version: 67.00
glider: 511
mission: 21
dive: 914
start: 8 11 123 3 30 11
data:
$ID,511
$MISSION,21
$DIVE,914
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,620
$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,450
$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,170
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53737
$MASS_COMP,0
$NAV_MODE,1
$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,380
$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,2490
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$PITCH_GAIN,38
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.80000001
$PITCH_ADJ_DBAND,0.02
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3940
$ROLL_DEG,35
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2680
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00041000001
$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,40.828789
$FG_AHR_24V,141.827
$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
$GPS1,110823,031549,2333.032,-15920.409,19,0.9,41,9.8
$_CALLS,1
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-61.9
$GPS2,110823,032955,2333.214,-15920.523,13,0.9,24,9.8
$SPEED_LIMITS,0.229,0.247
$TGT_NAME,T3
$TGT_LATLONG,2306.300,-15812.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.242,-0.083
$KALMAN_X,-30285.7,-794.1,-590.6,19301.6,-1671.9
$KALMAN_Y,4597.1,306.1,-124.6,-9169.1,397.9
$MHEAD_RNG_PITCHd_Wd,103.3,126923,-14.7,-8.333,-18.61
$D_GRID,500
$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,-165.45,-0.45,0.00,250.5,255.2,245.7,180.1,2400.4,0.00,0.00,0,94.82,90.11,0.00,0.00,0.005,0.000,0.000,2660.25,2681.75,2638.75,179.88,2399.56,0,0,0,14.76,30.00,30.00
$GC,95.14,551,-165.45,-0.45,-35.00,2660.2,2679.9,2640.6,179.8,2398.6,3.26,-3.07,18,131.60,15.60,13.90,2.04,0.006,0.355,0.044,3353.19,3397.19,3309.19,2342.38,1177.31,0,0,0,14.99,14.71,14.91
$GC,628.55,1028,-165.45,-0.45,0.00,3358.4,3408.4,3308.4,2343.9,1178.5,57.44,-9.66,97,633.81,0.00,0.00,2.12,0.000,0.000,0.031,3465.34,3620.69,3310.00,2345.31,2489.19,0,0,0,30.00,30.00,15.67
$GC,753.57,516,-165.45,-0.45,-35.00,3355.0,3403.4,3306.6,2343.6,2487.7,69.39,-9.81,110,758.80,0.00,0.00,2.19,0.000,0.000,0.041,3365.84,3422.88,3308.81,2343.31,1175.75,0,0,0,30.00,30.00,15.60
$GC,873.62,1028,-165.45,-0.45,0.00,3356.3,3403.4,3309.2,2344.2,1175.6,81.43,-10.36,122,878.87,0.00,0.00,2.14,0.000,0.000,0.029,3354.09,3399.75,3308.44,2342.81,2489.88,0,0,0,30.00,30.00,15.65
$GC,1003.69,260,-165.45,-0.45,35.00,3355.3,3401.4,3309.2,2344.6,2491.1,95.25,-10.51,135,1008.93,0.00,0.00,2.11,0.000,0.000,0.068,3356.62,3404.56,3308.69,2342.88,3707.25,0,0,0,30.00,30.00,15.47
$GC,1508.84,1028,-165.45,-0.45,0.00,3353.8,3398.5,3309.0,2344.2,3709.7,140.35,-8.86,185,1514.17,0.00,0.00,2.03,0.000,0.000,0.013,3375.84,3442.69,3309.00,2345.44,2376.06,0,0,0,30.00,30.00,15.69
