version: 67.00
glider: 526
mission: 3
dive: 70
start: 6 7 119 14 50 45
data:
$ID,526
$MISSION,3
$DIVE,70
$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,7.7839394
$FG_AHR_24V,11.092456
$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
$GPS1,070619,144103,5843.817,-2216.057,30,0.8,31,-11.3
$_CALLS,1
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-59.9
$GPS2,070619,145032,5843.820,-2215.951,34,0.7,34,-11.3
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,HEADING
$TGT_LATLONG,5853.172,-2226.400
$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,8.52,2,-145.99,-0.43,0.00,869.6,914.9,824.4,123.8,3152.4,0.00,0.00,0,153.31,138.77,0.00,0.00,0.005,0.000,0.000,3439.09,3511.75,3366.44,123.38,3152.75,0,0,0,15.40,30.00,30.00
$GC,153.60,295,-145.99,-0.43,40.00,3439.0,3511.8,3366.2,123.3,3152.5,3.27,-2.21,14,180.74,11.34,9.09,1.43,0.007,0.455,0.098,3894.72,3990.56,3798.88,1905.75,3969.69,0,0,0,15.34,15.38,15.56
$GC,292.43,1060,-145.99,-0.43,0.00,3895.6,3990.3,3800.9,1904.9,3970.9,19.80,-7.98,42,298.49,0.00,0.00,1.33,0.000,0.000,0.052,3896.31,3990.88,3801.75,1904.00,3155.44,0,0,0,30.00,30.00,15.70
$GC,477.88,548,-145.99,-0.43,-40.00,3895.8,3991.0,3800.6,1905.2,3154.5,35.24,-8.40,61,483.66,0.00,0.00,2.31,0.000,0.000,0.054,3896.31,3991.06,3801.56,1905.56,1752.12,0,0,0,30.00,30.00,15.68
$GC,517.99,1060,-145.99,-0.43,0.00,3895.8,3990.8,3800.8,1905.2,1748.4,38.48,-8.14,69,523.71,0.00,0.00,2.56,0.000,0.000,0.082,3896.38,3991.00,3801.75,1896.06,3222.69,0,0,0,30.00,30.00,15.66
$GC,707.86,548,-145.99,-0.43,-40.00,3895.8,3990.7,3800.9,1895.7,3223.4,55.16,-8.76,89,713.72,0.00,0.00,2.45,0.000,0.000,0.054,3896.91,3991.38,3802.44,1895.12,1751.44,0,0,0,30.00,30.00,15.64
$GC,752.48,1060,-145.99,-0.43,0.00,3895.5,3990.2,3800.7,1896.1,1747.6,58.89,-8.28,98,759.13,0.00,0.00,2.55,0.000,0.000,0.083,3896.75,3991.38,3802.12,1886.25,3219.69,0,0,0,30.00,30.00,15.69
$GC,938.03,421,-145.99,-0.40,40.00,3895.7,3990.6,3800.8,1887.8,3220.0,74.36,-8.29,117,943.60,0.00,0.12,1.27,0.000,0.207,0.094,3895.78,3991.06,3800.50,1919.56,3971.00,0,0,0,30.00,15.72,15.73
$GC,982.57,1060,-145.99,-0.40,0.00,3895.8,3990.6,3800.9,1920.1,3970.9,77.21,-7.29,126,988.55,0.00,0.00,1.32,0.000,0.000,0.051,3895.50,3990.31,3800.69,1919.88,3157.50,0,0,0,30.00,30.00,15.78
$GC,1167.97,548,-145.99,-0.40,-40.00,3895.8,3990.8,3800.8,1919.4,3157.6,88.60,-6.03,145,1173.77,0.00,0.00,2.32,0.000,0.000,0.054,3896.41,3991.38,3801.44,1920.44,1749.44,0,0,0,30.00,30.00,15.74
$GC,1222.58,1188,-145.99,-0.43,0.00,3895.7,3990.2,3801.1,1920.0,1745.6,92.09,-6.36,156,1229.21,0.00,0.00,2.56,0.000,0.000,0.080,3896.34,3991.00,3801.69,1909.50,3222.69,0,0,0,30.00,30.00,15.73
