version: 67.00
glider: 249
mission: 6
dive: 566
start: 9 12 121 16 2 6
data:
$ID,249
$MISSION,6
$DIVE,566
$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,58.228207
$FG_AHR_24V,148.15201
$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
$GPS1,120921,155609,4750.726,-12512.607,33,0.9,46,15.9
$_CALLS,1
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-62.9
$GPS2,120921,160153,4750.705,-12512.578,5,1.0,7,15.9
$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,232.0,165008,-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,2,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5.23,16386,-82.73,-1.29,0.00,1034.7,1009.2,1060.1,180.6,2366.4,0.00,0.00,0,61.85,55.44,0.00,0.00,0.005,0.000,0.000,2439.69,2602.19,2277.19,180.62,2367.12,0,0,0,15.35,30.00,30.00
$GC,62.59,18727,-82.73,-1.29,60.00,2438.9,2601.1,2276.8,180.6,2367.0,3.42,-6.30,10,100.64,14.69,14.68,2.62,0.006,0.252,0.086,3111.56,3326.50,2896.62,2016.19,3428.31,0,0,0,15.42,15.59,15.31
$GC,187.71,1028,-82.73,-1.29,0.00,3112.2,3326.1,2898.3,2016.1,3427.6,29.02,-15.45,35,193.25,0.00,0.00,2.58,0.000,0.000,0.020,3113.47,3326.88,2900.06,2015.75,2247.38,0,0,0,30.00,30.00,15.81
$GC,378.12,0,-82.73,-1.29,0.00,3112.3,3326.1,2898.5,2016.5,2246.3,55.36,-12.54,73,379.44,0.00,0.00,0.00,0.000,0.000,0.000,3111.97,3325.56,2898.38,2016.25,2246.19,0,0,0,30.00,30.00,30.00
$GC,562.77,516,-82.73,-1.29,-60.00,3112.7,3326.4,2898.9,2016.4,2246.4,72.88,-9.50,110,567.90,0.00,0.00,2.49,0.000,0.000,0.066,3112.91,3327.19,2898.62,2016.25,1208.44,0,0,0,30.00,30.00,15.89
$GC,597.96,1028,-82.73,-1.29,0.00,3112.5,3325.9,2899.1,2016.0,1208.2,76.39,-10.03,117,603.34,0.00,0.00,2.62,0.000,0.000,0.028,3112.53,3325.75,2899.31,2014.69,2354.50,0,0,0,30.00,30.00,15.89
$GC,788.25,0,-82.73,-1.29,0.00,3112.9,3326.2,2899.6,2015.9,2354.7,95.09,-10.14,155,789.58,0.00,0.00,0.00,0.000,0.000,0.000,3112.03,3325.50,2898.56,2016.00,2354.38,0,0,0,30.00,30.00,30.00
$GC,972.93,0,-82.73,-1.29,0.00,3113.1,3326.0,2900.1,2016.1,2354.8,112.63,-9.32,192,974.25,0.00,0.00,0.00,0.000,0.000,0.000,3112.38,3325.44,2899.31,2015.56,2354.94,0,0,0,30.00,30.00,30.00
$GC,1278.03,516,-82.73,-1.29,-60.00,3113.6,3326.1,2901.0,2016.2,2354.8,139.03,-8.20,253,1283.59,0.00,0.00,2.74,0.000,0.000,0.061,3113.88,3326.50,2901.25,2015.75,1208.56,0,0,0,30.00,30.00,15.96
$GC,1398.07,1028,-82.73,-1.29,0.00,3113.7,3326.4,2901.0,2016.2,1208.5,150.01,-9.44,277,1403.60,0.00,0.00,2.60,0.000,0.000,0.028,3113.38,3325.69,2901.06,2016.44,2353.50,0,0,0,30.00,30.00,15.97
