version: 67.00
glider: 249
mission: 6
dive: 378
start: 7 27 121 9 31 46
data:
$ID,249
$MISSION,6
$DIVE,378
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,850
$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,300
$T_MISSION,340
$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,46.525944
$FG_AHR_24V,103.80017
$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
$GPS1,270721,092331,4749.215,-12514.637,57,0.9,58,16.0
$_CALLS,2
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-65.5
$GPS2,270721,093134,4749.132,-12514.572,2,0.9,3,16.0
$SPEED_LIMITS,0.164,0.204
$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,18.3,7446,-23.5,-9.444,-24.89
$D_GRID,450
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5.01,16386,-82.73,-1.47,0.00,1034.4,1018.5,1050.3,177.1,2243.6,0.00,0.00,0,61.85,55.69,0.00,0.00,0.005,0.000,0.000,2459.06,2618.25,2299.88,177.12,2243.44,0,0,0,15.66,30.00,30.00
$GC,62.59,18983,-82.73,-1.47,-60.00,2458.5,2616.9,2300.0,176.8,2243.3,3.49,-6.90,10,100.43,14.49,13.57,2.48,0.006,0.248,0.068,3112.12,3319.50,2904.75,1964.00,1207.31,0,0,0,15.67,15.75,15.62
$GC,327.56,1028,-82.73,-1.47,0.00,3113.1,3319.8,2906.4,1963.4,1207.7,47.97,-13.00,63,333.12,0.00,0.00,2.62,0.000,0.000,0.029,3112.66,3319.12,2906.19,1963.31,2354.31,0,0,0,30.00,30.00,15.93
$GC,518.00,260,-82.73,-1.47,60.00,3113.2,3319.0,2907.5,1963.9,2354.8,70.09,-10.49,101,523.17,0.00,0.00,2.63,0.000,0.000,0.087,3113.91,3319.94,2907.88,1964.00,3428.25,0,0,0,30.00,30.00,15.94
$GC,567.82,1028,-82.73,-1.47,0.00,3113.6,3317.1,2910.1,1963.8,3428.2,76.52,-13.58,111,573.23,0.00,0.00,2.56,0.000,0.000,0.021,3113.56,3316.88,2910.25,1964.25,2246.62,0,0,0,30.00,30.00,15.97
$GC,758.05,516,-82.73,-1.47,-60.00,3113.5,3316.7,2910.3,1963.9,2244.6,97.34,-9.73,149,762.79,0.00,0.00,2.44,0.000,0.000,0.064,3113.94,3317.00,2910.88,1964.00,1207.44,0,0,0,30.00,30.00,16.00
$GC,927.68,1028,-82.73,-1.47,0.00,3114.0,3317.0,2911.0,1963.8,1207.1,115.89,-10.85,183,933.23,0.00,0.00,2.61,0.000,0.000,0.029,3114.97,3317.88,2912.06,1964.31,2353.50,0,0,0,30.00,30.00,16.02
$GC,1237.72,260,-82.73,-1.47,60.00,3113.9,3316.6,2911.1,1963.8,2353.4,147.82,-9.68,245,1243.27,0.00,0.00,2.63,0.000,0.000,0.087,3114.78,3317.00,2912.56,1962.81,3428.12,0,0,0,30.00,30.00,16.02
$GC,1457.74,1028,-82.73,-1.47,0.00,3114.3,3315.8,2912.9,1964.0,3429.2,171.26,-10.64,289,1463.29,0.00,0.00,2.54,0.000,0.000,0.022,3114.88,3315.94,2913.81,1964.06,2245.69,0,0,0,30.00,30.00,16.05
$GC,1767.79,516,-82.73,-1.47,-60.00,3114.5,3315.4,2913.6,1964.1,2243.9,200.17,-9.28,351,1772.91,0.00,0.00,2.44,0.000,0.000,0.067,3113.97,3315.06,2912.88,1963.88,1207.25,0,0,0,30.00,30.00,16.06
