version: 67.00
glider: 511
mission: 21
dive: 390
start: 5 20 123 16 50 1
data:
$ID,511
$MISSION,21
$DIVE,390
$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,18.343597
$FG_AHR_24V,53.679703
$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
$GPS1,200523,164353,2236.206,-15815.803,29,0.9,46,9.8
$_CALLS,1
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-63.5
$GPS2,200523,164945,2236.205,-15815.859,2,0.8,11,9.8
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,BSW
$TGT_LATLONG,2231.440,-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,122.6,9092,-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,-0.80,0.00,930.3,1129.6,731.1,175.2,2078.3,0.00,0.00,0,81.50,76.81,0.00,0.00,0.005,0.000,0.000,2966.94,3010.62,2923.25,175.25,2077.38,0,0,0,14.06,30.00,30.00
$GC,81.89,551,-145.99,-0.80,-40.00,2962.6,3002.6,2922.6,175.1,2076.9,3.10,-3.42,15,109.08,9.06,12.49,2.06,0.007,0.355,0.048,3404.66,3449.06,3360.25,2187.50,828.12,0,0,0,14.27,15.12,15.37
$GC,127.79,1028,-145.99,-0.80,0.00,3399.2,3440.4,3358.1,2187.2,827.8,14.08,-17.75,24,133.30,0.00,0.00,2.40,0.000,0.000,0.040,3396.50,3434.56,3358.44,2186.94,2292.75,0,0,0,30.00,30.00,15.48
$GC,257.82,2,-145.99,-0.80,0.00,3480.8,3603.5,3358.0,2187.1,2292.1,33.60,-15.19,48,259.16,0.00,0.00,0.00,0.000,0.000,0.000,3470.97,3584.00,3357.94,2186.00,2292.44,0,0,0,30.00,30.00,30.00
$GC,497.86,0,-145.99,-0.80,0.00,3399.0,3439.8,3358.1,2187.6,2292.4,68.87,-14.81,72,499.20,0.00,0.00,0.00,0.000,0.000,0.000,3398.41,3437.75,3359.06,2185.12,2292.06,0,0,0,30.00,30.00,30.00
$GC,735.85,260,-145.99,-0.80,40.00,3727.2,4095.9,3358.6,2188.1,2292.8,103.47,-13.95,96,741.15,0.00,0.00,2.42,0.000,0.000,0.091,3728.12,4095.94,3360.31,2186.81,3700.38,0,0,0,30.00,30.00,15.83
$GC,775.87,1028,-145.99,-0.80,0.00,3625.6,3891.9,3359.3,2187.2,3700.3,108.78,-13.38,100,781.13,0.00,0.00,2.29,0.000,0.000,0.018,3483.53,3607.38,3359.69,2187.38,2218.25,0,0,0,30.00,30.00,15.94
$GC,1027.92,0,-145.99,-0.80,0.00,3727.3,4095.9,3358.6,2187.8,2215.0,140.36,-11.83,125,1029.26,0.00,0.00,0.00,0.000,0.000,0.000,3728.06,4095.94,3360.19,2185.19,2214.31,0,0,0,30.00,30.00,30.00
$GC,1265.93,516,-145.99,-0.80,-40.00,3727.2,4095.9,3358.4,2187.6,2215.8,165.79,-10.68,149,1271.20,0.00,0.00,2.24,0.000,0.000,0.044,3404.06,3450.75,3357.38,2187.62,825.62,0,0,0,30.00,30.00,15.93
$GC,1287.94,1028,-145.99,-0.80,0.00,3406.9,3456.6,3357.2,2187.0,825.4,167.99,-10.77,151,1291.37,0.00,0.00,2.35,0.000,0.000,0.032,3408.97,3459.19,3358.75,2184.69,2298.81,0,0,0,30.00,30.00,15.94
$GC,1535.97,0,-145.99,-0.80,0.00,3404.7,3451.0,3358.3,2187.3,2298.6,195.72,-11.43,176,1537.31,0.00,0.00,0.00,0.000,0.000,0.000,3403.16,3449.38,3356.94,2184.81,2298.75,0,0,0,30.00,30.00,30.00