$GC,1408.15,32,-145.99,-0.43,0.00,3895.5,3990.6,3800.4,1909.6,3223.8,105.59,-7.44,175,1411.02,0.00,0.00,0.00,0.000,0.000,0.000,3895.44,3990.06,3800.81,1909.75,3223.44,0,0,0,30.00,30.00,30.00
$GC,1588.12,548,-145.99,-0.43,-40.00,3895.3,3990.6,3800.0,1909.8,3223.4,117.94,-6.65,193,1593.86,0.00,0.00,2.45,0.000,0.000,0.055,3895.97,3990.38,3801.56,1909.19,1748.81,0,0,0,30.00,30.00,15.71
$GC,1642.62,1060,-145.99,-0.43,0.00,3895.7,3990.8,3800.6,1910.1,1744.1,121.62,-6.80,204,1649.31,0.00,0.00,2.54,0.000,0.000,0.081,3896.28,3990.94,3801.62,1898.19,3223.19,0,0,0,30.00,30.00,15.78
$GC,1828.18,292,-145.99,-0.43,40.00,3895.4,3990.2,3800.5,1899.6,3223.3,135.64,-7.80,223,1833.68,0.00,0.00,1.27,0.000,0.000,0.095,3896.50,3991.25,3801.75,1893.75,3972.38,0,0,0,30.00,30.00,15.75
$GC,1862.68,1060,-145.99,-0.43,0.00,3895.7,3990.6,3800.8,1893.6,3971.9,138.40,-7.77,230,1868.78,0.00,0.00,1.33,0.000,0.000,0.051,3896.34,3991.19,3801.50,1892.38,3153.56,0,0,0,30.00,30.00,15.83
$GC,2048.17,548,-145.99,-0.43,-40.00,3895.7,3990.6,3800.7,1893.8,3153.3,153.28,-8.10,249,2053.89,0.00,0.00,2.30,0.000,0.000,0.054,3895.94,3990.81,3801.06,1894.12,1750.56,0,0,0,30.00,30.00,15.72
$GC,2112.70,1060,-145.99,-0.43,0.00,3895.7,3990.6,3800.8,1893.2,1745.1,158.53,-7.88,262,2119.35,0.00,0.00,2.55,0.000,0.000,0.081,3896.19,3991.06,3801.31,1884.12,3221.50,0,0,0,30.00,30.00,15.77
$GC,2298.31,421,-145.99,-0.41,40.00,3895.4,3990.2,3800.6,1883.4,3222.8,174.55,-8.73,281,2303.81,0.00,0.12,1.26,0.000,0.198,0.096,3895.94,3991.00,3800.88,1918.81,3969.31,0,0,0,30.00,15.78,15.74
$GC,2338.36,1188,-145.99,-0.43,0.00,3895.5,3990.7,3800.3,1918.4,3969.6,177.33,-7.92,289,2343.78,0.00,0.00,1.32,0.000,0.000,0.052,3895.97,3990.69,3801.25,1918.94,3156.00,0,0,0,30.00,30.00,15.73
$GC,2528.18,676,-145.99,-0.45,-40.00,3895.8,3990.8,3800.8,1918.8,3154.8,189.99,-6.53,309,2533.96,0.00,0.00,2.30,0.000,0.000,0.055,3895.66,3990.12,3801.19,1918.75,1752.56,0,0,0,30.00,30.00,15.81
$GC,2588.19,1188,-145.99,-0.48,0.00,3895.4,3990.2,3800.6,1918.7,1748.2,194.08,-6.67,321,2594.09,0.00,0.00,2.52,0.000,0.000,0.080,3896.25,3991.19,3801.31,1909.25,3222.81,0,0,0,30.00,30.00,15.79
$GC,2778.31,32,-145.99,-0.48,0.00,3895.5,3990.4,3800.6,1908.8,3222.6,206.62,-6.43,341,2781.58,0.00,0.00,0.00,0.000,0.000,0.000,3895.03,3990.12,3799.94,1908.94,3223.00,0,0,0,30.00,30.00,30.00
$GC,2958.29,548,-145.99,-0.48,-40.00,3895.7,3991.1,3800.2,1908.4,3222.2,217.67,-5.94,359,2964.07,0.00,0.00,2.45,0.000,0.000,0.055,3896.25,3990.81,3801.69,1909.12,1749.69,0,0,0,30.00,30.00,15.73
$GC,3012.86,1188,-145.99,-0.50,0.00,3895.3,3990.4,3800.3,1908.8,1745.6,221.07,-6.18,370,3019.53,0.00,0.00,2.54,0.000,0.000,0.082,3896.44,3991.25,3801.62,1898.88,3224.50,0,0,0,30.00,30.00,15.85
