version: 67.00
glider: 511
mission: 20
dive: 936
start: 10 18 121 18 38 44
data:
$ID,511
$MISSION,20
$DIVE,936
$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,30.241663
$FG_AHR_24V,91.986176
$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
$GPS1,181021,183303,2244.588,-15746.440,12,0.8,31,9.9
$_CALLS,1
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-63.2
$GPS2,181021,183828,2244.588,-15746.508,7,0.8,20,9.9
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T24kma
$TGT_LATLONG,2243.600,-15745.800
$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,126.1,2193,-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,3.19,2,-126.52,-0.86,0.00,1154.1,1254.5,1053.6,173.8,2110.1,0.00,0.00,0,76.43,72.29,0.00,0.00,0.005,0.000,0.000,3085.22,3107.62,3062.81,173.56,2109.56,0,0,0,13.96,30.00,30.00
$GC,76.78,551,-126.52,-0.86,-40.00,3087.7,3110.6,3064.8,173.7,2108.1,3.73,-4.38,14,103.30,4.47,12.18,2.26,0.010,0.319,0.106,3304.53,3348.88,3260.19,2172.25,842.06,0,0,0,14.20,15.10,15.12
$GC,147.03,1028,-126.52,-0.86,0.00,3306.0,3351.6,3260.4,2174.3,841.4,17.56,-14.35,28,152.50,0.00,0.00,2.33,0.000,0.000,0.026,3307.47,3352.88,3262.06,2175.44,2306.56,0,0,0,30.00,30.00,15.56
$GC,212.02,260,-126.52,-0.86,40.00,3306.8,3352.2,3261.3,2174.2,2306.9,24.98,-12.02,41,217.52,0.00,0.00,2.34,0.000,0.000,0.067,3305.06,3350.38,3259.75,2174.19,3709.94,0,0,0,30.00,30.00,15.51
$GC,232.04,1157,-126.52,-0.91,0.00,3306.5,3352.1,3260.9,2174.2,3707.0,27.35,-11.64,45,237.64,0.00,0.09,2.31,0.000,0.122,0.024,3306.91,3354.00,3259.81,2134.62,2235.56,0,0,0,30.00,15.35,15.53
$GC,297.07,645,-126.52,-0.85,-40.00,3306.5,3352.3,3260.8,2133.1,2231.2,35.95,-13.59,54,301.70,0.00,0.23,2.41,0.000,0.192,0.094,3306.06,3350.81,3261.31,2178.62,839.31,0,0,0,30.00,15.65,15.67
$GC,322.06,1029,-126.52,-0.85,0.00,3307.3,3352.9,3261.7,2180.3,840.0,38.98,-12.82,56,325.59,0.00,0.05,2.30,0.000,0.199,0.025,3308.41,3353.94,3262.88,2139.00,2310.75,0,0,0,30.00,15.63,15.86
$GC,452.08,261,-126.52,-0.85,40.00,3306.8,3352.6,3261.0,2140.4,2312.6,54.81,-12.43,69,455.62,0.00,0.19,2.30,0.000,0.196,0.065,3309.09,3354.69,3263.50,2182.19,3706.19,0,0,0,30.00,15.67,15.68
$GC,482.09,1157,-126.52,-0.90,0.00,3307.0,3352.8,3261.2,2180.3,3705.4,58.24,-11.90,72,485.62,0.00,0.12,2.27,0.000,0.098,0.017,3307.38,3351.50,3263.25,2129.88,2216.25,0,0,0,30.00,15.66,15.86
$GC,612.11,645,-126.52,-0.86,-40.00,3306.8,3352.9,3260.8,2126.1,2211.2,75.61,-12.92,85,616.69,0.00,0.25,2.34,0.000,0.185,0.083,3306.12,3351.88,3260.38,2175.38,838.00,0,0,0,30.00,15.70,15.71
$GC,665.11,1157,-126.52,-0.93,0.00,3306.8,3353.1,3260.5,2177.0,838.4,81.80,-11.26,90,670.52,0.00,0.14,2.29,0.000,0.084,0.023,3306.06,3352.56,3259.56,2113.88,2310.50,0,0,0,30.00,15.72,15.92
