version: 67.00
glider: 249
mission: 6
dive: 1207
start: 3 1 122 13 54 41
data:
$ID,249
$MISSION,6
$DIVE,1207
$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,330
$T_MISSION,510
$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,120
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72946
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0039810701
$HD_B,0.029864
$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,400
$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,100.22217
$FG_AHR_24V,315.48599
$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
$GPS1,010322,134739,4755.004,-12523.003,9,0.8,15,15.9
$_CALLS,1
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-55.6
$GPS2,010322,135428,4755.104,-12523.074,3,0.8,5,15.9
$SPEED_LIMITS,0.173,0.183
$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,189.3,159380,-22.2,-10.000,-28.63
$D_GRID,640
$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,5.98,16386,-116.79,-1.47,0.00,617.6,594.0,641.2,176.8,2258.2,0.00,0.00,0,97.84,90.41,0.00,0.00,0.005,0.000,0.000,2748.72,2915.50,2581.94,177.12,2258.44,0,0,0,14.80,30.00,30.00
$GC,98.58,18467,-116.79,-1.47,0.00,2747.7,2913.8,2581.6,177.1,2258.4,3.32,-3.73,17,129.97,11.89,14.18,0.00,0.007,0.235,0.000,3251.69,3457.94,3045.44,1964.12,2257.88,0,0,0,14.95,15.42,30.00
$GC,312.10,516,-116.79,-1.47,-60.00,3252.1,3457.1,3047.0,1963.9,2258.4,34.61,-13.36,60,317.65,0.00,0.00,2.64,0.000,0.000,0.062,3252.22,3457.69,3046.75,1964.25,1210.38,0,0,0,30.00,30.00,15.85
$GC,352.43,1028,-116.79,-1.47,0.00,3252.2,3457.3,3047.0,1964.4,1210.2,40.44,-14.68,68,357.66,0.00,0.00,2.69,0.000,0.000,0.026,3252.56,3457.88,3047.25,1963.94,2352.06,0,0,0,30.00,30.00,15.88
$GC,542.83,516,-116.79,-1.47,-60.00,3251.8,3456.7,3046.9,1964.4,2351.9,65.73,-12.92,106,547.76,0.00,0.00,2.88,0.000,0.000,0.058,3251.78,3456.69,3046.88,1964.00,1209.44,0,0,0,30.00,30.00,15.86
$GC,597.20,1028,-116.79,-1.47,-0.58,3252.0,3457.3,3046.6,1964.1,1209.2,72.85,-13.07,117,602.75,0.00,0.00,2.67,0.000,0.000,0.025,3252.66,3457.38,3047.94,1964.19,2341.31,0,0,0,30.00,30.00,15.91
$GC,787.66,260,-116.79,-1.47,60.00,3252.1,3457.0,3047.1,1963.9,2340.3,93.81,-10.40,155,792.85,0.00,0.00,2.83,0.000,0.000,0.083,3251.66,3456.75,3046.56,1965.12,3425.19,0,0,0,30.00,30.00,15.84
$GC,807.26,1028,-116.79,-1.47,-1.02,3251.9,3456.6,3047.2,1964.8,3424.6,95.88,-10.26,159,812.82,0.00,0.00,2.67,0.000,0.000,0.018,3252.34,3456.56,3048.12,1964.88,2229.25,0,0,0,30.00,30.00,15.92
$GC,997.35,292,-116.79,-1.47,60.00,3252.2,3456.9,3047.5,1965.0,2227.1,111.63,-7.70,197,1002.98,0.00,0.00,3.12,0.000,0.000,0.079,3251.88,3456.81,3046.94,1965.00,3425.88,0,0,0,30.00,30.00,15.85
