version: 67.00
glider: 513
mission: 15
dive: 23
start: 5 27 123 0 54 6
data:
$ID,513
$MISSION,15
$DIVE,23
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$D_NO_BLEED,200
$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,44
$T_MISSION,150
$T_ABORT,200
$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,58045
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2240
$TGT_DEFAULT_LON,-15803
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,4
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,0
$RAFOS_HIT_WINDOW,0
$RAFOS_MMODEM,0
$PITCH_MIN,223
$PITCH_MAX,3875
$C_PITCH,2265
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2000
$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,2555
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$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,37.565174
$FG_AHR_24V,94.187981
$PHONE_SUPPLY,2
$PRESSURE_YINT,-164.30228
$PRESSURE_SLOPE,0.00010883
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.96e-06
$INT_PRESSURE_YINT,2.3699999
$DEEPGLIDER,0
$MOTHERBOARD,6
$DEVICE1,10
$DEVICE2,27
$DEVICE3,38
$DEVICE4,55
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,51
$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,0.004325842
$SEABIRD_T_H,0.00062290713
$SEABIRD_T_I,2.3156466e-05
$SEABIRD_T_J,2.4692811e-06
$SEABIRD_C_G,-10.235818
$SEABIRD_C_H,1.1441734
$SEABIRD_C_I,-0.0017975045
$SEABIRD_C_J,0.00022422035
$SEABIRD_C_Z,0
$RS_RECORDABOVE,400.0
$RS_PROFILE,3.0
$RS_XMITPROFILE,1.0
$RS_UPLOADMAX,1000.0
$RS_STARTS,44.0
$RS_NDIVE,1.0
$GPS1,270523,004225,2245.174,-15800.429,20,0.8,42,9.8
$_CALLS,1
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-56.1
$GPS2,270523,005338,2245.198,-15800.521,19,0.8,24,9.8
$SPEED_LIMITS,0.525,0.535
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$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,98.7,964,-28.8,-30.303,-30.00
$D_GRID,400
$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,73,end surface,CONTROL_FINISHED_OK
$STATE,73,begin dive
$GC,74.15,2,-145.99,-1.05,0.00,589.4,753.9,425.0,139.4,2261.6,0.00,0.00,0,152.04,75.82,0.00,0.00,0.005,0.000,0.000,2546.47,2559.25,2533.69,137.44,2259.69,0,0,0,14.73,30.00,30.00
$GC,152.41,35,-145.99,-1.05,0.00,2545.2,2557.8,2532.8,137.6,2258.8,3.32,-3.14,15,183.02,15.13,10.59,0.00,0.006,0.283,0.000,3147.91,3176.88,3118.94,1927.69,2258.62,0,0,0,14.84,14.94,30.00
$GC,240.63,161,-145.99,-0.88,-40.00,3149.1,3180.2,3117.9,1928.1,2259.5,24.65,-27.79,33,242.12,0.00,0.28,0.00,0.000,0.216,0.000,3147.69,3179.00,3116.38,1983.06,2258.81,0,0,0,30.00,15.26,30.00
$GC,300.73,421,-145.99,-0.79,40.00,3149.7,3181.4,3117.9,1983.1,2258.9,40.56,-26.45,45,306.24,0.00,0.16,2.40,0.000,0.220,0.068,3149.84,3181.69,3118.00,2005.12,3629.44,0,0,0,30.00,15.29,15.26
