version: 67.00
glider: 526
mission: 3
dive: 67
start: 6 7 119 8 36 17
data:
$ID,526
$MISSION,3
$DIVE,67
$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,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,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,1900
$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,7.5453043
$FG_AHR_24V,10.704045
$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
$GPS1,070619,082333,5841.460,-2220.177,26,0.9,27,-11.3
$_CALLS,3
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-57.0
$GPS2,070619,083603,5841.525,-2219.952,33,0.9,34,-11.3
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,HEADING
$TGT_LATLONG,5850.878,-2230.390
$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,341.3,20000,-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,-0.43,0.00,805.4,851.9,759.0,130.9,3149.4,0.00,0.00,0,163.33,148.59,0.00,0.00,0.005,0.000,0.000,3613.66,3689.44,3537.88,129.88,3149.69,0,0,0,15.45,30.00,30.00
$GC,163.57,295,-145.99,-0.43,40.00,3613.6,3689.9,3537.4,129.8,3149.6,4.45,-6.65,15,186.37,6.23,9.01,1.43,0.009,0.454,0.097,3894.84,3984.69,3805.00,1904.81,3974.44,0,0,0,15.61,15.27,15.59
$GC,308.05,1060,-145.99,-0.43,0.00,3895.8,3985.1,3806.4,1904.4,3974.5,24.33,-8.14,44,314.03,0.00,0.00,1.34,0.000,0.000,0.052,3896.72,3985.75,3807.69,1904.56,3155.94,0,0,0,30.00,30.00,15.67
$GC,493.49,548,-145.99,-0.43,-40.00,3895.7,3985.1,3806.3,1904.6,3156.3,38.44,-7.79,63,499.30,0.00,0.00,2.30,0.000,0.000,0.054,3896.69,3985.62,3807.75,1904.00,1750.50,0,0,0,30.00,30.00,15.67
$GC,558.11,1060,-145.99,-0.43,0.00,3896.0,3984.8,3807.2,1905.3,1746.9,43.18,-7.11,76,565.00,0.00,0.00,2.57,0.000,0.000,0.081,3896.69,3985.44,3807.94,1895.62,3220.62,0,0,0,30.00,30.00,15.63
$GC,743.54,292,-145.99,-0.43,40.00,3895.9,3984.9,3806.9,1895.4,3221.7,58.08,-8.20,95,749.12,0.00,0.00,1.28,0.000,0.000,0.093,3896.25,3985.62,3806.88,1889.06,3973.69,0,0,0,30.00,30.00,15.66
$GC,813.77,1060,-145.99,-0.43,0.00,3895.9,3985.1,3806.8,1889.8,3973.6,64.24,-8.59,109,819.52,0.00,0.00,1.34,0.000,0.000,0.051,3896.53,3985.50,3807.56,1888.62,3154.88,0,0,0,30.00,30.00,15.71
$GC,1003.71,676,-145.99,-0.40,-40.00,3895.8,3985.3,3806.2,1889.9,3154.4,79.98,-8.40,129,1009.42,0.00,0.00,2.30,0.000,0.000,0.054,3895.84,3985.00,3806.69,1889.81,1751.94,0,0,0,30.00,30.00,15.77
$GC,1058.22,1060,-145.99,-0.40,0.00,3896.1,3985.3,3806.8,1889.9,1748.3,84.69,-8.42,140,1065.11,0.00,0.00,2.53,0.000,0.000,0.081,3896.12,3985.38,3806.88,1880.19,3223.56,0,0,0,30.00,30.00,15.74
$GC,1243.71,161,-145.99,-0.37,0.00,3895.9,3985.2,3806.6,1879.9,3222.9,102.54,-9.59,159,1246.70,0.00,0.17,0.00,0.000,0.202,0.000,3895.09,3984.56,3805.62,1933.75,3223.19,0,0,0,30.00,15.74,30.00
