version: 67.00
glider: 511
mission: 21
dive: 165
start: 4 19 123 23 53 27
data:
$ID,511
$MISSION,21
$DIVE,165
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,800
$D_NO_BLEED,40
$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,200
$T_MISSION,400
$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,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53737
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003548
$HD_B,0.01122
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$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,3
$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,2444
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,2810
$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,8.0531359
$FG_AHR_24V,22.780737
$PHONE_SUPPLY,2
$PRESSURE_YINT,-153.03943
$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,90
$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,0.0043565538
$SEABIRD_T_H,0.00062579219
$SEABIRD_T_I,2.403178e-05
$SEABIRD_T_J,2.6144669e-06
$SEABIRD_C_G,-10.106528
$SEABIRD_C_H,1.1356341
$SEABIRD_C_I,-0.0027123312
$SEABIRD_C_J,0.00029710407
$SEABIRD_C_Z,0
$GPS1,190423,234739,2233.762,-15813.554,15,0.9,31,9.8
$_CALLS,1
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-63.0
$GPS2,190423,235311,2233.768,-15813.555,3,0.8,13,9.8
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,BNE
$TGT_LATLONG,2258.560,-15745.420
$TGT_RADIUS,1000.000
$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,62.8,66404,-18.7,-10.000,-21.94
$D_GRID,600
$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,3.33,2,-145.99,-0.80,0.00,303.7,348.2,259.1,185.2,2152.0,0.00,0.00,0,101.92,97.20,0.00,0.00,0.005,0.000,0.000,2865.12,2897.75,2832.50,185.12,2148.88,0,0,0,14.75,30.00,30.00
$GC,102.23,551,-145.99,-0.80,-40.00,2864.4,2898.4,2830.4,185.0,2150.1,3.06,-2.78,19,134.37,11.10,11.93,2.17,0.007,0.343,0.059,3404.03,3445.12,3362.94,2185.81,826.00,0,0,0,14.80,15.62,15.72
$GC,246.04,1028,-145.99,-0.80,0.00,3405.6,3449.5,3361.8,2186.6,825.2,30.98,-17.08,47,253.36,0.00,0.00,2.34,0.000,0.000,0.035,3408.91,3453.06,3364.75,2186.88,2298.69,0,0,0,30.00,30.00,15.96
$GC,493.13,260,-145.99,-0.80,40.00,3729.0,4095.9,3362.1,2186.4,2299.2,72.05,-15.58,72,496.56,0.00,0.00,2.33,0.000,0.000,0.078,3729.66,4095.94,3363.38,2186.44,3704.12,0,0,0,30.00,30.00,16.01
$GC,533.12,1028,-145.99,-0.80,0.00,3729.1,4095.9,3362.2,2186.6,3704.9,77.89,-14.73,76,536.55,0.00,0.00,2.27,0.000,0.000,0.018,3729.38,4095.94,3362.81,2186.00,2217.69,0,0,0,30.00,30.00,16.04
$GC,783.18,260,-145.99,-0.80,40.00,3729.6,4095.9,3363.2,2186.8,2214.4,114.13,-14.89,101,786.62,0.00,0.00,2.46,0.000,0.000,0.070,3730.22,4095.94,3364.50,2186.19,3709.62,0,0,0,30.00,30.00,16.06
$GC,843.30,1028,-145.99,-0.80,0.00,3729.3,4095.9,3362.7,2186.7,3708.0,122.55,-13.95,107,846.59,0.00,0.00,2.28,0.000,0.000,0.017,3729.56,4095.94,3363.19,2186.88,2217.94,0,0,0,30.00,30.00,16.08