$GC,1797.79,1028,-82.73,-1.47,0.00,3114.0,3315.4,2912.6,1964.4,1207.1,203.23,-10.10,357,1803.35,0.00,0.00,2.61,0.000,0.000,0.029,3114.44,3315.75,2913.12,1964.31,2354.62,0,0,0,30.00,30.00,16.08
$GC,2107.85,260,-82.73,-1.47,60.00,3114.2,3316.0,2912.5,1963.9,2353.9,233.13,-10.00,419,2113.58,0.00,0.00,2.63,0.000,0.000,0.088,3114.91,3316.19,2913.62,1964.12,3429.00,0,0,0,30.00,30.00,16.06
$GC,2232.97,1028,-82.73,-1.47,0.00,3114.2,3315.1,2913.4,1963.9,3428.5,246.96,-11.24,444,2238.39,0.00,0.00,2.55,0.000,0.000,0.022,3114.31,3315.19,2913.44,1964.00,2246.75,0,0,0,30.00,30.00,16.08
$GC,2542.92,260,-82.73,-1.47,60.00,3114.2,3315.1,2913.3,1964.1,2245.1,277.42,-9.87,506,2548.51,0.00,0.00,2.91,0.000,0.000,0.084,3115.44,3315.19,2915.69,1963.75,3429.69,0,0,0,30.00,30.00,16.08
$GC,2737.94,1028,-82.73,-1.47,0.00,3113.8,3314.5,2913.1,1964.0,3429.9,300.17,-11.84,545,2743.98,0.00,0.00,2.55,0.000,0.000,0.022,3114.88,3315.62,2914.12,1963.31,2249.12,0,0,0,30.00,30.00,16.09
$GC,3052.38,260,-82.73,-1.47,60.00,3113.7,3314.2,2913.1,1963.8,2248.2,331.26,-9.93,574,3057.06,0.00,0.00,2.90,0.000,0.000,0.084,3115.44,3316.69,2914.19,1962.62,3428.12,0,0,0,30.00,30.00,16.10
$GC,3201.04,1028,-82.73,-1.47,0.00,3113.4,3313.6,2913.2,1963.8,3428.2,347.46,-10.98,594,3215.96,0.00,0.00,2.54,0.000,0.000,0.022,3113.16,3313.38,2912.94,1964.06,2249.31,0,0,0,30.00,30.00,16.11
$GC,3517.15,260,-82.73,-1.47,60.00,3113.2,3313.5,2912.9,1964.1,2248.7,377.99,-9.91,623,3521.80,0.00,0.00,2.88,0.000,0.000,0.085,3114.53,3313.81,2915.25,1962.00,3429.12,0,0,0,30.00,30.00,16.10
$GC,3759.21,1028,-82.73,-1.47,0.00,3112.3,3311.7,2912.9,1964.4,3429.4,407.54,-12.60,654,3763.82,0.00,0.00,2.54,0.000,0.000,0.022,3113.50,3313.50,2913.50,1963.62,2250.12,0,0,0,30.00,30.00,16.11
$GC,4070.59,260,-82.73,-1.47,60.00,3112.1,3311.4,2912.9,1963.6,2249.2,439.09,-9.27,683,4075.31,0.00,0.00,2.89,0.000,0.000,0.085,3112.09,3310.12,2914.06,1963.88,3426.94,0,0,0,30.00,30.00,16.11
$STATE,4171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4171,begin apogee
$GC,4174.96,10243,0.00,-0.28,0.00,3111.8,3310.5,2913.2,1964.2,2182.5,451.05,-12.30,696,4242.48,58.11,1.99,0.16,1.694,0.161,0.148,2774.91,2905.69,2644.12,2252.75,2291.62,0,0,0,12.33,16.03,15.81
$STATE,4244,end apogee,CONTROL_FINISHED_OK
$STATE,4244,begin climb
$GC,4244.29,10759,82.73,1.47,-60.00,2773.1,2904.1,2642.1,2254.2,2291.9,455.80,0.00,702,4313.23,60.12,2.74,2.83,1.640,0.094,0.072,2436.25,2517.38,2355.12,2678.31,1127.94,0,0,0,12.86,15.83,15.57
$GC,4513.58,11303,145.36,1.59,0.00,2432.1,2516.6,2347.7,2679.4,1128.6,447.44,4.67,736,4566.16,46.85,0.16,2.64,1.611,0.087,0.028,2180.50,2234.94,2126.06,2724.19,2276.12,0,0,0,12.54,15.76,15.81
