version: 67.00
glider: 511
mission: 21
dive: 445
start: 5 28 123 23 1 49
data:
$ID,511
$MISSION,21
$DIVE,445
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,450
$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,22.341642
$FG_AHR_24V,61.442577
$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
$GPS1,280523,225510,2256.106,-15750.663,23,0.7,48,9.9
$_CALLS,1
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-63.1
$GPS2,280523,230133,2256.156,-15750.687,2,0.7,16,9.9
$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,72.4,10022,-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,3.34,2,-145.99,-0.80,0.00,2159.0,3935.6,382.4,181.9,2216.2,0.00,0.00,0,86.62,80.42,0.00,0.12,0.005,0.000,0.146,3403.94,4095.94,2711.94,181.88,2356.38,0,0,0,14.12,30.00,15.24
$GC,86.91,549,-145.99,-0.80,-40.00,3403.2,4095.9,2710.5,181.7,2355.8,3.42,-3.68,16,108.96,0.00,12.59,2.52,0.000,0.364,0.043,3404.44,4095.94,2712.94,2188.69,823.50,0,0,0,30.00,15.09,15.51
$GC,117.67,1030,-145.99,-0.80,0.00,2741.4,2773.2,2709.5,2186.2,824.3,11.05,-22.76,22,133.47,12.06,0.00,2.38,0.007,0.000,0.032,3404.72,3447.75,3361.69,2189.00,2297.44,0,0,0,14.22,30.00,15.47
$GC,252.70,260,-145.99,-0.80,40.00,3409.8,3459.2,3360.4,2187.8,2299.4,31.58,-15.70,48,256.14,0.00,0.00,2.39,0.000,0.000,0.079,3728.97,4095.94,3362.00,2187.31,3702.62,0,0,0,30.00,30.00,15.72
$GC,323.87,1028,-145.99,-0.80,0.00,3728.4,4095.9,3360.9,2188.3,3701.8,42.28,-15.14,55,327.18,0.00,0.00,2.31,0.000,0.000,0.019,3730.34,4095.94,3364.75,2187.44,2225.94,0,0,0,30.00,30.00,15.82
$GC,567.80,0,-145.99,-0.80,0.00,3728.5,4095.9,3361.1,2187.7,2222.0,77.11,-13.60,79,569.14,0.00,0.00,0.00,0.000,0.000,0.000,3729.28,4095.94,3362.62,2187.81,2221.12,0,0,0,30.00,30.00,30.00
$GC,807.84,260,-145.99,-0.80,40.00,3728.7,4095.9,3361.4,2187.9,2220.9,108.60,-12.82,103,811.28,0.00,0.00,2.51,0.000,0.000,0.072,3729.03,4095.94,3362.12,2187.81,3703.31,0,0,0,30.00,30.00,15.81
$GC,847.83,1028,-145.99,-0.80,0.00,3728.7,4095.9,3361.4,2187.9,3704.0,113.60,-12.62,107,851.24,0.00,0.00,2.30,0.000,0.000,0.018,3728.88,4095.94,3361.81,2187.88,2218.75,0,0,0,30.00,30.00,15.88
$GC,1095.85,260,-145.99,-0.80,40.00,3728.8,4095.9,3361.8,2188.1,2215.7,144.09,-11.68,132,1101.16,0.00,0.00,2.52,0.000,0.000,0.071,3731.56,4095.94,3367.19,2187.62,3701.00,0,0,0,30.00,30.00,15.85
$GC,1130.82,1028,-145.99,-0.80,0.00,3728.6,4095.9,3361.3,2187.5,3702.1,148.18,-11.75,135,1136.11,0.00,0.00,2.30,0.000,0.000,0.018,3729.38,4095.94,3362.81,2187.06,2224.62,0,0,0,30.00,30.00,15.93
$GC,1377.91,0,-145.99,-0.80,0.00,3728.8,4095.9,3361.8,2187.8,2222.2,175.09,-10.47,160,1379.25,0.00,0.00,0.00,0.000,0.000,0.000,3729.88,4095.94,3363.81,2186.00,2220.81,0,0,0,30.00,30.00,30.00
