version: 67.00
glider: 526
mission: 3
dive: 58
start: 6 6 119 12 38 46
data:
$ID,526
$MISSION,3
$DIVE,58
$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,1
$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,6.7765441
$FG_AHR_24V,9.4851131
$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
$GPS1,060619,122903,5829.217,-2239.711,21,0.9,22,-11.4
$_CALLS,1
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-59.5
$GPS2,060619,123832,5829.310,-2239.483,26,0.9,26,-11.4
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,HEADING
$TGT_LATLONG,5838.662,-2249.860
$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,341.4,20000,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,8.25,2,-145.99,-0.43,0.00,992.5,1039.4,945.6,126.4,3143.9,0.00,0.00,0,153.08,138.77,0.00,0.00,0.005,0.000,0.000,3638.94,3715.19,3562.69,125.19,3143.88,0,0,0,15.44,30.00,30.00
$GC,153.37,295,-145.99,-0.43,40.00,3639.2,3714.4,3563.9,125.3,3143.9,4.69,-7.17,14,174.88,5.55,9.14,1.44,0.009,0.459,0.102,3895.53,3983.44,3807.62,1907.69,3971.06,0,0,0,15.64,15.27,15.61
$GC,272.03,1060,-145.99,-0.43,0.00,3895.7,3984.1,3807.4,1907.2,3970.9,22.99,-8.05,38,277.59,0.00,0.00,1.34,0.000,0.000,0.052,3896.91,3984.44,3809.38,1906.44,3155.38,0,0,0,30.00,30.00,15.74
$GC,462.16,548,-145.99,-0.43,-40.00,3895.9,3984.4,3807.4,1907.2,3156.4,37.70,-7.80,58,467.80,0.00,0.00,2.32,0.000,0.000,0.055,3895.72,3984.00,3807.44,1907.38,1750.94,0,0,0,30.00,30.00,15.74
$GC,522.16,1060,-145.99,-0.43,0.00,3896.2,3984.6,3807.9,1907.3,1747.4,42.20,-7.37,70,528.10,0.00,0.00,2.55,0.000,0.000,0.084,3896.66,3985.00,3808.31,1898.25,3220.19,0,0,0,30.00,30.00,15.67
$GC,712.02,292,-145.99,-0.43,40.00,3895.9,3984.2,3807.5,1897.2,3220.4,57.52,-8.08,90,717.60,0.00,0.00,1.27,0.000,0.000,0.094,3896.81,3984.81,3808.81,1892.31,3969.69,0,0,0,30.00,30.00,15.77
$GC,766.68,1060,-145.99,-0.43,0.00,3895.6,3983.8,3807.3,1892.4,3969.6,61.67,-7.69,101,773.25,0.00,0.00,1.32,0.000,0.000,0.051,3896.06,3984.12,3808.00,1892.00,3153.19,0,0,0,30.00,30.00,15.80
$GC,952.21,676,-145.99,-0.40,-40.00,3896.1,3984.2,3808.0,1891.9,3153.6,76.05,-8.04,120,957.87,0.00,0.00,2.30,0.000,0.000,0.054,3896.28,3984.44,3808.12,1892.38,1750.25,0,0,0,30.00,30.00,15.70
$GC,1012.14,1060,-145.99,-0.40,0.00,3895.8,3984.1,3807.5,1892.1,1745.1,80.80,-7.68,132,1018.22,0.00,0.00,2.52,0.000,0.000,0.082,3896.28,3984.38,3808.19,1882.38,3221.75,0,0,0,30.00,30.00,15.69
$GC,1202.28,421,-145.99,-0.37,40.00,3895.8,3984.1,3807.5,1882.2,3221.7,97.77,-9.13,152,1207.79,0.00,0.16,1.27,0.000,0.204,0.094,3896.72,3984.38,3809.06,1930.81,3972.06,0,0,0,30.00,15.75,15.79
