version: 67.00
glider: 526
mission: 4
dive: 120
start: 3 28 122 23 29 43
data:
$ID,526
$MISSION,4
$DIVE,120
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,0
$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,100
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,56535
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025118899
$HD_B,0.0139236
$HD_C,5.7000002e-06
$HEADING,180
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,613.25
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3615
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,40
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,380
$ROLL_MAX,3950
$ROLL_DEG,30
$C_ROLL_DIVE,2841.7131
$C_ROLL_CLIMB,2610.0693
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0023000001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,4.8000002
$MAXI_10V,1.5
$FG_AHR_10V,105.92484
$FG_AHR_24V,78.711983
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.7363
$PRESSURE_SLOPE,0.00022843899
$COMPASS_USE,16388
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,6
$LOGGERDEVICE2,33
$LOGGERDEVICE3,19
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,34
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,41
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.00441493
$SEABIRD_T_H,0.00064107013
$SEABIRD_T_I,2.576065e-05
$SEABIRD_T_J,3.1402324e-06
$SEABIRD_C_G,-9.799654
$SEABIRD_C_H,1.0727782
$SEABIRD_C_I,-0.0026193932
$SEABIRD_C_J,0.00026435545
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,7.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,400.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,280322,232311,1415.877,14450.461,35,0.9,35,0.3
$_CALLS,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.6
$GPS2,280322,232912,1415.858,14450.412,19,1.8,21,0.3
$SPEED_LIMITS,0.173,0.223
$TGT_NAME,HEADING
$TGT_LATLONG,1405.059,14450.412
$TGT_RADIUS,1852.000
$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,138.6,20000,-18.8,-10.000,-24.19,2228,0.181
$D_GRID,1000
$IRON,1.000000,0.005000,-0.003000,0.013000,1.047000,-0.005000,0.002000,0.001000,1.052000,12.000000,99.000000,12.600000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15.26,16386,-145.99,-0.81,0.00,498.7,463.6,533.8,78.7,2727.5,0.00,0.00,0,109.95,88.85,0.00,0.00,0.005,0.000,0.000,2963.22,2878.50,3047.94,77.38,2727.94,0,0,0,15.23,30.00,30.00
$GC,110.21,18983,-145.99,-0.81,-30.00,2961.9,2877.9,3045.9,77.4,2728.4,3.63,-3.10,9,143.21,12.84,9.94,1.53,0.006,0.398,0.016,3595.69,3493.50,3697.88,2140.62,1696.94,0,0,0,15.46,15.36,15.41
$GC,155.68,1028,-145.99,-0.81,0.00,3595.3,3491.6,3699.0,2141.3,1678.1,18.62,-31.83,18,162.62,0.00,0.00,1.90,0.000,0.000,0.036,3595.66,3491.75,3699.56,2132.69,2871.75,0,0,0,30.00,30.00,15.81
$GC,350.88,260,-145.99,-0.81,30.00,3595.5,3491.4,3699.6,2133.4,2873.1,95.00,-39.13,38,357.27,0.00,0.00,1.70,0.000,0.000,0.034,3595.97,3491.75,3700.19,2125.56,3943.12,0,0,0,30.00,30.00,15.83
$GC,390.93,1028,-145.99,-0.81,0.04,3596.4,3493.6,3699.3,2124.6,3943.4,108.94,-34.09,46,397.30,0.00,0.00,1.79,0.000,0.000,0.010,3598.03,3494.38,3701.69,2125.31,2763.88,0,0,0,30.00,30.00,15.91
$GC,580.96,0,-145.99,-0.81,0.04,3596.8,3493.5,3700.1,2124.7,2747.1,168.01,-29.48,66,585.04,0.00,0.00,0.00,0.000,0.000,0.000,3596.50,3494.12,3698.88,2125.12,2746.69,0,0,0,30.00,30.00,30.00