$GC,1776.00,260,-145.99,-0.80,40.00,3410.9,3463.9,3357.9,2187.2,2298.7,223.13,-11.05,200,1781.29,0.00,0.00,2.39,0.000,0.000,0.090,3432.94,3505.94,3359.94,2188.50,3699.06,0,0,0,30.00,30.00,15.90
$GC,1880.98,1028,-145.99,-0.80,0.00,3402.1,3446.3,3357.9,2187.2,3697.2,234.14,-10.33,210,1888.30,0.00,0.00,2.27,0.000,0.000,0.017,3402.47,3446.62,3358.31,2188.19,2209.19,0,0,0,30.00,30.00,15.98
$GC,2128.07,260,-145.99,-0.80,40.00,3727.3,4095.9,3358.6,2187.7,2207.4,259.86,-10.48,235,2131.52,0.00,0.00,2.58,0.000,0.000,0.091,3404.03,3447.00,3361.06,2187.50,3699.88,0,0,0,30.00,30.00,15.85
$GC,2171.02,1028,-145.99,-0.80,0.00,3423.8,3489.0,3358.7,2187.2,3701.4,264.40,-10.11,239,2176.31,0.00,0.00,2.28,0.000,0.000,0.017,3626.53,3891.69,3361.38,2186.00,2209.12,0,0,0,30.00,30.00,15.98
$GC,2416.11,548,-145.99,-0.80,-40.00,3727.3,4095.9,3358.8,2187.4,2209.6,288.52,-9.51,264,2421.36,0.00,0.00,2.22,0.000,0.000,0.043,3727.66,4095.94,3359.38,2187.19,823.62,0,0,0,30.00,30.00,15.97
$GC,2436.10,1060,-145.99,-0.80,0.00,3726.9,4095.9,3357.9,2187.3,822.9,290.44,-9.46,266,2441.38,0.00,0.00,2.34,0.000,0.000,0.031,3404.69,3450.31,3359.06,2186.00,2296.31,0,0,0,30.00,30.00,15.97
$GC,2686.16,32,-145.99,-0.80,0.00,3407.7,3457.1,3358.2,2187.2,2298.4,311.45,-7.89,291,2687.51,0.00,0.00,0.00,0.000,0.000,0.000,3408.28,3456.44,3360.12,2187.00,2298.06,0,0,0,30.00,30.00,30.00
$GC,2926.18,292,-145.99,-0.80,40.00,3406.4,3454.4,3358.4,2186.9,2296.6,330.29,-8.17,315,2931.46,0.00,0.00,2.40,0.000,0.000,0.089,3405.59,3454.44,3356.75,2185.50,3692.88,0,0,0,30.00,30.00,15.87
$GC,2968.19,1060,-145.99,-0.80,0.00,3406.6,3454.8,3358.5,2187.0,3694.1,333.76,-8.61,319,2971.59,0.00,0.00,2.28,0.000,0.000,0.016,3406.09,3455.44,3356.75,2186.19,2212.50,0,0,0,30.00,30.00,15.95
$GC,3216.21,32,-145.99,-0.80,0.00,3407.1,3455.8,3358.5,2187.3,2210.9,355.23,-8.91,344,3217.55,0.00,0.00,0.00,0.000,0.000,0.000,3405.06,3453.62,3356.50,2183.56,2209.38,0,0,0,30.00,30.00,30.00
$GC,3456.25,292,-145.99,-0.80,40.00,3397.5,3439.2,3355.8,2187.0,2209.6,377.38,-9.30,368,3461.57,0.00,0.00,2.60,0.000,0.000,0.094,3397.62,3438.62,3356.62,2188.62,3701.56,0,0,0,30.00,30.00,15.83
$GC,3478.26,1060,-145.99,-0.80,0.00,3396.8,3437.9,3355.8,2186.5,3701.8,379.28,-9.43,370,3481.66,0.00,0.00,2.29,0.000,0.000,0.016,3398.91,3439.88,3357.94,2186.88,2217.31,0,0,0,30.00,30.00,15.96
$GC,3736.30,32,-145.99,-0.80,0.00,3422.8,3492.5,3353.2,2187.1,2213.3,404.28,-9.64,393,3737.64,0.00,0.00,0.00,0.000,0.000,0.000,3420.50,3491.19,3349.81,2184.69,2213.75,0,0,0,30.00,30.00,30.00
$GC,3976.32,292,-145.99,-0.80,40.00,3396.3,3441.1,3351.5,2187.1,2213.7,427.51,-9.63,399,3981.64,0.00,0.00,2.58,0.000,0.000,0.091,3395.12,3438.75,3351.50,2186.31,3700.19,0,0,0,30.00,30.00,15.85
