version: 67.00
glider: 526
mission: 3
dive: 60
start: 6 6 119 16 54 11
data:
$ID,526
$MISSION,3
$DIVE,60
$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,6.9364538
$FG_AHR_24V,9.7463264
$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
$GPS1,060619,163840,5832.269,-2234.897,18,0.8,28,-11.4
$_CALLS,4
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-55.4
$GPS2,060619,165356,5832.446,-2234.534,31,1.4,32,-11.4
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,HEADING
$TGT_LATLONG,5841.799,-2244.926
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,8.30,2,-145.99,-0.43,0.00,775.5,819.4,731.6,132.1,3156.9,0.00,0.00,0,163.29,148.73,0.00,0.00,0.005,0.000,0.000,3669.00,3746.31,3591.69,130.88,3156.69,0,0,0,15.42,30.00,30.00
$GC,163.54,35,-145.99,-0.43,0.00,3668.5,3746.1,3590.9,131.0,3156.4,5.10,-7.97,15,182.15,4.74,9.09,0.00,0.009,0.458,0.000,3894.50,3980.38,3808.62,1911.81,3156.50,0,0,0,15.63,15.26,30.00
$GC,359.43,292,-145.99,-0.43,40.00,3896.6,3984.8,3808.4,1910.9,3156.6,30.47,-8.25,36,365.04,0.00,0.00,1.42,0.000,0.000,0.096,3897.69,3985.38,3810.00,1904.38,3973.25,0,0,0,30.00,30.00,15.69
$GC,404.08,1060,-145.99,-0.43,0.00,3896.8,3984.8,3808.9,1905.5,3973.9,34.43,-8.80,45,410.38,0.00,0.00,1.33,0.000,0.000,0.052,3897.19,3984.75,3809.62,1904.31,3157.31,0,0,0,30.00,30.00,15.73
$GC,589.43,548,-145.99,-0.43,-40.00,3896.7,3984.5,3808.9,1905.5,3157.9,49.88,-7.98,64,595.27,0.00,0.00,2.32,0.000,0.000,0.055,3896.91,3984.75,3809.06,1905.31,1752.88,0,0,0,30.00,30.00,15.67
$GC,659.63,1060,-145.99,-0.43,0.00,3896.6,3984.6,3808.6,1905.4,1748.1,55.38,-7.78,78,665.64,0.00,0.00,2.54,0.000,0.000,0.083,3897.06,3984.81,3809.31,1895.38,3222.81,0,0,0,30.00,30.00,15.74
$GC,849.58,420,-145.99,-0.41,40.00,3896.4,3984.6,3808.2,1895.8,3222.9,72.09,-8.56,98,855.13,0.00,0.00,1.27,0.000,0.000,0.094,3896.75,3984.81,3808.69,1889.94,3971.12,0,0,0,30.00,30.00,15.74
$GC,894.12,1060,-145.99,-0.41,0.00,3896.2,3984.2,3808.2,1890.2,3970.8,75.70,-8.03,107,900.50,0.00,0.00,1.32,0.000,0.000,0.051,3896.91,3984.88,3808.94,1890.12,3154.31,0,0,0,30.00,30.00,15.77
$GC,1079.58,677,-145.99,-0.38,-40.00,3896.8,3984.9,3808.8,1890.8,3154.2,91.08,-8.63,126,1085.50,0.00,0.12,2.31,0.000,0.198,0.054,3896.91,3984.94,3808.88,1931.88,1751.19,0,0,0,30.00,15.72,15.77
$GC,1129.70,1188,-145.99,-0.41,0.00,3896.6,3984.4,3808.8,1931.7,1746.9,94.54,-6.89,136,1135.43,0.00,0.00,2.53,0.000,0.000,0.082,3897.69,3985.75,3809.62,1923.50,3219.62,0,0,0,30.00,30.00,15.69
$GC,1319.84,677,-145.99,-0.51,-40.00,3896.6,3984.6,3808.6,1922.9,3220.2,106.75,-6.19,156,1325.70,0.00,0.12,2.44,0.000,0.099,0.053,3897.12,3985.06,3809.19,1868.75,1750.94,0,0,0,30.00,15.78,15.79