$GC,1708.17,516,-82.73,-1.29,-60.00,3113.4,3326.0,2900.9,2016.2,2353.2,175.82,-8.61,339,1713.72,0.00,0.00,2.74,0.000,0.000,0.061,3114.00,3326.69,2901.31,2016.62,1207.56,0,0,0,30.00,30.00,15.98
$GC,1778.19,1028,-82.73,-1.29,0.00,3113.4,3325.6,2901.2,2016.3,1207.2,182.03,-8.90,353,1783.72,0.00,0.00,2.60,0.000,0.000,0.028,3113.94,3325.19,2902.69,2014.94,2354.75,0,0,0,30.00,30.00,15.98
$GC,2088.28,516,-82.73,-1.29,-60.00,3113.7,3326.1,2901.2,2016.1,2354.9,208.01,-7.88,415,2093.84,0.00,0.00,2.76,0.000,0.000,0.061,3114.22,3326.44,2902.00,2015.94,1208.44,0,0,0,30.00,30.00,15.99
$GC,2128.47,1028,-82.73,-1.29,0.00,3113.3,3325.9,2900.7,2016.5,1208.5,211.20,-7.94,423,2133.88,0.00,0.00,2.59,0.000,0.000,0.028,3113.38,3325.88,2900.88,2016.19,2353.69,0,0,0,30.00,30.00,16.00
$GC,2438.38,516,-82.73,-1.29,-60.00,3113.2,3325.7,2900.8,2016.0,2353.4,236.69,-8.90,485,2443.95,0.00,0.00,2.74,0.000,0.000,0.061,3114.06,3326.12,2902.00,2016.12,1209.88,0,0,0,30.00,30.00,16.01
$GC,2528.41,1028,-82.73,-1.29,0.00,3113.2,3325.5,2901.0,2016.0,1209.7,245.19,-9.71,503,2533.94,0.00,0.00,2.60,0.000,0.000,0.029,3113.19,3325.81,2900.56,2016.12,2353.25,0,0,0,30.00,30.00,16.00
$GC,2838.45,0,-82.73,-1.29,0.00,3113.1,3325.2,2901.0,2016.1,2353.5,271.65,-8.43,565,2839.78,0.00,0.00,0.00,0.000,0.000,0.000,3112.22,3324.38,2900.06,2016.12,2353.31,0,0,0,30.00,30.00,30.00
$GC,3143.49,516,-82.73,-1.29,-60.00,3112.8,3325.0,2900.5,2016.3,2353.2,297.94,-9.12,626,3149.05,0.00,0.00,2.74,0.000,0.000,0.062,3112.88,3324.62,2901.12,2015.69,1207.69,0,0,0,30.00,30.00,16.02
$GC,3193.03,1028,-82.73,-1.29,0.00,3112.7,3324.4,2901.0,2016.1,1208.2,302.67,-9.75,634,3197.64,0.00,0.00,2.59,0.000,0.000,0.029,3111.88,3323.31,2900.44,2015.81,2353.62,0,0,0,30.00,30.00,16.02
$STATE,3299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3300,begin apogee
$GC,3302.19,10243,0.00,-0.28,0.00,3113.0,3325.2,2900.7,2016.0,2154.1,312.78,-9.48,644,3369.67,57.87,1.70,0.22,1.522,0.135,0.109,2774.56,2910.75,2638.38,2262.50,2286.69,0,0,0,11.45,15.92,15.76
$STATE,3370,end apogee,CONTROL_FINISHED_OK
$STATE,3371,begin climb
$GC,3371.88,10759,82.73,1.29,-60.00,2773.5,2910.1,2636.9,2264.1,2287.1,315.38,0.00,650,3449.68,59.49,2.49,2.84,1.461,0.092,0.070,2436.59,2523.56,2349.62,2648.31,1130.81,0,0,0,12.51,15.79,15.56
$GC,3497.89,11303,185.21,1.50,0.00,2434.4,2522.0,2346.9,2647.7,1131.0,312.29,3.00,665,3580.52,76.14,0.26,2.63,1.443,0.069,0.026,2019.41,2053.69,1985.12,2709.56,2276.62,0,0,0,12.40,15.61,15.67
$GC,3885.89,16386,185.21,1.50,0.00,2010.2,2053.9,1966.4,2708.9,2276.4,281.75,9.03,724,3887.22,0.00,0.00,0.00,0.000,0.000,0.000,2009.22,2053.50,1964.94,2709.31,2275.81,0,0,0,30.00,30.00,30.00