$GC,4017.20,1060,-145.99,-0.80,0.00,3394.3,3437.2,3351.4,2186.8,3699.0,431.29,-9.60,400,4021.74,0.00,0.00,2.30,0.000,0.000,0.017,3396.00,3439.19,3352.81,2186.38,2212.38,0,0,0,30.00,30.00,15.99
$GC,4296.36,292,-145.99,-0.80,40.00,3392.7,3436.4,3348.9,2186.7,2210.8,455.91,-8.60,407,4301.67,0.00,0.00,2.58,0.000,0.000,0.090,3394.72,3439.50,3349.94,2187.44,3705.31,0,0,0,30.00,30.00,15.85
$GC,4326.34,1060,-145.99,-0.80,0.00,3392.2,3435.9,3348.6,2186.9,3704.9,458.37,-8.60,407,4331.62,0.00,0.00,2.31,0.000,0.000,0.018,3393.28,3437.44,3349.12,2185.31,2213.50,0,0,0,30.00,30.00,16.01
$GC,4576.39,292,-145.99,-0.80,40.00,3390.8,3438.9,3342.8,2188.9,2213.1,477.38,-7.52,414,4581.71,0.00,0.00,2.59,0.000,0.000,0.093,3392.28,3437.44,3347.12,2186.06,3695.75,0,0,0,30.00,30.00,15.84
$GC,4611.40,1060,-145.99,-0.80,0.00,3390.8,3437.1,3344.6,2187.1,3697.0,479.98,-7.52,414,4617.57,0.00,0.00,2.30,0.000,0.000,0.018,3391.25,3437.69,3344.81,2186.38,2210.81,0,0,0,30.00,30.00,14.38
$GC,4858.53,32,-145.99,-0.80,0.00,3391.4,3440.6,3342.2,2186.4,2207.7,498.53,-7.60,421,4859.88,0.00,0.00,0.00,0.000,0.000,0.000,3388.75,3437.62,3339.88,2186.00,2209.25,0,0,0,30.00,30.00,30.00
$GC,5097.33,292,-145.99,-0.80,40.00,3390.6,3440.9,3340.3,2186.6,2209.1,518.41,-8.37,427,5102.02,0.00,0.00,2.61,0.000,0.000,0.093,3392.75,3443.06,3342.44,2186.69,3697.69,0,0,0,30.00,30.00,15.78
$GC,5131.43,1060,-145.99,-0.80,0.00,3390.3,3440.6,3340.1,2187.2,3697.3,521.45,-8.37,427,5136.72,0.00,0.00,2.29,0.000,0.000,0.017,3393.50,3443.12,3343.88,2187.19,2211.81,0,0,0,30.00,30.00,15.98
$GC,5376.48,548,-145.99,-0.80,-40.00,3389.1,3441.1,3337.1,2187.0,2209.9,543.37,-9.03,434,5381.75,0.00,0.00,2.27,0.000,0.000,0.040,3389.12,3441.25,3337.00,2188.25,821.25,0,0,0,30.00,30.00,15.94
$GC,5396.45,1060,-145.99,-0.80,0.00,3389.5,3441.6,3337.3,2187.5,821.0,545.39,-9.03,434,5401.73,0.00,0.00,2.34,0.000,0.000,0.028,3390.50,3442.44,3338.56,2186.69,2297.38,0,0,0,30.00,30.00,15.95
$GC,5656.51,292,-145.99,-0.80,40.00,3386.3,3440.2,3332.4,2188.4,2294.9,570.20,-9.56,441,5661.81,0.00,0.00,2.44,0.000,0.000,0.096,3387.72,3440.25,3335.19,2185.75,3698.69,0,0,0,30.00,30.00,15.80
$GC,5697.41,1060,-145.99,-0.80,0.00,3388.0,3441.7,3334.3,2186.7,3697.1,574.03,-9.57,442,5701.94,0.00,0.00,2.29,0.000,0.000,0.016,3387.84,3440.44,3335.25,2186.75,2211.19,0,0,0,30.00,30.00,15.97
$GC,5976.56,548,-145.99,-0.80,-40.00,3386.3,3441.2,3331.4,2186.6,2208.8,599.15,-8.90,449,5981.83,0.00,0.00,2.26,0.000,0.000,0.040,3389.06,3443.31,3334.81,2183.44,822.56,0,0,0,30.00,30.00,15.92
$STATE,5986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5986,begin apogee
