version: 67.00
glider: 249
mission: 6
dive: 1058
start: 1 25 122 13 22 45
data:
$ID,249
$MISSION,6
$DIVE,1058
$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,0.0063095698
$HD_B,0.0220051
$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,91.525871
$FG_AHR_24V,277.09558
$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
$GPS1,250122,131602,4750.273,-12513.274,7,0.9,24,15.9
$_CALLS,1
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-64.4
$GPS2,250122,132232,4750.261,-12513.285,2,0.6,5,15.9
$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,353.6,4858,-25.2,-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,5.81,16386,-82.73,-1.56,0.00,1034.1,999.1,1069.1,176.9,2244.5,0.00,0.00,0,77.11,70.21,0.00,0.00,0.005,0.000,0.000,2765.97,2944.69,2587.25,177.12,2244.38,0,0,0,14.88,30.00,30.00
$GC,78.23,18983,-82.73,-1.56,-60.00,2764.8,2943.3,2586.2,176.8,2243.9,3.47,-4.84,13,110.45,8.10,14.14,2.60,0.007,0.235,0.069,3112.16,3331.25,2893.06,1940.81,1209.00,0,0,0,14.97,15.46,14.90
$GC,117.51,1028,-82.73,-1.56,0.00,3112.0,3330.3,2893.8,1941.3,1209.4,11.49,-16.82,21,123.08,0.00,0.00,2.69,0.000,0.000,0.025,3112.47,3331.06,2893.88,1941.56,2353.06,0,0,0,30.00,30.00,15.82
$GC,307.92,260,-82.73,-1.56,60.00,3112.2,3330.3,2894.0,1940.9,2352.9,38.07,-13.60,59,313.11,0.00,0.00,2.77,0.000,0.000,0.083,3113.12,3331.81,2894.44,1941.44,3426.56,0,0,0,30.00,30.00,15.81
$GC,457.76,1028,-82.73,-1.56,-0.18,3112.0,3328.9,2895.1,1941.3,3426.4,61.36,-16.10,89,463.19,0.00,0.00,2.63,0.000,0.000,0.018,3113.28,3330.62,2895.94,1941.38,2252.25,0,0,0,30.00,30.00,15.88
$GC,648.00,516,-82.73,-1.56,-60.00,3112.4,3329.4,2895.5,1941.4,2250.2,85.44,-10.95,127,653.13,0.00,0.00,2.59,0.000,0.000,0.064,3113.22,3329.75,2896.69,1941.50,1209.50,0,0,0,30.00,30.00,15.90
$GC,697.61,1028,-82.73,-1.56,-1.16,3112.3,3329.6,2894.9,1941.5,1209.1,91.10,-11.36,137,703.17,0.00,0.00,2.62,0.000,0.000,0.025,3113.28,3329.94,2896.62,1941.81,2332.62,0,0,0,30.00,30.00,15.93
$GC,887.63,260,-82.73,-1.56,60.00,3112.2,3329.2,2895.3,1941.8,2332.1,108.71,-9.31,175,893.21,0.00,0.00,2.78,0.000,0.000,0.083,3112.59,3330.06,2895.12,1941.81,3427.38,0,0,0,30.00,30.00,15.89
$GC,962.65,1028,-82.73,-1.56,-1.16,3112.3,3326.6,2898.1,1941.9,3427.1,117.03,-11.44,190,968.20,0.00,0.00,2.64,0.000,0.000,0.018,3112.69,3327.25,2898.12,1941.44,2230.75,0,0,0,30.00,30.00,15.94
$GC,1272.70,260,-82.73,-1.56,60.00,3112.6,3327.3,2897.9,1941.5,2228.6,147.57,-10.03,252,1278.31,0.00,0.00,3.07,0.000,0.000,0.079,3112.50,3326.94,2898.06,1941.69,3426.94,0,0,0,30.00,30.00,15.90
