version: 67.00
glider: 526
mission: 3
dive: 52
start: 6 6 119 0 1 12
data:
$ID,526
$MISSION,3
$DIVE,52
$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,2050
$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,3300
$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,6.2932873
$FG_AHR_24V,8.6714659
$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
$GPS1,050619,234641,5818.869,-2256.894,22,1.2,23,-11.5
$_CALLS,3
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-57.9
$GPS2,060619,000056,5818.992,-2256.509,19,0.7,34,-11.5
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,HEADING
$TGT_LATLONG,5828.344,-2306.834
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,8.24,2,-145.99,-0.43,0.00,1140.8,1184.9,1096.8,123.7,3144.2,0.00,0.00,0,142.78,128.71,0.00,0.00,0.005,0.000,0.000,3649.59,3730.88,3568.31,122.44,3144.25,0,0,0,15.50,30.00,30.00
$GC,143.03,295,-145.99,-0.43,40.00,3649.4,3730.1,3568.7,122.8,3144.2,5.06,-7.86,13,166.32,5.20,9.10,1.42,0.009,0.458,0.099,3894.53,3985.44,3803.62,1905.19,3974.25,0,0,0,15.66,15.30,15.64
$GC,273.41,1060,-145.99,-0.43,0.00,3894.5,3985.8,3803.2,1905.1,3973.6,23.48,-7.85,39,279.01,0.00,0.00,1.33,0.000,0.000,0.050,3895.09,3986.12,3804.06,1905.25,3154.50,0,0,0,30.00,30.00,15.73
$GC,463.60,548,-145.99,-0.43,-40.00,3894.9,3986.2,3803.6,1904.6,3154.4,36.86,-6.44,59,469.22,0.00,0.00,2.29,0.000,0.000,0.054,3895.34,3986.25,3804.44,1905.38,1750.75,0,0,0,30.00,30.00,15.78
$GC,528.02,1060,-145.99,-0.43,0.00,3895.0,3986.1,3803.9,1904.9,1745.4,40.78,-5.99,72,534.68,0.00,0.00,2.54,0.000,0.000,0.081,3895.72,3986.88,3804.56,1895.81,3220.94,0,0,0,30.00,30.00,15.68
$GC,713.62,32,-145.99,-0.43,0.00,3894.8,3986.2,3803.3,1895.7,3221.5,54.75,-7.70,91,716.64,0.00,0.00,0.00,0.000,0.000,0.000,3894.62,3985.56,3803.69,1895.56,3221.69,0,0,0,30.00,30.00,30.00
$GC,893.58,676,-145.99,-0.41,-40.00,3894.8,3985.8,3803.8,1895.9,3221.2,67.12,-6.84,109,899.35,0.00,0.00,2.43,0.000,0.000,0.054,3895.28,3986.50,3804.06,1895.19,1749.62,0,0,0,30.00,30.00,15.79
$GC,943.53,1060,-145.99,-0.41,0.00,3894.8,3986.3,3803.4,1895.6,1745.4,70.62,-7.00,119,949.39,0.00,0.00,2.53,0.000,0.000,0.082,3895.41,3986.88,3803.94,1888.81,3220.75,0,0,0,30.00,30.00,15.79
$GC,1133.68,421,-145.99,-0.38,40.00,3895.1,3985.8,3804.3,1887.8,3221.0,85.76,-8.29,139,1139.25,0.00,0.14,1.27,0.000,0.210,0.093,3895.44,3986.75,3804.12,1927.06,3973.06,0,0,0,30.00,15.79,15.81
$GC,1183.68,1188,-145.99,-0.40,0.00,3894.8,3985.8,3803.7,1926.9,3972.3,88.73,-6.99,149,1189.22,0.00,0.00,1.32,0.000,0.000,0.051,3895.19,3986.31,3804.06,1927.00,3155.81,0,0,0,30.00,30.00,15.75
