version: 67.00
glider: 526
mission: 3
dive: 68
start: 6 7 119 10 43 16
data:
$ID,526
$MISSION,3
$DIVE,68
$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,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,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,7.6259117
$FG_AHR_24V,10.827837
$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
$GPS1,070619,103333,5842.434,-2218.321,22,0.8,23,-11.3
$_CALLS,1
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-60.0
$GPS2,070619,104302,5842.465,-2218.167,31,0.9,31,-11.3
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,HEADING
$TGT_LATLONG,5851.818,-2228.610
$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,341.3,20000,-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,8.33,2,-145.99,-0.43,0.00,1189.3,1233.8,1144.8,126.4,3144.3,0.00,0.00,0,137.91,123.82,0.00,0.00,0.005,0.000,0.000,3445.75,3522.50,3369.00,125.75,3143.94,0,0,0,15.45,30.00,30.00
$GC,138.16,295,-145.99,-0.43,40.00,3445.6,3521.9,3369.3,125.6,3143.2,3.36,-2.35,13,165.24,11.19,9.13,1.44,0.007,0.459,0.102,3893.81,3991.00,3796.62,1904.94,3971.12,0,0,0,15.61,15.23,15.41
$GC,262.30,1060,-145.99,-0.43,0.00,3895.3,3990.8,3799.9,1905.0,3970.9,18.38,-7.27,38,267.91,0.00,0.00,1.34,0.000,0.000,0.053,3895.25,3990.81,3799.69,1904.25,3156.94,0,0,0,30.00,30.00,15.71
$GC,452.36,548,-145.99,-0.43,-40.00,3895.4,3991.1,3799.8,1904.6,3156.5,31.81,-6.95,58,458.15,0.00,0.00,2.31,0.000,0.000,0.055,3896.22,3991.12,3801.31,1904.19,1750.88,0,0,0,30.00,30.00,15.69
$GC,506.93,1060,-145.99,-0.43,0.00,3895.6,3991.0,3800.2,1904.5,1746.9,35.66,-6.99,69,513.57,0.00,0.00,2.56,0.000,0.000,0.082,3896.38,3991.56,3801.19,1895.94,3221.12,0,0,0,30.00,30.00,15.71
$GC,692.35,32,-145.99,-0.43,0.00,3895.3,3990.8,3799.8,1895.4,3221.7,49.05,-6.81,88,695.22,0.00,0.00,0.00,0.000,0.000,0.000,3894.91,3990.38,3799.44,1896.00,3221.56,0,0,0,30.00,30.00,30.00
$GC,872.55,548,-145.99,-0.43,-40.00,3895.5,3990.8,3800.3,1895.2,3221.6,62.06,-7.10,106,878.23,0.00,0.00,2.45,0.000,0.000,0.055,3896.03,3991.38,3800.69,1895.75,1750.00,0,0,0,30.00,30.00,15.67
$GC,912.37,1060,-145.99,-0.43,0.00,3895.7,3991.5,3799.9,1896.0,1745.2,64.86,-6.98,114,918.25,0.00,0.00,2.54,0.000,0.000,0.083,3896.41,3991.31,3801.50,1886.56,3220.44,0,0,0,30.00,30.00,15.67
$GC,1102.56,161,-145.99,-0.40,0.00,3895.4,3991.2,3799.7,1887.2,3220.3,80.27,-8.31,134,1105.54,0.00,0.12,0.00,0.000,0.213,0.000,3894.53,3990.12,3798.94,1924.25,3220.00,0,0,0,30.00,15.72,30.00
$GC,1282.54,548,-145.99,-0.40,-40.00,3895.4,3990.9,3799.9,1924.0,3220.0,90.71,-5.59,152,1288.29,0.00,0.00,2.43,0.000,0.000,0.055,3896.06,3991.25,3800.88,1924.75,1749.38,0,0,0,30.00,30.00,15.77
