version: 67.00
glider: 526
mission: 3
dive: 53
start: 6 6 119 2 7 46
data:
$ID,526
$MISSION,3
$DIVE,53
$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,6.3755469
$FG_AHR_24V,8.8125067
$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
$GPS1,060619,015811,5820.546,-2253.978,23,1.4,24,-11.5
$_CALLS,1
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-46.9
$GPS2,060619,020732,5820.615,-2253.660,32,1.1,32,-11.5
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,HEADING
$TGT_LATLONG,5829.967,-2303.994
$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,8.25,2,-145.99,-0.43,0.00,490.9,544.4,437.4,120.6,3145.2,0.00,0.00,0,173.37,158.85,0.00,0.00,0.005,0.000,0.000,3589.06,3666.31,3511.81,119.12,3145.75,0,0,0,15.46,30.00,30.00
$GC,173.62,295,-145.99,-0.43,40.00,3588.8,3666.2,3511.4,119.1,3145.5,4.51,-7.04,16,196.35,6.76,9.34,1.43,0.008,0.468,0.100,3893.34,3985.19,3801.50,1906.50,3977.69,0,0,0,15.64,15.28,15.37
$GC,278.55,1060,-145.99,-0.43,0.00,3895.6,3987.5,3803.8,1905.4,3977.8,21.45,-8.81,37,284.05,0.00,0.00,1.34,0.000,0.000,0.051,3895.59,3987.50,3803.69,1906.25,3152.94,0,0,0,30.00,30.00,15.66
$GC,468.46,548,-145.99,-0.43,-40.00,3895.4,3987.4,3803.4,1905.9,3153.3,36.11,-6.79,57,474.26,0.00,0.00,2.31,0.000,0.000,0.054,3895.94,3987.81,3804.06,1906.06,1748.25,0,0,0,30.00,30.00,15.67
$GC,523.06,1060,-145.99,-0.43,0.00,3895.6,3987.4,3803.7,1905.9,1744.2,39.32,-5.93,68,529.99,0.00,0.00,2.56,0.000,0.000,0.082,3896.53,3988.06,3805.00,1896.12,3221.44,0,0,0,30.00,30.00,15.74
$GC,708.71,160,-145.99,-0.41,0.00,3895.6,3987.4,3803.8,1895.3,3222.9,50.43,-6.36,87,711.58,0.00,0.00,0.00,0.000,0.000,0.000,3895.34,3987.56,3803.12,1895.75,3222.75,0,0,0,30.00,30.00,30.00
$GC,888.61,676,-145.99,-0.38,-40.00,3895.8,3987.8,3803.8,1896.2,3223.0,63.40,-7.76,105,894.38,0.00,0.00,2.43,0.000,0.000,0.055,3896.09,3988.25,3803.94,1896.50,1752.56,0,0,0,30.00,30.00,15.71
$GC,933.15,1060,-145.99,-0.38,0.00,3895.5,3987.8,3803.2,1896.0,1748.6,66.78,-7.61,114,939.80,0.00,0.00,2.53,0.000,0.000,0.083,3895.88,3987.50,3804.25,1887.00,3223.75,0,0,0,30.00,30.00,15.69
$GC,1118.85,421,-145.99,-0.35,40.00,3895.4,3987.3,3803.5,1886.8,3224.8,82.48,-8.90,133,1124.27,0.00,0.17,1.26,0.000,0.206,0.093,3896.25,3987.81,3804.69,1935.50,3974.69,0,0,0,30.00,15.74,15.78
$GC,1163.21,1188,-145.99,-0.38,0.00,3895.5,3987.2,3803.8,1935.2,3975.2,85.24,-7.57,142,1169.35,0.00,0.00,1.32,0.000,0.000,0.052,3896.00,3987.62,3804.38,1934.19,3154.38,0,0,0,30.00,30.00,15.80
$GC,1348.84,677,-145.99,-0.50,-40.00,3895.5,3987.2,3803.9,1935.3,3155.1,97.39,-7.83,161,1354.55,0.00,0.17,2.30,0.000,0.151,0.053,3896.41,3988.06,3804.75,1884.31,1752.19,0,0,0,30.00,15.79,15.80