$GC,1091.20,260,-145.99,-0.80,40.00,3729.1,4095.9,3362.2,2187.2,2213.6,159.91,-15.41,132,1096.49,0.00,0.00,2.45,0.000,0.000,0.069,3729.31,4095.94,3362.69,2186.06,3706.25,0,0,0,30.00,30.00,16.09
$GC,1133.21,1028,-145.99,-0.80,0.00,3729.2,4095.9,3362.5,2186.8,3705.8,165.85,-14.91,136,1136.63,0.00,0.00,2.27,0.000,0.000,0.018,3729.78,4095.94,3363.62,2187.31,2218.81,0,0,0,30.00,30.00,16.11
$GC,1381.24,260,-145.99,-0.80,40.00,3729.4,4095.9,3362.9,2187.3,2214.9,201.27,-13.96,161,1386.64,0.00,0.00,2.44,0.000,0.000,0.068,3729.00,4095.94,3362.06,2185.88,3705.38,0,0,0,30.00,30.00,16.11
$GC,1436.23,1028,-145.99,-0.80,0.00,3729.0,4095.9,3362.1,2186.7,3705.9,208.26,-12.78,166,1441.52,0.00,0.00,2.27,0.000,0.000,0.016,3728.84,4095.94,3361.75,2186.12,2224.69,0,0,0,30.00,30.00,16.13
$GC,1681.31,260,-145.99,-0.80,40.00,3729.2,4095.9,3362.5,2186.4,2222.9,235.99,-11.37,191,1686.61,0.00,0.00,2.46,0.000,0.000,0.074,3408.88,3454.56,3363.19,2185.69,3702.94,0,0,0,30.00,30.00,16.11
$GC,1711.32,1028,-145.99,-0.80,0.00,3454.4,3546.6,3362.1,2186.8,3701.2,239.26,-11.16,194,1716.58,0.00,0.00,2.27,0.000,0.000,0.019,3415.06,3468.56,3361.56,2185.94,2224.44,0,0,0,30.00,30.00,16.14
$GC,1961.38,260,-145.99,-0.80,40.00,3406.3,3450.9,3361.7,2186.1,2221.4,266.46,-11.23,219,1966.68,0.00,0.00,2.44,0.000,0.000,0.071,3425.72,3487.62,3363.81,2185.25,3704.25,0,0,0,30.00,30.00,16.12
$GC,2011.43,1028,-145.99,-0.80,0.00,3408.4,3454.9,3361.9,2186.3,3705.9,271.57,-10.21,224,2016.69,0.00,0.00,2.28,0.000,0.000,0.017,3409.84,3457.25,3362.44,2186.31,2222.25,0,0,0,30.00,30.00,16.12
$GC,2261.50,292,-145.99,-0.80,40.00,3729.4,4095.9,3362.8,2187.0,2219.7,297.16,-9.83,249,2266.80,0.00,0.00,2.44,0.000,0.000,0.068,3728.59,4095.94,3361.25,2186.38,3706.19,0,0,0,30.00,30.00,16.13
$GC,2281.47,1060,-145.99,-0.80,0.00,3729.2,4095.9,3362.5,2186.5,3707.0,299.10,-9.82,251,2286.73,0.00,0.00,2.27,0.000,0.000,0.016,3729.78,4095.94,3363.62,2186.25,2217.81,0,0,0,30.00,30.00,16.12
$GC,2531.52,0,-145.99,-0.80,0.00,3407.2,3452.5,3362.0,2186.1,2215.8,323.57,-10.07,276,2532.86,0.00,0.00,0.00,0.000,0.000,0.000,3405.00,3450.31,3359.69,2188.38,2214.88,0,0,0,30.00,30.00,30.00
$GC,2771.63,0,-145.99,-0.80,0.00,3404.6,3447.2,3362.0,2186.1,2215.9,348.40,-10.35,300,2772.97,0.00,0.00,0.00,0.000,0.000,0.000,3401.94,3444.75,3359.12,2186.38,2217.56,0,0,0,30.00,30.00,30.00
$GC,3011.64,260,-145.99,-0.80,40.00,3437.0,3512.9,3361.1,2186.3,2215.5,374.33,-10.58,324,3016.93,0.00,0.00,2.47,0.000,0.000,0.069,3448.56,3533.75,3363.38,2185.75,3707.19,0,0,0,30.00,30.00,16.13
$GC,3036.60,1028,-145.99,-0.80,0.00,3447.1,3532.7,3361.5,2186.5,3708.5,376.97,-10.51,326,3041.89,0.00,0.00,2.27,0.000,0.000,0.015,3446.88,3533.19,3360.56,2187.12,2216.12,0,0,0,30.00,30.00,16.14
$GC,3301.70,0,-145.99,-0.80,0.00,3402.5,3443.5,3361.5,2186.2,2213.3,404.57,-10.52,350,3303.04,0.00,0.00,0.00,0.000,0.000,0.000,3401.12,3442.50,3359.75,2185.44,2213.44,0,0,0,30.00,30.00,30.00