$GC,1423.89,676,-145.99,-0.40,-40.00,3895.9,3984.9,3806.8,1933.8,3223.6,113.86,-6.29,177,1429.52,0.00,0.00,2.45,0.000,0.000,0.054,3896.44,3985.44,3807.44,1933.81,1752.81,0,0,0,30.00,30.00,15.80
$GC,1473.69,1188,-145.99,-0.44,0.00,3895.7,3984.8,3806.6,1934.0,1748.3,117.23,-6.78,187,1479.55,0.00,0.00,2.54,0.000,0.000,0.080,3896.53,3985.94,3807.12,1925.00,3222.00,0,0,0,30.00,30.00,15.69
$GC,1663.84,161,-145.99,-0.57,0.00,3895.9,3984.9,3806.9,1924.5,3222.1,132.55,-9.25,207,1666.82,0.00,0.19,0.00,0.000,0.106,0.000,3895.56,3984.50,3806.62,1849.50,3221.69,0,0,0,30.00,15.80,30.00
$GC,1843.99,420,-145.99,-0.59,40.00,3895.6,3984.8,3806.4,1849.4,3221.9,147.51,-8.14,225,1849.37,0.00,0.00,1.27,0.000,0.000,0.095,3896.50,3985.50,3807.50,1845.00,3972.06,0,0,0,30.00,30.00,15.76
$GC,2034.08,1188,-145.99,-0.55,0.00,3895.5,3984.8,3806.2,1844.8,3972.2,165.81,-9.94,263,2039.46,0.00,0.00,1.32,0.000,0.000,0.052,3896.34,3985.62,3807.06,1845.31,3154.62,0,0,0,30.00,30.00,15.81
$GC,2223.88,645,-145.99,-0.49,-40.00,3895.7,3984.9,3806.4,1845.4,3154.5,185.54,-10.50,283,2230.06,0.00,0.17,2.31,0.000,0.225,0.054,3895.81,3985.31,3806.31,1895.56,1749.94,0,0,0,30.00,15.71,15.73
$GC,2268.45,1060,-145.99,-0.49,0.00,3895.5,3984.8,3806.2,1895.0,1745.2,188.94,-8.37,292,2275.16,0.00,0.00,2.54,0.000,0.000,0.081,3896.16,3985.75,3806.56,1886.50,3221.88,0,0,0,30.00,30.00,15.72
$GC,2453.89,292,-145.99,-0.49,40.00,3895.5,3984.8,3806.2,1885.7,3221.9,202.22,-7.01,311,2459.77,0.00,0.00,1.28,0.000,0.000,0.094,3895.78,3984.88,3806.69,1880.56,3973.62,0,0,0,30.00,30.00,15.81
$GC,2498.54,1060,-145.99,-0.49,0.00,3895.7,3985.4,3805.9,1880.4,3973.3,205.42,-6.94,320,2504.68,0.00,0.00,1.32,0.000,0.000,0.052,3895.66,3984.88,3806.44,1880.50,3156.19,0,0,0,30.00,30.00,15.86
$GC,2684.11,548,-145.99,-0.49,-40.00,3895.6,3985.0,3806.2,1879.9,3155.6,219.28,-7.67,339,2689.98,0.00,0.00,2.29,0.000,0.000,0.055,3895.94,3985.12,3806.75,1880.25,1749.88,0,0,0,30.00,30.00,15.83
$GC,2734.12,1060,-145.99,-0.49,0.00,3895.2,3985.0,3805.4,1880.4,1745.6,223.04,-7.50,349,2739.80,0.00,0.00,2.55,0.000,0.000,0.081,3895.56,3984.88,3806.25,1870.88,3221.94,0,0,0,30.00,30.00,15.72
$GC,2924.06,160,-145.99,-0.46,0.00,3895.3,3984.6,3806.0,1871.1,3221.9,239.54,-8.89,369,2927.32,0.00,0.00,0.00,0.000,0.000,0.000,3894.91,3984.50,3805.31,1870.62,3222.38,0,0,0,30.00,30.00,30.00
$GC,3104.12,677,-145.99,-0.43,-40.00,3895.0,3984.6,3805.5,1870.4,3221.2,255.44,-8.70,384,3109.95,0.00,0.14,2.44,0.000,0.205,0.056,3895.78,3985.44,3806.12,1917.31,1752.62,0,0,0,30.00,15.76,15.83
