version: 67.00
glider: 511
mission: 20
dive: 939
start: 10 18 121 22 29 15
data:
$ID,511
$MISSION,20
$DIVE,939
$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,30.318966
$FG_AHR_24V,92.209808
$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
$GPS1,181021,222353,2244.135,-15746.764,12,1.0,20,9.8
$_CALLS,1
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-61.9
$GPS2,181021,222859,2244.163,-15746.833,7,0.9,16,9.8
$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,110.9,2049,-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,-0.86,0.00,1149.6,1238.8,1060.5,177.9,2142.2,0.00,0.00,0,71.33,67.26,0.00,0.00,0.005,0.000,0.000,2938.44,2966.69,2910.19,177.69,2136.50,0,0,0,13.97,30.00,30.00
$GC,71.62,551,-126.52,-0.86,-40.00,2938.6,2966.8,2910.4,177.9,2137.6,3.18,-3.86,13,98.75,8.13,12.19,2.30,0.007,0.321,0.099,3306.59,3353.06,3260.12,2173.31,840.88,0,0,0,14.08,15.08,15.17
$GC,117.47,1028,-126.52,-0.86,0.00,3306.4,3354.6,3258.2,2175.8,841.7,11.30,-13.25,22,122.95,0.00,0.00,2.33,0.000,0.000,0.028,3307.31,3357.25,3257.38,2176.00,2304.50,0,0,0,30.00,30.00,15.56
$GC,182.50,389,-126.52,-0.90,40.00,3306.5,3355.8,3257.2,2175.4,2305.4,19.05,-12.01,35,188.08,0.00,0.09,2.34,0.000,0.119,0.063,3308.00,3355.75,3260.25,2126.50,3701.06,0,0,0,30.00,15.74,15.51
$GC,202.49,1029,-126.52,-0.90,0.00,3306.7,3355.8,3257.6,2130.7,3701.1,21.65,-12.55,39,208.11,0.00,0.17,2.31,0.000,0.195,0.021,3305.56,3354.50,3256.62,2161.44,2218.12,0,0,0,30.00,15.28,14.10
$GC,267.52,516,-126.52,-0.90,-40.00,3306.8,3355.6,3258.1,2163.6,2216.4,29.84,-12.34,52,273.01,0.00,0.00,2.41,0.000,0.000,0.089,3307.69,3355.75,3259.62,2165.12,839.06,0,0,0,30.00,30.00,15.38
$GC,287.53,1028,-126.52,-0.90,0.00,3307.2,3356.3,3258.1,2164.2,839.4,32.38,-12.65,55,290.96,0.00,0.00,2.32,0.000,0.000,0.026,3305.59,3356.31,3254.88,2165.25,2309.00,0,0,0,30.00,30.00,15.85
$GC,417.56,260,-126.52,-0.90,40.00,3306.6,3355.4,3257.8,2164.1,2310.8,48.70,-12.60,68,420.96,0.00,0.00,2.30,0.000,0.000,0.064,3308.78,3357.75,3259.81,2162.50,3706.00,0,0,0,30.00,30.00,15.79
$GC,437.57,1157,-126.52,-0.94,0.00,3306.7,3355.6,3257.7,2163.9,3709.7,51.27,-12.62,70,441.10,0.00,0.09,2.28,0.000,0.119,0.019,3305.06,3354.81,3255.31,2118.06,2221.81,0,0,0,30.00,15.65,15.85
$GC,567.61,645,-126.52,-0.87,-40.00,3307.1,3356.5,3257.7,2117.6,2220.9,69.38,-13.98,83,572.18,0.00,0.29,2.36,0.000,0.184,0.083,3305.38,3354.50,3256.25,2173.06,839.19,0,0,0,30.00,15.69,15.69
$GC,585.57,1157,-126.52,-0.82,0.00,3307.2,3356.4,3257.9,2176.4,838.6,71.90,-13.59,84,593.01,0.00,0.05,2.30,0.000,0.292,0.023,3309.12,3358.94,3259.31,2187.44,2305.25,0,0,0,30.00,15.62,15.91
$GC,712.66,161,-126.52,-0.94,0.00,3307.2,3356.6,3257.8,2189.1,2307.2,83.74,-9.55,97,714.15,0.00,0.21,0.00,0.000,0.061,0.000,3305.19,3353.94,3256.44,2115.75,2305.38,0,0,0,30.00,15.79,30.00
$GC,952.76,1,-126.52,-0.94,0.00,3306.8,3358.2,3255.4,2115.8,2306.6,110.17,-10.60,121,954.23,0.00,0.19,0.00,0.000,0.190,0.000,3308.16,3355.88,3260.44,2153.81,2308.62,0,0,0,30.00,15.73,30.00