$GC,325.66,1189,-145.99,-0.87,0.00,3150.2,3182.1,3118.3,2004.9,3629.6,46.44,-23.42,50,331.25,0.00,0.11,2.44,0.000,0.094,0.021,3150.59,3182.88,3118.31,1957.88,2130.56,0,0,0,30.00,15.18,15.36
$GC,450.75,677,-145.99,-0.81,-40.00,3150.4,3182.2,3118.6,1957.0,2129.6,74.34,-25.25,75,456.30,0.00,0.26,2.28,0.000,0.205,0.054,3150.69,3182.75,3118.62,2007.31,748.56,0,0,0,30.00,15.27,15.30
$GC,540.76,1189,-145.99,-1.03,0.00,3150.8,3183.3,3118.3,2007.4,748.6,91.00,-15.96,87,545.49,0.00,0.38,2.39,0.000,0.053,0.033,3150.59,3183.25,3117.94,1907.88,2229.69,0,0,0,30.00,15.30,15.49
$GC,1150.87,293,-145.99,-1.03,40.00,3153.0,3187.3,3118.7,1908.6,2230.2,219.40,-20.44,148,1155.59,0.00,0.14,2.42,0.000,0.228,0.064,3153.16,3187.94,3118.38,1931.50,3631.69,0,0,0,30.00,15.28,15.27
$GC,1180.89,1189,-145.99,-1.08,0.00,3153.0,3187.8,3118.2,1931.2,3631.4,224.93,-19.04,151,1185.57,0.00,0.08,2.39,0.000,0.136,0.018,3153.59,3188.56,3118.62,1894.62,2122.69,0,0,0,30.00,15.31,15.50
$GC,1250.90,549,-145.99,-1.08,-40.00,3153.2,3188.1,3118.2,1895.1,2121.9,237.38,-17.93,158,1255.58,0.00,0.14,2.26,0.000,0.221,0.054,3156.06,3190.81,3121.31,1921.44,746.75,0,0,0,30.00,15.29,15.30
$GC,1290.93,1189,-145.99,-1.14,0.00,3153.7,3189.0,3118.4,1922.8,746.6,244.42,-17.81,162,1295.60,0.00,0.10,2.36,0.000,0.120,0.032,3154.00,3189.62,3118.38,1873.94,2227.19,0,0,0,30.00,15.30,15.50
$GC,1360.91,293,-145.99,-1.14,40.00,3153.9,3189.2,3118.6,1874.2,2227.6,257.21,-18.74,169,1365.65,0.00,0.15,2.41,0.000,0.233,0.058,3153.66,3188.81,3118.50,1892.06,3636.25,0,0,0,30.00,15.25,15.26
$GC,1385.04,1061,-145.99,-1.14,0.00,3154.2,3189.6,3118.9,1892.7,3635.8,261.74,-18.92,171,1391.37,0.00,0.05,2.41,0.000,0.277,0.018,3154.59,3189.62,3119.56,1901.62,2115.94,0,0,0,30.00,15.30,15.48
$GC,1450.96,677,-145.99,-1.17,-40.00,3154.2,3190.1,3118.4,1901.9,2114.4,272.21,-16.10,178,1455.61,0.00,0.10,2.23,0.000,0.112,0.049,3155.50,3190.94,3120.06,1861.75,743.31,0,0,0,30.00,15.39,15.42
$GC,1470.94,1061,-145.99,-1.17,0.00,3154.4,3190.1,3118.7,1862.2,742.7,275.82,-16.96,180,1475.68,0.00,0.19,2.36,0.000,0.213,0.033,3154.69,3190.69,3118.69,1891.12,2226.62,0,0,0,30.00,15.20,15.50
$GC,1540.96,292,-145.99,-1.17,40.00,3154.4,3190.2,3118.6,1890.5,2226.6,287.93,-17.39,187,1545.53,0.00,0.00,2.42,0.000,0.000,0.060,3154.84,3190.94,3118.75,1887.06,3638.31,0,0,0,30.00,30.00,15.46
$GC,1585.10,1189,-145.99,-1.23,0.00,3154.6,3191.2,3118.1,1887.8,3637.9,295.36,-16.70,191,1591.41,0.00,0.09,2.39,0.000,0.121,0.017,3156.66,3192.69,3120.62,1847.81,2121.94,0,0,0,30.00,15.34,15.50
$GC,1651.01,161,-145.99,-1.17,0.00,3154.2,3190.4,3117.9,1847.6,2120.9,307.12,-18.61,198,1652.49,0.00,0.25,0.00,0.000,0.218,0.000,3156.97,3194.25,3119.69,1891.19,2112.75,0,0,0,30.00,15.25,30.00
$GC,1711.00,32,-145.99,-1.17,0.00,3154.5,3190.6,3118.4,1892.6,2114.0,317.30,-16.69,204,1712.34,0.00,0.00,0.00,0.000,0.000,0.000,3156.22,3192.75,3119.69,1891.31,2113.88,0,0,0,30.00,30.00,30.00
