version: 67.00
glider: 511
mission: 20
dive: 942
start: 10 19 121 2 21 22
data:
$ID,511
$MISSION,20
$DIVE,942
$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,30.397346
$FG_AHR_24V,92.440353
$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
$GPS1,191021,021618,2244.091,-15747.108,11,1.0,21,9.8
$_CALLS,1
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-64.1
$GPS2,191021,022106,2244.101,-15747.161,7,1.0,17,9.8
$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,100.7,2504,-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,-0.86,0.00,1151.5,1240.0,1062.9,178.4,2115.3,0.00,0.00,0,76.42,72.33,0.00,0.00,0.005,0.000,0.000,3057.19,3083.88,3030.50,178.69,2112.94,0,0,0,13.97,30.00,30.00
$GC,76.76,551,-126.52,-0.86,-40.00,3057.2,3083.5,3030.8,178.5,2111.6,3.23,-3.56,14,103.88,5.34,12.36,2.21,0.009,0.333,0.095,3303.22,3349.06,3257.38,2178.50,837.44,0,0,0,14.25,15.07,15.19
$GC,127.62,1157,-126.52,-0.90,0.00,3306.3,3352.5,3260.1,2176.7,836.9,12.78,-13.10,24,133.19,0.00,0.09,2.33,0.000,0.121,0.025,3304.34,3349.12,3259.56,2135.19,2311.19,0,0,0,30.00,15.38,15.56
$GC,192.64,389,-126.52,-0.85,40.00,3304.6,3352.8,3256.4,2134.4,2308.5,21.13,-13.55,37,198.25,0.00,0.24,2.33,0.000,0.198,0.063,3306.31,3351.88,3260.75,2182.56,3707.81,0,0,0,30.00,15.64,15.49
$GC,217.65,1157,-126.52,-0.89,0.00,3306.1,3352.9,3259.3,2181.1,3710.4,24.29,-12.90,42,223.24,0.00,0.11,2.33,0.000,0.106,0.021,3304.31,3351.00,3257.62,2132.62,2231.06,0,0,0,30.00,15.36,15.53
$GC,282.67,645,-126.52,-0.86,-40.00,3305.8,3352.7,3259.0,2134.8,2228.6,32.81,-13.34,53,287.29,0.00,0.21,2.42,0.000,0.196,0.096,3304.44,3350.31,3258.56,2177.38,838.94,0,0,0,30.00,15.64,15.66
$GC,297.67,1028,-126.52,-0.86,0.00,3306.2,3353.2,3259.2,2176.8,837.7,34.71,-13.02,54,301.09,0.00,0.00,2.31,0.000,0.000,0.025,3305.91,3351.06,3260.75,2178.31,2308.75,0,0,0,30.00,30.00,15.86
$GC,427.70,129,-126.52,-0.91,0.00,3306.6,3353.5,3259.7,2176.2,2310.1,49.31,-11.13,67,429.17,0.00,0.12,0.00,0.000,0.097,0.000,3306.78,3352.69,3260.88,2121.12,2311.31,0,0,0,30.00,15.77,30.00
$GC,547.73,645,-126.52,-0.87,-40.00,3306.6,3353.7,3259.5,2124.0,2310.6,64.48,-12.39,79,552.34,0.00,0.25,2.58,0.000,0.191,0.094,3306.66,3353.50,3259.81,2172.94,837.88,0,0,0,30.00,15.68,15.68
$GC,562.72,1028,-126.52,-0.87,0.00,3307.1,3354.2,3260.0,2175.5,838.8,66.20,-12.06,80,566.12,0.00,0.00,2.29,0.000,0.000,0.024,3308.47,3355.44,3261.50,2175.50,2307.06,0,0,0,30.00,30.00,15.88
$GC,692.77,421,-126.52,-0.95,40.00,3307.1,3354.0,3260.1,2175.1,2310.0,78.61,-9.72,93,696.28,0.00,0.16,2.30,0.000,0.076,0.062,3308.72,3355.94,3261.50,2109.56,3709.06,0,0,0,30.00,15.78,15.81
$GC,712.76,1157,-126.52,-1.00,0.00,3306.8,3354.4,3259.2,2111.1,3707.4,80.86,-10.18,95,716.26,0.00,0.10,2.28,0.000,0.219,0.017,3308.62,3356.38,3260.88,2129.25,2211.94,0,0,0,30.00,15.62,15.89
$GC,960.80,548,-126.52,-1.00,-40.00,3307.4,3355.3,3259.5,2131.4,2208.7,106.60,-9.69,120,966.08,0.00,0.00,2.35,0.000,0.000,0.085,3307.19,3353.88,3260.50,2131.44,837.19,0,0,0,30.00,30.00,15.77
