version: 67.00
glider: 249
mission: 6
dive: 368
start: 7 25 121 22 32 30
data:
$ID,249
$MISSION,6
$DIVE,368
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1000
$D_NO_BLEED,200
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,85
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72946
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0063095698
$HD_B,0.0094307503
$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,425
$N_FILEKB,32
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,4
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3000
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,18
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,215
$ROLL_MAX,3825
$ROLL_DEG,60
$C_ROLL_DIVE,2320
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.054949999
$ROLL_TIMEOUT,25
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2775
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$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,550
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,46.14975
$FG_AHR_24V,101.8431
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.5
$PRESSURE_SLOPE,0.0014504
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,-1
$XPDR_REP,-1
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,120
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,56
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,250721,222840,4741.669,-12529.208,2,1.0,5,16.0
$_CALLS,1
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-61.7
$GPS2,250721,223216,4741.648,-12529.161,3,1.0,4,16.0
$SPEED_LIMITS,0.173,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$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,17.4,30224,-24.5,-10.000,-25.82
$D_GRID,1000
$IRON,1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
$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,2,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5.00,16386,-82.73,-1.52,0.00,1036.1,1036.8,1035.4,180.4,2355.8,0.00,0.00,0,61.85,55.67,0.00,0.00,0.005,0.000,0.000,2550.84,2705.12,2396.56,180.69,2356.19,0,0,0,15.80,30.00,30.00
$GC,62.59,18983,-82.73,-1.52,-60.00,2549.4,2703.2,2395.5,180.7,2356.6,3.01,-5.46,10,96.67,12.35,13.23,2.71,0.007,0.247,0.060,3112.19,3309.44,2914.94,1948.38,1204.62,0,0,0,15.81,15.89,15.78
$GC,238.90,1028,-82.73,-1.52,0.00,3112.0,3309.2,2914.8,1949.9,1204.8,38.78,-15.76,45,244.46,0.00,0.00,2.62,0.000,0.000,0.027,3111.94,3309.00,2914.88,1950.19,2356.38,0,0,0,30.00,30.00,16.03
$GC,429.35,516,-82.73,-1.52,-60.00,3112.2,3308.8,2915.8,1949.7,2355.9,67.09,-15.39,83,434.50,0.00,0.00,2.69,0.000,0.000,0.056,3113.25,3309.69,2916.81,1950.12,1207.62,0,0,0,30.00,30.00,16.06
$GC,488.98,1028,-82.73,-1.52,0.00,3111.6,3307.9,2915.3,1949.8,1207.4,76.46,-15.12,95,494.51,0.00,0.00,2.58,0.000,0.000,0.027,3111.97,3308.56,2915.38,1950.19,2354.50,0,0,0,30.00,30.00,16.06