$GC,1771.03,421,-145.99,-1.20,40.00,3154.6,3190.9,3118.4,1892.2,2113.7,327.15,-16.33,210,1775.75,0.00,0.09,2.61,0.000,0.121,0.057,3154.97,3191.50,3118.44,1846.31,3634.81,0,0,0,30.00,15.40,15.40
$GC,1825.16,1189,-145.99,-1.17,0.00,3155.0,3191.5,3118.5,1846.4,3635.0,337.17,-18.22,215,1831.52,0.00,0.24,2.41,0.000,0.204,0.017,3155.06,3190.88,3119.25,1891.38,2109.62,0,0,0,30.00,15.26,15.49
$GC,1891.06,677,-145.99,-1.21,-40.00,3155.0,3191.5,3118.4,1891.8,2109.7,348.36,-16.90,222,1895.71,0.00,0.09,2.23,0.000,0.120,0.053,3155.88,3192.12,3119.62,1854.06,747.62,0,0,0,30.00,15.39,15.39
$GC,1915.15,1061,-145.99,-1.21,0.00,3154.9,3191.5,3118.2,1854.6,747.8,352.80,-17.00,224,1921.48,0.00,0.18,2.35,0.000,0.222,0.032,3155.31,3191.25,3119.38,1879.81,2224.31,0,0,0,30.00,15.21,15.49
$GC,1981.05,548,-145.99,-1.21,-40.00,3154.8,3191.1,3118.4,1879.5,2223.6,363.80,-16.71,231,1985.62,0.00,0.00,2.43,0.000,0.000,0.049,3156.56,3193.12,3120.00,1879.88,745.44,0,0,0,30.00,30.00,15.48
$GC,2015.19,1189,-145.99,-1.24,0.00,3154.8,3190.8,3118.8,1879.5,745.6,369.55,-16.42,234,2021.50,0.00,0.05,2.36,0.000,0.192,0.031,3155.09,3191.00,3119.19,1843.38,2232.38,0,0,0,30.00,15.31,15.49
$GC,2081.10,677,-145.99,-1.20,-40.00,3154.6,3191.4,3117.8,1843.9,2232.6,381.53,-18.82,241,2085.82,0.00,0.22,2.46,0.000,0.220,0.049,3156.03,3191.56,3120.50,1882.06,746.44,0,0,0,30.00,15.23,15.24
$GC,2105.20,1060,-145.99,-1.20,0.00,3154.9,3191.4,3118.4,1883.3,746.6,386.05,-18.69,243,2111.34,0.00,0.00,2.37,0.000,0.000,0.033,3156.69,3193.12,3120.25,1876.31,2221.62,0,0,0,30.00,30.00,15.48
$GC,2171.11,421,-145.99,-1.23,40.00,3154.7,3191.2,3118.1,1877.6,2221.1,396.36,-15.94,250,2175.80,0.00,0.06,2.42,0.000,0.168,0.059,3155.06,3192.06,3118.06,1838.62,3628.75,0,0,0,30.00,15.37,15.35
$STATE,2195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2195,begin apogee
$GC,2199.42,3,0.00,-0.17,0.00,3154.6,3191.2,3117.9,1839.6,1950.2,400.71,-16.48,252,2353.02,148.55,2.01,0.10,1.451,0.181,0.142,2553.75,2637.69,2469.81,2211.38,2102.88,0,0,0,11.13,15.02,15.06
$STATE,2355,end apogee,CONTROL_FINISHED_OK
$STATE,2355,begin climb
$GC,2355.45,519,145.99,1.05,-40.00,2553.3,2636.9,2469.7,2212.1,2104.1,407.05,0.00,256,2511.60,147.88,1.87,2.62,1.424,0.065,0.055,1959.72,2072.19,1847.25,2622.50,558.19,0,0,0,11.67,13.85,15.11
$GC,2586.18,1191,526.13,1.22,0.00,1955.8,2066.8,1844.9,2622.9,558.4,388.48,7.08,260,2914.58,319.18,0.14,2.38,1.376,0.078,0.022,600.78,777.38,424.19,2679.00,2059.81,0,0,0,11.60,15.31,15.41
$GC,2967.17,391,526.13,1.04,40.00,598.4,773.9,423.0,2680.2,2060.2,283.10,35.82,298,2971.94,0.00,0.47,2.39,0.000,0.216,0.053,598.97,774.25,423.69,2591.31,3440.31,0,0,0,30.00,15.25,15.32
$GC,3017.19,1191,560.39,1.11,0.00,596.7,770.4,422.9,2592.6,3439.9,268.99,28.21,303,3021.90,0.00,0.10,2.48,0.000,0.114,0.027,597.00,770.62,423.38,2641.25,1944.62,0,0,0,30.00,15.33,15.45