$GC,1373.69,676,-145.99,-0.42,-40.00,3894.8,3985.8,3803.8,1926.4,3156.1,99.59,-5.84,169,1379.42,0.00,0.00,2.30,0.000,0.000,0.054,3895.31,3986.56,3804.06,1926.75,1749.25,0,0,0,30.00,30.00,15.81
$GC,1433.77,1188,-145.99,-0.45,0.00,3895.0,3986.2,3803.7,1927.0,1743.9,103.47,-6.58,181,1439.51,0.00,0.00,2.52,0.000,0.000,0.079,3895.00,3986.38,3803.62,1917.50,3221.31,0,0,0,30.00,30.00,15.81
$GC,1623.71,676,-145.99,-0.51,-40.00,3894.9,3986.2,3803.7,1916.9,3221.2,116.46,-6.96,201,1629.51,0.00,0.00,2.43,0.000,0.000,0.053,3895.72,3986.88,3804.56,1916.12,1750.62,0,0,0,30.00,30.00,15.75
$GC,1753.91,1189,-145.99,-0.54,0.00,3895.0,3986.0,3803.9,1917.1,1746.8,125.95,-7.33,227,1760.11,0.00,0.12,2.53,0.000,0.093,0.080,3895.34,3986.38,3804.31,1846.88,3221.94,0,0,0,30.00,15.85,15.75
$GC,1943.78,389,-145.99,-0.48,40.00,3895.0,3986.1,3803.9,1846.6,3221.6,146.55,-11.45,247,1949.42,0.00,0.17,1.27,0.000,0.225,0.093,3894.78,3985.94,3803.62,1894.50,3972.06,0,0,0,30.00,15.82,15.80
$GC,2013.77,1060,-145.99,-0.48,0.00,3894.7,3986.0,3803.4,1894.5,3972.6,152.29,-7.54,261,2019.37,0.00,0.00,1.33,0.000,0.000,0.051,3895.19,3986.44,3803.94,1894.44,3155.00,0,0,0,30.00,30.00,15.84
$GC,2203.96,548,-145.99,-0.48,-40.00,3894.7,3986.0,3803.4,1894.6,3154.1,167.09,-7.66,281,2209.75,0.00,0.00,2.29,0.000,0.000,0.054,3894.91,3986.62,3803.19,1895.25,1749.81,0,0,0,30.00,30.00,15.83
$GC,2258.39,1060,-145.99,-0.48,0.00,3894.9,3986.4,3803.3,1894.7,1744.9,171.25,-7.52,292,2265.44,0.00,0.00,2.51,0.000,0.000,0.081,3895.47,3986.69,3804.25,1884.06,3223.19,0,0,0,30.00,30.00,15.86
$GC,2444.00,160,-145.99,-0.46,0.00,3894.8,3985.8,3803.8,1885.1,3223.2,186.33,-8.17,311,2446.88,0.00,0.00,0.00,0.000,0.000,0.000,3894.59,3986.00,3803.19,1884.88,3223.25,0,0,0,30.00,30.00,30.00
$GC,2623.95,676,-145.99,-0.43,-40.00,3895.0,3986.5,3803.4,1885.0,3223.3,201.33,-8.44,329,2629.69,0.00,0.00,2.43,0.000,0.000,0.055,3895.69,3986.88,3804.50,1884.81,1752.31,0,0,0,30.00,30.00,15.85
$GC,2688.47,1060,-145.99,-0.43,0.00,3894.9,3986.2,3803.7,1884.9,1748.2,206.68,-8.13,342,2695.44,0.00,0.00,2.52,0.000,0.000,0.082,3895.75,3986.94,3804.56,1875.50,3221.00,0,0,0,30.00,30.00,15.77
$GC,2874.08,161,-145.99,-0.40,0.00,3894.5,3986.1,3802.9,1874.6,3220.2,223.80,-9.40,361,2877.06,0.00,0.16,0.00,0.000,0.215,0.000,3895.06,3986.50,3803.62,1922.25,3220.31,0,0,0,30.00,15.80,30.00
$GC,3054.03,676,-145.99,-0.43,-40.00,3894.8,3986.0,3803.6,1922.9,3220.1,234.78,-5.59,379,3059.76,0.00,0.00,2.43,0.000,0.000,0.054,3894.97,3986.31,3803.62,1924.00,1748.06,0,0,0,30.00,30.00,15.87
$GC,3104.00,1188,-145.99,-0.46,0.00,3894.8,3986.0,3803.6,1923.2,1743.6,237.79,-5.90,389,3109.80,0.00,0.00,2.53,0.000,0.000,0.081,3895.25,3986.62,3803.88,1915.56,3220.12,0,0,0,30.00,30.00,15.87
