version: 67.00
glider: 511
mission: 20
dive: 962
start: 10 20 121 5 35 12
data:
$ID,511
$MISSION,20
$DIVE,962
$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,30.893585
$FG_AHR_24V,94.165871
$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
$GPS1,201021,052955,2244.989,-15749.206,10,0.8,38,9.8
$_CALLS,1
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-62.1
$GPS2,201021,053456,2245.011,-15749.247,7,0.8,16,9.8
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T21kma
$TGT_LATLONG,2243.600,-15747.600
$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,127.9,3841,-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,3.22,2,-126.52,-0.86,0.00,709.1,790.3,627.9,178.8,2087.9,0.00,0.00,0,81.51,77.33,0.00,0.00,0.005,0.000,0.000,2816.22,2856.56,2775.88,178.62,2088.88,0,0,0,13.97,30.00,30.00
$GC,81.86,551,-126.52,-0.86,-40.00,2816.9,2858.2,2775.6,178.8,2089.9,3.14,-3.43,15,114.03,10.90,12.22,2.19,0.007,0.323,0.106,3305.09,3355.62,3254.56,2175.62,842.88,0,0,0,15.16,15.05,15.14
$GC,187.84,1157,-126.52,-0.94,0.00,3305.6,3359.4,3251.7,2174.0,841.8,17.75,-12.09,36,193.39,0.00,0.15,2.33,0.000,0.081,0.024,3308.56,3361.44,3255.69,2114.38,2312.38,0,0,0,30.00,15.39,15.56
$GC,252.81,645,-126.52,-0.86,-40.00,3305.6,3359.3,3251.9,2112.9,2314.5,26.80,-14.64,49,258.48,0.00,0.33,2.60,0.000,0.183,0.092,3304.16,3358.62,3249.69,2178.56,841.06,0,0,0,30.00,15.63,15.38
$GC,302.83,1157,-126.52,-0.97,0.00,3305.8,3359.7,3251.8,2177.2,840.3,32.76,-11.28,57,306.39,0.00,0.20,2.29,0.000,0.063,0.022,3308.09,3362.00,3254.19,2115.50,2320.00,0,0,0,30.00,15.63,15.82
$GC,432.86,389,-126.52,-0.90,40.00,3305.9,3359.9,3252.0,2095.4,2321.2,50.31,-13.86,70,437.42,0.00,0.35,2.28,0.000,0.182,0.066,3305.16,3359.62,3250.69,2165.75,3704.38,0,0,0,30.00,15.67,15.65
$GC,447.92,1157,-126.52,-0.86,0.00,3306.3,3360.4,3252.1,2164.5,3706.9,52.20,-13.38,71,451.36,0.00,0.05,2.30,0.000,0.275,0.027,3305.41,3360.12,3250.69,2178.69,2223.06,0,0,0,30.00,15.58,15.83
$GC,577.87,645,-126.52,-0.96,-40.00,3306.5,3360.2,3252.7,2177.2,2221.8,66.17,-10.63,84,581.41,0.00,0.19,2.35,0.000,0.065,0.082,3305.72,3359.75,3251.69,2110.50,838.50,0,0,0,30.00,15.76,15.71
$GC,667.88,1029,-126.52,-0.96,0.00,3306.1,3360.0,3252.1,2109.9,838.9,78.06,-13.25,93,671.41,0.00,0.18,2.30,0.000,0.203,0.025,3307.28,3360.88,3253.69,2143.75,2312.25,0,0,0,30.00,15.56,15.89
$GC,795.98,677,-126.52,-1.07,-40.00,3305.9,3360.0,3251.8,2145.0,2311.8,91.02,-9.27,106,801.44,0.00,0.19,2.58,0.000,0.066,0.099,3307.88,3361.44,3254.31,2074.62,839.56,0,0,0,30.00,15.84,15.73
$GC,815.90,1189,-126.52,-1.10,0.00,3306.0,3360.1,3252.0,2075.7,839.9,93.28,-10.06,108,821.31,0.00,0.12,2.29,0.000,0.224,0.025,3304.28,3357.31,3251.25,2101.56,2310.94,0,0,0,30.00,15.63,15.92
