version: 67.00
glider: 249
mission: 6
dive: 934
start: 12 22 121 18 19 50
data:
$ID,249
$MISSION,6
$DIVE,934
$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,470
$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,0.0025118899
$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,5000
$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,2320
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.054949999
$ROLL_TIMEOUT,25
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,83.182831
$FG_AHR_24V,244.13065
$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
$GPS1,221221,181039,4753.347,-12517.689,47,0.9,48,15.9
$_CALLS,2
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-59.6
$GPS2,221221,181937,4753.446,-12517.717,5,0.9,8,15.9
$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,98.7,9670,-21.3,-8.462,-28.39
$D_GRID,320
$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,5.67,16386,-82.73,-1.35,0.00,1036.2,1022.0,1050.4,175.7,2239.6,0.00,0.00,0,72.04,65.25,0.00,0.00,0.005,0.000,0.000,2606.00,2772.06,2439.94,175.81,2239.56,0,0,0,15.00,30.00,30.00
$GC,72.78,18727,-82.73,-1.35,60.00,2605.4,2770.8,2440.1,175.9,2239.6,3.01,-4.70,12,110.09,12.14,14.63,3.09,0.007,0.236,0.082,3112.06,3327.62,2896.50,1993.62,3426.69,0,0,0,15.11,15.55,15.00
$GC,202.19,1028,-82.73,-1.35,0.00,3112.1,3326.1,2898.0,1993.4,3426.4,24.91,-15.91,38,207.75,0.00,0.00,2.62,0.000,0.000,0.017,3113.22,3326.06,2900.38,1994.06,2251.38,0,0,0,30.00,30.00,15.87
$GC,392.64,516,-82.73,-1.35,-60.00,3112.2,3326.6,2897.9,1993.4,2248.6,51.88,-12.92,76,397.99,0.00,0.00,2.57,0.000,0.000,0.061,3112.16,3326.06,2898.25,1993.56,1209.25,0,0,0,30.00,30.00,15.90
$GC,432.39,1028,-82.73,-1.35,-0.24,3112.7,3326.8,2898.5,1993.4,1209.0,57.20,-13.33,84,437.83,0.00,0.00,2.68,0.000,0.000,0.025,3112.66,3326.56,2898.75,1993.38,2349.81,0,0,0,30.00,30.00,15.91
$GC,622.71,260,-82.73,-1.35,60.00,3112.2,3326.2,2898.1,1993.4,2350.0,79.34,-11.26,122,627.87,0.00,0.00,2.77,0.000,0.000,0.081,3114.44,3329.00,2899.88,1993.19,3426.56,0,0,0,30.00,30.00,15.91
$GC,662.32,1028,-82.73,-1.35,0.41,3111.8,3325.2,2898.5,1993.7,3426.8,83.64,-10.79,130,667.85,0.00,0.00,2.59,0.000,0.000,0.017,3112.50,3326.44,2898.56,1993.81,2249.88,0,0,0,30.00,30.00,15.93
$GC,852.74,260,-82.73,-1.35,60.00,3112.3,3325.5,2899.1,1993.6,2248.2,100.80,-8.54,168,857.95,0.00,0.00,3.00,0.000,0.000,0.077,3112.06,3325.50,2898.62,1993.56,3428.12,0,0,0,30.00,30.00,15.93
$GC,897.34,1028,-82.73,-1.35,0.95,3112.6,3325.7,2899.5,1994.1,3428.0,105.06,-9.57,177,902.88,0.00,0.00,2.55,0.000,0.000,0.018,3112.84,3326.88,2898.81,1993.62,2254.81,0,0,0,30.00,30.00,15.95
