version: 67.00
glider: 528
mission: 5
dive: 10
start: 5 31 123 12 58 54
data:
$ID,528
$MISSION,5
$DIVE,10
$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,3.2157321
$FG_AHR_24V,10.471132
$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
$GPS1,310523,125409,1930.349,14144.984,22,1.8,22,-2.1
$_CALLS,1
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-65.9
$GPS2,310523,125835,1930.334,14144.968,3,0.7,5,-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,40.1,0,-27.2,-10.000,-30.00,972,0.389
$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,8000307
$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,-1.44,0.00,490.0,360.8,619.3,183.5,2174.8,0.00,0.00,0,96.72,62.47,0.00,0.06,0.005,0.000,0.287,2705.44,2923.88,2487.00,182.56,2215.00,0,0,0,15.82,30.00,15.90
$GC,97.17,18727,-137.57,-1.53,40.00,2707.8,2926.4,2489.2,182.7,2214.8,2.40,-2.18,17,121.83,5.57,5.84,1.55,0.008,0.351,0.123,3010.03,3311.12,2708.94,2101.81,3511.31,0,0,0,15.90,15.72,15.89
$GC,164.63,3205,-137.57,-1.26,0.00,3010.5,3312.5,2708.4,2102.1,3510.8,21.09,-32.55,30,171.40,0.00,0.25,1.53,0.000,0.289,0.070,3012.22,3315.25,2709.19,2197.19,2183.75,0,0,0,30.00,15.92,15.48
$GC,354.68,2693,-137.57,-1.12,-40.00,3010.5,3312.6,2708.4,2197.2,2176.8,74.17,-24.54,68,361.43,0.00,0.12,1.68,0.000,0.258,0.107,3011.12,3314.25,2708.00,2244.75,774.50,0,0,0,30.00,15.94,16.02
$GC,529.71,1156,-137.57,-1.03,0.00,3010.3,3312.3,2708.2,2244.9,774.2,108.71,-19.16,103,535.78,0.00,0.00,1.72,0.000,0.000,0.100,3011.25,3312.94,2709.56,2236.75,2212.56,0,0,0,30.00,30.00,15.94
$GC,844.87,2177,-137.57,-0.95,0.00,3010.5,3312.5,2708.6,2236.6,2212.6,165.84,-16.52,135,846.88,0.00,0.15,0.00,0.000,0.253,0.000,3008.22,3311.25,2705.19,2297.56,2212.62,0,0,0,30.00,16.04,30.00
$GC,1154.82,292,-142.34,-0.96,40.00,3010.9,3313.4,2708.4,2297.6,2212.5,202.80,-9.50,166,1160.90,0.00,0.00,1.55,0.000,0.000,0.126,3011.22,3313.56,2708.88,2289.56,3510.56,0,0,0,30.00,30.00,16.16
$GC,1239.87,1156,-142.34,-0.92,0.00,3011.9,3315.2,2708.5,2289.3,3510.3,211.39,-11.01,183,1245.93,0.00,0.00,1.51,0.000,0.000,0.071,3013.41,3317.44,2709.38,2289.69,2184.31,0,0,0,30.00,30.00,16.19
$GC,1554.86,548,-145.99,-0.93,-40.00,3012.0,3315.6,2708.4,2289.4,2173.1,241.41,-9.49,215,1561.04,0.00,0.00,1.65,0.000,0.000,0.106,3010.56,3314.50,2706.62,2289.44,777.88,0,0,0,30.00,30.00,16.20
$GC,1789.87,1060,-145.99,-0.93,0.00,3011.3,3314.6,2708.1,2289.3,777.2,260.34,-7.29,262,1796.16,0.00,0.00,1.71,0.000,0.000,0.102,3011.81,3314.88,2708.75,2281.75,2208.81,0,0,0,30.00,30.00,16.03
$GC,2104.92,32,-145.99,-0.93,0.00,3011.4,3314.8,2708.1,2281.4,2209.2,285.43,-8.52,294,2106.69,0.00,0.00,0.00,0.000,0.000,0.000,3010.44,3313.81,2707.06,2282.06,2208.81,0,0,0,30.00,30.00,30.00
$GC,2414.95,548,-145.99,-0.93,-40.00,3011.5,3314.9,2708.1,2282.3,2209.1,312.84,-9.42,325,2421.20,0.00,0.00,1.72,0.000,0.000,0.108,3011.06,3314.19,2707.94,2282.06,776.50,0,0,0,30.00,30.00,16.21
$GC,2650.01,1060,-145.99,-0.93,0.00,3011.0,3313.9,2708.0,2281.6,776.1,333.67,-8.81,372,2656.29,0.00,0.00,1.72,0.000,0.000,0.105,3010.66,3313.25,2708.06,2272.81,2212.69,0,0,0,30.00,30.00,16.24