$GC,3148.61,1188,-145.99,-0.45,0.00,3895.0,3984.8,3805.3,1917.2,1748.2,258.25,-8.09,393,3155.21,0.00,0.00,2.54,0.000,0.000,0.083,3895.94,3985.31,3806.56,1908.88,3222.88,0,0,0,30.00,30.00,15.86
$GC,3464.13,548,-145.99,-0.45,-40.00,3894.6,3984.4,3804.7,1908.7,3224.2,277.50,-6.16,411,3469.87,0.00,0.00,2.44,0.000,0.000,0.055,3895.12,3985.25,3805.00,1908.69,1751.06,0,0,0,30.00,30.00,15.84
$GC,3508.66,1188,-145.99,-0.48,0.00,3895.0,3985.1,3804.9,1908.8,1747.0,280.54,-6.45,420,3514.90,0.00,0.00,2.53,0.000,0.000,0.083,3895.44,3985.56,3805.31,1899.62,3220.38,0,0,0,30.00,30.00,15.87
$STATE,3784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3784,begin apogee
$GC,3787.56,3,0.00,-0.12,0.00,3894.3,3985.0,3803.6,1899.4,1865.7,300.02,-6.99,436,3901.20,109.11,0.34,0.10,1.429,0.153,0.170,3298.91,3410.50,3187.31,2016.25,1938.69,0,0,0,12.57,15.83,15.17
$STATE,3904,end apogee,CONTROL_FINISHED_OK
$STATE,3904,begin climb
$GC,3904.37,3,145.99,0.43,0.00,3297.8,3408.9,3186.8,2015.4,1940.1,305.45,0.00,441,4035.78,111.61,0.50,0.00,1.389,0.079,0.000,2703.69,2810.94,2596.44,2199.94,1939.62,0,0,0,12.25,15.32,30.00
$GC,4342.93,679,436.36,0.71,-40.00,2696.2,2806.4,2586.0,2199.4,1939.0,298.53,4.67,475,4572.69,214.38,0.22,2.62,1.364,0.067,0.066,1519.84,1584.12,1455.56,2304.69,462.38,0,0,0,12.48,15.61,14.98
$GC,4634.36,1157,436.36,0.68,0.00,1516.3,1577.3,1455.4,2304.2,461.1,263.38,12.55,526,4652.45,0.00,0.16,2.55,0.000,0.176,0.067,1516.81,1577.44,1456.19,2255.50,1922.69,0,0,0,30.00,15.27,15.32
$GC,4954.71,644,436.36,0.62,-40.00,1515.3,1575.1,1455.5,2256.3,1923.2,224.68,12.03,553,4972.71,0.00,0.00,2.48,0.000,0.000,0.065,1516.00,1575.69,1456.31,2262.25,462.75,0,0,0,30.00,30.00,15.54
$GC,5004.34,1028,436.36,0.62,0.00,1514.6,1573.4,1455.8,2265.2,461.6,219.03,11.26,561,5022.34,0.00,0.00,2.49,0.000,0.000,0.067,1515.16,1574.06,1456.25,2265.75,1926.88,0,0,0,30.00,30.00,15.67
$GC,5204.50,645,436.36,0.56,-40.00,1514.5,1573.6,1455.4,2265.1,1926.9,193.80,13.03,581,5222.56,0.00,0.15,2.47,0.000,0.196,0.066,1513.75,1572.88,1454.62,2228.00,462.44,0,0,0,30.00,15.66,15.71
$GC,5274.24,1190,469.38,0.64,0.00,1514.1,1572.9,1455.3,2227.6,461.1,186.69,9.39,593,5311.61,26.09,0.00,2.46,1.193,0.000,0.065,1385.94,1455.38,1316.50,2228.19,1928.56,0,0,0,12.53,30.00,15.76
$GC,5485.24,678,473.92,0.62,-40.00,1382.7,1450.0,1315.4,2227.6,1928.5,165.88,9.92,617,5503.39,5.76,0.00,2.49,0.772,0.000,0.068,1367.00,1435.44,1298.56,2237.62,462.75,0,0,0,12.49,30.00,15.61
$GC,5600.46,1191,516.03,0.72,0.00,1366.4,1434.7,1298.1,2238.4,462.3,155.04,9.23,639,5646.57,33.20,0.12,2.45,1.179,0.087,0.063,1196.47,1267.19,1125.75,2310.50,1926.94,0,0,0,12.54,15.71,15.61
