version: 67.00
glider: 249
mission: 6
dive: 474
start: 8 20 121 6 48 37
data:
$ID,249
$MISSION,6
$DIVE,474
$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,52.436825
$FG_AHR_24V,126.24615
$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
$GPS1,200821,063632,4751.027,-12513.299,39,1.6,40,16.0
$_CALLS,4
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-65.3
$GPS2,200821,064825,4750.963,-12513.205,2,0.8,4,16.0
$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,195.2,164630,-21.6,-8.462,-23.21
$D_GRID,343
$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,5.13,16386,-82.73,-1.37,0.00,1029.9,1007.2,1052.6,183.1,2246.1,0.00,0.00,0,66.93,60.61,0.00,0.00,0.005,0.000,0.000,2586.25,2754.75,2417.75,183.06,2244.50,0,0,0,15.52,30.00,30.00
$GC,67.67,18727,-82.73,-1.37,60.00,2585.0,2753.1,2416.9,183.3,2244.8,3.45,-6.43,11,102.48,11.90,13.73,2.86,0.007,0.245,0.084,3111.25,3323.62,2898.88,1997.25,3425.06,0,0,0,15.57,15.69,15.49
$GC,329.62,1028,-82.73,-1.37,0.00,3112.3,3322.3,2902.2,1997.4,3425.0,50.36,-15.21,63,335.16,0.00,0.00,2.54,0.000,0.000,0.021,3113.50,3322.94,2904.06,1997.06,2248.19,0,0,0,30.00,30.00,15.90
$GC,520.21,516,-82.73,-1.37,-60.00,3112.4,3321.8,2903.1,1997.2,2246.2,74.00,-11.47,101,524.77,0.00,0.00,2.44,0.000,0.000,0.066,3112.97,3322.38,2903.56,1996.31,1207.38,0,0,0,30.00,30.00,15.93
$GC,589.70,1028,-82.73,-1.37,0.00,3112.5,3322.2,2902.8,1997.5,1207.2,82.00,-11.25,115,595.18,0.00,0.00,2.57,0.000,0.000,0.029,3112.59,3321.06,2904.12,1997.38,2353.31,0,0,0,30.00,30.00,15.94
$GC,780.07,0,-82.73,-1.37,0.00,3112.7,3322.1,2903.2,1997.1,2353.4,100.89,-9.44,153,781.39,0.00,0.00,0.00,0.000,0.000,0.000,3113.00,3322.31,2903.69,1997.56,2353.31,0,0,0,30.00,30.00,30.00
$GC,1084.72,0,-82.73,-1.37,0.00,3112.8,3322.1,2903.6,1997.2,2353.6,129.58,-9.72,214,1086.05,0.00,0.00,0.00,0.000,0.000,0.000,3111.78,3320.88,2902.69,1997.00,2353.81,0,0,0,30.00,30.00,30.00
$GC,1389.77,516,-82.73,-1.37,-60.00,3113.1,3322.2,2903.9,1997.6,2353.8,158.79,-9.85,275,1395.31,0.00,0.00,2.68,0.000,0.000,0.062,3113.09,3322.19,2904.00,1997.56,1207.12,0,0,0,30.00,30.00,16.01
$GC,1570.17,1028,-82.73,-1.37,0.00,3113.2,3322.2,2904.3,1997.4,1207.3,177.39,-10.15,311,1575.32,0.00,0.00,2.57,0.000,0.000,0.029,3113.59,3321.94,2905.25,1998.00,2354.19,0,0,0,30.00,30.00,16.02
$GC,1879.84,516,-82.73,-1.37,-60.00,3112.6,3321.2,2904.0,1997.4,2354.6,205.40,-8.57,373,1885.39,0.00,0.00,2.68,0.000,0.000,0.061,3113.00,3321.06,2904.94,1997.31,1206.50,0,0,0,30.00,30.00,16.03
