version: 67.00
glider: 511
mission: 20
dive: 971
start: 10 20 121 18 18 50
data:
$ID,511
$MISSION,20
$DIVE,971
$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,31.130299
$FG_AHR_24V,94.993759
$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
$GPS1,201021,180955,2246.058,-15749.811,11,0.8,39,9.8
$_CALLS,2
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-65.2
$GPS2,201021,181834,2246.133,-15749.814,2,0.8,17,9.8
$SPEED_LIMITS,0.175,0.245
$TGT_NAME,T18kma2
$TGT_LATLONG,2242.600,-15749.500
$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,155.7,6565,-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,-0.86,0.00,1151.0,1228.7,1073.4,180.5,2215.1,0.00,0.00,0,76.42,72.19,0.00,0.00,0.005,0.000,0.000,3084.53,3112.81,3056.25,180.75,2213.75,0,0,0,13.94,30.00,30.00
$GC,76.76,551,-126.52,-0.86,-40.00,3082.9,3109.9,3056.0,180.6,2214.2,3.65,-4.25,14,103.29,4.51,12.25,2.39,0.010,0.327,0.092,3306.47,3351.88,3261.06,2164.19,837.75,0,0,0,14.03,15.05,15.12
$GC,167.01,1028,-126.52,-0.86,0.00,3305.7,3352.6,3258.8,2164.4,838.4,19.40,-12.44,32,172.49,0.00,0.00,2.34,0.000,0.000,0.028,3304.31,3352.19,3256.44,2165.25,2304.44,0,0,0,30.00,30.00,15.56
$GC,232.01,260,-126.52,-0.86,40.00,3306.1,3352.8,3259.5,2164.0,2303.8,27.73,-12.93,45,237.51,0.00,0.00,2.36,0.000,0.000,0.068,3304.97,3350.69,3259.25,2162.31,3707.44,0,0,0,30.00,30.00,13.78
$GC,262.04,1157,-126.52,-0.90,0.00,3306.6,3353.4,3259.8,2163.2,3704.6,31.54,-12.87,50,265.57,0.00,0.08,2.31,0.000,0.138,0.024,3304.34,3350.69,3258.00,2120.12,2229.38,0,0,0,30.00,15.60,15.81
$GC,392.10,389,-126.52,-0.83,40.00,3306.3,3353.4,3259.2,2120.9,2230.4,50.27,-15.11,63,396.66,0.00,0.28,2.45,0.000,0.188,0.066,3304.59,3350.69,3258.50,2175.88,3709.38,0,0,0,30.00,15.65,15.67
$GC,417.05,1028,-126.52,-0.83,0.00,3306.3,3353.5,3259.2,2176.6,3706.4,53.65,-14.25,65,420.46,0.00,0.00,2.30,0.000,0.000,0.025,3307.78,3356.62,3258.94,2177.75,2231.75,0,0,0,30.00,30.00,15.83
$GC,547.09,129,-126.52,-0.88,0.00,3306.5,3353.4,3259.7,2176.3,2230.2,69.37,-11.78,78,548.55,0.00,0.11,0.00,0.000,0.101,0.000,3304.09,3351.44,3256.75,2125.12,2226.44,0,0,0,30.00,15.75,30.00
$GC,665.08,261,-126.52,-0.88,40.00,3306.4,3353.6,3259.3,2126.8,2228.0,84.06,-11.46,90,670.52,0.00,0.16,2.45,0.000,0.201,0.065,3308.03,3355.31,3260.75,2157.06,3707.00,0,0,0,30.00,15.70,15.69
$GC,680.03,1028,-126.52,-0.88,0.00,3306.6,3353.2,3260.1,2158.9,3704.1,85.68,-11.37,91,685.31,0.00,0.00,2.29,0.000,0.000,0.023,3305.50,3353.94,3257.06,2158.00,2226.88,0,0,0,30.00,30.00,15.90
$GC,925.11,645,-126.52,-0.98,-40.00,3306.7,3354.2,3259.2,2159.3,2226.9,112.86,-11.24,116,930.53,0.00,0.17,2.39,0.000,0.074,0.091,3308.03,3354.25,3261.81,2093.31,838.25,0,0,0,30.00,15.82,15.74
$GC,950.06,1029,-126.52,-0.98,0.00,3306.9,3354.1,3259.7,2095.2,838.9,116.12,-11.84,118,957.54,0.00,0.18,2.31,0.000,0.206,0.028,3308.94,3355.94,3261.94,2131.12,2310.88,0,0,0,30.00,15.62,15.93
$GC,1197.18,421,-126.52,-1.02,40.00,3306.8,3354.1,3259.4,2130.4,2309.9,142.25,-9.27,143,1200.69,0.00,0.10,2.29,0.000,0.103,0.065,3308.97,3357.25,3260.69,2069.75,3704.19,0,0,0,30.00,15.81,15.82
