version: 67.00
glider: 526
mission: 3
dive: 6
start: 5 29 119 16 54 56
data:
$ID,526
$MISSION,3
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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,230
$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,56164
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,-1
$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,200
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,250
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,38
$PITCH_TIMEOUT,15
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,380
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,3200
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,495
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$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
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,1.1468194
$FG_AHR_24V,2.0396762
$PHONE_SUPPLY,1
$PRESSURE_YINT,-158.14241
$PRESSURE_SLOPE,0.00010960381
$COMPASS_USE,4
$ALTIM_PING_FIT,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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-1.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,22
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,34
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0044055721
$SEABIRD_T_H,0.0006405061
$SEABIRD_T_I,2.6551848e-05
$SEABIRD_T_J,3.2829232e-06
$SEABIRD_C_G,-9.9950848
$SEABIRD_C_H,1.1366271
$SEABIRD_C_I,-0.0016496443
$SEABIRD_C_J,0.00020141562
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,290519,164211,5819.537,-2357.592,17,1.5,18,-12.0
$_CALLS,3
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-67.6
$GPS2,290519,165441,5819.627,-2357.831,24,1.2,25,-12.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,C2
$TGT_LATLONG,5810.000,-2357.000
$TGT_RADIUS,2000.000
$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,155.1,17849,-17.6,-10.000,-21.24
$D_GRID,1000
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,8.11,2,-145.99,-0.64,0.00,2141.6,2198.4,2084.8,136.8,3149.0,0.00,0.00,0,91.66,77.32,0.00,0.12,0.005,0.000,0.200,3560.88,3659.06,3462.69,136.62,3233.62,0,0,0,15.47,30.00,15.64
$GC,91.94,549,-145.99,-0.64,-40.00,3561.0,3659.5,3462.6,137.0,3234.4,4.70,-7.72,8,98.04,0.00,0.00,2.45,0.000,0.000,0.060,3562.75,3659.50,3466.00,144.94,1759.94,0,0,0,30.00,30.00,15.47
$GC,319.71,1157,-145.99,-0.08,0.00,3562.2,3658.9,3465.4,144.8,1759.3,112.82,-47.87,54,326.57,0.00,0.46,2.47,0.000,0.471,0.068,3562.12,3658.62,3465.62,224.19,3226.19,0,0,0,30.00,15.59,15.66
$GC,505.32,645,-145.99,0.49,-40.00,3562.1,3658.5,3465.8,224.0,3227.4,202.28,-48.69,73,512.27,0.00,0.89,2.41,0.000,0.453,0.057,3562.38,3658.88,3465.88,410.94,1753.06,0,0,0,30.00,15.65,15.57