$GC,1949.85,1028,-82.73,-1.37,0.00,3112.5,3320.8,2904.2,1997.5,1206.4,211.43,-8.60,387,1955.38,0.00,0.00,2.56,0.000,0.000,0.029,3112.41,3320.88,2903.94,1997.31,2356.00,0,0,0,30.00,30.00,16.03
$GC,2260.08,0,-82.73,-1.37,0.00,3112.3,3320.5,2904.2,1997.2,2355.9,236.64,-8.25,449,2261.41,0.00,0.00,0.00,0.000,0.000,0.000,3111.41,3319.94,2902.88,1997.38,2355.94,0,0,0,30.00,30.00,30.00
$GC,2564.95,516,-82.73,-1.37,-60.00,3112.0,3320.5,2903.5,1997.2,2355.8,264.60,-9.64,510,2570.49,0.00,0.00,2.69,0.000,0.000,0.062,3113.06,3321.00,2905.12,1996.25,1207.38,0,0,0,30.00,30.00,16.05
$GC,2719.96,1028,-82.73,-1.37,0.00,3112.1,3319.9,2904.3,1996.9,1207.3,280.24,-10.20,541,2725.50,0.00,0.00,2.55,0.000,0.000,0.030,3112.59,3320.56,2904.62,1997.69,2353.69,0,0,0,30.00,30.00,16.05
$GC,3035.32,516,-82.73,-1.37,-60.00,3112.0,3319.2,2904.8,1997.4,2353.2,311.52,-9.71,591,3039.95,0.00,0.00,2.67,0.000,0.000,0.062,3111.56,3319.00,2904.12,1996.19,1207.44,0,0,0,30.00,30.00,16.06
$GC,3166.91,1028,-82.73,-1.37,0.00,3111.8,3319.5,2904.1,1997.4,1207.2,325.28,-10.51,608,3171.53,0.00,0.00,2.55,0.000,0.000,0.030,3110.81,3317.75,2903.88,1997.75,2353.88,0,0,0,30.00,30.00,16.06
$STATE,3349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3349,begin apogee
$GC,3351.17,10243,0.00,-0.28,0.00,3111.5,3318.8,2904.2,1997.4,2150.1,343.45,-9.94,625,3418.65,57.42,1.77,0.23,1.538,0.136,0.109,2773.78,2909.75,2637.81,2265.00,2287.06,0,0,0,11.96,15.96,15.81
$STATE,3420,end apogee,CONTROL_FINISHED_OK
$STATE,3420,begin climb
$GC,3420.57,10243,82.73,1.37,0.00,2773.4,2909.4,2637.4,2264.8,2286.9,346.26,0.00,631,3488.36,59.28,2.53,0.00,1.485,0.085,0.000,2437.44,2523.88,2351.00,2667.00,2287.00,0,0,0,12.72,15.83,30.00
$GC,3790.46,8486,137.37,1.48,60.00,2432.1,2523.4,2340.8,2666.9,2287.2,331.05,4.73,665,3840.81,40.80,0.00,2.62,1.453,0.000,0.091,2214.38,2278.12,2150.62,2667.62,3346.56,0,0,0,12.26,30.00,15.64
$GC,3905.92,3141,137.37,1.50,0.00,2210.9,2277.0,2144.8,2667.6,3347.0,323.33,7.44,680,3920.89,0.00,0.15,2.57,0.000,0.085,0.022,2210.19,2277.31,2143.06,2708.50,2181.69,0,0,0,30.00,15.71,15.76
$GC,4221.93,0,137.37,1.50,0.00,2207.9,2277.1,2138.8,2709.1,2182.9,297.01,8.25,712,4223.26,0.00,0.00,0.00,0.000,0.000,0.000,2207.62,2276.44,2138.81,2708.75,2182.00,0,0,0,30.00,30.00,30.00
$GC,4526.99,580,137.37,1.52,-60.00,2207.2,2277.2,2137.2,2708.8,2182.2,273.29,7.11,773,4532.09,0.00,0.00,2.49,0.000,0.000,0.076,2207.94,2278.06,2137.81,2708.25,1130.06,0,0,0,30.00,30.00,15.92
$GC,4571.99,1092,137.37,1.54,0.00,2207.2,2277.2,2137.1,2708.9,1129.9,269.78,7.81,782,4577.52,0.00,0.00,2.57,0.000,0.000,0.028,2207.91,2277.81,2138.00,2709.75,2276.44,0,0,0,30.00,30.00,15.94