$GC,1633.89,260,-165.45,-0.45,35.00,3363.7,3416.4,3311.0,2345.8,2376.6,152.35,-9.94,198,1639.16,0.00,0.00,2.34,0.000,0.000,0.069,3368.75,3427.62,3309.88,2343.31,3707.56,0,0,0,30.00,30.00,15.44
$GC,1658.87,1028,-165.45,-0.45,0.00,3361.9,3414.8,3309.0,2344.1,3707.9,154.82,-9.83,200,1664.11,0.00,0.00,2.03,0.000,0.000,0.014,3360.88,3410.19,3311.56,2344.94,2383.38,0,0,0,30.00,30.00,15.70
$GC,1783.92,516,-165.45,-0.45,-35.00,3365.1,3421.5,3308.8,2344.1,2385.4,167.54,-10.30,213,1786.71,0.00,0.00,2.00,0.000,0.000,0.041,3376.69,3445.06,3308.31,2343.19,1175.88,0,0,0,30.00,30.00,15.63
$GC,2139.01,1028,-165.45,-0.45,0.00,3360.4,3412.0,3308.8,2344.2,1175.2,200.94,-9.36,249,2144.25,0.00,0.00,2.15,0.000,0.000,0.029,3477.06,3642.62,3311.50,2343.56,2486.25,0,0,0,30.00,30.00,15.65
$GC,2269.03,260,-165.45,-0.45,35.00,3355.7,3403.2,3308.1,2344.4,2486.9,213.05,-9.17,262,2274.26,0.00,0.00,2.12,0.000,0.000,0.067,3359.03,3409.31,3308.75,2345.38,3709.81,0,0,0,30.00,30.00,15.48
$GC,2644.09,1028,-165.45,-0.45,0.00,3358.9,3409.9,3307.9,2344.4,3708.6,249.94,-9.90,299,2649.34,0.00,0.00,2.03,0.000,0.000,0.013,3391.72,3474.62,3308.81,2343.38,2372.31,0,0,0,30.00,30.00,15.69
$GC,2769.13,260,-165.45,-0.45,35.00,3354.8,3398.8,3310.9,2342.1,2371.9,261.64,-9.17,312,2774.40,0.00,0.00,2.33,0.000,0.000,0.065,3352.66,3397.88,3307.44,2342.38,3708.38,0,0,0,30.00,30.00,15.47
$GC,3274.24,1028,-165.45,-0.45,0.00,3701.1,4095.9,3306.3,2344.9,3708.9,310.69,-9.84,362,3279.48,0.00,0.00,2.03,0.000,0.000,0.013,3701.03,4095.94,3306.12,2343.75,2384.25,0,0,0,30.00,30.00,15.69
$GC,3399.28,260,-165.45,-0.45,35.00,3700.8,4095.9,3305.8,2344.6,2383.8,322.49,-9.59,375,3404.53,0.00,0.00,2.30,0.000,0.000,0.061,3700.38,4095.94,3304.81,2343.88,3711.44,0,0,0,30.00,30.00,15.50
$GC,3904.47,1028,-165.45,-0.45,0.00,3698.0,4095.9,3300.1,2344.7,3711.3,370.92,-9.94,425,3909.71,0.00,0.00,2.04,0.000,0.000,0.013,3699.06,4095.94,3302.19,2343.88,2376.94,0,0,0,30.00,30.00,15.70
$GC,4029.52,260,-165.45,-0.45,35.00,3346.8,3395.5,3298.1,2343.9,2376.8,383.24,-10.01,438,4034.80,0.00,0.00,2.31,0.000,0.000,0.063,3347.84,3395.81,3299.88,2345.62,3709.25,0,0,0,30.00,30.00,15.48
$GC,4264.59,1028,-165.45,-0.45,0.00,3344.2,3392.8,3295.6,2343.4,3706.2,408.32,-10.63,455,4269.83,0.00,0.00,2.03,0.000,0.000,0.013,3344.06,3392.06,3296.06,2344.31,2376.31,0,0,0,30.00,30.00,15.68
$GC,4509.63,260,-165.45,-0.45,35.00,3347.5,3402.6,3292.4,2343.1,2374.8,431.78,-9.47,462,4514.91,0.00,0.00,2.33,0.000,0.000,0.065,3343.38,3390.44,3296.31,2343.56,3707.75,0,0,0,30.00,30.00,15.44
$GC,4644.68,1028,-165.45,-0.45,0.00,3340.2,3387.4,3293.0,2343.9,3709.2,443.74,-8.94,465,4649.90,0.00,0.00,2.04,0.000,0.000,0.013,3340.50,3388.12,3292.88,2342.38,2384.81,0,0,0,30.00,30.00,15.71
$GC,4909.72,260,-165.45,-0.45,35.00,3341.8,3398.1,3285.5,2342.8,2386.3,467.17,-8.91,472,4914.99,0.00,0.00,2.31,0.000,0.000,0.064,3339.69,3391.56,3287.81,2344.44,3706.88,0,0,0,30.00,30.00,15.44