$GC,1250.13,1157,-126.52,-0.96,0.00,3306.5,3354.1,3259.0,2070.1,3706.9,148.10,-10.61,148,1257.62,0.00,0.32,2.27,0.000,0.180,0.021,3305.78,3354.62,3256.94,2135.81,2210.56,0,0,0,30.00,15.67,15.93
$GC,1495.27,677,-126.52,-1.01,-40.00,3307.2,3355.1,3259.4,2134.6,2206.1,168.38,-8.71,173,1500.71,0.00,0.12,2.35,0.000,0.103,0.090,3307.69,3354.12,3261.25,2085.56,840.44,0,0,0,30.00,15.81,15.76
$GC,1517.20,1061,-126.52,-1.01,0.00,3307.0,3354.4,3259.6,2083.7,838.9,170.50,-9.42,175,1520.76,0.00,0.17,2.29,0.000,0.201,0.025,3309.12,3356.81,3261.44,2116.06,2306.25,0,0,0,30.00,15.59,15.90
$GC,1765.27,421,-126.52,-1.06,40.00,3307.2,3355.2,3259.2,2117.2,2308.2,195.73,-10.02,200,1770.68,0.00,0.10,2.30,0.000,0.103,0.063,3308.56,3354.88,3262.25,2053.00,3705.56,0,0,0,30.00,15.82,15.83
$GC,1780.20,1029,-126.52,-1.06,0.00,3306.5,3354.4,3258.6,2053.5,3707.4,197.41,-10.13,201,1787.68,0.00,0.25,2.27,0.000,0.191,0.021,3305.97,3352.56,3259.38,2104.81,2207.19,0,0,0,30.00,15.68,15.95
$STATE,1805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1805,begin apogee
$GC,1806.54,3,0.00,-0.18,0.00,3306.3,3354.1,3258.6,2102.9,1865.8,200.15,-10.79,204,1909.17,96.18,1.42,0.12,1.087,0.159,0.099,2792.94,2874.12,2711.75,2387.75,2008.81,0,0,0,10.94,15.70,15.41
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1909.55,519,126.52,0.86,-40.00,2790.4,2871.6,2709.3,2385.8,2007.8,205.86,0.00,214,2019.00,101.46,1.54,2.80,1.084,0.042,0.116,2274.62,2422.81,2126.44,2741.25,492.44,0,0,0,11.97,15.54,15.30
$GC,2101.46,1191,216.47,0.90,0.00,2266.4,2410.9,2121.9,2744.0,492.9,205.26,5.29,233,2174.53,68.29,0.12,2.31,1.066,0.199,0.018,1902.66,2088.12,1717.19,2719.75,1990.38,0,0,0,11.71,15.55,15.74
$GC,2411.57,679,263.27,1.01,-40.00,1901.8,2090.1,1713.4,2719.1,1991.0,179.81,7.60,264,2455.01,35.53,0.20,2.73,1.019,0.067,0.118,1718.88,1896.62,1541.12,2797.12,493.19,0,0,0,11.48,15.75,15.51
$GC,2506.79,1157,263.27,0.96,0.00,1712.5,1886.8,1538.3,2799.4,493.2,170.38,10.38,273,2514.26,0.00,0.28,2.30,0.000,0.174,0.020,1712.16,1887.62,1536.69,2742.94,1991.50,0,0,0,30.00,15.60,15.79
$GC,2753.81,679,283.75,1.04,-40.00,1710.5,1886.7,1534.4,2741.8,1992.1,149.71,9.00,298,2774.79,16.69,0.16,2.71,0.924,0.077,0.116,1628.88,1790.75,1467.00,2820.06,491.69,0,0,0,11.39,15.78,15.55
$GC,2838.81,1157,283.75,0.97,0.00,1627.3,1785.4,1469.1,2819.6,491.6,139.33,12.62,307,2843.39,0.00,0.39,2.30,0.000,0.169,0.020,1625.78,1783.62,1467.94,2739.38,1993.38,0,0,0,30.00,15.62,15.85
$GC,3083.91,423,302.13,1.07,40.00,1626.0,1784.0,1468.0,2741.3,1995.2,115.92,9.12,331,3104.70,14.90,0.20,2.20,0.885,0.059,0.048,1558.31,1709.56,1407.06,2825.62,3359.31,0,0,0,11.49,15.81,14.49
$GC,3123.94,1157,302.13,1.02,0.00,1557.9,1709.7,1406.1,2824.2,3362.6,111.12,11.40,335,3128.43,0.00,0.33,2.39,0.000,0.155,0.050,1557.34,1708.50,1406.19,2760.62,1904.56,0,0,0,30.00,15.58,15.80
