version: 67.00
glider: 511
mission: 21
dive: 362
start: 5 16 123 18 29 29
data:
$ID,511
$MISSION,21
$DIVE,362
$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,16.452126
$FG_AHR_24V,49.803268
$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
$GPS1,160523,182139,2248.128,-15802.508,20,0.8,44,9.8
$_CALLS,2
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-64.9
$GPS2,160523,182913,2248.046,-15802.522,2,0.8,17,9.8
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,BNW
$TGT_LATLONG,2258.560,-15814.580
$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,317.4,28317,-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,3.40,2,-145.99,-0.80,0.00,933.3,1056.2,810.4,182.8,2215.9,0.00,0.00,0,71.39,66.76,0.00,0.00,0.005,0.000,0.000,2756.19,2771.06,2741.31,182.75,2215.25,0,0,0,14.23,30.00,30.00
$GC,71.69,295,-145.99,-0.80,40.00,2755.8,2771.1,2740.6,182.8,2214.9,3.25,-4.11,13,104.01,13.15,12.35,2.61,0.006,0.355,0.087,3405.09,3442.38,3367.81,2186.44,3699.38,0,0,0,14.42,15.06,15.37
$GC,172.73,1028,-145.99,-0.80,0.00,3408.1,3448.5,3367.7,2186.0,3699.8,23.52,-16.13,33,178.22,0.00,0.00,2.34,0.000,0.000,0.017,3409.28,3449.75,3368.81,2186.50,2219.94,0,0,0,30.00,30.00,15.35
$GC,297.76,260,-145.99,-0.80,40.00,3410.0,3452.2,3367.7,2186.5,2218.2,42.62,-15.41,50,301.23,0.00,0.00,2.55,0.000,0.000,0.084,3409.50,3451.69,3367.31,2186.56,3702.06,0,0,0,30.00,30.00,15.79
$GC,327.75,1028,-145.99,-0.80,0.00,3413.1,3458.4,3367.8,2187.0,3701.3,47.25,-15.50,53,331.18,0.00,0.00,2.30,0.000,0.000,0.018,3412.53,3456.44,3368.62,2186.50,2218.25,0,0,0,30.00,30.00,15.88
$GC,575.79,260,-145.99,-0.80,40.00,3414.4,3461.4,3367.4,2186.2,2215.1,86.81,-15.34,78,581.10,0.00,0.00,2.54,0.000,0.000,0.081,3732.03,4095.94,3368.12,2186.75,3701.00,0,0,0,30.00,30.00,15.87
$GC,595.78,1028,-145.99,-0.80,0.00,3421.1,3475.2,3367.0,2187.3,3704.4,89.89,-15.29,80,601.04,0.00,0.00,2.30,0.000,0.000,0.017,3500.97,3632.56,3369.38,2184.88,2217.31,0,0,0,30.00,30.00,15.95
$GC,847.85,0,-145.99,-0.80,0.00,3732.0,4095.9,3368.1,2186.1,2214.1,124.16,-13.46,105,849.19,0.00,0.00,0.00,0.000,0.000,0.000,3732.75,4095.94,3369.56,2184.38,2214.88,0,0,0,30.00,30.00,30.00
$GC,1085.86,260,-145.99,-0.80,40.00,3732.2,4095.9,3368.4,2186.2,2213.9,156.83,-13.26,129,1091.17,0.00,0.00,2.53,0.000,0.000,0.080,3525.00,3683.69,3366.31,2185.50,3702.50,0,0,0,30.00,30.00,15.91
$GC,1120.82,1028,-145.99,-0.80,0.00,3442.4,3516.5,3368.4,2186.4,3701.4,161.27,-12.87,132,1128.13,0.00,0.00,2.28,0.000,0.000,0.017,3636.78,3904.19,3369.38,2186.25,2213.69,0,0,0,30.00,30.00,15.98