$GC,1132.77,1028,-116.79,-1.47,-0.38,3251.9,3455.9,3048.0,1964.8,3425.4,123.46,-9.15,224,1137.93,0.00,0.00,2.64,0.000,0.000,0.018,3251.78,3456.00,3047.56,1964.94,2242.56,0,0,0,30.00,30.00,15.94
$GC,1442.47,548,-116.79,-1.47,-60.00,3251.8,3456.4,3047.3,1965.0,2241.0,150.04,-7.87,286,1448.17,0.00,0.00,2.59,0.000,0.000,0.064,3251.97,3455.81,3048.12,1964.62,1210.44,0,0,0,30.00,30.00,15.91
$GC,1527.45,1028,-116.79,-1.47,-1.03,3252.2,3455.6,3048.8,1964.8,1210.6,157.37,-8.65,303,1533.00,0.00,0.00,2.64,0.000,0.000,0.025,3252.81,3456.75,3048.88,1964.75,2336.88,0,0,0,30.00,30.00,15.96
$GC,1837.64,548,-116.79,-1.47,-60.00,3252.2,3456.4,3048.0,1964.7,2337.0,182.59,-7.93,365,1843.08,0.00,0.00,2.83,0.000,0.000,0.058,3253.91,3457.31,3050.50,1964.94,1209.19,0,0,0,30.00,30.00,15.93
$GC,1877.50,1028,-116.79,-1.47,-1.30,3252.7,3456.5,3048.9,1964.8,1209.1,185.89,-8.21,373,1883.06,0.00,0.00,2.63,0.000,0.000,0.025,3252.41,3456.00,3048.81,1964.88,2330.00,0,0,0,30.00,30.00,15.96
$GC,2187.56,0,-116.79,-1.47,-1.30,3252.5,3456.3,3048.8,1964.8,2330.1,212.38,-8.64,435,2188.89,0.00,0.00,0.00,0.000,0.000,0.000,3251.84,3456.44,3047.25,1964.94,2329.88,0,0,0,30.00,30.00,30.00
$GC,2492.59,0,-116.79,-1.47,-1.30,3252.7,3456.2,3049.1,1964.6,2330.1,241.05,-9.70,496,2493.92,0.00,0.00,0.00,0.000,0.000,0.000,3251.94,3455.50,3048.38,1964.44,2330.44,0,0,0,30.00,30.00,30.00
$GC,2797.63,516,-116.79,-1.47,-60.00,3252.8,3456.4,3049.1,1964.7,2330.4,270.24,-9.26,557,2803.21,0.00,0.00,2.83,0.000,0.000,0.059,3253.25,3456.50,3050.00,1965.31,1209.19,0,0,0,30.00,30.00,15.93
$GC,2837.63,1028,-116.79,-1.47,-1.21,3252.4,3455.8,3049.1,1964.7,1208.9,273.96,-9.31,565,2843.19,0.00,0.00,2.62,0.000,0.000,0.025,3253.53,3456.88,3050.19,1963.31,2329.31,0,0,0,30.00,30.00,15.98
$GC,3147.69,32,-116.79,-1.47,-1.21,3252.7,3456.2,3049.2,1964.7,2329.2,299.91,-7.87,627,3149.02,0.00,0.00,0.00,0.000,0.000,0.000,3251.28,3455.62,3046.94,1965.12,2329.31,0,0,0,30.00,30.00,30.00
$GC,3450.96,32,-116.79,-1.47,-1.21,3252.8,3456.0,3049.6,1964.9,2329.3,323.57,-7.88,655,3462.03,0.00,0.00,0.00,0.000,0.000,0.000,3252.97,3456.88,3049.06,1965.31,2329.44,0,0,0,30.00,30.00,30.00
$GC,3764.12,548,-116.79,-1.47,-60.00,3252.3,3456.0,3048.6,1964.9,2329.1,348.24,-7.97,684,3768.96,0.00,0.00,2.83,0.000,0.000,0.060,3253.03,3457.31,3048.75,1964.94,1210.38,0,0,0,30.00,30.00,15.93
$GC,3817.24,1060,-116.79,-1.47,-1.14,3252.5,3456.4,3048.7,1964.9,1210.0,352.50,-7.94,691,3821.87,0.00,0.00,2.62,0.000,0.000,0.025,3254.91,3458.75,3051.06,1965.25,2330.81,0,0,0,30.00,30.00,15.98
$GC,4128.90,0,-116.79,-1.47,-1.14,3252.4,3456.0,3048.9,1964.5,2330.6,376.32,-8.06,720,4139.96,0.00,0.00,0.00,0.000,0.000,0.000,3252.53,3455.94,3049.12,1964.75,2330.81,0,0,0,30.00,30.00,30.00
