version: 67.00
glider: 249
mission: 6
dive: 1068
start: 1 26 122 7 56 0
data:
$ID,249
$MISSION,6
$DIVE,1068
$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,91.732758
$FG_AHR_24V,278.70288
$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
$GPS1,260122,074939,4750.429,-12511.842,22,1.0,22,15.9
$_CALLS,1
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-62.3
$GPS2,260122,075547,4750.389,-12511.839,2,0.6,4,15.9
$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,264.8,165446,-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,5.80,16386,-82.73,-1.56,0.00,1036.8,1004.5,1069.0,177.1,2239.2,0.00,0.00,0,77.10,70.17,0.00,0.00,0.005,0.000,0.000,2762.53,2941.94,2583.12,177.00,2239.19,0,0,0,14.95,30.00,30.00
$GC,78.21,18727,-82.73,-1.56,60.00,2761.8,2941.0,2582.6,177.2,2239.6,3.39,-4.83,13,110.57,8.14,14.31,3.07,0.007,0.253,0.082,3110.72,3328.25,2893.19,1942.19,3426.50,0,0,0,15.00,15.49,14.96
$GC,193.02,1028,-82.73,-1.56,0.00,3111.5,3328.7,2894.4,1941.6,3427.2,23.42,-15.22,36,198.20,0.00,0.00,2.61,0.000,0.000,0.018,3112.94,3329.62,2896.25,1941.44,2254.75,0,0,0,30.00,30.00,15.85
$GC,383.06,516,-82.73,-1.56,-60.00,3111.2,3327.6,2894.9,1941.8,2252.7,51.37,-15.38,74,388.21,0.00,0.00,2.58,0.000,0.000,0.065,3111.75,3328.19,2895.31,1942.12,1209.38,0,0,0,30.00,30.00,15.90
$GC,427.88,1028,-82.73,-1.56,-0.13,3111.6,3328.3,2894.9,1941.5,1209.1,58.54,-15.93,83,433.30,0.00,0.00,2.65,0.000,0.000,0.026,3112.84,3328.62,2897.06,1941.62,2350.81,0,0,0,30.00,30.00,15.90
$GC,618.11,516,-82.73,-1.56,-60.00,3111.2,3327.5,2895.0,1941.9,2350.3,81.19,-12.99,121,623.30,0.00,0.00,2.83,0.000,0.000,0.059,3111.75,3328.56,2894.94,1941.69,1209.44,0,0,0,30.00,30.00,15.92
$GC,667.72,1028,-82.73,-1.56,-0.82,3111.4,3328.1,2894.8,1941.2,1209.7,87.33,-11.92,131,673.28,0.00,0.00,2.62,0.000,0.000,0.026,3111.69,3328.25,2895.12,1942.00,2339.19,0,0,0,30.00,30.00,15.93
$GC,857.75,260,-82.73,-1.56,60.00,3111.8,3328.4,2895.1,1942.2,2338.8,103.11,-7.64,169,863.33,0.00,0.00,2.76,0.000,0.000,0.083,3111.75,3328.06,2895.44,1941.56,3425.88,0,0,0,30.00,30.00,15.93
$GC,872.75,1028,-82.73,-1.56,-1.11,3111.8,3327.6,2896.1,1941.6,3425.8,104.25,-7.58,172,878.31,0.00,0.00,2.65,0.000,0.000,0.018,3112.34,3328.00,2896.69,1940.88,2225.75,0,0,0,30.00,30.00,15.95
$GC,1182.82,0,-82.73,-1.56,-1.11,3111.8,3327.4,2896.2,1941.8,2223.9,129.39,-9.02,234,1184.14,0.00,0.00,0.00,0.000,0.000,0.000,3111.69,3326.94,2896.44,1941.69,2223.94,0,0,0,30.00,30.00,30.00
$GC,1487.91,0,-82.73,-1.56,-1.11,3111.7,3327.4,2895.9,1941.5,2224.0,160.51,-10.22,295,1489.24,0.00,0.00,0.00,0.000,0.000,0.000,3112.09,3327.12,2897.06,1941.88,2223.94,0,0,0,30.00,30.00,30.00
$GC,1793.01,260,-82.73,-1.56,60.00,3112.1,3327.8,2896.4,1941.8,2223.8,186.99,-7.71,356,1798.62,0.00,0.00,3.06,0.000,0.000,0.078,3112.97,3328.62,2897.31,1941.12,3428.00,0,0,0,30.00,30.00,15.95
$GC,1888.04,1028,-82.73,-1.56,-1.04,3111.6,3324.1,2899.1,1941.5,3428.9,195.52,-9.28,375,1893.78,0.00,0.00,2.63,0.000,0.000,0.018,3111.66,3323.81,2899.50,1941.69,2229.62,0,0,0,30.00,30.00,15.98
$GC,2198.15,516,-82.73,-1.56,-60.00,3111.9,3324.5,2899.4,1941.2,2228.6,218.91,-7.67,437,2203.59,0.00,0.00,2.50,0.000,0.000,0.064,3111.97,3324.44,2899.50,1941.56,1209.06,0,0,0,30.00,30.00,15.99
