version: 67.00
glider: 528
mission: 5
dive: 9
start: 5 31 123 10 44 22
data:
$ID,528
$MISSION,5
$DIVE,9
$N_DIVES,15
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,480
$D_ABORT,600
$D_NO_BLEED,50
$D_BOOST,0
$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,160
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55492
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,0
$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,681.93396
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$NETBOX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3970
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,225
$ROLL_MAX,3500
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$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,500
$VBD_MAX,3960
$C_VBD,2450
$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
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,3.1502445
$FG_AHR_24V,10.298898
$PHONE_SUPPLY,2
$PRESSURE_YINT,-174.83636
$PRESSURE_SLOPE,0.00021603379
$COMPASS_USE,49156
$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,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,6
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,34
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,41
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044244844
$SEABIRD_T_H,0.00064698409
$SEABIRD_T_I,2.7614331e-05
$SEABIRD_T_J,3.4337004e-06
$SEABIRD_C_G,-9.9323845
$SEABIRD_C_H,1.1413088
$SEABIRD_C_I,-0.0018536064
$SEABIRD_C_J,0.00022970721
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,310523,104026,1929.965,14144.998,1,0.6,2,-2.1
$_CALLS,2
$_SM_DEPTHo,-0.39
$_SM_ANGLEo,-65.8
$GPS2,310523,104404,1929.960,14144.989,2,0.6,4,-2.1
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,HEADING
$TGT_LATLONG,0.000,0.000
$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,21.3,0,-27.2,-10.000,-30.00,972,0.299
$D_GRID,1000
$IRON,1.000000,0.002277,-0.033955,0.007186,1.039742,-0.020262,0.043849,0.027381,1.030225,-65.357445,16.698788,-45.457405
$OSC,8000348
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.33,16386,-63.62,-1.44,0.00,501.1,385.6,616.5,200.9,2172.2,0.00,0.00,0,96.40,61.51,0.00,0.06,0.005,0.000,0.271,2707.41,2929.62,2485.19,200.81,2219.12,0,0,0,15.97,30.00,16.10
$GC,96.85,18727,-140.89,-1.53,40.00,2708.2,2929.2,2487.1,200.9,2218.8,1.09,-1.83,17,122.30,6.01,5.70,1.51,0.008,0.352,0.114,3020.41,3329.62,2711.19,2101.38,3509.44,0,0,0,16.08,15.92,16.05
$GC,290.85,3205,-140.89,-1.28,0.00,3023.6,3332.9,2714.4,2101.0,3509.6,60.16,-33.76,55,296.56,0.00,0.22,1.50,0.000,0.276,0.064,3023.00,3332.75,2713.25,2190.06,2175.25,0,0,0,30.00,16.10,15.67