$GC,4190.99,16902,185.21,1.50,-60.00,2008.4,2054.4,1962.4,2709.1,2275.9,253.37,8.79,785,4196.55,0.00,0.00,2.79,0.000,0.000,0.070,2008.22,2053.38,1963.06,2708.75,1131.12,0,0,0,30.00,30.00,15.84
$GC,4226.00,17414,185.21,1.50,0.00,2007.9,2054.2,1961.6,2709.6,1131.2,250.17,9.12,792,4231.54,0.00,0.00,2.61,0.000,0.000,0.028,2008.94,2055.50,1962.38,2709.06,2273.69,0,0,0,30.00,30.00,15.85
$GC,4536.10,16902,185.21,1.50,-60.00,2007.9,2054.9,1960.9,2709.2,2273.5,225.15,8.70,854,4541.66,0.00,0.00,2.77,0.000,0.000,0.069,2007.91,2055.19,1960.62,2709.50,1131.06,0,0,0,30.00,30.00,15.90
$GC,4601.12,17414,185.21,1.50,0.00,2006.9,2055.2,1958.5,2709.4,1131.2,219.08,9.36,867,4606.67,0.00,0.00,2.61,0.000,0.000,0.028,2007.88,2055.69,1960.06,2709.19,2271.88,0,0,0,30.00,30.00,15.91
$GC,4911.23,16902,185.21,1.50,-60.00,2006.6,2055.4,1957.7,2709.8,2272.4,192.93,8.40,929,4916.79,0.00,0.00,2.78,0.000,0.000,0.069,2006.56,2054.69,1958.44,2708.56,1129.75,0,0,0,30.00,30.00,15.94
$GC,4966.25,17414,185.21,1.50,0.00,2006.3,2055.4,1957.3,2709.9,1130.3,187.88,9.37,940,4971.77,0.00,0.00,2.59,0.000,0.000,0.028,2006.94,2056.69,1957.19,2710.12,2273.69,0,0,0,30.00,30.00,15.95
$GC,5276.34,16386,185.21,1.50,0.00,2006.4,2055.9,1956.8,2709.4,2273.8,159.18,10.29,1002,5277.68,0.00,0.00,0.00,0.000,0.000,0.000,2005.50,2055.69,1955.31,2709.56,2273.69,0,0,0,30.00,30.00,30.00
$GC,5581.43,16902,185.21,1.50,-60.00,2006.1,2056.1,1956.2,2710.2,2273.9,130.90,8.22,1063,5587.00,0.00,0.00,2.77,0.000,0.000,0.070,2006.56,2056.44,1956.69,2708.88,1130.25,0,0,0,30.00,30.00,15.97
$GC,5691.45,17414,185.21,1.50,0.00,2005.7,2056.3,1955.1,2709.5,1130.5,120.74,9.02,1085,5696.97,0.00,0.00,2.59,0.000,0.000,0.028,2005.69,2055.75,1955.62,2709.12,2274.88,0,0,0,30.00,30.00,15.98
$GC,6001.69,16710,185.21,1.53,60.00,2005.2,2056.1,1954.2,2709.9,2275.2,94.84,6.72,1147,6007.11,0.00,0.00,2.64,0.000,0.000,0.087,2005.09,2056.56,1953.62,2709.69,3348.19,0,0,0,30.00,30.00,15.96
$GC,6086.52,17478,185.21,1.56,0.00,2005.0,2056.3,1953.8,2709.3,3348.3,88.84,7.23,1164,6092.04,0.00,0.00,2.58,0.000,0.000,0.022,2005.22,2056.75,1953.69,2710.44,2181.88,0,0,0,30.00,30.00,15.98
$GC,6276.93,16966,185.21,1.58,-60.00,2004.7,2056.4,1953.0,2709.8,2181.3,75.09,7.41,1202,6282.06,0.00,0.00,2.54,0.000,0.000,0.075,2004.97,2057.00,1952.94,2709.50,1131.38,0,0,0,30.00,30.00,15.99
$GC,6346.56,17478,185.21,1.61,0.00,2004.8,2056.8,1952.8,2709.6,1131.5,70.09,7.11,1216,6352.07,0.00,0.00,2.59,0.000,0.000,0.028,2004.72,2057.12,1952.31,2709.81,2276.31,0,0,0,30.00,30.00,15.99