$GC,1617.94,0,-145.99,-0.80,0.00,3408.3,3455.9,3360.8,2187.4,2221.1,199.80,-10.43,184,1619.29,0.00,0.00,0.00,0.000,0.000,0.000,3405.00,3452.75,3357.25,2183.94,2220.31,0,0,0,30.00,30.00,30.00
$GC,1857.99,292,-145.99,-0.80,40.00,3405.8,3450.9,3360.6,2187.2,2221.2,224.60,-9.95,208,1861.40,0.00,0.00,2.49,0.000,0.000,0.067,3406.94,3452.62,3361.25,2187.75,3708.00,0,0,0,30.00,30.00,15.86
$GC,1900.94,1060,-145.99,-0.80,0.00,3403.4,3445.6,3361.3,2186.5,3704.7,228.86,-9.53,212,1906.22,0.00,0.00,2.29,0.000,0.000,0.017,3401.66,3442.19,3361.12,2187.19,2223.00,0,0,0,30.00,30.00,15.97
$GC,2146.01,292,-145.99,-0.80,40.00,3405.1,3449.4,3360.8,2187.7,2218.0,250.98,-8.90,237,2151.30,0.00,0.00,2.48,0.000,0.000,0.067,3420.34,3480.25,3360.44,2187.38,3697.31,0,0,0,30.00,30.00,15.89
$GC,2166.00,1060,-145.99,-0.80,0.00,3450.6,3540.3,3360.9,2187.6,3698.7,252.77,-9.00,239,2171.27,0.00,0.00,2.29,0.000,0.000,0.018,3407.28,3453.50,3361.06,2186.81,2211.62,0,0,0,30.00,30.00,15.95
$GC,2416.09,260,-145.99,-0.80,40.00,3728.7,4095.9,3361.5,2187.9,2209.4,277.24,-10.10,264,2421.40,0.00,0.00,2.51,0.000,0.000,0.069,3729.53,4095.94,3363.12,2187.38,3702.81,0,0,0,30.00,30.00,15.88
$GC,2446.03,1028,-145.99,-0.80,0.00,3728.7,4095.9,3361.4,2187.6,3701.9,280.28,-10.13,267,2451.29,0.00,0.00,2.28,0.000,0.000,0.018,3728.59,4095.94,3361.25,2187.56,2217.69,0,0,0,30.00,30.00,15.95
$GC,2698.09,516,-145.99,-0.80,-40.00,3405.4,3449.4,3361.4,2187.7,2214.8,303.84,-10.07,292,2701.49,0.00,0.00,2.27,0.000,0.000,0.052,3407.06,3451.25,3362.88,2186.81,834.62,0,0,0,30.00,30.00,15.81
$GC,2746.07,1028,-145.99,-0.80,0.00,3729.1,4095.9,3362.2,2186.8,834.3,309.10,-10.50,297,2751.34,0.00,0.00,2.31,0.000,0.000,0.025,3728.78,4095.94,3361.62,2187.38,2305.88,0,0,0,30.00,30.00,15.96
$GC,2998.19,292,-145.99,-0.80,40.00,3405.8,3448.6,3363.0,2185.9,2308.8,333.79,-9.45,322,3001.55,0.00,0.00,2.34,0.000,0.000,0.070,3401.84,3444.44,3359.25,2185.50,3706.56,0,0,0,30.00,30.00,15.85
$GC,3031.10,1060,-145.99,-0.80,0.00,3402.0,3444.1,3359.9,2187.6,3705.8,337.24,-9.71,325,3036.39,0.00,0.00,2.29,0.000,0.000,0.016,3405.12,3448.06,3362.19,2188.31,2216.62,0,0,0,30.00,30.00,15.97
$GC,3276.18,292,-145.99,-0.80,40.00,3405.4,3450.9,3359.8,2187.3,2213.2,359.76,-8.67,350,3281.49,0.00,0.00,2.52,0.000,0.000,0.070,3406.06,3450.69,3361.44,2187.06,3703.88,0,0,0,30.00,30.00,15.87
$GC,3311.14,1060,-145.99,-0.80,0.00,3405.2,3450.0,3360.4,2187.1,3703.4,362.91,-8.94,353,3316.43,0.00,0.00,2.30,0.000,0.000,0.017,3404.06,3447.75,3360.38,2187.81,2219.75,0,0,0,30.00,30.00,15.98
