version: 67.00
glider: 511
mission: 21
dive: 515
start: 6 8 123 1 4 45
data:
$ID,511
$MISSION,21
$DIVE,515
$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,410
$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,2450
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$PITCH_GAIN,28
$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,2310
$C_ROLL_CLIMB,1915
$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,2560
$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,27.45397
$FG_AHR_24V,72.192581
$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
$GPS1,080623,005813,2238.911,-15800.972,27,1.0,40,9.8
$_CALLS,1
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-63.1
$GPS2,080623,010429,2238.865,-15801.134,2,0.9,17,9.8
$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,3.0,43083,-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,3.42,2,-145.99,-0.85,0.00,252.8,261.2,244.4,182.4,2220.4,0.00,0.00,0,95.77,90.68,0.00,0.00,0.005,0.000,0.000,2706.69,2736.75,2676.62,182.62,2219.88,0,0,0,14.15,30.00,30.00
$GC,96.06,295,-145.99,-0.85,40.00,2705.9,2737.8,2674.0,182.4,2217.8,3.54,-3.54,18,127.25,9.23,12.65,2.61,0.007,0.371,0.083,3151.25,3209.94,3092.56,2175.44,3745.62,0,0,0,15.36,14.97,15.18
$GC,219.83,1028,-145.99,-0.85,0.00,3152.6,3211.2,3093.9,2176.8,3746.6,26.76,-16.37,43,225.32,0.00,0.00,2.30,0.000,0.000,0.017,3221.75,3349.94,3093.56,2176.88,2256.69,0,0,0,30.00,30.00,15.82
$GC,344.88,516,-145.99,-0.85,-40.00,3152.5,3211.4,3093.6,2178.2,2255.4,47.14,-15.98,58,349.42,0.00,0.00,2.25,0.000,0.000,0.048,3153.56,3212.69,3094.44,2174.69,868.81,0,0,0,30.00,30.00,15.77
$GC,394.87,1028,-145.99,-0.85,0.00,3159.1,3224.2,3093.9,2177.2,869.0,55.24,-16.21,63,399.44,0.00,0.00,2.35,0.000,0.000,0.030,3159.56,3222.75,3096.38,2176.38,2340.62,0,0,0,30.00,30.00,15.84
$GC,644.03,260,-145.99,-0.85,40.00,3151.8,3210.2,3093.4,2176.9,2342.8,93.79,-14.55,88,649.31,0.00,0.00,2.37,0.000,0.000,0.080,3168.53,3244.44,3092.62,2175.75,3746.56,0,0,0,30.00,30.00,15.78
$GC,664.03,1028,-145.99,-0.85,0.00,3255.9,3420.4,3091.4,2176.1,3743.9,96.91,-14.87,90,669.29,0.00,0.00,2.28,0.000,0.000,0.016,3158.56,3221.81,3095.31,2176.19,2261.25,0,0,0,30.00,30.00,15.86
$GC,914.97,0,-145.99,-0.85,0.00,3171.2,3249.1,3093.3,2177.7,2259.5,129.19,-12.29,115,916.31,0.00,0.00,0.00,0.000,0.000,0.000,3171.56,3249.44,3093.69,2174.81,2257.44,0,0,0,30.00,30.00,30.00
$GC,1154.99,260,-145.99,-0.85,40.00,3152.4,3211.1,3093.6,2177.3,2259.2,158.14,-12.22,139,1159.57,0.00,0.00,2.52,0.000,0.000,0.077,3152.41,3212.31,3092.50,2177.25,3745.25,0,0,0,30.00,30.00,15.80
$GC,1204.17,1028,-145.99,-0.85,0.00,3169.6,3245.4,3093.9,2177.1,3747.2,164.16,-12.02,144,1209.43,0.00,0.00,2.27,0.000,0.000,0.016,3169.56,3242.31,3096.81,2176.88,2258.38,0,0,0,30.00,30.00,15.91