$GC,6536.97,10535,225.62,1.69,60.00,2004.9,2057.2,1952.6,2710.2,2276.2,59.63,6.31,1254,6572.49,29.31,0.19,2.64,1.186,0.085,0.089,1854.94,1893.19,1816.69,2752.31,3346.94,0,0,0,11.55,15.96,15.87
$GC,6601.57,1028,225.62,1.69,0.00,1853.8,1893.5,1814.1,2752.0,3347.7,54.27,8.74,1267,6607.11,0.00,0.00,2.57,0.000,0.000,0.022,1853.53,1894.12,1812.94,2752.12,2183.69,0,0,0,30.00,30.00,15.93
$GC,6792.00,8486,279.34,1.80,60.00,1850.4,1893.8,1806.9,2752.0,2183.3,41.47,5.60,1305,6838.31,40.36,0.00,2.90,1.167,0.000,0.084,1636.16,1664.06,1608.25,2752.56,3347.50,0,0,0,12.03,30.00,15.79
$GC,6891.61,1092,279.34,1.83,0.00,1633.3,1664.1,1602.6,2752.1,3347.2,35.41,6.94,1325,6897.15,0.00,0.00,2.59,0.000,0.000,0.022,1632.62,1664.56,1600.69,2752.75,2184.25,0,0,0,30.00,30.00,15.84
$GC,7082.15,580,279.34,1.84,-60.00,1628.6,1664.4,1592.8,2752.1,2184.4,21.83,7.64,1363,7087.17,0.00,0.00,2.56,0.000,0.000,0.076,1629.09,1664.94,1593.25,2752.12,1132.12,0,0,0,30.00,30.00,15.85
$GC,7116.65,19527,279.34,1.87,0.00,1627.7,1664.5,1590.9,2751.4,1131.8,19.40,7.07,1370,7122.23,0.00,0.19,2.60,0.000,0.081,0.027,1628.22,1665.06,1591.38,2800.69,2276.06,0,0,0,30.00,15.78,15.87
$GC,7306.69,8742,355.60,2.02,-60.00,1627.1,1665.2,1589.1,2800.7,2276.2,8.51,4.40,1408,7369.06,56.76,0.00,2.83,1.131,0.000,0.071,1325.09,1334.75,1315.44,2801.19,1132.75,0,0,0,11.80,30.00,15.73
$STATE,7446,end climb,SURFACE_DEPTH_REACHED
$STATE,7446,begin surface coast
$FINISH,0.2,1.020736
$STATE,7571,end surface coast,CONTROL_FINISHED_OK
$STATE,7571,begin surface
$SM_CCo,7651.70,50.83,1.125,0,1042.3,1000.9,1083.6,425.04
$SM_GC,0.53,50.83,16.18,2.80,1.125,0.050,0.029,1042.3,1000.9,1083.6,178.2,2350.6,0,0,0,11.92,15.77,15.82
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4750.34,-12512.13,120921,135401
$TCM_TEMP,267.07
$XPDR_PINGS,0,13.0,10.5
$HUMID,50.07
$TEMP,82.21
$INTERNAL_PRESSURE,8.88422
$24V_AH,14.95,184.889
$10V_AH,15.00,0.000
$FG_AHR_24Vo,148.307
$FG_AHR_10Vo,58.252
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,440.870,35.675,96.495,167.627,0.000,14.890,3103.501,4789.199,947.452,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1522.328,251.984,108.648,220.206,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3587.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971428,27,75460,57
$DATA_FILE_SIZE,64174,1461
$CAP_FILE_SIZE,236162,0
$SDSIZE,4028416,3886528
$SDFILEDIR,2456,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,213.3,1
$IMPLIED_C_PITCH,2357,12.95,1194
$IMPLIED_C_VBD,2818,22.394131,1065
$GPS,120921,181120,4750.256,-12513.699,54,2.4,95,15.9