$GC,4872.66,516,145.36,1.59,-60.00,2176.0,2236.2,2115.8,2724.1,2276.8,413.94,9.99,771,4877.30,0.00,0.00,2.76,0.000,0.000,0.070,2174.69,2235.69,2113.69,2724.50,1128.62,0,0,0,30.00,30.00,15.84
$GC,5021.52,1028,145.36,1.59,0.00,2174.8,2236.4,2113.1,2724.4,1129.1,397.41,11.22,791,5036.28,0.00,0.00,2.63,0.000,0.000,0.030,2175.59,2237.25,2113.94,2724.62,2274.25,0,0,0,30.00,30.00,15.91
$GC,5338.15,16902,145.36,1.59,-60.00,2173.5,2236.1,2110.9,2724.2,2274.8,365.14,9.99,820,5342.79,0.00,0.00,2.74,0.000,0.000,0.070,2172.34,2235.50,2109.19,2724.94,1128.81,0,0,0,30.00,30.00,15.96
$GC,5408.15,17414,145.36,1.59,0.00,2173.0,2236.2,2109.8,2724.5,1128.9,357.75,10.66,830,5423.09,0.00,0.00,2.62,0.000,0.000,0.030,2175.06,2238.12,2112.00,2722.56,2273.75,0,0,0,30.00,30.00,15.99
$GC,5724.61,16902,145.36,1.59,-60.00,2172.8,2236.3,2109.2,2724.5,2273.6,324.09,10.29,859,5729.25,0.00,0.00,2.73,0.000,0.000,0.071,2172.28,2235.56,2109.00,2724.06,1128.75,0,0,0,30.00,30.00,16.01
$GC,5840.47,17414,145.36,1.59,0.00,2172.7,2237.1,2108.4,2724.3,1128.6,311.04,11.37,874,5845.10,0.00,0.00,2.62,0.000,0.000,0.030,2173.09,2236.50,2109.69,2723.62,2272.12,0,0,0,30.00,30.00,16.03
$GC,6150.66,16966,145.36,1.61,-60.00,2172.3,2236.9,2107.7,2724.2,2272.1,280.90,8.74,923,6156.21,0.00,0.00,2.72,0.000,0.000,0.071,2172.19,2236.81,2107.56,2724.81,1129.88,0,0,0,30.00,30.00,16.04
$GC,6245.65,17414,145.36,1.61,0.00,2171.7,2236.4,2106.9,2724.1,1130.0,272.43,9.04,942,6251.18,0.00,0.00,2.60,0.000,0.000,0.030,2173.41,2239.00,2107.81,2723.88,2273.44,0,0,0,30.00,30.00,16.05
$GC,6555.89,16966,145.36,1.63,-60.00,2171.7,2236.9,2106.4,2724.2,2273.3,247.21,8.21,1004,6561.31,0.00,0.00,2.73,0.000,0.000,0.071,2171.94,2236.88,2107.00,2724.81,1128.88,0,0,0,30.00,30.00,16.06
$GC,6790.73,17478,145.36,1.65,0.00,2171.2,2236.3,2106.0,2724.0,1128.9,226.39,8.69,1051,6796.28,0.00,0.00,2.61,0.000,0.000,0.030,2171.31,2236.81,2105.81,2724.50,2274.00,0,0,0,30.00,30.00,16.07
$GC,7100.77,16966,145.36,1.68,-60.00,2171.0,2236.7,2105.4,2724.0,2273.7,201.56,7.81,1113,7106.32,0.00,0.00,2.71,0.000,0.000,0.071,2171.12,2237.25,2105.00,2724.06,1128.75,0,0,0,30.00,30.00,16.07
$GC,7220.79,17478,145.36,1.71,0.00,2170.9,2236.9,2105.0,2724.0,1129.2,191.64,8.10,1137,7226.31,0.00,0.00,2.60,0.000,0.000,0.030,2170.62,2236.94,2104.31,2724.31,2274.75,0,0,0,30.00,30.00,16.09
$GC,7530.82,10791,182.83,1.78,-60.00,2170.6,2237.2,2103.9,2724.2,2274.5,171.45,6.59,1199,7563.56,27.39,0.16,2.72,1.346,0.092,0.074,2027.62,2078.25,1977.00,2769.19,1131.19,0,0,0,12.43,16.06,15.96
$GC,7730.83,1028,182.83,1.78,0.00,2025.2,2078.7,1971.6,2768.8,1131.0,152.81,10.30,1239,7736.38,0.00,0.00,2.62,0.000,0.000,0.030,2025.16,2079.19,1971.12,2768.75,2272.25,0,0,0,30.00,30.00,16.02