$GC,4441.91,516,-116.79,-1.47,-60.00,3252.7,3456.3,3049.1,1965.2,2330.1,400.22,-8.12,749,4446.57,0.00,0.00,2.82,0.000,0.000,0.060,3251.84,3456.56,3047.12,1964.88,1210.12,0,0,0,30.00,30.00,15.93
$GC,4464.71,1028,-116.79,-1.47,-1.21,3252.8,3456.0,3049.7,1964.4,1210.6,402.03,-8.23,753,4479.66,0.00,0.00,2.62,0.000,0.000,0.025,3252.88,3456.50,3049.25,1964.75,2331.56,0,0,0,30.00,30.00,16.00
$GC,4780.93,548,-116.79,-1.47,-60.00,3252.5,3455.9,3049.2,1965.1,2332.2,427.45,-7.75,782,4785.59,0.00,0.00,2.83,0.000,0.000,0.060,3252.09,3455.06,3049.12,1964.62,1210.00,0,0,0,30.00,30.00,15.92
$GC,4818.13,1060,-116.79,-1.47,-1.38,3252.2,3455.9,3048.6,1965.0,1210.1,430.34,-7.74,787,4822.76,0.00,0.00,2.62,0.000,0.000,0.026,3253.09,3455.88,3050.31,1964.44,2329.25,0,0,0,30.00,30.00,15.98
$GC,5130.53,260,-116.79,-1.47,60.00,3252.3,3455.9,3048.8,1964.6,2329.7,456.48,-8.48,816,5135.19,0.00,0.00,2.84,0.000,0.000,0.086,3252.50,3455.31,3049.69,1965.31,3427.19,0,0,0,30.00,30.00,15.88
$GC,5153.33,1028,-116.79,-1.47,-1.38,3252.6,3455.8,3049.4,1965.1,3427.8,458.48,-8.79,820,5168.28,0.00,0.00,2.68,0.000,0.000,0.019,3252.69,3456.12,3049.25,1964.62,2223.56,0,0,0,30.00,30.00,15.97
$GC,5469.53,0,-116.79,-1.47,-1.38,3252.0,3455.1,3048.9,1964.9,2223.6,485.20,-8.28,849,5480.60,0.00,0.00,0.00,0.000,0.000,0.000,3252.12,3454.88,3049.38,1965.25,2223.19,0,0,0,30.00,30.00,30.00
$GC,5788.43,260,-116.79,-1.47,60.00,3251.9,3454.7,3049.2,1964.9,2223.2,511.21,-8.15,875,5793.33,0.00,0.00,3.12,0.000,0.000,0.081,3251.28,3454.50,3048.06,1964.50,3425.12,0,0,0,30.00,30.00,15.87
$GC,5806.41,1028,-116.79,-1.47,-1.38,3251.8,3454.2,3049.4,1964.8,3425.3,512.65,-8.25,878,5811.80,0.00,0.00,2.67,0.000,0.000,0.019,3251.69,3454.12,3049.25,1964.44,2224.62,0,0,0,30.00,30.00,15.98
$GC,6125.66,292,-116.79,-1.47,60.00,3251.5,3453.9,3049.0,1964.6,2223.4,537.51,-7.27,900,6130.38,0.00,0.00,3.12,0.000,0.000,0.081,3252.28,3455.75,3048.81,1962.69,3426.50,0,0,0,30.00,30.00,15.87
$GC,6148.48,1060,-116.79,-1.47,-1.28,3251.2,3453.2,3049.1,1964.6,3426.6,538.77,-7.37,904,6163.41,0.00,0.00,2.67,0.000,0.000,0.019,3251.81,3453.94,3049.69,1964.94,2226.88,0,0,0,30.00,30.00,15.98
$GC,6477.89,292,-116.79,-1.47,60.00,3251.3,3453.3,3049.3,1964.8,2226.6,563.59,-7.55,926,6482.59,0.00,0.00,3.10,0.000,0.000,0.082,3250.22,3451.88,3048.56,1965.19,3424.56,0,0,0,30.00,30.00,15.87
$GC,6535.83,1028,-116.79,-1.47,-1.10,3250.9,3453.1,3048.8,1964.8,3424.6,568.62,-8.36,934,6540.46,0.00,0.00,2.66,0.000,0.000,0.019,3253.03,3455.38,3050.69,1963.31,2230.50,0,0,0,30.00,30.00,15.97
$GC,6852.52,32,-116.79,-1.47,-1.10,3250.9,3452.6,3049.2,1965.0,2229.6,589.26,-6.09,956,6853.85,0.00,0.00,0.00,0.000,0.000,0.000,3249.94,3452.12,3047.75,1964.75,2229.50,0,0,0,30.00,30.00,30.00
