version: 67.00
glider: 249
mission: 6
dive: 1067
start: 1 26 122 5 51 31
data:
$ID,249
$MISSION,6
$DIVE,1067
$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,91.709564
$FG_AHR_24V,278.53851
$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
$GPS1,260122,054516,4750.799,-12511.300,1,1.1,4,15.9
$_CALLS,1
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-61.3
$GPS2,260122,055118,4750.783,-12511.275,2,1.1,3,15.9
$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,258.2,166445,-25.2,-8.462,-28.39
$D_GRID,283
$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,5.80,16386,-82.73,-1.56,0.00,1035.4,1000.8,1070.1,181.9,2357.4,0.00,0.00,0,77.10,70.19,0.00,0.00,0.005,0.000,0.000,2748.03,2923.31,2572.75,181.62,2357.56,0,0,0,14.92,30.00,30.00
$GC,78.21,18727,-82.73,-1.56,60.00,2747.2,2922.1,2572.4,181.9,2356.6,3.07,-4.40,13,110.50,8.70,14.30,2.77,0.007,0.256,0.088,3111.81,3328.00,2895.62,1942.12,3425.69,0,0,0,15.04,15.49,14.97
$GC,182.58,1028,-82.73,-1.56,0.00,3111.7,3326.4,2897.0,1941.8,3426.2,21.38,-15.93,34,188.12,0.00,0.00,2.62,0.000,0.000,0.018,3112.03,3327.25,2896.81,1941.06,2256.06,0,0,0,30.00,30.00,15.85
$GC,372.99,260,-82.73,-1.56,60.00,3111.6,3326.5,2896.7,1941.8,2255.4,48.85,-14.64,72,378.22,0.00,0.00,3.02,0.000,0.000,0.078,3111.72,3327.00,2896.44,1941.69,3428.38,0,0,0,30.00,30.00,15.86
$GC,397.80,1028,-82.73,-1.56,0.10,3112.1,3326.5,2897.6,1942.0,3427.6,52.89,-16.16,77,403.24,0.00,0.00,2.62,0.000,0.000,0.018,3112.94,3327.50,2898.38,1941.69,2254.94,0,0,0,30.00,30.00,15.89
$GC,588.04,516,-82.73,-1.56,-60.00,3111.4,3325.9,2896.9,1941.9,2253.4,77.74,-10.70,115,593.17,0.00,0.00,2.58,0.000,0.000,0.063,3113.47,3327.56,2899.38,1941.62,1209.50,0,0,0,30.00,30.00,15.93
$GC,612.64,1028,-82.73,-1.56,-0.61,3112.4,3326.8,2898.0,1941.4,1209.1,80.26,-10.13,120,618.19,0.00,0.00,2.63,0.000,0.000,0.025,3112.34,3327.31,2897.38,1941.88,2342.44,0,0,0,30.00,30.00,15.93
$GC,803.07,0,-82.73,-1.56,-0.61,3112.0,3326.4,2897.5,1941.3,2342.5,97.18,-9.79,158,804.40,0.00,0.00,0.00,0.000,0.000,0.000,3111.53,3326.50,2896.56,1941.62,2342.12,0,0,0,30.00,30.00,30.00
$GC,987.69,516,-82.73,-1.56,-60.00,3112.0,3326.7,2897.2,1941.6,2342.4,115.72,-9.17,195,993.26,0.00,0.00,2.80,0.000,0.000,0.058,3112.31,3326.88,2897.75,1941.25,1209.12,0,0,0,30.00,30.00,15.96
$GC,1082.72,1028,-82.73,-1.56,-1.13,3112.0,3326.6,2897.3,1941.5,1209.2,125.44,-10.64,214,1088.26,0.00,0.00,2.61,0.000,0.000,0.025,3112.50,3326.94,2898.06,1941.25,2335.94,0,0,0,30.00,30.00,15.97
$GC,1392.77,516,-82.73,-1.56,-60.00,3112.0,3326.8,2897.2,1941.6,2336.1,150.91,-7.21,276,1398.33,0.00,0.00,2.79,0.000,0.000,0.058,3111.81,3326.06,2897.56,1941.50,1208.00,0,0,0,30.00,30.00,15.98
$GC,1502.79,1028,-82.73,-1.56,-1.46,3112.0,3326.6,2897.4,1941.4,1208.0,159.36,-8.20,298,1508.32,0.00,0.00,2.60,0.000,0.000,0.025,3112.06,3326.62,2897.50,1941.94,2328.81,0,0,0,30.00,30.00,15.99
$GC,1813.04,0,-82.73,-1.56,-1.46,3112.4,3326.9,2897.8,1941.9,2329.2,187.31,-10.27,360,1814.37,0.00,0.00,0.00,0.000,0.000,0.000,3111.72,3326.69,2896.75,1941.50,2328.88,0,0,0,30.00,30.00,30.00
