version: 67.00
glider: 511
mission: 20
dive: 970
start: 10 20 121 16 58 39
data:
$ID,511
$MISSION,20
$DIVE,970
$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,2440
$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,31.103821
$FG_AHR_24V,94.916611
$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
$GPS1,201021,165202,2246.006,-15749.845,12,0.8,36,9.8
$_CALLS,2
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-64.4
$GPS2,201021,165823,2246.073,-15749.846,7,0.8,16,9.8
$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,142.4,5976,-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,3.21,2,-126.52,-0.86,0.00,980.7,1076.9,884.4,173.7,2209.4,0.00,0.00,0,81.49,77.36,0.00,0.00,0.005,0.000,0.000,3045.12,3071.12,3019.12,173.62,2206.75,0,0,0,14.03,30.00,30.00
$GC,81.84,551,-126.52,-0.86,-40.00,3044.9,3073.8,3016.1,173.6,2206.1,3.46,-3.73,15,108.94,5.38,12.28,2.36,0.008,0.328,0.092,3304.41,3355.50,3253.31,2162.19,838.31,0,0,0,15.17,15.04,15.12
$GC,187.68,1028,-126.52,-0.86,0.00,3306.2,3357.2,3255.2,2164.1,838.8,21.05,-12.76,36,193.15,0.00,0.00,2.34,0.000,0.000,0.026,3304.50,3354.25,3254.75,2165.75,2308.44,0,0,0,30.00,30.00,15.54
$GC,252.69,260,-126.52,-0.86,40.00,3306.2,3357.2,3255.2,2162.9,2307.4,28.50,-11.14,49,258.18,0.00,0.00,2.34,0.000,0.000,0.071,3306.19,3359.12,3253.25,2164.25,3708.69,0,0,0,30.00,30.00,13.91
$GC,282.71,1157,-126.52,-0.90,0.00,3306.2,3357.3,3255.2,2164.2,3706.0,31.87,-11.34,54,286.24,0.00,0.09,2.30,0.000,0.128,0.023,3307.47,3357.19,3257.75,2123.75,2230.19,0,0,0,30.00,15.60,15.82
$GC,412.79,129,-126.52,-0.84,0.00,3306.2,3356.9,3255.5,2125.5,2225.8,50.07,-14.50,67,414.27,0.00,0.23,0.00,0.000,0.190,0.000,3308.50,3359.94,3257.06,2170.94,2224.69,0,0,0,30.00,15.67,30.00
$GC,532.79,389,-126.52,-0.88,40.00,3306.2,3357.0,3255.4,2172.2,2224.2,63.63,-10.58,79,536.33,0.00,0.09,2.45,0.000,0.118,0.063,3306.72,3358.12,3255.31,2118.62,3709.75,0,0,0,30.00,15.78,15.79
$GC,565.73,1029,-126.52,-0.88,0.00,3306.2,3357.0,3255.3,2119.2,3706.8,67.85,-11.15,82,573.20,0.00,0.21,2.30,0.000,0.190,0.023,3307.47,3360.19,3254.75,2163.06,2215.69,0,0,0,30.00,15.64,15.89
$GC,692.82,129,-126.52,-0.93,0.00,3306.9,3358.1,3255.7,2161.6,2214.1,81.37,-10.43,95,694.29,0.00,0.12,0.00,0.000,0.099,0.000,3307.66,3358.69,3256.62,2109.81,2211.88,0,0,0,30.00,15.78,30.00
$GC,932.84,261,-126.52,-0.93,40.00,3306.6,3357.5,3255.8,2111.4,2211.6,110.34,-11.51,119,937.42,0.00,0.17,2.47,0.000,0.198,0.066,3306.09,3357.50,3254.69,2143.88,3705.00,0,0,0,30.00,15.71,15.69
$GC,960.79,1028,-126.52,-0.93,0.00,3306.3,3357.3,3255.4,2144.8,3707.7,113.63,-11.17,121,966.09,0.00,0.00,2.28,0.000,0.000,0.023,3305.41,3355.25,3255.56,2143.56,2231.12,0,0,0,30.00,30.00,15.92
$GC,1205.90,421,-126.52,-0.99,40.00,3307.4,3359.6,3255.2,2146.2,2231.0,138.29,-9.80,146,1211.36,0.00,0.14,2.44,0.000,0.086,0.063,3308.97,3359.25,3258.69,2084.69,3714.19,0,0,0,30.00,15.84,15.84
