version: 67.00
glider: 511
mission: 20
dive: 931
start: 10 18 121 11 55 31
data:
$ID,511
$MISSION,20
$DIVE,931
$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,30.119968
$FG_AHR_24V,91.53672
$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
$GPS1,181021,114959,2244.369,-15745.605,13,0.8,22,9.9
$_CALLS,1
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-61.5
$GPS2,181021,115515,2244.372,-15745.645,7,0.7,21,9.9
$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,91.8,2852,-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,3.17,2,-126.52,-0.86,0.00,1014.3,1110.3,918.2,166.5,2193.8,0.00,0.00,0,76.40,72.28,0.00,0.00,0.005,0.000,0.000,2940.97,2976.94,2905.00,166.38,2193.69,0,0,0,13.99,30.00,30.00
$GC,76.75,295,-126.52,-0.86,40.00,2941.7,2977.8,2905.6,166.2,2194.4,3.29,-3.77,14,103.95,7.71,12.35,2.55,0.008,0.328,0.071,3302.84,3351.06,3254.62,2172.94,3703.75,0,0,0,14.06,15.06,15.18
$GC,132.70,1157,-126.52,-0.93,0.00,3304.8,3355.8,3253.9,2174.3,3707.0,14.08,-14.16,25,138.26,0.00,0.12,2.29,0.000,0.092,0.020,3302.78,3353.31,3252.25,2122.62,2222.75,0,0,0,30.00,15.40,15.58
$GC,197.72,645,-126.52,-0.87,-40.00,3304.5,3355.9,3253.2,2122.6,2217.8,25.32,-18.38,38,203.36,0.00,0.26,2.42,0.000,0.186,0.092,3304.66,3357.12,3252.19,2173.56,841.88,0,0,0,30.00,15.63,15.43
$GC,227.74,1157,-126.52,-0.96,0.00,3304.8,3355.9,3253.6,2175.9,841.3,29.98,-15.48,44,233.32,0.00,0.18,2.31,0.000,0.064,0.023,3303.91,3357.44,3250.38,2101.75,2312.62,0,0,0,30.00,15.38,15.57
$GC,292.80,389,-126.52,-0.91,40.00,3304.8,3356.0,3253.6,2103.1,2314.6,40.70,-16.65,51,297.31,0.00,0.29,2.29,0.000,0.187,0.064,3301.19,3352.62,3249.75,2160.69,3701.06,0,0,0,30.00,15.65,15.65
$GC,317.75,1028,-126.52,-0.91,0.00,3305.2,3356.6,3253.8,2161.1,3701.1,44.44,-15.62,53,321.15,0.00,0.00,2.26,0.000,0.000,0.015,3303.16,3354.94,3251.38,2163.00,2201.06,0,0,0,30.00,30.00,15.84
$GC,447.79,645,-126.52,-1.03,-40.00,3304.7,3356.4,3252.9,2160.8,2197.7,62.11,-13.16,66,451.36,0.00,0.20,2.32,0.000,0.065,0.081,3304.41,3357.94,3250.88,2085.12,839.25,0,0,0,30.00,15.74,15.71
$GC,497.81,1157,-126.52,-0.93,0.00,3304.5,3355.6,3253.5,2085.1,838.9,69.41,-14.65,71,502.38,0.00,0.34,2.29,0.000,0.198,0.023,3308.59,3360.00,3257.19,2149.94,2310.06,0,0,0,30.00,15.57,15.89
$GC,622.87,161,-126.52,-1.03,0.00,3305.1,3356.6,3253.5,2151.1,2309.5,82.17,-9.91,83,624.34,0.00,0.17,0.00,0.000,0.073,0.000,3299.78,3351.38,3248.19,2085.75,2310.75,0,0,0,30.00,15.76,30.00
$GC,862.86,261,-126.52,-1.03,40.00,3305.1,3356.8,3253.4,2087.2,2309.2,109.24,-11.42,107,866.38,0.00,0.18,2.30,0.000,0.189,0.069,3307.44,3358.94,3255.94,2124.81,3704.31,0,0,0,30.00,15.72,15.70