$GC,2117.96,0,-82.73,-1.56,-1.46,3112.0,3326.6,2897.5,1941.8,2329.6,217.89,-9.20,421,2119.28,0.00,0.00,0.00,0.000,0.000,0.000,3111.69,3325.88,2897.50,1941.38,2329.69,0,0,0,30.00,30.00,30.00
$GC,2423.07,260,-82.73,-1.56,60.00,3112.1,3326.5,2897.6,1941.6,2329.2,243.92,-7.91,482,2428.65,0.00,0.00,2.81,0.000,0.000,0.083,3112.41,3326.50,2898.31,1942.19,3424.69,0,0,0,30.00,30.00,15.96
$GC,2463.08,1028,-82.73,-1.56,-1.72,3112.1,3323.8,2900.4,1941.4,3424.9,247.42,-8.73,490,2468.63,0.00,0.00,2.67,0.000,0.000,0.019,3112.78,3324.00,2901.56,1941.44,2218.06,0,0,0,30.00,30.00,16.00
$GC,2773.19,260,-82.73,-1.56,60.00,3112.1,3323.6,2900.6,1941.4,2215.8,269.81,-7.12,552,2778.80,0.00,0.00,3.09,0.000,0.000,0.079,3112.91,3324.69,2901.12,1942.00,3425.56,0,0,0,30.00,30.00,15.95
$GC,2858.21,1028,-82.73,-1.56,-1.42,3112.1,3323.8,2900.4,1941.7,3426.1,276.13,-7.20,569,2863.77,0.00,0.00,2.65,0.000,0.000,0.019,3112.75,3324.19,2901.31,1941.75,2221.62,0,0,0,30.00,30.00,16.00
$STATE,2957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2958,begin apogee
$GC,2960.09,10243,0.00,-0.28,0.00,3111.8,3323.1,2900.4,1942.0,2040.8,283.28,-7.09,589,3025.66,61.33,2.19,0.17,1.436,0.142,0.117,2774.25,2917.88,2630.62,2254.94,2152.56,0,0,0,10.85,15.86,15.42
$STATE,3027,end apogee,CONTROL_FINISHED_OK
$STATE,3027,begin climb
$GC,3028.24,11271,82.73,1.56,0.00,2773.6,2916.9,2630.4,2254.8,2168.7,284.73,0.00,602,3097.47,61.93,2.95,0.19,1.390,0.092,0.072,2437.16,2526.25,2348.06,2705.06,2033.81,0,0,0,11.93,15.66,15.76
$GC,3400.47,10535,167.54,1.73,60.00,2433.4,2526.2,2340.7,2705.3,2034.0,269.32,4.50,677,3472.48,65.24,0.22,3.04,1.375,0.075,0.073,2090.72,2137.00,2044.44,2752.44,3206.38,0,0,0,11.30,15.78,15.35
$GC,3635.66,1028,167.54,1.73,0.58,2086.3,2136.6,2035.9,2752.1,3206.2,251.66,8.14,724,3641.03,0.00,0.00,2.62,0.000,0.000,0.022,2087.16,2138.19,2036.12,2751.56,2067.19,0,0,0,30.00,30.00,15.75
$GC,3945.55,16710,167.54,1.75,60.00,2083.8,2136.9,2030.6,2752.1,2067.5,229.46,7.38,786,3951.10,0.00,0.00,2.89,0.000,0.000,0.073,2084.62,2137.69,2031.56,2751.38,3205.94,0,0,0,30.00,30.00,15.86
$GC,4040.73,17478,167.54,1.77,0.96,2083.6,2136.8,2030.5,2752.2,3206.6,221.99,7.88,805,4046.08,0.00,0.00,2.58,0.000,0.000,0.022,2084.53,2136.88,2032.19,2751.56,2071.69,0,0,0,30.00,30.00,15.88
$GC,4350.66,16710,167.54,1.80,60.00,2082.8,2136.9,2028.6,2751.9,2071.8,199.89,6.57,867,4356.18,0.00,0.00,2.87,0.000,0.000,0.073,2082.84,2137.12,2028.56,2752.12,3206.62,0,0,0,30.00,30.00,15.92
$GC,4390.60,17478,167.54,1.83,1.13,2082.5,2136.8,2028.1,2751.9,3207.2,197.08,6.91,875,4396.13,0.00,0.00,2.56,0.000,0.000,0.022,2083.16,2137.56,2028.75,2751.94,2074.38,0,0,0,30.00,30.00,15.94
$GC,4700.66,10275,233.23,1.97,1.13,2082.1,2137.0,2027.2,2752.2,2074.8,180.51,5.39,937,4753.32,51.15,0.26,0.00,1.305,0.071,0.000,1825.16,1857.25,1793.06,2810.12,2074.56,0,0,0,11.06,15.91,30.00
$GC,5055.68,260,233.23,1.97,60.00,1816.8,1856.5,1777.1,2809.4,2074.7,151.04,9.24,1008,5061.26,0.00,0.00,2.88,0.000,0.000,0.073,1817.62,1857.69,1777.56,2810.38,3206.12,0,0,0,30.00,30.00,15.87
$GC,5075.68,1028,233.23,1.97,0.89,1816.8,1856.6,1776.9,2810.1,3205.1,149.05,9.66,1012,5081.23,0.00,0.00,2.59,0.000,0.000,0.023,1816.59,1856.50,1776.69,2810.88,2073.62,0,0,0,30.00,30.00,15.88