$GC,1246.72,1188,-145.99,-0.39,0.00,3895.8,3984.1,3807.6,1930.5,3972.3,100.72,-7.76,161,1253.13,0.00,0.00,1.32,0.000,0.000,0.051,3896.38,3984.12,3808.62,1930.00,3157.44,0,0,0,30.00,30.00,15.83
$GC,1432.17,676,-145.99,-0.42,-40.00,3895.6,3984.0,3807.2,1930.6,3157.9,111.78,-5.97,180,1437.96,0.00,0.00,2.31,0.000,0.000,0.054,3896.09,3984.19,3808.00,1930.88,1749.69,0,0,0,30.00,30.00,15.80
$GC,1486.76,1188,-145.99,-0.46,0.00,3895.9,3983.9,3807.8,1930.9,1745.7,115.40,-6.57,191,1493.60,0.00,0.00,2.52,0.000,0.000,0.079,3896.59,3984.88,3808.31,1921.25,3223.38,0,0,0,30.00,30.00,15.76
$GC,1672.24,677,-145.99,-0.53,-40.00,3895.7,3983.7,3807.8,1920.8,3223.3,128.05,-6.96,210,1678.34,0.00,0.14,2.44,0.000,0.088,0.054,3896.28,3984.44,3808.12,1854.12,1748.88,0,0,0,30.00,15.82,15.81
$GC,1772.28,1189,-145.99,-0.50,0.00,3895.8,3984.0,3807.5,1853.9,1745.4,136.93,-9.10,230,1778.18,0.00,0.16,2.54,0.000,0.210,0.082,3896.78,3984.56,3809.00,1892.81,3220.25,0,0,0,30.00,15.73,15.78
$GC,1962.31,32,-145.99,-0.50,0.00,3895.9,3984.1,3807.8,1891.9,3221.0,151.38,-7.41,250,1965.42,0.00,0.00,0.00,0.000,0.000,0.000,3895.22,3983.75,3806.69,1892.19,3221.38,0,0,0,30.00,30.00,30.00
$GC,2142.24,548,-145.99,-0.50,-40.00,3896.2,3984.4,3807.9,1891.9,3220.6,164.23,-7.05,268,2148.09,0.00,0.00,2.43,0.000,0.000,0.055,3896.34,3984.31,3808.38,1892.81,1752.38,0,0,0,30.00,30.00,15.80
$GC,2196.85,1060,-145.99,-0.50,0.00,3895.8,3983.8,3807.8,1892.1,1747.9,168.02,-6.84,279,2203.67,0.00,0.00,2.53,0.000,0.000,0.083,3896.34,3984.50,3808.19,1883.94,3221.38,0,0,0,30.00,30.00,15.83
$GC,2382.40,420,-145.99,-0.48,40.00,3896.0,3984.3,3807.7,1883.6,3221.6,181.98,-7.69,298,2387.94,0.00,0.00,1.26,0.000,0.000,0.094,3895.72,3983.69,3807.75,1878.19,3971.19,0,0,0,30.00,30.00,15.84
$GC,2426.95,1060,-145.99,-0.48,0.00,3895.6,3983.9,3807.4,1877.4,3970.9,185.49,-7.78,307,2433.15,0.00,0.00,1.32,0.000,0.000,0.052,3896.12,3984.19,3808.06,1877.94,3152.94,0,0,0,30.00,30.00,15.86
$GC,2612.33,676,-145.99,-0.45,-40.00,3895.7,3983.9,3807.6,1877.2,3152.9,200.13,-8.01,326,2618.13,0.00,0.00,2.29,0.000,0.000,0.054,3895.91,3984.12,3807.69,1877.50,1750.88,0,0,0,30.00,30.00,15.82
$GC,2672.45,1060,-145.99,-0.45,0.00,3895.5,3983.9,3807.1,1877.5,1746.3,204.66,-7.33,338,2678.20,0.00,0.00,2.53,0.000,0.000,0.083,3896.16,3984.12,3808.19,1867.50,3219.56,0,0,0,30.00,30.00,15.75
$GC,2862.37,161,-145.99,-0.41,0.00,3895.3,3983.6,3807.1,1867.3,3220.2,221.49,-9.27,358,2865.35,0.00,0.17,0.00,0.000,0.204,0.000,3895.16,3983.81,3806.50,1920.94,3219.94,0,0,0,30.00,15.80,30.00
$GC,3042.40,676,-145.99,-0.44,-40.00,3895.5,3983.8,3807.3,1920.8,3219.9,232.26,-5.99,376,3048.23,0.00,0.00,2.42,0.000,0.000,0.055,3896.91,3984.81,3809.00,1922.00,1750.62,0,0,0,30.00,30.00,15.88
