version: 67.00
glider: 511
mission: 20
dive: 976
start: 10 21 121 1 3 19
data:
$ID,511
$MISSION,20
$DIVE,976
$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,2750
$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,31.263481
$FG_AHR_24V,95.391106
$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
$GPS1,211021,005803,2245.279,-15750.607,16,0.7,34,9.8
$_CALLS,1
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-65.0
$GPS2,211021,010303,2245.272,-15750.636,7,0.8,21,9.8
$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,103.8,5316,-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,3.23,2,-126.52,-0.86,0.00,1113.8,1194.6,1032.9,178.0,2174.4,0.00,0.00,0,76.41,72.21,0.00,0.00,0.005,0.000,0.000,3036.03,3062.12,3009.94,177.88,2174.56,0,0,0,13.95,30.00,30.00
$GC,76.75,551,-126.52,-0.86,-40.00,3034.2,3059.8,3008.6,177.9,2174.6,3.36,-3.89,14,103.86,4.92,12.35,2.34,0.009,0.337,0.100,3267.47,3303.50,3231.44,2164.75,839.44,0,0,0,14.20,15.05,15.15
$GC,177.61,1028,-126.52,-0.86,0.00,3266.4,3304.1,3228.8,2163.4,838.7,19.56,-12.37,34,183.07,0.00,0.00,2.34,0.000,0.000,0.028,3264.84,3303.69,3226.00,2164.38,2303.56,0,0,0,30.00,30.00,15.54
$GC,242.62,260,-126.52,-0.86,40.00,3266.4,3304.5,3228.4,2163.4,2304.2,27.46,-12.27,47,248.09,0.00,0.00,2.35,0.000,0.000,0.068,3265.03,3301.88,3228.19,2163.62,3708.50,0,0,0,30.00,30.00,15.46
$GC,267.61,1028,-126.52,-0.86,0.00,3266.3,3304.0,3228.6,2163.6,3709.1,30.53,-12.37,52,273.09,0.00,0.00,2.32,0.000,0.000,0.023,3268.72,3306.38,3231.06,2161.00,2228.19,0,0,0,30.00,30.00,15.55
$GC,392.65,516,-126.52,-0.86,-40.00,3266.5,3304.3,3228.6,2163.6,2229.8,45.94,-12.44,65,396.10,0.00,0.00,2.41,0.000,0.000,0.095,3268.81,3306.75,3230.88,2165.19,841.12,0,0,0,30.00,30.00,15.66
$GC,412.66,1028,-126.52,-0.86,0.00,3266.4,3304.1,3228.6,2163.1,841.2,48.50,-12.66,67,416.07,0.00,0.00,2.29,0.000,0.000,0.025,3267.06,3304.75,3229.38,2164.88,2310.81,0,0,0,30.00,30.00,15.85
$GC,542.68,260,-126.52,-0.86,40.00,3268.5,3306.6,3230.4,2164.9,2308.4,64.65,-12.31,80,546.11,0.00,0.00,2.31,0.000,0.000,0.067,3267.34,3306.31,3228.38,2162.12,3705.50,0,0,0,30.00,30.00,15.78
$GC,562.71,1157,-126.52,-0.90,0.00,3267.1,3302.8,3231.4,2162.4,3707.5,67.07,-12.29,82,566.23,0.00,0.08,2.28,0.000,0.134,0.023,3266.62,3306.00,3227.25,2119.50,2234.44,0,0,0,30.00,15.64,15.85
$GC,692.75,645,-126.52,-0.87,-40.00,3266.8,3304.8,3228.8,2119.1,2230.3,83.75,-12.37,95,697.31,0.00,0.23,2.39,0.000,0.190,0.093,3266.50,3303.88,3229.12,2165.19,840.00,0,0,0,30.00,15.68,15.70
$GC,757.76,1157,-126.52,-0.92,0.00,3266.5,3304.4,3228.6,2165.6,840.1,90.99,-10.91,101,761.30,0.00,0.13,2.29,0.000,0.089,0.024,3268.06,3307.38,3228.75,2106.88,2314.94,0,0,0,30.00,15.66,15.89
$GC,1005.81,389,-126.52,-0.89,40.00,3267.0,3305.0,3229.0,2099.6,2314.1,119.96,-11.09,126,1011.24,0.00,0.29,2.28,0.000,0.176,0.065,3264.72,3303.31,3226.12,2160.56,3710.12,0,0,0,30.00,15.71,15.70