$GC,1578.74,1188,-145.99,-0.60,0.00,3895.5,3987.4,3803.6,1884.9,1748.3,114.70,-7.81,207,1584.57,0.00,0.00,2.53,0.000,0.000,0.076,3895.66,3987.25,3804.06,1885.38,3223.31,0,0,0,30.00,30.00,15.73
$GC,1768.94,421,-145.99,-0.64,40.00,3895.7,3987.6,3803.8,1885.1,3223.1,128.65,-7.64,227,1774.54,0.00,0.14,1.27,0.000,0.090,0.094,3896.06,3987.75,3804.38,1798.00,3972.69,0,0,0,30.00,15.82,15.81
$GC,1828.94,1157,-145.99,-0.54,0.00,3895.3,3987.4,3803.2,1797.2,3972.3,135.94,-13.58,239,1834.48,0.00,0.27,1.32,0.000,0.218,0.051,3896.00,3987.94,3804.06,1878.88,3153.38,0,0,0,30.00,15.79,15.78
$GC,2019.01,676,-145.99,-0.51,-40.00,3895.5,3987.4,3803.6,1878.6,3153.4,153.13,-8.28,259,2024.59,0.00,0.00,2.29,0.000,0.000,0.054,3895.78,3987.62,3803.94,1879.25,1749.62,0,0,0,30.00,30.00,15.83
$GC,2069.01,1060,-145.99,-0.51,0.00,3895.5,3987.2,3803.8,1878.9,1745.4,156.87,-7.46,269,2074.66,0.00,0.00,2.54,0.000,0.000,0.081,3896.06,3987.94,3804.19,1869.69,3220.25,0,0,0,30.00,30.00,15.80
$GC,2259.03,160,-145.99,-0.48,0.00,3895.5,3987.4,3803.6,1870.4,3221.5,172.15,-8.00,289,2261.91,0.00,0.00,0.00,0.000,0.000,0.000,3894.75,3986.88,3802.62,1870.50,3221.56,0,0,0,30.00,30.00,30.00
$GC,2438.97,677,-145.99,-0.45,-40.00,3895.2,3987.2,3803.2,1870.5,3221.4,186.90,-8.30,307,2445.06,0.00,0.13,2.44,0.000,0.207,0.055,3896.03,3987.81,3804.25,1911.75,1752.31,0,0,0,30.00,15.75,15.83
$GC,2493.46,1060,-145.99,-0.45,0.00,3895.7,3987.6,3803.8,1912.0,1747.9,190.14,-6.56,318,2500.58,0.00,0.00,2.52,0.000,0.000,0.082,3895.62,3988.00,3803.25,1902.62,3222.69,0,0,0,30.00,30.00,15.75
$GC,2679.09,32,-145.99,-0.45,0.00,3895.3,3987.7,3802.9,1902.8,3222.9,201.56,-6.23,337,2681.97,0.00,0.00,0.00,0.000,0.000,0.000,3894.84,3987.00,3802.69,1902.56,3222.81,0,0,0,30.00,30.00,30.00
$GC,2859.01,548,-145.99,-0.45,-40.00,3895.4,3987.3,3803.4,1902.4,3222.7,212.95,-6.29,355,2864.76,0.00,0.00,2.43,0.000,0.000,0.055,3896.09,3987.75,3804.44,1902.88,1751.19,0,0,0,30.00,30.00,15.84
$GC,2909.05,1060,-145.99,-0.45,0.00,3895.3,3987.3,3803.2,1902.4,1746.8,216.07,-6.35,365,2914.79,0.00,0.00,2.53,0.000,0.000,0.082,3896.28,3988.25,3804.31,1892.88,3221.56,0,0,0,30.00,30.00,15.86
$GC,3099.05,32,-145.99,-0.45,0.00,3895.1,3987.0,3803.2,1892.6,3221.8,229.79,-7.39,385,3101.92,0.00,0.00,0.00,0.000,0.000,0.000,3895.06,3986.69,3803.44,1892.81,3222.06,0,0,0,30.00,30.00,30.00
$GC,3279.00,548,-145.99,-0.45,-40.00,3895.4,3987.2,3803.6,1893.1,3220.8,242.76,-7.10,403,3284.83,0.00,0.00,2.43,0.000,0.000,0.055,3895.94,3987.62,3804.25,1893.50,1751.94,0,0,0,30.00,30.00,15.83
$GC,3328.99,1060,-145.99,-0.45,0.00,3895.5,3987.3,3803.6,1892.7,1747.8,246.22,-6.92,413,3334.86,0.00,0.00,2.52,0.000,0.000,0.082,3895.78,3987.31,3804.25,1882.56,3222.94,0,0,0,30.00,30.00,15.85
