version: 67.00
glider: 513
mission: 15
dive: 50
start: 5 28 123 14 42 2
data:
$ID,513
$MISSION,15
$DIVE,50
$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,39.997925
$FG_AHR_24V,98.497231
$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,98.0
$RS_NDIVE,1.0
$GPS1,280523,142731,2245.080,-15800.142,19,0.7,29,9.8
$_CALLS,3
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-52.8
$GPS2,280523,144134,2245.126,-15800.183,19,0.7,33,9.8
$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,111.2,389,-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,74.16,2,-145.99,-1.05,0.00,585.8,747.2,424.4,143.2,2011.5,0.00,0.00,0,152.05,75.65,0.00,0.00,0.005,0.000,0.000,2533.97,2548.19,2519.75,140.25,2006.88,0,0,0,14.54,30.00,30.00
$GC,152.43,551,-145.99,-1.05,-40.00,2532.9,2547.1,2518.7,140.3,2005.9,3.34,-3.26,15,184.59,15.21,10.62,2.25,0.006,0.289,0.054,3148.31,3171.75,3124.88,1923.25,673.44,0,0,0,14.84,14.85,14.71
$GC,212.17,1060,-145.99,-1.05,0.00,3150.5,3176.9,3124.1,1924.6,673.5,17.73,-25.88,27,217.62,0.00,0.00,2.38,0.000,0.000,0.035,3151.19,3176.75,3125.62,1917.25,2155.56,0,0,0,30.00,30.00,15.34
$GC,277.21,421,-145.99,-0.86,40.00,3150.4,3176.0,3124.8,1917.4,2155.9,35.17,-27.70,40,282.84,0.00,0.36,2.42,0.000,0.220,0.051,3150.34,3177.50,3123.19,1974.75,3565.25,0,0,0,30.00,15.23,15.24
$GC,307.23,1061,-145.99,-0.86,0.00,3151.2,3178.2,3124.2,1974.9,3564.7,42.88,-24.87,46,312.81,0.00,0.05,2.44,0.000,0.261,0.020,3151.16,3178.00,3124.31,1984.31,2052.88,0,0,0,30.00,15.12,15.32
$GC,432.25,32,-145.99,-0.86,0.00,3151.2,3178.2,3124.2,1985.1,2049.5,71.09,-21.91,71,433.59,0.00,0.00,0.00,0.000,0.000,0.000,3152.31,3178.44,3126.19,1983.75,2049.50,0,0,0,30.00,30.00,30.00
$GC,557.29,421,-145.99,-0.91,40.00,3151.8,3179.1,3124.4,1984.8,2045.1,95.78,-18.32,88,562.02,0.00,0.12,2.61,0.000,0.097,0.058,3152.84,3180.31,3125.38,1928.69,3559.38,0,0,0,30.00,15.40,15.42
$GC,647.30,1189,-145.99,-0.97,0.00,3151.9,3179.5,3124.3,1928.8,3559.3,112.35,-16.98,97,651.99,0.00,0.12,2.40,0.000,0.226,0.017,3152.81,3179.06,3126.56,1948.94,2038.56,0,0,0,30.00,15.26,15.49
$GC,1257.41,161,-145.99,-1.06,0.00,3154.1,3183.6,3124.5,1950.5,2036.4,225.72,-14.81,158,1258.87,0.00,0.17,0.00,0.000,0.080,0.000,3154.62,3183.38,3125.88,1896.12,2036.31,0,0,0,30.00,15.41,30.00
$GC,1317.40,33,-145.99,-1.06,0.00,3153.7,3183.2,3124.1,1897.1,2036.3,235.75,-16.97,164,1318.86,0.00,0.14,0.00,0.000,0.221,0.000,3153.22,3181.38,3125.06,1921.62,2033.69,0,0,0,30.00,15.29,30.00