$GC,734.82,1157,-145.99,1.03,0.00,3562.5,3659.1,3465.9,410.9,1753.1,311.55,-47.49,119,742.34,0.00,0.87,2.45,0.000,0.453,0.070,3563.59,3659.38,3467.81,577.62,3227.44,0,0,0,30.00,15.69,15.86
$GC,1040.27,129,-145.99,1.56,0.00,3562.4,3658.2,3466.6,577.5,3226.9,456.79,-47.34,135,1043.38,0.00,0.82,0.00,0.000,0.448,0.000,3561.59,3658.25,3464.94,748.38,3226.69,0,0,0,30.00,15.58,30.00
$GC,1340.49,260,-145.99,1.56,40.00,3562.5,3658.7,3466.4,748.4,3226.6,593.25,-45.39,150,1345.90,0.00,0.00,1.23,0.000,0.000,0.077,3562.91,3659.19,3466.62,743.62,3977.88,0,0,0,30.00,30.00,15.77
$STATE,1355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1355,begin apogee
$GC,1358.99,3,0.00,-0.13,0.00,3562.5,3658.7,3466.4,749.3,2364.4,600.02,-45.12,153,1481.19,115.52,1.52,0.12,1.802,0.074,0.174,2966.09,3043.12,2889.06,195.06,2443.38,0,0,0,12.45,15.88,14.96
$STATE,1483,end apogee,CONTROL_FINISHED_OK
$STATE,1483,begin climb
$GC,1483.02,519,145.99,0.64,-40.00,2965.8,3044.1,2887.4,195.1,2443.4,642.27,0.00,159,1625.47,118.90,1.37,2.61,1.797,0.456,0.068,2371.62,2414.12,2329.12,457.88,961.69,0,0,0,12.11,15.09,14.95
$GC,1702.61,1157,145.99,1.51,0.00,2365.9,2404.2,2327.6,457.5,960.8,614.98,27.89,199,1709.79,0.00,1.53,2.48,0.000,0.473,0.055,2364.78,2401.44,2328.12,731.62,2435.75,0,0,0,30.00,15.00,15.40
$GC,2017.62,391,145.99,2.35,40.00,2362.4,2404.9,2319.9,720.1,2443.6,531.06,26.37,217,2025.00,0.00,1.22,2.40,0.000,0.387,0.091,2361.88,2408.56,2315.19,991.00,3835.31,0,0,0,30.00,15.58,15.45
$GC,2032.82,1030,145.99,2.35,0.00,2363.2,2404.4,2321.9,990.5,3844.5,527.17,26.71,220,2038.43,0.00,0.00,2.46,0.000,0.000,0.064,2362.91,2405.81,2320.00,991.25,2372.25,0,0,0,30.00,30.00,15.72
$GC,2352.63,391,145.99,3.08,40.00,2363.5,2409.9,2317.1,981.6,2365.5,447.71,24.69,239,2359.80,0.00,1.26,2.44,0.000,0.467,0.062,2366.25,2411.50,2321.00,1221.50,3846.81,0,0,0,30.00,15.65,15.59
$GC,2452.25,1030,145.99,3.08,0.00,2362.9,2411.2,2314.5,1221.1,3846.5,424.33,22.27,259,2458.61,0.00,0.00,2.42,0.000,0.000,0.051,2364.00,2410.25,2317.75,1222.00,2354.31,0,0,0,30.00,30.00,15.85
$GC,2767.83,262,145.99,3.08,40.00,2362.7,2414.2,2311.2,1217.4,2354.9,354.13,22.27,277,2773.53,0.00,0.00,2.46,0.000,0.000,0.063,2363.88,2411.62,2316.12,1205.19,3852.62,0,0,0,30.00,30.00,15.87
$GC,2997.37,1030,145.99,3.08,0.00,2361.1,2412.2,2309.9,1204.3,3857.5,300.45,24.28,323,3003.62,0.00,0.00,2.44,0.000,0.000,0.058,2363.81,2416.19,2311.44,1204.25,2366.25,0,0,0,30.00,30.00,15.90
$GC,3307.82,519,145.99,3.08,-40.00,2361.2,2412.1,2310.3,1201.4,2361.8,232.01,21.81,344,3313.75,0.00,0.15,2.31,0.000,0.405,0.067,2363.66,2418.19,2309.12,1235.44,955.94,0,0,0,30.00,15.77,15.88
$GC,3502.46,1030,145.99,3.08,0.00,2361.8,2411.7,2311.9,1233.1,948.8,190.13,20.07,383,3509.17,0.00,0.00,2.43,0.000,0.000,0.061,2361.94,2412.12,2311.75,1221.56,2434.44,0,0,0,30.00,30.00,15.88
