version: 67.00
glider: 249
mission: 6
dive: 472
start: 8 20 121 2 48 19
data:
$ID,249
$MISSION,6
$DIVE,472
$N_DIVES,0
$STOP_T,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$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,390
$T_MISSION,450
$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,8
$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,2330
$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,52.392387
$FG_AHR_24V,125.93116
$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
$GPS1,200821,024109,4751.143,-12511.466,42,1.0,43,16.0
$_CALLS,2
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-59.1
$GPS2,200821,024806,4751.104,-12511.464,3,1.0,4,16.0
$SPEED_LIMITS,0.147,0.197
$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,229.3,166585,-21.6,-8.462,-23.21
$D_GRID,250
$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,5.24,16386,-82.73,-1.37,0.00,1032.5,1007.4,1057.7,178.2,2243.6,0.00,0.00,0,67.05,60.67,0.00,0.00,0.005,0.000,0.000,2567.38,2728.56,2406.19,178.38,2243.56,0,0,0,15.54,30.00,30.00
$GC,67.79,18727,-82.73,-1.37,60.00,2566.7,2727.6,2405.8,178.2,2243.0,3.31,-5.58,11,102.65,12.08,13.82,2.90,0.007,0.249,0.086,3111.47,3322.69,2900.25,1998.56,3428.75,0,0,0,15.58,15.71,15.50
$GC,269.75,1028,-82.73,-1.37,0.00,3111.8,3321.6,2902.0,1998.7,3428.8,39.82,-16.77,51,275.29,0.00,0.00,2.56,0.000,0.000,0.021,3112.12,3321.44,2902.81,1998.88,2250.06,0,0,0,30.00,30.00,15.88
$GC,460.20,0,-82.73,-1.37,0.00,3111.8,3321.1,2902.5,1998.1,2248.3,63.28,-10.07,89,461.53,0.00,0.00,0.00,0.000,0.000,0.000,3111.41,3321.69,2901.12,1998.69,2247.81,0,0,0,30.00,30.00,30.00
$GC,645.10,260,-82.73,-1.37,60.00,3111.8,3320.6,2903.0,1998.6,2248.2,81.25,-9.21,126,650.53,0.00,0.00,2.86,0.000,0.000,0.080,3112.31,3321.44,2903.19,1998.44,3427.50,0,0,0,30.00,30.00,15.94
$GC,754.93,1028,-82.73,-1.37,0.00,3112.4,3318.9,2905.8,1998.8,3427.5,92.67,-10.80,148,760.46,0.00,0.00,2.54,0.000,0.000,0.020,3112.28,3318.50,2906.06,1998.12,2242.56,0,0,0,30.00,30.00,15.96
$GC,945.39,0,-82.73,-1.37,0.00,3112.1,3318.4,2905.9,1998.3,2241.1,109.03,-8.03,186,946.72,0.00,0.00,0.00,0.000,0.000,0.000,3111.12,3317.25,2905.00,1998.25,2241.62,0,0,0,30.00,30.00,30.00
$GC,1250.10,260,-82.73,-1.37,60.00,3112.6,3318.6,2906.6,1998.6,2241.6,135.37,-9.35,247,1255.68,0.00,0.00,2.87,0.000,0.000,0.081,3112.69,3318.75,2906.62,1998.75,3429.06,0,0,0,30.00,30.00,15.99
$GC,1485.18,1028,-82.73,-1.37,0.00,3112.6,3317.3,2907.9,1998.6,3428.4,157.76,-9.20,294,1490.71,0.00,0.00,2.53,0.000,0.000,0.021,3113.91,3317.69,2910.12,1998.19,2244.75,0,0,0,30.00,30.00,16.01
$GC,1795.23,260,-82.73,-1.37,60.00,3112.7,3317.1,2908.2,1998.2,2243.3,184.39,-8.27,356,1800.81,0.00,0.00,2.86,0.000,0.000,0.081,3112.97,3317.69,2908.25,1998.69,3428.69,0,0,0,30.00,30.00,16.01