$GC,1455.03,260,-145.99,-0.85,40.00,3170.3,3246.6,3094.1,2176.9,2257.4,192.27,-10.90,169,1459.62,0.00,0.00,2.52,0.000,0.000,0.078,3186.16,3277.12,3095.19,2177.50,3748.25,0,0,0,30.00,30.00,15.80
$GC,1479.11,1028,-145.99,-0.85,0.00,3151.1,3208.4,3093.8,2177.6,3746.9,195.09,-10.93,171,1485.29,0.00,0.00,2.27,0.000,0.000,0.016,3157.34,3219.94,3094.75,2175.81,2261.69,0,0,0,30.00,30.00,15.94
$GC,1725.07,516,-145.99,-0.85,-40.00,3152.7,3212.0,3093.4,2177.1,2259.4,224.73,-12.45,196,1729.59,0.00,0.00,2.26,0.000,0.000,0.046,3157.34,3219.25,3095.44,2175.81,876.25,0,0,0,30.00,30.00,15.85
$GC,1774.18,1028,-145.99,-0.85,0.00,3152.9,3210.4,3095.5,2178.9,877.0,230.92,-12.38,201,1779.45,0.00,0.00,2.31,0.000,0.000,0.029,3175.91,3254.88,3096.94,2177.12,2343.38,0,0,0,30.00,30.00,15.93
$GC,2025.14,292,-145.99,-0.85,40.00,3151.6,3209.1,3094.1,2177.2,2342.8,256.73,-9.00,226,2029.69,0.00,0.00,2.35,0.000,0.000,0.073,3151.34,3208.38,3094.31,2176.88,3751.12,0,0,0,30.00,30.00,15.84
$GC,2049.24,1060,-145.99,-0.85,0.00,3154.0,3215.1,3092.9,2176.4,3751.8,258.98,-8.87,228,2055.40,0.00,0.00,2.28,0.000,0.000,0.017,3167.09,3239.44,3094.75,2177.81,2262.19,0,0,0,30.00,30.00,15.95
$GC,2295.24,548,-145.99,-0.85,-40.00,3594.9,4095.9,3093.8,2177.4,2261.8,279.69,-8.17,253,2299.74,0.00,0.00,2.26,0.000,0.000,0.044,3595.62,4095.94,3095.31,2176.94,874.75,0,0,0,30.00,30.00,15.87
$GC,2359.32,1060,-145.99,-0.85,0.00,3594.9,4095.9,3093.9,2177.7,874.9,285.20,-8.84,259,2364.62,0.00,0.00,2.32,0.000,0.000,0.027,3595.53,4095.94,3095.12,2177.75,2346.38,0,0,0,30.00,30.00,15.94
$GC,2604.42,292,-145.99,-0.85,40.00,3205.2,3318.6,3091.8,2176.9,2346.8,304.88,-8.38,284,2609.70,0.00,0.00,2.36,0.000,0.000,0.080,3178.47,3262.44,3094.50,2176.62,3744.12,0,0,0,30.00,30.00,15.81
$GC,2655.34,1060,-145.99,-0.85,0.00,3187.3,3283.4,3091.2,2177.0,3744.0,309.42,-9.09,289,2659.84,0.00,0.00,2.27,0.000,0.000,0.015,3177.69,3261.31,3094.06,2177.19,2258.69,0,0,0,30.00,30.00,15.92
$GC,2904.50,548,-145.99,-0.85,-40.00,3147.1,3204.4,3089.8,2177.1,2255.1,332.97,-9.41,314,2909.76,0.00,0.00,2.23,0.000,0.000,0.043,3148.53,3209.06,3088.00,2178.00,867.06,0,0,0,30.00,30.00,15.87
$GC,2944.53,1060,-145.99,-0.85,0.00,3593.2,4095.9,3090.4,2177.6,866.4,336.91,-9.82,318,2949.81,0.00,0.00,2.33,0.000,0.000,0.025,3147.09,3205.25,3088.94,2176.50,2347.12,0,0,0,30.00,30.00,15.94
$GC,3195.48,548,-145.99,-0.85,-40.00,3149.8,3213.1,3086.4,2176.5,2345.4,357.66,-8.00,343,3200.00,0.00,0.00,2.43,0.000,0.000,0.049,3156.12,3222.88,3089.38,2177.88,875.75,0,0,0,30.00,30.00,15.83
