version: 67.00
glider: 511
mission: 20
dive: 915
start: 10 17 121 14 52 38
data:
$ID,511
$MISSION,20
$DIVE,915
$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,29.720171
$FG_AHR_24V,90.199104
$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
$GPS1,171021,144554,2244.147,-15743.907,10,1.0,19,9.9
$_CALLS,1
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-60.2
$GPS2,171021,145221,2244.128,-15743.986,7,0.9,17,9.9
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T30kmb
$TGT_LATLONG,2244.300,-15742.300
$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,75.6,2898,-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,3.15,2,-126.52,-0.86,0.00,825.4,914.1,736.7,178.3,2169.8,0.00,0.00,0,81.56,77.42,0.00,0.00,0.005,0.000,0.000,2912.47,2945.31,2879.62,178.06,2169.31,0,0,0,14.09,30.00,30.00
$GC,81.84,295,-126.52,-0.86,40.00,2912.5,2946.9,2878.1,178.2,2167.4,3.31,-3.61,15,109.06,8.40,12.39,2.61,0.007,0.335,0.071,3306.34,3355.88,3256.81,2172.19,3707.56,0,0,0,14.10,15.06,15.07
$GC,132.81,1157,-126.52,-0.92,0.00,3305.6,3357.0,3254.2,2173.1,3705.8,12.51,-13.36,25,138.38,0.00,0.12,2.30,0.000,0.100,0.017,3307.91,3360.75,3255.06,2129.69,2214.44,0,0,0,30.00,15.41,15.60
$GC,197.83,645,-126.52,-0.89,-40.00,3306.1,3357.4,3254.8,2129.4,2212.1,20.84,-13.12,38,203.41,0.00,0.19,2.39,0.000,0.204,0.088,3305.59,3355.19,3256.00,2169.00,841.19,0,0,0,30.00,15.64,15.43
$GC,252.84,1157,-126.52,-0.96,0.00,3306.6,3358.3,3254.8,2169.2,841.8,27.78,-12.20,49,258.47,0.00,0.15,2.32,0.000,0.077,0.026,3306.25,3356.50,3256.00,2104.94,2309.06,0,0,0,30.00,15.37,15.56
$GC,322.88,389,-126.52,-0.90,40.00,3306.3,3358.0,3254.6,2104.9,2307.7,37.22,-13.97,58,327.44,0.00,0.29,2.31,0.000,0.195,0.069,3307.53,3360.00,3255.06,2159.88,3701.12,0,0,0,30.00,15.65,15.64
$GC,337.87,1157,-126.52,-0.86,0.00,3306.5,3358.4,3254.6,2162.4,3703.8,39.42,-14.19,59,341.38,0.00,0.05,2.29,0.000,0.266,0.026,3308.50,3359.88,3257.12,2173.94,2231.50,0,0,0,30.00,15.57,15.80
$GC,467.92,677,-126.52,-0.93,-40.00,3306.2,3358.1,3254.2,2177.1,2229.8,54.19,-9.53,72,472.47,0.00,0.14,2.41,0.000,0.085,0.095,3304.88,3355.75,3254.00,2121.25,837.62,0,0,0,30.00,15.78,15.69
$GC,545.87,1029,-126.52,-0.93,0.00,3306.4,3358.1,3254.7,2122.4,837.1,64.40,-12.92,79,553.33,0.00,0.17,2.31,0.000,0.205,0.027,3309.47,3361.06,3257.88,2155.50,2308.12,0,0,0,30.00,15.60,15.90
$GC,672.96,645,-126.52,-0.99,-40.00,3306.5,3358.5,3254.4,2155.1,2308.0,80.15,-11.90,92,677.53,0.00,0.12,2.52,0.000,0.093,0.086,3307.19,3359.06,3255.31,2101.50,836.38,0,0,0,30.00,15.78,15.72