$GC,1030.76,1028,-126.52,-0.89,0.00,3266.6,3304.5,3228.6,2158.8,3709.0,122.37,-10.60,128,1038.06,0.00,0.00,2.28,0.000,0.000,0.021,3266.19,3305.81,3226.56,2159.88,2224.00,0,0,0,30.00,30.00,15.94
$GC,1277.87,677,-126.52,-0.99,-40.00,3267.6,3306.1,3229.1,2158.2,2225.4,145.28,-9.58,153,1282.40,0.00,0.19,2.38,0.000,0.070,0.089,3270.16,3308.38,3231.94,2092.62,840.38,0,0,0,30.00,15.82,15.72
$GC,1315.80,1029,-126.52,-0.99,0.00,3266.8,3305.6,3228.1,2090.5,839.8,149.99,-11.00,156,1323.25,0.00,0.19,2.29,0.000,0.194,0.026,3269.94,3308.75,3231.12,2125.81,2307.38,0,0,0,30.00,15.66,15.93
$GC,1562.91,161,-126.52,-1.04,0.00,3267.4,3305.8,3229.1,2127.8,2308.2,174.10,-9.12,181,1564.38,0.00,0.12,0.00,0.000,0.086,0.000,3269.06,3307.38,3230.75,2066.25,2306.62,0,0,0,30.00,15.82,30.00
$GC,1803.02,645,-126.52,-0.99,-40.00,3267.6,3305.9,3229.2,2067.6,2308.9,199.97,-10.71,205,1806.47,0.00,0.28,2.19,0.000,0.179,0.082,3269.72,3308.81,3230.62,2124.50,1024.88,0,0,0,30.00,15.74,15.72
$STATE,1806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1807,begin apogee
$GC,1809.20,3,0.00,-0.18,0.00,3267.8,3306.3,3229.4,2123.9,1980.4,200.55,-10.71,205,1908.53,96.62,1.32,0.14,1.083,0.157,0.119,2751.03,2829.31,2672.75,2385.25,1870.25,0,0,0,10.90,15.53,15.38
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1908.92,519,126.52,0.86,-40.00,2750.5,2828.6,2672.4,2386.3,1862.6,205.13,0.00,215,2020.35,100.95,1.53,2.52,1.082,0.043,0.121,2231.91,2383.19,2080.62,2743.62,493.62,0,0,0,12.00,15.56,15.31
$GC,2127.12,1191,168.16,0.84,0.00,2227.5,2375.4,2079.6,2739.8,493.0,200.44,7.87,237,2164.41,32.72,0.20,2.31,1.032,0.180,0.019,2063.06,2239.88,1886.25,2698.12,1977.50,0,0,0,11.66,15.58,15.76
$GC,2402.16,163,250.58,1.00,0.00,2060.2,2241.4,1879.1,2701.2,1976.8,181.62,5.69,264,2465.54,61.74,0.28,0.00,1.058,0.060,0.000,1729.34,1910.38,1548.31,2791.75,1977.06,0,0,0,11.45,15.73,30.00
$GC,2709.33,423,265.43,0.97,40.00,1723.2,1905.4,1541.0,2789.8,1977.3,152.87,9.31,295,2727.56,12.59,0.23,2.21,0.893,0.175,0.048,1669.53,1840.94,1498.12,2741.44,3357.88,0,0,0,11.49,15.70,15.59
$GC,2762.37,1191,290.48,1.04,0.00,1667.2,1838.3,1496.1,2742.6,3360.6,148.09,8.76,300,2789.74,20.24,0.14,2.38,0.960,0.095,0.046,1567.72,1730.12,1405.31,2795.62,1898.31,0,0,0,11.99,15.65,15.81
$GC,3029.37,517,290.48,1.04,-40.00,1561.0,1720.0,1402.0,2797.5,1897.1,119.60,10.86,327,3033.98,0.00,0.17,2.53,0.000,0.181,0.116,1561.66,1720.69,1402.62,2763.25,492.81,0,0,0,30.00,15.73,15.68
$GC,3042.35,1029,290.48,1.04,0.00,1559.3,1716.9,1401.8,2763.1,493.2,118.05,10.72,328,3047.74,0.00,0.04,2.30,0.000,0.247,0.021,1560.03,1717.00,1403.06,2798.12,1978.75,0,0,0,30.00,15.72,15.86
$GC,3294.43,261,290.48,1.04,40.00,1558.9,1716.1,1401.7,2798.7,1979.5,90.66,10.48,353,3297.96,0.00,0.17,2.22,0.000,0.180,0.047,1558.28,1715.44,1401.12,2762.38,3361.94,0,0,0,30.00,15.75,15.76
$GC,3354.48,1191,309.28,1.12,0.00,1558.8,1716.1,1401.5,2763.1,3360.8,85.07,9.09,359,3375.37,15.22,0.14,2.38,0.872,0.090,0.047,1489.12,1640.31,1337.94,2821.69,1898.19,0,0,0,11.30,15.63,15.81
