version: 67.00
glider: 511
mission: 20
dive: 919
start: 10 17 121 20 3 14
data:
$ID,511
$MISSION,20
$DIVE,919
$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,29.825077
$FG_AHR_24V,90.51693
$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
$GPS1,171021,195800,2244.299,-15744.320,11,1.0,20,9.9
$_CALLS,1
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-61.7
$GPS2,171021,200259,2244.304,-15744.390,7,1.0,17,9.9
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T27kma
$TGT_LATLONG,2243.600,-15744.200
$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,132.4,1344,-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,-0.86,0.00,1148.3,1240.2,1056.5,180.1,2192.9,0.00,0.00,0,76.41,72.33,0.00,0.00,0.005,0.000,0.000,3082.28,3104.75,3059.81,180.12,2192.00,0,0,0,14.07,30.00,30.00
$GC,76.75,551,-126.52,-0.86,-40.00,3082.9,3108.2,3057.7,180.2,2190.6,3.72,-4.42,14,103.27,4.53,12.19,2.36,0.009,0.325,0.095,3305.12,3347.69,3262.56,2173.38,838.31,0,0,0,15.19,15.11,15.13
$GC,121.98,1028,-126.52,-0.86,0.00,3305.7,3351.2,3260.1,2174.0,838.9,13.99,-16.29,23,127.46,0.00,0.00,2.33,0.000,0.000,0.026,3307.06,3351.75,3262.38,2172.00,2307.81,0,0,0,30.00,30.00,15.59
$GC,187.08,389,-126.52,-0.90,40.00,3305.8,3351.3,3260.3,2173.7,2305.7,21.77,-11.55,36,192.59,0.00,0.07,2.33,0.000,0.144,0.063,3308.06,3353.62,3262.50,2130.38,3708.25,0,0,0,30.00,15.76,15.54
$GC,206.99,1029,-126.52,-0.90,0.00,3306.1,3351.6,3260.6,2132.1,3704.2,24.52,-12.92,40,212.59,0.00,0.16,2.30,0.000,0.191,0.025,3307.72,3354.06,3261.38,2163.19,2231.38,0,0,0,30.00,15.31,15.54
$GC,277.01,0,-126.52,-0.90,0.00,3306.0,3351.8,3260.1,2163.8,2227.1,33.91,-12.85,51,278.35,0.00,0.00,0.00,0.000,0.000,0.000,3306.94,3351.81,3262.06,2163.31,2225.44,0,0,0,30.00,30.00,30.00
$GC,397.06,260,-126.52,-0.90,40.00,3305.9,3351.4,3260.4,2164.6,2226.8,50.19,-13.65,63,400.48,0.00,0.00,2.45,0.000,0.000,0.062,3307.34,3352.50,3262.19,2165.81,3702.81,0,0,0,30.00,30.00,15.81
$GC,417.05,1157,-126.52,-0.93,0.00,3306.6,3352.3,3260.8,2164.1,3705.9,52.92,-13.49,65,420.57,0.00,0.09,2.28,0.000,0.122,0.022,3306.50,3352.56,3260.44,2119.06,2230.44,0,0,0,30.00,15.65,15.86
$GC,547.07,645,-126.52,-0.88,-40.00,3305.6,3351.2,3260.1,2117.6,2226.9,70.22,-11.35,78,551.64,0.00,0.27,2.40,0.000,0.190,0.091,3304.97,3349.69,3260.25,2169.56,839.44,0,0,0,30.00,15.69,15.71
$GC,582.07,1029,-126.52,-0.88,0.00,3306.9,3351.1,3262.8,2172.0,839.4,73.94,-10.63,81,585.59,0.00,0.05,2.30,0.000,0.218,0.026,3308.03,3352.69,3263.38,2128.94,2308.75,0,0,0,30.00,15.67,15.89
$GC,710.08,293,-126.52,-0.88,40.00,3306.0,3351.7,3260.2,2130.1,2311.1,87.19,-9.65,94,715.51,0.00,0.22,2.29,0.000,0.194,0.063,3307.41,3354.38,3260.44,2175.19,3709.12,0,0,0,30.00,15.71,15.71
$GC,730.08,1189,-126.52,-0.94,0.00,3306.3,3352.4,3260.1,2173.1,3707.2,89.05,-9.70,96,735.50,0.00,0.14,2.28,0.000,0.087,0.019,3307.22,3351.12,3263.31,2113.12,2223.62,0,0,0,30.00,15.73,15.91
$GC,982.12,517,-126.52,-0.94,-40.00,3306.0,3351.9,3260.1,2112.4,2219.0,116.26,-10.45,121,985.67,0.00,0.20,2.38,0.000,0.197,0.088,3307.50,3352.00,3263.00,2152.81,840.81,0,0,0,30.00,15.71,15.74