$GC,3087.19,647,560.39,0.98,-40.00,596.2,769.4,423.1,2642.6,1944.1,248.13,31.61,310,3091.92,0.00,0.39,2.34,0.000,0.223,0.059,596.16,769.38,422.94,2580.94,559.00,0,0,0,30.00,15.33,15.34
$GC,3141.32,1191,620.37,1.10,0.00,595.0,766.9,423.1,2580.4,558.9,233.67,26.64,315,3147.66,0.00,0.16,2.38,0.000,0.098,0.026,594.97,767.06,422.88,2630.56,2048.94,0,0,0,30.00,15.36,15.51
$GC,3207.20,391,620.37,1.00,40.00,594.3,765.8,422.9,2631.1,2048.7,214.80,30.47,322,3211.92,0.00,0.28,2.39,0.000,0.209,0.051,594.69,766.00,423.38,2578.56,3440.25,0,0,0,30.00,15.36,15.38
$GC,3251.32,1191,685.80,1.08,0.00,593.5,764.1,422.9,2578.6,3440.6,203.60,26.31,326,3257.69,0.00,0.12,2.45,0.000,0.106,0.025,593.69,764.25,423.12,2633.88,1946.38,0,0,0,30.00,15.38,15.52
$GC,3317.22,679,731.12,1.00,-40.00,592.9,762.8,423.0,2633.9,1946.4,186.49,27.53,333,3321.94,0.00,0.29,2.34,0.000,0.218,0.060,592.75,762.44,423.06,2588.62,561.12,0,0,0,30.00,15.34,15.36
$GC,3361.32,1063,823.66,1.06,0.00,591.7,760.3,423.0,2589.3,560.9,175.97,24.65,337,3367.65,0.00,0.07,2.38,0.000,0.160,0.027,591.59,760.12,423.06,2623.25,2048.94,0,0,0,30.00,15.38,15.53
$GC,3967.28,34,917.30,1.12,0.00,587.1,751.2,422.9,2623.5,2055.7,21.03,24.58,421,3968.63,0.00,0.00,0.00,0.000,0.000,0.000,587.22,751.62,422.81,2620.88,2054.44,0,0,0,30.00,30.00,30.00
$GC,4027.30,295,992.98,1.16,40.00,587.0,751.2,422.9,2622.8,2055.3,5.86,25.68,433,4032.88,0.00,0.06,2.39,0.000,0.161,0.049,587.09,751.25,422.94,2660.62,3439.00,0,0,0,30.00,15.40,15.33
$STATE,4042,end climb,SURFACE_DEPTH_REACHED
$STATE,4042,begin surface coast
$FINISH,0.3,1.023087
$STATE,4052,end surface coast,CONTROL_FINISHED_OK
$STATE,4052,begin surface
$SM_CCo,4131.88,0.00,0.000,0,586.4,750.6,422.3,482.89
$SM_GC,1.00,0.00,11.12,2.12,0.000,0.035,0.021,586.4,750.6,422.3,198.8,2127.2,0,0,0,30.00,13.80,13.95
$SUPER,51,70,254,0,0,0
$IRIDIUM_FIX,2246.60,-15801.49,260523,232506
$TCM_TEMP,22.70
$XPDR_PINGS,3
$HUMID,59.35
$TEMP,19.21
$INTERNAL_PRESSURE,9.44839
$24V_AH,14.48,207.804
$10V_AH,15.00,0.000
$FG_AHR_24Vo,94.333
$FG_AHR_10Vo,37.650
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,706.570,31.080,86.375,337.159,0.750,34.044,2677.431,2119.094,1164.420,0.000,0.000,0.000
$DEVICE_MAMPS,1450.824,282.816,142.432,236.551,420.000,11.740,7.270,2.190,16.310,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,nil,nil,RSIMT,nil,nil,nil
$SENSOR_SECS,828.477,863.469,534.033,929.238,0.000,0.000,4128.546,0.000,0.000,0.000
$SENSOR_MAMPS,24.280,3.510,24.790,40.780,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,1168124,33,14884,82
$DATA_FILE_SIZE,35623,438
$CAP_FILE_SIZE,207209,0
$SDSIZE,3931136,3913056
$SDFILEDIR,160,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,273.8,1
$GPS,270523,020330,2245.160,-15800.362,16,1.1,25,9.8