version: 67.00
glider: 249
mission: 6
dive: 561
start: 9 12 121 6 15 30
data:
$ID,249
$MISSION,6
$DIVE,561
$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,0.00223872
$HD_B,0.018861501
$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,58.11882
$FG_AHR_24V,147.38017
$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
$GPS1,120921,060538,4750.314,-12513.223,43,0.9,43,15.9
$_CALLS,3
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-63.5
$GPS2,120921,061517,4750.228,-12513.293,3,0.9,6,15.9
$SPEED_LIMITS,0.147,0.157
$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,26.1,4905,-20.3,-8.462,-28.39
$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,5.22,16386,-82.73,-1.29,0.00,1033.5,1011.4,1055.6,175.8,2238.0,0.00,0.00,0,61.86,55.48,0.00,0.00,0.005,0.000,0.000,2460.16,2622.88,2297.44,175.88,2238.56,0,0,0,15.35,30.00,30.00
$GC,62.58,18951,-82.73,-1.29,-60.00,2459.7,2621.8,2297.7,175.9,2238.4,3.52,-6.80,10,100.62,14.44,14.62,2.51,0.006,0.248,0.068,3110.91,3325.44,2896.38,2016.50,1207.81,0,0,0,15.44,15.59,15.31
$GC,117.69,1028,-82.73,-1.29,0.00,3111.0,3325.0,2896.9,2016.6,1208.5,13.56,-14.09,21,123.25,0.00,0.00,2.63,0.000,0.000,0.029,3111.88,3325.75,2898.00,2016.25,2352.31,0,0,0,30.00,30.00,15.81
$GC,308.13,516,-82.73,-1.29,-60.00,3111.0,3324.6,2897.4,2016.2,2352.1,39.50,-13.01,59,313.32,0.00,0.00,2.77,0.000,0.000,0.059,3113.22,3326.06,2900.38,2015.56,1209.69,0,0,0,30.00,30.00,15.85
$GC,417.99,1028,-82.73,-1.29,0.00,3111.5,3325.1,2898.0,2016.4,1209.9,53.73,-12.21,81,423.42,0.00,0.00,2.62,0.000,0.000,0.028,3113.66,3327.12,2900.19,2016.19,2351.75,0,0,0,30.00,30.00,15.86
$GC,608.25,260,-82.73,-1.29,60.00,3111.8,3324.7,2898.8,2016.1,2352.8,73.65,-9.84,119,613.41,0.00,0.00,2.64,0.000,0.000,0.086,3111.59,3324.81,2898.38,2016.31,3427.50,0,0,0,30.00,30.00,15.86
$GC,642.88,1028,-82.73,-1.29,0.00,3111.2,3321.1,2901.4,2016.8,3427.5,77.18,-10.10,126,648.41,0.00,0.00,2.57,0.000,0.000,0.020,3111.19,3321.69,2900.69,2016.62,2241.38,0,0,0,30.00,30.00,15.90
$GC,833.30,260,-82.73,-1.29,60.00,3111.1,3320.9,2901.3,2016.1,2241.0,93.29,-7.55,164,838.50,0.00,0.00,2.91,0.000,0.000,0.081,3111.78,3321.56,2902.00,2016.56,3428.94,0,0,0,30.00,30.00,15.90
$GC,872.92,1028,-82.73,-1.29,0.00,3111.4,3321.4,2901.4,2015.8,3428.4,96.52,-7.98,172,878.45,0.00,0.00,2.57,0.000,0.000,0.021,3111.72,3321.00,2902.44,2016.38,2241.19,0,0,0,30.00,30.00,15.91
$GC,1063.34,516,-82.73,-1.29,-60.00,3111.3,3320.9,2901.6,2016.4,2241.1,110.02,-7.32,210,1068.07,0.00,0.00,2.46,0.000,0.000,0.065,3111.88,3321.56,2902.19,2016.12,1208.00,0,0,0,30.00,30.00,15.93