$GC,5821.55,389,516.03,0.63,40.00,1192.9,1261.4,1124.4,2309.9,1927.1,119.92,16.52,665,5839.63,0.00,0.23,2.43,0.000,0.202,0.085,1192.94,1261.31,1124.56,2240.19,3331.62,0,0,0,30.00,15.61,15.65
$GC,5911.30,1156,516.03,0.60,0.00,1191.7,1261.4,1121.9,2241.6,3332.2,108.24,12.09,681,5929.30,0.00,0.00,2.46,0.000,0.000,0.055,1191.75,1260.94,1122.56,2250.31,1859.25,0,0,0,30.00,30.00,15.70
$GC,6111.46,644,516.03,0.57,-40.00,1191.6,1261.3,1121.9,2250.9,1854.7,85.68,11.11,701,6129.45,0.00,0.00,2.33,0.000,0.000,0.067,1192.06,1261.50,1122.62,2260.19,461.38,0,0,0,30.00,30.00,15.74
$GC,6141.07,1028,516.03,0.57,0.00,1191.3,1260.5,1122.2,2261.6,460.9,82.59,10.56,705,6159.07,0.00,0.00,2.45,0.000,0.000,0.066,1190.66,1259.94,1121.38,2261.75,1925.88,0,0,0,30.00,30.00,15.74
$GC,6341.32,645,516.03,0.53,-40.00,1191.3,1260.6,1122.0,2261.7,1927.3,60.46,11.42,725,6359.39,0.00,0.17,2.47,0.000,0.172,0.066,1190.72,1259.88,1121.56,2215.38,462.62,0,0,0,30.00,15.73,15.79
$GC,6581.12,1156,516.03,0.60,0.00,1190.5,1259.1,1122.0,2216.6,462.5,34.86,12.56,771,6599.12,0.00,0.00,2.45,0.000,0.000,0.065,1190.69,1259.06,1122.31,2215.12,1926.81,0,0,0,30.00,30.00,15.81
$GC,6781.29,645,516.03,0.70,-40.00,1190.3,1258.8,1121.8,2215.5,1928.6,13.23,11.59,791,6799.35,0.00,0.17,2.46,0.000,0.083,0.068,1191.00,1259.56,1122.44,2304.50,462.44,0,0,0,30.00,15.80,15.83
$STATE,6891,end climb,SURFACE_DEPTH_REACHED
$STATE,6891,begin surface coast
$FINISH,-0.4,1.023465
$STATE,6911,end surface coast,CONTROL_FINISHED_OK
$STATE,6911,begin surface
$SM_CCo,6989.42,0.00,0.000,0,1189.4,1257.2,1121.5,517.74
$SM_GC,0.49,0.00,5.91,4.66,0.000,0.055,0.076,1189.4,1257.2,1121.5,127.6,3219.5,0,0,0,30.00,15.85,15.86
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,5840.17,-2216.51,070619,082726
$TCM_TEMP,18.00
$XPDR_PINGS,18
$SC_FREEKB,3825696
$TM_FREEKB,6582400
$HUMID,51.18
$TEMP,-3.90
$INTERNAL_PRESSURE,8.79613
$24V_AH,14.67,29.533
$10V_AH,15.00,0.000
$FG_AHR_24Vo,10.825
$FG_AHR_10Vo,7.609
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,654.970,17.635,89.020,478.872,4.500,43.673,2983.612,4731.848,1428.414,0.000,0.000,0.000
$DEVICE_MAMPS,1429.176,454.360,169.656,208.514,420.000,15.000,19.800,2.190,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6921.000,4099.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,38.057,47.833,0.000,0.000
$MEM,1134280,29,45364,47
$DATA_FILE_SIZE,30621,815
$CAP_FILE_SIZE,215704,0
$SDSIZE,3918848,3888640
$SDFILEDIR,453,1
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$GPS,070619,103333,5842.434,-2218.321,22,0.8,23,-11.3