$GC,1342.70,1028,-82.73,-1.56,-0.99,3112.7,3326.8,2898.6,1941.9,3426.9,155.35,-11.31,266,1348.25,0.00,0.00,2.64,0.000,0.000,0.019,3112.25,3326.31,2898.19,1941.56,2231.19,0,0,0,30.00,30.00,15.96
$GC,1652.76,0,-82.73,-1.56,-0.99,3112.5,3326.8,2898.2,1941.4,2229.7,187.23,-10.10,328,1654.09,0.00,0.00,0.00,0.000,0.000,0.000,3112.25,3327.31,2897.19,1941.62,2229.38,0,0,0,30.00,30.00,30.00
$GC,1957.97,516,-82.73,-1.56,-60.00,3112.4,3326.9,2897.8,1941.2,2229.7,215.70,-8.76,389,1962.91,0.00,0.00,2.50,0.000,0.000,0.064,3112.47,3326.56,2898.38,1941.62,1209.06,0,0,0,30.00,30.00,15.96
$GC,2002.79,1028,-82.73,-1.56,-1.20,3112.5,3325.8,2899.2,1941.6,1208.8,219.82,-9.18,398,2008.34,0.00,0.00,2.61,0.000,0.000,0.025,3112.97,3326.50,2899.44,1941.94,2334.19,0,0,0,30.00,30.00,15.98
$GC,2312.85,516,-82.73,-1.56,-60.00,3112.6,3326.8,2898.3,1941.4,2333.9,246.16,-8.39,460,2318.41,0.00,0.00,2.76,0.000,0.000,0.059,3112.62,3326.75,2898.50,1941.94,1208.00,0,0,0,30.00,30.00,15.97
$GC,2357.85,1028,-82.73,-1.56,-1.67,3112.4,3325.9,2898.8,1941.4,1208.1,250.14,-8.88,469,2363.39,0.00,0.00,2.59,0.000,0.000,0.025,3113.28,3327.12,2899.44,1941.88,2326.25,0,0,0,30.00,30.00,16.00
$GC,2667.96,0,-82.73,-1.56,-1.67,3112.3,3326.1,2898.6,1941.5,2326.2,276.53,-8.97,531,2669.29,0.00,0.00,0.00,0.000,0.000,0.000,3112.44,3326.94,2897.94,1941.38,2325.75,0,0,0,30.00,30.00,30.00
$GC,2977.60,516,-82.73,-1.56,-60.00,3112.8,3326.9,2898.8,1941.6,2325.8,302.71,-8.30,589,2982.26,0.00,0.00,2.75,0.000,0.000,0.060,3111.59,3326.06,2897.12,1941.25,1209.31,0,0,0,30.00,30.00,15.97
$GC,3079.08,1028,-82.73,-1.56,-1.81,3112.4,3326.5,2898.4,1941.9,1209.1,311.22,-8.54,603,3094.00,0.00,0.00,2.59,0.000,0.000,0.025,3112.56,3326.38,2898.75,1941.38,2322.25,0,0,0,30.00,30.00,16.01
$STATE,3104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3105,begin apogee
$GC,3107.33,10243,0.00,-0.28,0.00,3112.6,3326.2,2899.0,1941.8,2038.6,313.45,-8.35,605,3175.16,62.19,2.21,0.18,1.471,0.142,0.111,2775.00,2918.62,2631.38,2253.69,2164.81,0,0,0,10.72,15.83,15.41
$STATE,3177,end apogee,CONTROL_FINISHED_OK
$STATE,3177,begin climb
$GC,3178.03,10759,82.73,1.56,-60.00,2773.4,2916.8,2629.9,2254.2,2164.4,315.46,0.00,611,3260.31,62.54,3.05,2.99,1.430,0.113,0.074,2438.44,2522.81,2354.06,2701.75,993.50,0,0,0,11.88,15.61,15.76
$GC,3341.63,11303,174.58,1.75,0.00,2434.3,2521.1,2347.5,2702.2,993.4,310.56,4.17,632,3421.91,71.90,0.27,2.69,1.411,0.066,0.021,2062.22,2102.00,2022.44,2761.81,2145.62,0,0,0,11.49,15.59,15.68
$GC,3725.08,16966,174.58,1.76,-60.00,2055.1,2102.1,2008.2,2761.6,2145.9,282.49,7.68,693,3730.65,0.00,0.00,2.95,0.000,0.000,0.073,2054.94,2102.19,2007.69,2761.88,993.56,0,0,0,30.00,30.00,15.76