$GC,740.94,1157,-126.52,-0.95,0.00,3306.3,3358.2,3254.3,2100.0,835.7,90.25,-14.61,98,748.41,0.00,0.25,2.29,0.000,0.189,0.024,3307.00,3357.25,3256.75,2146.44,2307.38,0,0,0,30.00,15.64,15.92
$GC,988.05,677,-126.52,-1.13,-40.00,3306.7,3359.1,3254.3,2146.8,2308.8,114.81,-8.33,123,992.62,0.00,0.29,2.55,0.000,0.048,0.091,3306.50,3356.44,3256.56,2048.00,839.12,0,0,0,30.00,15.81,15.73
$GC,1066.00,1157,-126.52,-1.08,0.00,3306.9,3359.2,3254.6,2047.9,838.6,124.33,-12.42,130,1073.47,0.00,0.29,2.29,0.000,0.189,0.028,3308.09,3361.44,3254.75,2106.25,2302.62,0,0,0,30.00,15.64,15.93
$GC,1313.09,677,-126.52,-1.15,-40.00,3307.1,3359.1,3255.2,2106.1,2304.0,147.58,-8.69,155,1317.63,0.00,0.14,2.49,0.000,0.082,0.081,3308.56,3360.38,3256.75,2046.50,837.06,0,0,0,30.00,15.83,15.76
$GC,1371.08,1157,-126.52,-1.06,0.00,3308.7,3360.6,3256.8,2047.2,837.8,154.85,-11.89,160,1376.56,0.00,0.34,2.30,0.000,0.181,0.028,3306.84,3360.69,3253.00,2112.06,2303.00,0,0,0,30.00,15.65,15.96
$GC,1616.11,677,-126.52,-1.19,-40.00,3307.1,3359.8,3254.4,2113.1,2304.4,177.19,-9.55,185,1621.59,0.00,0.22,2.52,0.000,0.058,0.089,3307.88,3359.81,3255.94,2033.00,837.00,0,0,0,30.00,15.84,15.79
$GC,1776.19,1157,-126.52,-1.22,0.00,3307.2,3360.1,3254.4,2033.2,837.6,196.65,-12.46,201,1781.61,0.00,0.14,2.30,0.000,0.196,0.025,3305.56,3357.12,3254.00,2063.38,2308.19,0,0,0,30.00,15.68,15.94
$STATE,1818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1818,begin apogee
$GC,1820.04,3,0.00,-0.18,0.00,3308.4,3362.0,3254.8,2062.9,1870.5,200.87,-10.86,205,1919.63,96.04,1.64,0.12,1.089,0.143,0.112,2792.88,2875.12,2710.62,2397.56,2031.12,0,0,0,10.98,15.76,15.39
$STATE,1919,end apogee,CONTROL_FINISHED_OK
$STATE,1919,begin climb
$GC,1920.02,519,126.52,0.86,-40.00,2790.8,2872.9,2708.8,2396.3,2032.1,208.51,0.00,215,2031.55,101.04,1.50,2.82,1.083,0.027,0.116,2271.78,2420.69,2122.88,2761.00,493.12,0,0,0,12.07,15.57,15.31
$GC,2123.29,1191,356.39,1.02,0.00,2266.8,2410.1,2123.5,2762.7,493.1,213.56,-2.20,235,2294.44,165.90,0.05,2.29,1.094,0.212,0.018,1336.69,1483.69,1189.69,2794.50,1981.25,0,0,0,11.65,15.59,15.74
$GC,2538.29,389,356.39,0.96,40.00,1331.3,1474.7,1187.9,2796.6,1981.0,173.78,10.15,277,2541.76,0.00,0.23,2.22,0.000,0.175,0.045,1330.16,1472.50,1187.81,2744.88,3363.56,0,0,0,30.00,15.69,15.72
$GC,3041.29,1191,401.27,1.14,0.00,1330.5,1473.1,1187.9,2748.8,3363.3,129.47,7.70,327,3079.66,33.86,0.30,2.38,0.990,0.054,0.049,1155.22,1288.81,1021.62,2845.31,1899.44,0,0,0,11.42,15.68,15.86