$GC,480.33,2693,-140.89,-1.14,-40.00,3023.7,3332.6,2714.8,2190.4,2174.8,102.08,-20.24,92,486.68,0.00,0.11,1.63,0.000,0.262,0.096,3022.25,3331.81,2712.69,2236.00,773.38,0,0,0,30.00,16.13,15.74
$GC,575.34,1156,-140.89,-1.07,0.00,3023.2,3332.0,2714.5,2236.0,772.9,119.55,-18.27,111,582.06,0.00,0.00,1.69,0.000,0.000,0.091,3022.91,3332.25,2713.56,2228.06,2212.69,0,0,0,30.00,30.00,16.04
$GC,890.40,2693,-140.89,-0.99,-40.00,3023.6,3332.6,2714.6,2228.1,2213.1,170.71,-13.63,143,896.84,0.00,0.14,1.71,0.000,0.252,0.099,3023.47,3332.25,2714.69,2288.00,773.00,0,0,0,30.00,16.13,15.60
$GC,945.26,1028,-140.89,-0.99,0.00,3023.4,3332.4,2714.5,2287.6,773.0,177.37,-11.46,154,951.55,0.00,0.00,1.68,0.000,0.000,0.092,3024.44,3333.75,2715.12,2279.31,2209.75,0,0,0,30.00,30.00,16.26
$GC,1260.48,388,-140.89,-0.96,40.00,3023.2,3332.2,2714.2,2279.5,2210.6,208.36,-11.13,186,1266.50,0.00,0.00,1.53,0.000,0.000,0.117,3024.03,3333.00,2715.06,2269.44,3509.56,0,0,0,30.00,30.00,16.25
$GC,1435.52,3205,-140.89,-0.93,0.00,3023.0,3332.2,2713.9,2269.8,3509.2,231.27,-11.79,221,1441.67,0.00,0.09,1.50,0.000,0.235,0.068,3023.56,3332.31,2714.81,2304.81,2185.31,0,0,0,30.00,16.17,15.73
$GC,1750.67,676,-145.99,-0.96,-40.00,3022.8,3331.4,2714.2,2304.1,2175.0,256.05,-6.15,253,1756.71,0.00,0.00,1.62,0.000,0.000,0.090,3023.38,3331.81,2714.94,2304.12,774.50,0,0,0,30.00,30.00,16.26
$GC,1795.66,1188,-145.99,-0.99,0.00,3022.8,3331.8,2713.9,2304.3,774.2,258.72,-5.77,262,1801.72,0.00,0.00,1.67,0.000,0.000,0.085,3023.25,3331.69,2714.81,2297.06,2211.31,0,0,0,30.00,30.00,16.28
$GC,2110.74,676,-145.99,-1.01,-40.00,3022.9,3332.1,2713.7,2297.4,2211.8,280.95,-7.58,294,2116.76,0.00,0.00,1.70,0.000,0.000,0.100,3023.22,3330.75,2715.69,2295.75,775.94,0,0,0,30.00,30.00,16.26
$GC,2160.75,1188,-145.99,-1.03,0.00,3021.3,3328.5,2714.1,2297.2,775.8,284.76,-7.60,304,2166.78,0.00,0.00,1.68,0.000,0.000,0.094,3020.78,3328.69,2712.88,2289.00,2206.75,0,0,0,30.00,30.00,16.28
$GC,2470.81,420,-145.99,-1.05,40.00,3020.8,3327.6,2713.9,2288.9,2206.4,309.07,-8.05,336,2476.88,0.00,0.00,1.54,0.000,0.000,0.122,3020.34,3327.25,2713.44,2282.25,3508.06,0,0,0,30.00,30.00,16.25
$GC,2530.68,1060,-145.99,-1.05,0.00,3021.0,3327.8,2714.2,2282.4,3508.2,314.60,-9.41,348,2536.77,0.00,0.00,1.50,0.000,0.000,0.072,3019.38,3327.00,2711.75,2282.12,2184.88,0,0,0,30.00,30.00,16.27
$GC,2840.89,676,-145.99,-1.07,-40.00,3018.5,3323.5,2713.5,2281.8,2174.6,342.51,-8.54,380,2846.91,0.00,0.00,1.64,0.000,0.000,0.097,3016.16,3320.06,2712.25,2282.00,774.31,0,0,0,30.00,30.00,16.23
$GC,3040.93,1188,-145.99,-1.09,0.00,3016.6,3319.4,2713.8,2281.8,774.3,359.42,-7.84,420,3046.81,0.00,0.00,1.69,0.000,0.000,0.094,3016.25,3319.94,2712.56,2275.44,2212.12,0,0,0,30.00,30.00,16.27