$GC,770.96,516,-145.99,-0.81,-30.00,3597.8,3494.9,3700.7,2125.0,2747.2,211.40,-19.83,85,777.32,0.00,0.00,1.54,0.000,0.000,0.012,3598.81,3495.81,3701.81,2125.75,1711.06,0,0,0,30.00,30.00,15.89
$GC,791.05,1028,-145.99,-0.81,-0.02,3597.6,3495.5,3699.8,2124.8,1692.6,214.94,-18.54,89,797.80,0.00,0.00,1.87,0.000,0.000,0.033,3598.03,3495.62,3700.44,2116.44,2873.56,0,0,0,30.00,30.00,15.92
$GC,980.98,0,-145.99,-0.81,-0.02,3598.8,3497.4,3700.2,2116.3,2874.2,247.12,-15.81,109,985.00,0.00,0.00,0.00,0.000,0.000,0.000,3598.41,3497.00,3699.81,2116.81,2874.06,0,0,0,30.00,30.00,30.00
$GC,1181.04,516,-145.99,-0.81,-30.00,3600.2,3498.9,3701.6,2116.9,2874.0,285.63,-19.32,120,1187.78,0.00,0.00,1.76,0.000,0.000,0.011,3600.75,3499.00,3702.50,2117.06,1710.06,0,0,0,30.00,30.00,15.95
$STATE,1276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1276,begin apogee
$GC,1278.16,10243,0.00,-0.12,0.00,3600.9,3499.1,3702.8,2109.2,2653.8,300.57,-15.09,139,1397.29,113.71,0.67,0.13,1.121,0.221,0.080,3001.44,2887.31,3115.56,2299.75,2488.38,0,0,0,11.33,15.64,15.49
$WARN,HTMICL TMICL logging already stopped
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1399.76,10759,145.99,0.81,-30.00,2998.6,2883.9,3113.3,2301.2,2484.6,307.37,0.00,145,1520.44,111.83,0.67,1.54,1.117,0.103,0.012,2403.97,2309.31,2498.62,2532.62,1446.19,0,0,0,12.35,15.55,15.62
$GC,1522.85,11303,236.80,1.01,0.00,2402.4,2309.1,2495.7,2532.9,1446.3,304.16,5.81,168,1601.03,68.57,0.12,1.94,1.094,0.058,0.030,2033.06,1934.88,2131.25,2620.25,2645.19,0,0,0,12.22,15.45,15.48
$GC,1788.71,4097,236.80,1.01,0.00,2029.4,1931.9,2126.9,2618.9,2645.4,259.38,17.90,194,1792.92,0.00,0.19,0.00,0.000,0.224,0.000,2030.50,1933.25,2127.75,2567.50,2646.00,0,0,0,30.00,15.70,30.00
$GC,1978.74,16902,236.80,1.01,-30.00,2026.2,1928.1,2124.3,2568.1,2645.8,230.91,13.95,210,1985.12,0.00,0.00,1.80,0.000,0.000,0.016,2028.22,1929.25,2127.19,2575.25,1486.69,0,0,0,30.00,30.00,15.89
$GC,2058.76,17414,236.80,1.01,-0.21,2025.1,1927.8,2122.4,2574.6,1469.4,221.07,11.17,226,2065.20,0.00,0.00,1.85,0.000,0.000,0.028,2026.00,1928.69,2123.31,2575.19,2644.75,0,0,0,30.00,30.00,15.91
$GC,2248.80,16646,236.80,1.01,30.00,2023.8,1926.8,2120.8,2574.9,2645.1,198.13,11.23,246,2255.14,0.00,0.00,1.70,0.000,0.000,0.036,2025.03,1927.81,2122.25,2575.06,3701.69,0,0,0,30.00,30.00,15.91
$GC,2263.51,17414,236.80,1.01,-0.35,2023.5,1926.8,2120.2,2574.6,3701.2,196.28,11.17,249,2270.52,0.00,0.00,1.83,0.000,0.000,0.013,2023.84,1927.50,2120.19,2583.00,2537.88,0,0,0,30.00,30.00,15.89
$GC,2458.83,16646,236.80,1.01,30.00,2021.0,1924.3,2117.7,2584.1,2522.3,174.44,10.77,269,2465.22,0.00,0.00,1.92,0.000,0.000,0.035,2022.78,1926.12,2119.44,2582.19,3702.69,0,0,0,30.00,30.00,15.91
$GC,2508.83,17414,236.80,1.01,-0.15,2020.2,1923.9,2116.4,2583.4,3702.2,168.87,11.15,279,2515.22,0.00,0.00,1.81,0.000,0.000,0.012,2022.00,1925.62,2118.38,2592.81,2535.88,0,0,0,30.00,30.00,15.94
$GC,2698.94,10791,322.78,1.21,-30.00,2018.4,1920.6,2116.1,2593.2,2519.9,155.19,6.04,299,2771.12,62.88,0.09,1.60,0.956,0.082,0.019,1683.44,1592.00,1774.88,2670.12,1482.94,0,0,0,11.63,15.91,15.45