$GC,8040.94,516,182.83,1.78,-60.00,2023.9,2078.4,1969.4,2768.9,2272.2,121.24,10.21,1301,8046.44,0.00,0.00,2.72,0.000,0.000,0.071,2023.91,2078.81,1969.00,2769.19,1130.44,0,0,0,30.00,30.00,16.04
$GC,8211.28,1028,182.83,1.78,0.00,2023.5,2078.8,1968.2,2768.8,1129.9,101.54,12.39,1335,8216.45,0.00,0.00,2.61,0.000,0.000,0.030,2023.44,2078.94,1967.94,2768.75,2273.38,0,0,0,30.00,30.00,16.06
$GC,8520.95,8742,215.82,1.85,-60.00,2023.0,2078.9,1967.1,2768.8,2273.3,73.40,6.93,1397,8552.37,25.36,0.00,2.74,1.217,0.000,0.072,1894.28,1938.12,1850.44,2769.19,1127.75,0,0,0,12.46,30.00,15.95
$GC,8715.96,1028,215.82,1.85,0.00,1889.7,1937.8,1841.6,2769.4,1127.5,55.60,9.37,1436,8721.50,0.00,0.00,2.63,0.000,0.000,0.030,1890.06,1938.56,1841.56,2769.31,2274.94,0,0,0,30.00,30.00,16.02
$GC,8906.38,10791,282.43,1.98,-60.00,1888.8,1937.8,1839.8,2769.3,2274.4,45.54,4.37,1474,8960.87,49.28,0.19,2.77,1.206,0.077,0.072,1621.91,1649.25,1594.56,2817.38,1129.88,0,0,0,12.51,16.00,15.82
$GC,9188.13,17414,282.43,1.98,0.00,1613.6,1649.9,1577.3,2818.5,1130.1,20.91,10.07,1530,9193.87,0.00,0.00,2.63,0.000,0.000,0.029,1614.06,1650.25,1577.88,2818.62,2273.88,0,0,0,30.00,30.00,15.93
$GC,9378.72,8742,343.98,2.10,-60.00,1612.4,1650.1,1574.7,2818.1,2273.4,8.20,4.76,1568,9429.98,45.72,0.00,2.78,1.142,0.000,0.073,1372.44,1392.69,1352.19,2818.50,1129.88,0,0,0,12.46,30.00,15.78
$STATE,9508,end climb,SURFACE_DEPTH_REACHED
$STATE,9508,begin surface coast
$FINISH,0.2,1.023489
$STATE,9558,end surface coast,CONTROL_FINISHED_OK
$STATE,9559,begin surface
$SM_CCo,9646.90,59.38,1.151,0,1042.3,991.9,1092.7,425.04
$SM_GC,0.96,59.38,16.14,2.81,1.151,0.048,0.031,1042.3,991.9,1092.7,176.8,2350.0,0,0,0,12.58,15.84,15.88
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4749.27,-12516.60,270721,092655
$TCM_TEMP,266.20
$XPDR_PINGS,0,13.0,10.5
$HUMID,49.47
$TEMP,82.35
$INTERNAL_PRESSURE,8.86024
$24V_AH,14.91,119.339
$10V_AH,15.00,0.000
$FG_AHR_24Vo,103.967
$FG_AHR_10Vo,46.555
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,442.390,34.945,117.500,227.611,0.000,12.760,5424.313,4573.348,1037.050,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1694.200,247.720,147.680,220.341,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,5333.482,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971428,27,75460,57
$DATA_FILE_SIZE,70645,1604
$CAP_FILE_SIZE,259586,0
$SDSIZE,4028416,3925568
$SDFILEDIR,1893,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,116.3,1
$IMPLIED_C_PITCH,2356,13.56,1296
$IMPLIED_C_VBD,2880,32.574139,902
$GPS,270721,121401,4749.584,-12513.137,79,1.0,80,16.0