version: 67.00
glider: 513
mission: 15
dive: 40
start: 5 28 123 0 30 54
data:
$ID,513
$MISSION,15
$DIVE,40
$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,2260
$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,2120
$C_ROLL_CLIMB,1960
$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,39.090775
$FG_AHR_24V,96.878716
$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,78.0
$RS_NDIVE,1.0
$GPS1,280523,001859,2244.878,-15800.116,17,0.8,50,9.8
$_CALLS,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-58.4
$GPS2,280523,003025,2244.916,-15800.194,16,0.8,20,9.8
$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,59.3,366,-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,72,end surface,CONTROL_FINISHED_OK
$STATE,73,begin dive
$GC,74.13,2,-145.99,-1.05,0.00,585.3,746.1,424.6,143.1,2003.4,0.00,0.00,0,146.94,70.92,0.00,0.00,0.005,0.000,0.000,2427.97,2441.56,2414.38,141.69,1999.88,0,0,0,14.59,30.00,30.00
$GC,147.25,35,-145.99,-1.05,0.00,2426.6,2439.6,2413.6,141.9,1999.8,3.16,-3.13,14,182.35,18.95,10.52,0.00,0.006,0.279,0.000,3148.19,3173.31,3123.06,1923.00,1999.25,0,0,0,14.80,14.89,30.00
$GC,240.44,421,-145.99,-0.87,40.00,3149.5,3175.8,3123.2,1923.0,1999.6,24.90,-28.97,33,246.10,0.00,0.31,2.67,0.000,0.216,0.057,3151.62,3177.69,3125.56,1971.31,3561.06,0,0,0,30.00,15.25,15.25
$GC,290.44,1189,-145.99,-0.97,0.00,3150.4,3177.8,3122.9,1972.1,3562.2,37.57,-22.49,43,296.11,0.00,0.12,2.42,0.000,0.090,0.019,3150.56,3178.19,3122.94,1921.94,2061.25,0,0,0,30.00,15.17,15.38
$GC,415.48,677,-145.99,-0.84,-40.00,3150.4,3177.6,3123.2,1921.5,2061.1,71.92,-27.07,68,421.09,0.00,0.38,2.30,0.000,0.200,0.053,3151.53,3178.62,3124.44,1992.31,677.44,0,0,0,30.00,15.26,15.27
$GC,475.50,1189,-145.99,-1.04,0.00,3151.4,3178.8,3123.9,1993.1,677.8,83.41,-16.73,78,480.20,0.00,0.29,2.38,0.000,0.057,0.031,3152.25,3179.50,3125.00,1897.62,2163.19,0,0,0,30.00,15.29,15.49
$GC,1085.62,421,-145.99,-1.00,40.00,3153.1,3181.8,3124.4,1898.4,2162.6,218.88,-20.61,139,1090.32,0.00,0.22,2.38,0.000,0.203,0.049,3154.34,3183.88,3124.81,1932.25,3566.25,0,0,0,30.00,15.29,15.29
$GC,1195.66,1189,-145.99,-1.15,0.00,3152.9,3182.9,3123.0,1931.6,3566.8,236.26,-14.38,150,1200.38,0.00,0.21,2.40,0.000,0.074,0.015,3154.78,3184.94,3124.62,1866.75,2044.56,0,0,0,30.00,15.31,15.50
$GC,1265.67,677,-145.99,-1.10,-40.00,3153.7,3183.6,3123.8,1867.3,2045.0,246.83,-15.77,157,1270.36,0.00,0.22,2.26,0.000,0.218,0.047,3154.06,3184.19,3123.94,1908.19,673.50,0,0,0,30.00,15.25,15.29
$GC,1289.79,1189,-145.99,-1.07,0.00,3154.1,3184.2,3123.9,1907.6,673.7,251.40,-17.19,159,1296.10,0.00,0.10,2.38,0.000,0.237,0.027,3153.31,3183.50,3123.12,1918.12,2156.88,0,0,0,30.00,15.23,15.51
$GC,1355.69,161,-145.99,-1.11,0.00,3154.4,3185.0,3123.9,1918.3,2156.0,262.16,-16.50,166,1357.14,0.00,0.10,0.00,0.000,0.114,0.000,3155.75,3185.94,3125.56,1877.44,2155.94,0,0,0,30.00,15.40,30.00
$GC,1415.67,293,-145.99,-1.11,40.00,3154.3,3184.6,3123.9,1878.6,2156.2,272.49,-17.20,172,1420.40,0.00,0.14,2.40,0.000,0.220,0.055,3154.78,3185.12,3124.44,1896.31,3562.19,0,0,0,30.00,15.26,15.25
