version: 67.00
glider: 511
mission: 20
dive: 953
start: 10 19 121 17 51 1
data:
$ID,511
$MISSION,20
$DIVE,953
$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,30.6577
$FG_AHR_24V,93.462227
$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
$GPS1,191021,174553,2245.257,-15747.887,12,1.0,21,9.8
$_CALLS,1
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-63.5
$GPS2,191021,175046,2245.281,-15747.897,7,0.9,19,9.8
$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,130.6,4746,-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,3.20,2,-126.52,-0.86,0.00,1149.1,1229.2,1068.9,180.6,2083.0,0.00,0.00,0,71.32,67.26,0.00,0.00,0.005,0.000,0.000,2939.75,2973.19,2906.31,180.88,2082.81,0,0,0,13.95,30.00,30.00
$GC,71.62,551,-126.52,-0.86,-40.00,2938.3,2972.1,2904.6,180.7,2083.5,3.21,-4.00,13,98.74,7.95,12.28,2.21,0.008,0.331,0.105,3302.84,3352.56,3253.12,2174.12,842.69,0,0,0,14.16,15.04,15.05
$GC,117.46,1028,-126.52,-0.86,0.00,3303.6,3353.1,3254.1,2173.8,842.9,12.02,-14.90,22,122.93,0.00,0.00,2.33,0.000,0.000,0.023,3301.91,3352.19,3251.62,2171.50,2307.12,0,0,0,30.00,30.00,15.56
$GC,182.49,389,-126.52,-0.90,40.00,3304.2,3354.5,3253.9,2174.0,2309.2,19.53,-11.11,35,188.06,0.00,0.08,2.34,0.000,0.138,0.064,3305.62,3356.44,3254.81,2128.12,3704.44,0,0,0,30.00,15.76,13.82
$GC,197.47,1029,-126.52,-0.90,0.00,3304.8,3354.9,3254.8,2129.5,3705.8,21.31,-11.50,38,203.07,0.00,0.19,2.30,0.000,0.197,0.022,3306.44,3356.56,3256.31,2165.12,2230.38,0,0,0,30.00,15.26,15.51
$GC,262.50,0,-126.52,-0.90,0.00,3304.8,3355.2,3254.4,2165.8,2226.4,28.69,-11.22,51,267.29,0.00,0.00,0.00,0.000,0.000,0.000,3306.47,3356.69,3256.25,2163.31,2224.81,0,0,0,30.00,30.00,30.00
$GC,327.52,260,-126.52,-0.90,40.00,3304.4,3354.8,3254.0,2165.4,2226.4,36.48,-11.96,59,330.97,0.00,0.00,2.46,0.000,0.000,0.062,3306.31,3356.69,3255.94,2167.38,3706.44,0,0,0,30.00,30.00,15.77
$GC,350.50,1157,-126.52,-0.93,0.00,3304.5,3355.1,3254.0,2165.8,3707.2,39.56,-12.23,61,357.94,0.00,0.09,2.28,0.000,0.129,0.020,3305.84,3356.31,3255.38,2124.88,2218.62,0,0,0,30.00,15.68,15.86
$GC,477.59,389,-126.52,-0.88,40.00,3304.3,3354.5,3254.2,2124.8,2217.2,56.62,-13.74,74,482.17,0.00,0.23,2.45,0.000,0.192,0.065,3304.53,3355.31,3253.75,2167.94,3696.88,0,0,0,30.00,15.68,15.65
$GC,502.64,1028,-126.52,-0.88,0.00,3304.8,3355.4,3254.3,2170.4,3699.9,59.74,-13.13,76,505.97,0.00,0.00,2.28,0.000,0.000,0.022,3306.59,3356.69,3256.50,2168.06,2224.56,0,0,0,30.00,30.00,15.86
$GC,632.61,645,-126.52,-0.93,-40.00,3304.8,3354.9,3254.8,2170.4,2225.2,75.70,-12.66,89,636.15,0.00,0.12,2.38,0.000,0.097,0.090,3305.62,3355.25,3256.00,2119.69,839.25,0,0,0,30.00,15.78,15.69
$GC,645.56,1157,-126.52,-0.97,0.00,3305.0,3355.4,3254.6,2121.1,839.4,77.78,-12.91,90,653.01,0.00,0.12,2.29,0.000,0.228,0.027,3303.25,3353.88,3252.62,2140.38,2303.81,0,0,0,30.00,15.61,15.90
$GC,772.65,129,-126.52,-1.00,0.00,3304.7,3355.1,3254.2,2141.9,2305.1,93.38,-11.66,103,774.10,0.00,0.09,0.00,0.000,0.115,0.000,3307.91,3358.38,3257.44,2094.12,2306.69,0,0,0,30.00,15.79,30.00
