version: 67.00
glider: 511
mission: 20
dive: 943
start: 10 19 121 3 51 21
data:
$ID,511
$MISSION,20
$DIVE,943
$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,30.425774
$FG_AHR_24V,92.521255
$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
$GPS1,191021,033706,2244.222,-15747.102,11,0.8,27,9.8
$_CALLS,5
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-63.1
$GPS2,191021,035105,2244.297,-15747.226,7,0.9,21,9.8
$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,105.7,2756,-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,-0.86,0.00,1151.4,1245.4,1057.4,184.6,2203.4,0.00,0.00,0,76.41,72.28,0.00,0.00,0.005,0.000,0.000,3088.22,3108.12,3068.31,184.44,2201.50,0,0,0,13.94,30.00,30.00
$GC,76.75,551,-126.52,-0.86,-40.00,3086.7,3109.2,3064.2,184.4,2200.1,3.57,-4.22,14,103.30,4.50,12.27,2.38,0.009,0.328,0.091,3305.59,3349.19,3262.00,2177.31,839.31,0,0,0,15.16,15.06,15.14
$GC,117.03,1157,-126.52,-0.74,0.00,3305.8,3350.6,3260.9,2175.9,838.9,12.33,-18.16,22,122.62,0.00,0.19,2.34,0.000,0.197,0.028,3306.66,3350.44,3262.88,2212.94,2304.38,0,0,0,30.00,15.28,15.56
$GC,182.06,421,-126.52,-0.87,40.00,3306.3,3351.6,3261.0,2214.1,2303.0,18.73,-9.48,35,187.65,0.00,0.22,2.32,0.000,0.061,0.059,3304.53,3351.00,3258.06,2133.19,3711.88,0,0,0,30.00,15.73,15.50
$GC,202.02,1157,-126.52,-0.92,0.00,3306.1,3351.4,3260.8,2133.4,3708.9,21.09,-10.99,39,207.67,0.00,0.13,2.31,0.000,0.200,0.018,3307.97,3352.75,3263.19,2157.25,2219.38,0,0,0,30.00,15.29,15.55
$GC,267.05,0,-126.52,-0.92,0.00,3306.3,3351.7,3261.0,2159.4,2220.9,28.98,-12.19,52,271.84,0.00,0.00,0.00,0.000,0.000,0.000,3309.94,3354.75,3265.12,2157.44,2222.12,0,0,0,30.00,30.00,30.00
$GC,337.05,0,-126.52,-0.92,0.00,3306.0,3351.4,3260.6,2158.6,2221.4,37.55,-12.31,60,338.39,0.00,0.00,0.00,0.000,0.000,0.000,3304.72,3349.88,3259.56,2158.94,2219.38,0,0,0,30.00,30.00,30.00
$GC,457.07,0,-126.52,-0.92,0.00,3305.8,3351.3,3260.4,2159.1,2221.2,52.19,-12.22,72,458.41,0.00,0.00,0.00,0.000,0.000,0.000,3308.38,3353.44,3263.31,2158.62,2222.75,0,0,0,30.00,30.00,30.00
$GC,577.07,0,-126.52,-0.92,0.00,3306.2,3351.4,3261.1,2158.8,2221.6,66.53,-11.82,84,578.41,0.00,0.00,0.00,0.000,0.000,0.000,3307.41,3352.44,3262.38,2159.50,2221.75,0,0,0,30.00,30.00,30.00
$GC,697.12,389,-126.52,-0.96,40.00,3306.0,3351.2,3260.8,2158.4,2221.4,79.83,-10.53,96,701.68,0.00,0.10,2.46,0.000,0.110,0.063,3304.81,3349.75,3259.88,2108.94,3705.88,0,0,0,30.00,15.79,15.81