$GC,3318.33,389,401.27,1.08,40.00,1148.7,1279.3,1018.1,2844.8,1900.8,96.37,12.42,355,3322.91,0.00,0.26,2.36,0.000,0.166,0.045,1149.50,1279.88,1019.12,2786.31,3359.56,0,0,0,30.00,15.72,15.79
$GC,3406.33,1191,408.10,1.18,0.00,1148.2,1278.6,1017.9,2789.2,3358.1,87.16,9.74,363,3417.05,6.80,0.16,2.38,0.694,0.082,0.051,1125.25,1251.81,998.69,2852.44,1901.31,0,0,0,11.58,15.68,15.84
$GC,3663.37,517,408.10,1.18,-40.00,1123.8,1248.8,998.9,2854.4,1901.2,60.01,10.64,389,3667.98,0.00,0.17,2.53,0.000,0.180,0.116,1125.50,1250.62,1000.38,2819.69,492.25,0,0,0,30.00,15.74,15.72
$GC,3898.44,1191,422.82,1.28,0.00,1121.8,1244.5,999.1,2819.9,491.8,39.01,9.31,412,3918.68,12.73,0.18,2.30,0.786,0.079,0.021,1065.84,1185.75,945.94,2880.19,1973.94,0,0,0,11.53,15.71,15.92
$GC,4038.46,129,422.82,1.24,0.00,1064.8,1183.6,946.1,2882.8,1974.2,21.52,13.31,432,4043.40,0.00,0.20,0.00,0.000,0.175,0.000,1065.06,1183.31,946.81,2836.44,1975.50,0,0,0,30.00,15.71,30.00
$GC,4103.50,645,422.82,1.29,-40.00,1064.3,1182.8,945.8,2838.9,1977.0,12.79,13.79,445,4109.23,0.00,0.13,2.71,0.000,0.090,0.117,1064.75,1183.06,946.44,2898.19,494.50,0,0,0,30.00,15.78,15.48
$GC,4118.47,1029,422.82,1.29,0.00,1063.1,1180.2,945.9,2897.8,494.4,10.50,14.72,448,4124.12,0.00,0.21,2.31,0.000,0.186,0.022,1063.69,1180.38,947.00,2852.62,1984.44,0,0,0,30.00,15.39,15.64
$STATE,4183,end climb,SURFACE_DEPTH_REACHED
$STATE,4183,begin surface coast
$FINISH,0.1,1.023374
$STATE,4213,end surface coast,CONTROL_FINISHED_OK
$STATE,4213,begin surface
$SM_CCo,4290.79,0.00,0.000,0,1061.7,1177.2,946.2,423.95
$SM_GC,0.76,0.00,11.86,0.47,0.000,0.026,0.024,1061.7,1177.2,946.2,185.4,2341.6,0,0,0,30.00,15.81,15.91
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2243.94,-15744.57,171021,132940
$TCM_TEMP,25.20
$XPDR_PINGS,69
$HUMID,58.50
$TEMP,21.94
$INTERNAL_PRESSURE,9.57882
$24V_AH,14.87,186.511
$10V_AH,15.00,0.000
$FG_AHR_24Vo,90.277
$FG_AHR_10Vo,29.745
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,502.205,32.215,63.800,289.144,17.250,26.766,2338.198,2313.155,1514.755,0.000,0.000,0.000
$DEVICE_MAMPS,1093.632,334.640,116.848,194.695,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.529,1161.971,573.709,649.266,997.420,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168248,31,14680,88
$DATA_FILE_SIZE,46429,467
$CAP_FILE_SIZE,169527,0
$SDSIZE,3931136,3787712
$SDFILEDIR,2787,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205,280.8,1
$GPS,171021,160455,2244.352,-15744.266,12,1.0,34,9.9