$GC,3689.81,518,145.99,3.08,-40.00,2360.9,2414.1,2307.7,1219.5,2441.9,151.20,21.65,402,3694.80,0.00,0.00,2.45,0.000,0.000,0.068,2356.75,2412.25,2301.25,1219.19,955.94,0,0,0,30.00,30.00,15.62
$GC,3703.02,1030,145.99,3.08,0.00,2361.7,2411.2,2312.2,1219.6,949.1,148.32,21.05,405,3708.75,0.00,0.00,2.46,0.000,0.000,0.077,2362.38,2411.81,2312.94,1207.38,2426.00,0,0,0,30.00,30.00,15.89
$GC,3892.92,518,145.99,3.08,-40.00,2361.3,2416.9,2305.8,1205.2,2434.2,108.00,21.87,425,3898.77,0.00,0.00,2.42,0.000,0.000,0.060,2363.12,2416.88,2309.38,1204.75,949.00,0,0,0,30.00,30.00,15.90
$GC,3907.52,1030,145.99,3.08,0.00,2360.6,2411.2,2309.9,1204.7,942.0,104.78,20.93,428,3916.06,0.00,0.00,2.47,0.000,0.000,0.077,2361.69,2416.94,2306.44,1193.75,2421.50,0,0,0,30.00,30.00,15.90
$GC,4093.00,519,145.99,3.08,-40.00,2361.5,2418.0,2305.1,1192.5,2430.8,66.07,21.40,447,4098.92,0.00,0.19,2.40,0.000,0.422,0.058,2361.97,2413.75,2310.19,1233.38,946.31,0,0,0,30.00,15.74,15.85
$GC,4107.55,1030,145.99,3.08,0.00,2360.8,2413.9,2307.6,1233.6,946.2,62.83,20.93,450,4114.20,0.00,0.00,2.48,0.000,0.000,0.076,2362.06,2417.06,2307.06,1222.75,2424.44,0,0,0,30.00,30.00,15.87
$GC,4293.18,518,145.99,3.08,-40.00,2361.1,2417.6,2304.6,1221.4,2433.2,23.60,22.37,469,4298.85,0.00,0.00,2.41,0.000,0.000,0.057,2361.50,2412.62,2310.38,1222.88,947.44,0,0,0,30.00,30.00,15.87
$GC,4363.13,1030,145.99,3.08,0.00,2361.3,2409.9,2312.7,1222.1,940.5,7.38,22.80,483,4368.86,0.00,0.00,2.48,0.000,0.000,0.078,2360.56,2411.94,2309.19,1210.88,2427.44,0,0,0,30.00,30.00,15.88
$STATE,4393,end climb,SURFACE_DEPTH_REACHED
$STATE,4393,begin surface coast
$FINISH,-0.1,1.027090
$STATE,4403,end surface coast,CONTROL_FINISHED_OK
$STATE,4403,begin surface
$SM_CCo,4468.02,40.03,1.062,0,2148.5,2199.5,2097.6,201.02
$SM_GC,0.80,40.03,2.83,1.31,1.062,0.043,0.097,2148.5,2199.5,2097.6,130.6,3220.4,0,0,0,12.47,15.89,15.88
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,5818.77,-2354.42,290519,164540
$TCM_TEMP,15.00
$XPDR_PINGS,16
$SC_FREEKB,3873888
$TM_FREEKB,7784320
$HUMID,52.35
$TEMP,-2.49
$INTERNAL_PRESSURE,8.86229
$24V_AH,14.49,4.995
$10V_AH,14.97,0.000
$FG_AHR_24Vo,2.124
$FG_AHR_10Vo,1.191
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,351.775,13.120,59.345,516.711,4.000,34.202,1960.453,3246.205,853.918,0.000,0.000,0.000
$DEVICE_MAMPS,1802.440,473.384,200.488,211.345,420.000,15.000,19.800,2.190,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4404.000,4433.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.751,38.903,0.000,0.000
$MEM,1134300,23,45424,49
$DATA_FILE_SIZE,20471,488
$CAP_FILE_SIZE,135972,0
$SDSIZE,3918848,3907200
$SDFILEDIR,71,1
$ERRORS,0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,283.8,1
$GPS,290519,181022,5819.616,-2358.279,15,0.8,35,-12.0