$GC,2808.88,5125,322.78,1.21,-0.18,1679.7,1590.6,1768.8,2669.5,1479.6,143.91,11.79,321,2815.40,0.00,0.19,1.87,0.000,0.217,0.026,1680.12,1591.38,1768.88,2617.31,2648.44,0,0,0,30.00,15.63,15.76
$GC,2998.92,516,322.78,1.21,-30.00,1676.6,1590.9,1762.2,2616.9,2649.6,123.78,10.85,341,3005.29,0.00,0.00,1.83,0.000,0.000,0.015,1677.88,1591.75,1764.00,2623.69,1483.50,0,0,0,30.00,30.00,15.80
$GC,3023.56,1028,322.78,1.21,-0.18,1676.0,1590.8,1761.2,2624.0,1477.2,121.07,10.78,346,3030.65,0.00,0.00,1.87,0.000,0.000,0.028,1677.84,1592.19,1763.50,2622.94,2643.38,0,0,0,30.00,30.00,15.75
$GC,3218.89,16646,322.78,1.21,30.00,1675.2,1590.9,1759.4,2624.0,2644.1,96.24,12.13,366,3225.31,0.00,0.00,1.72,0.000,0.000,0.036,1675.88,1591.00,1760.75,2623.31,3705.00,0,0,0,30.00,30.00,15.71
$GC,3353.65,17414,322.78,1.21,0.05,1673.9,1590.9,1756.9,2623.9,3704.7,80.49,10.59,393,3360.72,0.00,0.00,1.82,0.000,0.000,0.012,1674.28,1591.25,1757.31,2632.44,2546.69,0,0,0,30.00,30.00,15.83
$GC,3549.01,16710,322.78,1.23,30.00,1673.1,1590.4,1755.8,2633.6,2529.8,61.95,9.11,413,3555.42,0.00,0.00,1.93,0.000,0.000,0.036,1674.81,1592.00,1757.62,2632.38,3701.88,0,0,0,30.00,30.00,15.41
$GC,3583.68,17414,322.78,1.23,0.12,1672.9,1590.5,1755.4,2632.4,3701.3,58.23,10.61,420,3590.74,0.00,0.00,1.80,0.000,0.000,0.012,1673.69,1590.94,1756.44,2640.56,2549.50,0,0,0,30.00,30.00,15.89
$GC,3779.07,16386,322.78,1.23,0.12,1672.9,1590.2,1755.6,2642.0,2532.2,38.46,10.67,440,3783.15,0.00,0.00,0.00,0.000,0.000,0.000,1672.78,1590.06,1755.50,2641.75,2531.88,0,0,0,30.00,30.00,30.00
$GC,3969.05,16450,322.78,1.24,0.12,1673.0,1590.5,1755.6,2641.6,2532.0,19.03,9.44,459,3973.06,0.00,0.00,0.00,0.000,0.000,0.000,1673.03,1590.31,1755.75,2642.25,2531.12,0,0,0,30.00,30.00,30.00
$STATE,4129,end climb,SURFACE_DEPTH_REACHED
$STATE,4129,begin surface coast
$FINISH,0.2,1.022131
$STATE,4149,end surface coast,CONTROL_FINISHED_OK
$STATE,4149,begin surface
$WARN,HTMICL TMICL logging already stopped
$SM_CCo,4366.50,200.18,0.757,0,500.5,467.4,533.6,613.13
$SM_GC,1.13,200.18,6.51,0.50,0.757,0.014,0.037,500.5,467.4,533.6,107.4,2883.2,0,0,0,11.53,15.94,15.95
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,1413.38,14449.72,280322,220328
$TCM_TEMP,26.50
$XPDR_PINGS,18,14.5,10.5
$SC_FREEKB,3792448
$PM_FREEKB_00,65539904
$PM_FREEKB_01,112870400
$PM_FREEKB_02,124835200
$PM_FREEKB_03,124835200
$PM_ACTIVECARD,1
$TM_FREEKB,5979232
$HUMID,54.54
$TEMP,25.41
$INTERNAL_PRESSURE,9.15725
$24V_AH,14.94,124.482
$10V_AH,14.96,0.000
$FG_AHR_24Vo,78.864
$FG_AHR_10Vo,105.989
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,658.865,18.375,43.195,244.028,4.500,30.526,811.198,7.607,0.000,2536.901,785.225,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1120.528,397.616,80.440,193.321,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4171.000,4167.000,4153.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.839,9.175,9.607,0.000
$MEM0,60140,1,0,0
$MEM1,65508,1,0,0
$MEM2,995736,28,50972,65
$DATA_FILE_SIZE,12951,477
$CAP_FILE_SIZE,155957,0
$SDSIZE,3887104,3827264
$SDFILEDIR,1197,1
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220,228.6,1
$MAGCAL,1.000000,-0.019449,0.061521,0.036016,1.040014,-0.039519,-0.050206,0.045939,1.048681,15.9,99.2,13.3,30,0.0030,0
$IMPLIED_C_PITCH,2416,26.46,285,0.0,0.00
$GPS,290322,004332,1415.171,14450.357,37,0.7,38,0.3