version: 67.00
glider: 526
mission: 3
dive: 51
start: 6 5 119 22 7 16
data:
$ID,526
$MISSION,3
$DIVE,51
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,130
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,200
$T_LOITER,7200
$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,15
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,56164
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,330
$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,400
$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,2020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,40
$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,2200
$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,3000
$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,2
$LOITER_DBDW,700
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,375
$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,6.2094855
$FG_AHR_24V,8.5731392
$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,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,050619,215726,5817.428,-2259.190,22,0.8,38,-11.5
$_CALLS,1
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-47.1
$GPS2,050619,220702,5817.519,-2258.992,33,1.6,33,-11.5
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,HEADING
$TGT_LATLONG,5826.871,-2309.311
$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,341.5,20000,-9.9,-10.000,-14.63
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,8.44,2,-145.99,-0.43,0.00,490.1,546.5,433.7,129.2,3145.7,0.00,0.00,0,173.49,157.90,0.00,0.12,0.005,0.000,0.192,3594.22,3675.12,3513.31,126.19,3242.56,0,0,0,15.47,30.00,15.66
$GC,173.74,33,-145.99,-0.43,0.00,3593.5,3674.7,3512.2,126.2,3242.8,4.60,-6.94,16,187.21,0.00,8.73,0.00,0.000,0.448,0.000,3593.88,3675.12,3512.62,1882.38,3243.94,0,0,0,30.00,15.30,30.00
$GC,359.75,160,-145.99,-0.36,0.00,3597.9,3682.6,3513.2,1882.2,3243.6,27.95,-8.21,35,362.62,0.00,0.00,0.00,0.000,0.000,0.000,3596.81,3681.75,3511.88,1882.19,3243.56,0,0,0,30.00,30.00,30.00
$GC,539.71,161,-145.99,-0.29,0.00,3597.9,3682.9,3512.9,1881.8,3243.4,40.96,-6.33,53,542.76,0.00,0.16,0.00,0.000,0.228,0.000,3597.50,3682.38,3512.62,1928.94,3243.94,0,0,0,30.00,15.70,30.00
$GC,719.81,548,-145.99,-0.29,-40.00,3597.9,3682.9,3512.9,1928.5,3243.9,43.93,-2.14,71,725.46,0.00,0.00,2.46,0.000,0.000,0.054,3598.94,3682.94,3514.94,1928.62,1751.12,0,0,0,30.00,30.00,15.78
$GC,789.64,1060,-145.99,-0.29,0.00,3597.7,3682.8,3512.7,1929.4,1747.1,44.29,-1.03,85,795.56,0.00,0.00,2.57,0.000,0.000,0.083,3598.72,3683.56,3513.88,1919.88,3223.25,0,0,0,30.00,30.00,15.78
$GC,979.80,160,-145.99,-0.27,0.00,3597.8,3682.7,3512.9,1919.2,3223.2,49.01,-3.71,105,982.89,0.00,0.00,0.00,0.000,0.000,0.000,3597.44,3682.12,3512.75,1919.19,3222.75,0,0,0,30.00,30.00,30.00