$GC,1067.94,292,-126.52,-1.10,40.00,3306.5,3360.3,3252.7,2099.6,2311.6,117.88,-9.67,133,1071.31,0.00,0.00,2.30,0.000,0.000,0.069,3308.31,3362.38,3254.25,2101.69,3710.62,0,0,0,30.00,30.00,15.82
$GC,1135.91,1060,-126.52,-1.10,0.00,3306.3,3360.6,3252.0,2099.9,3708.4,124.80,-10.08,140,1141.17,0.00,0.00,2.27,0.000,0.000,0.016,3305.03,3361.00,3249.06,2097.44,2211.62,0,0,0,30.00,30.00,15.92
$GC,1387.99,421,-126.52,-1.23,40.00,3306.5,3361.1,3251.9,2099.6,2207.4,148.78,-9.61,165,1392.55,0.00,0.22,2.48,0.000,0.062,0.065,3308.94,3363.50,3254.38,2018.50,3704.69,0,0,0,30.00,15.82,15.84
$GC,1455.94,1157,-126.52,-1.19,0.00,3306.9,3361.7,3252.2,2020.1,3708.6,156.62,-11.49,171,1463.44,0.00,0.26,2.28,0.000,0.175,0.023,3305.59,3358.25,3252.94,2076.19,2206.75,0,0,0,30.00,15.70,15.96
$GC,1703.05,421,-126.52,-1.32,40.00,3306.6,3361.3,3251.9,2074.6,2207.0,180.28,-9.38,196,1707.60,0.00,0.24,2.46,0.000,0.062,0.065,3302.25,3357.00,3247.50,1993.56,3706.19,0,0,0,30.00,15.81,15.85
$GC,1780.97,1029,-126.52,-1.32,0.00,3306.9,3361.3,3252.5,1995.1,3707.1,188.74,-10.75,203,1786.41,0.00,0.17,2.26,0.000,0.197,0.013,3306.19,3359.75,3252.62,2030.19,2140.62,0,0,0,30.00,15.72,15.94
$STATE,1918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1918,begin apogee
$GC,1919.32,3,0.00,-0.18,0.00,3304.8,3359.1,3250.4,2030.1,1862.9,200.30,-8.26,217,2019.54,96.17,1.76,0.12,1.081,0.131,0.085,2786.94,2868.56,2705.31,2391.56,2021.06,0,0,0,10.96,15.77,15.42
$STATE,2020,end apogee,CONTROL_FINISHED_OK
$STATE,2020,begin climb
$GC,2019.93,263,126.52,0.86,40.00,2788.5,2869.9,2707.1,2394.1,2019.8,207.36,0.00,227,2126.81,100.68,1.50,2.18,1.077,0.018,0.041,2274.16,2424.56,2123.75,2762.81,3363.75,0,0,0,11.96,15.56,15.32
$GC,2333.63,1191,343.56,1.00,0.00,2269.3,2418.0,2120.6,2764.1,3366.4,213.92,-1.52,258,2498.97,157.16,0.03,2.36,1.099,0.348,0.034,1390.44,1541.38,1239.50,2795.12,1887.12,0,0,0,11.47,15.64,15.82
$GC,2735.72,423,376.21,0.98,40.00,1382.5,1529.2,1235.8,2794.4,1887.0,186.20,8.35,298,2766.88,25.26,0.19,2.43,1.002,0.198,0.048,1256.31,1395.50,1117.12,2755.12,3364.00,0,0,0,11.58,15.66,14.39
$GC,2848.69,1191,411.46,1.07,0.00,1255.7,1394.6,1116.8,2757.1,3361.6,177.12,8.21,309,2880.90,27.75,0.17,2.39,0.996,0.079,0.045,1112.06,1242.75,981.38,2827.38,1896.44,0,0,0,11.81,15.64,15.80
$GC,3118.82,551,426.63,1.09,-40.00,1107.7,1234.1,981.2,2825.5,1895.8,149.46,9.29,336,3135.62,12.91,0.16,2.52,0.881,0.183,0.118,1050.66,1172.94,928.38,2794.50,491.62,0,0,0,11.46,15.71,15.57
$GC,3223.80,1191,440.66,1.19,0.00,1046.5,1164.9,928.1,2791.6,491.6,139.67,9.35,346,3240.60,12.44,0.18,2.30,0.877,0.073,0.022,994.69,1113.31,876.06,2864.00,1969.94,0,0,0,11.77,15.73,15.88