$GC,1377.43,421,-145.99,-1.11,40.00,3154.0,3184.6,3123.4,1921.8,2032.8,244.97,-15.23,170,1382.17,0.00,0.12,2.61,0.000,0.109,0.053,3153.62,3183.50,3123.75,1870.94,3563.44,0,0,0,30.00,15.40,15.42
$GC,1431.54,1061,-145.99,-1.11,0.00,3154.3,3185.1,3123.6,1871.2,3563.9,253.69,-15.88,175,1437.88,0.00,0.17,2.43,0.000,0.204,0.019,3155.09,3185.75,3124.44,1904.88,2043.75,0,0,0,30.00,15.29,15.50
$GC,1497.46,677,-145.99,-1.15,-40.00,3154.9,3185.6,3124.2,1904.2,2043.9,264.28,-16.12,182,1502.11,0.00,0.09,2.29,0.000,0.118,0.053,3155.25,3186.06,3124.44,1867.19,677.00,0,0,0,30.00,15.41,15.41
$GC,1547.45,1061,-145.99,-1.15,0.00,3154.9,3186.0,3123.8,1867.2,676.4,273.47,-18.36,187,1552.17,0.00,0.20,2.36,0.000,0.214,0.028,3154.97,3185.31,3124.62,1894.75,2160.88,0,0,0,30.00,15.21,15.51
$GC,1617.47,32,-145.99,-1.15,0.00,3155.2,3186.1,3124.2,1895.0,2160.8,285.43,-17.11,194,1618.82,0.00,0.00,0.00,0.000,0.000,0.000,3155.78,3186.25,3125.31,1893.00,2161.12,0,0,0,30.00,30.00,30.00
$GC,1677.48,292,-145.99,-1.15,40.00,3155.1,3186.3,3123.8,1894.7,2160.6,295.92,-17.50,200,1682.05,0.00,0.00,2.42,0.000,0.000,0.056,3155.38,3186.38,3124.38,1892.00,3561.94,0,0,0,30.00,30.00,15.45
$GC,1691.59,1060,-145.99,-1.15,0.00,3155.0,3185.9,3124.1,1892.3,3560.4,298.56,-17.58,201,1697.75,0.00,0.00,2.40,0.000,0.000,0.015,3158.22,3189.81,3126.62,1890.56,2046.38,0,0,0,30.00,30.00,15.50
$GC,1757.49,548,-145.99,-1.15,-40.00,3155.4,3186.7,3124.1,1892.0,2046.8,310.73,-18.75,208,1762.02,0.00,0.00,2.26,0.000,0.000,0.049,3157.03,3187.25,3126.81,1890.75,671.06,0,0,0,30.00,30.00,15.48
$GC,1787.50,1189,-145.99,-1.18,0.00,3155.9,3186.5,3125.2,1892.1,671.1,316.65,-19.33,211,1792.19,0.00,0.08,2.37,0.000,0.140,0.028,3156.22,3185.38,3127.06,1855.50,2167.75,0,0,0,30.00,15.30,15.48
$GC,1857.52,293,-145.99,-1.18,40.00,3155.6,3185.9,3125.4,1856.1,2167.2,330.03,-19.09,218,1862.22,0.00,0.14,2.38,0.000,0.235,0.050,3156.81,3187.06,3126.56,1871.12,3562.62,0,0,0,30.00,15.24,15.24
$GC,1891.64,1061,-145.99,-1.18,0.00,3155.5,3186.3,3124.8,1871.8,3562.4,336.80,-19.37,221,1897.98,0.00,0.05,2.41,0.000,0.268,0.016,3155.25,3186.31,3124.19,1883.19,2042.94,0,0,0,30.00,15.28,15.50
$GC,1957.54,548,-145.99,-1.18,-40.00,3155.8,3186.6,3124.9,1882.9,2044.3,349.30,-19.21,228,1962.07,0.00,0.00,2.26,0.000,0.000,0.050,3156.34,3187.38,3125.31,1883.00,673.69,0,0,0,30.00,30.00,15.49