$GC,3556.23,292,-145.99,-0.80,40.00,3402.4,3446.5,3358.3,2187.7,2216.3,384.51,-9.05,378,3561.52,0.00,0.00,2.49,0.000,0.000,0.067,3403.16,3448.62,3357.69,2186.81,3703.88,0,0,0,30.00,30.00,15.87
$GC,3598.32,1060,-145.99,-0.80,0.00,3403.3,3448.5,3358.1,2186.4,3706.8,388.37,-9.59,382,3601.64,0.00,0.00,2.31,0.000,0.000,0.017,3401.91,3447.44,3356.38,2188.50,2217.69,0,0,0,30.00,30.00,15.94
$GC,3846.24,292,-145.99,-0.80,40.00,3427.1,3498.9,3355.4,2187.4,2213.7,412.19,-9.58,398,3851.56,0.00,0.00,2.51,0.000,0.000,0.067,3428.25,3498.69,3357.81,2187.94,3703.50,0,0,0,30.00,30.00,15.88
$GC,3886.24,1060,-145.99,-0.80,0.00,3427.6,3499.8,3355.4,2187.6,3701.5,415.92,-9.53,399,3891.50,0.00,0.00,2.30,0.000,0.000,0.017,3430.19,3502.94,3357.44,2188.00,2221.31,0,0,0,30.00,30.00,15.95
$GC,4168.31,548,-145.99,-0.80,-40.00,3443.3,3533.4,3353.2,2187.6,2219.8,440.16,-8.59,406,4171.69,0.00,0.00,2.29,0.000,0.000,0.052,3439.72,3523.81,3355.62,2186.38,833.62,0,0,0,30.00,30.00,15.81
$GC,4191.25,1060,-145.99,-0.80,0.00,3446.3,3539.4,3353.2,2188.5,834.1,442.42,-8.59,406,4196.53,0.00,0.00,2.31,0.000,0.000,0.025,3452.97,3553.25,3352.69,2187.06,2304.81,0,0,0,30.00,30.00,15.99
$GC,4446.31,292,-145.99,-0.80,40.00,3458.4,3565.1,3351.8,2187.2,2305.7,464.38,-8.67,413,4451.59,0.00,0.00,2.35,0.000,0.000,0.073,3451.03,3550.62,3351.44,2187.56,3704.25,0,0,0,30.00,30.00,15.86
$GC,4501.30,1060,-145.99,-0.80,0.00,3452.7,3552.1,3353.2,2188.5,3706.8,469.48,-8.84,414,4506.56,0.00,0.00,2.29,0.000,0.000,0.018,3450.50,3549.56,3351.44,2187.25,2222.81,0,0,0,30.00,30.00,16.01
$GC,4768.38,292,-145.99,-0.80,40.00,3462.8,3576.4,3349.2,2186.9,2220.0,493.19,-8.92,421,4771.83,0.00,0.00,2.54,0.000,0.000,0.073,3449.62,3547.88,3351.38,2186.62,3703.12,0,0,0,30.00,30.00,15.81
$GC,4811.35,1060,-145.99,-0.80,0.00,3448.7,3548.6,3348.7,2187.4,3703.3,497.19,-8.89,422,4816.63,0.00,0.00,2.31,0.000,0.000,0.017,3454.16,3561.12,3347.19,2186.06,2216.50,0,0,0,30.00,30.00,15.98
$GC,5086.41,292,-145.99,-0.80,40.00,3462.2,3578.6,3345.8,2187.5,2213.8,520.91,-8.56,429,5091.72,0.00,0.00,2.57,0.000,0.000,0.075,3440.94,3536.00,3345.88,2188.31,3700.75,0,0,0,30.00,30.00,15.84
$GC,5131.40,1060,-145.99,-0.80,0.00,3441.5,3537.4,3345.6,2187.6,3700.0,524.85,-8.57,430,5136.67,0.00,0.00,2.31,0.000,0.000,0.019,3442.53,3535.88,3349.19,2188.00,2219.94,0,0,0,30.00,30.00,15.99
$GC,5406.45,32,-145.99,-0.80,0.00,3442.4,3542.4,3342.3,2187.4,2215.6,547.50,-8.15,437,5407.79,0.00,0.00,0.00,0.000,0.000,0.000,3445.62,3546.88,3344.38,2189.38,2214.88,0,0,0,30.00,30.00,30.00
$GC,5646.48,292,-145.99,-0.80,40.00,3449.7,3559.3,3340.1,2187.1,2215.8,565.67,-7.54,443,5651.79,0.00,0.00,2.54,0.000,0.000,0.071,3440.22,3538.94,3341.50,2187.88,3701.69,0,0,0,30.00,30.00,15.82
