version: 67.00
glider: 249
mission: 6
dive: 380
start: 7 27 121 14 28 52
data:
$ID,249
$MISSION,6
$DIVE,380
$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,46.580311
$FG_AHR_24V,104.14119
$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
$GPS1,270721,142109,4750.015,-12512.416,10,1.9,16,16.0
$_CALLS,2
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-66.0
$GPS2,270721,142840,4749.976,-12512.412,4,0.9,21,16.0
$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,1.2,4493,-23.5,-9.444,-24.89
$D_GRID,283
$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,-1.47,0.00,1038.4,1028.6,1048.2,179.4,2376.1,0.00,0.00,0,61.85,55.63,0.00,0.00,0.005,0.000,0.000,2445.12,2600.00,2290.25,179.62,2375.88,0,0,0,15.65,30.00,30.00
$GC,62.59,18983,-82.73,-1.47,-60.00,2444.0,2598.2,2289.9,179.7,2375.9,3.28,-6.11,10,100.49,15.01,13.69,2.76,0.006,0.253,0.064,3111.88,3314.12,2909.62,1963.88,1207.38,0,0,0,15.69,15.77,15.64
$GC,202.59,1028,-82.73,-1.47,0.00,3112.5,3313.9,2911.2,1963.9,1208.4,32.41,-21.21,38,208.14,0.00,0.00,2.63,0.000,0.000,0.030,3113.53,3315.00,2912.06,1963.44,2351.94,0,0,0,30.00,30.00,15.92
$GC,393.01,260,-82.73,-1.47,60.00,3112.4,3313.3,2911.4,1963.2,2351.8,61.96,-13.18,76,398.18,0.00,0.00,2.64,0.000,0.000,0.086,3112.84,3313.88,2911.81,1963.62,3428.38,0,0,0,30.00,30.00,15.93
$GC,452.64,1028,-82.73,-1.47,0.00,3113.2,3313.5,2912.9,1964.0,3428.0,69.97,-12.80,88,458.37,0.00,0.00,2.56,0.000,0.000,0.021,3112.97,3313.12,2912.81,1964.56,2250.50,0,0,0,30.00,30.00,15.97
$GC,643.24,0,-82.73,-1.47,0.00,3113.1,3313.1,2913.2,1964.6,2249.1,90.92,-9.43,126,644.57,0.00,0.00,0.00,0.000,0.000,0.000,3112.78,3313.19,2912.38,1964.19,2249.06,0,0,0,30.00,30.00,30.00
$GC,827.69,516,-82.73,-1.47,-60.00,3113.7,3313.4,2913.9,1964.3,2249.0,111.23,-12.86,163,832.81,0.00,0.00,2.45,0.000,0.000,0.065,3113.62,3313.06,2914.19,1964.19,1206.38,0,0,0,30.00,30.00,16.01
$GC,1033.11,1028,-82.73,-1.47,0.00,3113.8,3313.4,2914.3,1963.7,1206.3,138.04,-12.13,204,1038.27,0.00,0.00,2.61,0.000,0.000,0.029,3115.69,3314.44,2916.94,1964.00,2353.19,0,0,0,30.00,30.00,16.04
$GC,1342.79,516,-82.73,-1.47,-60.00,3114.0,3313.4,2914.6,1964.3,2353.4,173.40,-10.77,266,1348.33,0.00,0.00,2.70,0.000,0.000,0.061,3114.31,3313.56,2915.06,1964.19,1208.38,0,0,0,30.00,30.00,16.06
$GC,1467.80,1028,-82.73,-1.47,0.00,3114.2,3313.4,2915.1,1963.8,1208.6,188.05,-11.86,291,1473.34,0.00,0.00,2.61,0.000,0.000,0.029,3114.16,3313.06,2915.25,1964.44,2354.56,0,0,0,30.00,30.00,16.07
$GC,1777.84,516,-82.73,-1.47,-60.00,3114.3,3313.1,2915.5,1964.2,2354.8,221.88,-10.84,353,1783.39,0.00,0.00,2.70,0.000,0.000,0.061,3114.19,3312.94,2915.44,1964.38,1207.38,0,0,0,30.00,30.00,16.08