$GC,3294.14,677,-145.99,-0.53,-40.00,3894.5,3986.1,3802.9,1914.4,3221.8,250.36,-6.74,409,3299.93,0.00,0.12,2.42,0.000,0.100,0.054,3895.09,3986.19,3804.00,1846.12,1750.56,0,0,0,30.00,15.87,15.86
$GC,3434.30,1189,-145.99,-0.50,0.00,3894.5,3986.0,3803.0,1846.8,1748.1,262.85,-9.32,437,3440.00,0.00,0.19,2.52,0.000,0.223,0.085,3895.19,3986.06,3804.31,1889.06,3220.69,0,0,0,30.00,15.83,15.65
$GC,3754.16,548,-145.99,-0.50,-40.00,3893.8,3985.9,3801.6,1892.6,3221.8,286.81,-7.38,456,3759.88,0.00,0.00,2.42,0.000,0.000,0.055,3894.03,3985.94,3802.12,1893.50,1751.38,0,0,0,30.00,30.00,15.82
$GC,3794.26,1060,-145.99,-0.50,0.00,3894.1,3986.1,3802.0,1893.4,1747.1,289.55,-7.20,464,3799.91,0.00,0.00,2.53,0.000,0.000,0.083,3894.44,3986.12,3802.75,1884.81,3224.25,0,0,0,30.00,30.00,15.89
$STATE,3914,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3914,begin apogee
$GC,3917.02,3,0.00,-0.12,0.00,3893.9,3986.3,3801.4,1884.3,2157.2,298.48,-7.57,473,4030.06,108.93,0.39,0.12,1.391,0.158,0.159,3297.53,3410.31,3184.75,2014.44,2233.25,0,0,0,12.78,15.87,15.22
$STATE,4033,end apogee,CONTROL_FINISHED_OK
$STATE,4033,begin climb
$GC,4032.97,519,145.99,0.43,-40.00,3297.4,3410.6,3184.2,2014.1,2233.5,302.54,0.00,478,4169.94,111.39,0.50,2.57,1.359,0.086,0.061,2702.94,2811.94,2593.94,2210.81,752.44,0,0,0,12.22,15.38,15.03
$GC,4367.27,1191,387.92,0.66,0.00,2696.0,2802.0,2589.9,2211.1,752.9,297.10,5.56,542,4560.71,178.98,0.14,2.52,1.340,0.084,0.067,1718.56,1807.88,1629.25,2276.94,2223.50,0,0,0,12.50,15.57,15.55
$GC,4863.02,645,387.92,0.57,-40.00,1711.2,1795.1,1627.2,2277.9,2223.3,229.90,14.89,603,4881.10,0.00,0.19,2.49,0.000,0.200,0.063,1710.19,1794.00,1626.38,2230.00,757.69,0,0,0,30.00,15.59,15.64
$GC,4928.20,1062,395.62,0.58,0.00,1710.3,1793.9,1626.8,2230.1,756.2,222.79,9.86,614,4948.11,7.34,0.00,2.49,0.903,0.000,0.069,1687.16,1773.25,1601.06,2230.31,2221.81,0,0,0,12.58,30.00,15.66
$GC,5130.38,388,395.62,0.53,40.00,1684.9,1769.9,1600.0,2229.9,2222.3,201.69,10.40,636,5148.41,0.00,0.00,2.43,0.000,0.000,0.091,1684.78,1769.38,1600.19,2228.94,3631.50,0,0,0,30.00,30.00,15.73
$GC,5235.58,1156,395.62,0.47,0.00,1684.8,1769.9,1599.6,2229.4,3632.1,189.80,11.31,655,5253.59,0.00,0.00,2.43,0.000,0.000,0.054,1683.47,1768.75,1598.19,2240.12,2163.31,0,0,0,30.00,30.00,15.78
$GC,5425.80,389,395.62,0.42,40.00,1684.4,1770.0,1598.8,2240.9,2158.6,169.67,10.77,674,5443.91,0.00,0.21,2.56,0.000,0.185,0.090,1685.19,1770.50,1599.88,2173.50,3632.94,0,0,0,30.00,15.77,15.76
$GC,5511.11,1063,521.79,0.58,0.00,1683.9,1770.0,1597.8,2172.9,3633.0,162.72,7.69,689,5618.25,93.25,0.15,2.43,1.215,0.070,0.054,1172.16,1245.56,1098.75,2267.38,2161.44,0,0,0,12.61,15.80,15.84