$GC,917.14,261,-126.52,-0.93,40.00,3306.8,3352.9,3260.7,2115.9,2312.5,112.81,-11.83,115,920.67,0.00,0.20,2.27,0.000,0.188,0.062,3308.97,3356.62,3261.31,2158.12,3705.81,0,0,0,30.00,15.71,15.70
$GC,945.13,1157,-126.52,-1.00,0.00,3307.1,3353.6,3260.6,2156.3,3705.4,115.99,-11.14,118,950.56,0.00,0.15,2.26,0.000,0.086,0.017,3309.53,3355.69,3263.38,2093.38,2211.00,0,0,0,30.00,15.75,15.92
$GC,1197.19,645,-126.52,-0.96,-40.00,3308.1,3354.9,3261.4,2095.6,2210.1,144.72,-11.42,143,1201.75,0.00,0.25,2.35,0.000,0.184,0.084,3304.12,3350.88,3257.38,2146.50,840.56,0,0,0,30.00,15.72,15.74
$GC,1230.16,1029,-126.52,-0.96,0.00,3307.5,3354.2,3260.9,2146.8,839.0,148.35,-10.81,146,1235.55,0.00,0.04,2.29,0.000,0.237,0.023,3306.19,3352.38,3260.00,2102.94,2312.31,0,0,0,30.00,15.78,15.93
$GC,1480.21,293,-126.52,-0.96,40.00,3307.7,3354.6,3260.9,2105.1,2313.1,173.32,-9.92,171,1485.65,0.00,0.20,2.27,0.000,0.186,0.061,3306.62,3351.88,3261.38,2147.62,3706.31,0,0,0,30.00,15.74,15.71
$GC,1505.19,1189,-126.52,-1.01,0.00,3307.9,3354.8,3261.1,2145.4,3709.9,175.48,-9.39,173,1510.64,0.00,0.12,2.27,0.000,0.103,0.017,3305.97,3353.38,3258.56,2089.19,2209.00,0,0,0,30.00,15.75,15.94
$STATE,1740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1740,begin apogee
$GC,1741.52,3,0.00,-0.18,0.00,3309.7,3355.8,3263.7,2092.3,1863.1,200.29,-10.74,197,1842.16,96.14,1.55,0.12,1.085,0.165,0.110,2789.12,2867.81,2710.44,2393.75,2014.06,0,0,0,10.94,15.71,15.41
$STATE,1842,end apogee,CONTROL_FINISHED_OK
$STATE,1842,begin climb
$GC,1842.55,519,126.52,0.86,-40.00,2790.0,2869.9,2710.1,2395.4,2014.1,203.93,0.00,207,1949.33,100.37,1.50,2.79,1.074,0.025,0.111,2275.34,2422.62,2128.06,2797.31,491.12,0,0,0,12.02,15.57,15.33
$GC,2026.06,1191,178.07,0.74,0.00,2270.2,2413.8,2126.6,2801.4,491.5,201.72,7.34,225,2072.58,40.53,0.60,2.31,1.038,0.172,0.018,2062.00,2240.50,1883.50,2683.44,1991.56,0,0,0,11.66,15.53,15.73
$GC,2316.11,679,234.94,0.91,-40.00,2059.6,2241.8,1877.4,2683.0,1992.4,182.32,7.06,254,2364.67,43.92,0.28,2.72,1.030,0.054,0.115,1829.94,2017.25,1642.62,2778.75,491.81,0,0,0,11.49,15.78,15.50
$GC,2403.61,1157,234.94,0.87,0.00,1827.3,2013.9,1640.8,2777.6,491.8,173.51,11.27,262,2408.07,0.00,0.28,2.31,0.000,0.174,0.020,1829.44,2016.19,1642.69,2718.94,1975.00,0,0,0,30.00,15.56,15.75
$GC,2648.57,423,256.30,0.98,40.00,1824.8,2014.0,1635.5,2718.8,1973.3,150.48,8.96,286,2671.89,17.48,0.20,2.22,0.942,0.066,0.048,1743.53,1926.31,1560.75,2797.75,3359.44,0,0,0,11.51,15.76,15.57
$GC,2718.56,1157,256.30,0.89,0.00,1742.5,1924.7,1560.4,2796.4,3358.6,142.13,12.67,293,2723.16,0.00,0.34,2.40,0.000,0.165,0.053,1742.75,1924.38,1561.12,2729.06,1903.62,0,0,0,30.00,15.54,15.77
$GC,2963.73,679,269.92,0.99,-40.00,1741.2,1924.6,1557.8,2728.1,1903.3,119.87,9.37,317,2979.46,11.87,0.19,2.51,0.845,0.073,0.116,1689.94,1861.38,1518.50,2804.06,491.88,0,0,0,11.59,15.83,15.57
