version: 67.00
glider: 249
mission: 6
dive: 565
start: 9 12 121 13 57 19
data:
$ID,249
$MISSION,6
$DIVE,565
$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,58.204956
$FG_AHR_24V,147.99561
$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
$GPS1,120921,135104,4751.207,-12511.905,47,1.6,48,15.9
$_CALLS,1
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-62.4
$GPS2,120921,135706,4751.216,-12511.902,4,1.2,15,15.9
$SPEED_LIMITS,0.147,0.157
$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,219.3,166248,-20.3,-8.462,-28.39
$D_GRID,280
$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,2,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5.23,16386,-82.73,-1.29,0.00,1034.8,1008.4,1061.2,179.4,2242.2,0.00,0.00,0,61.86,55.44,0.00,0.00,0.005,0.000,0.000,2459.72,2619.19,2300.25,179.31,2242.44,0,0,0,15.36,30.00,30.00
$GC,62.58,18695,-82.73,-1.29,60.00,2458.7,2617.5,2299.9,179.3,2242.8,3.70,-7.54,10,100.68,13.90,14.64,2.96,0.006,0.251,0.084,3113.09,3325.25,2900.94,2013.75,3427.56,0,0,0,15.44,15.61,15.31
$GC,172.75,1028,-82.73,-1.29,0.00,3113.1,3324.5,2901.8,2014.8,3428.0,24.67,-15.13,32,178.29,0.00,0.00,2.59,0.000,0.000,0.020,3113.66,3325.31,2902.00,2014.62,2248.94,0,0,0,30.00,30.00,15.82
$GC,363.19,516,-82.73,-1.29,-60.00,3112.9,3324.3,2901.4,2014.8,2247.7,49.29,-12.28,70,367.94,0.00,0.00,2.50,0.000,0.000,0.065,3113.31,3324.19,2902.44,2015.00,1208.69,0,0,0,30.00,30.00,15.87
$GC,412.81,1028,-82.73,-1.29,0.00,3113.1,3324.0,2902.1,2014.4,1208.4,55.17,-11.97,80,418.57,0.00,0.00,2.61,0.000,0.000,0.028,3115.00,3325.19,2904.81,2015.06,2353.75,0,0,0,30.00,30.00,15.89
$GC,603.46,516,-82.73,-1.29,-60.00,3113.7,3325.1,2902.2,2014.8,2352.9,76.87,-10.50,118,608.46,0.00,0.00,2.75,0.000,0.000,0.060,3114.91,3325.62,2904.19,2013.94,1208.38,0,0,0,30.00,30.00,15.90
$GC,662.92,1028,-82.73,-1.29,0.00,3113.7,3324.5,2902.8,2014.9,1208.5,83.18,-10.67,130,668.47,0.00,0.00,2.62,0.000,0.000,0.028,3113.72,3324.31,2903.12,2015.69,2355.94,0,0,0,30.00,30.00,15.92
$GC,852.97,0,-82.73,-1.29,0.00,3113.9,3323.9,2903.9,2015.3,2355.8,102.35,-9.38,168,854.30,0.00,0.00,0.00,0.000,0.000,0.000,3112.94,3324.00,2901.88,2014.81,2355.38,0,0,0,30.00,30.00,30.00
$GC,1158.09,516,-82.73,-1.29,-60.00,3114.2,3324.9,2903.4,2014.9,2355.1,127.24,-8.45,229,1163.66,0.00,0.00,2.75,0.000,0.000,0.060,3114.00,3324.75,2903.25,2014.81,1208.06,0,0,0,30.00,30.00,15.97