$GC,1404.28,1060,-145.99,-0.51,0.00,3896.2,3984.2,3808.1,1868.1,1746.4,112.84,-7.49,173,1410.87,0.00,0.00,2.55,0.000,0.000,0.084,3896.94,3984.94,3808.94,1859.00,3224.12,0,0,0,30.00,30.00,15.80
$GC,1589.83,421,-145.99,-0.46,40.00,3896.4,3984.3,3808.4,1858.6,3224.6,130.01,-9.45,192,1595.74,0.00,0.15,1.27,0.000,0.211,0.095,3897.25,3985.06,3809.44,1900.88,3971.00,0,0,0,30.00,15.74,15.79
$GC,1649.74,1060,-145.99,-0.46,0.00,3896.5,3984.5,3808.5,1900.5,3971.1,134.10,-6.63,204,1655.31,0.00,0.00,1.33,0.000,0.000,0.052,3897.16,3984.62,3809.69,1901.00,3154.62,0,0,0,30.00,30.00,15.81
$GC,1839.89,548,-145.99,-0.46,-40.00,3896.3,3984.4,3808.2,1900.6,3154.4,147.14,-7.06,224,1845.50,0.00,0.00,2.30,0.000,0.000,0.054,3896.88,3984.56,3809.19,1901.62,1750.81,0,0,0,30.00,30.00,15.82
$GC,1894.31,1060,-145.99,-0.46,0.00,3896.4,3984.5,3808.3,1900.8,1746.3,150.98,-6.95,235,1901.05,0.00,0.00,2.53,0.000,0.000,0.082,3897.38,3985.38,3809.38,1891.75,3221.94,0,0,0,30.00,30.00,15.73
$GC,2079.95,32,-145.99,-0.46,0.00,3896.4,3983.9,3808.9,1891.6,3221.4,165.04,-7.56,254,2083.08,0.00,0.00,0.00,0.000,0.000,0.000,3896.34,3984.75,3807.94,1891.75,3222.25,0,0,0,30.00,30.00,30.00
$GC,2259.93,548,-145.99,-0.46,-40.00,3896.3,3984.8,3807.9,1891.8,3222.1,178.59,-7.61,272,2265.60,0.00,0.00,2.43,0.000,0.000,0.056,3897.00,3985.12,3808.88,1890.88,1753.56,0,0,0,30.00,30.00,15.82
$GC,2314.37,1060,-145.99,-0.46,0.00,3896.3,3984.2,3808.3,1891.8,1749.4,182.69,-7.29,283,2321.08,0.00,0.00,2.54,0.000,0.000,0.083,3896.72,3984.38,3809.06,1882.06,3221.19,0,0,0,30.00,30.00,15.74
$GC,2499.83,160,-145.99,-0.44,0.00,3895.9,3984.1,3807.8,1882.2,3221.4,197.98,-8.51,302,2502.84,0.00,0.00,0.00,0.000,0.000,0.000,3895.78,3984.50,3807.06,1882.31,3221.50,0,0,0,30.00,30.00,30.00
$GC,2680.05,548,-145.99,-0.44,-40.00,3895.8,3984.4,3807.2,1881.8,3221.4,213.19,-8.39,320,2685.67,0.00,0.00,2.44,0.000,0.000,0.056,3896.22,3984.19,3808.25,1882.19,1752.81,0,0,0,30.00,30.00,15.83
$GC,2729.82,1060,-145.99,-0.44,0.00,3895.9,3984.2,3807.6,1882.1,1747.9,217.30,-8.20,330,2735.85,0.00,0.00,2.54,0.000,0.000,0.084,3896.38,3984.88,3807.88,1872.69,3223.00,0,0,0,30.00,30.00,15.82
$GC,2919.94,161,-145.99,-0.41,0.00,3895.6,3984.3,3806.9,1872.2,3222.8,235.12,-9.66,350,2922.92,0.00,0.16,0.00,0.000,0.198,0.000,3896.31,3984.00,3808.62,1920.62,3222.94,0,0,0,30.00,15.78,30.00
$GC,3099.91,676,-145.99,-0.43,-40.00,3895.5,3984.2,3806.8,1921.6,3222.8,246.67,-6.23,368,3105.74,0.00,0.00,2.44,0.000,0.000,0.056,3896.44,3985.19,3807.69,1921.31,1752.56,0,0,0,30.00,30.00,15.84