$GC,5989.58,3,0.00,-0.17,0.00,3386.3,3440.8,3331.9,2186.9,1964.9,600.08,-8.90,449,6103.26,110.67,1.01,0.12,1.799,0.144,0.134,2812.47,2934.69,2690.25,2393.25,1828.44,0,0,0,11.20,15.73,15.36
$STATE,6103,end apogee,CONTROL_FINISHED_OK
$STATE,6103,begin climb
$GC,6103.65,263,145.99,0.80,40.00,2810.8,2932.7,2688.9,2394.2,1828.4,605.35,0.00,452,6230.06,119.28,1.44,2.66,1.740,0.040,0.065,2214.00,2391.19,2036.81,2732.88,3353.69,0,0,0,12.31,15.44,15.32
$GC,6256.78,1063,276.30,0.96,0.00,2213.0,2389.4,2036.5,2733.4,3353.9,601.98,4.02,456,6361.48,100.23,0.09,2.43,1.712,0.153,0.032,1681.78,1862.19,1501.38,2764.56,1867.06,0,0,0,12.48,15.48,15.59
$GC,6613.29,517,276.30,0.96,-40.00,1676.6,1853.8,1499.3,2764.9,1864.9,551.48,14.89,465,6618.72,0.00,0.09,2.35,0.000,0.259,0.068,1676.41,1854.38,1498.44,2748.06,481.44,0,0,0,30.00,15.69,15.77
$GC,6633.27,1031,276.30,0.96,0.00,1675.3,1851.6,1499.1,2747.9,481.2,548.68,14.89,465,6638.69,0.00,0.00,2.36,0.000,0.052,0.024,1675.91,1852.19,1499.62,2747.62,1959.81,0,0,0,30.00,30.36,15.90
$GC,6894.27,3,276.30,0.96,0.00,1674.1,1849.4,1498.8,2747.8,1959.8,513.99,13.26,472,6895.73,0.00,0.01,0.00,0.000,0.335,0.000,1671.03,1846.06,1496.00,2757.06,1960.75,0,0,0,30.00,30.36,30.00
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$GC,9133.82,35,286.97,0.98,0.00,1669.3,1842.2,1496.4,2744.4,1879.1,236.67,9.51,630,9145.92,7.87,0.06,0.00,1.009,0.181,0.000,1639.75,1809.06,1470.44,2770.62,1879.00,0,0,0,11.89,15.80,30.00
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$STATE,11437,end climb,SURFACE_DEPTH_REACHED
$STATE,11437,begin surface coast
$FINISH,0.1,1.023525
$STATE,11456,end surface coast,CONTROL_FINISHED_OK
$STATE,11456,begin surface
$SM_CCo,11474.99,0.95,0.063,0,725.6,867.7,583.5,511.30
$SM_GC,0.88,0.95,11.73,0.50,0.063,0.029,0.039,725.6,867.7,583.5,181.6,2325.0,0,0,0,15.68,15.71,15.83
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2237.04,-15815.82,200523,131703
$TCM_TEMP,25.10
$XPDR_PINGS,164
$HUMID,56.30
$TEMP,18.19
$INTERNAL_PRESSURE,9.07843
$24V_AH,14.76,112.348
$10V_AH,15.00,0.000
$FG_AHR_24Vo,53.805
$FG_AHR_10Vo,18.406
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,571.920,28.110,114.305,240.054,41.000,26.595,3345.166,8438.452,2367.072,0.000,0.000,0.000
$DEVICE_MAMPS,1798.832,354.648,133.904,202.658,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1692.159,1757.046,989.006,933.050,1410.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1167992,29,14856,94
$DATA_FILE_SIZE,88655,887
$CAP_FILE_SIZE,254928,0
$SDSIZE,3931136,3856544
$SDFILEDIR,1227,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,278.6,1
$GPS,200523,200206,2235.260,-15815.602,21,0.9,43,9.8