$GC,3480.84,645,440.66,1.11,-40.00,991.9,1109.0,874.8,2860.5,1972.0,109.71,11.66,371,3485.50,0.00,0.32,2.71,0.000,0.157,0.129,990.25,1107.19,873.31,2791.56,494.19,0,0,0,30.00,15.73,15.71
$GC,3645.86,1191,475.97,1.23,0.00,988.6,1102.4,874.8,2794.1,494.8,95.32,8.21,387,3679.47,27.65,0.22,2.30,0.922,0.067,0.020,849.53,961.06,738.00,2868.75,1975.56,0,0,0,11.51,15.71,15.92
$GC,3925.94,261,475.97,1.23,40.00,845.7,954.6,736.7,2870.8,1978.2,65.73,10.83,415,3929.43,0.00,0.17,2.22,0.000,0.167,0.044,845.38,953.88,736.88,2832.75,3360.50,0,0,0,30.00,15.71,15.76
$GC,4045.93,1157,475.97,1.29,0.00,845.5,954.6,736.4,2831.1,3359.9,53.49,10.58,427,4050.50,0.00,0.14,2.41,0.000,0.092,0.060,846.00,954.81,737.19,2889.69,1905.69,0,0,0,30.00,15.62,15.77
$GC,4170.92,517,475.97,1.29,-40.00,845.8,954.8,736.8,2890.0,1903.2,38.09,12.55,439,4175.53,0.00,0.17,2.57,0.000,0.191,0.128,845.03,953.94,736.12,2852.75,492.00,0,0,0,30.00,15.72,15.67
$GC,4265.96,1157,475.97,1.36,0.00,844.2,951.9,736.6,2855.3,491.8,27.58,10.89,450,4271.54,0.00,0.14,2.32,0.000,0.088,0.020,844.00,951.12,736.88,2909.88,1969.69,0,0,0,30.00,15.46,15.67
$GC,4331.00,129,475.97,1.30,0.00,844.2,951.6,736.8,2911.4,1972.1,19.05,13.59,463,4335.94,0.00,0.26,0.00,0.000,0.177,0.000,844.84,952.12,737.56,2853.44,1972.19,0,0,0,30.00,15.72,30.00
$GC,4395.99,645,475.97,1.35,-40.00,844.2,951.8,736.7,2856.1,1973.3,11.45,11.51,476,4401.64,0.00,0.12,2.77,0.000,0.093,0.131,844.50,952.38,736.62,2913.75,494.75,0,0,0,30.00,15.76,15.40
$GC,4440.97,1029,475.97,1.35,0.00,844.0,951.2,736.7,2911.6,494.1,5.51,13.88,485,4446.59,0.00,0.19,2.32,0.000,0.181,0.020,844.62,951.62,737.62,2870.44,1986.38,0,0,0,30.00,15.36,15.64
$STATE,4461,end climb,SURFACE_DEPTH_REACHED
$STATE,4461,begin surface coast
$FINISH,-0.1,1.023284
$STATE,4481,end surface coast,CONTROL_FINISHED_OK
$STATE,4481,begin surface
$SM_CCo,4558.62,0.00,0.000,0,841.1,946.6,735.6,478.07
$SM_GC,0.74,0.00,11.89,0.46,0.000,0.024,0.024,841.1,946.6,735.6,175.2,2352.4,0,0,0,30.00,15.81,15.92
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2243.80,-15749.78,201021,041340
$TCM_TEMP,25.30
$XPDR_PINGS,67
$HUMID,58.61
$TEMP,22.16
$INTERNAL_PRESSURE,9.56633
$24V_AH,14.86,195.128
$10V_AH,15.00,0.000
$FG_AHR_24Vo,94.250
$FG_AHR_10Vo,30.919
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,548.265,32.490,72.420,198.990,16.750,25.254,2315.642,2516.521,1538.885,0.000,0.000,0.000
$DEVICE_MAMPS,1098.880,347.760,130.952,190.887,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.748,1244.078,605.548,664.177,1020.379,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168216,34,14652,88
$DATA_FILE_SIZE,49942,493
$CAP_FILE_SIZE,182204,0
$SDSIZE,3931136,3781696
$SDFILEDIR,2928,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,337.8,1
$GPS,201021,065201,2245.244,-15749.323,15,0.8,38,9.8