$GC,925.85,1189,-126.52,-1.17,0.00,3305.0,3357.1,3253.0,2123.6,3707.0,115.43,-9.44,113,931.30,0.00,0.23,2.24,0.000,0.058,0.015,3305.06,3359.19,3250.94,2038.12,2189.06,0,0,0,30.00,15.77,15.93
$GC,1170.88,389,-126.52,-1.07,40.00,3304.8,3356.6,3253.1,2040.4,2188.2,143.07,-11.50,138,1176.39,0.00,0.35,2.52,0.000,0.185,0.066,3306.62,3360.00,3253.25,2110.06,3705.50,0,0,0,30.00,15.72,15.73
$GC,1185.86,1157,-126.52,-1.02,0.00,3305.1,3356.8,3253.4,2109.8,3707.9,144.40,-10.97,139,1191.28,0.00,0.08,2.26,0.000,0.231,0.017,3304.88,3356.50,3253.25,2130.62,2198.94,0,0,0,30.00,15.72,15.94
$GC,1430.95,421,-126.52,-1.20,40.00,3305.7,3358.1,3253.3,2128.7,2198.1,162.39,-7.43,164,1436.44,0.00,0.31,2.49,0.000,0.046,0.066,3305.06,3355.06,3255.06,2021.25,3712.38,0,0,0,30.00,15.85,15.89
$GC,1455.94,1189,-126.52,-1.30,0.00,3305.6,3357.8,3253.4,2020.5,3710.4,164.67,-8.17,166,1461.37,0.00,0.09,2.25,0.000,0.244,0.015,3304.31,3355.25,3253.38,2038.31,2166.19,0,0,0,30.00,15.71,15.95
$GC,1700.98,677,-126.52,-1.37,-40.00,3305.7,3358.2,3253.2,2037.7,2166.3,188.15,-9.90,191,1706.38,0.00,0.16,2.25,0.000,0.086,0.080,3306.16,3356.88,3255.44,1979.81,838.06,0,0,0,30.00,15.83,15.79
$STATE,1806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1806,begin apogee
$GC,1808.97,3,0.00,-0.18,0.00,3305.9,3357.9,3253.9,1979.2,1984.4,200.30,-10.97,201,1908.59,95.17,2.12,0.16,1.102,0.153,0.117,2784.91,2866.88,2702.94,2394.75,1859.56,0,0,0,11.04,15.38,15.40
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1908.98,263,126.52,0.86,40.00,2790.4,2872.3,2708.6,2395.9,1860.8,207.86,0.00,211,2018.38,101.26,1.54,2.46,1.093,0.050,0.046,2273.22,2419.25,2127.19,2750.38,3359.56,0,0,0,12.06,15.58,15.30
$GC,2110.89,1191,360.16,0.99,0.00,2271.0,2418.4,2123.6,2747.5,3361.8,214.98,-2.40,231,2285.11,169.51,0.08,2.39,1.102,0.151,0.046,1320.91,1473.81,1168.00,2790.06,1894.25,0,0,0,11.71,15.58,15.73
$GC,2526.87,163,363.91,0.96,0.00,1314.7,1462.1,1167.2,2793.7,1893.4,183.40,9.90,273,2532.47,3.99,0.21,0.00,0.468,0.184,0.000,1308.47,1453.19,1163.75,2748.19,1893.44,0,0,0,11.56,15.68,30.00
$GC,2766.88,295,396.45,1.00,40.00,1307.1,1452.0,1162.2,2748.2,1892.6,164.97,8.36,297,2798.08,26.30,0.12,2.38,1.007,0.104,0.046,1174.72,1307.25,1042.19,2803.06,3364.12,0,0,0,11.50,15.80,15.59
$GC,2861.86,1029,396.45,1.00,0.00,1174.2,1306.8,1041.5,2802.4,3363.4,154.52,12.35,306,2869.36,0.00,0.19,2.42,0.000,0.168,0.055,1173.78,1305.62,1041.94,2767.38,1904.12,0,0,0,30.00,15.59,15.80
$GC,3109.04,423,446.27,1.21,40.00,1171.5,1303.9,1039.2,2764.9,1903.2,135.08,7.43,331,3152.80,37.65,0.32,2.40,1.003,0.046,0.048,969.66,1092.06,847.25,2869.06,3364.38,0,0,0,11.54,15.84,15.51