$GC,679.43,260,-82.73,-1.52,60.00,3112.3,3309.1,2915.6,1950.1,2354.4,99.67,-9.28,133,684.58,0.00,0.00,2.57,0.000,0.000,0.079,3112.38,3308.94,2915.81,1950.31,3428.50,0,0,0,30.00,30.00,16.07
$GC,724.06,1028,-82.73,-1.52,0.00,3112.3,3307.8,2916.9,1950.4,3428.4,104.26,-10.51,142,729.58,0.00,0.00,2.53,0.000,0.000,0.019,3113.00,3309.06,2916.94,1950.25,2236.81,0,0,0,30.00,30.00,16.09
$GC,1034.16,516,-82.73,-1.52,-60.00,3112.3,3307.7,2916.9,1949.9,2235.5,135.05,-10.27,204,1039.29,0.00,0.00,2.40,0.000,0.000,0.062,3112.47,3307.94,2917.00,1950.19,1206.25,0,0,0,30.00,30.00,16.10
$GC,1114.18,1028,-82.73,-1.52,0.00,3112.3,3307.5,2917.1,1950.2,1206.4,143.20,-10.07,220,1119.72,0.00,0.00,2.60,0.000,0.000,0.027,3112.78,3308.06,2917.50,1950.38,2356.12,0,0,0,30.00,30.00,16.12
$GC,1424.68,516,-82.73,-1.52,-60.00,3112.1,3307.1,2917.1,1950.2,2355.9,173.19,-9.87,282,1429.91,0.00,0.00,2.70,0.000,0.000,0.057,3112.59,3307.94,2917.25,1950.44,1206.25,0,0,0,30.00,30.00,16.12
$GC,1549.33,1028,-82.73,-1.52,0.00,3111.8,3306.9,2916.7,1950.4,1205.8,185.76,-9.84,307,1554.86,0.00,0.00,2.60,0.000,0.000,0.027,3111.66,3306.69,2916.62,1950.06,2356.00,0,0,0,30.00,30.00,16.12
$GC,1859.42,0,-82.73,-1.52,0.00,3110.7,3304.4,2917.0,1950.2,2355.5,215.80,-10.29,369,1860.75,0.00,0.00,0.00,0.000,0.000,0.000,3110.16,3304.38,2915.94,1950.12,2355.06,0,0,0,30.00,30.00,30.00
$GC,2164.70,516,-82.73,-1.52,-60.00,3110.2,3303.6,2916.8,1950.1,2355.3,248.11,-10.56,430,2170.02,0.00,0.00,2.70,0.000,0.000,0.059,3110.34,3303.44,2917.25,1950.44,1208.62,0,0,0,30.00,30.00,16.14
$GC,2304.50,1028,-82.73,-1.52,0.00,3110.2,3303.2,2917.1,1950.3,1208.2,263.30,-10.83,458,2310.03,0.00,0.00,2.59,0.000,0.000,0.028,3110.66,3303.56,2917.75,1950.19,2354.62,0,0,0,30.00,30.00,16.14
$GC,2614.53,260,-82.73,-1.52,60.00,3108.8,3301.1,2916.4,1950.0,2354.4,295.78,-10.93,520,2620.07,0.00,0.00,2.62,0.000,0.000,0.085,3109.50,3301.56,2917.44,1950.00,3428.50,0,0,0,30.00,30.00,16.11
$GC,2649.53,1028,-82.73,-1.52,0.00,3108.8,3300.8,2916.7,1949.9,3428.3,299.91,-11.98,527,2655.07,0.00,0.00,2.55,0.000,0.000,0.020,3109.59,3301.94,2917.25,1949.62,2241.00,0,0,0,30.00,30.00,16.14
$GC,2962.91,0,-82.73,-1.52,0.00,3108.2,3299.8,2916.7,1950.0,2239.8,332.35,-10.07,556,2973.99,0.00,0.00,0.00,0.000,0.000,0.000,3108.12,3299.62,2916.62,1950.31,2239.88,0,0,0,30.00,30.00,30.00
$STATE,3242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3242,begin apogee
$GC,3245.36,10243,0.00,-0.28,0.00,3107.0,3296.9,2917.1,1950.0,2189.1,360.24,-9.70,582,3313.10,56.79,2.03,0.14,1.525,0.144,0.157,2775.72,2904.94,2646.50,2254.06,2294.44,0,0,0,12.28,16.06,15.86
$STATE,3314,end apogee,CONTROL_FINISHED_OK
$STATE,3314,begin climb
