version: 67.00
glider: 526
mission: 4
dive: 113
start: 3 28 122 8 35 33
data:
$ID,526
$MISSION,4
$DIVE,113
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,390
$T_MISSION,450
$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,100
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,56535
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025118899
$HD_B,0.0139236
$HD_C,5.7000002e-06
$HEADING,-1
$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,613.25
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$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,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,40
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,380
$ROLL_MAX,3950
$ROLL_DEG,30
$C_ROLL_DIVE,2846.6985
$C_ROLL_CLIMB,2652.7825
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0023000001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,2
$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,4.8000002
$MAXI_10V,1.5
$FG_AHR_10V,105.28797
$FG_AHR_24V,77.383072
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.7363
$PRESSURE_SLOPE,0.00022843899
$COMPASS_USE,16388
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$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,-1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,6
$LOGGERDEVICE2,33
$LOGGERDEVICE3,19
$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,0.00441493
$SEABIRD_T_H,0.00064107013
$SEABIRD_T_I,2.576065e-05
$SEABIRD_T_J,3.1402324e-06
$SEABIRD_C_G,-9.799654
$SEABIRD_C_H,1.0727782
$SEABIRD_C_I,-0.0026193932
$SEABIRD_C_J,0.00026435545
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,7.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,400.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,280322,082703,1418.164,14452.227,29,0.7,30,0.3
$_CALLS,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.8
$GPS2,280322,083502,1418.132,14452.150,18,0.7,39,0.3
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1422.000,14500.000
$TGT_RADIUS,2000.000
$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,69.8,15801,-20.2,-8.462,-25.83,1756,0.187
$D_GRID,1000
$IRON,1.000000,0.005000,-0.003000,0.013000,1.047000,-0.005000,0.002000,0.001000,1.052000,12.000000,99.000000,12.600000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15.11,16386,-97.32,-0.73,0.00,498.3,460.4,536.2,85.8,2720.0,0.00,0.00,0,109.82,88.98,0.00,0.00,0.005,0.000,0.000,2953.78,2878.62,3028.94,81.50,2723.00,0,0,0,15.08,30.00,30.00
$GC,110.07,18983,-97.32,-0.73,-30.00,2954.2,2876.8,3031.5,81.4,2722.1,3.58,-3.19,9,137.86,8.90,10.48,1.51,0.007,0.412,0.015,3394.75,3301.00,3488.50,2156.38,1686.44,0,0,0,15.39,15.17,15.31
$GC,150.59,1028,-97.32,-0.73,0.00,3398.1,3301.4,3494.8,2155.6,1671.3,18.45,-36.39,17,156.94,0.00,0.00,1.93,0.000,0.000,0.030,3399.34,3302.75,3495.94,2147.69,2880.44,0,0,0,30.00,30.00,15.73
$GC,340.54,260,-97.32,-0.73,30.00,3398.9,3302.2,3495.6,2148.1,2884.4,83.75,-35.57,37,347.41,0.00,0.00,1.69,0.000,0.000,0.036,3399.47,3303.12,3495.81,2141.06,3945.50,0,0,0,30.00,30.00,15.75
$GC,360.62,1028,-97.32,-0.73,0.06,3398.7,3302.8,3494.6,2140.2,3946.4,90.37,-33.64,41,366.94,0.00,0.00,1.81,0.000,0.000,0.011,3400.88,3304.75,3497.00,2138.56,2766.19,0,0,0,30.00,30.00,15.78