$GC,3228.96,1157,446.27,1.15,0.00,969.1,1093.2,844.9,2870.7,3359.9,118.72,13.89,343,3233.56,0.00,0.27,2.41,0.000,0.165,0.053,967.34,1090.88,843.81,2809.00,1904.50,0,0,0,30.00,15.52,15.74
$GC,3474.09,677,446.41,1.23,-40.00,966.4,1088.6,844.2,2811.9,1903.0,94.03,10.09,367,3478.59,0.00,0.15,2.56,0.000,0.086,0.123,966.88,1088.56,845.19,2867.69,493.06,0,0,0,30.00,15.78,15.70
$GC,3561.97,1157,446.41,1.20,0.00,964.5,1084.2,844.8,2871.1,492.6,82.90,12.22,375,3567.42,0.00,0.22,2.29,0.000,0.168,0.021,964.53,1084.31,844.75,2823.44,1974.69,0,0,0,30.00,15.70,15.91
$GC,3809.07,679,471.78,1.31,-40.00,964.1,1083.7,844.5,2824.1,1975.9,60.24,8.74,400,3834.13,20.00,0.21,2.68,0.883,0.067,0.121,867.31,978.75,755.88,2899.38,493.06,0,0,0,11.46,15.78,15.63
$GC,3984.08,1157,471.78,1.22,0.00,863.2,971.4,755.0,2898.4,493.1,38.90,11.63,417,3988.64,0.00,0.32,2.30,0.000,0.183,0.023,863.59,971.38,755.81,2831.62,1974.50,0,0,0,30.00,15.63,15.87
$GC,4109.11,163,571.57,1.44,0.00,863.0,971.0,755.1,2833.3,1981.1,31.82,4.76,429,4160.23,47.85,0.35,0.00,0.884,0.050,0.000,599.25,703.88,494.62,2931.62,1979.94,0,0,0,11.64,15.78,30.00
$GC,4219.08,519,571.57,1.44,-40.00,597.0,699.1,494.9,2933.9,1981.4,19.25,12.54,448,4224.88,0.00,0.15,2.74,0.000,0.179,0.120,597.44,699.44,495.44,2901.62,493.44,0,0,0,30.00,15.63,15.45
$GC,4279.16,1159,571.57,1.49,0.00,596.0,695.5,496.4,2904.4,493.2,12.34,11.57,460,4284.71,0.00,0.10,2.32,0.000,0.114,0.022,595.72,694.88,496.56,2947.94,1961.19,0,0,0,30.00,15.43,15.59
$STATE,4344,end climb,SURFACE_DEPTH_REACHED
$STATE,4344,begin surface coast
$FINISH,-0.0,1.013083
$STATE,4364,end surface coast,CONTROL_FINISHED_OK
$STATE,4364,begin surface
$SM_CCo,4441.62,0.00,0.000,0,593.9,692.2,495.6,538.71
$SM_GC,0.72,0.00,12.30,0.50,0.000,0.027,0.026,593.9,692.2,495.6,183.9,2340.0,0,0,0,30.00,15.76,15.86
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2241.48,-15747.62,181021,103316
$TCM_TEMP,24.90
$XPDR_PINGS,71
$HUMID,58.60
$TEMP,21.74
$INTERNAL_PRESSURE,9.53081
$24V_AH,14.87,189.446
$10V_AH,15.00,0.000
$FG_AHR_24Vo,91.627
$FG_AHR_10Vo,30.145
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,581.710,33.970,66.865,211.209,17.750,30.606,2250.083,2480.737,1444.443,0.000,0.000,0.000
$DEVICE_MAMPS,1102.160,327.752,122.752,184.522,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1044.195,1195.241,585.944,645.329,991.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168184,33,14704,88
$DATA_FILE_SIZE,49783,477
$CAP_FILE_SIZE,178348,0
$SDSIZE,3931136,3785664
$SDFILEDIR,2835,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,273.0,1
$GPS,181021,131005,2244.350,-15745.761,13,1.0,21,9.9