$GC,1837.84,1028,-82.73,-1.47,0.00,3114.3,3313.5,2915.2,1964.4,1207.4,228.75,-11.56,365,1843.40,0.00,0.00,2.61,0.000,0.000,0.029,3114.78,3314.00,2915.56,1964.12,2353.44,0,0,0,30.00,30.00,16.09
$GC,2147.94,0,-82.73,-1.47,0.00,3114.3,3313.5,2915.1,1963.9,2353.8,262.58,-10.87,427,2149.27,0.00,0.00,0.00,0.000,0.000,0.000,3113.91,3313.38,2914.44,1963.75,2353.44,0,0,0,30.00,30.00,30.00
$STATE,2338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2338,begin apogee
$GC,2339.73,10243,0.00,-0.28,0.00,3114.5,3313.8,2915.1,1964.3,2155.3,283.37,-11.53,465,2401.22,57.26,1.93,0.22,1.450,0.146,0.107,2772.81,2906.06,2639.56,2254.31,2286.75,0,0,0,12.43,16.01,15.84
$STATE,2403,end apogee,CONTROL_FINISHED_OK
$STATE,2403,begin climb
$GC,2403.04,10243,82.73,1.47,0.00,2774.5,2907.1,2641.8,2254.4,2287.2,286.33,0.00,477,2467.72,58.54,2.73,0.00,1.400,0.091,0.000,2437.25,2522.06,2352.44,2680.94,2286.69,0,0,0,12.90,15.84,30.00
$GC,2770.26,10275,145.61,1.59,60.00,2433.2,2522.2,2344.1,2680.9,2287.1,271.61,4.66,551,2817.61,45.79,0.14,0.00,1.374,0.091,0.000,2180.34,2237.06,2123.62,2723.31,2286.56,0,0,0,12.47,15.84,30.00
$GC,3120.37,580,145.61,1.62,-60.00,2174.9,2237.2,2112.7,2722.8,2286.5,242.92,8.05,621,3125.92,0.00,0.00,2.79,0.000,0.000,0.070,2175.06,2238.06,2112.06,2723.50,1129.38,0,0,0,30.00,30.00,15.88
$GC,3160.56,1092,145.61,1.65,0.00,2174.7,2237.2,2112.1,2722.6,1129.4,239.69,8.01,629,3165.98,0.00,0.00,2.63,0.000,0.000,0.029,2174.69,2237.81,2111.56,2723.62,2275.50,0,0,0,30.00,30.00,15.90
$GC,3470.48,64,145.61,1.67,0.00,2173.8,2237.9,2109.6,2723.0,2275.6,215.25,8.56,691,3471.81,0.00,0.00,0.00,0.000,0.000,0.000,2172.66,2237.06,2108.25,2723.12,2275.62,0,0,0,30.00,30.00,30.00
$GC,3775.57,16966,145.61,1.69,-60.00,2173.2,2237.7,2108.8,2723.0,2275.5,191.18,8.59,752,3781.11,0.00,0.00,2.74,0.000,0.000,0.070,2173.94,2237.50,2110.38,2723.25,1129.88,0,0,0,30.00,30.00,16.00
$GC,4010.79,17414,145.61,1.69,0.00,2172.8,2237.6,2108.0,2722.6,1130.0,169.63,9.39,799,4016.17,0.00,0.00,2.62,0.000,0.000,0.029,2173.53,2238.56,2108.50,2723.06,2274.75,0,0,0,30.00,30.00,16.03
$GC,4320.67,16902,145.61,1.69,-60.00,2172.3,2237.9,2106.8,2723.1,2274.6,137.38,10.80,861,4326.23,0.00,0.00,2.75,0.000,0.000,0.070,2173.06,2238.44,2107.69,2723.56,1128.62,0,0,0,30.00,30.00,16.05
$GC,4465.68,17414,145.61,1.69,0.00,2172.2,2237.9,2106.4,2723.1,1128.6,122.31,9.82,890,4471.24,0.00,0.00,2.61,0.000,0.000,0.029,2172.97,2238.81,2107.12,2722.94,2274.88,0,0,0,30.00,30.00,16.06
$GC,4775.74,10791,203.21,1.80,-60.00,2171.8,2237.8,2105.8,2723.2,2274.2,102.75,5.06,952,4822.68,41.26,0.20,2.76,1.246,0.078,0.071,1945.44,1987.00,1903.88,2776.25,1128.88,0,0,0,12.53,16.05,15.90
