.3,3258.2,2041.7,3702.4,163.40,-9.62,179,1555.79,0.00,0.12,2.27,0.000,0.220,0.023,3310.94,3360.50,3261.38,2064.69,2217.06,0,0,0,30.00,15.72,15.95
$GC,1800.40,260,-126.52,-1.21,40.00,3307.8,3357.3,3258.4,2066.7,2214.9,191.75,-11.68,204,1805.69,0.00,0.00,2.45,0.000,0.000,0.064,3310.03,3360.62,3259.44,2064.81,3704.00,0,0,0,30.00,30.00,15.90
$GC,1820.49,1157,-126.52,-1.25,0.00,3306.3,3354.7,3258.0,2067.4,3702.7,194.14,-11.75,206,1825.90,0.00,0.11,2.23,0.000,0.110,0.015,3307.47,3356.19,3258.75,2024.25,2201.06,0,0,0,30.00,15.78,15.96
$STATE,1872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1872,begin apogee
$GC,1873.73,3,0.00,-0.18,0.00,3307.0,3355.4,3258.6,2022.2,1842.3,200.18,-12.02,211,1972.96,95.29,1.91,0.15,1.070,0.175,0.088,2788.62,2872.62,2704.62,2397.19,2018.75,0,0,0,10.92,15.71,15.39
$STATE,1973,end apogee,CONTROL_FINISHED_OK
$STATE,1973,begin climb
$GC,1973.35,263,126.52,0.86,40.00,2788.2,2870.4,2706.0,2394.9,2020.9,207.26,0.00,221,2078.43,99.36,1.53,2.22,1.069,0.042,0.049,2274.16,2424.19,2124.12,2753.81,3365.56,0,0,0,12.15,15.57,15.36
$GC,2105.43,1191,373.95,1.03,0.00,2272.9,2423.5,2122.4,2752.6,3363.8,211.47,-3.14,234,2289.67,178.00,0.09,2.40,1.064,0.135,0.041,1266.72,1413.00,1120.44,2798.25,1896.38,0,0,0,11.91,15.47,15.63
$GC,2533.43,261,373.95,1.03,40.00,1261.1,1402.6,1119.6,2795.7,1895.4,167.61,12.02,277,2537.00,0.00,0.12,2.37,0.000,0.212,0.043,1261.09,1403.31,1118.88,2770.25,3359.75,0,0,0,30.00,15.67,15.73
$GC,2696.53,1029,373.95,1.03,0.00,1260.6,1402.1,1119.1,2771.2,3360.8,147.83,11.96,293,2701.97,0.00,0.04,2.40,0.000,0.255,0.054,1260.44,1401.81,1119.06,2794.88,1899.94,0,0,0,30.00,15.69,15.84
$GC,2941.56,645,373.95,1.07,-40.00,1258.8,1399.0,1118.7,2796.8,1899.7,119.96,10.58,318,2947.03,0.00,0.05,2.53,0.000,0.292,0.123,1259.31,1399.38,1119.25,2785.25,493.44,0,0,0,30.00,15.76,15.73
$GC,3016.56,1159,373.95,1.15,0.00,1257.3,1395.4,1119.2,2786.5,493.1,112.15,10.34,325,3021.99,0.00,0.15,2.29,0.000,0.089,0.021,1256.84,1394.62,1119.06,2841.56,1974.50,0,0,0,30.00,15.77,15.95
$GC,3261.64,647,373.95,1.10,-40.00,1257.1,1395.0,1119.2,2840.9,1976.7,83.87,10.31,350,3267.15,0.00,0.23,2.66,0.000,0.164,0.115,1257.88,1395.88,1119.88,2792.50,493.81,0,0,0,30.00,15.77,15.75
$GC,3366.72,1191,406.05,1.20,0.00,1256.3,1393.4,1119.2,2791.2,493.3,75.18,8.38,360,3394.83,24.49,0.19,2.29,0.897,0.080,0.021,1134.72,1261.69,1007.75,2856.88,1972.06,0,0,0,11.27,15.79,15.95