$GC,1207.40,516,-82.73,-1.35,-60.00,3112.7,3325.8,2899.6,1993.5,2253.5,131.45,-8.40,239,1212.92,0.00,0.00,2.55,0.000,0.000,0.060,3113.34,3326.06,2900.62,1993.75,1208.06,0,0,0,30.00,30.00,15.98
$GC,1267.39,1028,-82.73,-1.35,1.11,3112.8,3325.6,2900.0,1994.2,1207.8,136.38,-8.14,251,1272.96,0.00,0.00,2.71,0.000,0.000,0.025,3113.28,3326.06,2900.50,1993.75,2373.12,0,0,0,30.00,30.00,15.98
$GC,1577.46,516,-82.73,-1.35,-60.00,3113.0,3325.9,2900.2,1993.4,2373.0,158.75,-7.43,313,1583.04,0.00,0.00,2.83,0.000,0.000,0.056,3113.44,3326.25,2900.62,1993.50,1208.12,0,0,0,30.00,30.00,15.99
$GC,1777.53,1028,-82.73,-1.35,0.53,3113.2,3326.0,2900.3,1993.8,1207.9,175.47,-8.48,353,1783.03,0.00,0.00,2.68,0.000,0.000,0.025,3113.47,3325.81,2901.12,1993.31,2365.44,0,0,0,30.00,30.00,16.00
$GC,2087.52,516,-82.73,-1.35,-60.00,3113.2,3325.4,2900.9,1993.7,2366.2,201.03,-7.85,415,2093.10,0.00,0.00,2.82,0.000,0.000,0.056,3112.91,3325.56,2900.25,1993.62,1208.00,0,0,0,30.00,30.00,16.00
$GC,2152.52,1028,-82.73,-1.35,0.09,3113.2,3325.7,2900.7,1993.6,1208.1,206.25,-7.96,428,2158.07,0.00,0.00,2.65,0.000,0.000,0.025,3113.25,3325.44,2901.06,1993.94,2357.25,0,0,0,30.00,30.00,16.01
$GC,2462.59,260,-82.73,-1.35,60.00,3113.4,3325.7,2901.1,1993.2,2357.6,230.79,-7.79,490,2468.14,0.00,0.00,2.71,0.000,0.000,0.081,3114.72,3326.56,2902.88,1994.00,3428.00,0,0,0,30.00,30.00,15.98
$GC,2497.57,1028,-82.73,-1.35,0.16,3112.7,3324.6,2900.8,1993.2,3427.6,233.80,-8.50,497,2503.11,0.00,0.00,2.58,0.000,0.000,0.017,3113.81,3326.25,2901.38,1993.56,2240.81,0,0,0,30.00,30.00,16.00
$GC,2807.62,516,-82.73,-1.35,-60.00,3113.5,3325.4,2901.6,1993.2,2239.0,258.94,-8.42,559,2813.14,0.00,0.00,2.51,0.000,0.000,0.062,3113.72,3326.00,2901.44,1993.75,1208.38,0,0,0,30.00,30.00,16.01
$GC,2837.61,1028,-82.73,-1.35,-0.03,3113.3,3325.2,2901.4,1993.4,1207.9,261.62,-8.82,565,2843.17,0.00,0.00,2.66,0.000,0.000,0.025,3114.78,3326.56,2903.00,1993.88,2355.12,0,0,0,30.00,30.00,16.02
$GC,3147.98,0,-82.73,-1.35,-0.03,3113.1,3325.0,2901.1,1993.6,2354.7,289.07,-8.67,627,3149.31,0.00,0.00,0.00,0.000,0.000,0.000,3112.19,3324.31,2900.06,1993.69,2355.12,0,0,0,30.00,30.00,30.00
$GC,3458.19,0,-82.73,-1.35,-0.03,3113.2,3325.2,2901.2,1993.5,2354.7,314.84,-8.28,669,3469.27,0.00,0.00,0.00,0.000,0.000,0.000,3113.25,3324.94,2901.56,1993.62,2355.00,0,0,0,30.00,30.00,30.00
$STATE,3523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3523,begin apogee
$GC,3525.67,10243,0.00,-0.28,0.00,3113.0,3325.2,2900.8,1993.4,2042.9,320.31,-8.30,675,3592.64,61.54,1.82,0.17,1.478,0.131,0.118,2774.31,2915.94,2632.69,2254.38,2166.88,0,0,0,10.89,15.93,15.52
$STATE,3594,end apogee,CONTROL_FINISHED_OK
$STATE,3594,begin climb