$GC,1243.11,1028,-82.73,-1.29,0.00,3114.2,3324.4,2903.9,2015.1,1208.1,135.09,-9.38,246,1248.64,0.00,0.00,2.60,0.000,0.000,0.028,3114.34,3324.19,2904.50,2014.56,2353.62,0,0,0,30.00,30.00,15.96
$GC,1553.21,0,-82.73,-1.29,0.00,3114.6,3325.1,2904.1,2015.1,2354.4,159.45,-7.65,308,1554.55,0.00,0.00,0.00,0.000,0.000,0.000,3113.97,3325.06,2902.88,2015.50,2354.00,0,0,0,30.00,30.00,30.00
$GC,1858.32,516,-82.73,-1.29,-60.00,3113.9,3324.0,2903.8,2015.2,2353.9,184.69,-8.45,369,1863.89,0.00,0.00,2.76,0.000,0.000,0.061,3114.59,3324.75,2904.44,2015.00,1208.62,0,0,0,30.00,30.00,15.99
$GC,1973.36,1028,-82.73,-1.29,0.00,3114.4,3324.5,2904.3,2014.8,1208.4,194.95,-8.77,392,1979.10,0.00,0.00,2.61,0.000,0.000,0.029,3114.91,3324.81,2905.00,2014.88,2353.56,0,0,0,30.00,30.00,16.00
$GC,2283.45,516,-82.73,-1.29,-60.00,3113.8,3324.1,2903.6,2015.1,2353.6,220.76,-8.37,454,2289.00,0.00,0.00,2.76,0.000,0.000,0.061,3116.34,3326.12,2906.56,2014.81,1208.19,0,0,0,30.00,30.00,16.01
$GC,2373.45,1028,-82.73,-1.29,0.00,3113.8,3323.8,2903.8,2014.6,1208.6,228.55,-8.67,472,2378.99,0.00,0.00,2.60,0.000,0.000,0.029,3114.16,3324.12,2904.19,2015.38,2352.69,0,0,0,30.00,30.00,16.01
$GC,2683.50,516,-82.73,-1.29,-60.00,3113.6,3323.4,2903.8,2014.9,2352.4,255.74,-8.12,534,2689.06,0.00,0.00,2.75,0.000,0.000,0.060,3114.38,3324.44,2904.31,2014.94,1208.38,0,0,0,30.00,30.00,16.00
$GC,2743.51,1028,-82.73,-1.29,0.00,3114.0,3323.5,2904.4,2015.2,1208.6,260.91,-8.75,546,2749.04,0.00,0.00,2.60,0.000,0.000,0.029,3114.59,3324.50,2904.69,2015.31,2354.75,0,0,0,30.00,30.00,16.01
$STATE,2963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2963,begin apogee
$GC,2965.38,10243,0.00,-0.28,0.00,3113.4,3323.1,2903.6,2014.4,2152.7,280.15,-9.19,590,3026.83,57.55,1.71,0.22,1.469,0.135,0.098,2775.16,2911.88,2638.44,2263.94,2287.38,0,0,0,11.54,15.92,15.79
$STATE,3028,end apogee,CONTROL_FINISHED_OK
$STATE,3028,begin climb
$GC,3028.85,10243,82.73,1.29,0.00,2774.7,2911.3,2638.1,2263.6,2287.2,282.75,0.00,602,3093.53,59.38,2.52,0.00,1.409,0.093,0.000,2437.25,2523.25,2351.25,2647.81,2287.06,0,0,0,12.62,15.81,30.00
$GC,3396.08,10791,165.33,1.46,-60.00,2431.9,2522.6,2341.2,2647.8,2287.1,269.54,4.06,676,3463.61,60.78,0.20,2.87,1.391,0.074,0.071,2099.81,2144.75,2054.88,2701.44,1129.81,0,0,0,11.85,15.76,15.57
$GC,3511.08,1028,165.33,1.46,0.00,2095.4,2142.5,2048.4,2700.7,1129.9,261.76,8.69,699,3516.63,0.00,0.00,2.65,0.000,0.000,0.027,2095.59,2142.31,2048.88,2701.88,2273.69,0,0,0,30.00,30.00,15.68