$GC,3350.82,292,-145.99,-1.09,40.00,3015.3,3317.2,2713.3,2275.9,2211.7,382.49,-7.13,452,3356.93,0.00,0.00,1.55,0.000,0.000,0.125,3018.47,3319.44,2717.50,2266.00,3509.50,0,0,0,30.00,30.00,16.21
$GC,3405.95,1188,-145.99,-1.06,0.00,3015.3,3316.9,2713.7,2266.0,3509.0,386.64,-7.66,463,3411.94,0.00,0.00,1.52,0.000,0.000,0.077,3016.56,3316.75,2716.38,2265.88,2180.94,0,0,0,30.00,30.00,15.64
$GC,3720.86,292,-145.99,-1.06,40.00,3013.2,3312.9,2713.4,2266.3,2172.2,411.11,-8.02,495,3727.03,0.00,0.00,1.63,0.000,0.000,0.129,3014.75,3313.88,2715.62,2256.19,3510.19,0,0,0,30.00,30.00,16.23
$GC,3861.01,1188,-145.99,-1.03,0.00,3013.1,3312.4,2713.8,2256.2,3510.1,422.35,-8.37,523,3866.96,0.00,0.00,1.53,0.000,0.000,0.077,3012.75,3311.75,2713.75,2256.06,2184.50,0,0,0,30.00,30.00,16.23
$GC,4170.90,32,-145.99,-1.03,0.00,3011.2,3309.1,2713.4,2256.4,2173.5,442.81,-6.22,555,4172.68,0.00,0.00,0.00,0.000,0.000,0.000,3010.41,3309.06,2711.75,2255.62,2173.31,0,0,0,30.00,30.00,30.00
$GC,4480.93,292,-145.99,-1.03,40.00,3009.5,3305.6,2713.3,2255.4,2172.8,461.73,-6.72,586,4487.10,0.00,0.00,1.63,0.000,0.000,0.131,2971.84,3230.44,2713.25,2243.25,3508.69,0,0,0,30.00,30.00,16.22
$GC,4516.06,3237,-145.99,-0.99,0.00,3009.3,3305.2,2713.4,2245.6,3508.7,464.24,-6.82,593,4522.21,0.00,0.09,1.52,0.000,0.249,0.076,3010.47,3306.62,2714.31,2282.25,2176.56,0,0,0,30.00,16.12,16.25
$STATE,4771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4771,begin apogee
$GC,4772.74,10243,0.00,-0.25,0.00,3008.1,3302.5,2713.8,2282.2,1875.4,480.26,-6.20,619,4897.24,80.51,0.53,0.05,1.326,0.203,0.254,2434.72,2490.06,2379.38,2519.06,1907.25,0,0,0,12.13,16.16,15.62
$STATE,4898,end apogee,CONTROL_FINISHED_OK
$STATE,4898,begin climb
$GC,4898.32,10503,145.99,1.54,40.00,2445.6,2511.2,2380.0,2520.9,1907.5,481.54,0.00,631,5031.35,84.08,1.17,1.78,1.292,0.106,0.131,1851.56,1798.75,1904.38,3097.69,3322.00,0,0,0,12.44,15.72,15.52
$GC,5034.24,5253,145.99,1.45,0.00,1848.9,1793.4,1904.5,3097.4,3321.7,460.24,26.28,653,5040.71,0.00,0.14,1.76,0.000,0.298,0.095,1849.06,1793.19,1904.94,3058.06,1891.00,0,0,0,30.00,15.58,15.66
$GC,5349.32,644,145.99,1.41,-40.00,1847.9,1791.3,1904.6,3058.2,1889.7,382.97,24.87,685,5355.63,0.00,0.00,1.75,0.000,0.000,0.139,1846.34,1789.94,1902.75,3064.38,473.56,0,0,0,30.00,30.00,16.03
$GC,5494.35,1156,145.99,1.38,0.00,1847.8,1791.2,1904.4,3065.1,474.2,348.62,23.12,714,5500.57,0.00,0.00,1.72,0.000,0.000,0.101,1849.56,1791.50,1907.62,3063.69,1909.31,0,0,0,30.00,30.00,16.13
$GC,5809.43,21127,145.99,1.34,-40.00,1846.2,1787.9,1904.4,3065.0,1909.4,273.76,23.22,746,5815.86,0.00,0.12,1.76,0.000,0.292,0.128,1846.25,1787.44,1905.06,3028.50,473.38,0,0,0,30.00,16.05,16.14