$GC,3595.09,10503,82.73,1.35,60.00,2773.2,2914.4,2632.1,2253.9,2166.7,322.85,0.00,681,3665.72,62.35,2.77,2.66,1.429,0.124,0.074,2437.62,2522.56,2352.69,2648.69,3206.25,0,0,0,12.07,15.67,15.77
$GC,3762.31,11303,188.27,1.56,0.00,2434.2,2522.0,2346.3,2647.8,3205.9,319.35,2.80,703,3858.67,81.40,0.30,2.66,1.419,0.066,0.020,2008.81,2040.19,1977.44,2710.25,2051.31,0,0,0,11.57,15.62,15.70
$GC,4160.92,16710,188.27,1.57,60.00,1998.0,2038.4,1957.5,2710.0,2051.5,291.50,7.80,753,4166.43,0.00,0.00,2.97,0.000,0.000,0.071,1998.09,2038.94,1957.25,2711.12,3205.94,0,0,0,30.00,30.00,15.79
$GC,4265.88,17414,188.27,1.57,0.93,1997.7,2038.7,1956.7,2710.8,3206.3,282.68,8.52,774,4271.40,0.00,0.00,2.59,0.000,0.000,0.021,1997.84,2038.50,1957.19,2709.25,2070.88,0,0,0,30.00,30.00,15.82
$GC,4575.99,16902,188.27,1.57,-60.00,1995.8,2038.2,1953.2,2710.9,2071.6,258.54,8.03,836,4581.54,0.00,0.00,2.72,0.000,0.000,0.078,1996.38,2039.75,1953.00,2711.00,992.38,0,0,0,30.00,30.00,15.88
$GC,4615.99,17414,188.27,1.57,0.86,1995.0,2038.6,1951.3,2710.4,992.3,255.05,8.72,844,4621.56,0.00,0.00,2.70,0.000,0.000,0.022,1995.72,2039.19,1952.25,2711.06,2158.06,0,0,0,30.00,30.00,15.91
$GC,4926.11,16710,188.27,1.59,60.00,1994.6,2038.9,1950.4,2711.4,2158.3,230.85,7.36,906,4931.64,0.00,0.00,2.66,0.000,0.000,0.077,1995.91,2040.88,1950.94,2710.38,3207.50,0,0,0,30.00,30.00,15.92
$GC,5021.14,17478,188.27,1.61,0.96,1994.7,2039.2,1950.2,2710.6,3207.1,223.46,7.81,925,5026.66,0.00,0.00,2.58,0.000,0.000,0.021,1994.56,2038.75,1950.38,2711.31,2070.12,0,0,0,30.00,30.00,15.95
$GC,5331.25,16450,188.27,1.63,0.96,1993.5,2038.9,1948.2,2711.1,2069.8,201.59,7.08,987,5332.58,0.00,0.00,0.00,0.000,0.000,0.000,1993.22,2038.75,1947.69,2709.94,2070.12,0,0,0,30.00,30.00,30.00
$GC,5636.45,16450,188.27,1.66,0.96,1993.1,2039.0,1947.2,2710.6,2069.8,180.36,7.08,1048,5637.78,0.00,0.00,0.00,0.000,0.000,0.000,1992.25,2038.00,1946.50,2711.00,2070.31,0,0,0,30.00,30.00,30.00
$GC,5941.37,16710,188.27,1.69,60.00,1992.8,2038.7,1946.8,2710.9,2070.0,159.17,6.86,1109,5946.93,0.00,0.00,2.89,0.000,0.000,0.074,1992.97,2039.31,1946.62,2711.62,3206.50,0,0,0,30.00,30.00,15.97
$GC,6026.38,19527,188.27,1.71,1.07,1993.0,2039.1,1947.0,2710.6,3207.4,153.00,7.39,1126,6031.95,0.00,0.16,2.56,0.000,0.093,0.022,1993.47,2039.50,1947.44,2746.94,2072.31,0,0,0,30.00,15.88,15.99
$GC,6336.44,16966,188.27,1.74,-60.00,1992.8,2039.1,1946.4,2746.1,2072.2,130.99,7.07,1188,6341.96,0.00,0.00,2.70,0.000,0.000,0.078,1992.75,2039.31,1946.19,2746.00,992.25,0,0,0,30.00,30.00,15.97
$GC,6461.44,17478,188.27,1.76,0.77,1992.5,2039.4,1945.6,2745.6,992.4,121.66,7.65,1213,6466.99,0.00,0.00,2.68,0.000,0.000,0.022,1993.25,2039.75,1946.75,2745.69,2157.56,0,0,0,30.00,30.00,16.01