$GC,3821.21,16710,165.33,1.48,60.00,2092.3,2142.3,2042.4,2701.5,2273.9,236.31,7.54,761,3826.74,0.00,0.00,2.67,0.000,0.000,0.086,2092.59,2142.94,2042.25,2702.06,3345.75,0,0,0,30.00,30.00,15.80
$GC,3851.20,17414,165.33,1.48,0.00,2092.1,2142.4,2041.7,2701.5,3345.8,233.81,8.01,767,3856.73,0.00,0.00,2.59,0.000,0.000,0.022,2091.97,2142.69,2041.25,2702.00,2183.88,0,0,0,30.00,30.00,15.82
$GC,4161.49,16966,165.33,1.52,-60.00,2091.2,2142.8,2039.7,2701.6,2184.1,212.28,6.48,829,4166.83,0.00,0.00,2.57,0.000,0.000,0.073,2091.75,2143.81,2039.69,2701.81,1130.12,0,0,0,30.00,30.00,15.86
$GC,4246.53,17478,165.33,1.54,0.00,2090.8,2142.6,2038.9,2701.9,1130.4,206.32,7.16,846,4251.94,0.00,0.00,2.61,0.000,0.000,0.028,2091.59,2142.81,2040.38,2702.06,2274.81,0,0,0,30.00,30.00,15.90
$GC,4556.44,16966,165.33,1.55,-60.00,2090.6,2142.7,2038.6,2701.3,2274.6,183.52,7.94,908,4561.99,0.00,0.00,2.78,0.000,0.000,0.069,2091.53,2143.94,2039.12,2701.94,1129.94,0,0,0,30.00,30.00,15.92
$GC,4601.42,17414,165.33,1.55,0.00,2090.7,2143.6,2037.8,2701.6,1129.9,179.72,8.44,917,4606.97,0.00,0.00,2.60,0.000,0.000,0.028,2090.66,2143.19,2038.12,2701.56,2275.12,0,0,0,30.00,30.00,15.93
$GC,4911.50,16966,165.33,1.58,-60.00,2089.9,2142.9,2036.8,2701.6,2274.8,156.65,7.27,979,4917.05,0.00,0.00,2.78,0.000,0.000,0.069,2090.19,2143.19,2037.19,2701.69,1131.12,0,0,0,30.00,30.00,15.95
$GC,4966.50,17414,165.33,1.58,0.00,2089.9,2143.3,2036.4,2701.9,1131.6,152.24,8.14,990,4972.03,0.00,0.00,2.60,0.000,0.000,0.028,2090.03,2141.88,2038.19,2701.38,2274.75,0,0,0,30.00,30.00,15.96
$GC,5276.52,16902,165.33,1.58,-60.00,2089.7,2143.1,2036.3,2701.7,2274.6,127.76,8.17,1052,5282.10,0.00,0.00,2.77,0.000,0.000,0.069,2089.50,2143.62,2035.38,2701.75,1129.88,0,0,0,30.00,30.00,15.97
$GC,5441.94,17478,165.33,1.59,0.00,2089.5,2143.2,2035.7,2701.9,1130.0,114.18,7.64,1085,5447.08,0.00,0.00,2.60,0.000,0.000,0.028,2089.81,2143.81,2035.81,2701.75,2275.06,0,0,0,30.00,30.00,15.99
$GC,5751.78,10535,244.75,1.75,60.00,2088.9,2143.2,2034.5,2701.9,2275.1,97.28,4.23,1147,5815.10,57.26,0.34,2.65,1.253,0.060,0.089,1776.59,1803.19,1750.00,2774.62,3346.56,0,0,0,11.64,15.96,15.78
$GC,5817.31,1092,244.75,1.77,0.00,1776.7,1803.4,1749.9,2774.5,3347.4,92.60,7.81,1160,5822.83,0.00,0.00,2.60,0.000,0.000,0.022,1777.34,1805.12,1749.56,2774.88,2182.38,0,0,0,30.00,30.00,15.87
$GC,6007.75,0,244.75,1.77,0.00,1769.8,1803.6,1736.1,2774.7,2182.4,71.83,10.06,1198,6009.07,0.00,0.00,0.00,0.000,0.000,0.000,1769.56,1803.44,1735.69,2774.94,2182.31,0,0,0,30.00,30.00,30.00
