version: 67.00
glider: 249
mission: 6
dive: 385
start: 7 27 121 23 35 6
data:
$ID,249
$MISSION,6
$DIVE,385
$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,46.681755
$FG_AHR_24V,104.9029
$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
$GPS1,270721,232400,4750.658,-12512.435,65,1.0,65,16.0
$_CALLS,4
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-69.4
$GPS2,270721,233454,4750.560,-12512.386,2,1.0,4,16.0
$SPEED_LIMITS,0.164,0.204
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$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,223.3,165055,-23.5,-9.444,-24.89
$D_GRID,312
$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,5.02,16386,-82.73,-1.47,0.00,1034.5,1013.6,1055.5,176.9,2245.9,0.00,0.00,0,56.76,50.55,0.00,0.00,0.005,0.000,0.000,2348.75,2505.38,2192.12,177.06,2245.94,0,0,0,15.70,30.00,30.00
$GC,57.50,18727,-82.73,-1.47,60.00,2347.4,2503.4,2191.5,177.0,2246.2,3.09,-6.30,9,97.58,17.16,13.70,2.92,0.006,0.254,0.083,3111.28,3316.44,2906.12,1964.94,3429.75,0,0,0,15.70,15.78,15.65
$GC,324.68,1028,-82.73,-1.47,0.00,3112.5,3315.9,2909.1,1964.9,3430.6,51.81,-14.72,62,330.21,0.00,0.00,2.57,0.000,0.000,0.022,3112.34,3315.88,2908.81,1963.81,2248.19,0,0,0,30.00,30.00,15.96
$GC,515.08,260,-82.73,-1.47,60.00,3112.8,3316.2,2909.3,1964.8,2246.4,73.71,-10.04,100,520.48,0.00,0.00,2.90,0.000,0.000,0.081,3113.69,3316.69,2910.69,1965.06,3428.44,0,0,0,30.00,30.00,15.98
$GC,639.85,1028,-82.73,-1.47,0.00,3112.9,3315.2,2910.7,1964.6,3428.9,88.00,-11.32,125,645.27,0.00,0.00,2.55,0.000,0.000,0.021,3113.16,3315.44,2910.88,1964.56,2246.06,0,0,0,30.00,30.00,16.01
$GC,830.14,260,-82.73,-1.47,60.00,3113.2,3315.6,2910.9,1964.8,2244.2,106.00,-8.90,163,835.36,0.00,0.00,2.90,0.000,0.000,0.081,3113.16,3315.31,2911.00,1964.38,3429.38,0,0,0,30.00,30.00,16.02
$GC,959.77,1028,-82.73,-1.47,0.00,3113.4,3315.6,2911.2,1964.2,3429.8,116.94,-8.18,189,965.31,0.00,0.00,2.54,0.000,0.000,0.022,3113.81,3316.44,2911.19,1964.50,2244.50,0,0,0,30.00,30.00,16.04
$GC,1269.83,0,-82.73,-1.47,0.00,3113.5,3315.1,2911.9,1964.7,2243.2,143.98,-9.23,251,1271.15,0.00,0.00,0.00,0.000,0.000,0.000,3113.91,3315.56,2912.25,1964.94,2243.19,0,0,0,30.00,30.00,30.00
$GC,1574.88,260,-82.73,-1.47,60.00,3113.7,3315.6,2911.7,1964.4,2243.3,172.07,-9.25,312,1580.47,0.00,0.00,2.90,0.000,0.000,0.082,3114.44,3315.19,2913.69,1964.81,3428.62,0,0,0,30.00,30.00,16.07
$GC,1619.87,1028,-82.73,-1.47,0.00,3113.6,3314.8,2912.4,1964.6,3428.4,176.66,-10.46,321,1625.41,0.00,0.00,2.55,0.000,0.000,0.022,3114.03,3315.31,2912.75,1964.88,2245.50,0,0,0,30.00,30.00,16.08
$GC,1929.93,0,-82.73,-1.47,0.00,3113.4,3315.1,2911.7,1964.6,2244.5,205.16,-9.68,383,1931.26,0.00,0.00,0.00,0.000,0.000,0.000,3112.47,3314.38,2910.56,1964.62,2244.31,0,0,0,30.00,30.00,30.00
$GC,2235.16,516,-82.73,-1.47,-60.00,3113.0,3314.9,2911.1,1965.1,2244.1,235.59,-10.21,444,2240.09,0.00,0.00,2.44,0.000,0.000,0.069,3113.50,3315.12,2911.88,1964.94,1206.06,0,0,0,30.00,30.00,16.10