$GC,1465.72,1189,-145.99,-1.17,0.00,3154.3,3184.3,3124.2,1895.7,3562.6,280.35,-15.78,177,1470.41,0.00,0.07,2.40,0.000,0.154,0.015,3154.88,3185.75,3124.00,1863.06,2046.00,0,0,0,30.00,15.32,15.50
$GC,1535.73,677,-145.99,-1.13,-40.00,3154.5,3185.2,3123.8,1862.7,2044.7,292.58,-17.80,184,1540.44,0.00,0.19,2.23,0.000,0.217,0.045,3154.56,3185.38,3123.75,1899.19,673.94,0,0,0,30.00,15.26,15.28
$GC,1569.87,1060,-145.99,-1.13,0.00,3155.1,3185.8,3124.4,1900.0,674.2,298.84,-18.02,187,1576.03,0.00,0.00,2.35,0.000,0.000,0.027,3156.47,3186.44,3126.50,1891.19,2162.19,0,0,0,30.00,30.00,15.51
$GC,1635.73,293,-145.99,-1.13,40.00,3154.8,3185.4,3124.3,1891.1,2162.5,310.41,-17.94,194,1640.42,0.00,0.05,2.39,0.000,0.306,0.054,3155.75,3186.31,3125.19,1889.88,3560.62,0,0,0,30.00,15.29,15.26
$GC,1675.77,1188,-145.99,-1.17,0.00,3155.5,3186.1,3125.0,1890.2,3561.5,317.55,-17.98,198,1680.32,0.00,0.00,2.41,0.000,0.000,0.016,3156.25,3186.25,3126.25,1888.81,2048.69,0,0,0,30.00,30.00,15.49
$GC,1745.76,32,-145.99,-1.17,0.00,3155.5,3186.1,3124.8,1889.6,2048.3,330.25,-18.29,205,1747.10,0.00,0.00,0.00,0.000,0.000,0.000,3155.75,3185.25,3126.25,1888.00,2049.00,0,0,0,30.00,30.00,30.00
$GC,1805.77,292,-145.99,-1.17,40.00,3155.2,3185.8,3124.8,1889.4,2048.6,340.55,-17.07,211,1810.36,0.00,0.00,2.60,0.000,0.000,0.052,3155.84,3186.44,3125.25,1878.38,3564.56,0,0,0,30.00,30.00,15.47
$GC,1849.90,1061,-145.99,-1.17,0.00,3155.4,3185.6,3125.1,1877.8,3564.7,348.75,-17.95,215,1856.23,0.00,0.05,2.41,0.000,0.263,0.017,3155.22,3186.06,3124.38,1888.19,2040.88,0,0,0,30.00,15.29,15.47
$GC,1915.86,677,-145.99,-1.20,-40.00,3155.3,3185.4,3125.1,1888.3,2039.4,360.08,-17.38,222,1920.47,0.00,0.09,2.24,0.000,0.118,0.048,3155.34,3185.88,3124.81,1852.44,675.25,0,0,0,30.00,15.39,15.39
$GC,1969.95,1189,-145.99,-1.17,0.00,3155.6,3185.9,3125.3,1852.4,675.7,370.25,-18.39,227,1976.30,0.00,0.22,2.34,0.000,0.219,0.029,3155.88,3187.25,3124.50,1887.69,2160.88,0,0,0,30.00,15.21,15.50
$GC,2035.87,421,-145.99,-1.20,40.00,3155.5,3186.1,3124.9,1887.6,2160.8,381.61,-17.26,234,2040.55,0.00,0.09,2.41,0.000,0.129,0.053,3156.41,3187.50,3125.31,1841.56,3562.75,0,0,0,30.00,15.36,15.35
$GC,2059.95,1061,-145.99,-1.20,0.00,3155.4,3185.9,3125.0,1841.4,3562.2,386.32,-18.04,236,2066.33,0.00,0.19,2.42,0.000,0.208,0.017,3157.00,3187.88,3126.12,1878.75,2045.69,0,0,0,30.00,15.25,15.49
$GC,2125.86,548,-145.99,-1.20,-40.00,3154.9,3185.4,3124.4,1879.1,2046.1,397.93,-17.75,243,2130.39,0.00,0.00,2.27,0.000,0.000,0.048,3155.47,3185.88,3125.06,1879.00,673.56,0,0,0,30.00,30.00,15.48
$STATE,2139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2139,begin apogee
$GC,2143.63,3,0.00,-0.17,0.00,3155.3,3186.0,3124.6,1871.9,2012.2,400.67,-18.01,244,2296.20,148.04,1.78,0.11,1.437,0.177,0.124,2550.94,2634.75,2467.12,2207.81,1877.44,0,0,0,11.02,15.00,15.06
$STATE,2298,end apogee,CONTROL_FINISHED_OK
$STATE,2298,begin climb
$GC,2298.97,519,145.99,1.05,-40.00,2553.2,2637.4,2469.0,2207.7,1876.2,407.84,0.00,248,2456.16,149.09,1.86,2.31,1.416,0.063,0.057,1958.34,2075.62,1841.06,2618.25,517.56,0,0,0,11.56,15.31,14.02