$GC,4882.07,16966,137.37,1.57,-60.00,2206.6,2277.2,2136.0,2709.6,2276.3,246.68,7.03,844,4887.62,0.00,0.00,2.72,0.000,0.000,0.071,2207.31,2278.38,2136.25,2707.94,1129.94,0,0,0,30.00,30.00,15.96
$GC,4942.09,17478,137.37,1.58,0.00,2206.3,2276.9,2135.8,2709.1,1130.1,242.31,7.52,856,4947.80,0.00,0.00,2.57,0.000,0.000,0.029,2206.75,2277.12,2136.38,2709.50,2277.31,0,0,0,30.00,30.00,15.97
$GC,5252.19,16710,137.37,1.60,60.00,2206.1,2276.9,2135.2,2709.5,2277.4,219.13,7.82,918,5257.71,0.00,0.00,2.59,0.000,0.000,0.088,2206.81,2277.81,2135.81,2709.50,3347.56,0,0,0,30.00,30.00,15.97
$GC,5392.23,17414,137.37,1.60,0.00,2205.9,2277.2,2134.6,2709.7,3348.4,207.31,8.31,946,5397.76,0.00,0.00,2.54,0.000,0.000,0.022,2206.75,2278.00,2135.50,2710.12,2182.19,0,0,0,30.00,30.00,16.00
$GC,5702.34,16710,137.37,1.64,60.00,2205.5,2277.2,2133.9,2709.8,2181.3,185.77,6.56,1008,5707.92,0.00,0.00,2.83,0.000,0.000,0.083,2205.62,2277.44,2133.81,2709.56,3347.94,0,0,0,30.00,30.00,16.01
$GC,5767.36,17478,137.37,1.65,0.00,2205.3,2277.1,2133.6,2709.8,3348.5,180.86,7.71,1021,5772.88,0.00,0.00,2.54,0.000,0.000,0.022,2205.31,2277.50,2133.12,2709.62,2181.25,0,0,0,30.00,30.00,16.01
$GC,6077.47,10535,174.81,1.73,60.00,2204.9,2277.4,2132.4,2710.2,2181.2,161.19,5.91,1083,6110.02,27.33,0.23,2.83,1.301,0.076,0.085,2062.47,2117.44,2007.50,2762.19,3347.94,0,0,0,12.03,15.99,15.93
$GC,6162.65,1028,174.81,1.73,0.00,2060.1,2115.9,2004.2,2763.1,3347.2,154.12,9.62,1100,6168.01,0.00,0.00,2.54,0.000,0.000,0.023,2060.38,2116.38,2004.38,2761.56,2184.06,0,0,0,30.00,30.00,15.98
$GC,6472.69,0,174.81,1.73,0.00,2056.9,2115.9,1997.9,2762.7,2184.8,125.14,10.84,1162,6474.01,0.00,0.00,0.00,0.000,0.000,0.000,2056.03,2115.38,1996.69,2762.44,2185.25,0,0,0,30.00,30.00,30.00
$GC,6777.65,260,174.81,1.73,60.00,2056.6,2116.5,1996.6,2762.7,2184.5,96.61,8.34,1223,6783.23,0.00,0.00,2.81,0.000,0.000,0.083,2056.66,2116.44,1996.88,2762.69,3348.56,0,0,0,30.00,30.00,15.99
$GC,6827.66,1028,174.81,1.73,0.00,2056.2,2116.1,1996.4,2762.7,3348.1,91.79,9.94,1233,6833.19,0.00,0.00,2.54,0.000,0.000,0.023,2058.03,2118.62,1997.44,2761.38,2182.00,0,0,0,30.00,30.00,16.01
$GC,7018.07,8486,208.89,1.79,60.00,2055.8,2115.9,1995.7,2762.7,2182.8,77.63,6.14,1271,7049.13,25.85,0.00,2.82,1.202,0.000,0.085,1923.28,1969.69,1876.88,2762.56,3348.62,0,0,0,12.07,30.00,15.94
$GC,7097.70,1092,208.89,1.82,0.00,1921.8,1968.8,1874.8,2762.8,3349.2,72.26,6.97,1287,7103.22,0.00,0.00,2.55,0.000,0.000,0.023,1921.47,1969.50,1873.44,2762.94,2182.25,0,0,0,30.00,30.00,15.96