$GC,1192.97,1028,-82.73,-1.29,0.00,3111.8,3321.3,2902.2,2016.1,1208.5,120.46,-8.37,236,1198.50,0.00,0.00,2.59,0.000,0.000,0.029,3111.91,3321.50,2902.31,2016.38,2353.44,0,0,0,30.00,30.00,15.94
$GC,1503.01,516,-82.73,-1.29,-60.00,3111.8,3321.2,2902.4,2016.2,2353.2,143.48,-7.54,298,1508.57,0.00,0.00,2.74,0.000,0.000,0.061,3115.03,3325.12,2904.94,2015.94,1208.69,0,0,0,30.00,30.00,15.96
$GC,1633.02,1028,-82.73,-1.29,0.00,3111.6,3320.8,2902.4,2016.0,1208.4,154.49,-8.62,324,1638.75,0.00,0.00,2.59,0.000,0.000,0.029,3111.97,3321.00,2902.94,2016.25,2354.25,0,0,0,30.00,30.00,15.97
$GC,1943.07,0,-82.73,-1.29,0.00,3111.3,3320.6,2901.9,2016.1,2353.8,182.55,-9.65,386,1944.39,0.00,0.00,0.00,0.000,0.000,0.000,3110.72,3320.06,2901.38,2016.19,2354.44,0,0,0,30.00,30.00,30.00
$GC,2248.11,516,-82.73,-1.29,-60.00,3111.2,3320.4,2902.0,2016.1,2354.6,212.27,-9.70,447,2253.67,0.00,0.00,2.73,0.000,0.000,0.061,3111.88,3321.00,2902.75,2016.38,1207.62,0,0,0,30.00,30.00,15.99
$GC,2323.12,1028,-82.73,-1.29,0.00,3111.4,3320.7,2902.2,2015.6,1207.4,219.59,-9.60,462,2328.65,0.00,0.00,2.59,0.000,0.000,0.029,3112.12,3321.06,2903.19,2015.00,2354.31,0,0,0,30.00,30.00,15.98
$GC,2633.15,0,-82.73,-1.29,0.00,3111.4,3320.4,2902.3,2016.1,2354.9,246.17,-8.66,524,2634.48,0.00,0.00,0.00,0.000,0.000,0.000,3110.34,3319.38,2901.31,2016.00,2355.19,0,0,0,30.00,30.00,30.00
$GC,2938.18,0,-82.73,-1.29,0.00,3110.8,3319.6,2902.0,2016.4,2354.7,275.45,-10.04,585,2939.51,0.00,0.00,0.00,0.000,0.000,0.000,3110.12,3319.12,2901.12,2015.69,2355.19,0,0,0,30.00,30.00,30.00
$GC,3249.96,0,-82.73,-1.29,0.00,3110.7,3318.9,2902.4,2015.9,2354.6,306.10,-9.55,640,3261.03,0.00,0.00,0.00,0.000,0.000,0.000,3110.78,3319.31,2902.25,2015.88,2354.38,0,0,0,30.00,30.00,30.00
$STATE,3315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3315,begin apogee
$GC,3317.34,10243,0.00,-0.28,0.00,3110.7,3319.2,2902.1,2015.9,2155.4,312.21,-9.31,646,3384.82,57.58,1.70,0.22,1.516,0.135,0.110,2774.97,2911.25,2638.69,2263.12,2286.75,0,0,0,11.35,15.91,15.77
$STATE,3386,end apogee,CONTROL_FINISHED_OK
$STATE,3386,begin climb
$GC,3387.02,10243,82.73,1.29,0.00,2773.2,2909.5,2636.9,2263.6,2286.9,314.77,0.00,652,3454.70,59.76,2.52,0.00,1.455,0.090,0.000,2435.66,2521.31,2350.00,2649.50,2286.94,0,0,0,12.51,15.80,30.00
$GC,3756.87,10275,160.62,1.45,0.00,2431.6,2521.2,2341.9,2649.2,2287.4,301.48,4.31,686,3817.89,57.67,0.19,0.00,1.439,0.079,0.000,2119.47,2165.25,2073.69,2697.88,2287.06,0,0,0,11.84,15.75,30.00