$GC,1159.78,676,-145.99,-0.25,-40.00,3597.7,3682.7,3512.6,1919.5,3222.8,55.35,-3.21,123,1165.54,0.00,0.00,2.43,0.000,0.000,0.055,3598.50,3683.38,3513.62,1919.50,1752.31,0,0,0,30.00,30.00,15.73
$GC,1204.30,1060,-145.99,-0.25,0.00,3597.8,3682.7,3512.9,1919.2,1746.5,56.78,-3.16,132,1211.03,0.00,0.00,2.54,0.000,0.000,0.083,3598.91,3683.25,3514.56,1908.50,3220.00,0,0,0,30.00,30.00,15.71
$GC,1389.76,161,-145.99,-0.21,0.00,3597.7,3682.5,3512.9,1908.5,3220.6,64.91,-5.01,151,1392.73,0.00,0.14,0.00,0.000,0.205,0.000,3598.28,3682.94,3513.62,1953.75,3220.56,0,0,0,30.00,15.75,30.00
$GC,1569.84,676,-145.99,-0.24,-40.00,3598.0,3682.9,3513.1,1955.1,3220.8,71.37,-3.72,169,1575.76,0.00,0.00,2.42,0.000,0.000,0.054,3598.16,3682.81,3513.50,1955.44,1749.06,0,0,0,30.00,30.00,15.82
$GC,1624.39,1188,-145.99,-0.26,0.00,3597.5,3682.2,3512.8,1954.7,1744.2,73.69,-3.98,180,1631.07,0.00,0.00,2.54,0.000,0.000,0.080,3598.91,3683.81,3514.00,1945.69,3223.44,0,0,0,30.00,30.00,15.73
$GC,1809.90,32,-145.99,-0.26,0.00,3597.5,3682.2,3512.8,1945.6,3223.4,81.57,-4.20,199,1813.06,0.00,0.00,0.00,0.000,0.000,0.000,3597.06,3682.25,3511.88,1945.81,3223.50,0,0,0,30.00,30.00,30.00
$GC,1989.86,548,-145.99,-0.26,-40.00,3597.4,3682.4,3512.5,1945.8,3223.4,89.60,-4.50,217,1995.66,0.00,0.00,2.43,0.000,0.000,0.055,3598.62,3683.12,3514.12,1944.62,1750.50,0,0,0,30.00,30.00,15.82
$GC,2044.46,1188,-145.99,-0.28,0.00,3597.8,3683.1,3512.5,1945.7,1746.4,92.21,-4.66,228,2051.31,0.00,0.00,2.54,0.000,0.000,0.082,3598.25,3683.00,3513.50,1935.19,3224.12,0,0,0,30.00,30.00,15.73
$GC,2229.99,292,-145.99,-0.28,40.00,3597.4,3682.3,3512.5,1934.8,3224.4,100.93,-4.76,247,2235.70,0.00,0.00,1.26,0.000,0.000,0.093,3597.69,3682.50,3512.88,1928.81,3970.69,0,0,0,30.00,30.00,15.81
$GC,2270.05,1060,-145.99,-0.28,0.00,3597.4,3682.8,3512.1,1928.5,3971.1,102.91,-4.78,255,2275.87,0.00,0.00,1.32,0.000,0.000,0.051,3597.47,3682.56,3512.38,1929.31,3154.62,0,0,0,30.00,30.00,15.75
$GC,2459.89,548,-145.99,-0.28,-40.00,3597.2,3682.7,3511.8,1928.8,3153.9,112.49,-5.24,275,2465.78,0.00,0.00,2.30,0.000,0.000,0.054,3598.44,3683.19,3513.69,1929.56,1747.94,0,0,0,30.00,30.00,15.84
$GC,2520.11,1060,-145.99,-0.28,0.00,3597.1,3681.9,3512.3,1929.3,1744.0,115.75,-5.42,287,2525.79,0.00,0.00,2.53,0.000,0.000,0.082,3597.56,3682.75,3512.38,1918.31,3221.44,0,0,0,30.00,30.00,15.83
$GC,2709.99,32,-145.99,-0.28,0.00,3597.0,3682.3,3511.7,1917.9,3221.8,128.06,-6.76,307,2712.86,0.00,0.00,0.00,0.000,0.000,0.000,3596.34,3681.81,3510.88,1918.56,3221.62,0,0,0,30.00,30.00,30.00
$GC,2889.97,548,-145.99,-0.28,-40.00,3597.0,3682.8,3511.2,1918.6,3221.3,140.06,-6.49,325,2895.82,0.00,0.00,2.43,0.000,0.000,0.055,3598.62,3683.69,3513.56,1916.88,1750.88,0,0,0,30.00,30.00,15.84