$GC,3092.40,1188,-145.99,-0.47,0.00,3895.6,3984.3,3806.9,1921.9,1745.5,235.63,-6.73,386,3098.33,0.00,0.00,2.52,0.000,0.000,0.081,3895.88,3984.31,3807.44,1913.12,3223.50,0,0,0,30.00,30.00,15.79
$GC,3282.59,677,-145.99,-0.53,-40.00,3895.7,3984.0,3807.3,1912.1,3224.0,249.58,-7.66,406,3288.55,0.00,0.12,2.43,0.000,0.096,0.055,3895.84,3983.94,3807.75,1842.25,1749.50,0,0,0,30.00,15.87,15.81
$GC,3412.14,1157,-145.99,-0.50,0.00,3895.6,3984.4,3806.8,1842.2,1745.4,262.45,-10.09,432,3418.47,0.00,0.20,2.54,0.000,0.209,0.084,3896.19,3984.12,3808.25,1890.81,3221.69,0,0,0,30.00,15.77,15.80
$GC,3722.72,548,-145.99,-0.50,-40.00,3895.1,3984.1,3806.1,1891.9,3221.5,287.44,-7.61,449,3728.36,0.00,0.00,2.45,0.000,0.000,0.056,3895.72,3984.31,3807.12,1892.25,1751.31,0,0,0,30.00,30.00,15.89
$GC,3762.53,1060,-145.99,-0.50,0.00,3895.2,3984.4,3806.0,1892.0,1746.8,290.39,-7.36,457,3768.39,0.00,0.00,2.53,0.000,0.000,0.084,3895.62,3984.25,3807.00,1883.69,3220.69,0,0,0,30.00,30.00,15.89
$STATE,3903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3903,begin apogee
$GC,3906.18,3,0.00,-0.12,0.00,3895.1,3984.0,3806.2,1883.6,1862.0,301.56,-8.09,467,4020.29,109.33,0.40,0.11,1.413,0.160,0.153,3297.34,3409.38,3185.31,2016.06,1940.62,0,0,0,12.70,15.83,15.17
$STATE,4023,end apogee,CONTROL_FINISHED_OK
$STATE,4023,begin climb
$GC,4023.38,519,145.99,0.43,-40.00,3296.9,3409.8,3184.1,2014.8,1939.8,306.57,0.00,472,4157.39,111.23,0.50,2.59,1.381,0.082,0.065,2702.59,2809.12,2596.06,2207.94,459.88,0,0,0,12.32,15.34,14.99
$GC,4379.18,1191,391.85,0.67,0.00,2696.2,2795.1,2597.4,2210.4,458.1,300.83,5.49,537,4576.90,182.33,0.15,2.49,1.362,0.081,0.065,1701.22,1781.12,1621.31,2281.44,1927.12,0,0,0,12.44,15.56,15.56
$GC,4879.07,645,391.85,0.58,-40.00,1695.4,1770.2,1620.6,2281.2,1927.2,235.09,14.34,596,4897.13,0.00,0.19,2.50,0.000,0.207,0.067,1695.91,1770.56,1621.25,2234.31,461.12,0,0,0,30.00,15.51,15.51
$GC,4958.79,1062,432.37,0.63,0.00,1694.5,1768.7,1620.4,2234.6,459.8,226.90,9.26,610,5001.69,31.24,0.00,2.48,1.233,0.000,0.067,1535.06,1614.00,1456.12,2234.75,1927.12,0,0,0,12.55,30.00,15.62
$GC,5183.98,644,432.37,0.59,-40.00,1532.7,1608.9,1456.5,2234.8,1926.6,203.68,10.50,636,5201.99,0.00,0.00,2.48,0.000,0.000,0.066,1531.81,1608.06,1455.56,2245.94,463.62,0,0,0,30.00,30.00,15.66
$GC,5303.67,1190,456.28,0.64,0.00,1532.2,1607.6,1456.8,2244.9,462.3,191.98,9.56,658,5335.27,19.88,0.00,2.47,1.164,0.000,0.065,1439.72,1517.56,1361.88,2245.88,1925.81,0,0,0,12.52,30.00,15.68
$GC,5517.42,388,456.28,0.60,40.00,1436.1,1511.3,1360.8,2245.2,1926.0,168.50,11.23,682,5535.42,0.00,0.00,2.44,0.000,0.000,0.086,1436.00,1511.75,1360.25,2245.50,3331.62,0,0,0,30.00,30.00,15.61