$GC,6192.40,16902,244.75,1.77,-60.00,1768.2,1803.8,1732.6,2775.1,2182.4,53.12,9.09,1235,6197.94,0.00,0.00,2.57,0.000,0.000,0.074,1769.00,1804.19,1733.81,2773.56,1130.12,0,0,0,30.00,30.00,15.88
$GC,6222.63,17414,244.75,1.77,0.00,1767.6,1803.9,1731.4,2774.9,1130.2,50.43,8.92,1241,6227.97,0.00,0.00,2.61,0.000,0.000,0.028,1767.69,1804.38,1731.00,2774.50,2275.38,0,0,0,30.00,30.00,15.89
$GC,6412.45,16450,244.75,1.79,0.00,1766.6,1803.8,1729.4,2774.3,2274.9,37.19,7.04,1279,6413.78,0.00,0.00,0.00,0.000,0.000,0.000,1766.09,1803.00,1729.19,2775.12,2274.88,0,0,0,30.00,30.00,30.00
$GC,6597.48,8742,301.26,1.91,-60.00,1766.0,1803.9,1728.2,2774.6,2274.9,25.87,5.45,1316,6644.21,41.35,0.00,2.81,1.145,0.000,0.071,1547.81,1572.56,1523.06,2774.62,1131.31,0,0,0,11.75,30.00,15.79
$GC,6712.48,1092,301.26,1.92,0.00,1542.4,1571.5,1513.2,2774.4,1131.7,17.73,7.83,1339,6718.05,0.00,0.00,2.62,0.000,0.000,0.027,1542.59,1571.88,1513.31,2775.38,2276.31,0,0,0,30.00,30.00,15.86
$GC,6902.51,10535,387.74,2.09,60.00,1539.4,1572.4,1506.4,2774.8,2275.8,9.28,3.85,1377,6972.11,64.22,0.40,2.68,1.121,0.057,0.087,1193.56,1192.00,1195.12,2854.56,3348.69,0,0,0,11.96,15.85,15.66
$STATE,7013,end climb,SURFACE_DEPTH_REACHED
$STATE,7014,begin surface coast
$FINISH,3.5,1.023798
$STATE,7019,end surface coast,CONTROL_FINISHED_OK
$STATE,7019,begin surface
$SM_CCo,7076.37,28.48,1.086,0,1042.4,998.4,1086.5,425.00
$SM_GC,1.97,28.48,16.80,2.39,1.086,0.067,0.021,1042.4,998.4,1086.5,180.6,2277.1,0,0,0,12.42,15.67,15.74
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4751.64,-12513.98,120921,120133
$TCM_TEMP,266.54
$XPDR_PINGS,0,13.0,10.5
$HUMID,50.12
$TEMP,82.24
$INTERNAL_PRESSURE,8.88061
$24V_AH,14.93,184.665
$10V_AH,15.00,0.000
$FG_AHR_24Vo,148.141
$FG_AHR_10Vo,58.227
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,438.375,36.595,91.100,181.586,0.000,24.204,2763.117,4577.497,909.126,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1468.864,250.672,98.152,207.983,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,34.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971328,31,75480,57
$DATA_FILE_SIZE,61124,1400
$CAP_FILE_SIZE,226457,0
$SDSIZE,4028416,3886688
$SDFILEDIR,2453,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,183.9,1
$IMPLIED_C_PITCH,2356,13.05,1140
$IMPLIED_C_VBD,2810,23.569952,944
$GPS,120921,155609,4750.726,-12512.607,33,0.9,46,15.9