$GC,5964.31,17414,145.99,1.34,0.00,1846.3,1787.9,1904.8,3028.6,473.8,240.54,19.66,777,5970.69,0.00,0.00,1.72,0.000,0.000,0.103,1846.31,1788.00,1904.62,3028.94,1908.12,0,0,0,30.00,30.00,16.19
$GC,6279.40,16902,145.99,1.34,-40.00,1844.8,1785.5,1904.2,3028.8,1908.7,180.87,17.72,809,6285.72,0.00,0.00,1.76,0.000,0.000,0.127,1846.75,1785.88,1907.62,3034.44,474.56,0,0,0,30.00,30.00,16.17
$GC,6514.45,17414,145.99,1.34,0.00,1845.1,1785.5,1904.7,3034.9,474.9,143.20,15.85,856,6520.82,0.00,0.00,1.71,0.000,0.000,0.104,1847.06,1786.19,1907.94,3035.19,1906.38,0,0,0,30.00,30.00,16.21
$GC,6824.53,16902,145.99,1.34,-40.00,1844.9,1785.2,1904.6,3035.1,1906.2,92.01,16.04,892,6830.90,0.00,0.00,1.75,0.000,0.000,0.122,1845.19,1785.56,1904.81,3040.56,473.50,0,0,0,30.00,30.00,15.96
$GC,7059.76,17542,145.99,1.36,0.00,1845.1,1785.6,1904.7,3041.1,473.2,58.26,13.89,939,7066.56,0.00,0.00,1.72,0.000,0.000,0.103,1834.72,1765.38,1904.06,3039.31,1907.56,0,0,0,30.00,30.00,16.15
$GC,7249.83,17030,145.99,1.39,-40.00,1845.2,1785.6,1904.9,3041.0,1907.2,34.14,13.42,977,7256.62,0.00,0.00,1.74,0.000,0.000,0.114,1845.38,1785.81,1904.94,3049.94,472.31,0,0,0,30.00,30.00,16.15
$GC,7344.85,17542,145.99,1.41,0.00,1845.1,1785.4,1904.7,3049.9,472.9,20.78,14.25,996,7351.65,0.00,0.00,1.71,0.000,0.000,0.101,1844.56,1784.75,1904.38,3050.31,1909.38,0,0,0,30.00,30.00,16.17
$STATE,7480,end climb,SURFACE_DEPTH_REACHED
$STATE,7480,begin surface coast
$FINISH,0.1,1.021819
$STATE,7500,end surface coast,CONTROL_FINISHED_OK
$STATE,7500,begin surface
$SURF,forcing
$SM_CCo,7756.25,170.71,0.692,0,500.8,373.6,627.9,478.15
$SM_GC,0.76,170.71,5.28,0.35,0.692,0.055,0.124,500.8,373.6,627.9,186.9,2221.9,0,0,0,12.36,16.20,16.18
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,1924.19,15041.40,310523,104100
$TCM_TEMP,23.90
$XPDR_PINGS,28,12.0,11.5
$SC_FREEKB,3871520
$HUMID,54.27
$TEMP,24.89
$INTERNAL_PRESSURE,9.12502
$24V_AH,15.01,6.259
$10V_AH,15.00,0.000
$FG_AHR_24Vo,10.457
$FG_AHR_10Vo,3.215
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,402.835,13.595,56.940,0.000,7.000,13.636,1003.954,0.001,0.000,4827.148,1466.160,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1325.528,352.352,271.008,0.000,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7500.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.928,0.000,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,997628,28,49220,58
$DATA_FILE_SIZE,28880,1027
$CAP_FILE_SIZE,198463,0
$SDSIZE,3887104,3867776
$SDFILEDIR,97,10
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,251.3,1
$MAGCAL,1.000000,0.005267,-0.050356,0.009181,1.035758,0.006583,0.046770,-0.009118,1.035980,-62.6,14.7,-48.5,28,0.0043,0
$IMPLIED_C_PITCH,2661,23.22,726,0.0,0.00
$IMPLIED_C_VBD,3360,35.972878,550,0
$GPS,310523,125409,1930.349,14144.984,22,1.8,22,-2.1