$GC,6771.49,16710,188.27,1.80,60.00,1992.7,2039.5,1945.9,2746.2,2157.4,99.34,6.52,1275,6777.03,0.00,0.00,2.64,0.000,0.000,0.077,1992.84,2040.00,1945.69,2746.31,3206.62,0,0,0,30.00,30.00,15.98
$GC,6791.48,11303,227.63,1.88,0.35,1992.6,2039.7,1945.5,2746.1,3206.0,98.07,6.35,1279,6828.02,30.30,0.18,2.59,1.199,0.085,0.021,1846.88,1882.44,1811.31,2786.56,2058.69,0,0,0,11.11,15.90,16.00
$GC,7011.63,8486,284.05,1.99,60.00,1842.4,1882.4,1802.4,2786.8,2058.7,84.47,5.44,1323,7062.67,44.87,0.00,2.95,1.191,0.000,0.074,1616.38,1639.75,1593.00,2786.88,3207.12,0,0,0,11.45,30.00,15.54
$GC,7181.70,1092,284.05,2.03,1.21,1611.4,1639.4,1583.4,2787.2,3207.4,73.36,6.56,1357,7187.05,0.00,0.00,2.58,0.000,0.000,0.021,1611.03,1639.44,1582.62,2786.81,2074.50,0,0,0,30.00,30.00,15.82
$GC,7371.95,10791,373.80,2.21,-60.00,1608.7,1639.9,1577.4,2786.8,2074.8,65.03,3.65,1395,7449.00,69.89,0.44,2.78,1.163,0.064,0.080,1251.16,1248.75,1253.56,2868.44,993.69,0,0,0,11.39,15.85,15.45
$GC,7641.57,1028,373.80,2.21,1.67,1244.6,1249.2,1239.9,2868.3,993.4,44.56,8.36,1449,7647.15,0.00,0.00,2.78,0.000,0.000,0.022,1244.78,1249.81,1239.75,2868.69,2172.25,0,0,0,30.00,30.00,15.79
$GC,7831.60,16646,373.80,2.21,60.00,1242.2,1249.8,1234.5,2868.9,2171.9,29.98,8.02,1487,7837.15,0.00,0.00,2.65,0.000,0.000,0.077,1242.59,1250.00,1235.19,2869.06,3205.94,0,0,0,30.00,30.00,15.83
$GC,8066.64,17478,373.80,2.22,1.47,1241.2,1250.1,1232.4,2868.1,3206.1,8.14,7.82,1534,8072.17,0.00,0.00,2.57,0.000,0.000,0.022,1241.31,1250.25,1232.38,2868.50,2082.69,0,0,0,30.00,30.00,15.90
$STATE,8111,end climb,SURFACE_DEPTH_REACHED
$STATE,8111,begin surface coast
$FINISH,-0.0,1.024336
$STATE,8161,end surface coast,CONTROL_FINISHED_OK
$STATE,8161,begin surface
$SM_CCo,8226.48,38.33,1.103,0,1043.0,1009.1,1076.9,424.86
$SM_GC,0.68,38.33,16.57,0.58,1.103,0.049,0.045,1043.0,1009.1,1076.9,183.4,2351.6,0,0,0,11.30,15.86,15.91
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4752.03,-12518.46,221221,181413
$TCM_TEMP,268.88
$XPDR_PINGS,0,13.0,10.5
$HUMID,50.63
$TEMP,82.11
$INTERNAL_PRESSURE,8.89917
$24V_AH,14.75,326.689
$10V_AH,15.00,0.000
$FG_AHR_24Vo,244.291
$FG_AHR_10Vo,83.208
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,466.070,36.865,103.950,266.375,0.000,16.861,3571.539,5065.161,1005.001,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1477.720,236.240,117.832,219.130,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3921.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971220,36,75488,57
$DATA_FILE_SIZE,67382,1553
$CAP_FILE_SIZE,251275,0
$SDSIZE,4028416,3801536
$SDFILEDIR,3560,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,328.6,1
$IMPLIED_C_PITCH,2363,12.50,1307
$IMPLIED_C_VBD,2806,42.064556,1198
$GPS,221221,203732,4753.813,-12517.397,26,1.5,28,15.9