$GC,1012.74,389,-126.52,-0.97,40.00,3304.8,3355.6,3253.9,2095.6,2305.4,124.18,-12.19,127,1017.25,0.00,0.24,2.31,0.000,0.191,0.064,3304.12,3353.19,3255.06,2140.94,3707.94,0,0,0,30.00,15.71,15.68
$GC,1037.67,1028,-126.52,-0.97,0.00,3305.0,3356.0,3254.0,2143.6,3706.9,126.93,-11.58,129,1041.07,0.00,0.00,2.28,0.000,0.000,0.019,3307.03,3357.62,3256.44,2145.25,2223.38,0,0,0,30.00,30.00,15.90
$GC,1285.72,677,-126.52,-1.04,-40.00,3305.4,3356.4,3254.4,2143.4,2222.8,149.30,-8.68,154,1291.15,0.00,0.16,2.37,0.000,0.080,0.088,3307.31,3357.62,3257.00,2084.12,839.62,0,0,0,30.00,15.79,15.75
$GC,1305.70,1061,-126.52,-1.04,0.00,3305.1,3355.8,3254.4,2082.6,840.1,151.46,-9.41,156,1311.11,0.00,0.19,2.29,0.000,0.202,0.025,3309.75,3360.00,3259.50,2116.56,2308.69,0,0,0,30.00,15.63,15.93
$GC,1557.80,677,-126.52,-1.07,-40.00,3305.4,3356.7,3254.1,2119.9,2308.9,173.79,-8.88,181,1562.33,0.00,0.09,2.56,0.000,0.117,0.094,3302.16,3353.31,3251.00,2071.19,838.25,0,0,0,30.00,15.82,15.70
$GC,1595.74,1189,-126.52,-1.04,0.00,3305.2,3356.0,3254.3,2071.8,838.5,178.11,-10.08,184,1601.19,0.00,0.25,2.29,0.000,0.194,0.025,3306.94,3356.88,3257.00,2120.00,2306.56,0,0,0,30.00,15.64,15.94
$STATE,1833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1833,begin apogee
$GC,1834.63,3,0.00,-0.18,0.00,3305.2,3356.5,3253.8,2118.6,1877.1,200.76,-9.71,208,1933.21,95.86,1.38,0.10,1.084,0.159,0.127,2791.44,2871.62,2711.25,2396.44,1964.19,0,0,0,10.86,15.70,15.39
$STATE,1933,end apogee,CONTROL_FINISHED_OK
$STATE,1933,begin climb
$GC,1933.59,519,126.52,0.86,-40.00,2788.9,2869.2,2708.6,2395.1,1988.8,206.20,0.00,218,2040.88,100.91,1.53,2.74,1.078,0.039,0.114,2273.59,2421.00,2126.19,2756.62,492.62,0,0,0,12.01,15.56,15.30
$GC,2327.71,1191,196.76,0.86,0.00,2264.2,2405.2,2123.2,2756.3,492.9,194.23,6.34,257,2385.41,53.40,0.19,2.30,1.054,0.181,0.019,1986.47,2169.50,1803.44,2714.81,1986.88,0,0,0,11.42,15.67,15.86
$GC,2624.76,423,244.25,0.95,40.00,1983.9,2170.2,1797.6,2717.2,1988.2,173.58,7.56,286,2666.09,36.97,0.19,2.23,1.027,0.071,0.048,1791.72,1973.62,1609.81,2787.44,3357.25,0,0,0,11.52,15.77,15.49
$GC,2702.80,1157,244.25,0.87,0.00,1791.5,1973.6,1609.4,2786.3,3361.0,165.11,11.48,294,2710.33,0.00,0.35,2.41,0.000,0.170,0.051,1792.72,1974.81,1610.62,2722.75,1900.00,0,0,0,30.00,15.50,15.74
$GC,2949.95,163,291.74,1.01,0.00,1788.4,1972.5,1604.2,2721.2,1898.8,144.98,7.56,319,2990.15,35.26,0.25,0.00,0.994,0.063,0.000,1603.25,1767.94,1438.56,2800.38,1896.50,0,0,0,11.54,15.76,30.00
$GC,3229.89,645,291.74,0.97,-40.00,1595.3,1757.5,1433.1,2800.1,1898.6,116.33,10.23,347,3234.49,0.00,0.23,2.50,0.000,0.176,0.111,1595.44,1757.62,1433.25,2750.69,491.00,0,0,0,30.00,15.70,15.69
$GC,3267.87,1191,298.41,1.02,0.00,1592.9,1753.0,1432.9,2751.9,491.5,112.57,9.74,350,3278.58,6.55,0.12,2.29,0.694,0.105,0.019,1574.75,1731.62,1417.88,2806.62,1972.44,0,0,0,11.59,15.74,15.89