$GC,5051.10,1092,203.21,1.83,0.00,1939.2,1985.5,1893.0,2776.2,1129.1,80.95,7.82,1007,5056.30,0.00,0.00,2.62,0.000,0.000,0.029,1939.50,1986.00,1893.00,2776.88,2275.62,0,0,0,30.00,30.00,15.98
$GC,5241.18,16966,203.21,1.86,-60.00,1938.1,1985.6,1890.6,2776.2,2275.7,65.31,7.91,1045,5246.34,0.00,0.00,2.74,0.000,0.000,0.069,1938.81,1986.31,1891.31,2776.00,1128.62,0,0,0,30.00,30.00,16.01
$GC,5350.80,9254,231.92,1.92,0.00,1937.5,1985.4,1889.6,2777.0,1128.6,56.81,7.26,1067,5376.74,21.93,0.00,2.61,1.141,0.000,0.029,1829.88,1869.19,1790.56,2776.94,2275.56,0,0,0,12.54,30.00,16.02
$GC,5561.21,10535,296.17,2.05,60.00,1823.8,1867.9,1779.7,2776.9,2275.6,47.11,4.55,1109,5614.09,47.04,0.25,2.65,1.169,0.070,0.089,1567.06,1592.69,1541.44,2833.12,3347.12,0,0,0,12.61,15.96,15.79
$GC,5641.35,1028,296.17,2.05,0.00,1565.4,1593.3,1537.6,2832.9,3347.2,40.28,10.55,1125,5646.71,0.00,0.00,2.60,0.000,0.000,0.023,1564.91,1593.69,1536.12,2833.06,2181.12,0,0,0,30.00,30.00,15.86
$GC,5831.63,260,296.17,2.05,60.00,1559.8,1593.9,1525.8,2832.5,2178.8,19.81,9.48,1163,5837.00,0.00,0.00,2.89,0.000,0.000,0.082,1559.84,1593.62,1526.06,2833.12,3348.88,0,0,0,30.00,30.00,15.90
$GC,5861.36,1028,296.17,2.05,0.00,1559.9,1593.7,1526.1,2833.0,3348.6,17.06,9.17,1169,5866.78,0.00,0.00,2.58,0.000,0.000,0.023,1560.59,1594.81,1526.38,2833.12,2183.69,0,0,0,30.00,30.00,15.92
$GC,6051.72,8486,368.03,2.19,60.00,1557.4,1594.0,1520.8,2832.4,2183.5,6.85,3.97,1207,6109.62,52.76,0.00,2.90,1.121,0.000,0.084,1275.09,1286.75,1263.44,2833.25,3347.19,0,0,0,12.43,30.00,15.76
$STATE,6182,end climb,SURFACE_DEPTH_REACHED
$STATE,6182,begin surface coast
$FINISH,0.4,1.023708
$STATE,6227,end surface coast,CONTROL_FINISHED_OK
$STATE,6227,begin surface
$SM_CCo,6296.23,42.24,1.113,0,1043.2,1003.2,1083.1,424.81
$SM_GC,1.04,42.24,16.10,2.38,1.113,0.037,0.023,1043.2,1003.2,1083.1,190.1,2276.9,0,0,0,12.60,15.83,15.86
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4748.89,-12512.13,270721,142353
$TCM_TEMP,266.73
$XPDR_PINGS,0,13.0,10.5
$HUMID,49.55
$TEMP,82.27
$INTERNAL_PRESSURE,8.87215
$24V_AH,14.95,119.722
$10V_AH,15.00,0.000
$FG_AHR_24Vo,104.284
$FG_AHR_10Vo,46.600
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,437.455,35.050,69.820,212.187,0.000,30.135,2529.844,4119.403,810.510,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1450.168,252.968,107.336,225.248,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,34.694,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971412,27,75476,57
$DATA_FILE_SIZE,54580,1242
$CAP_FILE_SIZE,196710,0
$SDSIZE,4028416,3925344
$SDFILEDIR,1899,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,144.8,1
$IMPLIED_C_PITCH,2354,13.41,1005
$IMPLIED_C_VBD,2861,29.235548,445
$GPS,270721,161433,4750.276,-12511.877,28,1.3,37,16.0