$GC,1230.84,1157,-126.52,-1.03,0.00,3306.8,3358.5,3255.0,2083.6,3711.1,141.15,-10.40,148,1238.30,0.00,0.16,2.27,0.000,0.200,0.023,3307.41,3357.25,3257.56,2113.44,2211.50,0,0,0,30.00,15.68,15.93
$GC,1475.89,1,-126.52,-1.03,0.00,3306.7,3358.0,3255.3,2115.5,2211.1,166.70,-11.04,173,1477.34,0.00,0.05,0.00,0.000,0.219,0.000,3306.41,3358.44,3254.38,2075.81,2211.31,0,0,0,30.00,15.83,30.00
$GC,1716.00,389,-126.52,-0.98,40.00,3306.9,3358.2,3255.6,2074.2,2209.8,196.32,-11.91,197,1721.46,0.00,0.28,2.46,0.000,0.183,0.063,3308.00,3359.94,3256.06,2128.81,3704.75,0,0,0,30.00,15.73,15.71
$GC,1737.93,1028,-126.52,-0.98,0.00,3306.7,3357.9,3255.4,2129.4,3706.2,198.45,-11.48,199,1741.34,0.00,0.00,2.27,0.000,0.000,0.021,3308.84,3359.62,3258.06,2129.62,2227.50,0,0,0,30.00,30.00,15.89
$STATE,1756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1756,begin apogee
$GC,1757.23,3,0.00,-0.18,0.00,3307.0,3358.5,3255.5,2129.6,1860.1,200.43,-10.57,201,1859.83,95.97,1.27,0.13,1.089,0.151,0.109,2792.75,2874.75,2710.75,2388.56,2016.81,0,0,0,10.92,15.73,15.39
$STATE,1860,end apogee,CONTROL_FINISHED_OK
$STATE,1860,begin climb
$GC,1860.20,519,126.52,0.86,-40.00,2790.7,2872.8,2708.6,2387.0,2015.2,206.45,0.00,211,1969.66,101.42,1.50,2.80,1.077,0.028,0.112,2271.62,2419.81,2123.44,2778.69,491.88,0,0,0,11.87,15.55,15.31
$GC,2132.12,1191,158.43,0.75,0.00,2265.3,2407.4,2123.2,2777.5,491.9,197.77,8.39,238,2162.79,25.00,0.53,2.28,1.000,0.172,0.019,2146.44,2312.56,1980.31,2676.38,1972.75,0,0,0,11.60,15.60,15.81
$GC,2407.25,423,234.78,0.95,40.00,2143.2,2309.6,1976.8,2675.3,1972.0,179.35,6.01,266,2471.11,58.98,0.32,2.26,1.044,0.052,0.048,1830.31,2014.69,1645.94,2775.31,3359.06,0,0,0,11.45,15.80,15.44
$GC,2492.86,1189,236.57,0.89,0.00,1831.1,2015.5,1646.8,2773.6,3358.9,171.75,10.01,275,2498.35,0.00,0.31,2.40,0.000,0.174,0.048,1831.09,2016.44,1645.75,2718.62,1901.88,0,0,0,30.00,15.47,15.69
$GC,2742.94,679,292.00,1.04,-40.00,1826.7,2013.7,1639.6,2716.2,1897.9,153.56,7.13,300,2789.37,42.09,0.27,2.53,1.003,0.058,0.116,1599.28,1761.19,1437.38,2805.75,493.19,0,0,0,11.48,15.78,15.51
$GC,2894.90,1157,292.00,1.00,0.00,1591.9,1748.2,1435.6,2805.6,492.4,136.26,11.92,315,2899.46,0.00,0.26,2.30,0.000,0.173,0.021,1589.47,1746.00,1432.94,2751.00,1991.31,0,0,0,30.00,15.59,15.81
$GC,3139.96,391,292.00,1.06,40.00,1590.2,1745.1,1435.2,2751.7,1990.6,109.78,11.10,339,3143.47,0.00,0.14,2.20,0.000,0.085,0.045,1591.34,1746.06,1436.62,2806.12,3364.62,0,0,0,30.00,15.79,15.83
$GC,3172.92,1031,292.00,1.06,0.00,1590.3,1745.2,1435.4,2808.6,3362.9,105.23,12.20,342,3180.40,0.00,0.20,2.38,0.000,0.180,0.049,1589.84,1744.56,1435.12,2774.19,1902.81,0,0,0,30.00,15.59,15.83
$GC,3420.00,679,318.38,1.14,-40.00,1589.4,1743.3,1435.5,2771.8,1901.2,81.62,8.69,367,3444.03,19.85,0.16,2.52,0.891,0.077,0.116,1492.53,1640.00,1345.06,2838.75,491.75,0,0,0,11.42,15.79,15.60
$GC,3489.98,1157,318.38,1.10,0.00,1489.0,1632.9,1345.1,2841.0,491.6,73.48,12.46,374,3494.56,0.00,0.28,2.30,0.000,0.168,0.020,1489.31,1633.75,1344.88,2779.94,1987.62,0,0,0,30.00,15.62,15.86