$GC,3529.03,32,-145.99,-0.45,0.00,3895.1,3987.6,3802.7,1882.9,3223.4,261.39,-7.63,427,3531.90,0.00,0.00,0.00,0.000,0.000,0.000,3894.88,3986.75,3803.00,1883.25,3223.12,0,0,0,30.00,30.00,30.00
$GC,3829.25,548,-145.99,-0.45,-40.00,3894.9,3987.1,3802.6,1882.8,3223.2,284.65,-7.94,442,3834.89,0.00,0.00,2.43,0.000,0.000,0.056,3895.69,3988.06,3803.31,1883.25,1752.25,0,0,0,30.00,30.00,15.81
$GC,3898.66,1060,-145.99,-0.45,0.00,3894.8,3987.1,3802.4,1882.7,1748.2,290.09,-7.64,456,3904.92,0.00,0.00,2.53,0.000,0.000,0.082,3895.62,3987.50,3803.75,1873.75,3225.62,0,0,0,30.00,30.00,15.89
$STATE,3909,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3909,begin apogee
$GC,3912.03,3,0.00,-0.12,0.00,3894.8,3987.4,3802.2,1873.8,2159.7,290.87,-7.60,458,4025.85,109.31,0.44,0.12,1.392,0.173,0.159,3299.59,3412.94,3186.25,2015.44,2234.44,0,0,0,12.70,15.86,15.21
$STATE,4027,end apogee,CONTROL_FINISHED_OK
$STATE,4027,begin climb
$GC,4027.55,519,145.99,0.43,-40.00,3298.0,3412.6,3183.4,2014.3,2235.4,295.76,0.00,463,4164.69,111.69,0.50,2.58,1.362,0.083,0.061,2703.09,2812.12,2594.06,2212.06,752.75,0,0,0,12.39,15.36,15.02
$GC,4386.45,1191,400.84,0.67,0.00,2696.1,2800.2,2591.9,2212.1,752.7,289.23,5.33,526,4590.08,188.38,0.16,2.52,1.343,0.080,0.066,1664.69,1758.06,1571.31,2283.56,2224.88,0,0,0,12.54,15.53,15.50
$GC,4882.52,389,400.84,0.58,40.00,1658.8,1746.6,1571.1,2283.3,2224.3,227.75,13.48,588,4900.62,0.00,0.19,2.44,0.000,0.203,0.086,1659.62,1747.38,1571.88,2226.00,3631.75,0,0,0,30.00,15.51,15.51
$GC,4927.80,1156,400.84,0.52,0.00,1658.1,1746.4,1569.8,2225.6,3631.4,222.47,11.88,595,4945.84,0.00,0.00,2.46,0.000,0.000,0.054,1658.59,1746.94,1570.25,2234.06,2161.62,0,0,0,30.00,30.00,15.57
$GC,5118.02,389,400.84,0.48,40.00,1657.9,1746.6,1569.2,2235.5,2156.8,203.47,10.16,614,5136.13,0.00,0.14,2.58,0.000,0.196,0.089,1657.03,1745.88,1568.19,2189.62,3631.94,0,0,0,30.00,15.69,15.73
$GC,5197.79,1063,496.81,0.59,0.00,1657.2,1746.9,1567.4,2189.8,3631.8,196.59,8.24,628,5280.48,70.83,0.12,2.46,1.248,0.086,0.054,1274.97,1352.19,1197.75,2262.88,2158.44,0,0,0,12.59,15.74,15.68
$GC,5462.61,389,496.81,0.53,40.00,1270.2,1343.1,1197.2,2263.8,2157.9,163.36,13.36,662,5480.73,0.00,0.17,2.59,0.000,0.199,0.087,1270.75,1343.56,1197.94,2206.94,3632.00,0,0,0,30.00,15.54,15.59
$GC,5552.37,1028,496.81,0.53,0.00,1269.2,1341.8,1196.6,2209.9,3631.7,153.67,10.27,678,5570.41,0.00,0.00,2.46,0.000,0.000,0.054,1269.78,1342.62,1196.94,2217.31,2164.44,0,0,0,30.00,30.00,15.66
$GC,5752.66,294,571.48,0.63,40.00,1268.5,1341.9,1195.1,2218.5,2159.6,136.09,8.63,698,5820.92,55.51,0.00,2.61,1.176,0.000,0.089,969.53,1045.56,893.50,2219.00,3630.38,0,0,0,12.59,30.00,15.39