$GC,1322.59,1188,-145.99,-0.43,0.00,3895.4,3991.0,3799.9,1924.4,1744.0,93.03,-5.62,160,1328.33,0.00,0.00,2.55,0.000,0.000,0.081,3896.09,3991.19,3801.00,1914.50,3221.88,0,0,0,30.00,30.00,15.73
$GC,1512.52,32,-145.99,-0.43,0.00,3895.2,3990.7,3799.7,1914.9,3223.2,104.73,-6.24,180,1515.75,0.00,0.00,0.00,0.000,0.000,0.000,3894.75,3990.06,3799.44,1915.44,3222.38,0,0,0,30.00,30.00,30.00
$GC,1692.53,548,-145.99,-0.43,-40.00,3895.3,3990.7,3799.9,1915.2,3222.8,115.87,-6.24,198,1698.38,0.00,0.00,2.44,0.000,0.000,0.055,3895.12,3990.62,3799.62,1915.38,1751.81,0,0,0,30.00,30.00,15.78
$GC,1752.56,1188,-145.99,-0.45,0.00,3895.3,3991.0,3799.7,1914.8,1748.1,119.72,-6.46,210,1758.42,0.00,0.00,2.53,0.000,0.000,0.082,3896.16,3991.06,3801.25,1904.56,3221.81,0,0,0,30.00,30.00,15.74
$GC,1942.60,32,-145.99,-0.45,0.00,3895.3,3990.7,3799.9,1904.3,3223.3,133.14,-7.09,230,1945.74,0.00,0.00,0.00,0.000,0.000,0.000,3894.81,3990.44,3799.19,1905.00,3222.88,0,0,0,30.00,30.00,30.00
$GC,2122.61,548,-145.99,-0.45,-40.00,3895.3,3990.7,3799.9,1904.2,3223.1,145.65,-6.82,248,2128.46,0.00,0.00,2.44,0.000,0.000,0.055,3896.28,3991.69,3800.88,1904.69,1753.81,0,0,0,30.00,30.00,15.81
$GC,2177.24,1060,-145.99,-0.45,0.00,3895.5,3991.2,3799.8,1904.4,1749.2,149.46,-6.94,259,2184.47,0.00,0.00,2.54,0.000,0.000,0.082,3895.75,3991.38,3800.12,1894.12,3220.19,0,0,0,30.00,30.00,15.80
$GC,2362.84,292,-145.99,-0.45,40.00,3895.0,3990.6,3799.4,1894.1,3221.2,163.22,-7.39,278,2368.29,0.00,0.00,1.27,0.000,0.000,0.094,3896.03,3991.19,3800.88,1888.75,3975.00,0,0,0,30.00,30.00,15.82
$GC,2402.91,1060,-145.99,-0.45,0.00,3895.0,3990.5,3799.5,1888.7,3974.8,166.23,-7.28,286,2408.57,0.00,0.00,1.33,0.000,0.000,0.052,3895.72,3990.56,3800.88,1888.38,3153.69,0,0,0,30.00,30.00,15.72
$GC,2592.78,548,-145.99,-0.45,-40.00,3895.2,3990.9,3799.4,1888.8,3154.1,181.03,-7.91,306,2598.51,0.00,0.00,2.30,0.000,0.000,0.054,3895.69,3991.06,3800.31,1888.56,1749.75,0,0,0,30.00,30.00,15.75
$GC,2652.72,1060,-145.99,-0.45,0.00,3895.1,3990.7,3799.6,1888.8,1745.2,185.64,-7.61,318,2658.59,0.00,0.00,2.55,0.000,0.000,0.082,3896.41,3991.19,3801.62,1879.25,3222.31,0,0,0,30.00,30.00,15.76
$GC,2842.96,421,-145.99,-0.43,40.00,3894.8,3990.4,3799.3,1879.4,3223.4,201.94,-8.65,338,2848.81,0.00,0.12,1.26,0.000,0.213,0.095,3895.16,3990.56,3799.75,1912.00,3970.69,0,0,0,30.00,15.78,15.71
$GC,2887.36,1060,-145.99,-0.43,0.00,3894.9,3990.6,3799.2,1912.3,3970.9,205.09,-7.53,347,2893.50,0.00,0.00,1.32,0.000,0.000,0.053,3896.06,3991.25,3800.88,1911.38,3155.31,0,0,0,30.00,30.00,15.84
$GC,3072.94,548,-145.99,-0.43,-40.00,3895.1,3990.5,3799.7,1912.4,3156.1,217.29,-6.38,366,3078.95,0.00,0.00,2.30,0.000,0.000,0.055,3895.78,3991.00,3800.56,1911.69,1750.88,0,0,0,30.00,30.00,15.80