$GC,2965.08,548,-145.99,-0.93,-40.00,3010.9,3313.3,2708.4,2271.9,2212.3,361.03,-8.30,404,2971.33,0.00,0.00,1.73,0.000,0.000,0.111,3011.78,3312.94,2710.62,2272.12,778.19,0,0,0,30.00,30.00,16.20
$GC,3065.10,1060,-145.99,-0.93,0.00,3009.9,3311.8,2708.0,2272.0,778.0,368.69,-7.26,424,3071.36,0.00,0.00,1.72,0.000,0.000,0.107,3008.97,3311.94,2706.00,2263.44,2207.50,0,0,0,30.00,30.00,16.02
$GC,3375.17,2597,-145.99,-0.93,-40.00,3009.5,3310.9,2708.1,2263.4,2207.2,390.19,-6.72,456,3381.59,0.00,0.10,1.73,0.000,0.247,0.110,3011.69,3311.81,2711.56,2303.44,775.44,0,0,0,30.00,16.12,16.20
$GC,3400.30,1188,-145.99,-0.95,0.00,3009.0,3310.1,2707.9,2304.8,775.4,391.73,-6.63,461,3406.47,0.00,0.00,1.71,0.000,0.000,0.103,3008.31,3308.81,2707.81,2297.56,2207.12,0,0,0,30.00,30.00,16.24
$GC,3715.39,420,-145.99,-0.98,40.00,3008.0,3308.4,2707.7,2297.4,2207.1,414.50,-7.66,493,3721.34,0.00,0.00,1.57,0.000,0.000,0.132,3010.34,3309.50,2711.19,2287.12,3506.00,0,0,0,30.00,30.00,16.21
$GC,3950.31,1060,-145.99,-0.98,0.00,3008.1,3308.1,2708.1,2287.8,3505.9,431.36,-6.14,540,3956.44,0.00,0.00,1.52,0.000,0.000,0.077,3006.19,3306.44,2705.94,2288.25,2173.25,0,0,0,30.00,30.00,16.02
$GC,4265.53,676,-145.99,-1.02,-40.00,3005.9,3304.2,2707.6,2288.0,2173.1,445.45,-4.21,572,4271.56,0.00,0.00,1.66,0.000,0.000,0.108,3004.62,3302.19,2707.06,2287.75,775.44,0,0,0,30.00,30.00,15.99
$GC,4425.59,1188,-145.99,-1.05,0.00,3003.7,3299.8,2707.6,2287.9,775.5,455.18,-6.79,604,4431.70,0.00,0.00,1.71,0.000,0.000,0.104,3003.31,3299.88,2706.75,2281.50,2207.88,0,0,0,30.00,30.00,16.22
$GC,4735.64,676,-145.99,-1.08,-40.00,3003.3,3298.9,2707.8,2281.5,2207.8,476.91,-7.22,636,4741.76,0.00,0.00,1.72,0.000,0.000,0.108,3003.09,3298.25,2707.94,2281.44,776.62,0,0,0,30.00,30.00,16.19
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4781,begin apogee
$GC,4784.62,10243,0.00,-0.25,0.00,3002.7,3297.2,2708.2,2274.2,1909.7,480.09,-7.01,645,4908.12,81.07,0.56,0.05,1.312,0.211,0.230,2448.81,2509.44,2388.19,2522.38,1873.69,0,0,0,12.21,16.10,15.59
$STATE,4909,end apogee,CONTROL_FINISHED_OK
$STATE,4909,begin climb
$GC,4909.23,10503,145.99,1.54,40.00,2446.8,2505.8,2387.9,2522.2,1874.1,480.37,0.00,657,5044.29,84.85,1.17,1.86,1.285,0.109,0.137,1853.31,1794.25,1912.38,3094.56,3323.31,0,0,0,12.36,15.67,15.46
$GC,5047.18,1156,145.99,1.45,0.00,1850.2,1790.3,1910.0,3095.8,3323.2,455.33,26.70,677,5053.40,0.00,0.00,1.76,0.000,0.000,0.095,1849.28,1790.50,1908.06,3105.31,1888.25,0,0,0,30.00,30.00,15.61
$GC,5362.26,4741,145.99,1.37,-40.00,1848.5,1787.2,1909.8,3105.4,1887.8,369.24,27.34,709,5368.70,0.00,0.19,1.75,0.000,0.293,0.139,1848.69,1787.38,1910.00,3039.69,473.81,0,0,0,30.00,15.91,15.99
$GC,5547.31,1156,145.99,1.36,0.00,1848.5,1787.3,1909.7,3040.0,474.3,327.12,22.14,746,5553.54,0.00,0.00,1.74,0.000,0.000,0.111,1849.19,1787.12,1911.25,3039.38,1906.50,0,0,0,30.00,30.00,16.06
$GC,5862.38,644,145.99,1.33,-40.00,1847.4,1785.1,1909.8,3039.8,1906.6,255.62,22.85,778,5868.57,0.00,0.00,1.78,0.000,0.000,0.135,1846.41,1784.69,1908.12,3048.50,474.56,0,0,0,30.00,30.00,16.08