$GC,550.58,516,-97.32,-0.73,-30.00,3398.8,3302.5,3495.1,2140.1,2751.0,149.55,-29.06,61,557.37,0.00,0.00,1.55,0.000,0.000,0.012,3400.22,3303.81,3496.62,2139.19,1710.00,0,0,0,30.00,30.00,15.80
$GC,575.30,1028,-97.32,-0.73,-0.01,3399.4,3302.9,3495.8,2139.6,1691.6,156.41,-27.45,66,582.31,0.00,0.00,1.91,0.000,0.000,0.038,3400.12,3304.12,3496.12,2131.12,2873.31,0,0,0,30.00,30.00,15.73
$GC,770.53,516,-97.32,-0.73,-30.00,3398.9,3302.5,3495.4,2131.1,2874.5,201.38,-21.37,86,776.95,0.00,0.00,1.77,0.000,0.000,0.012,3399.78,3303.81,3495.75,2132.06,1714.94,0,0,0,30.00,30.00,15.75
$GC,855.25,1028,-97.32,-0.73,-0.27,3399.0,3303.2,3494.9,2131.8,1697.2,214.94,-16.59,103,862.20,0.00,0.00,1.88,0.000,0.000,0.034,3400.00,3304.31,3495.69,2123.12,2871.69,0,0,0,30.00,30.00,15.77
$GC,1050.62,2049,-97.32,-0.73,-0.27,3399.8,3304.3,3495.4,2122.1,2869.5,248.76,-15.84,123,1054.82,0.00,0.12,0.00,0.000,0.252,0.000,3400.09,3303.88,3496.31,2154.25,2869.75,0,0,0,30.00,15.58,30.00
$GC,1240.62,260,-97.32,-0.73,30.00,3400.3,3304.1,3496.5,2154.4,2869.9,275.57,-12.48,133,1247.43,0.00,0.00,1.71,0.000,0.000,0.040,3400.62,3304.06,3497.19,2147.56,3941.69,0,0,0,30.00,30.00,15.82
$GC,1255.27,1028,-97.32,-0.73,-0.21,3400.8,3305.0,3496.7,2148.2,3941.0,277.27,-11.50,136,1262.32,0.00,0.00,1.80,0.000,0.000,0.009,3403.50,3307.56,3499.44,2148.50,2746.81,0,0,0,30.00,30.00,15.87
$GC,1460.56,516,-97.32,-0.73,-30.00,3401.8,3305.9,3497.6,2147.9,2731.4,299.33,-11.07,147,1466.95,0.00,0.00,1.54,0.000,0.000,0.012,3402.25,3307.12,3497.38,2147.62,1715.94,0,0,0,30.00,30.00,15.79
$GC,1605.31,1028,-97.32,-0.73,-0.39,3402.4,3306.8,3498.1,2147.7,1699.9,314.46,-8.95,176,1611.98,0.00,0.00,1.86,0.000,0.000,0.033,3403.59,3308.88,3498.31,2138.31,2864.75,0,0,0,30.00,30.00,15.82
$GC,1800.67,260,-97.32,-0.73,30.00,3402.1,3306.1,3498.1,2139.2,2864.2,336.40,-11.34,188,1807.03,0.00,0.00,1.72,0.000,0.000,0.043,3401.88,3306.50,3497.25,2129.69,3940.75,0,0,0,30.00,30.00,15.85
$GC,1860.73,1028,-97.32,-0.73,-0.44,3401.7,3306.1,3497.2,2130.1,3940.8,343.85,-13.41,200,1867.07,0.00,0.00,1.82,0.000,0.000,0.010,3403.72,3308.12,3499.31,2130.81,2750.62,0,0,0,30.00,30.00,15.89
$GC,2060.65,0,-97.32,-0.73,-0.44,3401.6,3305.6,3497.6,2130.7,2734.1,369.46,-12.65,213,2064.66,0.00,0.00,0.00,0.000,0.000,0.000,3402.25,3305.75,3498.75,2131.12,2733.25,0,0,0,30.00,30.00,30.00
$GC,2260.72,260,-97.32,-0.73,30.00,3401.4,3305.4,3497.4,2129.8,2734.5,397.39,-14.34,223,2267.61,0.00,0.00,1.98,0.000,0.000,0.044,3402.03,3305.25,3498.81,2119.88,3942.69,0,0,0,30.00,30.00,15.85
$WARN,HTMICL TMICL logging already stopped
$GC,2305.39,3077,-97.32,-0.73,-0.39,3401.6,3305.6,3497.6,2121.2,3941.0,404.43,-15.52,232,2311.59,0.00,0.12,1.82,0.000,0.218,0.010,3401.97,3306.31,3497.62,2154.56,2734.06,0,0,0,30.00,15.64,15.92
$GC,2500.76,0,-97.32,-0.73,-0.39,3401.0,3304.9,3497.1,2155.0,2720.8,427.75,-12.12,244,2503.52,0.00,0.00,0.00,0.000,0.000,0.000,3402.06,3306.69,3497.44,2155.12,2720.50,0,0,0,30.00,30.00,30.00
$GC,2700.78,0,-97.32,-0.73,-0.39,3400.2,3304.9,3495.4,2155.2,2720.4,449.89,-9.85,254,2703.53,0.00,0.00,0.00,0.000,0.000,0.000,3399.78,3304.44,3495.12,2154.56,2723.38,0,0,0,30.00,30.00,30.00
$GC,2900.73,260,-97.32,-0.73,30.00,3398.0,3303.6,3492.3,2155.3,2720.1,469.55,-9.70,264,2906.54,0.00,0.00,2.02,0.000,0.000,0.045,3400.50,3306.62,3494.38,2148.00,3939.12,0,0,0,30.00,30.00,15.74