$GC,3264.59,1060,-145.99,-0.85,0.00,3157.8,3228.9,3086.8,2177.1,875.0,363.80,-8.88,350,3269.87,0.00,0.00,2.32,0.000,0.000,0.028,3156.53,3226.56,3086.50,2175.31,2345.38,0,0,0,30.00,30.00,15.91
$GC,3514.65,292,-145.99,-0.85,40.00,3146.5,3208.1,3084.8,2177.1,2345.7,384.67,-8.22,375,3519.93,0.00,0.00,2.35,0.000,0.000,0.075,3146.97,3207.31,3086.62,2176.88,3742.38,0,0,0,30.00,30.00,15.81
$GC,3544.65,1060,-145.99,-0.85,0.00,3146.8,3209.4,3084.3,2178.5,3744.4,387.20,-8.42,378,3549.90,0.00,0.00,2.29,0.000,0.000,0.015,3146.34,3207.56,3085.12,2176.12,2261.31,0,0,0,30.00,30.00,15.92
$GC,3795.56,548,-145.99,-0.85,-40.00,3143.7,3206.5,3080.9,2176.9,2259.4,406.88,-7.89,397,3800.11,0.00,0.00,2.26,0.000,0.000,0.042,3145.94,3209.56,3082.31,2176.94,866.25,0,0,0,30.00,30.00,15.86
$GC,3889.71,1060,-145.99,-0.85,0.00,3140.0,3198.9,3081.1,2176.8,865.9,415.56,-8.46,399,3894.98,0.00,0.00,2.34,0.000,0.000,0.026,3139.75,3197.12,3082.38,2176.12,2344.44,0,0,0,30.00,30.00,15.94
$GC,4155.62,549,-145.99,-0.85,-40.00,3136.6,3195.8,3077.4,2174.7,2347.1,441.05,-9.77,406,4160.33,0.00,0.00,2.43,0.000,0.025,0.045,3138.00,3198.50,3077.50,2175.75,875.25,0,0,0,30.00,30.36,15.84
$GC,4199.78,1060,-145.99,-0.85,0.00,3137.8,3198.6,3077.1,2177.1,875.0,445.61,-9.89,407,4205.05,0.00,0.00,2.32,0.000,0.000,0.025,3139.00,3200.75,3077.25,2176.38,2347.25,0,0,0,30.00,30.00,15.94
$GC,4474.80,548,-145.99,-0.85,-40.00,3134.2,3196.2,3072.2,2178.6,2346.4,469.86,-8.57,414,4480.10,0.00,0.00,2.43,0.000,0.000,0.046,3136.06,3196.62,3075.50,2177.62,876.25,0,0,0,30.00,30.00,15.87
$GC,4529.79,1060,-145.99,-0.85,0.00,3135.7,3197.6,3073.8,2177.2,876.0,474.49,-8.49,415,4535.07,0.00,0.00,2.32,0.000,0.000,0.024,3136.72,3199.75,3073.69,2176.00,2348.00,0,0,0,30.00,30.00,15.95
$GC,4794.84,548,-145.99,-0.85,-40.00,3133.9,3197.1,3070.6,2177.0,2348.4,494.78,-7.66,422,4800.14,0.00,0.00,2.43,0.000,0.000,0.045,3134.66,3197.94,3071.38,2175.81,875.94,0,0,0,30.00,30.00,15.87
$GC,4824.81,1060,-145.99,-0.85,0.00,3134.0,3197.5,3070.5,2176.9,875.2,497.22,-7.66,422,4830.09,0.00,0.00,2.32,0.000,0.000,0.024,3133.94,3197.31,3070.56,2177.12,2345.50,0,0,0,30.00,30.00,15.94
$GC,5074.86,548,-145.99,-0.85,-40.00,3132.4,3196.4,3068.4,2176.6,2345.8,516.06,-7.52,429,5080.15,0.00,0.00,2.41,0.000,0.000,0.044,3134.38,3198.62,3070.12,2177.94,867.75,0,0,0,30.00,30.00,15.87
$GC,5124.84,1060,-145.99,-0.85,0.00,3132.2,3196.2,3068.3,2176.7,867.9,520.16,-7.70,430,5130.12,0.00,0.00,2.33,0.000,0.000,0.024,3134.22,3198.12,3070.31,2176.00,2345.56,0,0,0,30.00,30.00,15.94
$GC,5394.89,32,-145.99,-0.85,0.00,3130.2,3194.5,3065.9,2177.4,2345.6,540.30,-7.38,437,5396.23,0.00,0.00,0.00,0.000,0.000,0.000,3131.72,3196.19,3067.25,2175.31,2347.06,0,0,0,30.00,30.00,30.00