$GC,3770.06,17414,174.58,1.76,-0.24,2054.5,2102.1,2006.8,2760.9,993.9,278.78,8.26,702,3775.61,0.00,0.00,2.66,0.000,0.000,0.022,2054.62,2102.00,2007.25,2761.31,2138.25,0,0,0,30.00,30.00,15.80
$GC,4080.24,16646,174.58,1.76,60.00,2053.1,2101.7,2004.4,2761.2,2138.1,253.72,8.32,764,4085.74,0.00,0.00,2.72,0.000,0.000,0.077,2053.12,2101.94,2004.31,2761.69,3205.00,0,0,0,30.00,30.00,15.86
$GC,4125.19,17414,174.58,1.76,0.02,2053.3,2102.1,2004.4,2761.5,3205.0,249.73,8.94,773,4130.73,0.00,0.00,2.62,0.000,0.000,0.022,2053.91,2103.06,2004.75,2761.81,2055.62,0,0,0,30.00,30.00,15.89
$GC,4435.31,16966,174.58,1.80,-60.00,2052.8,2102.2,2003.3,2761.9,2055.6,227.37,6.70,835,4440.84,0.00,0.00,2.68,0.000,0.000,0.078,2052.53,2102.19,2002.88,2762.38,992.38,0,0,0,30.00,30.00,15.89
$GC,4495.32,17478,174.58,1.82,-0.63,2052.4,2102.0,2002.8,2761.6,992.5,222.93,7.52,847,4500.86,0.00,0.00,2.61,0.000,0.000,0.022,2052.25,2102.50,2002.00,2761.62,2131.62,0,0,0,30.00,30.00,15.93
$GC,4805.44,16450,174.58,1.85,-0.63,2051.9,2102.1,2001.8,2761.5,2132.2,202.28,6.75,909,4806.77,0.00,0.00,0.00,0.000,0.000,0.000,2051.41,2102.00,2000.81,2761.88,2131.81,0,0,0,30.00,30.00,30.00
$GC,5110.50,16386,174.58,1.85,-0.63,2052.0,2102.2,2001.8,2761.2,2131.5,179.40,8.21,970,5111.83,0.00,0.00,0.00,0.000,0.000,0.000,2050.59,2101.19,2000.00,2761.75,2132.12,0,0,0,30.00,30.00,30.00
$GC,5415.54,16450,174.58,1.86,-0.63,2051.4,2102.2,2000.7,2761.2,2131.6,154.53,7.84,1031,5416.87,0.00,0.00,0.00,0.000,0.000,0.000,2051.03,2102.50,1999.56,2761.69,2131.38,0,0,0,30.00,30.00,30.00
$GC,5720.57,16450,174.58,1.90,-0.63,2051.2,2102.0,2000.5,2761.8,2131.9,132.19,6.50,1092,5721.91,0.00,0.00,0.00,0.000,0.000,0.000,2050.53,2101.88,1999.19,2761.69,2131.62,0,0,0,30.00,30.00,30.00
$GC,6025.69,18759,174.58,1.93,60.00,2051.0,2102.1,1999.9,2761.6,2131.6,111.33,6.93,1153,6031.23,0.00,0.15,2.71,0.000,0.089,0.077,2051.09,2102.31,1999.88,2804.19,3205.69,0,0,0,30.00,15.95,15.88
$GC,6040.62,17478,174.58,1.96,-0.83,2051.0,2102.4,1999.5,2804.5,3205.8,110.18,7.17,1156,6046.50,0.00,0.00,2.64,0.000,0.000,0.022,2051.31,2102.88,1999.75,2804.44,2039.88,0,0,0,30.00,30.00,15.98
$GC,6350.67,8486,231.34,2.07,60.00,2050.3,2102.1,1998.5,2804.5,2039.9,90.57,5.81,1218,6399.46,44.15,0.00,2.97,1.213,0.000,0.075,1830.94,1864.06,1797.81,2804.81,3203.00,0,0,0,10.88,30.00,15.46
$GC,6466.96,1028,231.34,2.07,-0.24,1828.4,1863.4,1793.4,2804.4,3202.5,81.75,8.57,1241,6472.50,0.00,0.00,2.63,0.000,0.000,0.023,1828.81,1863.94,1793.69,2804.75,2051.81,0,0,0,30.00,30.00,15.86