$GC,6097.30,1028,145.99,1.33,0.00,1847.5,1785.0,1910.1,3048.6,473.6,206.13,19.18,825,6103.67,0.00,0.00,1.73,0.000,0.000,0.112,1846.75,1784.12,1909.38,3048.38,1905.75,0,0,0,30.00,30.00,16.16
$GC,6412.52,16774,145.99,1.32,40.00,1846.2,1782.3,1910.0,3048.8,1905.4,149.01,17.80,857,6418.70,0.00,0.00,1.73,0.000,0.000,0.139,1848.72,1784.56,1912.88,3048.88,3321.56,0,0,0,30.00,30.00,16.15
$GC,6492.54,21639,145.99,1.26,0.00,1844.3,1778.8,1909.8,3048.1,3321.8,134.09,18.66,873,6498.91,0.00,0.16,1.70,0.000,0.267,0.092,1845.72,1780.06,1911.38,2995.88,1887.38,0,0,0,30.00,16.06,16.12
$GC,6802.60,17030,145.99,1.30,-40.00,1844.4,1778.8,1910.1,2996.1,1887.6,90.88,13.29,911,6809.30,0.00,0.00,1.68,0.000,0.000,0.114,1838.72,1767.69,1909.75,3004.56,473.44,0,0,0,30.00,30.00,16.13
$GC,7037.69,17542,145.99,1.36,0.00,1844.6,1778.9,1910.2,3005.5,473.6,63.00,12.68,958,7044.47,0.00,0.00,1.71,0.000,0.000,0.102,1844.25,1777.75,1910.75,3005.81,1907.88,0,0,0,30.00,30.00,16.16
$GC,7227.76,19079,145.99,1.42,-40.00,1844.8,1779.2,1910.5,3006.0,1908.1,41.33,11.04,996,7234.13,0.00,0.09,1.73,0.000,0.087,0.111,1844.16,1777.88,1910.44,3065.12,471.69,0,0,0,30.00,16.16,16.12
$GC,7287.64,17414,145.99,1.42,0.00,1844.7,1779.1,1910.2,3064.8,471.5,33.52,13.09,1008,7293.97,0.00,0.00,1.72,0.000,0.000,0.102,1845.22,1779.44,1911.00,3065.25,1910.81,0,0,0,30.00,30.00,16.12
$GC,7477.71,16386,145.99,1.42,0.00,1844.7,1778.9,1910.5,3064.8,1910.6,6.47,15.06,1046,7481.59,0.00,0.00,0.00,0.000,0.000,0.000,1844.12,1778.12,1910.12,3065.25,1910.50,0,0,0,30.00,30.00,30.00
$STATE,7508,end climb,SURFACE_DEPTH_REACHED
$STATE,7508,begin surface coast
$FINISH,0.2,1.021822
$STATE,7523,end surface coast,CONTROL_FINISHED_OK
$STATE,7523,begin surface
$SURF,forcing
$SM_CCo,7780.72,171.66,0.692,0,501.0,368.1,633.9,478.10
$SM_GC,0.87,171.66,5.30,0.35,0.692,0.051,0.121,501.0,368.1,633.9,187.2,2223.6,0,0,0,12.39,15.65,16.15
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,1926.42,14146.84,310523,104307
$TCM_TEMP,24.00
$XPDR_PINGS,11,12.0,11.5
$SC_FREEKB,3870912
$HUMID,53.89
$TEMP,24.57
$INTERNAL_PRESSURE,9.09881
$24V_AH,14.97,6.427
$10V_AH,15.00,0.000
$FG_AHR_24Vo,10.630
$FG_AHR_10Vo,3.281
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,405.600,13.930,54.170,223.171,2.750,14.357,1204.414,1.050,0.000,4811.979,1485.560,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1312.408,351.040,286.752,220.569,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7531.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.978,0.000,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,997688,25,49220,58
$DATA_FILE_SIZE,28904,1055
$CAP_FILE_SIZE,180402,0
$SDSIZE,3887104,3867552
$SDFILEDIR,103,11
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,281.2,1
$MAGCAL,1.000000,0.004874,-0.042184,0.011234,1.040156,0.005268,0.038922,-0.006514,1.041804,-64.6,15.6,-47.9,29,0.0040,0
$IMPLIED_C_PITCH,2660,23.35,737,0.0,0.00
$IMPLIED_C_VBD,3335,30.467867,564,0
$GPS,310523,150853,1930.893,14145.021,2,1.7,9,-2.1