version: 67.00
glider: 249
mission: 6
dive: 1062
start: 1 25 122 21 3 24
data:
$ID,249
$MISSION,6
$DIVE,1062
$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,91.611481
$FG_AHR_24V,277.75116
$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
$GPS1,250122,205709,4750.287,-12511.647,21,1.1,21,15.9
$_CALLS,1
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-62.1
$GPS2,250122,210311,4750.267,-12511.634,2,0.6,3,15.9
$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,327.9,3516,-25.2,-8.462,-28.39
$D_GRID,253
$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,5.79,16386,-82.73,-1.56,0.00,1038.6,1015.1,1062.1,177.1,2242.5,0.00,0.00,0,77.10,70.16,0.00,0.00,0.005,0.000,0.000,2760.00,2938.62,2581.38,176.94,2242.81,0,0,0,14.94,30.00,30.00
$GC,78.22,18727,-82.73,-1.56,60.00,2759.0,2937.4,2580.6,176.9,2242.6,3.11,-4.38,13,110.56,8.47,14.27,3.07,0.007,0.247,0.081,3112.25,3329.56,2894.94,1941.88,3428.19,0,0,0,15.04,15.53,14.99
$GC,167.63,1028,-82.73,-1.56,0.00,3112.6,3328.2,2896.9,1941.8,3428.6,18.90,-16.49,31,173.18,0.00,0.00,2.62,0.000,0.000,0.018,3113.12,3328.50,2897.75,1941.56,2255.19,0,0,0,30.00,30.00,15.87
$GC,358.04,516,-82.73,-1.56,-60.00,3112.8,3329.1,2896.4,1941.4,2253.0,46.41,-13.98,69,363.20,0.00,0.00,2.57,0.000,0.000,0.063,3112.44,3328.56,2896.31,1941.56,1209.00,0,0,0,30.00,30.00,15.91
$GC,377.65,1028,-82.73,-1.56,-0.12,3112.7,3328.6,2896.8,1941.9,1209.2,49.26,-14.13,73,383.41,0.00,0.00,2.67,0.000,0.000,0.025,3113.38,3329.12,2897.62,1941.69,2350.75,0,0,0,30.00,30.00,15.92
$GC,568.26,516,-82.73,-1.56,-60.00,3112.7,3328.7,2896.7,1941.3,2351.2,73.30,-10.41,111,573.28,0.00,0.00,2.83,0.000,0.000,0.058,3113.12,3329.12,2897.12,1942.06,1209.12,0,0,0,30.00,30.00,15.93
$GC,617.70,1028,-82.73,-1.56,-1.50,3112.7,3328.6,2896.8,1941.7,1209.3,78.27,-9.80,121,623.26,0.00,0.00,2.61,0.000,0.000,0.025,3113.00,3329.31,2896.69,1942.00,2327.19,0,0,0,30.00,30.00,15.95
$GC,808.12,260,-82.73,-1.56,60.00,3112.6,3328.7,2896.6,1942.1,2327.9,94.34,-8.95,159,813.32,0.00,0.00,2.81,0.000,0.000,0.082,3112.91,3328.88,2896.94,1941.88,3424.88,0,0,0,30.00,30.00,15.92
$GC,887.74,1028,-82.73,-1.56,-0.81,3112.2,3325.7,2898.7,1941.4,3425.5,101.86,-9.33,175,893.29,0.00,0.00,2.64,0.000,0.000,0.018,3113.00,3326.12,2899.88,1941.81,2234.50,0,0,0,30.00,30.00,15.96
$GC,1197.79,516,-82.73,-1.56,-60.00,3112.1,3325.4,2898.8,1941.5,2231.8,128.01,-9.34,237,1203.33,0.00,0.00,2.52,0.000,0.000,0.063,3112.88,3326.44,2899.31,1941.62,1208.06,0,0,0,30.00,30.00,15.97
$GC,1257.79,1028,-82.73,-1.56,-0.81,3112.2,3325.2,2899.1,1941.7,1207.8,133.95,-9.86,249,1263.35,0.00,0.00,2.62,0.000,0.000,0.025,3112.03,3325.12,2898.94,1941.75,2340.06,0,0,0,30.00,30.00,15.98
$GC,1567.88,516,-82.73,-1.56,-60.00,3112.2,3325.2,2899.2,1941.5,2340.3,162.20,-9.81,311,1573.43,0.00,0.00,2.78,0.000,0.000,0.058,3112.62,3325.69,2899.56,1940.94,1209.06,0,0,0,30.00,30.00,15.98