$GC,2944.60,1060,-145.99,-0.28,0.00,3597.5,3682.8,3512.2,1918.4,1746.5,143.51,-6.27,336,2951.45,0.00,0.00,2.54,0.000,0.000,0.083,3598.09,3683.31,3512.88,1907.81,3222.94,0,0,0,30.00,30.00,15.77
$GC,3130.04,420,-145.99,-0.26,40.00,3597.1,3682.3,3511.8,1907.8,3222.8,156.17,-6.80,355,3135.62,0.00,0.00,1.26,0.000,0.000,0.094,3597.28,3682.94,3511.62,1901.75,3972.44,0,0,0,30.00,30.00,15.83
$GC,3170.13,1189,-145.99,-0.24,0.00,3596.9,3682.3,3511.5,1901.8,3971.9,159.02,-6.84,363,3175.74,0.00,0.14,1.32,0.000,0.185,0.051,3596.69,3682.75,3510.62,1946.75,3154.56,0,0,0,30.00,15.82,15.77
$GC,3360.22,676,-145.99,-0.26,-40.00,3596.8,3682.6,3510.9,1946.2,3155.1,167.68,-4.46,383,3365.87,0.00,0.00,2.29,0.000,0.000,0.054,3597.69,3683.31,3512.06,1946.56,1747.75,0,0,0,30.00,30.00,15.85
$GC,3420.20,1188,-145.99,-0.28,0.00,3596.7,3682.2,3511.2,1946.9,1744.2,170.64,-4.75,395,3426.23,0.00,0.00,2.53,0.000,0.000,0.080,3596.78,3682.94,3510.62,1938.12,3224.56,0,0,0,30.00,30.00,15.85
$GC,3610.10,32,-145.99,-0.28,0.00,3596.7,3682.2,3511.2,1938.1,3223.9,180.22,-5.06,415,3612.97,0.00,0.00,0.00,0.000,0.000,0.000,3595.88,3681.88,3509.88,1937.81,3225.06,0,0,0,30.00,30.00,30.00
$GC,3790.32,548,-145.99,-0.28,-40.00,3596.8,3682.4,3511.2,1938.3,3224.9,189.53,-5.23,433,3795.96,0.00,0.00,2.42,0.000,0.000,0.055,3597.62,3683.19,3512.06,1937.69,1750.81,0,0,0,30.00,30.00,15.86
$GC,3850.29,1060,-145.99,-0.28,0.00,3596.8,3682.4,3511.2,1937.9,1747.1,192.84,-5.53,445,3856.23,0.00,0.00,2.53,0.000,0.000,0.082,3597.41,3682.88,3511.94,1927.50,3223.19,0,0,0,30.00,30.00,15.86
$STATE,3910,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3910,begin apogee
$GC,3913.24,3,0.00,-0.12,0.00,3597.0,3682.6,3511.3,1926.6,2159.9,196.18,-5.63,452,4027.05,109.84,0.17,0.12,1.253,0.166,0.160,2998.25,3113.38,2883.12,1985.44,2232.19,0,0,0,12.75,15.84,15.24
$STATE,4029,end apogee,CONTROL_FINISHED_OK
$STATE,4029,begin climb
$GC,4028.82,519,145.99,0.43,-40.00,2997.7,3112.6,2882.8,1985.0,2232.2,200.08,0.00,463,4162.24,110.29,0.54,2.60,1.214,0.141,0.063,2402.25,2517.75,2286.75,2172.69,754.81,0,0,0,12.39,15.34,15.06
$GC,4194.32,1063,384.92,0.72,0.00,2399.2,2509.5,2288.9,2172.2,754.3,194.88,5.62,492,4383.18,173.40,0.22,2.57,1.190,0.058,0.067,1430.97,1502.50,1359.44,2279.00,2223.19,0,0,0,12.33,15.31,15.23
$GC,4555.26,645,384.92,0.65,-40.00,1426.1,1494.8,1357.3,2279.6,2223.2,146.97,14.57,546,4573.39,0.00,0.21,2.51,0.000,0.190,0.062,1426.44,1494.94,1357.94,2226.25,757.62,0,0,0,30.00,15.45,15.49
$GC,4630.66,1191,437.47,0.75,0.00,1425.2,1493.6,1356.9,2226.2,757.7,139.35,9.04,559,4682.42,39.99,0.09,2.49,1.103,0.097,0.066,1215.56,1288.50,1142.62,2288.50,2223.31,0,0,0,12.60,15.59,15.59