$GC,1192.81,645,-126.52,-1.03,-40.00,3308.1,3358.1,3258.1,2152.4,2307.1,136.07,-11.11,145,1197.33,0.00,0.17,2.55,0.000,0.076,0.089,3304.88,3355.19,3254.56,2091.31,839.25,0,0,0,30.00,15.81,15.74
$GC,1225.72,1029,-126.52,-1.03,0.00,3307.4,3357.1,3257.7,2091.4,839.0,140.75,-12.48,148,1231.13,0.00,0.17,2.30,0.000,0.210,0.026,3305.75,3357.19,3254.31,2122.31,2309.19,0,0,0,30.00,15.65,15.96
$GC,1475.88,421,-126.52,-1.07,40.00,3308.2,3358.6,3257.8,2123.9,2310.2,168.65,-10.02,173,1481.29,0.00,0.11,2.28,0.000,0.107,0.061,3306.09,3356.06,3256.12,2074.06,3704.88,0,0,0,30.00,15.82,15.85
$GC,1527.83,1157,-126.52,-1.03,0.00,3307.6,3357.9,3257.4,2074.2,3708.6,174.46,-11.66,178,1531.40,0.00,0.25,2.27,0.000,0.187,0.018,3306.50,3355.00,3258.00,2125.62,2211.44,0,0,0,30.00,15.64,15.91
$GC,1775.88,677,-126.52,-1.10,-40.00,3307.4,3357.2,3257.6,2123.3,2210.0,198.50,-9.23,203,1781.31,0.00,0.14,2.34,0.000,0.093,0.088,3310.03,3360.00,3260.06,2069.12,837.25,0,0,0,30.00,15.83,15.77
$STATE,1791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1791,begin apogee
$GC,1793.85,3,0.00,-0.18,0.00,3307.8,3357.9,3257.8,2070.1,1967.8,200.16,-9.55,204,1894.37,96.46,1.70,0.12,1.086,0.176,0.133,2791.28,2870.25,2712.31,2392.44,1864.31,0,0,0,11.04,15.35,15.39
$STATE,1894,end apogee,CONTROL_FINISHED_OK
$STATE,1894,begin climb
$GC,1894.75,519,126.52,0.86,-40.00,2788.4,2867.4,2709.4,2394.6,1865.8,204.73,0.00,214,2001.72,100.50,1.54,2.50,1.077,0.041,0.116,2268.50,2415.50,2121.50,2754.81,493.38,0,0,0,11.99,15.56,15.29
$GC,2128.49,1191,194.86,0.85,0.00,2267.4,2407.6,2127.3,2755.9,493.4,201.07,6.44,237,2185.22,52.60,0.20,2.30,1.061,0.185,0.019,1994.53,2178.62,1810.44,2715.31,1982.50,0,0,0,11.64,15.60,15.77
$GC,2428.62,679,272.98,0.99,-40.00,1989.5,2177.8,1801.3,2716.2,1982.5,183.00,5.92,267,2492.50,58.61,0.24,2.71,1.055,0.056,0.114,1673.41,1848.06,1498.75,2801.00,492.62,0,0,0,11.49,15.77,15.47
$GC,2534.24,1157,272.98,0.94,0.00,1671.1,1842.7,1499.6,2799.0,493.2,172.70,11.15,278,2539.69,0.00,0.28,2.32,0.000,0.169,0.020,1670.28,1841.00,1499.56,2741.25,1992.62,0,0,0,30.00,15.57,15.73
$GC,2786.38,421,277.14,1.00,40.00,1667.8,1841.2,1494.4,2742.1,1994.5,148.67,9.88,303,2789.80,0.00,0.14,2.21,0.000,0.082,0.048,1668.03,1842.25,1493.81,2806.19,3362.25,0,0,0,30.00,15.78,15.83
$GC,2814.25,1029,277.14,1.00,0.00,1668.3,1841.6,1494.9,2802.4,3360.6,145.02,11.30,306,2819.71,0.00,0.22,2.40,0.000,0.177,0.055,1668.91,1842.00,1495.81,2763.50,1901.81,0,0,0,30.00,15.57,15.82
$GC,3066.35,679,284.09,1.04,-40.00,1667.6,1841.8,1493.5,2761.2,1902.9,118.58,9.73,331,3080.08,8.98,0.09,2.53,0.802,0.111,0.120,1633.47,1799.00,1467.94,2809.31,491.12,0,0,0,11.40,15.79,15.59
$GC,3149.39,1157,284.09,1.01,0.00,1629.7,1792.8,1466.5,2812.5,491.4,109.30,10.92,339,3154.84,0.00,0.23,2.29,0.000,0.178,0.021,1631.97,1795.44,1468.50,2763.31,1988.94,0,0,0,30.00,15.71,15.92
$GC,3394.44,423,348.24,1.14,40.00,1628.9,1792.4,1465.4,2765.2,1991.8,89.63,6.67,364,3447.99,47.95,0.24,2.23,0.946,0.058,0.049,1370.72,1527.50,1213.94,2840.88,3361.25,0,0,0,11.60,15.85,14.52