$GC,1633.07,1028,-82.73,-1.56,-1.04,3112.6,3325.4,2899.8,1941.6,1209.0,168.75,-10.05,324,1638.50,0.00,0.00,2.62,0.000,0.000,0.025,3112.44,3325.75,2899.12,1941.38,2335.44,0,0,0,30.00,30.00,16.00
$GC,1943.00,0,-82.73,-1.56,-1.04,3112.3,3325.9,2898.8,1941.4,2336.0,197.18,-9.26,386,1944.33,0.00,0.00,0.00,0.000,0.000,0.000,3111.75,3325.69,2897.81,1941.06,2335.88,0,0,0,30.00,30.00,30.00
$GC,2248.11,516,-82.73,-1.56,-60.00,3112.5,3325.8,2899.2,1941.6,2335.1,224.70,-8.98,447,2253.66,0.00,0.00,2.76,0.000,0.000,0.058,3112.75,3325.25,2900.25,1940.31,1208.06,0,0,0,30.00,30.00,15.99
$GC,2308.12,1028,-82.73,-1.56,-1.47,3112.7,3326.4,2898.9,1941.4,1207.9,230.18,-9.20,459,2313.66,0.00,0.00,2.58,0.000,0.000,0.025,3112.44,3325.12,2899.75,1941.81,2328.81,0,0,0,30.00,30.00,16.00
$STATE,2602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2602,begin apogee
$GC,2605.12,10243,0.00,-0.28,0.00,3112.2,3325.6,2898.9,1941.9,2040.1,253.32,-7.58,518,2670.63,61.24,2.19,0.17,1.391,0.142,0.112,2774.94,2918.19,2631.69,2253.62,2153.56,0,0,0,10.96,15.86,15.46
$STATE,2672,end apogee,CONTROL_FINISHED_OK
$STATE,2672,begin climb
$GC,2673.22,10759,82.73,1.56,-60.00,2773.7,2917.2,2630.2,2254.8,2166.6,255.03,0.00,531,2744.97,61.90,3.03,2.98,1.346,0.113,0.073,2437.09,2521.19,2353.00,2701.25,993.50,0,0,0,11.90,15.64,15.76
$GC,2857.21,11303,148.73,1.70,0.00,2433.5,2521.1,2345.9,2701.9,993.6,247.87,5.38,568,2914.54,51.22,0.17,2.66,1.317,0.081,0.021,2168.16,2219.25,2117.06,2745.69,2145.94,0,0,0,11.47,15.62,15.72
$GC,3217.70,324,148.73,1.72,60.00,2162.8,2219.2,2106.3,2746.1,2145.5,221.11,7.11,640,3222.84,0.00,0.00,2.68,0.000,0.000,0.075,2163.69,2219.94,2107.44,2744.75,3206.44,0,0,0,30.00,30.00,15.79
$GC,3297.33,1092,148.73,1.74,0.12,2162.2,2218.6,2105.8,2745.4,3206.8,215.20,7.40,656,3302.86,0.00,0.00,2.62,0.000,0.000,0.022,2162.44,2218.25,2106.62,2745.62,2056.38,0,0,0,30.00,30.00,15.84
$GC,3607.44,580,148.73,1.78,-60.00,2161.8,2219.1,2104.6,2745.9,2056.6,195.23,6.69,718,3612.98,0.00,0.00,2.68,0.000,0.000,0.077,2162.00,2220.19,2103.81,2745.81,992.44,0,0,0,30.00,30.00,15.88
$GC,3667.45,1092,148.73,1.80,-0.22,2160.9,2218.9,2102.9,2745.7,992.2,190.82,7.49,730,3672.99,0.00,0.00,2.64,0.000,0.000,0.022,2161.41,2220.06,2102.75,2746.06,2140.75,0,0,0,30.00,30.00,15.91
$GC,3977.67,10535,199.04,1.90,60.00,2161.0,2219.2,2102.8,2746.0,2140.2,170.24,6.11,792,4023.79,39.52,0.20,2.70,1.265,0.077,0.077,1963.16,2009.25,1917.06,2795.62,3207.62,0,0,0,11.09,15.91,15.49
$GC,4082.48,1028,199.04,1.90,0.05,1959.8,2008.0,1911.6,2795.4,3207.2,162.05,9.08,813,4088.04,0.00,0.00,2.64,0.000,0.000,0.022,1959.84,2008.94,1910.75,2795.75,2057.56,0,0,0,30.00,30.00,15.84
$GC,4392.53,0,199.04,1.90,0.05,1956.8,2008.6,1905.0,2796.0,2057.8,137.56,8.17,875,4393.86,0.00,0.00,0.00,0.000,0.000,0.000,1956.03,2007.31,1904.75,2795.31,2057.06,0,0,0,30.00,30.00,30.00