$GC,4122.03,64,160.62,1.46,0.00,2113.0,2165.9,2060.1,2698.4,2286.5,273.77,7.93,755,4123.36,0.00,0.00,0.00,0.000,0.000,0.000,2112.81,2165.94,2059.69,2698.44,2287.12,0,0,0,30.00,30.00,30.00
$GC,4427.23,16386,160.62,1.46,0.00,2111.1,2165.4,2056.8,2698.2,2287.0,249.01,8.24,816,4428.56,0.00,0.00,0.00,0.000,0.000,0.000,2110.34,2164.69,2056.00,2697.75,2286.75,0,0,0,30.00,30.00,30.00
$GC,4732.11,16710,160.62,1.48,60.00,2110.7,2166.0,2055.4,2698.2,2286.7,224.10,7.70,877,4737.64,0.00,0.00,2.63,0.000,0.000,0.089,2110.72,2165.81,2055.62,2699.06,3348.38,0,0,0,30.00,30.00,15.87
$GC,4762.09,17414,160.62,1.48,0.00,2110.5,2165.3,2055.6,2699.3,3348.4,221.56,8.20,883,4767.62,0.00,0.00,2.58,0.000,0.000,0.023,2110.78,2165.94,2055.62,2699.06,2184.94,0,0,0,30.00,30.00,15.90
$GC,5072.15,16966,160.62,1.51,-60.00,2110.4,2166.1,2054.7,2698.8,2184.9,199.33,6.98,945,5077.67,0.00,0.00,2.56,0.000,0.000,0.076,2109.78,2165.94,2053.62,2699.19,1129.88,0,0,0,30.00,30.00,15.92
$GC,5107.14,17478,160.62,1.52,0.00,2109.3,2165.6,2053.1,2699.6,1129.9,196.54,7.80,952,5112.67,0.00,0.00,2.60,0.000,0.000,0.029,2109.41,2165.81,2053.00,2699.00,2275.62,0,0,0,30.00,30.00,15.93
$GC,5417.17,16646,160.62,1.52,60.00,2109.3,2166.0,2052.6,2698.9,2276.5,171.52,8.90,1014,5422.71,0.00,0.00,2.63,0.000,0.000,0.088,2110.44,2166.62,2054.25,2699.31,3347.50,0,0,0,30.00,30.00,15.93
$GC,5447.16,17414,160.62,1.52,0.00,2109.4,2165.9,2052.9,2699.4,3347.5,168.70,9.34,1020,5452.69,0.00,0.00,2.58,0.000,0.000,0.023,2111.00,2167.12,2054.88,2697.75,2183.31,0,0,0,30.00,30.00,15.95
$GC,5757.24,16450,160.62,1.55,0.00,2108.5,2165.8,2051.3,2699.6,2183.3,144.10,7.07,1082,5758.57,0.00,0.00,0.00,0.000,0.000,0.000,2108.12,2165.62,2050.62,2699.31,2183.69,0,0,0,30.00,30.00,30.00
$GC,6062.27,16902,160.62,1.55,-60.00,2108.2,2165.8,2050.7,2699.2,2183.8,120.98,8.19,1143,6067.81,0.00,0.00,2.56,0.000,0.000,0.075,2108.34,2165.94,2050.75,2699.75,1131.25,0,0,0,30.00,30.00,15.96
$GC,6147.31,17478,160.62,1.56,0.00,2107.8,2165.1,2050.6,2699.2,1131.2,114.20,7.93,1160,6152.84,0.00,0.00,2.59,0.000,0.000,0.029,2108.84,2166.50,2051.19,2697.88,2274.38,0,0,0,30.00,30.00,15.97
$GC,6457.43,16966,160.62,1.59,-60.00,2108.1,2165.9,2050.3,2699.6,2274.8,92.67,6.76,1222,6463.15,0.00,0.00,2.78,0.000,0.000,0.070,2109.16,2166.81,2051.50,2699.19,1129.81,0,0,0,30.00,30.00,15.97
$GC,6557.63,11303,199.06,1.67,0.00,2108.0,2165.9,2050.1,2699.2,1129.7,86.05,6.41,1242,6590.98,28.27,0.22,2.59,1.213,0.075,0.028,1962.91,2007.31,1918.50,2749.44,2277.44,0,0,0,11.54,15.86,15.98