$GC,3127.42,1188,-145.99,-0.45,0.00,3895.3,3990.5,3800.2,1912.4,1746.7,220.98,-6.78,377,3134.20,0.00,0.00,2.53,0.000,0.000,0.081,3895.44,3990.81,3800.06,1901.69,3222.50,0,0,0,30.00,30.00,15.82
$GC,3312.88,32,-145.99,-0.45,0.00,3895.3,3990.6,3800.1,1901.2,3222.8,233.70,-6.91,396,3315.76,0.00,0.00,0.00,0.000,0.000,0.000,3894.72,3990.38,3799.06,1901.94,3222.56,0,0,0,30.00,30.00,30.00
$GC,3493.05,548,-145.99,-0.45,-40.00,3895.2,3990.9,3799.4,1901.3,3222.6,246.47,-7.06,414,3498.70,0.00,0.00,2.45,0.000,0.000,0.055,3895.88,3991.44,3800.31,1900.75,1753.25,0,0,0,30.00,30.00,15.86
$GC,3543.08,1060,-145.99,-0.45,0.00,3895.1,3990.8,3799.4,1901.2,1749.4,250.00,-7.06,424,3548.74,0.00,0.00,2.53,0.000,0.000,0.081,3895.78,3990.69,3800.88,1890.50,3220.44,0,0,0,30.00,30.00,15.72
$GC,3732.94,292,-145.99,-0.45,40.00,3895.1,3991.1,3799.1,1891.3,3220.6,264.15,-7.44,435,3738.51,0.00,0.00,1.26,0.000,0.000,0.094,3895.31,3991.00,3799.62,1885.75,3970.69,0,0,0,30.00,30.00,15.84
$GC,3772.99,1060,-145.99,-0.45,0.00,3894.8,3990.2,3799.2,1885.8,3970.8,267.14,-7.47,443,3778.55,0.00,0.00,1.32,0.000,0.000,0.053,3895.69,3991.31,3800.06,1885.19,3155.12,0,0,0,30.00,30.00,15.88
$STATE,3913,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3913,begin apogee
$GC,3916.64,3,0.00,-0.12,0.00,3894.7,3989.9,3799.6,1885.6,1860.4,278.16,-7.94,453,4030.50,109.29,0.40,0.12,1.392,0.170,0.161,3297.69,3410.25,3185.12,2014.50,1940.31,0,0,0,12.59,15.82,15.16
$STATE,4033,end apogee,CONTROL_FINISHED_OK
$STATE,4033,begin climb
$GC,4033.44,3,145.99,0.43,0.00,3297.5,3408.8,3186.2,2015.1,1940.8,283.26,0.00,458,4165.00,111.38,0.50,0.00,1.358,0.085,0.000,2702.75,2811.12,2594.38,2200.38,1940.62,0,0,0,12.28,15.33,30.00
$GC,4472.06,679,456.93,0.74,-40.00,2696.3,2807.4,2585.2,2199.7,1940.6,276.75,4.30,492,4716.57,228.96,0.24,2.62,1.332,0.065,0.067,1436.00,1495.00,1377.00,2313.81,462.44,0,0,0,12.53,15.60,14.97
$GC,4763.22,1157,456.93,0.70,0.00,1433.8,1490.6,1376.9,2313.6,461.4,240.59,12.59,543,4781.31,0.00,0.17,2.55,0.000,0.177,0.066,1432.91,1489.44,1376.38,2264.00,1923.38,0,0,0,30.00,15.22,15.28
$GC,4963.62,388,456.93,0.64,40.00,1432.7,1488.8,1376.6,2263.2,1922.8,216.31,12.37,563,4981.62,0.00,0.00,2.47,0.000,0.000,0.084,1433.28,1489.25,1377.31,2259.50,3333.50,0,0,0,30.00,30.00,15.43
$GC,5073.30,1156,456.93,0.57,0.00,1430.7,1488.7,1372.6,2262.2,3333.6,201.35,13.70,583,5091.30,0.00,0.00,2.47,0.000,0.000,0.056,1430.16,1488.38,1371.94,2271.69,1860.75,0,0,0,30.00,30.00,15.62
$GC,5273.41,645,456.93,0.51,-40.00,1430.7,1488.8,1372.6,2271.9,1853.4,175.59,12.72,603,5291.49,0.00,0.22,2.33,0.000,0.189,0.065,1431.25,1489.38,1373.12,2209.62,462.31,0,0,0,30.00,15.61,15.68