$GC,7167.38,32,-116.79,-1.47,-1.10,3250.8,3452.4,3049.2,1964.9,2229.7,609.37,-6.76,977,7168.71,0.00,0.00,0.00,0.000,0.000,0.000,3249.78,3451.38,3048.19,1964.69,2229.12,0,0,0,30.00,30.00,30.00
$GC,7482.39,260,-116.79,-1.47,60.00,3250.2,3451.6,3048.8,1965.1,2229.8,633.62,-8.06,998,7487.11,0.00,0.00,3.12,0.000,0.000,0.083,3250.16,3451.69,3048.62,1964.25,3424.56,0,0,0,30.00,30.00,15.85
$GC,7500.19,1028,-116.79,-1.47,-0.96,3250.2,3451.4,3048.9,1965.0,3424.6,634.96,-8.06,1001,7505.75,0.00,0.00,2.63,0.000,0.000,0.019,3250.19,3451.50,3048.88,1964.88,2231.75,0,0,0,30.00,30.00,15.98
$STATE,7564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7564,begin apogee
$GC,7566.42,10243,0.00,-0.28,0.00,3250.3,3451.2,3049.5,1964.6,2049.6,640.26,-8.10,1006,7672.83,90.84,2.03,0.16,1.971,0.134,0.146,2776.06,2890.75,2661.38,2255.06,2161.94,0,0,0,10.54,15.79,15.09
$STATE,7674,end apogee,CONTROL_FINISHED_OK
$STATE,7675,begin climb
$GC,7675.70,10759,116.79,1.47,-60.00,2774.6,2889.5,2659.7,2254.5,2161.7,643.80,0.00,1013,7785.18,95.21,2.89,3.05,1.910,0.106,0.078,2298.72,2339.19,2258.25,2677.56,995.31,0,0,0,11.57,15.40,15.55
$GC,7808.27,11303,312.98,1.86,0.00,2295.2,2337.8,2252.5,2677.3,994.9,640.21,3.72,1032,7978.17,160.01,0.60,2.73,1.893,0.057,0.022,1498.84,1523.38,1474.31,2784.69,2139.38,0,0,0,11.53,15.38,15.47
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$STATE,14087,end climb,SURFACE_DEPTH_REACHED
$STATE,14087,begin surface coast
$FINISH,0.1,1.023291
$STATE,14127,end surface coast,CONTROL_FINISHED_OK
$STATE,14127,begin surface
$SM_CCo,14213.91,0.00,0.000,0,600.0,585.4,614.5,533.54
$SM_GC,0.46,0.00,16.83,0.73,0.000,0.047,0.057,600.0,585.4,614.5,175.8,2351.5,0,0,0,30.00,15.79,15.83
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4758.63,-12417.09,010322,110113
$TCM_TEMP,266.22
$XPDR_PINGS,0,13.0,10.5
$HUMID,51.07
$TEMP,82.23
$INTERNAL_PRESSURE,8.87848
$24V_AH,14.22,429.199
$10V_AH,15.00,0.000
$FG_AHR_24Vo,315.756
$FG_AHR_10Vo,100.264
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,623.170,37.210,146.185,192.801,0.000,14.391,9377.367,5118.722,1249.370,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1971.360,234.928,145.712,212.719,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,9305.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971344,31,75464,57
$DATA_FILE_SIZE,86653,1943
$CAP_FILE_SIZE,333959,0
$SDSIZE,4028416,3740672
$SDFILEDIR,4379,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,294.5,1
$MAGCAL,1.000000,0.004328,-0.045935,-0.012678,1.081433,-0.039130,0.036912,-0.054180,0.899354,658.6,-321.9,174.6,22,0.0412,0
$IMPLIED_C_PITCH,2384,11.51,1634
$IMPLIED_C_VBD,2764,38.977898,1633
$GPS,010322,175201,4754.207,-12524.829,18,0.9,19,15.9