$GC,4856.63,389,437.47,0.67,40.00,1213.0,1284.7,1141.3,2288.2,2223.2,105.97,15.31,586,4874.74,0.00,0.20,2.44,0.000,0.190,0.088,1212.91,1284.56,1141.25,2224.38,3633.31,0,0,0,30.00,15.56,15.59
$GC,4946.41,1156,437.47,0.65,0.00,1212.3,1283.2,1141.4,2223.9,3633.3,95.30,11.22,602,4964.44,0.00,0.00,2.45,0.000,0.000,0.053,1212.72,1284.06,1141.38,2232.25,2167.31,0,0,0,30.00,30.00,15.62
$GC,5146.52,294,455.35,0.67,40.00,1212.0,1283.3,1140.7,2233.2,2161.8,75.49,9.67,622,5173.24,15.13,0.00,2.58,0.970,0.000,0.090,1142.97,1217.06,1068.88,2234.44,3632.88,0,0,0,12.66,30.00,15.63
$GC,5185.43,1028,455.35,0.67,0.00,1142.6,1216.3,1068.9,2233.7,3631.9,71.53,10.17,629,5203.46,0.00,0.00,2.46,0.000,0.000,0.055,1142.84,1216.12,1069.56,2242.06,2164.19,0,0,0,30.00,30.00,15.67
$GC,5375.55,516,455.35,0.67,-40.00,1141.1,1214.5,1067.7,2244.9,2159.8,47.79,11.67,648,5393.56,0.00,0.00,2.32,0.000,0.000,0.065,1140.97,1213.88,1068.06,2248.50,756.06,0,0,0,30.00,30.00,15.76
$GC,5405.18,1028,455.35,0.67,0.00,1141.0,1211.8,1070.2,2255.7,754.9,44.77,10.11,652,5423.20,0.00,0.00,2.49,0.000,0.000,0.069,1140.41,1210.81,1070.00,2255.56,2223.38,0,0,0,30.00,30.00,15.76
$GC,5605.32,388,455.35,0.65,40.00,1140.7,1211.4,1069.9,2255.3,2225.5,21.65,11.53,672,5623.35,0.00,0.00,2.40,0.000,0.000,0.087,1140.06,1210.69,1069.44,2255.75,3631.88,0,0,0,30.00,30.00,15.78
$GC,5685.06,1157,455.35,0.61,0.00,1141.0,1211.1,1070.9,2255.4,3631.4,12.12,12.67,686,5703.15,0.00,0.19,2.43,0.000,0.192,0.054,1140.72,1210.75,1070.69,2204.19,2164.94,0,0,0,30.00,15.76,15.82
$STATE,5815,end climb,SURFACE_DEPTH_REACHED
$STATE,5815,begin surface coast
$FINISH,-0.1,1.025309
$STATE,5845,end surface coast,CONTROL_FINISHED_OK
$STATE,5845,begin surface
$SM_CCo,5920.46,0.00,0.000,0,1140.5,1208.9,1072.0,456.14
$SM_GC,0.53,0.00,5.55,1.83,0.000,0.045,0.093,1140.5,1208.9,1072.0,128.4,3219.2,0,0,0,30.00,15.86,15.85
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,5817.43,-2259.55,050619,200123
$TCM_TEMP,17.00
$XPDR_PINGS,19
$SC_FREEKB,3837472
$TM_FREEKB,6783296
$HUMID,51.33
$TEMP,8.91
$INTERNAL_PRESSURE,8.85158
$24V_AH,14.75,23.562
$10V_AH,15.00,0.000
$FG_AHR_24Vo,8.668
$FG_AHR_10Vo,6.272
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,606.550,16.350,78.260,430.622,4.750,42.739,2629.331,3844.344,1266.757,0.000,0.000,0.000
$DEVICE_MAMPS,1253.368,447.800,191.632,176.794,420.000,15.000,19.800,2.190,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5855.000,4180.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,44.432,17.885,0.000,0.000
$MEM,1134352,26,45352,47
$DATA_FILE_SIZE,27223,702
$CAP_FILE_SIZE,193637,0
$SDSIZE,3918848,3892736
$SDFILEDIR,357,1
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$GPS,050619,234641,5818.869,-2256.894,22,1.2,23,-11.5