$GC,5672.66,1156,456.28,0.54,0.00,1434.6,1510.8,1358.5,2245.1,3331.8,148.72,13.18,711,5690.67,0.00,0.00,2.45,0.000,0.000,0.056,1434.50,1510.56,1358.44,2256.25,1863.69,0,0,0,30.00,30.00,15.65
$GC,5862.76,645,456.28,0.49,-40.00,1434.8,1511.5,1358.2,2257.1,1858.3,125.10,12.25,730,5880.81,0.00,0.19,2.34,0.000,0.185,0.068,1434.03,1510.50,1357.56,2204.00,461.00,0,0,0,30.00,15.74,15.79
$GC,5927.88,1191,547.96,0.68,0.00,1434.1,1509.8,1358.3,2204.4,460.8,119.25,8.32,741,6009.07,67.93,0.18,2.45,1.178,0.084,0.064,1065.44,1137.69,993.19,2284.62,1934.56,0,0,0,12.70,15.77,15.69
$GC,6191.16,645,547.96,0.62,-40.00,1062.6,1133.2,992.0,2285.2,1934.7,81.24,15.70,775,6209.23,0.00,0.16,2.50,0.000,0.197,0.067,1062.25,1133.00,991.50,2246.38,462.31,0,0,0,30.00,15.59,15.59
$GC,6336.31,1157,547.96,0.78,0.00,1060.6,1129.6,991.6,2245.9,460.8,65.42,11.06,802,6354.37,0.00,0.15,2.46,0.000,0.078,0.064,1060.31,1129.31,991.31,2330.81,1927.00,0,0,0,30.00,15.65,15.67
$GC,6526.42,389,547.96,0.68,40.00,1060.6,1129.5,991.7,2330.4,1926.8,32.71,18.64,821,6544.50,0.00,0.25,2.43,0.000,0.210,0.086,1060.62,1129.25,992.00,2256.50,3333.50,0,0,0,30.00,15.71,15.70
$GC,6581.58,1156,547.96,0.63,0.00,1060.0,1129.2,990.8,2257.2,3333.1,24.42,13.57,830,6599.59,0.00,0.00,2.46,0.000,0.000,0.056,1060.53,1129.50,991.56,2263.44,1863.88,0,0,0,30.00,30.00,15.76
$GC,6771.76,644,547.96,0.61,-40.00,1059.5,1129.5,989.5,2266.1,1858.0,2.10,11.50,849,6789.50,0.00,0.00,1.38,0.000,0.000,0.063,1060.38,1130.44,990.31,2271.75,1011.88,0,0,0,30.00,30.00,15.79
$STATE,6790,end climb,SURFACE_DEPTH_REACHED
$STATE,6790,begin surface coast
$FINISH,-0.3,1.024496
$STATE,6802,end surface coast,CONTROL_FINISHED_OK
$STATE,6802,begin surface
$SM_CCo,6879.46,0.00,0.000,0,1058.3,1127.1,989.4,549.89
$SM_GC,0.43,0.00,5.82,3.78,0.000,0.052,0.080,1058.3,1127.1,989.4,125.7,3219.8,0,0,0,30.00,15.81,15.83
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,5827.49,-2234.66,060619,102523
$TCM_TEMP,15.40
$XPDR_PINGS,18
$SC_FREEKB,3832320
$TM_FREEKB,6695328
$HUMID,51.57
$TEMP,7.73
$INTERNAL_PRESSURE,8.80592
$24V_AH,14.69,26.165
$10V_AH,15.00,0.000
$FG_AHR_24Vo,9.608
$FG_AHR_10Vo,6.838
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,666.265,18.075,96.825,427.663,4.500,35.956,2981.638,4443.757,1492.617,0.000,0.000,0.000
$DEVICE_MAMPS,1413.432,459.280,152.600,204.728,420.000,15.000,19.800,2.190,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6812.000,4203.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,38.046,48.047,0.000,0.000
$MEM,1134280,29,45364,47
$DATA_FILE_SIZE,33984,852
$CAP_FILE_SIZE,224922,0
$SDSIZE,3918848,3890912
$SDFILEDIR,399,1
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$GPS,060619,143420,5830.734,-2237.324,23,0.9,33,-11.4