$GC,3150.09,1188,-145.99,-0.47,0.00,3895.7,3984.3,3807.0,1922.1,1747.9,250.00,-6.64,378,3155.82,0.00,0.00,2.54,0.000,0.000,0.083,3896.09,3984.81,3807.38,1914.00,3221.81,0,0,0,30.00,30.00,15.83
$GC,3459.96,421,-145.99,-0.55,40.00,3895.3,3984.2,3806.4,1913.6,3222.1,272.53,-7.30,395,3465.62,0.00,0.13,1.27,0.000,0.091,0.095,3895.41,3984.62,3806.19,1852.38,3970.44,0,0,0,30.00,15.86,15.84
$GC,3520.12,1188,-145.99,-0.52,0.00,3894.9,3984.3,3805.5,1852.6,3970.2,277.55,-8.72,407,3525.59,0.00,0.00,1.30,0.000,0.000,0.053,3895.72,3984.81,3806.62,1852.31,3155.88,0,0,0,30.00,30.00,15.87
$STATE,3740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3740,begin apogee
$GC,3743.45,3,0.00,-0.12,0.00,3894.6,3984.2,3805.0,1852.1,1862.9,300.50,-10.63,421,3857.88,109.39,0.51,0.11,1.419,0.181,0.166,3297.81,3409.69,3185.94,2015.00,1939.94,0,0,0,12.73,15.83,15.18
$STATE,3861,end apogee,CONTROL_FINISHED_OK
$STATE,3861,begin climb
$GC,3861.01,3,145.99,0.43,0.00,3297.5,3410.8,3184.2,2014.9,1939.8,305.85,0.00,426,3992.55,111.36,0.50,0.00,1.384,0.082,0.000,2702.91,2810.81,2595.00,2198.81,1939.94,0,0,0,12.30,15.33,30.00
$GC,4299.83,679,459.40,0.74,-40.00,2696.5,2807.1,2585.9,2198.4,1939.4,299.75,4.25,460,4545.38,230.76,0.25,2.62,1.360,0.066,0.068,1426.50,1484.31,1368.69,2314.50,462.44,0,0,0,12.49,15.62,14.99
$GC,4592.03,1157,459.40,0.71,0.00,1422.9,1477.9,1367.9,2314.2,461.1,263.57,12.84,508,4610.11,0.00,0.16,2.55,0.000,0.184,0.068,1423.66,1478.38,1368.94,2263.62,1922.38,0,0,0,30.00,15.23,15.29
$GC,4897.98,644,459.40,0.64,-40.00,1421.7,1475.7,1367.7,2266.2,1923.0,223.79,13.26,533,4915.97,0.00,0.00,2.49,0.000,0.000,0.068,1421.03,1475.12,1366.94,2274.94,462.12,0,0,0,30.00,30.00,15.61
$GC,4967.61,1028,459.40,0.64,0.00,1421.5,1475.2,1367.7,2275.1,461.1,215.58,10.95,545,4985.60,0.00,0.00,2.47,0.000,0.000,0.068,1420.66,1474.62,1366.69,2275.38,1924.19,0,0,0,30.00,30.00,15.65
$GC,5167.71,645,459.40,0.57,-40.00,1421.2,1474.8,1367.6,2275.4,1925.2,187.95,14.46,565,5185.77,0.00,0.17,2.46,0.000,0.193,0.068,1420.69,1474.50,1366.88,2232.44,461.12,0,0,0,30.00,15.66,15.71
$GC,5237.45,1190,484.38,0.65,0.00,1421.2,1474.8,1367.5,2232.4,461.1,180.61,9.54,577,5269.62,20.23,0.00,2.46,1.158,0.000,0.067,1324.78,1389.44,1260.12,2231.31,1925.44,0,0,0,12.60,30.00,15.74
$GC,5451.75,128,484.38,0.63,0.00,1322.0,1386.1,1257.9,2232.5,1926.0,158.62,10.38,601,5469.17,0.00,0.00,0.00,0.000,0.000,0.000,1321.34,1385.62,1257.06,2232.50,1925.88,0,0,0,30.00,30.00,30.00
$GC,5643.05,644,484.38,0.60,-40.00,1321.7,1385.8,1257.6,2232.2,1925.5,139.18,10.01,619,5661.05,0.00,0.00,2.48,0.000,0.000,0.069,1322.41,1386.62,1258.19,2241.69,462.44,0,0,0,30.00,30.00,15.79