$GC,3198.26,32,-145.99,-0.50,0.00,3895.4,3990.4,3800.5,1898.2,3223.9,233.75,-7.16,389,3201.35,0.00,0.00,0.00,0.000,0.000,0.000,3895.03,3990.19,3799.88,1898.88,3224.06,0,0,0,30.00,30.00,30.00
$GC,3378.47,548,-145.99,-0.50,-40.00,3895.2,3990.4,3800.1,1898.5,3224.7,246.63,-7.16,407,3384.14,0.00,0.00,2.46,0.000,0.000,0.055,3896.47,3991.19,3801.75,1897.62,1752.31,0,0,0,30.00,30.00,15.73
$GC,3428.46,1060,-145.99,-0.50,0.00,3895.4,3990.6,3800.2,1898.8,1748.6,250.26,-7.26,417,3434.24,0.00,0.00,2.54,0.000,0.000,0.082,3896.25,3991.12,3801.38,1888.00,3222.88,0,0,0,30.00,30.00,15.81
$GC,3738.37,548,-145.99,-0.50,-40.00,3895.2,3990.1,3800.4,1887.9,3224.7,274.83,-7.96,434,3744.19,0.00,0.00,2.45,0.000,0.000,0.055,3895.91,3990.81,3801.00,1888.81,1751.31,0,0,0,30.00,30.00,15.76
$GC,3778.41,1060,-145.99,-0.50,0.00,3895.3,3990.3,3800.2,1888.6,1746.6,277.96,-7.94,442,3784.62,0.00,0.00,2.53,0.000,0.000,0.083,3895.47,3990.12,3800.81,1878.88,3221.38,0,0,0,30.00,30.00,15.85
$STATE,3919,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3919,begin apogee
$GC,3922.10,3,0.00,-0.12,0.00,3895.2,3989.8,3800.6,1878.9,1863.1,289.39,-8.24,452,4036.58,109.51,0.41,0.10,1.405,0.168,0.170,3297.50,3409.44,3185.56,2013.94,1936.19,0,0,0,12.56,15.80,15.15
$STATE,4039,end apogee,CONTROL_FINISHED_OK
$STATE,4040,begin climb
$GC,4039.47,519,145.99,0.43,-40.00,3297.2,3409.2,3185.2,2013.4,1936.2,294.39,0.00,457,4173.49,111.18,0.50,2.58,1.374,0.080,0.064,2703.09,2810.62,2595.56,2209.25,461.19,0,0,0,12.29,15.32,14.97
$GC,4395.27,1191,401.35,0.67,0.00,2696.1,2794.2,2598.0,2212.2,461.1,288.80,5.32,522,4599.27,188.17,0.16,2.49,1.349,0.078,0.064,1662.66,1738.88,1586.44,2284.81,1928.25,0,0,0,12.33,15.54,15.54
$GC,4891.20,645,401.35,0.59,-40.00,1657.6,1728.6,1586.7,2285.0,1928.4,223.51,14.48,585,4909.28,0.00,0.19,2.51,0.000,0.202,0.065,1657.94,1728.75,1587.12,2237.75,462.44,0,0,0,30.00,15.52,15.57
$GC,4970.95,1062,442.40,0.64,0.00,1656.8,1727.1,1586.5,2237.1,461.2,215.32,9.25,599,5016.19,31.82,0.00,2.48,1.224,0.000,0.064,1495.59,1569.69,1421.50,2237.69,1927.31,0,0,0,12.35,30.00,15.49
$GC,5198.53,644,442.40,0.60,-40.00,1492.6,1564.6,1420.5,2236.9,1926.9,190.89,10.94,626,5216.55,0.00,0.00,2.51,0.000,0.000,0.066,1492.16,1564.00,1420.31,2247.94,462.38,0,0,0,30.00,30.00,15.58
$GC,5318.24,1190,450.13,0.63,0.00,1491.6,1562.6,1420.7,2247.8,461.0,178.81,9.86,648,5338.72,7.96,0.00,2.47,0.934,0.000,0.064,1464.56,1537.62,1391.50,2248.56,1928.81,0,0,0,12.54,30.00,15.67