$GC,2389.99,1028,-82.73,-1.47,0.00,3112.8,3314.4,2911.2,1964.9,1205.9,252.06,-10.66,475,2395.54,0.00,0.00,2.61,0.000,0.000,0.030,3113.12,3314.19,2912.06,1964.50,2353.25,0,0,0,30.00,30.00,16.10
$GC,2700.08,516,-82.73,-1.47,-60.00,3112.4,3313.4,2911.3,1964.8,2353.4,282.08,-9.61,537,2705.63,0.00,0.00,2.69,0.000,0.000,0.063,3112.75,3313.56,2911.94,1964.38,1208.38,0,0,0,30.00,30.00,16.12
$GC,2815.12,1028,-82.73,-1.47,0.00,3112.3,3313.4,2911.2,1964.5,1208.6,293.09,-9.10,560,2820.65,0.00,0.00,2.59,0.000,0.000,0.030,3113.47,3313.50,2913.44,1965.12,2352.38,0,0,0,30.00,30.00,16.11
$STATE,3032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3032,begin apogee
$GC,3034.34,10243,0.00,-0.28,0.00,3112.2,3312.3,2912.0,1965.0,2156.6,312.64,-8.84,588,3101.88,57.17,1.95,0.22,1.493,0.145,0.109,2775.78,2907.94,2643.62,2254.88,2285.25,0,0,0,12.36,16.03,15.85
$STATE,3103,end apogee,CONTROL_FINISHED_OK
$STATE,3103,begin climb
$GC,3103.69,10503,82.73,1.47,60.00,2773.2,2906.2,2640.3,2254.4,2285.4,315.46,0.00,594,3170.88,58.62,2.72,2.69,1.442,0.091,0.090,2436.62,2520.88,2352.38,2681.00,3345.75,0,0,0,12.84,15.86,15.62
$GC,3234.83,9254,134.91,1.57,0.00,2433.5,2519.4,2347.5,2681.0,3345.5,309.85,5.47,610,3284.42,38.81,0.00,2.61,1.396,0.000,0.023,2223.34,2285.12,2161.56,2681.19,2183.31,0,0,0,12.69,30.00,15.76
$GC,3587.89,2113,134.91,1.59,0.00,2217.9,2284.7,2151.2,2680.7,2183.0,280.34,8.41,668,3589.33,0.00,0.14,0.00,0.000,0.090,0.000,2216.31,2283.19,2149.44,2723.31,2182.88,0,0,0,30.00,15.83,30.00
$GC,3892.95,580,134.91,1.62,-60.00,2217.2,2285.0,2149.4,2723.3,2182.9,254.16,8.28,729,3898.46,0.00,0.00,2.52,0.000,0.000,0.077,2217.12,2285.06,2149.19,2723.25,1130.81,0,0,0,30.00,30.00,15.94
$GC,3992.95,17414,134.91,1.62,0.00,2216.2,2284.3,2148.2,2723.2,1130.3,245.00,9.17,749,3998.49,0.00,0.00,2.62,0.000,0.000,0.030,2216.59,2285.06,2148.12,2722.88,2274.25,0,0,0,30.00,30.00,15.97
$GC,4303.18,16450,134.91,1.64,0.00,2215.8,2285.4,2146.2,2723.2,2273.8,219.97,8.20,811,4304.51,0.00,0.00,0.00,0.000,0.000,0.000,2214.81,2284.50,2145.12,2722.50,2273.88,0,0,0,30.00,30.00,30.00
$GC,4608.10,16966,134.91,1.67,-60.00,2215.2,2285.4,2144.9,2723.5,2274.4,195.57,8.23,872,4613.66,0.00,0.00,2.74,0.000,0.000,0.072,2214.91,2285.50,2144.31,2723.69,1129.69,0,0,0,30.00,30.00,16.04
$GC,4843.23,17478,134.91,1.69,0.00,2214.4,2284.7,2144.1,2723.1,1130.1,175.89,8.18,919,4848.71,0.00,0.00,2.61,0.000,0.000,0.030,2215.91,2286.00,2145.81,2722.88,2276.06,0,0,0,30.00,30.00,16.06
$GC,5153.28,8486,165.60,1.75,60.00,2214.0,2285.2,2142.8,2722.9,2275.7,154.04,7.11,981,5180.64,22.31,0.00,2.63,1.267,0.000,0.092,2099.62,2156.38,2042.88,2723.38,3346.00,0,0,0,12.43,30.00,15.95
$GC,5218.29,3141,165.60,1.76,0.00,2098.1,2156.0,2040.2,2722.9,3345.7,148.69,8.87,994,5223.87,0.00,0.14,2.56,0.000,0.093,0.024,2098.88,2157.06,2040.69,2765.12,2186.69,0,0,0,30.00,15.98,16.01
$GC,5528.41,580,165.60,1.79,-60.00,2095.5,2156.1,2034.9,2765.6,2186.4,121.53,8.07,1056,5533.93,0.00,0.00,2.51,0.000,0.000,0.077,2095.25,2156.31,2034.19,2765.12,1128.81,0,0,0,30.00,30.00,16.03