$GC,3315.02,10759,82.73,1.52,-60.00,2773.5,2903.9,2643.0,2254.2,2294.3,362.44,0.00,588,3383.60,59.24,2.80,2.85,1.473,0.089,0.069,2435.75,2520.50,2351.00,2695.75,1128.44,0,0,0,12.87,15.89,15.65
$GC,3442.76,9254,125.48,1.61,0.00,2432.4,2518.2,2346.5,2696.4,1128.9,355.54,6.55,604,3479.89,32.24,0.00,2.64,1.416,0.000,0.026,2261.81,2330.88,2192.75,2695.56,2277.06,0,0,0,12.66,30.00,15.78
$GC,3786.00,324,125.48,1.63,60.00,2257.0,2331.0,2183.0,2696.0,2277.7,325.01,9.17,637,3790.62,0.00,0.00,2.66,0.000,0.000,0.084,2257.84,2332.81,2182.88,2695.19,3347.00,0,0,0,30.00,30.00,15.88
$GC,3856.31,1028,125.48,1.63,0.00,2256.6,2331.4,2181.8,2695.9,3346.1,318.17,9.81,647,3871.23,0.00,0.00,2.59,0.000,0.000,0.022,2256.31,2331.31,2181.31,2696.06,2182.56,0,0,0,30.00,30.00,15.92
$GC,4173.11,19015,125.48,1.66,-60.00,2255.3,2331.2,2179.4,2696.1,2182.7,291.06,8.41,686,4178.56,0.00,0.14,2.54,0.000,0.094,0.073,2256.72,2333.25,2180.19,2735.94,1129.69,0,0,0,30.00,15.97,15.97
$GC,4247.94,17414,125.48,1.66,0.00,2254.9,2330.8,2178.9,2734.9,1130.3,283.87,9.68,701,4253.49,0.00,0.00,2.62,0.000,0.000,0.028,2256.72,2333.44,2180.00,2734.06,2276.19,0,0,0,30.00,30.00,16.01
$GC,4558.04,16386,125.48,1.66,0.00,2253.7,2331.2,2176.2,2734.9,2275.6,255.42,9.54,763,4559.38,0.00,0.00,0.00,0.000,0.000,0.000,2252.97,2330.56,2175.38,2735.56,2275.75,0,0,0,30.00,30.00,30.00
$GC,4863.15,16966,125.48,1.67,-60.00,2252.9,2330.8,2175.1,2735.1,2276.0,226.36,9.26,824,4868.70,0.00,0.00,2.76,0.000,0.000,0.068,2254.00,2332.00,2176.00,2734.62,1128.62,0,0,0,30.00,30.00,16.08
$GC,4928.15,17414,125.48,1.67,0.00,2252.8,2331.2,2174.2,2734.8,1128.9,220.11,9.75,837,4933.68,0.00,0.00,2.60,0.000,0.000,0.028,2252.97,2331.38,2174.56,2735.44,2275.69,0,0,0,30.00,30.00,16.08
$GC,5238.27,16710,125.48,1.70,60.00,2252.2,2331.2,2173.2,2735.1,2276.0,192.97,8.79,899,5243.79,0.00,0.00,2.63,0.000,0.000,0.085,2253.03,2332.31,2173.75,2733.62,3349.06,0,0,0,30.00,30.00,16.07
$GC,5308.28,17478,125.48,1.72,0.00,2252.2,2331.3,2173.2,2735.5,3349.6,186.72,8.91,913,5313.81,0.00,0.00,2.56,0.000,0.000,0.022,2252.31,2331.44,2173.19,2735.31,2181.62,0,0,0,30.00,30.00,16.09
$GC,5618.38,8226,156.61,1.78,0.00,2251.6,2331.3,2171.9,2735.3,2181.5,162.86,7.49,975,5643.22,22.41,0.00,0.00,1.277,0.000,0.000,2136.06,2201.62,2070.50,2735.25,2181.88,0,0,0,12.44,30.00,30.00
$GC,5948.52,10791,181.80,1.83,-60.00,2132.3,2201.2,2063.4,2735.0,2181.6,135.59,7.97,1041,5974.17,19.93,0.17,2.54,1.232,0.089,0.076,2032.44,2086.19,1978.69,2779.38,1130.50,0,0,0,12.54,16.04,15.95
$GC,6093.46,1028,181.80,1.83,0.00,2029.7,2084.9,1974.4,2779.1,1129.9,122.05,10.17,1070,6099.02,0.00,0.00,2.62,0.000,0.000,0.028,2030.09,2085.88,1974.31,2778.81,2275.88,0,0,0,30.00,30.00,16.02