$GC,3541.71,0,-145.99,-0.80,0.00,3401.1,3444.8,3357.4,2186.1,2212.8,429.35,-10.30,356,3543.05,0.00,0.00,0.00,0.000,0.000,0.000,3404.31,3447.94,3360.69,2186.75,2211.44,0,0,0,30.00,30.00,30.00
$GC,3781.73,516,-145.99,-0.80,-40.00,3452.7,3550.1,3355.3,2186.4,2212.5,454.57,-10.54,362,3786.99,0.00,0.00,2.24,0.000,0.000,0.051,3436.31,3515.25,3357.38,2185.50,830.50,0,0,0,30.00,30.00,16.14
$GC,3811.70,1028,-145.99,-0.80,0.00,3455.5,3555.4,3355.6,2185.6,829.9,457.92,-10.54,362,3816.98,0.00,0.00,2.31,0.000,0.000,0.030,3436.00,3516.69,3355.31,2185.94,2299.94,0,0,0,30.00,30.00,16.18
$GC,4061.75,260,-145.99,-0.80,40.00,3442.7,3533.1,3352.3,2185.9,2301.3,483.66,-10.29,369,4067.03,0.00,0.00,2.31,0.000,0.000,0.073,3441.62,3529.62,3353.62,2185.69,3703.50,0,0,0,30.00,30.00,16.14
$GC,4096.73,1028,-145.99,-0.80,0.00,3441.3,3530.2,3352.4,2185.9,3704.8,487.05,-10.29,369,4102.89,0.00,0.00,2.28,0.000,0.000,0.016,3429.84,3510.19,3349.50,2185.12,2213.50,0,0,0,30.00,30.00,16.19
$GC,4343.82,548,-145.99,-0.80,-40.00,3449.1,3547.7,3350.5,2185.7,2212.5,510.14,-9.39,376,4347.21,0.00,0.00,2.23,0.000,0.000,0.045,3433.94,3517.38,3350.50,2184.88,823.94,0,0,0,30.00,30.00,16.15
$GC,4366.80,1060,-145.99,-0.80,0.00,3431.3,3512.3,3350.2,2186.3,822.8,512.73,-9.39,376,4372.07,0.00,0.00,2.31,0.000,0.000,0.028,3443.78,3536.44,3351.12,2185.69,2301.50,0,0,0,30.00,30.00,16.18
$GC,4621.82,32,-145.99,-0.80,0.00,3393.6,3440.2,3346.9,2184.1,2303.6,536.10,-9.09,383,4623.16,0.00,0.00,0.00,0.000,0.000,0.000,3396.19,3443.94,3348.44,2185.25,2300.81,0,0,0,30.00,30.00,30.00
$GC,4861.85,32,-145.99,-0.80,0.00,3392.1,3440.6,3343.5,2185.9,2302.1,557.03,-8.64,389,4863.19,0.00,0.00,0.00,0.000,0.000,0.000,3394.16,3442.75,3345.56,2184.56,2300.88,0,0,0,30.00,30.00,30.00
$GC,5101.87,292,-145.99,-0.80,40.00,3390.3,3439.8,3340.9,2185.9,2302.1,577.05,-8.36,395,5107.14,0.00,0.00,2.32,0.000,0.000,0.077,3392.19,3441.00,3343.38,2186.12,3701.25,0,0,0,30.00,30.00,16.13
$GC,5131.83,1060,-145.99,-0.80,0.00,3389.4,3438.7,3340.2,2185.7,3702.2,579.59,-8.36,395,5137.10,0.00,0.00,2.29,0.000,0.000,0.017,3388.56,3437.19,3339.94,2186.75,2218.12,0,0,0,30.00,30.00,16.16
$STATE,5382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5382,begin apogee
$GC,5383.19,3,0.00,-0.17,0.00,3390.1,3438.6,3341.6,2184.5,1845.5,600.07,-8.17,402,5493.50,107.15,0.99,0.16,1.762,0.152,0.111,2810.91,2935.62,2686.19,2392.62,2023.19,0,0,0,12.52,16.04,15.46
$STATE,5493,end apogee,CONTROL_FINISHED_OK
$STATE,5494,begin climb
$GC,5493.88,519,145.99,0.80,-40.00,2809.8,2931.6,2687.9,2392.4,2022.4,603.02,0.00,404,5620.34,119.76,1.43,2.72,1.755,0.043,0.066,2207.31,2384.44,2030.19,2728.44,484.06,0,0,0,12.72,15.49,15.36
$GC,5742.05,1063,254.34,0.94,0.00,2208.6,2383.9,2033.2,2727.6,484.1,594.68,5.03,410,5829.40,81.50,0.07,2.34,1.716,0.174,0.017,1775.31,1963.50,1587.12,2753.19,1969.38,0,0,0,12.62,15.77,15.80