$GC,3615.00,163,337.67,1.20,0.00,1488.6,1632.1,1345.1,2783.4,1986.6,61.35,9.07,386,3635.35,15.80,0.19,0.00,0.840,0.072,0.000,1414.38,1556.81,1271.94,2855.69,1987.88,0,0,0,11.71,15.75,30.00
$GC,3755.00,645,337.67,1.15,-40.00,1413.1,1556.0,1270.2,2853.1,1986.2,45.84,11.28,400,3759.66,0.00,0.25,2.71,0.000,0.163,0.116,1413.41,1556.19,1270.62,2798.19,494.00,0,0,0,30.00,15.69,15.67
$GC,3770.00,1029,337.67,1.15,0.00,1410.9,1552.1,1269.6,2799.8,494.4,44.19,11.13,401,3773.54,0.00,0.05,2.31,0.000,0.225,0.021,1410.06,1551.44,1268.69,2831.25,1968.19,0,0,0,30.00,15.66,15.89
$GC,3900.01,261,337.67,1.15,40.00,1410.8,1551.9,1269.6,2830.3,1972.4,29.77,11.99,414,3905.58,0.00,0.14,2.27,0.000,0.178,0.047,1410.88,1551.31,1270.44,2800.56,3359.06,0,0,0,30.00,15.71,15.56
$GC,3915.01,1029,337.67,1.15,0.00,1410.6,1551.5,1269.6,2800.2,3360.4,28.13,11.57,417,3920.61,0.00,0.05,2.42,0.000,0.220,0.052,1411.16,1552.62,1269.69,2831.75,1900.56,0,0,0,30.00,15.39,15.51
$GC,3980.01,517,337.67,1.15,-40.00,1410.6,1551.6,1269.6,2834.6,1901.3,21.39,10.64,430,3985.66,0.00,0.17,2.56,0.000,0.182,0.118,1411.03,1552.75,1269.31,2799.94,493.25,0,0,0,30.00,15.70,15.43
$GC,4000.03,1157,337.67,1.19,0.00,1409.7,1549.6,1269.8,2799.4,493.1,19.35,10.38,434,4005.61,0.00,0.10,2.32,0.000,0.117,0.020,1409.84,1550.75,1268.94,2838.69,1969.94,0,0,0,30.00,15.42,15.62
$GC,4065.03,261,337.67,1.19,40.00,1409.5,1549.5,1269.5,2841.4,1971.9,12.62,10.34,447,4070.62,0.00,0.14,2.26,0.000,0.174,0.044,1410.50,1550.19,1270.81,2811.50,3367.19,0,0,0,30.00,15.70,15.56
$GC,4085.03,1029,337.67,1.19,0.00,1409.5,1549.7,1269.3,2809.2,3364.5,10.44,10.86,451,4090.64,0.00,0.04,2.40,0.000,0.230,0.046,1410.28,1549.75,1270.81,2845.69,1898.38,0,0,0,30.00,15.38,15.50
$STATE,4150,end climb,SURFACE_DEPTH_REACHED
$STATE,4150,begin surface coast
$FINISH,-0.0,1.023290
$STATE,4175,end surface coast,CONTROL_FINISHED_OK
$STATE,4175,begin surface
$SM_CCo,4223.07,28.55,0.053,0,1159.6,1245.2,1074.0,399.94
$SM_CCo,4224.25,0.00,2.475,0,1158.8,1243.9,1073.6,400.15
$SM_GC,0.68,0.00,11.90,0.60,2.475,0.027,0.030,1158.8,1243.9,1073.6,181.2,2318.4,0,0,0,30.36,15.79,15.90
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2248.57,-15748.90,201021,165343
$TCM_TEMP,25.50
$XPDR_PINGS,73
$HUMID,58.57
$TEMP,22.09
$INTERNAL_PRESSURE,9.58707
$24V_AH,13.48,196.713
$10V_AH,15.00,0.000
$FG_AHR_24Vo,94.983
$FG_AHR_10Vo,31.128
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,470.400,32.070,72.905,225.086,18.250,24.628,2162.100,2417.900,1397.993,0.000,0.000,0.000
$DEVICE_MAMPS,2475.496,327.752,118.160,183.105,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.940,1213.741,576.213,659.242,1013.058,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168228,33,14660,88
$DATA_FILE_SIZE,46370,469
$CAP_FILE_SIZE,174275,0
$SDSIZE,3931136,3780672
$SDFILEDIR,2952,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,342.2,1
$GPS,201021,180955,2246.058,-15749.811,11,0.8,39,9.8