$GC,992.81,1060,-126.52,-1.00,0.00,3305.6,3353.6,3257.6,2132.6,837.0,109.68,-10.05,123,996.21,0.00,0.00,2.29,0.000,0.000,0.022,3308.72,3357.00,3260.44,2132.00,2312.12,0,0,0,30.00,30.00,15.92
$GC,1240.85,421,-126.52,-1.05,40.00,3307.8,3355.4,3260.1,2131.9,2312.6,132.64,-9.65,148,1246.27,0.00,0.11,2.28,0.000,0.102,0.061,3308.28,3357.50,3259.06,2078.69,3708.88,0,0,0,30.00,15.80,15.86
$GC,1272.84,1029,-126.52,-1.05,0.00,3307.9,3355.9,3259.9,2076.6,3711.5,136.15,-11.01,151,1276.39,0.00,0.20,2.27,0.000,0.196,0.016,3309.34,3356.62,3262.06,2117.19,2207.44,0,0,0,30.00,15.65,15.92
$GC,1520.91,645,-126.52,-1.09,-40.00,3307.7,3356.0,3259.3,2116.5,2204.0,162.80,-10.61,176,1526.32,0.00,0.09,2.34,0.000,0.118,0.088,3306.53,3352.88,3260.19,2072.00,839.25,0,0,0,30.00,15.82,15.78
$GC,1602.90,1157,-126.52,-1.01,0.00,3308.2,3356.6,3259.8,2070.2,837.6,172.82,-12.50,184,1607.46,0.00,0.30,2.29,0.000,0.189,0.022,3305.47,3353.75,3257.19,2128.75,2311.94,0,0,0,30.00,15.61,15.92
$GC,1847.96,677,-126.52,-1.09,-40.00,3308.0,3356.2,3259.8,2129.1,2311.8,196.26,-9.19,208,1852.53,0.00,0.15,2.55,0.000,0.082,0.089,3308.31,3355.88,3260.75,2071.06,840.56,0,0,0,30.00,15.79,15.73
$STATE,1883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1883,begin apogee
$GC,1886.06,3,0.00,-0.18,0.00,3307.9,3356.1,3259.7,2069.7,1970.6,200.02,-10.18,211,1986.44,96.59,1.67,0.13,1.090,0.174,0.136,2792.53,2870.75,2714.31,2395.81,1867.69,0,0,0,10.98,15.67,15.39
$STATE,1986,end apogee,CONTROL_FINISHED_OK
$STATE,1986,begin climb
$GC,1986.83,519,126.52,0.86,-40.00,2791.3,2870.2,2712.4,2395.3,1868.4,204.77,0.00,221,2098.28,101.50,1.50,2.51,1.074,0.013,0.114,2271.81,2416.06,2127.56,2801.75,490.31,0,0,0,12.05,15.57,15.30
$GC,2595.18,1191,216.51,0.78,0.00,2262.2,2398.0,2126.5,2798.7,490.1,181.52,5.28,282,2669.22,68.25,0.52,2.28,1.062,0.173,0.019,1906.44,2093.56,1719.31,2695.12,1974.75,0,0,0,11.38,15.69,15.92
$GC,2907.17,423,259.03,0.94,40.00,1900.8,2091.1,1710.6,2695.5,1976.0,159.40,7.83,313,2945.87,32.89,0.28,2.24,1.001,0.057,0.050,1732.50,1911.75,1553.25,2786.38,3359.38,0,0,0,11.53,15.74,15.54
$GC,3020.20,1157,259.03,0.87,0.00,1731.4,1910.8,1552.1,2787.9,3362.0,147.19,10.81,324,3027.72,0.00,0.35,2.40,0.000,0.169,0.049,1731.75,1910.44,1553.06,2719.75,1902.50,0,0,0,30.00,15.55,15.77
$GC,3267.68,679,331.49,1.07,-40.00,1728.0,1909.7,1546.2,2722.1,1902.1,130.42,6.22,349,3328.47,52.75,0.32,2.55,0.997,0.048,0.116,1439.03,1596.50,1281.56,2835.75,493.44,0,0,0,11.55,15.82,15.50
$GC,3370.17,1157,331.49,1.00,0.00,1434.4,1587.8,1281.0,2833.8,493.0,119.21,11.95,359,3375.67,0.00,0.35,2.32,0.000,0.164,0.021,1434.28,1587.12,1281.44,2760.31,1989.62,0,0,0,30.00,15.57,15.77
$GC,3615.24,679,355.70,1.11,-40.00,1432.2,1586.1,1278.3,2762.6,1989.1,97.66,8.81,384,3640.78,19.57,0.20,2.71,0.906,0.066,0.120,1338.47,1486.81,1190.12,2831.88,493.44,0,0,0,11.45,15.78,15.58
$GC,3767.28,1029,355.70,1.11,0.00,1333.6,1476.9,1190.3,2834.5,493.1,79.73,12.12,399,3770.81,0.00,0.19,2.30,0.000,0.177,0.020,1333.66,1477.38,1189.94,2792.94,1979.56,0,0,0,30.00,15.63,15.84