$GC,5706.47,1060,-145.99,-0.80,0.00,3438.6,3537.4,3339.8,2187.8,3701.2,570.23,-7.50,444,5711.75,0.00,0.00,2.31,0.000,0.000,0.017,3441.88,3543.44,3340.31,2186.94,2214.50,0,0,0,30.00,30.00,15.97
$GC,5968.55,32,-145.99,-0.80,0.00,3460.0,3582.2,3337.8,2187.4,2211.7,588.15,-6.76,451,5969.89,0.00,0.00,0.00,0.000,0.000,0.000,3452.59,3566.12,3339.06,2186.12,2210.75,0,0,0,30.00,30.00,30.00
$STATE,6166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6166,begin apogee
$GC,6167.86,3,0.00,-0.17,0.00,3431.7,3530.5,3332.9,2185.7,1849.2,601.77,-6.80,456,6282.28,111.42,1.00,0.16,1.801,0.143,0.109,2812.75,2930.94,2694.56,2392.44,2033.69,0,0,0,10.91,15.72,15.33
$STATE,6282,end apogee,CONTROL_FINISHED_OK
$STATE,6282,begin climb
$GC,6282.67,519,145.99,0.80,-40.00,2808.2,2915.4,2701.0,2393.2,2033.9,604.54,0.00,458,6413.15,122.85,1.40,2.78,1.742,0.016,0.078,2215.75,2390.62,2040.88,2749.44,484.38,0,0,0,12.23,15.43,15.31
$GC,6514.87,1062,267.14,0.95,0.00,2209.8,2382.1,2037.6,2748.4,484.4,596.99,4.44,463,6613.41,93.86,0.00,2.34,1.717,0.000,0.017,1722.38,1911.94,1532.81,2747.62,1965.62,0,0,0,11.92,30.00,15.74
$GC,6875.14,0,267.14,0.95,0.00,1716.9,1904.6,1529.2,2748.5,1966.4,554.41,11.99,473,6876.49,0.00,0.00,0.00,0.000,0.000,0.000,1717.75,1906.06,1529.44,2746.12,1967.88,0,0,0,30.00,30.00,30.00
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$STATE,11954,end climb,SURFACE_DEPTH_REACHED
$STATE,11954,begin surface coast
$FINISH,-0.2,1.004524
$STATE,11974,end surface coast,CONTROL_FINISHED_OK
$STATE,11974,begin surface
$SM_CCo,12051.62,0.00,0.000,0,648.9,992.3,305.5,530.12
$SM_GC,0.37,0.00,11.72,0.65,0.000,0.019,0.028,648.9,992.3,305.5,182.8,2326.8,0,0,0,30.00,15.67,15.74
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2255.20,-15753.23,280523,185753
$TCM_TEMP,24.90
$XPDR_PINGS,357
$HUMID,55.25
$TEMP,18.21
$INTERNAL_PRESSURE,9.06462
$24V_AH,14.70,129.038
$10V_AH,15.00,0.000
$FG_AHR_24Vo,61.587
$FG_AHR_10Vo,22.422
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,643.945,28.180,159.225,264.185,89.250,28.541,3613.877,8772.049,2532.674,0.000,0.000,0.000
$DEVICE_MAMPS,1801.128,364.488,146.040,208.621,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1733.910,1807.620,1013.507,960.803,1446.061,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,45.960,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1167992,28,14876,94
$DATA_FILE_SIZE,88859,913
$CAP_FILE_SIZE,299943,0
$SDSIZE,3931136,3847360
$SDFILEDIR,1392,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,285.7,1
$GPS,290523,022325,2256.453,-15749.385,15,0.8,38,9.9