$GC,6773.08,0,199.06,1.67,0.00,1958.2,2008.0,1908.4,2749.9,2277.6,69.48,8.29,1285,6774.41,0.00,0.00,0.00,0.000,0.000,0.000,1957.16,2007.31,1907.00,2749.69,2277.75,0,0,0,30.00,30.00,30.00
$GC,6958.13,580,199.06,1.69,-60.00,1957.3,2007.9,1906.7,2749.6,2277.4,54.20,7.55,1322,6963.68,0.00,0.00,2.79,0.000,0.000,0.070,1957.50,2008.25,1906.75,2749.88,1130.00,0,0,0,30.00,30.00,15.93
$GC,7018.14,1092,199.06,1.71,0.00,1956.3,2007.7,1905.0,2749.4,1130.1,49.74,7.50,1334,7023.66,0.00,0.00,2.59,0.000,0.000,0.029,1956.50,2008.31,1904.69,2750.62,2275.62,0,0,0,30.00,30.00,15.94
$GC,7208.56,324,199.06,1.74,60.00,1955.8,2007.9,1903.8,2750.4,2275.4,36.35,6.89,1372,7213.70,0.00,0.00,2.61,0.000,0.000,0.087,1956.31,2008.44,1904.19,2749.75,3346.56,0,0,0,30.00,30.00,15.92
$GC,7343.18,11303,300.95,1.94,0.00,1956.2,2008.7,1903.8,2750.2,3347.5,31.72,3.03,1399,7423.49,74.06,0.31,2.55,1.175,0.064,0.022,1548.03,1563.69,1532.38,2814.00,2179.25,0,0,0,11.68,15.86,15.96
$GC,7605.75,16966,300.95,1.95,-60.00,1538.5,1564.8,1512.2,2814.9,2179.4,13.55,7.78,1451,7611.27,0.00,0.00,2.54,0.000,0.000,0.076,1538.97,1565.50,1512.44,2815.38,1129.81,0,0,0,30.00,30.00,15.79
$GC,7655.76,17478,300.95,1.99,0.00,1537.0,1565.1,1508.8,2815.9,1129.9,10.14,6.81,1461,7661.31,0.00,0.00,2.61,0.000,0.000,0.027,1537.28,1565.56,1509.00,2815.62,2277.94,0,0,0,30.00,30.00,15.82
$STATE,7785,end climb,SURFACE_DEPTH_REACHED
$STATE,7786,begin surface coast
$FINISH,1.6,1.023714
$STATE,7891,end surface coast,CONTROL_FINISHED_OK
$STATE,7891,begin surface
$SM_CCo,8005.59,88.03,1.144,0,1042.8,987.4,1098.3,424.90
$SM_GC,1.27,88.03,16.41,0.12,1.144,0.063,0.126,1042.8,987.4,1098.3,176.9,2362.4,0,0,0,11.84,15.78,15.83
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4748.89,-12512.13,120921,061030
$TCM_TEMP,266.70
$XPDR_PINGS,0,13.0,10.5
$HUMID,49.86
$TEMP,82.20
$INTERNAL_PRESSURE,8.88558
$24V_AH,14.90,183.919
$10V_AH,14.99,0.000
$FG_AHR_24Vo,147.534
$FG_AHR_10Vo,58.144
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,435.280,35.975,79.470,259.531,0.000,15.535,3375.818,5085.994,977.074,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1515.768,248.376,126.360,218.087,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3752.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971368,30,75460,57
$DATA_FILE_SIZE,64222,1508
$CAP_FILE_SIZE,226650,0
$SDSIZE,4028416,3887200
$SDFILEDIR,2441,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,  0.2,1
$IMPLIED_C_PITCH,2354,13.18,1252
$IMPLIED_C_VBD,2820,30.170166,903
$GPS,120921,083001,4750.838,-12512.685,56,0.9,57,15.9