$GC,5792.15,389,521.79,0.53,40.00,1167.6,1238.5,1096.6,2266.8,2160.6,126.09,13.53,727,5810.23,0.00,0.19,2.59,0.000,0.187,0.089,1168.28,1239.19,1097.38,2206.12,3629.75,0,0,0,30.00,15.57,15.61
$GC,5821.88,1156,521.79,0.50,0.00,1167.0,1237.3,1096.6,2206.9,3631.1,122.76,11.82,731,5839.92,0.00,0.00,2.44,0.000,0.000,0.055,1166.50,1236.88,1096.12,2215.88,2166.19,0,0,0,30.00,30.00,15.64
$GC,6021.98,551,633.80,0.64,-40.00,1166.2,1237.1,1095.2,2215.9,2160.6,106.68,7.95,751,6115.50,81.55,0.12,2.40,1.137,0.088,0.067,715.91,789.31,642.50,2299.56,756.50,0,0,0,12.63,15.74,15.25
$GC,6172.75,1029,633.80,0.64,0.00,713.9,780.3,647.5,2299.6,756.3,87.09,11.07,777,6190.84,0.00,0.17,2.53,0.000,0.152,0.068,714.06,780.50,647.62,2243.06,2223.00,0,0,0,30.00,15.46,15.40
$GC,6362.97,295,722.57,0.75,40.00,711.9,780.1,643.8,2242.9,2224.4,70.31,8.37,796,6415.61,40.47,0.14,2.47,1.066,0.077,0.092,494.34,565.06,423.62,2326.62,3631.81,0,0,0,12.51,15.64,15.35
$GC,6462.74,1159,722.57,0.66,0.00,493.8,564.6,423.0,2326.4,3632.4,53.57,18.46,815,6480.82,0.00,0.30,2.49,0.000,0.216,0.055,493.91,564.81,423.00,2249.94,2169.00,0,0,0,30.00,15.46,15.44
$GC,6652.89,294,757.08,0.70,40.00,491.8,564.4,419.2,2249.9,2163.1,34.93,9.37,834,6670.91,0.00,0.00,2.58,0.000,0.000,0.087,491.62,564.06,419.19,2249.19,3633.38,0,0,0,30.00,30.00,15.66
$GC,6728.15,1063,779.12,0.73,0.00,491.6,564.2,418.9,2248.7,3632.9,27.88,9.60,847,6746.19,0.00,0.07,2.45,0.000,0.120,0.054,491.69,564.12,419.25,2316.81,2164.12,0,0,0,30.00,15.71,15.70
$STATE,6888,end climb,SURFACE_DEPTH_REACHED
$STATE,6888,begin surface coast
$FINISH,-0.3,1.022730
$STATE,6898,end surface coast,CONTROL_FINISHED_OK
$STATE,6898,begin surface
$SM_CCo,6973.47,0.00,0.000,0,490.6,562.4,418.8,689.15
$SM_GC,0.34,0.00,6.03,1.81,0.000,0.063,0.082,490.6,562.4,418.8,126.8,3220.2,0,0,0,30.00,15.78,15.78
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,5817.43,-2259.55,050619,235310
$TCM_TEMP,16.10
$XPDR_PINGS,18
$SC_FREEKB,3836736
$TM_FREEKB,6770432
$HUMID,51.45
$TEMP,4.81
$INTERNAL_PRESSURE,8.79078
$24V_AH,14.74,23.935
$10V_AH,15.00,0.000
$FG_AHR_24Vo,8.810
$FG_AHR_10Vo,6.359
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,755.810,18.590,95.720,594.793,4.500,43.474,3214.396,4595.720,1493.221,0.000,0.000,0.000
$DEVICE_MAMPS,1391.456,457.968,158.832,202.293,420.000,15.000,19.800,2.190,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6909.000,4217.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,38.332,17.749,0.000,0.000
$MEM,1134312,28,45352,47
$DATA_FILE_SIZE,33984,864
$CAP_FILE_SIZE,233636,0
$SDSIZE,3918848,3892416
$SDFILEDIR,363,1
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$GPS,060619,015811,5820.546,-2253.978,23,1.4,24,-11.5