$GC,3522.88,261,298.41,1.02,40.00,1571.1,1726.4,1415.9,2806.7,1970.4,84.46,11.23,376,3528.31,0.00,0.17,2.23,0.000,0.174,0.046,1570.88,1725.56,1416.19,2767.94,3360.31,0,0,0,30.00,15.75,15.75
$GC,3542.90,1029,298.41,1.02,0.00,1571.0,1726.2,1415.8,2767.8,3362.2,82.31,11.10,378,3548.32,0.00,0.03,2.38,0.000,0.349,0.049,1571.59,1727.75,1415.44,2799.31,1901.81,0,0,0,30.00,15.67,15.83
$GC,3794.96,551,313.81,1.04,-40.00,1570.2,1724.9,1415.5,2800.5,1902.9,58.00,9.28,403,3815.87,13.39,0.12,2.51,0.817,0.207,0.113,1509.34,1659.62,1359.06,2779.44,491.31,0,0,0,11.43,15.73,15.58
$GC,3854.97,1191,338.94,1.18,0.00,1507.3,1656.9,1357.8,2775.3,491.1,52.86,8.76,409,3878.94,20.34,0.22,2.31,0.847,0.067,0.020,1407.81,1557.12,1258.50,2849.31,1976.62,0,0,0,11.95,15.70,15.88
$GC,4004.98,389,338.94,1.13,40.00,1405.6,1556.0,1255.2,2849.0,1976.7,36.57,11.20,424,4008.53,0.00,0.22,2.23,0.000,0.167,0.045,1406.81,1557.19,1256.44,2804.12,3362.75,0,0,0,30.00,15.68,15.74
$GC,4034.96,1029,338.94,1.13,0.00,1405.2,1555.6,1254.8,2801.7,3364.8,33.53,10.54,427,4038.52,0.00,0.05,2.39,0.000,0.199,0.045,1406.16,1556.81,1255.50,2830.00,1898.25,0,0,0,30.00,15.59,15.78
$GC,4160.00,517,338.94,1.13,-40.00,1404.6,1555.3,1253.8,2834.2,1898.9,20.15,10.98,448,4165.64,0.00,0.14,2.55,0.000,0.186,0.116,1404.69,1555.06,1254.31,2805.31,493.38,0,0,0,30.00,15.71,15.42
$GC,4190.04,1191,350.78,1.20,0.00,1401.9,1550.1,1253.6,2805.6,493.1,17.46,9.47,454,4200.73,5.78,0.12,2.32,0.116,0.101,0.020,1359.56,1505.44,1213.69,2854.81,1971.94,0,0,0,15.45,15.48,15.66
$GC,4260.03,129,350.78,1.15,0.00,1358.4,1504.8,1212.1,2854.2,1973.4,9.65,12.07,468,4264.96,0.00,0.21,0.00,0.000,0.162,0.000,1360.28,1506.19,1214.38,2810.06,1976.62,0,0,0,30.00,15.69,30.00
$STATE,4320,end climb,SURFACE_DEPTH_REACHED
$STATE,4320,begin surface coast
$FINISH,0.3,1.023329
$STATE,4345,end surface coast,CONTROL_FINISHED_OK
$STATE,4345,begin surface
$SM_CCo,4385.71,22.58,0.052,0,1159.9,1254.9,1064.9,399.86
$SM_CCo,4386.91,0.00,2.477,0,1158.7,1252.8,1064.5,400.17
$SM_GC,0.97,0.00,11.62,0.49,2.477,0.027,0.030,1158.7,1252.8,1064.5,182.9,2340.7,0,0,0,30.36,14.07,15.90
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2245.80,-15749.78,191021,162930
$TCM_TEMP,25.40
$XPDR_PINGS,75
$HUMID,58.54
$TEMP,22.08
$INTERNAL_PRESSURE,9.58673
$24V_AH,13.49,193.501
$10V_AH,15.00,0.000
$FG_AHR_24Vo,93.529
$FG_AHR_10Vo,30.683
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,466.245,31.285,72.170,190.992,18.750,28.566,2175.956,2476.978,1449.048,0.000,0.000,0.000
$DEVICE_MAMPS,2477.464,348.744,127.016,181.143,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.437,1234.331,595.863,674.298,1036.124,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168192,34,14676,88
$DATA_FILE_SIZE,46401,485
$CAP_FILE_SIZE,174465,0
$SDSIZE,3931136,3782848
$SDFILEDIR,2901,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,344.0,1
$GPS,191021,190445,2245.170,-15747.788,11,1.0,24,9.8