$GC,5385.73,16386,233.23,1.97,0.89,1815.4,1856.6,1774.2,2810.3,2073.4,121.60,8.59,1074,5387.06,0.00,0.00,0.00,0.000,0.000,0.000,1814.66,1856.25,1773.06,2810.50,2074.19,0,0,0,30.00,30.00,30.00
$GC,5690.76,16902,233.23,1.97,-60.00,1814.7,1857.1,1772.3,2810.9,2074.1,95.46,8.03,1135,5696.51,0.00,0.00,2.72,0.000,0.000,0.080,1814.97,1857.25,1772.69,2809.56,993.62,0,0,0,30.00,30.00,15.92
$GC,5755.95,17478,233.23,1.98,1.17,1814.0,1856.5,1771.5,2810.8,993.5,90.35,7.89,1148,5761.31,0.00,0.00,2.68,0.000,0.000,0.022,1815.69,1858.12,1773.25,2810.56,2164.69,0,0,0,30.00,30.00,15.95
$GC,5945.81,10535,313.89,2.14,60.00,1813.8,1856.4,1771.2,2810.6,2164.5,78.88,4.70,1186,6013.30,62.59,0.17,2.67,1.198,0.086,0.079,1495.84,1513.06,1478.62,2853.69,3207.12,0,0,0,11.02,15.94,15.47
$GC,6165.83,1092,313.89,2.15,1.57,1490.2,1513.4,1466.9,2854.5,3207.8,61.42,7.88,1230,6171.35,0.00,0.00,2.57,0.000,0.000,0.022,1490.25,1513.88,1466.62,2854.69,2081.75,0,0,0,30.00,30.00,15.83
$GC,6356.29,16450,313.89,2.18,1.57,1487.2,1513.9,1460.4,2854.4,2081.9,49.20,6.93,1268,6357.62,0.00,0.00,0.00,0.000,0.000,0.000,1486.84,1513.56,1460.12,2854.62,2081.75,0,0,0,30.00,30.00,30.00
$GC,6540.94,16450,313.89,2.22,1.57,1486.2,1514.2,1458.2,2854.5,2081.8,36.70,6.55,1305,6542.28,0.00,0.00,0.00,0.000,0.000,0.000,1485.53,1513.50,1457.56,2854.25,2081.56,0,0,0,30.00,30.00,30.00
$GC,6726.01,10535,372.91,2.34,60.00,1485.8,1514.6,1457.1,2854.3,2081.5,24.31,5.71,1342,6778.45,46.37,0.19,2.89,1.113,0.079,0.074,1255.09,1258.56,1251.62,2900.12,3206.31,0,0,0,11.08,15.90,15.49
$GC,6796.17,1028,372.91,2.34,1.64,1254.1,1258.5,1249.6,2899.9,3205.7,18.50,8.89,1356,6801.54,0.00,0.00,2.56,0.000,0.000,0.023,1254.31,1259.31,1249.31,2899.25,2085.44,0,0,0,30.00,30.00,15.81
$STATE,6945,end climb,SURFACE_DEPTH_REACHED
$STATE,6945,begin surface coast
$FINISH,0.2,1.024694
$STATE,6990,end surface coast,CONTROL_FINISHED_OK
$STATE,6991,begin surface
$SM_CCo,7058.63,40.19,1.099,0,1042.8,999.9,1085.8,424.90
$SM_GC,0.99,40.19,16.76,0.57,1.099,0.050,0.051,1042.8,999.9,1085.8,177.1,2355.7,0,0,0,11.32,15.80,15.86
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4752.57,-12511.36,260122,035724
$TCM_TEMP,267.17
$XPDR_PINGS,0,13.0,10.5
$HUMID,51.10
$TEMP,82.10
$INTERNAL_PRESSURE,8.90286
$24V_AH,14.77,376.697
$10V_AH,15.00,0.000
$FG_AHR_24Vo,278.692
$FG_AHR_10Vo,91.731
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,467.685,37.055,77.825,174.498,0.000,12.765,2755.620,4561.533,906.358,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1436.392,255.920,116.520,212.011,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,34.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971296,32,75492,57
$DATA_FILE_SIZE,61082,1395
$CAP_FILE_SIZE,218686,0
$SDSIZE,4028416,3771328
$SDFILEDIR,3959,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,151.1,1
$MAGCAL,1.000000,0.007264,0.043716,-0.008288,1.045815,-0.085607,-0.035004,-0.045256,1.008472,558.6,-286.0,82.7,30,0.0221,0
$IMPLIED_C_PITCH,2363,12.58,1149
$IMPLIED_C_VBD,2768,33.364201,1006
$GPS,260122,074939,4750.429,-12511.842,22,1.0,22,15.9