$GC,5623.42,1028,165.60,1.79,0.00,2094.7,2155.8,2033.6,2765.1,1128.9,112.65,9.62,1075,5628.95,0.00,0.00,2.60,0.000,0.000,0.030,2096.44,2157.81,2035.06,2764.69,2274.56,0,0,0,30.00,30.00,16.05
$GC,5933.54,8226,192.14,1.84,0.00,2094.3,2156.1,2032.6,2765.3,2274.6,87.99,7.42,1137,5954.59,20.57,0.00,0.00,1.189,0.000,0.000,1990.44,2040.62,1940.25,2765.50,2274.62,0,0,0,12.39,30.00,30.00
$GC,6138.98,580,192.14,1.86,-60.00,1987.7,2041.8,1933.7,2764.8,2274.8,70.80,8.71,1178,6144.33,0.00,0.00,2.74,0.000,0.000,0.072,1987.41,2041.56,1933.25,2764.88,1130.00,0,0,0,30.00,30.00,16.02
$GC,6178.72,1092,192.14,1.88,0.00,1986.7,2041.1,1932.3,2765.1,1130.1,67.50,8.23,1186,6184.15,0.00,0.00,2.61,0.000,0.000,0.029,1987.06,2041.94,1932.19,2765.88,2276.06,0,0,0,30.00,30.00,16.03
$GC,6368.65,10791,232.06,1.96,-60.00,1986.3,2041.4,1931.3,2765.1,2275.8,54.85,6.40,1224,6405.23,30.26,0.18,2.74,1.185,0.077,0.073,1828.28,1866.75,1789.81,2814.50,1130.00,0,0,0,12.58,16.02,15.91
$GC,6493.67,1092,232.06,2.00,0.00,1823.8,1865.4,1782.2,2814.3,1130.1,44.98,7.61,1249,6499.22,0.00,0.00,2.62,0.000,0.000,0.029,1824.03,1865.62,1782.44,2814.44,2277.12,0,0,0,30.00,30.00,15.98
$GC,6683.69,324,232.06,2.01,60.00,1822.1,1865.4,1778.8,2814.1,2277.4,30.21,8.91,1287,6689.23,0.00,0.00,2.63,0.000,0.000,0.089,1822.31,1865.81,1778.81,2813.94,3348.19,0,0,0,30.00,30.00,15.98
$GC,6854.11,9254,275.27,2.10,0.00,1821.9,1865.6,1778.3,2815.3,3348.2,17.65,6.15,1321,6891.24,32.32,0.00,2.57,1.135,0.000,0.023,1650.72,1684.31,1617.12,2814.75,2180.12,0,0,0,12.52,30.00,16.02
$GC,7073.75,10275,352.11,2.25,0.00,1645.7,1685.2,1606.2,2814.2,2179.7,8.44,3.59,1365,7132.48,56.60,0.31,0.00,1.127,0.064,0.000,1339.91,1349.75,1330.06,2881.19,2180.44,0,0,0,12.61,15.94,30.00
$STATE,7240,end climb,SURFACE_DEPTH_REACHED
$STATE,7240,begin surface coast
$FINISH,0.4,1.023306
$STATE,7300,end surface coast,CONTROL_FINISHED_OK
$STATE,7300,begin surface
$SM_CCo,7379.46,53.26,1.127,0,1042.7,993.6,1091.8,424.94
$SM_GC,2.95,53.26,16.40,0.36,1.127,0.038,0.061,1042.7,993.6,1091.8,176.8,2355.0,0,0,0,12.54,15.84,15.87
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4751.26,-12509.51,270721,233003
$TCM_TEMP,266.76
$XPDR_PINGS,0,13.0,10.5
$HUMID,49.68
$TEMP,82.25
$INTERNAL_PRESSURE,8.87373
$24V_AH,14.93,120.693
$10V_AH,15.00,0.000
$FG_AHR_24Vo,105.052
$FG_AHR_10Vo,46.705
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,437.640,35.545,75.135,314.371,0.000,13.135,3113.398,4823.190,915.789,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1492.808,254.280,109.304,210.470,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3279.840,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971416,28,75452,57
$DATA_FILE_SIZE,61002,1410
$CAP_FILE_SIZE,217523,0
$SDSIZE,4028416,3924704
$SDFILEDIR,1914,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,106.1,1
$MAGCAL,1.000000,-0.002091,-0.003640,-0.025281,1.017740,-0.071819,-0.024362,-0.005605,0.957644,649.3,-284.9,102.1,23,0.0261,0
$IMPLIED_C_PITCH,2355,13.51,1155
$IMPLIED_C_VBD,2968,26.526243,550
$GPS,280721,013910,4750.215,-12513.054,13,0.9,57,16.0