$GC,720.08,1029,-126.52,-0.96,0.00,3306.0,3351.4,3260.7,2109.6,3707.6,82.74,-11.02,98,725.49,0.00,0.19,2.29,0.000,0.190,0.024,3307.31,3351.06,3263.56,2149.81,2228.31,0,0,0,30.00,15.64,15.91
$GC,972.15,645,-126.52,-1.02,-40.00,3306.7,3352.0,3261.4,2147.7,2227.2,109.20,-10.45,123,975.71,0.00,0.14,2.40,0.000,0.088,0.091,3310.06,3356.88,3263.25,2091.44,839.00,0,0,0,30.00,15.82,15.72
$GC,1032.16,1157,-126.52,-0.97,0.00,3306.8,3352.6,3261.0,2091.0,838.5,116.61,-12.48,129,1035.70,0.00,0.25,2.30,0.000,0.189,0.024,3303.56,3348.06,3259.06,2139.56,2308.62,0,0,0,30.00,15.60,15.92
$GC,1280.20,677,-126.52,-1.07,-40.00,3306.0,3351.6,3260.4,2142.2,2310.1,140.33,-9.00,154,1285.66,0.00,0.19,2.51,0.000,0.066,0.084,3305.78,3351.38,3260.19,2068.56,839.94,0,0,0,30.00,15.84,15.77
$GC,1352.21,1157,-126.52,-1.03,0.00,3306.4,3352.2,3260.5,2068.7,839.8,148.73,-12.35,161,1355.75,0.00,0.25,2.29,0.000,0.186,0.023,3309.12,3354.88,3263.38,2118.00,2316.56,0,0,0,30.00,15.61,15.90
$GC,1600.33,677,-126.52,-1.19,-40.00,3306.6,3352.1,3261.1,2120.0,2317.8,173.75,-9.75,186,1605.80,0.00,0.25,2.47,0.000,0.050,0.073,3304.97,3350.25,3259.69,2033.94,836.19,0,0,0,30.00,15.83,15.80
$GC,1710.29,1157,-126.52,-1.29,0.00,3306.6,3352.6,3260.5,2032.3,835.7,185.97,-11.27,197,1715.71,0.00,0.04,2.29,0.000,0.329,0.023,3305.44,3350.56,3260.31,2043.19,2314.56,0,0,0,30.00,15.67,15.92
$STATE,1852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1852,begin apogee
$GC,1854.23,3,0.00,-0.18,0.00,3308.8,3355.1,3262.6,2044.7,1862.2,200.73,-10.37,211,1953.85,96.21,1.72,0.13,1.081,0.128,0.112,2793.41,2871.69,2715.12,2396.44,1999.56,0,0,0,10.94,15.78,15.39
$STATE,1954,end apogee,CONTROL_FINISHED_OK
$STATE,1954,begin climb
$GC,1954.24,263,126.52,0.86,40.00,2791.4,2869.6,2713.1,2397.8,2001.1,210.53,0.00,221,2065.64,101.83,1.55,2.20,1.082,0.062,0.039,2275.25,2418.25,2132.25,2750.69,3369.06,0,0,0,12.16,15.52,15.32
$GC,2412.50,1191,282.07,0.87,0.00,2268.2,2413.7,2122.8,2747.5,3366.6,212.70,1.78,267,2532.57,115.40,0.15,2.35,1.104,0.190,0.033,1639.31,1809.25,1469.38,2718.69,1894.12,0,0,0,11.41,15.61,15.87
$GC,2767.56,423,373.24,1.09,40.00,1632.7,1802.4,1463.0,2717.8,1896.0,196.19,5.22,302,2839.64,67.26,0.37,2.42,1.079,0.044,0.048,1268.94,1420.50,1117.38,2831.44,3363.25,0,0,0,11.50,15.75,15.47
$GC,3182.66,1157,373.24,1.04,0.00,1264.2,1413.2,1115.1,2829.9,3360.4,148.64,12.45,343,3188.15,0.00,0.28,2.41,0.000,0.161,0.056,1264.53,1413.31,1115.75,2776.75,1900.12,0,0,0,30.00,15.59,15.82
$GC,3427.82,679,415.04,1.20,-40.00,1261.7,1409.4,1114.0,2774.8,1901.0,128.59,7.86,368,3464.04,31.58,0.26,2.56,0.983,0.055,0.127,1097.44,1232.00,962.88,2861.88,491.94,0,0,0,11.37,15.85,15.53