$GC,6087.08,261,254.34,0.94,40.00,1768.2,1953.6,1582.9,2754.8,1968.1,551.34,12.89,419,6092.47,0.00,0.09,2.28,0.000,0.247,0.056,1769.75,1954.94,1584.56,2735.62,3356.88,0,0,0,30.00,15.84,15.92
$GC,6169.21,1029,254.34,0.94,0.00,1767.6,1952.2,1583.1,2736.0,3356.6,541.38,12.61,421,6172.67,0.00,0.04,2.37,0.000,0.271,0.033,1769.22,1953.25,1585.19,2751.31,1871.25,0,0,0,30.00,15.89,15.99
$GC,6447.13,517,254.34,0.94,-40.00,1766.8,1951.4,1582.2,2753.9,1869.3,506.19,12.68,428,6452.54,0.00,0.08,2.33,0.000,0.269,0.069,1766.16,1950.12,1582.19,2738.38,483.19,0,0,0,30.00,15.94,16.03
$GC,6487.13,1029,254.34,0.94,0.00,1765.8,1949.6,1581.9,2737.9,482.9,501.38,12.50,429,6492.54,0.00,0.00,2.32,0.000,0.045,0.020,1767.03,1951.00,1583.06,2737.25,1963.81,0,0,0,30.00,30.36,16.08
$GC,6769.18,261,254.34,0.94,40.00,1765.2,1949.8,1580.6,2737.6,1964.9,466.95,12.50,436,6772.70,0.00,0.02,2.28,0.000,0.394,0.061,1766.59,1951.44,1581.75,2751.75,3354.38,0,0,0,30.00,30.36,16.05
$GC,6832.14,1029,254.34,0.94,0.00,1765.3,1950.1,1580.5,2753.1,3353.2,457.35,12.94,437,6837.56,0.00,0.09,2.33,0.000,0.272,0.030,1765.69,1950.62,1580.75,2734.81,1874.12,0,0,0,30.00,15.97,16.12
$GC,7087.18,519,254.34,0.94,-40.00,1764.4,1949.2,1579.6,2735.8,1875.3,423.96,13.00,444,7092.60,0.00,0.04,2.33,0.000,0.266,0.068,1765.06,1949.50,1580.62,2751.81,482.62,0,0,0,30.00,16.07,16.11
$GC,7192.20,1031,254.34,0.94,0.00,1763.2,1947.0,1579.5,2753.1,482.4,408.94,13.51,446,7197.62,0.00,0.09,2.31,0.000,0.266,0.017,1763.03,1946.31,1579.75,2734.94,1984.31,0,0,0,30.00,16.01,16.15
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$GC,8577.49,1029,280.71,0.97,0.00,1661.1,1834.4,1487.8,2749.0,3354.7,244.40,10.85,577,8582.95,0.00,0.02,2.36,0.000,0.396,0.033,1661.66,1835.00,1488.31,2760.69,1870.12,0,0,0,30.00,30.36,16.03
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$STATE,10878,end climb,SURFACE_DEPTH_REACHED
$STATE,10878,begin surface coast
$FINISH,-0.0,1.023376
$STATE,10903,end surface coast,CONTROL_FINISHED_OK
$STATE,10903,begin surface
$SM_CCo,10982.62,0.00,0.000,0,1021.0,1238.2,803.8,438.83
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$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2234.42,-15811.48,190423,203121
$TCM_TEMP,25.70
$XPDR_PINGS,114
$HUMID,56.99
$TEMP,19.34
$INTERNAL_PRESSURE,9.13303
$24V_AH,14.67,47.880
$10V_AH,15.00,0.000
$FG_AHR_24Vo,22.908
$FG_AHR_10Vo,8.094
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,568.445,27.630,132.310,227.852,28.500,25.378,3309.127,7964.432,2355.448,0.000,0.000,0.000
$DEVICE_MAMPS,2791.688,395.976,111.272,199.022,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1615.935,1643.797,928.709,896.619,1347.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168040,29,14808,94
$DATA_FILE_SIZE,81602,836
$CAP_FILE_SIZE,263137,0
$SDSIZE,3931136,3892576
$SDFILEDIR,552,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,285.4,1
$GPS,200423,025720,2234.341,-15812.982,28,0.8,44,9.8