$GC,3454.80,1191,353.22,1.07,0.00,1369.9,1527.1,1212.6,2843.2,3360.4,84.08,9.83,370,3467.52,6.38,0.29,2.42,0.658,0.163,0.055,1348.41,1504.56,1192.25,2788.62,1901.88,0,0,0,11.99,15.54,15.74
$GC,3706.78,679,382.85,1.20,-40.00,1345.7,1500.9,1190.5,2786.6,1903.2,63.31,8.52,395,3737.48,22.91,0.22,2.55,0.875,0.061,0.120,1227.28,1372.38,1082.19,2863.31,493.00,0,0,0,11.60,15.75,15.57
$GC,3766.76,1029,382.85,1.20,0.00,1225.5,1368.1,1082.8,2863.6,493.0,56.32,12.24,401,3770.33,0.00,0.17,2.31,0.000,0.175,0.019,1225.44,1368.50,1082.38,2826.44,1999.88,0,0,0,30.00,15.59,15.82
$GC,3896.80,1,382.85,1.20,0.00,1224.1,1365.2,1082.9,2825.4,2000.1,41.61,11.34,414,3898.25,0.00,0.05,0.00,0.000,0.222,0.000,1224.53,1365.62,1083.44,2862.94,1999.62,0,0,0,30.00,15.73,30.00
$GC,4016.84,645,382.85,1.15,-40.00,1223.7,1364.5,1082.8,2861.2,2000.1,26.20,13.18,428,4022.51,0.00,0.25,2.76,0.000,0.161,0.115,1223.22,1363.44,1083.00,2814.81,493.38,0,0,0,30.00,15.71,15.48
$GC,4036.81,1029,382.85,1.15,0.00,1222.6,1362.1,1083.1,2813.2,493.0,23.79,12.44,432,4042.41,0.00,0.03,2.33,0.000,0.341,0.022,1222.84,1361.81,1083.88,2835.38,1973.44,0,0,0,30.00,15.42,15.62
$GC,4101.83,261,382.85,1.15,40.00,1222.2,1361.6,1082.8,2837.7,1973.4,16.01,12.16,445,4107.42,0.00,0.13,2.26,0.000,0.178,0.048,1222.75,1361.62,1083.88,2806.44,3359.38,0,0,0,30.00,15.71,15.57
$GC,4116.82,1029,382.85,1.15,0.00,1222.1,1361.3,1082.9,2808.2,3361.8,14.14,12.46,448,4122.46,0.00,0.05,2.43,0.000,0.185,0.054,1223.03,1362.50,1083.56,2844.19,1904.25,0,0,0,30.00,15.43,15.52
$GC,4181.84,517,382.85,1.15,-40.00,1222.0,1361.2,1082.8,2844.8,1902.0,6.16,12.61,461,4187.49,0.00,0.17,2.56,0.000,0.166,0.114,1222.78,1361.44,1084.12,2810.25,491.25,0,0,0,30.00,15.71,15.44
$STATE,4212,end climb,SURFACE_DEPTH_REACHED
$STATE,4212,begin surface coast
$FINISH,1.7,1.023345
$STATE,4222,end surface coast,CONTROL_FINISHED_OK
$STATE,4222,begin surface
$SM_CCo,4250.52,7.07,0.057,0,1159.8,1260.0,1059.7,399.88
$SM_CCo,4251.71,0.00,2.486,0,1159.2,1259.0,1059.5,400.02
$SM_GC,0.49,0.00,12.15,2.85,2.486,0.068,0.023,1159.2,1259.0,1059.5,184.1,2315.4,0,0,0,30.36,15.71,15.90
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2243.48,-15747.62,181021,210848
$TCM_TEMP,25.10
$XPDR_PINGS,77
$HUMID,58.54
$TEMP,21.88
$INTERNAL_PRESSURE,9.57984
$24V_AH,13.51,190.874
$10V_AH,15.00,0.000
$FG_AHR_24Vo,92.282
$FG_AHR_10Vo,30.344
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,476.870,32.500,80.820,207.595,19.250,25.399,2141.996,2389.428,1390.729,0.000,0.000,0.000
$DEVICE_MAMPS,2485.664,341.200,132.592,179.184,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1028.917,1163.577,576.078,652.798,1003.074,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168168,35,14680,88
$DATA_FILE_SIZE,46536,469
$CAP_FILE_SIZE,181162,0
$SDSIZE,3931136,3784640
$SDFILEDIR,2859,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200,299.5,1
$GPS,181021,234043,2244.063,-15746.827,14,1.0,24,9.8