$GC,5348.76,1191,581.57,0.73,0.00,1430.6,1489.1,1372.1,2210.7,460.8,169.23,7.71,616,5455.80,92.12,0.20,2.46,1.218,0.071,0.062,929.66,999.56,859.75,2304.19,1928.50,0,0,0,12.56,15.71,15.69
$GC,5629.77,645,581.57,0.65,-40.00,925.2,995.2,855.1,2304.8,1929.0,126.14,16.38,654,5647.85,0.00,0.19,2.51,0.000,0.198,0.065,925.44,995.12,855.75,2255.38,462.50,0,0,0,30.00,15.48,15.54
$GC,5745.00,1191,607.93,0.76,0.00,923.4,991.6,855.3,2256.8,462.2,114.41,9.52,675,5777.56,21.17,0.10,2.47,1.081,0.106,0.060,822.09,895.88,748.31,2310.50,1933.62,0,0,0,12.41,15.62,15.62
$GC,5951.02,389,607.93,0.68,40.00,819.8,892.1,747.5,2310.3,1933.9,82.65,16.87,698,5969.09,0.00,0.17,2.43,0.000,0.201,0.084,819.44,891.75,747.12,2258.50,3330.62,0,0,0,30.00,15.60,15.54
$GC,6046.22,1156,607.93,0.65,0.00,818.9,891.0,746.9,2258.6,3330.8,69.93,12.60,715,6064.22,0.00,0.00,2.46,0.000,0.000,0.056,818.66,890.81,746.50,2267.62,1864.88,0,0,0,30.00,30.00,15.58
$GC,6236.32,644,607.93,0.62,-40.00,818.8,891.1,746.6,2267.2,1859.2,47.60,12.00,734,6254.46,0.00,0.00,2.35,0.000,0.000,0.068,818.03,890.12,745.94,2277.44,463.69,0,0,0,30.00,30.00,15.66
$GC,6261.63,1028,607.93,0.62,0.00,818.1,888.8,747.3,2278.0,462.6,44.73,11.64,737,6281.72,0.00,0.00,2.46,0.000,0.000,0.066,818.38,889.00,747.75,2275.56,1925.75,0,0,0,30.00,30.00,15.72
$GC,6453.88,645,607.93,0.59,-40.00,817.8,888.6,746.9,2278.2,1927.2,22.40,11.96,756,6471.95,0.00,0.16,2.48,0.000,0.169,0.067,817.91,888.75,747.06,2235.00,462.44,0,0,0,30.00,15.69,15.74
$STATE,6639,end climb,SURFACE_DEPTH_REACHED
$STATE,6639,begin surface coast
$FINISH,0.3,1.023341
$STATE,6649,end surface coast,CONTROL_FINISHED_OK
$STATE,6649,begin surface
$SM_CCo,6727.47,0.00,0.000,0,817.4,887.8,747.1,608.97
$SM_GC,0.40,0.00,5.72,4.70,0.000,0.053,0.079,817.4,887.8,747.1,121.6,3217.7,0,0,0,30.00,15.81,15.82
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,5840.05,-2221.91,070619,082900
$TCM_TEMP,15.70
$XPDR_PINGS,18
$SC_FREEKB,3824960
$TM_FREEKB,6569536
$HUMID,51.56
$TEMP,7.33
$INTERNAL_PRESSURE,8.76475
$24V_AH,14.68,29.881
$10V_AH,15.00,0.000
$FG_AHR_24Vo,10.959
$FG_AHR_10Vo,7.688
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,697.920,17.435,89.030,421.506,4.500,40.871,2904.755,4369.695,1401.510,0.000,0.000,0.000
$DEVICE_MAMPS,1392.112,458.624,160.800,203.774,420.000,15.000,19.800,2.190,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6659.000,4210.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,39.261,17.715,0.000,0.000
$MEM,1134320,27,45364,47
$DATA_FILE_SIZE,30614,793
$CAP_FILE_SIZE,216193,0
$SDSIZE,3918848,3888384
$SDFILEDIR,459,1
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$GPS,,123603,5843.164,-2217.096,15,1.8,16,-11.3