$GC,6657.42,10791,335.46,2.28,-60.00,1824.7,1863.3,1786.1,2804.9,2051.8,72.17,3.60,1279,6745.29,80.94,0.43,2.74,1.184,0.057,0.081,1408.22,1416.31,1400.12,2888.56,992.44,0,0,0,11.20,15.86,15.37
$GC,6787.58,1028,335.46,2.28,-0.13,1403.0,1416.2,1389.8,2888.5,992.0,64.91,8.51,1305,6792.93,0.00,0.00,2.68,0.000,0.000,0.022,1402.78,1416.19,1389.38,2887.69,2141.38,0,0,0,30.00,30.00,15.69
$GC,6977.45,16646,335.46,2.28,60.00,1398.9,1416.2,1381.5,2888.6,2141.2,50.82,8.08,1343,6983.01,0.00,0.00,2.73,0.000,0.000,0.077,1399.06,1416.75,1381.38,2888.12,3206.62,0,0,0,30.00,30.00,15.78
$GC,6997.44,17414,335.46,2.28,-0.07,1398.7,1416.5,1380.9,2888.2,3206.4,49.09,8.28,1347,7003.00,0.00,0.00,2.64,0.000,0.000,0.023,1398.25,1416.38,1380.12,2889.00,2057.31,0,0,0,30.00,30.00,15.81
$GC,7187.88,16386,335.46,2.28,-0.07,1397.2,1416.8,1377.6,2888.4,2056.9,31.96,9.38,1385,7189.21,0.00,0.00,0.00,0.000,0.000,0.000,1397.12,1416.81,1377.44,2888.38,2056.62,0,0,0,30.00,30.00,30.00
$GC,7372.50,16646,335.46,2.28,60.00,1396.4,1417.9,1375.0,2888.4,2057.6,14.34,9.56,1422,7378.11,0.00,0.00,2.93,0.000,0.000,0.073,1397.09,1418.31,1375.88,2888.75,3207.19,0,0,0,30.00,30.00,15.86
$GC,7427.51,17414,335.46,2.28,0.29,1396.7,1418.3,1375.0,2888.6,3207.9,8.96,9.74,1433,7433.07,0.00,0.00,2.62,0.000,0.000,0.023,1396.38,1418.19,1374.56,2888.38,2063.00,0,0,0,30.00,30.00,15.90
$STATE,7487,end climb,SURFACE_DEPTH_REACHED
$STATE,7487,begin surface coast
$FINISH,0.2,1.024617
$STATE,7542,end surface coast,CONTROL_FINISHED_OK
$STATE,7542,begin surface
$SM_CCo,7636.98,66.34,1.123,0,1042.0,1001.6,1082.4,425.10
$SM_GC,0.62,66.34,16.73,0.63,1.123,0.051,0.051,1042.0,1001.6,1082.4,177.0,2356.5,0,0,0,11.00,15.85,15.91
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.64,-12513.98,250122,104625
$TCM_TEMP,267.20
$XPDR_PINGS,0,13.0,10.5
$HUMID,50.91
$TEMP,82.11
$INTERNAL_PRESSURE,8.89597
$24V_AH,14.67,374.942
$10V_AH,15.00,0.000
$FG_AHR_24Vo,277.255
$FG_AHR_10Vo,91.549
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,466.360,36.970,93.500,190.274,0.000,13.786,3132.575,4779.385,945.001,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1471.160,235.256,110.616,218.755,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3352.848,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971328,32,75460,57
$DATA_FILE_SIZE,64274,1456
$CAP_FILE_SIZE,236949,0
$SDSIZE,4028416,3772480
$SDFILEDIR,3932,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,134.6,1
$MAGCAL,1.000000,-0.166529,0.093951,0.220385,1.035561,-0.199426,0.397553,-0.284428,1.996502,508.9,-260.8,-252.6,26,0.0853,0
$IMPLIED_C_PITCH,2359,12.63,1217
$IMPLIED_C_VBD,2713,37.042103,980
$GPS,250122,153032,4750.440,-12512.562,4,0.7,23,15.9