$GC,1367.91,260,-145.99,-0.80,40.00,3452.1,3535.8,3368.5,2186.4,2212.1,190.42,-11.52,157,1372.46,0.00,0.00,2.52,0.000,0.000,0.081,3429.88,3489.19,3370.56,2184.44,3704.62,0,0,0,30.00,30.00,15.89
$GC,1390.88,1028,-145.99,-0.80,0.00,3415.0,3460.8,3369.2,2186.2,3704.4,193.27,-11.45,159,1396.14,0.00,0.00,2.29,0.000,0.000,0.017,3413.84,3458.81,3368.88,2184.69,2214.31,0,0,0,30.00,30.00,15.99
$GC,1642.95,516,-145.99,-0.80,-40.00,3416.9,3464.8,3369.1,2186.4,2213.8,222.20,-11.80,184,1646.34,0.00,0.00,2.24,0.000,0.000,0.043,3438.97,3507.06,3370.88,2184.62,821.81,0,0,0,30.00,30.00,15.94
$GC,1672.93,1028,-145.99,-0.80,0.00,3415.9,3462.9,3368.9,2186.6,821.8,225.68,-11.73,187,1676.38,0.00,0.00,2.34,0.000,0.000,0.029,3418.00,3465.06,3370.94,2185.88,2301.62,0,0,0,30.00,30.00,15.98
$GC,1921.05,292,-145.99,-0.80,40.00,3733.8,4095.9,3371.6,2185.4,2302.4,250.54,-9.91,212,1926.33,0.00,0.00,2.35,0.000,0.000,0.079,3733.28,4095.94,3370.62,2186.50,3702.38,0,0,0,30.00,30.00,15.92
$GC,2003.01,1060,-145.99,-0.80,0.00,3732.7,4095.9,3369.4,2186.4,3701.6,258.29,-9.81,220,2006.40,0.00,0.00,2.28,0.000,0.000,0.017,3733.22,4095.94,3370.50,2184.50,2219.56,0,0,0,30.00,30.00,16.00
$GC,2251.01,0,-145.99,-0.80,0.00,3429.3,3489.7,3369.0,2186.2,2218.2,284.11,-10.35,245,2252.36,0.00,0.00,0.00,0.000,0.000,0.000,3428.25,3487.00,3369.50,2186.12,2219.06,0,0,0,30.00,30.00,30.00
$GC,2491.07,32,-145.99,-0.80,0.00,3463.2,3557.9,3368.6,2186.3,2218.5,308.89,-9.93,269,2492.41,0.00,0.00,0.00,0.000,0.000,0.000,3465.97,3560.19,3371.75,2183.81,2217.00,0,0,0,30.00,30.00,30.00
$GC,2731.10,32,-145.99,-0.80,0.00,3494.6,3619.9,3369.3,2186.1,2218.6,331.08,-8.90,293,2732.44,0.00,0.00,0.00,0.000,0.000,0.000,3480.44,3591.56,3369.31,2182.38,2216.31,0,0,0,30.00,30.00,30.00
$GC,2971.14,292,-145.99,-0.80,40.00,3419.4,3471.0,3367.8,2186.1,2218.5,353.24,-9.64,317,2976.44,0.00,0.00,2.53,0.000,0.000,0.079,3420.25,3470.50,3370.00,2184.81,3700.19,0,0,0,30.00,30.00,15.91
$GC,3036.12,1060,-145.99,-0.80,0.00,3419.7,3471.5,3367.8,2185.6,3701.5,359.54,-9.80,323,3041.40,0.00,0.00,2.29,0.000,0.000,0.016,3418.34,3469.12,3367.56,2184.12,2211.81,0,0,0,30.00,30.00,15.99
$GC,3281.18,32,-145.99,-0.80,0.00,3417.1,3468.5,3365.8,2185.9,2212.8,382.37,-8.81,348,3282.52,0.00,0.00,0.00,0.000,0.000,0.000,3418.16,3469.38,3366.94,2184.31,2211.50,0,0,0,30.00,30.00,30.00
$GC,3551.20,260,-145.99,-0.80,40.00,3412.3,3462.2,3362.4,2186.1,2212.2,408.82,-10.28,369,3556.52,0.00,0.00,2.55,0.000,0.000,0.084,3411.75,3461.88,3361.62,2186.94,3699.19,0,0,0,30.00,30.00,15.90
$GC,3611.18,1028,-145.99,-0.80,0.00,3411.6,3461.2,3362.0,2186.2,3698.2,414.95,-10.30,370,3616.44,0.00,0.00,2.29,0.000,0.000,0.016,3411.09,3461.06,3361.12,2185.31,2213.12,0,0,0,30.00,30.00,16.01