$GC,5852.57,1063,601.60,0.66,0.00,968.9,1044.2,893.6,2219.3,3631.0,127.10,9.45,717,5888.93,24.32,0.09,2.49,1.095,0.092,0.054,847.38,921.62,773.12,2290.12,2161.62,0,0,0,12.45,15.52,15.41
$GC,6063.65,645,601.60,0.59,-40.00,843.8,915.4,772.1,2289.2,2161.2,94.72,16.25,741,6081.74,0.00,0.19,2.36,0.000,0.194,0.065,843.47,914.94,772.00,2237.50,756.00,0,0,0,30.00,15.55,15.61
$GC,6098.91,1156,601.60,0.62,0.00,844.2,914.1,774.4,2237.8,756.1,90.57,12.30,746,6116.95,0.00,0.00,2.49,0.000,0.000,0.067,843.97,913.88,774.06,2237.69,2223.75,0,0,0,30.00,30.00,15.52
$GC,6289.09,389,601.60,0.75,40.00,843.0,914.1,772.0,2237.8,2226.0,70.23,11.74,765,6307.18,0.00,0.14,2.40,0.000,0.095,0.088,843.28,913.94,772.62,2308.19,3631.56,0,0,0,30.00,15.70,15.71
$GC,6328.82,1156,601.60,0.81,0.00,843.0,914.1,772.0,2308.9,3631.7,65.21,13.29,771,6346.86,0.00,0.00,2.44,0.000,0.000,0.053,843.50,914.38,772.62,2318.38,2161.38,0,0,0,30.00,30.00,15.74
$GC,6529.06,645,601.60,0.72,-40.00,843.2,914.2,772.1,2318.9,2156.9,35.82,18.55,791,6547.15,0.00,0.17,2.32,0.000,0.211,0.065,842.97,913.81,772.12,2277.44,754.62,0,0,0,30.00,15.72,15.77
$GC,6598.80,1156,601.60,0.76,0.00,842.7,911.0,774.3,2276.9,753.4,27.14,10.20,803,6616.83,0.00,0.00,2.48,0.000,0.000,0.066,842.97,911.12,774.81,2275.38,2227.50,0,0,0,30.00,30.00,15.79
$GC,6798.99,388,601.60,0.73,40.00,842.0,910.6,773.4,2277.1,2229.4,2.72,12.02,823,6817.00,0.00,0.00,2.39,0.000,0.000,0.090,842.00,910.62,773.38,2276.81,3633.06,0,0,0,30.00,30.00,15.81
$STATE,6819,end climb,SURFACE_DEPTH_REACHED
$STATE,6819,begin surface coast
$FINISH,-0.3,1.025139
$STATE,6829,end surface coast,CONTROL_FINISHED_OK
$STATE,6829,begin surface
$SM_CCo,6904.46,0.00,0.000,0,841.8,910.2,773.2,603.01
$SM_GC,0.53,0.00,5.75,0.74,0.000,0.041,0.052,841.8,910.2,773.2,128.2,3158.2,0,0,0,30.00,15.84,15.86
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,5817.43,-2259.55,050619,235441
$TCM_TEMP,18.50
$XPDR_PINGS,22
$SC_FREEKB,3836000
$TM_FREEKB,6757600
$HUMID,51.52
$TEMP,8.28
$INTERNAL_PRESSURE,8.80321
$24V_AH,14.72,24.284
$10V_AH,15.00,0.000
$FG_AHR_24Vo,8.942
$FG_AHR_10Vo,6.440
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,725.635,18.275,92.010,411.230,5.500,41.770,2986.450,4452.911,1449.714,0.000,0.000,0.000
$DEVICE_MAMPS,1392.112,468.136,158.504,205.294,420.000,15.000,19.800,2.190,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6842.000,4231.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,38.674,17.721,0.000,0.000
$MEM,1134280,29,45364,47
$DATA_FILE_SIZE,30546,827
$CAP_FILE_SIZE,225583,0
$SDSIZE,3918848,3892224
$SDFILEDIR,369,1
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$GPS,060619,040333,5822.257,-2250.894,18,1.7,19,-11.5