$GC,2565.83,1191,491.98,1.21,0.00,1954.4,2068.8,1840.1,2617.9,517.5,386.38,9.17,252,2895.26,320.80,0.13,2.38,1.378,0.092,0.018,600.66,778.19,423.12,2663.75,2032.94,0,0,0,11.30,15.34,15.46
$GC,2947.85,131,491.98,1.01,0.00,598.2,774.3,422.0,2667.4,2033.9,283.54,36.75,290,2949.39,0.00,0.51,0.00,0.000,0.225,0.000,598.56,774.69,422.44,2574.00,2036.38,0,0,0,30.00,15.26,30.00
$GC,3007.88,391,491.98,0.97,40.00,596.8,771.7,421.9,2576.1,2037.3,264.77,30.44,296,3012.56,0.00,0.06,2.39,0.000,0.295,0.051,597.00,771.75,422.25,2561.62,3399.44,0,0,0,30.00,15.29,15.36
$GC,3047.89,1191,562.07,1.07,0.00,595.7,769.6,421.9,2563.4,3400.0,254.52,26.02,300,3052.60,0.00,0.14,2.47,0.000,0.098,0.024,596.09,769.94,422.25,2614.88,1909.12,0,0,0,30.00,15.35,15.50
$GC,3117.92,679,591.49,0.99,-40.00,595.2,768.5,421.9,2616.9,1908.7,235.78,28.51,307,3122.62,0.00,0.26,2.36,0.000,0.227,0.058,595.25,768.44,422.06,2579.25,521.44,0,0,0,30.00,15.33,15.36
$GC,3177.93,1191,691.75,1.12,0.00,594.1,766.2,421.9,2578.5,521.2,220.84,24.18,313,3182.62,0.00,0.17,2.37,0.000,0.084,0.021,594.53,766.56,422.50,2633.31,2017.38,0,0,0,30.00,15.36,15.51
$GC,3247.95,423,774.13,1.08,40.00,593.6,765.2,422.0,2635.2,2017.2,203.84,25.27,320,3252.64,0.00,0.19,2.37,0.000,0.220,0.045,594.00,765.75,422.25,2598.00,3406.62,0,0,0,30.00,15.35,15.37
$GC,3302.08,1191,892.92,1.21,0.00,592.3,762.6,422.0,2598.1,3406.8,191.38,23.05,325,3308.47,0.00,0.22,2.45,0.000,0.069,0.024,592.50,762.69,422.31,2667.94,1909.44,0,0,0,30.00,15.38,15.52
$GC,3908.13,163,965.56,1.16,0.00,586.7,751.6,421.9,2667.9,1908.5,21.20,25.87,408,3909.63,0.00,0.23,0.00,0.000,0.229,0.000,586.66,751.25,422.06,2624.75,1909.00,0,0,0,30.00,15.27,30.00
$GC,3968.15,35,1070.69,1.23,0.00,586.6,751.4,421.8,2625.8,1908.4,6.67,23.88,420,3969.62,0.00,0.12,0.00,0.000,0.093,0.000,586.72,751.25,422.19,2672.88,1908.12,0,0,0,30.00,15.42,30.00
$STATE,3982,end climb,SURFACE_DEPTH_REACHED
$STATE,3983,begin surface coast
$FINISH,0.1,1.023013
$STATE,3993,end surface coast,CONTROL_FINISHED_OK
$STATE,3993,begin surface
$SM_CCo,4070.99,0.00,0.000,0,586.1,750.9,421.2,482.97
$SM_GC,0.90,0.00,11.19,0.34,0.000,0.041,0.034,586.1,750.9,421.2,208.6,2177.6,0,0,0,30.00,13.90,15.75
$SUPER,59,70,254,0,0,0
$IRIDIUM_FIX,2246.28,-15759.32,270523,230316
$TCM_TEMP,22.50
$XPDR_PINGS,2
$HUMID,59.42
$TEMP,18.98
$INTERNAL_PRESSURE,9.43029
$24V_AH,14.46,214.725
$10V_AH,15.00,0.000
$FG_AHR_24Vo,97.024
$FG_AHR_10Vo,39.173
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,707.800,30.455,71.885,351.682,0.500,29.581,2646.210,2099.681,1143.573,0.000,0.000,0.000
$DEVICE_MAMPS,1437.048,306.432,124.064,226.762,420.000,11.740,7.270,2.190,16.310,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,nil,nil,RSIMT,nil,nil,nil
$SENSOR_SECS,792.022,832.993,517.901,901.360,0.000,0.000,4034.120,0.000,0.000,0.000
$SENSOR_MAMPS,24.280,3.510,24.790,40.780,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,1168164,31,14884,82
$DATA_FILE_SIZE,35593,425
$CAP_FILE_SIZE,193667,0
$SDSIZE,3931136,3908960
$SDFILEDIR,245,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,250.1,1
$GPS,280523,013936,2244.963,-15759.985,20,0.8,44,9.8