$GC,3368.95,679,343.39,1.15,-40.00,1555.5,1706.8,1404.2,2757.9,1901.1,89.60,7.89,359,3405.18,32.08,0.24,2.53,0.931,0.060,0.118,1388.91,1538.81,1239.00,2843.19,492.06,0,0,0,11.42,15.81,15.57
$GC,3433.93,1157,343.39,1.11,0.00,1385.2,1531.8,1238.5,2841.4,491.4,82.30,11.92,365,3438.50,0.00,0.26,2.32,0.000,0.164,0.020,1383.06,1529.44,1236.69,2785.25,1993.62,0,0,0,30.00,15.60,15.81
$GC,3679.03,163,385.25,1.26,0.00,1383.8,1530.9,1236.7,2787.2,1996.5,62.03,7.86,389,3711.71,31.69,0.25,0.00,0.894,0.056,0.000,1219.22,1361.56,1076.88,2871.25,1997.88,0,0,0,11.57,15.78,30.00
$GC,3828.97,645,385.25,1.19,-40.00,1216.0,1356.4,1075.6,2873.3,1996.4,44.27,12.54,404,3833.60,0.00,0.29,2.73,0.000,0.162,0.115,1216.12,1356.38,1075.88,2813.56,494.25,0,0,0,30.00,15.68,15.66
$GC,3843.96,1156,385.25,1.16,0.00,1213.9,1352.7,1075.1,2813.1,494.6,42.55,12.14,405,3847.36,0.00,0.00,2.31,0.000,0.000,0.021,1214.38,1352.50,1076.25,2810.56,1965.50,0,0,0,30.00,30.00,15.83
$GC,3973.96,389,385.25,1.22,40.00,1213.6,1351.8,1075.4,2813.6,1964.9,28.93,10.57,418,3979.51,0.00,0.08,2.26,0.000,0.139,0.047,1214.78,1352.94,1076.62,2857.19,3359.25,0,0,0,30.00,15.76,15.56
$GC,3989.03,1029,385.25,1.22,0.00,1214.0,1352.9,1075.1,2857.2,3357.2,27.19,10.77,421,3994.58,0.00,0.20,2.43,0.000,0.175,0.054,1214.16,1351.75,1076.56,2822.75,1902.44,0,0,0,30.00,15.33,15.51
$GC,4053.99,645,385.25,1.27,-40.00,1213.5,1351.8,1075.2,2820.5,1899.5,20.07,10.69,434,4059.63,0.00,0.12,2.56,0.000,0.097,0.117,1214.84,1352.94,1076.75,2875.69,493.69,0,0,0,30.00,15.74,15.44
$GC,4078.97,1029,385.25,1.27,0.00,1212.3,1349.1,1075.6,2876.7,492.9,17.01,11.90,439,4084.59,0.00,0.19,2.32,0.000,0.189,0.020,1213.00,1349.69,1076.31,2840.88,1990.81,0,0,0,30.00,15.36,15.61
$GC,4143.99,1,385.25,1.27,0.00,1212.2,1348.9,1075.4,2838.0,1992.6,9.47,11.48,452,4148.88,0.00,0.04,0.00,0.000,0.240,0.000,1211.41,1347.69,1075.12,2872.06,1993.38,0,0,0,30.00,15.78,30.00
$STATE,4199,end climb,SURFACE_DEPTH_REACHED
$STATE,4199,begin surface coast
$FINISH,-0.1,1.011943
$STATE,4224,end surface coast,CONTROL_FINISHED_OK
$STATE,4224,begin surface
$SM_CCo,4248.79,5.99,0.057,0,1156.2,1253.4,1059.0,400.77
$SM_GC,1.16,5.99,11.98,0.46,0.057,0.024,0.028,1156.2,1253.4,1059.0,178.4,2342.7,0,0,0,15.75,15.79,15.90
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2245.80,-15749.78,201021,181137
$TCM_TEMP,25.40
$XPDR_PINGS,74
$HUMID,56.13
$TEMP,22.15
$INTERNAL_PRESSURE,9.59057
$24V_AH,14.86,196.897
$10V_AH,15.00,0.000
$FG_AHR_24Vo,95.067
$FG_AHR_10Vo,31.155
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,479.520,32.610,77.685,358.253,18.500,31.843,2294.136,2448.239,1384.441,0.000,0.000,0.000
$DEVICE_MAMPS,1086.744,326.768,118.488,182.324,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1046.933,1203.285,575.031,650.773,999.987,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168432,32,14536,85
$DATA_FILE_SIZE,46433,468
$CAP_FILE_SIZE,180691,0
$SDSIZE,3931136,3780544
$SDFILEDIR,2955,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.174,349.3,1
$GPS,201021,193012,2246.055,-15749.878,11,1.0,20,9.8