$GC,1015.08,1029,-126.52,-0.94,0.00,3306.7,3352.7,3260.7,2152.6,839.9,119.74,-10.25,124,1022.52,0.00,0.05,2.30,0.000,0.200,0.025,3308.12,3354.62,3261.62,2108.25,2313.12,0,0,0,30.00,15.75,15.94
$GC,1262.18,1,-126.52,-0.94,0.00,3306.8,3353.1,3260.6,2110.1,2312.8,147.20,-10.99,149,1263.67,0.00,0.21,0.00,0.000,0.190,0.000,3305.53,3351.69,3259.38,2151.19,2310.50,0,0,0,30.00,15.72,30.00
$GC,1500.33,677,-126.52,-1.04,-40.00,3306.9,3353.4,3260.5,2152.2,2313.7,168.46,-8.91,173,1505.79,0.00,0.18,2.56,0.000,0.074,0.092,3310.34,3356.94,3263.75,2087.75,839.75,0,0,0,30.00,15.84,15.77
$GC,1522.36,1189,-126.52,-1.07,0.00,3306.7,3353.1,3260.3,2087.6,840.3,170.75,-9.90,175,1525.81,0.00,0.11,2.30,0.000,0.234,0.026,3308.25,3353.56,3262.94,2109.94,2306.69,0,0,0,30.00,15.60,15.94
$GC,1770.29,516,-126.52,-1.07,-40.00,3306.8,3353.3,3260.3,2108.5,2307.7,198.39,-10.94,200,1775.61,0.00,0.00,2.53,0.000,0.000,0.088,3307.19,3355.00,3259.38,2108.00,839.50,0,0,0,30.00,30.00,15.78
$STATE,1785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1785,begin apogee
$GC,1788.29,3,0.00,-0.18,0.00,3307.1,3353.1,3261.0,2109.0,1969.3,200.11,-11.06,201,1887.78,95.88,1.47,0.12,1.096,0.162,0.136,2789.41,2870.38,2708.44,2393.38,1864.06,0,0,0,11.00,15.41,15.39
$STATE,1888,end apogee,CONTROL_FINISHED_OK
$STATE,1888,begin climb
$GC,1888.15,263,126.52,0.86,40.00,2790.8,2870.8,2710.9,2393.1,1863.7,204.02,0.00,211,1995.14,100.53,1.53,2.47,1.078,0.044,0.042,2271.19,2419.00,2123.38,2749.06,3367.75,0,0,0,12.05,15.57,15.35
$GC,2216.90,1191,164.59,0.80,0.00,2271.1,2416.9,2125.2,2749.0,3365.1,188.76,8.06,243,2255.23,30.55,0.26,2.39,1.022,0.182,0.046,2119.78,2287.00,1952.56,2699.50,1898.12,0,0,0,11.66,15.54,15.80
$GC,2494.05,679,244.26,0.97,-40.00,2114.4,2285.4,1943.4,2697.5,1899.6,171.96,5.84,271,2558.89,60.28,0.29,2.56,1.042,0.053,0.119,1792.72,1974.19,1611.25,2800.69,491.81,0,0,0,11.52,15.79,15.53
$GC,2681.97,1157,244.26,0.92,0.00,1786.3,1965.4,1607.2,2799.1,491.8,151.47,11.73,290,2687.41,0.00,0.31,2.30,0.000,0.177,0.019,1786.78,1967.12,1606.44,2737.44,1986.06,0,0,0,30.00,15.60,15.81
$GC,2934.09,679,282.50,1.02,-40.00,1784.7,1965.6,1603.8,2736.1,1987.6,129.57,8.05,315,2968.26,28.60,0.19,2.72,0.968,0.069,0.120,1637.69,1801.00,1474.38,2806.38,494.75,0,0,0,11.45,15.78,15.60
$GC,2986.98,1157,282.50,0.96,0.00,1635.4,1797.9,1473.0,2806.3,494.8,123.90,10.23,320,2994.45,0.00,0.28,2.30,0.000,0.171,0.020,1635.62,1798.06,1473.19,2748.12,1997.38,0,0,0,30.00,15.64,15.83
$GC,3234.07,423,313.11,1.07,40.00,1632.7,1797.0,1468.4,2750.6,1997.4,102.29,8.46,345,3262.56,23.48,0.20,2.20,0.932,0.060,0.047,1513.50,1665.69,1361.31,2828.31,3364.88,0,0,0,11.66,15.80,15.61
$GC,3277.00,1157,313.11,1.01,0.00,1513.3,1666.1,1360.5,2826.4,3363.1,97.31,10.48,349,3282.53,0.00,0.29,2.41,0.000,0.167,0.053,1513.50,1665.50,1361.50,2765.88,1901.50,0,0,0,30.00,15.58,15.79
$GC,3524.16,679,341.19,1.11,-40.00,1509.3,1661.9,1356.7,2766.1,1901.0,76.19,8.60,374,3554.65,22.42,0.19,2.53,0.887,0.070,0.120,1396.12,1544.62,1247.62,2836.12,491.94,0,0,0,11.65,15.83,15.61