$GC,2248.15,1028,-82.73,-1.56,-1.31,3111.7,3323.9,2899.4,1941.8,1209.4,222.79,-7.73,447,2253.69,0.00,0.00,2.58,0.000,0.000,0.025,3113.38,3325.44,2901.31,1940.44,2332.12,0,0,0,30.00,30.00,16.00
$GC,2558.27,0,-82.73,-1.56,-1.31,3112.4,3324.9,2899.9,1941.8,2332.6,243.25,-7.13,509,2559.60,0.00,0.00,0.00,0.000,0.000,0.000,3111.50,3324.44,2898.56,1941.38,2332.00,0,0,0,30.00,30.00,30.00
$GC,2863.38,516,-82.73,-1.56,-60.00,3111.9,3323.9,2899.9,1941.4,2332.4,269.81,-8.31,570,2868.94,0.00,0.00,2.74,0.000,0.000,0.059,3111.97,3323.94,2900.00,1941.56,1208.88,0,0,0,30.00,30.00,15.99
$GC,2918.39,1028,-82.73,-1.56,-1.57,3111.9,3324.5,2899.2,1941.6,1209.2,274.51,-8.58,581,2923.93,0.00,0.00,2.57,0.000,0.000,0.025,3112.25,3323.69,2900.81,1940.94,2327.06,0,0,0,30.00,30.00,16.01
$GC,3228.47,0,-82.73,-1.56,-1.57,3111.9,3324.6,2899.2,1941.6,2326.6,298.63,-8.25,643,3229.80,0.00,0.00,0.00,0.000,0.000,0.000,3111.19,3324.00,2898.38,1941.38,2326.44,0,0,0,30.00,30.00,30.00
$STATE,3395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3396,begin apogee
$GC,3398.42,10243,0.00,-0.28,0.00,3112.4,3324.8,2899.9,1941.3,2041.8,312.22,-7.90,660,3466.25,61.65,2.20,0.17,1.474,0.141,0.120,2774.69,2918.00,2631.38,2254.25,2165.62,0,0,0,10.83,15.87,15.42
$STATE,3468,end apogee,CONTROL_FINISHED_OK
$STATE,3468,begin climb
$GC,3469.13,11271,82.73,1.56,0.00,2774.0,2917.6,2630.3,2254.3,2165.5,314.28,0.00,666,3536.79,62.42,2.94,0.19,1.426,0.089,0.073,2437.03,2525.31,2348.75,2705.00,2030.25,0,0,0,11.88,15.66,15.77
$GC,3841.67,10535,146.78,1.69,60.00,2432.8,2525.1,2340.6,2705.2,2030.8,296.15,5.47,710,3898.44,49.73,0.16,3.03,1.400,0.087,0.074,2175.41,2231.19,2119.62,2743.00,3205.50,0,0,0,11.23,15.77,15.38
$GC,3971.11,1028,146.78,1.69,0.17,2173.2,2230.8,2115.6,2743.1,3205.4,286.88,8.10,736,3976.66,0.00,0.00,2.64,0.000,0.000,0.022,2173.94,2231.94,2115.94,2743.75,2059.44,0,0,0,30.00,30.00,15.72
$GC,4281.24,8742,212.98,1.82,-60.00,2170.2,2230.4,2110.1,2743.5,2059.6,268.58,5.37,798,4338.70,52.35,0.00,2.77,1.381,0.000,0.081,1907.53,1941.38,1873.69,2743.50,994.75,0,0,0,11.19,30.00,15.39
$GC,4341.61,11303,278.21,1.95,0.33,1905.5,1939.6,1871.4,2743.7,994.8,265.33,5.42,810,4399.60,52.22,0.31,2.68,1.350,0.062,0.021,1640.31,1659.06,1621.56,2809.19,2150.44,0,0,0,11.94,15.61,15.69
$GC,4702.26,16646,278.21,1.95,60.00,1630.0,1660.8,1599.2,2810.7,2150.8,231.42,11.62,882,4707.42,0.00,0.00,2.69,0.000,0.000,0.077,1630.09,1660.94,1599.25,2810.75,3206.88,0,0,0,30.00,30.00,15.78
$GC,4756.88,17414,278.21,1.95,0.43,1629.9,1660.6,1599.2,2810.3,3206.9,224.44,12.99,893,4762.44,0.00,0.00,2.61,0.000,0.000,0.022,1629.50,1660.88,1598.12,2810.81,2066.25,0,0,0,30.00,30.00,15.82
$GC,5067.01,16646,278.21,1.95,60.00,1627.5,1661.6,1593.4,2811.3,2066.4,182.67,13.63,955,5072.60,0.00,0.00,2.92,0.000,0.000,0.073,1627.94,1662.38,1593.50,2811.12,3206.00,0,0,0,30.00,30.00,15.89
$GC,5132.01,17414,278.21,1.95,0.78,1627.8,1662.1,1593.5,2811.3,3206.5,173.59,13.74,968,5137.55,0.00,0.00,2.59,0.000,0.000,0.023,1627.56,1662.19,1592.94,2811.62,2071.69,0,0,0,30.00,30.00,15.90