$GC,7288.11,324,208.89,1.84,60.00,1919.3,1969.5,1869.1,2762.6,2182.0,58.58,7.65,1325,7293.28,0.00,0.00,2.82,0.000,0.000,0.082,1918.84,1969.06,1868.62,2762.62,3348.12,0,0,0,30.00,30.00,15.95
$GC,7312.72,1092,208.89,1.85,0.00,1919.2,1969.5,1869.0,2762.3,3348.0,56.54,7.89,1330,7318.25,0.00,0.00,2.54,0.000,0.000,0.022,1920.00,1969.62,1870.38,2762.81,2180.88,0,0,0,30.00,30.00,15.98
$GC,7503.13,10791,260.27,1.95,-60.00,1918.3,1969.2,1867.5,2762.5,2180.6,45.25,4.95,1368,7546.67,38.37,0.25,2.49,1.175,0.077,0.078,1712.03,1744.12,1679.94,2817.06,1128.69,0,0,0,12.16,15.94,15.84
$GC,7559.26,9254,316.40,2.07,0.00,1710.8,1745.2,1676.5,2817.1,1128.8,42.60,4.63,1379,7606.57,42.22,0.00,2.58,1.147,0.000,0.027,1484.06,1501.88,1466.25,2817.50,2278.56,0,0,0,12.61,30.00,15.91
$GC,7788.90,16646,316.40,2.07,60.00,1476.4,1503.1,1449.8,2817.4,2278.1,23.96,9.24,1425,7794.43,0.00,0.00,2.61,0.000,0.000,0.087,1476.22,1502.62,1449.81,2817.50,3348.94,0,0,0,30.00,30.00,15.80
$GC,7818.89,17414,316.40,2.07,0.00,1476.4,1502.9,1449.9,2817.5,3348.1,20.79,10.41,1431,7824.42,0.00,0.00,2.57,0.000,0.000,0.023,1476.19,1502.38,1450.00,2817.81,2182.44,0,0,0,30.00,30.00,15.84
$GC,8009.32,10535,380.46,2.19,60.00,1473.5,1502.9,1444.1,2817.9,2182.1,8.75,4.09,1469,8062.22,47.13,0.28,2.85,1.114,0.069,0.081,1224.50,1231.75,1217.25,2875.69,3347.81,0,0,0,12.21,15.85,15.73
$STATE,8094,end climb,SURFACE_DEPTH_REACHED
$STATE,8094,begin surface coast
$FINISH,0.2,1.023955
$STATE,8165,end surface coast,CONTROL_FINISHED_OK
$STATE,8165,begin surface
$SM_CCo,8227.01,34.11,1.099,0,1042.8,1003.8,1081.8,424.91
$SM_GC,0.43,34.11,16.50,2.35,1.099,0.042,0.021,1042.8,1003.8,1081.8,183.0,2266.9,0,0,0,12.49,15.78,15.82
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4750.72,-12516.60,200821,064338
$TCM_TEMP,266.45
$XPDR_PINGS,0,13.0,10.5
$HUMID,49.89
$TEMP,82.29
$INTERNAL_PRESSURE,8.87299
$24V_AH,14.95,152.490
$10V_AH,15.00,0.000
$FG_AHR_24Vo,126.401
$FG_AHR_10Vo,52.462
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,445.015,35.435,94.900,380.708,0.000,13.030,3993.537,4861.191,971.814,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1537.744,245.096,108.976,197.900,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,4013.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,64150,1500
$CAP_FILE_SIZE,241618,0
$SDSIZE,4028416,3905696
$SDFILEDIR,2181,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078, 13.6,1
$MAGCAL,1.000000,0.006279,-0.046081,-0.029929,1.054578,-0.059566,0.055558,-0.091441,0.968410,698.8,-294.5,126.1,23,0.0358,0
$IMPLIED_C_PITCH,2353,13.41,1252
$IMPLIED_C_VBD,2856,27.179161,695
$GPS,200821,090632,4750.529,-12513.612,39,1.0,40,16.0