$GC,1981.65,1060,-145.99,-1.18,0.00,3155.4,3186.3,3124.6,1882.8,673.0,353.93,-18.66,230,1987.82,0.00,0.00,2.36,0.000,0.000,0.026,3155.66,3187.38,3123.94,1878.44,2160.50,0,0,0,30.00,30.00,15.50
$GC,2047.56,293,-145.99,-1.18,40.00,3155.2,3185.9,3124.4,1877.8,2161.4,365.58,-17.87,237,2052.25,0.00,0.00,2.40,0.000,0.039,0.051,3156.03,3186.38,3125.69,1867.81,3565.75,0,0,0,30.00,30.36,15.42
$GC,2077.56,1061,-145.99,-1.18,0.00,3155.9,3186.8,3125.0,1867.2,3565.7,371.16,-18.37,240,2082.28,0.00,0.08,2.44,0.000,0.248,0.015,3155.91,3187.12,3124.69,1881.94,2041.62,0,0,0,30.00,15.23,15.49
$GC,2147.61,677,-145.99,-1.22,-40.00,3155.5,3185.9,3125.2,1881.8,2040.6,383.48,-17.52,247,2152.25,0.00,0.09,2.26,0.000,0.117,0.050,3156.66,3186.19,3127.12,1843.00,675.81,0,0,0,30.00,15.40,15.39
$GC,2167.58,1061,-145.99,-1.22,0.00,3155.4,3186.2,3124.5,1844.3,675.9,387.20,-18.00,249,2172.32,0.00,0.17,2.37,0.000,0.222,0.027,3157.34,3188.19,3126.50,1870.06,2161.06,0,0,0,30.00,15.19,15.49
$STATE,2240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2240,begin apogee
$GC,2241.51,3,0.00,-0.17,0.00,3155.4,3186.2,3124.7,1870.6,1884.9,400.33,-18.71,256,2394.26,148.02,1.73,0.14,1.458,0.177,0.108,2551.06,2634.56,2467.56,2204.69,2060.75,0,0,0,11.05,15.45,15.10
$STATE,2394,end apogee,CONTROL_FINISHED_OK
$STATE,2394,begin climb
$GC,2394.73,519,145.99,1.05,-40.00,2552.8,2636.8,2468.7,2205.9,2061.1,406.79,0.00,259,2550.87,147.12,1.87,2.59,1.432,0.069,0.052,1956.78,2071.44,1842.12,2617.75,517.62,0,0,0,11.49,13.92,15.11
$GC,2626.30,1191,526.52,1.22,0.00,1952.9,2065.6,1840.3,2617.6,517.2,388.73,7.06,263,2953.71,319.04,0.14,2.39,1.389,0.088,0.018,600.72,779.88,421.56,2665.75,2033.31,0,0,0,11.37,15.32,15.43
$GC,3016.32,391,526.52,1.07,40.00,596.1,772.2,420.1,2666.4,2033.4,285.65,34.00,302,3021.06,0.00,0.40,2.39,0.000,0.223,0.047,596.25,772.12,420.38,2593.31,3403.94,0,0,0,30.00,15.28,15.31
$GC,3036.32,1159,526.52,0.99,0.00,595.4,770.8,419.9,2595.4,3405.5,279.37,33.06,304,3041.05,0.00,0.17,2.47,0.000,0.212,0.021,595.47,770.88,420.06,2567.69,1914.81,0,0,0,30.00,15.25,15.43
$GC,3106.35,679,597.63,1.06,-40.00,594.5,769.1,420.0,2567.5,1915.9,261.20,25.96,311,3111.06,0.00,0.16,2.35,0.000,0.086,0.052,594.38,768.75,420.00,2625.75,515.81,0,0,0,30.00,15.42,15.45
$GC,3126.33,1063,667.62,1.11,0.00,593.9,767.9,420.0,2625.9,515.8,255.89,26.03,313,3131.04,0.00,0.10,2.38,0.000,0.223,0.020,593.78,767.31,420.25,2607.00,2015.81,0,0,0,30.00,15.32,15.50