$GC,2940.79,1028,-97.32,-0.73,-0.46,3397.1,3305.1,3489.2,2147.9,3937.9,473.55,-10.07,272,2946.53,0.00,0.00,1.83,0.000,0.000,0.011,3398.03,3306.38,3489.69,2147.88,2749.19,0,0,0,30.00,30.00,15.92
$GC,3140.80,260,-97.32,-0.73,30.00,3395.7,3302.8,3488.6,2147.6,2733.8,492.47,-9.34,285,3146.58,0.00,0.00,2.01,0.000,0.000,0.045,3395.94,3302.88,3489.00,2139.19,3938.69,0,0,0,30.00,30.00,15.75
$GC,3245.51,1028,-97.32,-0.73,-0.30,3393.0,3301.4,3484.6,2138.2,3938.1,504.41,-11.38,306,3251.58,0.00,0.00,1.83,0.000,0.000,0.011,3392.38,3301.38,3483.38,2138.56,2751.00,0,0,0,30.00,30.00,15.78
$GC,3440.84,0,-97.32,-0.73,-0.30,3392.3,3299.0,3485.6,2138.4,2738.1,527.84,-12.16,318,3443.54,0.00,0.00,0.00,0.000,0.000,0.000,3392.31,3300.31,3484.31,2138.81,2738.06,0,0,0,30.00,30.00,30.00
$GC,3640.89,0,-97.32,-0.73,-0.30,3388.1,3297.2,3478.9,2137.9,2738.5,548.76,-8.70,328,3643.65,0.00,0.00,0.00,0.000,0.000,0.000,3387.84,3297.38,3478.31,2138.25,2737.50,0,0,0,30.00,30.00,30.00
$GC,3840.92,32,-97.32,-0.73,-0.30,3385.8,3296.2,3475.4,2138.4,2739.3,548.76,-2.25,338,3843.68,0.00,0.00,0.00,0.000,0.000,0.000,3385.72,3296.19,3475.25,2138.19,2738.38,0,0,0,30.00,30.00,30.00
$GC,4040.87,292,-97.32,-0.73,30.00,3383.0,3292.8,3473.2,2138.1,2735.9,548.76,-1.31,348,4046.66,0.00,0.00,1.98,0.000,0.000,0.039,3384.12,3294.88,3473.38,2128.81,3945.88,0,0,0,30.00,30.00,15.73
$STATE,4191,end dive,NO_VERTICAL_VELOCITY
$STATE,4191,begin apogee
$GC,4194.22,10243,0.00,-0.12,0.00,3382.7,3293.6,3471.7,2129.2,2578.3,548.55,0.00,378,4277.71,78.51,0.62,0.19,1.598,0.234,0.097,2999.28,2885.62,3112.94,2302.50,2696.75,0,0,0,10.85,15.42,15.35
$STATE,4279,end apogee,CONTROL_FINISHED_OK
$STATE,4279,begin climb
$GC,4279.61,10759,97.32,0.73,-30.00,2998.4,2885.6,3111.2,2301.6,2696.8,548.47,0.00,383,4369.44,82.06,0.65,1.89,1.542,0.138,0.019,2604.50,2491.88,2717.12,2509.75,1512.44,0,0,0,12.07,15.41,15.20
$FREEZE,546.89,0.000,0.000,0,1,0
$STATE,4467,end climb,NO_VERTICAL_VELOCITY
$STATE,4467,begin surface
$SM_CCo,4872.70,397.76,1.532,0,500.6,445.1,556.1,613.10
$SM_GC,0.87,0.00,6.27,2.14,0.000,0.023,0.038,491.2,436.4,545.9,103.1,2862.4,0,0,0,30.00,15.98,15.99
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,1417.76,14454.64,280322,050657
$TCM_TEMP,18.20
$XPDR_PINGS,15,14.5,10.5
$SC_FREEKB,3796576
$PM_FREEKB_00,65539904
$PM_FREEKB_01,114915328
$PM_FREEKB_02,124835200
$PM_FREEKB_03,124835200
$PM_ACTIVECARD,1
$TM_FREEKB,6036960
$HUMID,54.40
$TEMP,21.04
$INTERNAL_PRESSURE,8.96657
$24V_AH,14.64,122.646
$10V_AH,15.00,0.000
$FG_AHR_24Vo,77.624
$FG_AHR_10Vo,105.346
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,656.215,18.275,44.470,335.444,3.750,48.191,898.294,9.123,0.000,7292.652,676.638,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1598.096,412.048,97.496,218.555,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4495.000,4486.000,2296.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.152,9.036,9.620,0.000
$MEM0,60140,1,0,0
$MEM1,65508,1,0,0
$MEM2,995812,23,50996,65
$DATA_FILE_SIZE,12931,420
$CAP_FILE_SIZE,164795,0
$SDSIZE,3887104,3829728
$SDFILEDIR,1128,1
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,213.9,1
$IMPLIED_C_PITCH,2394,26.32,244,0.0,0.00
$IMPLIED_C_VBD,3181,51.021000,235,0
$GPS,280322,110733,1417.858,14452.298,24,1.1,25,0.3