$GC,3614.50,35,336.09,1.15,0.00,1485.8,1636.1,1335.6,2824.1,1900.2,61.79,8.67,385,3637.05,20.97,0.12,0.00,0.885,0.203,0.000,1378.47,1527.75,1229.19,2796.75,1901.81,0,0,0,11.73,15.72,30.00
$GC,3754.55,423,364.11,1.26,40.00,1378.3,1529.0,1227.6,2799.2,1901.8,49.69,8.60,399,3785.08,22.49,0.21,2.37,0.866,0.068,0.044,1264.97,1410.06,1119.88,2874.88,3357.50,0,0,0,11.81,15.74,15.57
$GC,3804.53,1157,364.11,1.19,0.00,1264.9,1409.3,1120.4,2873.4,3360.9,43.96,11.46,404,3809.16,0.00,0.31,2.41,0.000,0.171,0.050,1263.47,1407.69,1119.25,2810.62,1900.56,0,0,0,30.00,15.51,15.74
$GC,3929.59,679,369.98,1.27,-40.00,1262.9,1407.8,1118.1,2812.4,1900.4,31.50,9.79,416,3940.38,6.53,0.17,2.54,0.638,0.077,0.115,1241.88,1383.38,1100.38,2881.50,491.62,0,0,0,11.72,15.74,15.42
$GC,3949.65,1029,369.98,1.27,0.00,1240.4,1381.1,1099.8,2884.0,491.8,29.17,10.54,418,3955.21,0.00,0.22,2.31,0.000,0.182,0.020,1241.19,1381.62,1100.75,2836.88,1995.06,0,0,0,30.00,15.46,15.67
$GC,4014.58,261,369.98,1.27,40.00,1240.0,1380.4,1099.6,2839.0,1996.3,21.76,11.09,431,4020.14,0.00,0.05,2.21,0.000,0.221,0.045,1240.22,1381.06,1099.38,2871.12,3357.62,0,0,0,30.00,15.73,15.57
$GC,4034.59,1157,369.98,1.24,0.00,1239.8,1380.1,1099.4,2871.2,3360.8,19.29,11.99,435,4040.27,0.00,0.24,2.41,0.000,0.179,0.049,1239.69,1379.44,1099.94,2829.06,1902.38,0,0,0,30.00,15.32,15.52
$GC,4099.63,645,369.98,1.28,-40.00,1239.4,1379.7,1099.2,2827.7,1903.1,12.11,10.83,448,4105.24,0.00,0.12,2.57,0.000,0.103,0.118,1240.25,1380.94,1099.56,2877.31,492.25,0,0,0,30.00,15.77,15.45
$GC,4119.62,1029,369.98,1.28,0.00,1238.0,1376.7,1099.3,2877.8,491.9,9.71,11.39,452,4125.22,0.00,0.17,2.33,0.000,0.186,0.021,1238.66,1377.12,1100.19,2839.62,1989.06,0,0,0,30.00,15.36,14.13
$STATE,4179,end climb,SURFACE_DEPTH_REACHED
$STATE,4179,begin surface coast
$FINISH,-0.1,1.023172
$STATE,4204,end surface coast,CONTROL_FINISHED_OK
$STATE,4205,begin surface
$SM_CCo,4236.62,13.65,0.054,0,1120.3,1210.9,1029.8,399.75
$SM_CCo,4237.82,0.00,2.485,0,1119.1,1210.2,1028.0,400.06
$SM_GC,0.53,0.00,11.78,0.46,2.485,0.026,0.027,1119.1,1210.2,1028.0,180.8,2333.6,0,0,0,30.36,15.79,15.90
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2246.29,-15811.92,201021,234019
$TCM_TEMP,25.20
$XPDR_PINGS,78
$HUMID,58.63
$TEMP,22.02
$INTERNAL_PRESSURE,9.58268
$24V_AH,13.52,197.787
$10V_AH,15.00,0.000
$FG_AHR_24Vo,95.462
$FG_AHR_10Vo,31.288
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,480.860,31.465,74.825,195.213,19.500,30.743,2131.147,2380.341,1391.473,0.000,0.000,0.000
$DEVICE_MAMPS,2485.336,337.264,121.440,186.682,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1009.939,1214.021,576.087,661.270,1016.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168412,32,14556,85
$DATA_FILE_SIZE,46355,469
$CAP_FILE_SIZE,175735,0
$SDSIZE,3931136,3779904
$SDFILEDIR,2970,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205,280.8,1
$GPS,211021,021429,2245.182,-15750.661,11,1.0,19,9.8