$GC,3036.61,1157,269.92,0.94,0.00,1684.2,1852.4,1516.0,2802.8,491.9,111.21,11.89,324,3042.04,0.00,0.28,2.29,0.000,0.173,0.020,1684.94,1853.50,1516.38,2744.88,1983.62,0,0,0,30.00,15.68,15.91
$GC,3289.14,163,314.05,1.08,0.00,1683.5,1852.6,1514.4,2748.4,1983.7,88.88,7.74,349,3323.43,32.97,0.24,0.00,0.923,0.057,0.000,1508.97,1667.00,1350.94,2826.44,1983.62,0,0,0,11.62,15.83,30.00
$GC,3563.72,517,314.05,1.08,-40.00,1504.2,1661.9,1346.5,2825.4,1982.4,59.93,10.27,376,3568.35,0.00,0.19,2.70,0.000,0.175,0.117,1504.22,1662.31,1346.12,2785.50,493.62,0,0,0,30.00,15.71,15.69
$GC,3668.80,1191,353.52,1.22,0.00,1501.6,1657.0,1346.2,2786.9,493.2,50.80,7.99,386,3702.98,29.92,0.25,2.29,0.868,0.065,0.020,1348.94,1501.38,1196.50,2863.25,1962.44,0,0,0,11.45,15.69,15.88
$GC,3828.82,389,353.52,1.14,40.00,1345.2,1496.8,1193.6,2864.2,1961.8,31.90,12.17,402,3832.34,0.00,0.28,2.26,0.000,0.156,0.048,1346.03,1498.06,1194.00,2807.44,3364.94,0,0,0,30.00,15.68,15.73
$GC,3841.76,1157,353.52,1.09,0.00,1345.0,1496.6,1193.4,2804.9,3362.6,30.13,12.22,403,3849.22,0.00,0.07,2.40,0.000,0.233,0.052,1344.81,1496.44,1193.19,2788.44,1901.00,0,0,0,30.00,15.57,15.79
$GC,3968.85,679,379.28,1.20,-40.00,1344.0,1496.0,1192.0,2789.4,1902.1,18.30,8.72,428,3989.19,12.88,0.22,2.57,0.118,0.065,0.123,1242.84,1387.56,1098.12,2861.44,494.94,0,0,0,15.49,15.77,15.51
$GC,4018.90,1029,379.28,1.20,0.00,1240.3,1382.9,1097.8,2862.4,494.6,12.10,13.09,438,4024.43,0.00,0.18,2.33,0.000,0.180,0.021,1241.38,1383.88,1098.88,2824.75,1976.75,0,0,0,30.00,15.40,15.61
$GC,4083.84,261,379.28,1.20,40.00,1240.3,1382.9,1097.8,2824.4,1980.8,3.83,13.11,451,4089.40,0.00,0.05,2.24,0.000,0.205,0.047,1240.47,1383.69,1097.25,2857.25,3359.19,0,0,0,30.00,15.73,15.56
$STATE,4094,end climb,SURFACE_DEPTH_REACHED
$STATE,4094,begin surface coast
$FINISH,-0.1,1.013942
$STATE,4114,end surface coast,CONTROL_FINISHED_OK
$STATE,4114,begin surface
$SM_CCo,4142.72,9.06,0.055,0,1158.8,1254.9,1062.8,400.12
$SM_GC,0.91,9.06,11.77,1.78,0.055,0.016,0.054,1158.8,1254.9,1062.8,180.1,2253.2,0,0,0,15.76,15.77,15.79
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2246.72,-15743.68,181021,171605
$TCM_TEMP,25.40
$XPDR_PINGS,71
$HUMID,58.47
$TEMP,22.16
$INTERNAL_PRESSURE,9.5903
$24V_AH,14.87,190.360
$10V_AH,15.00,0.000
$FG_AHR_24Vo,92.054
$FG_AHR_10Vo,30.266
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,471.890,32.685,75.685,224.239,17.750,29.529,2131.620,2310.932,1375.415,0.000,0.000,0.000
$DEVICE_MAMPS,1085.432,319.224,122.752,187.217,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,998.454,1136.720,561.506,637.898,980.161,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168184,35,14664,88
$DATA_FILE_SIZE,42986,457
$CAP_FILE_SIZE,175414,0
$SDSIZE,3931136,3785024
$SDFILEDIR,2850,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,302.3,1
$GPS,181021,194823,2244.403,-15746.508,15,1.0,24,9.8