$GC,3594.15,1029,341.19,1.11,0.00,1393.9,1540.2,1247.7,2834.9,491.8,68.37,11.83,381,3597.61,0.00,0.19,2.30,0.000,0.185,0.019,1394.88,1540.75,1249.00,2793.44,1995.00,0,0,0,30.00,15.62,15.84
$GC,3724.10,389,341.19,1.17,40.00,1393.2,1540.1,1246.2,2796.0,1996.6,53.59,10.65,394,3727.60,0.00,0.12,2.19,0.000,0.097,0.047,1394.50,1541.44,1247.56,2846.81,3359.06,0,0,0,30.00,15.78,15.82
$GC,3744.07,1029,341.19,1.17,0.00,1393.1,1540.0,1246.2,2847.9,3361.4,51.25,11.05,396,3747.67,0.00,0.16,2.43,0.000,0.190,0.057,1392.16,1538.94,1245.38,2813.38,1904.69,0,0,0,30.00,15.53,15.77
$GC,3874.10,517,341.19,1.17,-40.00,1392.6,1539.8,1245.3,2814.6,1901.9,36.17,11.20,409,3878.69,0.00,0.06,2.56,0.000,0.170,0.121,1391.22,1538.25,1244.19,2849.75,492.19,0,0,0,30.00,15.77,15.68
$GC,3899.11,1029,341.19,1.17,0.00,1391.2,1537.1,1245.2,2850.0,491.9,33.10,11.69,411,3902.66,0.00,0.16,2.29,0.000,0.185,0.019,1391.94,1537.44,1246.44,2815.62,1981.56,0,0,0,30.00,15.64,15.87
$GC,4024.15,261,341.19,1.17,40.00,1391.0,1536.8,1245.2,2815.8,1983.3,19.52,10.72,433,4029.73,0.00,0.04,2.22,0.000,0.241,0.042,1391.88,1537.44,1246.31,2844.50,3359.69,0,0,0,30.00,15.80,15.59
$GC,4039.15,1031,341.19,1.17,0.00,1390.9,1536.5,1245.2,2847.4,3361.9,17.59,11.60,436,4044.79,0.00,0.16,2.41,0.000,0.192,0.052,1392.12,1537.88,1246.38,2814.44,1904.56,0,0,0,30.00,15.36,15.54
$GC,4104.19,517,341.19,1.17,-40.00,1391.0,1536.5,1245.6,2814.6,1903.3,10.29,10.44,449,4109.81,0.00,0.04,2.57,0.000,0.239,0.118,1390.88,1535.88,1245.88,2851.25,494.94,0,0,0,30.00,15.79,15.41
$GC,4134.20,1031,341.19,1.17,0.00,1388.6,1532.9,1244.3,2851.9,495.0,6.67,12.01,455,4139.90,0.00,0.16,2.31,0.000,0.192,0.019,1389.50,1533.56,1245.44,2816.19,1982.00,0,0,0,30.00,15.38,15.64
$STATE,4169,end climb,SURFACE_DEPTH_REACHED
$STATE,4169,begin surface coast
$FINISH,-0.1,1.013085
$STATE,4194,end surface coast,CONTROL_FINISHED_OK
$STATE,4194,begin surface
$SM_CCo,4238.94,26.55,0.053,0,1159.8,1247.6,1072.0,399.88
$SM_CCo,4240.20,0.00,2.484,0,1159.0,1246.1,1071.9,400.08
$SM_GC,0.97,0.00,11.56,0.48,2.484,0.018,0.034,1159.0,1246.1,1071.9,173.7,2343.6,0,0,0,30.36,15.81,15.91
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2245.94,-15744.57,171021,184705
$TCM_TEMP,25.30
$XPDR_PINGS,66
$HUMID,56.04
$TEMP,21.93
$INTERNAL_PRESSURE,9.57904
$24V_AH,13.52,187.205
$10V_AH,15.00,0.000
$FG_AHR_24Vo,90.585
$FG_AHR_10Vo,29.850
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,465.140,31.585,80.980,200.605,16.500,27.001,2143.493,2369.251,1397.416,0.000,0.000,0.000
$DEVICE_MAMPS,2483.696,325.456,135.872,181.755,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.300,1172.337,573.868,648.629,996.622,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168200,32,14708,88
$DATA_FILE_SIZE,46429,467
$CAP_FILE_SIZE,179551,0
$SDSIZE,3931136,3787200
$SDFILEDIR,2799,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,283.4,1
$GPS,171021,211434,2244.064,-15744.402,14,1.0,28,9.9