$GC,4974.72,1028,-165.45,-0.45,0.00,3340.1,3392.9,3287.4,2344.6,3707.8,473.24,-9.04,473,4979.94,0.00,0.00,2.04,0.000,0.000,0.013,3340.28,3393.31,3287.25,2344.81,2380.00,0,0,0,30.00,30.00,15.67
$GC,5229.76,0,-165.45,-0.45,0.00,3338.2,3387.8,3288.7,2345.0,2379.4,497.30,-9.54,480,5231.10,0.00,0.00,0.00,0.000,0.000,0.000,3336.94,3386.88,3287.00,2341.62,2382.56,0,0,0,30.00,30.00,30.00
$STATE,5269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5269,begin apogee
$GC,5271.63,3,0.00,-0.13,0.00,3334.7,3384.3,3285.0,2344.4,1829.7,501.18,-9.61,481,5398.57,124.51,0.47,0.13,1.543,0.043,0.118,2682.62,2774.88,2590.38,2486.75,1986.12,0,0,0,10.21,15.66,15.18
$STATE,5398,end apogee,CONTROL_FINISHED_OK
$STATE,5399,begin climb
$GC,5398.97,263,165.45,0.45,35.00,2681.9,2772.9,2590.8,2485.9,1986.4,510.21,0.00,484,5544.50,140.71,0.69,1.98,1.519,0.023,0.052,2007.03,2190.31,1823.75,2674.31,3146.56,0,0,0,11.60,15.29,15.16
$GC,5641.29,1063,311.85,0.51,0.00,2005.8,2188.4,1823.2,2673.6,3144.5,505.28,3.39,490,5761.24,115.18,0.13,2.14,1.499,0.215,0.031,1406.66,1585.56,1227.75,2650.75,1836.88,0,0,0,11.56,15.23,15.59
$GC,6033.09,295,346.57,0.53,35.00,1408.2,1587.2,1229.2,2649.9,1836.4,478.20,7.16,500,6066.16,29.25,0.04,2.23,1.413,0.259,0.044,1266.59,1447.88,1085.31,2711.06,3144.56,0,0,0,11.60,15.60,15.35
$GC,6157.99,1063,366.37,0.54,0.00,1267.1,1447.4,1086.9,2711.2,3141.1,467.98,7.66,503,6179.96,17.61,0.31,2.15,1.344,0.135,0.030,1184.44,1362.94,1005.94,2650.19,1832.44,0,0,0,11.66,15.37,15.68
$GC,6423.00,261,366.37,0.54,35.00,1187.7,1364.2,1011.1,2652.6,1833.7,445.74,8.53,510,6428.39,0.00,0.05,2.24,0.000,0.207,0.045,1187.28,1363.94,1010.62,2686.44,3140.06,0,0,0,30.00,15.57,15.56
$GC,6863.10,1063,380.12,0.54,0.00,1188.2,1365.4,1010.9,2684.3,3139.1,409.91,7.87,521,6879.90,12.73,0.14,2.14,1.272,0.149,0.029,1129.28,1304.25,954.31,2654.69,1829.81,0,0,0,11.70,15.37,15.70
$GC,7118.12,517,380.12,0.54,-35.00,1132.5,1305.6,959.4,2654.1,1828.5,387.83,9.17,535,7123.39,0.00,0.04,2.09,0.000,0.218,0.061,1132.62,1305.69,959.56,2688.50,622.50,0,0,0,30.00,15.57,15.47
$GC,7238.19,1029,380.12,0.54,0.00,1131.9,1304.4,959.3,2689.5,622.6,376.59,9.58,547,7243.48,0.00,0.14,2.05,0.000,0.125,0.015,1131.97,1304.88,959.06,2651.75,1955.56,0,0,0,30.00,15.48,15.73
$GC,7368.18,1,380.12,0.54,0.00,1132.0,1304.9,959.1,2651.2,1955.8,364.65,9.20,560,7369.63,0.00,0.06,0.00,0.000,0.153,0.000,1133.38,1306.12,960.62,2683.06,1956.81,0,0,0,30.00,15.58,30.00
$GC,7488.24,517,380.12,0.54,-35.00,1132.2,1305.1,959.2,2683.9,1955.9,353.62,9.18,572,7493.67,0.00,0.12,2.34,0.000,0.084,0.063,1132.25,1305.25,959.25,2644.69,624.94,0,0,0,30.00,15.57,15.44
$GC,7993.28,1029,380.12,0.54,0.00,1130.9,1302.8,959.0,2645.8,625.5,310.30,8.86,622,7998.70,0.00,0.09,2.06,0.000,0.136,0.013,1132.25,1303.94,960.56,2678.75,1959.94,0,0,0,30.00,15.51,15.67
$GC,8118.37,551,389.56,0.55,-35.00,1131.2,1302.9,959.4,2679.2,1959.9,300.11,8.01,635,8133.54,9.39,0.09,2.28,1.090,0.103,0.063,1091.88,1257.81,925.94,2648.19,621.12,0,0,0,11.34,15.51,15.45