$GC,3513.71,295,415.73,1.22,40.00,1130.6,1256.0,1005.1,2854.2,1970.4,61.01,9.58,375,3527.44,9.12,0.11,2.22,0.755,0.199,0.047,1094.22,1216.56,971.88,2829.50,3363.56,0,0,0,11.95,15.74,15.59
$GC,3633.76,1157,415.73,1.27,0.00,1093.3,1216.1,970.6,2833.2,3364.5,48.71,10.70,387,3637.32,0.00,0.12,2.40,0.000,0.102,0.053,1095.00,1217.81,972.19,2868.62,1902.44,0,0,0,30.00,15.63,15.79
$GC,3763.78,645,415.73,1.23,-40.00,1093.5,1216.3,970.8,2879.4,1900.3,33.43,12.42,400,3768.38,0.00,0.21,2.53,0.000,0.187,0.118,1094.62,1217.31,971.94,2834.62,494.31,0,0,0,30.00,15.73,15.71
$GC,3818.80,1157,415.73,1.32,0.00,1091.3,1211.8,970.8,2835.6,494.4,27.63,10.81,407,3824.39,0.00,0.17,2.31,0.000,0.080,0.021,1091.38,1211.69,971.06,2894.12,1974.50,0,0,0,30.00,15.48,15.66
$GC,3883.80,389,415.73,1.24,40.00,1091.3,1212.1,970.6,2894.5,1973.5,20.94,11.16,420,3889.39,0.00,0.28,2.24,0.000,0.171,0.047,1091.03,1211.50,970.56,2834.44,3361.69,0,0,0,30.00,15.72,15.61
$GC,3903.82,1156,415.73,1.21,0.00,1091.2,1211.8,970.8,2837.3,3360.8,18.34,12.91,424,3909.27,0.00,0.00,2.43,0.000,0.000,0.055,1092.03,1212.75,971.31,2834.81,1903.62,0,0,0,30.00,30.00,15.54
$GC,3968.82,129,415.73,1.26,0.00,1091.4,1211.9,970.9,2836.9,1903.1,10.78,11.38,437,3973.72,0.00,0.08,0.00,0.000,0.144,0.000,1091.44,1211.88,971.00,2874.69,1902.44,0,0,0,30.00,15.78,30.00
$STATE,4029,end climb,SURFACE_DEPTH_REACHED
$STATE,4029,begin surface coast
$FINISH,-0.1,1.023287
$STATE,4049,end surface coast,CONTROL_FINISHED_OK
$STATE,4049,begin surface
$SM_CCo,4126.58,0.00,0.000,0,1088.8,1206.8,970.7,417.32
$SM_GC,0.73,0.00,12.15,0.60,0.000,0.039,0.037,1088.8,1206.8,970.7,183.6,2328.9,0,0,0,30.00,15.82,15.92
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2243.76,-15737.19,141021,104252
$TCM_TEMP,25.10
$XPDR_PINGS,71
$HUMID,58.55
$TEMP,21.82
$INTERNAL_PRESSURE,9.57736
$24V_AH,14.91,176.015
$10V_AH,15.00,0.000
$FG_AHR_24Vo,85.549
$FG_AHR_10Vo,28.256
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,488.380,31.880,77.490,273.462,17.750,27.261,2219.852,2371.849,1408.390,0.000,0.000,0.000
$DEVICE_MAMPS,1070.016,320.864,122.752,190.500,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.928,1147.457,556.396,647.049,993.767,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168260,32,14648,88
$DATA_FILE_SIZE,46417,453
$CAP_FILE_SIZE,179094,0
$SDSIZE,3931136,3795264
$SDFILEDIR,2610,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,256.6,1
$GPS,141021,115717,2244.132,-15737.771,12,0.8,21,9.9