$GC,3196.36,295,716.10,1.14,40.00,593.1,766.3,419.9,2607.3,2017.2,236.77,27.34,320,3201.05,0.00,0.08,2.38,0.000,0.129,0.045,593.06,765.94,420.19,2643.12,3400.38,0,0,0,30.00,15.44,15.47
$GC,3246.37,1063,752.79,1.16,0.00,592.4,764.8,420.0,2644.1,3400.1,222.72,28.06,325,3251.10,0.00,0.17,2.43,0.000,0.218,0.020,593.03,765.44,420.62,2621.75,1912.69,0,0,0,30.00,15.30,15.52
$GC,3316.41,679,800.75,1.14,-40.00,591.9,763.8,420.0,2622.8,1912.6,204.02,27.37,332,3321.08,0.00,0.00,2.34,0.000,0.031,0.056,591.94,763.69,420.19,2632.94,517.19,0,0,0,30.00,30.36,15.47
$GC,3376.43,1191,886.17,1.25,0.00,590.6,761.1,420.1,2632.9,516.1,188.59,25.09,338,3381.13,0.00,0.13,2.38,0.000,0.100,0.021,590.59,761.12,420.06,2679.94,2012.81,0,0,0,30.00,15.36,15.54
$GC,3981.61,423,947.96,1.21,40.00,585.2,750.4,420.0,2680.1,2019.1,17.70,26.53,421,3987.21,0.00,0.22,2.39,0.000,0.223,0.046,585.38,750.56,420.19,2640.19,3401.38,0,0,0,30.00,15.28,15.30
$GC,4041.63,1191,1096.68,1.37,0.00,584.9,749.9,420.0,2638.9,3400.9,4.03,21.22,433,4047.25,0.00,0.23,2.43,0.000,0.071,0.019,584.94,749.81,420.06,2710.50,1901.88,0,0,0,30.00,15.19,15.41
$STATE,4051,end climb,SURFACE_DEPTH_REACHED
$STATE,4051,begin surface coast
$FINISH,-0.0,1.016467
$STATE,4066,end surface coast,CONTROL_FINISHED_OK
$STATE,4066,begin surface
$SM_CCo,4144.81,0.00,0.000,0,584.4,748.5,420.2,483.39
$SM_GC,0.91,0.00,11.25,0.34,0.000,0.027,0.039,584.4,748.5,420.2,208.8,2208.8,0,0,0,30.00,13.87,15.75
$SUPER,51,70,254,0,0,0
$IRIDIUM_FIX,2243.82,-15802.37,280523,143455
$TCM_TEMP,22.60
$XPDR_PINGS,4
$HUMID,59.43
$TEMP,19.05
$INTERNAL_PRESSURE,9.4349
$24V_AH,14.44,218.875
$10V_AH,15.00,0.000
$FG_AHR_24Vo,98.643
$FG_AHR_10Vo,40.080
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,705.050,29.415,82.435,374.322,1.000,42.750,2705.494,2270.125,1155.720,0.000,0.000,0.000
$DEVICE_MAMPS,1458.368,288.720,107.664,240.110,420.000,11.740,7.270,2.190,16.310,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,nil,nil,RSIMT,nil,nil,nil
$SENSOR_SECS,826.021,867.204,535.156,931.385,0.000,0.000,3988.897,0.000,0.000,0.000
$SENSOR_MAMPS,24.280,3.510,24.790,40.780,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,1168136,33,14872,82
$DATA_FILE_SIZE,35535,438
$CAP_FILE_SIZE,201728,0
$SDSIZE,3931136,3906432
$SDFILEDIR,295,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,266.0,1
$GPS,280523,155140,2244.990,-15759.926,19,0.9,26,9.8