$GC,8633.62,1029,389.56,0.55,0.00,1093.9,1257.2,930.5,2646.6,620.9,252.15,9.82,686,8638.92,0.00,0.09,2.06,0.000,0.129,0.013,1093.22,1255.06,931.38,2679.62,1946.50,0,0,0,30.00,15.49,15.71
$GC,8758.58,517,389.56,0.55,-35.00,1093.8,1256.6,931.1,2680.4,1945.9,240.69,9.55,699,8764.02,0.00,0.12,2.28,0.000,0.088,0.058,1094.12,1257.00,931.25,2643.88,618.88,0,0,0,30.00,15.53,15.47
$GC,9263.80,1061,390.75,0.55,0.00,1094.3,1256.2,932.4,2645.4,619.6,197.95,8.29,749,9269.09,0.00,0.09,2.05,0.000,0.132,0.012,1094.03,1255.12,932.94,2678.12,1944.12,0,0,0,30.00,15.45,15.68
$GC,9388.84,517,390.75,0.55,-35.00,1094.9,1257.2,932.6,2676.8,1944.0,187.48,8.38,762,9394.22,0.00,0.08,2.28,0.000,0.118,0.057,1095.09,1257.00,933.19,2643.00,621.44,0,0,0,30.00,15.48,15.39
$GC,9893.96,1031,390.75,0.55,0.00,2487.1,4040.2,934.0,2643.4,621.0,140.49,8.68,812,10302.75,402.55,0.11,2.06,0.836,0.120,0.012,287.50,330.19,244.81,2677.44,1952.12,0,0,0,11.15,15.45,15.62
$GC,10424.58,519,390.75,0.55,-35.00,277.3,309.1,245.5,2677.8,1952.2,76.82,13.01,865,10429.99,0.00,0.09,2.28,0.000,0.114,0.057,272.53,299.19,245.88,2625.69,621.12,0,0,0,30.00,15.47,15.45
$GC,10634.66,1031,390.75,0.55,0.00,282.9,320.7,245.1,2628.0,620.2,50.72,12.48,886,10639.95,0.00,0.19,2.06,0.000,0.107,0.012,369.72,493.75,245.69,2675.81,1952.00,0,0,0,30.00,15.43,15.63
$GC,10764.70,3,390.75,0.55,0.00,285.5,325.7,245.2,2676.1,1955.2,33.32,13.88,899,10766.16,0.00,0.07,0.00,0.000,0.135,0.000,280.84,316.12,245.56,2626.62,1956.31,0,0,0,30.00,15.51,30.00
$GC,10884.82,519,390.75,0.55,-35.00,276.2,307.2,245.3,2626.1,1956.9,17.25,12.48,920,10890.28,0.00,0.19,2.33,0.000,0.106,0.062,270.47,295.62,245.31,2674.44,622.62,0,0,0,30.00,15.49,15.43
$STATE,10994,end climb,SURFACE_DEPTH_REACHED
$STATE,10995,begin surface coast
$FINISH,0.4,1.022489
$STATE,11015,end surface coast,CONTROL_FINISHED_OK
$STATE,11015,begin surface
$SM_CCo,11094.69,0.00,0.000,0,264.5,283.2,245.8,592.53
$SM_GC,0.47,0.00,11.14,2.96,0.000,0.024,0.018,264.5,283.2,245.8,180.8,2473.7,0,0,0,30.00,15.64,15.66
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2333.34,-15922.23,110823,001040
$TCM_TEMP,22.90
$XPDR_PINGS,131
$HUMID,61.11
$TEMP,17.99
$INTERNAL_PRESSURE,9.10633
$24V_AH,14.50,280.116
$10V_AH,15.00,0.000
$FG_AHR_24Vo,142.003
$FG_AHR_10Vo,40.851
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,957.660,28.405,92.115,684.280,32.750,39.788,4225.916,7668.662,2409.293,0.000,0.000,0.000
$DEVICE_MAMPS,1542.664,354.648,118.488,243.253,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.361,1040.600,683.842,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,1168284,42,14524,83
$DATA_FILE_SIZE,85173,946
$CAP_FILE_SIZE,286719,0
$SDSIZE,3931136,3758880
$SDFILEDIR,2799,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110823,063604,2333.839,-15920.307,25,0.8,51,9.8