$GC,6403.52,8742,234.76,1.94,-60.00,2028.3,2085.4,1971.3,2779.9,2276.1,98.92,5.73,1132,6447.18,39.24,0.00,2.78,1.245,0.000,0.071,1818.03,1856.56,1779.50,2780.00,1129.94,0,0,0,12.51,30.00,15.89
$GC,6554.29,1028,234.76,1.94,0.00,1811.2,1855.2,1767.1,2779.4,1130.0,85.36,9.78,1162,6559.85,0.00,0.00,2.64,0.000,0.000,0.028,1811.50,1855.62,1767.38,2779.69,2276.06,0,0,0,30.00,30.00,15.96
$GC,6744.75,8226,264.66,2.00,0.00,1809.6,1854.8,1764.4,2779.9,2275.4,70.33,7.59,1200,6769.84,22.57,0.00,0.00,1.157,0.000,0.000,1696.34,1736.19,1656.50,2778.75,2275.69,0,0,0,12.53,30.00,30.00
$GC,6954.82,10791,304.71,2.08,-60.00,1690.6,1736.0,1645.2,2779.7,2275.9,53.47,6.77,1242,6991.25,30.60,0.28,2.80,1.158,0.068,0.070,1532.91,1564.12,1501.69,2841.06,1129.94,0,0,0,12.49,15.95,15.83
$GC,7064.84,1092,304.71,2.09,0.00,1527.9,1563.0,1492.8,2840.8,1130.0,44.14,9.48,1264,7069.99,0.00,0.00,2.63,0.000,0.000,0.028,1528.47,1563.69,1493.25,2840.31,2274.69,0,0,0,30.00,30.00,15.91
$GC,7254.85,516,304.71,2.09,-60.00,1525.6,1563.4,1487.8,2840.5,2274.8,26.66,9.57,1302,7260.03,0.00,0.00,2.78,0.000,0.000,0.069,1525.16,1563.56,1486.75,2840.50,1131.44,0,0,0,30.00,30.00,15.96
$GC,7489.51,11303,397.81,2.27,0.00,1522.9,1564.1,1481.8,2840.8,1131.3,16.63,2.49,1349,7562.10,67.52,0.18,2.61,1.138,0.084,0.026,1153.41,1158.69,1148.12,2888.56,2278.88,0,0,0,12.57,15.95,16.01
$GC,7744.54,8742,432.57,2.34,-60.00,1146.4,1161.8,1130.9,2887.6,2278.4,2.67,7.20,1400,7759.50,14.57,0.00,0.00,1.003,0.000,0.000,1081.09,1089.75,1072.44,2887.69,2278.94,0,0,0,12.62,30.00,30.00
$STATE,7759,end climb,SURFACE_DEPTH_REACHED
$STATE,7760,begin surface coast
$FINISH,0.2,1.014584
$STATE,7794,end surface coast,CONTROL_FINISHED_OK
$STATE,7794,begin surface
$SM_CCo,7829.68,9.07,0.910,0,1042.7,1031.3,1054.0,424.94
$SM_GC,2.48,9.07,16.51,0.12,0.910,0.042,0.131,1042.7,1031.3,1054.0,181.0,2359.6,0,0,0,12.64,15.85,15.87
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4741.74,-12529.66,250721,222601
$TCM_TEMP,269.47
$XPDR_PINGS,0,13.0,10.5
$HUMID,50.04
$TEMP,82.19
$INTERNAL_PRESSURE,8.88807
$24V_AH,15.07,116.663
$10V_AH,15.00,0.000
$FG_AHR_24Vo,101.993
$FG_AHR_10Vo,46.174
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,442.210,35.330,84.745,0.000,0.000,13.927,3595.448,4283.629,904.506,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1524.624,246.736,342.840,0.000,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3886.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,20.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM0,60876,1,0,0
$MEM1,65508,1,0,0
$MEM2,971500,23,75468,57
$DATA_FILE_SIZE,60978,1410
$CAP_FILE_SIZE,236777,0
$SDSIZE,4028416,3927264
$SDFILEDIR,1863,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,114.4,1
$IMPLIED_C_PITCH,2357,13.50,1144
$IMPLIED_C_VBD,2948,41.155262,640
$GPS,260721,004348,4742.133,-12527.847,32,1.1,41,16.0