$GC,3962.81,1031,415.04,1.20,0.00,1088.0,1212.4,963.6,2862.2,492.0,68.85,12.33,421,3970.26,0.00,0.18,2.30,0.000,0.172,0.021,1088.09,1212.06,964.12,2823.31,1986.25,0,0,0,30.00,15.71,15.92
$GC,4089.91,679,445.87,1.28,-40.00,1087.9,1212.2,963.6,2823.4,1992.0,58.51,8.45,434,4121.10,23.39,0.17,2.74,0.890,0.077,0.128,970.81,1092.31,849.31,2892.38,494.25,0,0,0,11.34,15.78,15.62
$GC,4202.87,1157,445.87,1.22,0.00,967.2,1083.8,850.5,2891.0,494.2,44.56,12.79,445,4210.35,0.00,0.29,2.31,0.000,0.176,0.022,968.97,1085.50,852.44,2832.69,1983.00,0,0,0,30.00,15.65,15.87
$GC,4329.92,551,458.38,1.23,-40.00,967.0,1083.6,850.3,2831.6,1989.0,32.37,9.43,458,4344.75,10.84,0.06,2.76,0.753,0.157,0.135,921.50,1035.50,807.50,2872.31,494.94,0,0,0,11.70,15.77,15.59
$GC,4399.92,1157,458.38,1.17,0.00,919.5,1031.6,807.4,2870.2,495.1,24.57,11.30,469,4405.53,0.00,0.25,2.32,0.000,0.158,0.021,919.69,1031.75,807.62,2813.31,1980.50,0,0,0,30.00,15.45,15.68
$GC,4464.96,163,489.94,1.30,0.00,919.4,1031.4,807.5,2815.7,1982.1,18.65,8.41,482,4485.42,16.58,0.24,0.00,0.121,0.060,0.000,792.41,905.56,679.25,2894.56,1983.75,0,0,0,15.49,15.74,30.00
$GC,4544.93,517,489.94,1.30,-40.00,791.0,904.1,677.9,2895.4,1983.4,8.90,13.31,498,4550.62,0.00,0.17,2.78,0.000,0.177,0.133,791.47,904.62,678.31,2856.19,495.62,0,0,0,30.00,15.69,15.41
$STATE,4600,end climb,SURFACE_DEPTH_REACHED
$STATE,4600,begin surface coast
$FINISH,-0.0,1.013737
$STATE,4625,end surface coast,CONTROL_FINISHED_OK
$STATE,4625,begin surface
$SM_CCo,4705.55,0.00,0.000,0,788.6,895.1,682.0,490.95
$SM_GC,0.64,0.00,11.88,2.85,0.000,0.023,0.027,788.6,895.1,682.0,175.8,2322.5,0,0,0,30.00,15.79,15.88
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2243.48,-15747.62,191021,034503
$TCM_TEMP,25.00
$XPDR_PINGS,72
$HUMID,58.65
$TEMP,21.86
$INTERNAL_PRESSURE,9.54842
$24V_AH,14.86,191.600
$10V_AH,15.00,0.000
$FG_AHR_24Vo,92.603
$FG_AHR_10Vo,30.453
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,539.880,31.820,59.420,500.818,18.000,30.577,2707.902,2809.043,1651.515,0.000,0.000,0.000
$DEVICE_MAMPS,1103.800,329.392,134.560,181.623,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1117.140,1304.729,631.456,698.372,1072.889,0.000,0.000,0.000,0.000,0.000
$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,49932,514
$CAP_FILE_SIZE,172915,0
$SDSIZE,3931136,3784128
$SDFILEDIR,2871,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,303.4,1
$GPS,191021,051032,2244.426,-15747.245,15,0.9,33,9.8