$GC,5514.32,388,450.13,0.59,40.00,1462.8,1534.7,1390.9,2248.7,1929.0,156.99,11.29,669,5532.32,0.00,0.00,2.43,0.000,0.000,0.084,1463.66,1535.75,1391.56,2247.25,3333.38,0,0,0,30.00,30.00,15.69
$GC,5644.01,1156,450.13,0.52,0.00,1462.2,1534.9,1389.4,2247.5,3332.9,140.75,12.80,693,5662.02,0.00,0.00,2.47,0.000,0.000,0.056,1461.25,1533.88,1388.62,2259.00,1862.75,0,0,0,30.00,30.00,15.64
$GC,5844.12,645,450.13,0.47,-40.00,1462.2,1534.9,1389.6,2259.1,1856.5,116.97,11.70,713,5862.19,0.00,0.22,2.32,0.000,0.183,0.065,1461.72,1534.31,1389.12,2199.94,462.19,0,0,0,30.00,15.74,15.67
$GC,5903.85,1191,549.80,0.67,0.00,1461.9,1534.3,1389.4,2199.8,461.2,111.93,8.17,723,5991.24,74.49,0.19,2.45,1.173,0.081,0.063,1058.12,1129.62,986.62,2284.88,1932.56,0,0,0,12.45,15.78,15.79
$GC,6166.57,645,549.80,0.61,-40.00,1054.9,1124.1,985.6,2284.9,1932.2,77.53,14.16,757,6184.64,0.00,0.16,2.49,0.000,0.191,0.066,1055.38,1124.75,986.00,2242.94,462.50,0,0,0,30.00,15.55,15.60
$GC,6336.32,1157,549.80,0.74,0.00,1053.5,1121.4,985.6,2242.8,462.3,59.29,12.90,789,6354.38,0.00,0.12,2.47,0.000,0.084,0.063,1053.84,1121.31,986.38,2321.12,1925.44,0,0,0,30.00,15.67,15.67
$GC,6536.44,389,549.80,0.66,40.00,1053.4,1121.3,985.5,2321.3,1928.6,28.29,17.39,809,6554.52,0.00,0.23,2.43,0.000,0.201,0.085,1053.66,1121.56,985.75,2250.81,3331.69,0,0,0,30.00,15.67,15.73
$GC,6611.79,1156,549.80,0.63,0.00,1052.4,1120.5,984.4,2250.6,3331.8,18.78,11.54,822,6629.78,0.00,0.00,2.45,0.000,0.000,0.056,1052.69,1121.12,984.25,2260.06,1863.75,0,0,0,30.00,30.00,15.77
$STATE,6772,end climb,SURFACE_DEPTH_REACHED
$STATE,6772,begin surface coast
$FINISH,-0.2,1.023117
$STATE,6792,end surface coast,CONTROL_FINISHED_OK
$STATE,6792,begin surface
$SM_CCo,6867.30,0.00,0.000,0,1051.1,1119.0,983.2,551.66
$SM_GC,0.43,0.00,5.82,2.32,0.000,0.055,0.079,1051.1,1119.0,983.2,130.4,3224.4,0,0,0,30.00,15.80,15.81
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,5842.57,-2214.24,070619,123820
$TCM_TEMP,15.30
$XPDR_PINGS,17
$SC_FREEKB,3823488
$TM_FREEKB,6543840
$HUMID,51.64
$TEMP,-5.18
$INTERNAL_PRESSURE,8.78911
$24V_AH,14.67,30.598
$10V_AH,15.00,0.000
$FG_AHR_24Vo,11.215
$FG_AHR_10Vo,7.846
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,673.250,17.320,94.195,416.968,4.250,42.737,2948.234,4464.250,1471.517,0.000,0.000,0.000
$DEVICE_MAMPS,1405.232,455.016,170.312,204.424,420.000,15.000,19.800,2.190,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6803.000,4206.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,38.976,48.180,0.000,0.000
$MEM,1134300,28,45364,47
$DATA_FILE_SIZE,30545,840
$CAP_FILE_SIZE,220849,0
$SDSIZE,3918848,3887872
$SDFILEDIR,471,1
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$GPS,070619,164603,5844.685,-2215.140,26,0.8,27,-11.3