$GC,5634.94,549,-145.99,-0.85,-40.00,3127.5,3190.6,3064.3,2175.2,2347.4,557.23,-7.01,443,5640.36,0.00,0.00,2.43,0.000,0.044,0.043,3130.84,3196.12,3065.56,2177.88,864.94,0,0,0,30.00,30.36,15.86
$GC,5684.89,1060,-145.99,-0.85,0.00,3128.6,3193.4,3063.8,2177.2,864.7,560.93,-7.08,444,5690.17,0.00,0.00,2.34,0.000,0.000,0.023,3130.62,3195.56,3065.69,2177.81,2347.81,0,0,0,30.00,30.00,15.94
$GC,5955.82,32,-145.99,-0.85,0.00,3127.3,3192.9,3061.7,2177.0,2346.9,579.37,-6.81,451,5957.16,0.00,0.00,0.00,0.000,0.000,0.000,3124.31,3190.94,3057.69,2177.19,2347.31,0,0,0,30.00,30.00,30.00
$GC,6195.81,548,-145.99,-0.85,-40.00,3125.7,3192.6,3058.7,2177.7,2346.9,596.35,-7.11,457,6200.39,0.00,0.00,2.43,0.000,0.000,0.045,3125.00,3192.31,3057.69,2177.38,876.44,0,0,0,30.00,30.00,15.80
$STATE,6245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6245,begin apogee
$GC,6247.96,3,0.00,-0.18,0.00,3125.6,3192.4,3058.7,2177.5,1976.6,600.23,-7.30,458,6362.64,111.43,1.09,0.16,1.747,0.154,0.113,2558.78,2684.81,2432.75,2394.69,1828.81,0,0,0,10.71,15.59,15.29
$STATE,6363,end apogee,CONTROL_FINISHED_OK
$STATE,6363,begin climb
$GC,6363.07,263,145.99,0.85,40.00,2562.2,2686.4,2438.1,2395.8,1829.1,604.49,0.00,461,6493.61,123.22,1.50,2.62,1.730,0.028,0.054,1965.03,2163.69,1766.38,2774.31,3348.62,0,0,0,12.03,15.39,15.29
$GC,6561.24,1063,176.83,0.89,0.00,1963.2,2161.4,1764.9,2773.1,3347.1,591.29,8.59,466,6591.54,26.36,0.25,2.38,1.590,0.210,0.034,1839.22,2034.75,1643.69,2726.12,1877.56,0,0,0,11.85,15.45,15.68
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$STATE,12287,end climb,SURFACE_DEPTH_REACHED
$STATE,12287,begin surface coast
$FINISH,-0.2,0.998491
$STATE,12317,end surface coast,CONTROL_FINISHED_OK
$STATE,12318,begin surface
$SM_CCo,12395.57,0.00,0.000,0,413.2,564.6,261.9,526.60
$SM_GC,0.49,0.00,11.84,0.75,0.000,0.026,0.039,413.2,564.6,261.9,179.6,2353.4,0,0,0,30.00,15.71,15.82
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2236.73,-15801.07,070623,212444
$TCM_TEMP,23.90
$XPDR_PINGS,396
$HUMID,58.38
$TEMP,17.81
$INTERNAL_PRESSURE,9.06948
$24V_AH,14.59,151.432
$10V_AH,15.00,0.000
$FG_AHR_24Vo,72.338
$FG_AHR_10Vo,27.505
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,658.710,29.925,157.735,252.496,99.000,30.977,3278.498,9444.546,2109.142,0.000,0.000,0.000
$DEVICE_MAMPS,1746.680,402.864,112.584,202.311,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1383.120,1365.703,1029.486,0.000,985.058,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,0.000,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168156,29,14732,92
$DATA_FILE_SIZE,88679,931
$CAP_FILE_SIZE,308859,0
$SDSIZE,3931136,3835040
$SDFILEDIR,1602,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.208,257.4,1
$GPS,080623,043205,2239.983,-15802.547,28,1.0,37,9.8