$GC,3871.25,32,-145.99,-0.80,0.00,3409.4,3458.4,3360.4,2185.9,2211.8,440.24,-9.60,377,3872.59,0.00,0.00,0.00,0.000,0.000,0.000,3411.56,3461.19,3361.94,2183.25,2212.44,0,0,0,30.00,30.00,30.00
$GC,4111.28,292,-145.99,-0.80,40.00,3406.4,3454.9,3357.8,2185.8,2211.6,460.92,-8.61,383,4116.59,0.00,0.00,2.54,0.000,0.000,0.081,3408.66,3457.62,3359.69,2185.44,3698.75,0,0,0,30.00,30.00,15.91
$GC,4136.25,1060,-145.99,-0.80,0.00,3406.5,3454.6,3358.4,2185.9,3700.0,463.16,-8.61,383,4141.51,0.00,0.00,2.29,0.000,0.000,0.016,3406.94,3455.94,3357.94,2185.62,2219.00,0,0,0,30.00,30.00,16.00
$GC,4391.31,548,-145.99,-0.80,-40.00,3404.9,3453.9,3355.9,2185.9,2218.1,486.44,-9.21,390,4396.56,0.00,0.00,2.26,0.000,0.000,0.044,3401.97,3450.31,3353.62,2182.75,823.75,0,0,0,30.00,30.00,15.98
$GC,4416.28,1060,-145.99,-0.80,0.00,3404.2,3453.4,3355.1,2186.0,823.4,488.89,-9.21,390,4421.55,0.00,0.00,2.33,0.000,0.000,0.026,3401.75,3450.06,3353.44,2184.25,2296.31,0,0,0,30.00,30.00,16.01
$GC,4672.21,32,-145.99,-0.80,0.00,3402.6,3451.7,3353.5,2185.4,2298.1,511.70,-8.85,397,4673.55,0.00,0.00,0.00,0.000,0.000,0.000,3403.47,3452.75,3354.19,2182.31,2300.12,0,0,0,30.00,30.00,30.00
$GC,4912.24,292,-145.99,-0.80,40.00,3401.0,3450.6,3351.5,2185.4,2298.2,533.10,-9.00,403,4916.79,0.00,0.00,2.40,0.000,0.000,0.087,3402.06,3451.75,3352.38,2184.50,3698.38,0,0,0,30.00,30.00,15.90
$GC,4956.35,1060,-145.99,-0.80,0.00,3401.0,3450.2,3351.8,2186.1,3699.7,537.22,-9.07,404,4961.60,0.00,0.00,2.30,0.000,0.000,0.016,3401.38,3451.56,3351.19,2185.75,2207.19,0,0,0,30.00,30.00,16.02
$GC,5231.40,292,-145.99,-0.80,40.00,3401.4,3451.6,3351.1,2186.4,2207.2,562.61,-9.17,411,5236.72,0.00,0.00,2.60,0.000,0.000,0.093,3400.75,3449.88,3351.62,2186.38,3701.50,0,0,0,30.00,30.00,15.85
$GC,5251.39,1060,-145.99,-0.80,0.00,3399.9,3449.9,3349.9,2186.1,3699.4,564.50,-9.17,411,5256.65,0.00,0.00,2.30,0.000,0.000,0.015,3400.91,3447.94,3353.88,2185.00,2212.81,0,0,0,30.00,30.00,16.02
$GC,5512.32,292,-145.99,-0.80,40.00,3398.2,3449.0,3347.4,2185.5,2212.4,588.08,-9.04,418,5516.91,0.00,0.00,2.58,0.000,0.000,0.088,3399.25,3450.12,3348.38,2185.25,3702.19,0,0,0,30.00,30.00,15.86
$GC,5551.45,1060,-145.99,-0.80,0.00,3398.1,3449.0,3347.1,2185.9,3701.2,591.70,-9.05,419,5556.71,0.00,0.00,2.29,0.000,0.000,0.016,3398.25,3449.06,3347.44,2184.69,2209.44,0,0,0,30.00,30.00,16.01
$STATE,5671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5671,begin apogee
$GC,5672.76,3,0.00,-0.17,0.00,3399.7,3450.2,3349.2,2184.0,1830.8,602.47,-9.01,422,5789.09,113.52,1.01,0.18,1.818,0.149,0.098,2810.41,2933.81,2687.00,2392.50,2008.38,0,0,0,11.85,15.82,15.40