$GC,1880.24,1028,-82.73,-1.37,0.00,3112.7,3317.6,2907.8,1998.4,3428.4,192.61,-10.16,373,1885.78,0.00,0.00,2.53,0.000,0.000,0.021,3113.12,3316.88,2909.38,1998.44,2246.00,0,0,0,30.00,30.00,16.02
$GC,2190.50,260,-82.73,-1.37,60.00,3112.4,3317.4,2907.3,1998.9,2244.4,219.56,-8.27,435,2196.18,0.00,0.00,2.86,0.000,0.000,0.082,3112.12,3316.88,2907.38,1999.12,3428.69,0,0,0,30.00,30.00,16.03
$GC,2305.42,1028,-82.73,-1.37,0.00,3112.2,3316.6,2907.9,1998.8,3428.7,230.81,-9.63,458,2310.84,0.00,0.00,2.53,0.000,0.000,0.021,3113.09,3318.38,2907.81,1997.88,2245.62,0,0,0,30.00,30.00,16.03
$STATE,2520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2520,begin apogee
$GC,2522.13,10243,0.00,-0.28,0.00,3111.9,3316.2,2907.6,1999.4,2181.7,250.30,-9.05,501,2582.59,56.78,1.75,0.16,1.418,0.135,0.139,2773.41,2909.50,2637.31,2264.94,2268.44,0,0,0,12.03,15.95,15.82
$STATE,2583,end apogee,CONTROL_FINISHED_OK
$STATE,2584,begin climb
$GC,2584.51,10759,82.73,1.37,-60.00,2773.6,2909.6,2637.6,2263.9,2294.5,252.40,0.00,513,2652.12,58.42,2.55,2.81,1.367,0.089,0.071,2436.34,2524.62,2348.06,2665.88,1130.06,0,0,0,12.85,15.84,15.62
$GC,2769.34,9254,128.26,1.46,0.00,2434.1,2523.0,2345.2,2666.1,1130.1,243.82,5.35,550,2807.91,33.90,0.00,2.61,1.321,0.000,0.027,2251.81,2317.50,2186.12,2664.88,2279.69,0,0,0,12.44,30.00,15.74
$GC,3110.15,580,128.26,1.48,-60.00,2245.7,2316.9,2174.5,2665.9,2279.6,220.27,7.37,618,3115.65,0.00,0.00,2.75,0.000,0.000,0.068,2246.34,2317.38,2175.31,2666.25,1129.75,0,0,0,30.00,30.00,15.83
$GC,3260.53,3141,128.26,1.50,0.00,2245.2,2317.1,2173.4,2665.4,1130.1,208.86,7.52,648,3265.72,0.00,0.16,2.59,0.000,0.088,0.028,2245.50,2317.69,2173.31,2709.44,2278.06,0,0,0,30.00,15.80,15.87
$GC,3570.22,580,128.26,1.51,-60.00,2244.7,2317.1,2172.3,2710.4,2277.4,184.80,7.85,710,3575.78,0.00,0.00,2.73,0.000,0.000,0.069,2245.62,2318.00,2173.25,2710.19,1129.50,0,0,0,30.00,30.00,15.93
$GC,3650.21,1028,128.26,1.51,0.00,2244.6,2317.3,2171.9,2710.2,1130.1,178.36,8.10,726,3655.75,0.00,0.00,2.58,0.000,0.000,0.028,2246.44,2319.38,2173.50,2710.12,2277.19,0,0,0,30.00,30.00,15.94
$GC,3960.26,516,128.26,1.51,-60.00,2244.1,2317.1,2171.1,2710.9,2277.1,154.46,8.10,788,3965.83,0.00,0.00,2.72,0.000,0.000,0.069,2244.84,2318.25,2171.44,2710.62,1128.75,0,0,0,30.00,30.00,15.97
$GC,4170.30,1092,128.26,1.53,0.00,2244.2,2317.5,2170.9,2710.7,1128.6,137.49,7.70,830,4175.83,0.00,0.00,2.57,0.000,0.000,0.028,2244.16,2317.88,2170.44,2710.38,2277.19,0,0,0,30.00,30.00,15.99
$GC,4480.34,8742,162.30,1.59,-60.00,2244.1,2317.9,2170.4,2710.8,2277.1,117.69,6.14,892,4511.44,25.01,0.00,2.72,1.218,0.000,0.071,2111.44,2170.25,2052.62,2711.00,1128.62,0,0,0,12.07,30.00,15.92