$GC,3897.33,423,373.21,1.20,40.00,1333.4,1476.6,1190.2,2794.6,1979.2,66.92,9.16,412,3918.18,14.28,0.18,2.22,0.838,0.071,0.048,1269.91,1410.31,1129.50,2855.44,3363.44,0,0,0,11.59,15.80,15.62
$GC,3997.33,1157,373.21,1.14,0.00,1269.7,1409.6,1129.8,2857.9,3361.4,54.59,12.57,422,4001.94,0.00,0.27,2.41,0.000,0.168,0.054,1268.97,1408.69,1129.25,2805.81,1905.00,0,0,0,30.00,15.53,15.76
$GC,4122.37,645,373.21,1.20,-40.00,1268.1,1408.8,1127.4,2805.1,1902.7,41.69,10.23,434,4126.96,0.00,0.14,2.54,0.000,0.085,0.118,1269.94,1410.06,1129.81,2858.75,493.25,0,0,0,30.00,15.78,15.68
$GC,4147.35,1029,373.21,1.20,0.00,1266.8,1405.9,1127.6,2862.7,493.1,38.80,10.86,436,4150.90,0.00,0.17,2.30,0.000,0.178,0.021,1266.59,1405.69,1127.50,2827.44,1994.19,0,0,0,30.00,15.64,15.89
$GC,4272.40,261,373.21,1.20,40.00,1266.6,1405.6,1127.6,2825.9,1996.4,24.36,11.60,453,4277.96,0.00,0.04,2.21,0.000,0.242,0.045,1267.47,1406.19,1128.75,2857.38,3364.88,0,0,0,30.00,15.78,15.60
$GC,4287.50,1029,373.21,1.20,0.00,1266.5,1405.6,1127.4,2855.4,3362.0,22.49,11.95,456,4293.01,0.00,0.14,2.40,0.000,0.199,0.047,1266.62,1405.06,1128.19,2829.62,1902.44,0,0,0,30.00,15.33,15.52
$GC,4352.42,517,373.21,1.20,-40.00,1266.4,1405.5,1127.4,2826.1,1901.3,15.16,11.64,469,4358.05,0.00,0.05,2.55,0.000,0.202,0.117,1265.78,1404.56,1127.00,2863.56,493.44,0,0,0,30.00,15.77,15.41
$GC,4367.41,1029,373.21,1.20,0.00,1265.8,1404.1,1127.6,2861.9,493.6,13.22,12.68,472,4373.03,0.00,0.18,2.32,0.000,0.182,0.020,1267.22,1405.38,1129.06,2826.75,1969.38,0,0,0,30.00,15.39,15.66
$GC,4432.45,1,373.21,1.20,0.00,1265.6,1403.7,1127.4,2825.4,1971.8,5.25,12.63,485,4437.35,0.00,0.05,0.00,0.000,0.196,0.000,1265.62,1403.31,1127.94,2859.75,1973.38,0,0,0,30.00,15.77,30.00
$STATE,4452,end climb,SURFACE_DEPTH_REACHED
$STATE,4452,begin surface coast
$FINISH,0.0,1.023376
$STATE,4472,end surface coast,CONTROL_FINISHED_OK
$STATE,4472,begin surface
$SM_CCo,4503.43,12.21,0.054,0,1159.5,1270.6,1048.4,399.95
$SM_CCo,4504.62,0.01,1.651,0,1158.7,1267.4,1050.1,400.15
$SM_GC,0.60,0.01,12.02,0.49,1.651,0.036,0.030,1158.7,1267.4,1050.1,184.9,2364.6,0,0,0,30.36,15.80,15.90
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2243.48,-15747.62,191021,005942
$TCM_TEMP,25.00
$XPDR_PINGS,74
$HUMID,58.57
$TEMP,21.73
$INTERNAL_PRESSURE,9.57187
$24V_AH,13.80,191.394
$10V_AH,15.00,0.000
$FG_AHR_24Vo,92.511
$FG_AHR_10Vo,30.423
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,475.720,33.120,80.420,188.690,18.500,25.869,2269.594,2496.658,1532.972,0.000,0.000,0.000
$DEVICE_MAMPS,1650.576,333.000,136.200,187.336,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.997,1242.042,605.675,674.297,1036.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168164,36,14664,88
$DATA_FILE_SIZE,46501,493
$CAP_FILE_SIZE,185762,0
$SDSIZE,3931136,3784256
$SDFILEDIR,2868,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,293.4,1
$GPS,191021,033706,2244.222,-15747.102,11,0.8,27,9.8