$STATE,5789,end apogee,CONTROL_FINISHED_OK
$STATE,5789,begin climb
$GC,5789.48,3,145.99,0.80,0.00,2809.5,2933.7,2685.2,2393.1,2011.4,606.46,0.00,424,5913.84,118.61,1.43,0.00,1.763,0.033,0.000,2216.81,2392.88,2040.75,2748.25,2010.69,0,0,0,12.36,15.46,30.00
$GC,6151.51,295,178.42,0.84,40.00,2211.0,2386.2,2035.9,2748.4,2012.2,592.08,8.51,434,6182.68,26.92,0.20,2.27,1.653,0.221,0.062,2080.50,2265.31,1895.69,2709.56,3353.31,0,0,0,12.22,15.70,15.61
$GC,6236.50,1063,204.68,0.88,0.00,2080.1,2264.6,1895.6,2709.9,3353.9,584.44,8.80,436,6262.52,22.35,0.07,2.39,1.620,0.182,0.027,1975.28,2163.88,1786.69,2736.62,1863.56,0,0,0,12.39,15.65,15.79
$GC,6511.53,1,204.68,0.88,0.00,1970.5,2159.9,1781.1,2735.6,1863.6,555.78,10.53,443,6512.98,0.00,0.09,0.00,0.000,0.258,0.000,1968.28,2157.25,1779.31,2720.06,1864.44,0,0,0,30.00,15.74,30.00
$GC,6751.56,295,213.41,0.89,40.00,1969.0,2158.1,1779.9,2719.0,1863.6,532.68,9.60,449,6763.32,7.95,0.05,2.49,1.297,0.238,0.055,1940.41,2128.88,1751.94,2738.81,3357.94,0,0,0,12.13,15.86,15.86
$GC,6811.57,1063,217.20,0.89,0.00,1939.5,2128.2,1750.9,2738.2,3355.8,526.12,9.83,450,6822.27,5.61,0.10,2.37,1.019,0.268,0.028,1926.19,2113.56,1738.81,2720.75,1877.31,0,0,0,12.47,15.71,15.98
$GC,7067.48,33,219.16,0.89,0.00,1923.8,2111.4,1736.2,2720.4,1877.9,500.89,9.91,457,7068.94,0.00,0.05,0.00,0.000,0.201,0.000,1923.16,2110.69,1735.62,2741.19,1876.12,0,0,0,30.00,15.89,30.00
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$STATE,11757,end climb,SURFACE_DEPTH_REACHED
$STATE,11757,begin surface coast
$FINISH,1.6,1.023314
$STATE,11766,end surface coast,CONTROL_FINISHED_OK
$STATE,11766,begin surface
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$SM_GC,0.57,20.85,12.21,0.67,0.753,0.082,0.028,399.8,514.6,284.9,186.2,2335.4,0,0,0,12.38,15.67,15.83
$SUPER,51,70,254,1,0,0
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$TCM_TEMP,25.20
$XPDR_PINGS,153
$HUMID,57.49
$TEMP,18.40
$INTERNAL_PRESSURE,9.0541
$24V_AH,14.78,104.053
$10V_AH,15.00,0.000
$FG_AHR_24Vo,49.933
$FG_AHR_10Vo,16.519
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,635.825,29.085,144.840,279.649,38.250,32.521,3488.176,8730.999,2395.650,0.000,0.000,0.000
$DEVICE_MAMPS,1818.184,393.024,105.040,205.760,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1682.803,1708.648,958.346,905.131,1357.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168092,25,14836,94
$DATA_FILE_SIZE,85288,873
$CAP_FILE_SIZE,291016,0
$SDSIZE,3931136,3860992
$SDFILEDIR,1143,2
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$CURRENT,0.113,254.1,1
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