$GC,4585.35,1092,162.30,1.60,0.00,2108.7,2169.9,2047.5,2710.6,1128.9,109.96,7.94,913,4590.87,0.00,0.00,2.58,0.000,0.000,0.028,2109.84,2171.31,2048.38,2710.25,2277.75,0,0,0,30.00,30.00,15.95
$GC,4895.39,0,162.30,1.60,0.00,2107.3,2170.1,2044.6,2711.3,2277.9,85.75,8.27,975,4896.72,0.00,0.00,0.00,0.000,0.000,0.000,2107.03,2169.19,2044.88,2710.88,2277.56,0,0,0,30.00,30.00,30.00
$GC,5080.64,324,162.30,1.64,60.00,2106.9,2170.4,2043.4,2711.1,2277.3,72.17,6.93,1012,5085.94,0.00,0.00,2.59,0.000,0.000,0.087,2106.94,2170.44,2043.44,2710.31,3349.94,0,0,0,30.00,30.00,15.97
$GC,5230.43,11303,197.49,1.71,0.00,2107.1,2170.5,2043.8,2711.0,3350.6,61.72,6.06,1042,5261.90,26.48,0.20,2.55,1.165,0.080,0.022,1969.31,2017.31,1921.31,2756.88,2176.62,0,0,0,12.23,15.93,16.00
$GC,5445.45,8742,250.97,1.81,-60.00,1964.3,2016.7,1911.9,2757.3,2177.1,50.49,4.81,1085,5491.46,39.97,0.00,2.51,1.165,0.000,0.077,1750.66,1779.56,1721.75,2756.81,1129.00,0,0,0,12.31,30.00,15.80
$GC,5585.47,1092,250.97,1.85,0.00,1745.1,1777.7,1712.6,2757.0,1128.8,41.38,6.77,1113,5590.99,0.00,0.00,2.60,0.000,0.000,0.028,1746.34,1779.06,1713.62,2756.94,2278.62,0,0,0,30.00,30.00,15.87
$GC,5776.13,10791,284.28,1.91,-60.00,1743.2,1777.4,1708.9,2757.9,2278.6,29.30,6.19,1151,5807.00,25.02,0.22,2.76,1.107,0.077,0.072,1615.75,1646.50,1585.00,2810.56,1128.75,0,0,0,12.22,15.88,15.81
$GC,5965.49,1028,284.28,1.91,0.00,1610.2,1645.8,1574.7,2809.6,1128.9,12.97,8.14,1189,5971.03,0.00,0.00,2.59,0.000,0.000,0.028,1610.47,1646.12,1574.81,2810.44,2277.31,0,0,0,30.00,30.00,15.88
$STATE,6115,end climb,SURFACE_DEPTH_REACHED
$STATE,6115,begin surface coast
$FINISH,2.4,1.024003
$STATE,6205,end surface coast,CONTROL_FINISHED_OK
$STATE,6205,begin surface
$SM_CCo,6332.99,100.55,1.138,0,1043.2,987.9,1098.4,424.81
$SM_GC,0.80,100.55,16.20,0.12,1.138,0.061,0.128,1043.2,987.9,1098.4,181.8,2368.4,0,0,0,12.23,15.85,15.90
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4751.64,-12513.98,200821,024401
$TCM_TEMP,265.98
$XPDR_PINGS,0,13.0,10.5
$HUMID,49.65
$TEMP,82.25
$INTERNAL_PRESSURE,8.87388
$24V_AH,14.89,152.063
$10V_AH,14.98,0.000
$FG_AHR_24Vo,126.073
$FG_AHR_10Vo,52.412
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,438.870,34.895,69.725,190.471,0.000,13.765,2509.681,4142.627,807.397,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1417.696,249.360,231.648,204.376,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,34.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971368,28,75500,57
$DATA_FILE_SIZE,54714,1237
$CAP_FILE_SIZE,197574,0
$SDSIZE,4028416,3905984
$SDFILEDIR,2175,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,344.6,1
$IMPLIED_C_PITCH,2353,13.51,995
$IMPLIED_C_VBD,2926,22.615751,463
$GPS,200821,043438,4751.131,-12512.369,37,1.8,39,16.0