$GC,5442.13,16646,278.21,1.95,60.00,1626.3,1662.1,1590.6,2810.9,2072.1,140.97,9.17,1030,5447.71,0.00,0.00,2.88,0.000,0.000,0.073,1627.25,1663.00,1591.50,2811.56,3206.81,0,0,0,30.00,30.00,15.92
$GC,5482.31,17414,278.21,1.95,1.02,1626.9,1663.1,1590.8,2811.1,3206.7,137.09,9.71,1038,5487.73,0.00,0.00,2.58,0.000,0.000,0.023,1627.47,1663.12,1591.81,2810.81,2074.38,0,0,0,30.00,30.00,15.94
$GC,5792.24,16386,278.21,1.95,1.02,1626.1,1663.3,1588.9,2811.1,2074.4,108.60,9.71,1100,5793.57,0.00,0.00,0.00,0.000,0.000,0.000,1625.38,1662.62,1588.12,2811.12,2074.44,0,0,0,30.00,30.00,30.00
$GC,6097.35,16710,278.21,1.97,60.00,1625.6,1663.6,1587.5,2810.6,2074.5,84.11,7.69,1161,6102.92,0.00,0.00,2.87,0.000,0.000,0.074,1625.56,1663.62,1587.50,2811.62,3206.12,0,0,0,30.00,30.00,15.95
$GC,6137.34,17414,278.21,1.97,1.14,1625.7,1664.0,1587.4,2811.2,3206.5,80.71,8.51,1169,6142.88,0.00,0.00,2.55,0.000,0.000,0.022,1625.94,1664.75,1587.12,2812.12,2075.94,0,0,0,30.00,30.00,15.98
$GC,6327.83,8742,351.53,2.12,-60.00,1625.0,1664.3,1585.6,2811.2,2075.9,68.08,5.04,1207,6389.80,57.11,0.00,2.77,1.186,0.000,0.082,1342.69,1355.88,1329.50,2811.75,995.25,0,0,0,11.06,30.00,15.48
$GC,6462.57,3141,351.53,2.14,0.84,1338.4,1355.2,1321.6,2811.5,994.9,60.08,7.03,1234,6468.04,0.00,0.18,2.70,0.000,0.085,0.022,1338.44,1355.56,1321.31,2854.50,2158.38,0,0,0,30.00,15.73,15.83
$GC,6652.48,64,351.53,2.16,0.84,1335.9,1355.6,1316.2,2854.3,2158.7,45.60,7.49,1272,6653.81,0.00,0.00,0.00,0.000,0.000,0.000,1335.69,1355.44,1315.94,2854.25,2158.38,0,0,0,30.00,30.00,30.00
$GC,6837.54,0,351.53,2.16,0.84,1335.2,1355.8,1314.6,2854.8,2158.6,32.11,8.19,1309,6838.87,0.00,0.00,0.00,0.000,0.000,0.000,1335.16,1355.62,1314.69,2854.25,2158.50,0,0,0,30.00,30.00,30.00
$GC,7022.52,64,351.53,2.17,0.84,1334.7,1356.4,1312.9,2854.6,2158.4,16.23,7.95,1346,7023.85,0.00,0.00,0.00,0.000,0.000,0.000,1334.16,1356.06,1312.25,2854.25,2158.44,0,0,0,30.00,30.00,30.00
$STATE,7187,end climb,SURFACE_DEPTH_REACHED
$STATE,7187,begin surface coast
$FINISH,0.3,1.024865
$STATE,7257,end surface coast,CONTROL_FINISHED_OK
$STATE,7257,begin surface
$SM_CCo,7340.13,55.54,1.128,0,1042.9,1003.8,1082.1,424.87
$SM_GC,0.46,55.54,16.37,0.41,1.128,0.050,0.062,1042.9,1003.8,1082.1,175.7,2359.2,0,0,0,11.10,15.88,15.94
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4751.79,-12502.41,260122,054829
$TCM_TEMP,267.23
$XPDR_PINGS,0,13.0,10.5
$HUMID,51.08
$TEMP,82.10
$INTERNAL_PRESSURE,8.89717
$24V_AH,14.74,376.931
$10V_AH,15.00,0.000
$FG_AHR_24Vo,278.864
$FG_AHR_10Vo,91.755
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,469.330,36.465,77.535,187.102,0.000,13.752,3117.879,4494.097,905.412,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1474.440,252.968,120.456,212.954,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,3723.028,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971260,34,75488,57
$DATA_FILE_SIZE,60992,1393
$CAP_FILE_SIZE,220080,0
$SDSIZE,4028416,3771200
$SDFILEDIR,3962,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,141.5,1
$IMPLIED_C_PITCH,2372,12.24,1147
$IMPLIED_C_VBD,2800,48.778332,1036
$GPS,260122,095858,4750.103,-12512.382,3,1.5,31,15.9