$GC,5768.25,1191,538.84,0.71,0.00,1321.5,1385.6,1257.4,2242.4,461.2,127.37,9.00,642,5821.33,41.38,0.09,2.45,1.173,0.094,0.066,1102.69,1172.75,1032.62,2303.81,1928.50,0,0,0,12.63,15.80,15.80
$GC,5994.22,389,538.84,0.63,40.00,1100.8,1169.9,1031.6,2303.3,1928.6,92.78,15.93,669,6012.28,0.00,0.20,2.45,0.000,0.195,0.089,1100.19,1169.38,1031.00,2241.81,3331.38,0,0,0,30.00,15.62,15.59
$GC,6083.95,1156,538.84,0.60,0.00,1099.5,1168.8,1030.3,2241.1,3331.8,81.75,11.46,685,6101.95,0.00,0.00,2.47,0.000,0.000,0.056,1100.03,1168.81,1031.25,2250.56,1865.44,0,0,0,30.00,30.00,15.70
$GC,6284.11,644,538.84,0.58,-40.00,1099.0,1168.6,1029.5,2250.7,1859.1,60.55,10.28,705,6302.09,0.00,0.00,2.33,0.000,0.000,0.069,1094.09,1159.75,1028.44,2252.81,462.62,0,0,0,30.00,30.00,15.74
$GC,6319.32,1062,548.46,0.59,0.00,1098.9,1168.1,1029.7,2261.0,462.6,57.18,9.82,710,6340.25,9.23,0.00,2.47,0.903,0.000,0.066,1064.44,1136.50,992.38,2261.31,1926.38,0,0,0,12.53,30.00,15.66
$GC,6515.28,129,548.46,0.56,0.00,1062.2,1134.3,990.0,2260.8,1926.4,37.07,10.61,731,6532.79,0.00,0.14,0.00,0.000,0.168,0.000,1061.75,1133.44,990.06,2216.06,1926.19,0,0,0,30.00,15.75,30.00
$GC,6704.96,679,634.02,0.69,-40.00,1061.2,1133.9,988.6,2215.7,1926.5,21.15,8.43,749,6781.55,62.99,0.16,2.54,1.061,0.070,0.072,715.31,789.81,640.81,2308.12,462.56,0,0,0,12.56,15.81,15.42
$GC,6823.26,1156,634.02,0.73,0.00,713.2,781.8,644.6,2307.2,461.1,6.23,11.33,771,6841.25,0.00,0.00,2.48,0.000,0.000,0.065,712.66,781.50,643.81,2307.19,1924.81,0,0,0,30.00,30.00,15.57
$STATE,6864,end climb,SURFACE_DEPTH_REACHED
$STATE,6864,begin surface coast
$FINISH,-0.2,1.024200
$STATE,6874,end surface coast,CONTROL_FINISHED_OK
$STATE,6874,begin surface
$SM_CCo,6949.31,0.00,0.000,0,711.6,781.1,642.1,634.94
$SM_GC,0.55,0.00,5.93,2.19,0.000,0.040,0.080,711.6,781.1,642.1,133.8,3219.4,0,0,0,30.00,15.61,15.62
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,5830.88,-2237.83,060619,164555
$TCM_TEMP,15.60
$XPDR_PINGS,18
$SC_FREEKB,3830848
$TM_FREEKB,6671264
$HUMID,51.64
$TEMP,-1.90
$INTERNAL_PRESSURE,8.77454
$24V_AH,14.68,26.910
$10V_AH,14.94,0.000
$FG_AHR_24Vo,9.882
$FG_AHR_10Vo,7.001
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,738.810,17.880,84.175,592.879,4.500,41.775,3118.503,4722.748,1383.260,0.000,0.000,0.000
$DEVICE_MAMPS,1419.008,457.968,166.376,204.464,420.000,15.000,19.800,2.190,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6884.000,4065.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,38.305,47.716,0.000,0.000
$MEM,1134312,28,45352,47
$DATA_FILE_SIZE,30641,776
$CAP_FILE_SIZE,219152,0
$SDSIZE,3918848,3890432
$SDFILEDIR,411,1
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$GPS,060619,185041,5833.961,-2232.543,18,1.1,19,-11.4