$GC,4697.56,516,199.04,1.90,-60.00,1956.1,2009.1,1903.1,2795.4,2057.5,111.69,8.72,936,4703.11,0.00,0.00,2.70,0.000,0.000,0.077,1957.28,2010.19,1904.38,2796.12,991.94,0,0,0,30.00,30.00,15.91
$GC,4722.56,1028,199.04,1.90,-0.28,1955.6,2008.7,1902.5,2796.0,992.4,109.41,8.96,941,4728.12,0.00,0.00,2.63,0.000,0.000,0.021,1955.84,2009.38,1902.31,2795.62,2139.31,0,0,0,30.00,30.00,15.95
$GC,5032.62,8742,275.72,2.05,-60.00,1955.2,2008.8,1901.6,2796.1,2139.2,89.05,4.88,1003,5099.42,59.60,0.00,2.95,1.200,0.000,0.075,1650.81,1678.56,1623.06,2794.62,992.38,0,0,0,11.06,30.00,15.49
$GC,5132.81,3141,275.72,2.08,-1.33,1646.0,1676.9,1615.1,2795.9,992.1,82.73,7.08,1023,5138.20,0.00,0.17,2.60,0.000,0.082,0.021,1646.44,1677.25,1615.62,2840.00,2123.12,0,0,0,30.00,15.71,15.79
$GC,5322.63,16646,275.72,2.08,60.00,1642.6,1677.4,1607.7,2839.5,2122.7,66.81,8.73,1061,5328.20,0.00,0.00,2.74,0.000,0.000,0.076,1642.97,1677.62,1608.31,2840.19,3206.00,0,0,0,30.00,30.00,15.84
$GC,5467.66,17414,275.72,2.08,-1.07,1642.0,1677.4,1606.6,2840.6,3206.8,54.01,8.67,1090,5473.21,0.00,0.00,2.68,0.000,0.000,0.022,1642.31,1678.31,1606.31,2840.25,2035.12,0,0,0,30.00,30.00,15.89
$GC,5658.08,8742,334.07,2.20,-60.00,1639.7,1677.1,1602.3,2840.9,2035.7,42.92,5.74,1128,5709.44,45.78,0.00,2.66,1.125,0.000,0.080,1414.22,1433.44,1395.00,2839.56,992.50,0,0,0,11.22,30.00,15.48
$GC,5857.69,1028,334.07,2.20,-1.70,1408.2,1433.1,1383.2,2840.8,992.2,27.67,8.34,1168,5863.23,0.00,0.00,2.59,0.000,0.000,0.021,1408.16,1433.44,1382.88,2840.62,2114.12,0,0,0,30.00,30.00,15.84
$GC,6048.12,0,334.07,2.20,-1.70,1406.3,1433.2,1379.3,2840.5,2114.8,12.50,8.02,1206,6049.45,0.00,0.00,0.00,0.000,0.000,0.000,1405.66,1432.88,1378.44,2840.44,2115.00,0,0,0,30.00,30.00,30.00
$STATE,6157,end climb,SURFACE_DEPTH_REACHED
$STATE,6157,begin surface coast
$FINISH,0.2,1.024728
$STATE,6217,end surface coast,CONTROL_FINISHED_OK
$STATE,6217,begin surface
$SM_CCo,6313.11,67.87,1.108,0,1042.3,1001.8,1082.8,425.03
$SM_GC,0.66,67.87,16.35,0.50,1.108,0.052,0.055,1042.3,1001.8,1082.8,178.1,2364.6,0,0,0,11.22,15.86,15.90
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4751.26,-12509.51,250122,192558
$TCM_TEMP,267.14
$XPDR_PINGS,0,13.0,10.5
$HUMID,51.06
$TEMP,82.10
$INTERNAL_PRESSURE,8.89812
$24V_AH,14.77,375.724
$10V_AH,15.00,0.000
$FG_AHR_24Vo,277.899
$FG_AHR_10Vo,91.631
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,465.755,36.390,82.170,181.753,0.000,12.645,2549.216,4026.203,809.247,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1391.128,247.064,112.256,203.127,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,34.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971264,32,75524,57
$DATA_FILE_SIZE,54651,1240
$CAP_FILE_SIZE,211035,0
$SDSIZE,4028416,3771968
$SDFILEDIR,3944,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,152.9,1
$IMPLIED_C_PITCH,2354,12.92,987
$IMPLIED_C_VBD,2787,28.956358,697
$GPS,250122,224909,4750.337,-12511.599,7,0.8,25,15.9