version: 67.00
glider: 249
mission: 8
dive: 660
start: 1 21 123 22 44 22
data:
$ID,249
$MISSION,8
$DIVE,660
$N_DIVES,0
$STOP_T,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,410
$T_MISSION,520
$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,80
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72955
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.020747701
$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,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,20000
$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,2515
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,16
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,6
$PITCH_W_DBAND,0.5
$ROLL_MIN,215
$ROLL_MAX,3825
$ROLL_DEG,60
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.054949999
$ROLL_TIMEOUT,25
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2890
$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
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,3
$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,506
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,97.879326
$FG_AHR_24V,186.97971
$PHONE_SUPPLY,2
$PRESSURE_YINT,-179.54233
$PRESSURE_SLOPE,0.00021665409
$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,0
$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,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$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
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,210123,223438,4752.521,-12514.332,48,1.0,51,15.8
$_CALLS,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-59.5
$GPS2,210123,224354,4752.597,-12514.348,5,0.9,12,15.8
$SPEED_LIMITS,0.139,0.149
$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,132.9,5215,-16.4,-8.049,-28.31,2124,0.257
$D_GRID,218
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,19.30,16386,-77.86,-1.18,0.00,1122.8,1131.8,1113.8,178.6,2292.7,0.00,0.00,0,133.29,80.65,0.00,0.00,0.005,0.000,0.000,3121.09,3288.12,2954.06,178.12,2293.44,0,0,0,14.80,30.00,30.00
$GC,135.52,18983,-77.86,-1.18,-60.00,3122.4,3286.7,2958.2,178.1,2292.5,3.65,-3.46,16,244.27,1.11,17.29,3.18,0.023,0.207,0.064,3211.25,3385.19,3037.31,2226.69,1141.81,0,0,0,15.02,15.37,15.05
$GC,250.58,1028,-77.86,-1.18,0.00,3210.9,3386.4,3035.4,2227.6,1141.7,40.94,-16.81,22,269.38,0.00,0.00,2.79,0.000,0.000,0.024,3212.19,3388.12,3036.25,2226.88,2279.88,0,0,0,30.00,30.00,15.65
$GC,455.54,516,-77.86,-1.18,-60.00,3211.1,3386.8,3035.4,2227.8,2279.8,70.36,-13.47,60,475.89,0.00,0.00,3.12,0.000,0.000,0.061,3211.91,3387.44,3036.38,2227.69,1143.88,0,0,0,30.00,30.00,15.68
$GC,592.30,1028,-77.86,-1.18,0.00,3211.3,3387.2,3035.4,2227.8,1143.7,87.50,-11.52,84,611.60,0.00,0.00,2.76,0.000,0.000,0.023,3211.81,3387.75,3035.88,2227.88,2279.50,0,0,0,30.00,30.00,15.78
$GC,797.65,0,-77.86,-1.18,0.00,3211.8,3387.9,3035.8,2227.7,2279.9,108.29,-9.66,114,801.67,0.00,0.00,0.00,0.000,0.000,0.000,3211.91,3387.19,3036.62,2228.50,2280.38,0,0,0,30.00,30.00,30.00
$GC,1107.74,0,-77.86,-1.18,0.00,3211.8,3387.2,3036.4,2227.8,2279.9,135.88,-9.51,145,1111.76,0.00,0.00,0.00,0.000,0.000,0.000,3210.94,3385.75,3036.12,2227.81,2280.12,0,0,0,30.00,30.00,30.00
$GC,1417.82,516,-77.86,-1.18,-60.00,3211.6,3386.9,3036.2,2227.6,2280.2,161.51,-8.17,176,1436.82,0.00,0.00,3.13,0.000,0.000,0.061,3212.91,3387.50,3038.31,2226.62,1144.94,0,0,0,30.00,30.00,15.77
$GC,1507.26,1028,-77.86,-1.18,0.00,3211.6,3386.2,3036.9,2227.9,1144.9,169.58,-8.85,191,1525.62,0.00,0.00,2.72,0.000,0.000,0.023,3212.38,3387.25,3037.50,2227.56,2281.06,0,0,0,30.00,30.00,15.92
$GC,1831.69,0,-77.86,-1.18,0.00,3211.9,3387.1,3036.8,2227.8,2281.1,196.79,-7.90,223,1836.10,0.00,0.00,0.00,0.000,0.000,0.000,3211.09,3387.69,3034.50,2228.12,2281.06,0,0,0,30.00,30.00,30.00
$STATE,2091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2092,begin apogee
$GC,2096.91,10243,0.00,-0.31,0.00,3211.5,3386.4,3036.6,2227.7,2172.0,218.47,-8.07,249,2197.35,60.16,1.59,0.23,1.259,0.128,0.096,2890.34,3024.19,2756.50,2441.00,2289.62,0,0,0,10.87,15.78,15.45
$STATE,2202,end apogee,CONTROL_FINISHED_OK
$STATE,2203,begin climb
$GC,2205.65,10759,77.86,1.18,-60.00,2888.0,3023.2,2752.8,2440.6,2289.8,221.10,0.00,256,2326.62,59.69,2.58,3.21,1.236,0.093,0.063,2571.22,2671.94,2470.50,2804.88,1143.62,0,0,0,11.50,15.71,15.33
$GC,2388.58,11303,160.18,1.35,0.00,2566.8,2669.3,2464.2,2805.4,1143.1,215.84,4.07,280,2501.00,64.27,0.24,2.77,1.223,0.073,0.023,2236.66,2318.50,2154.81,2856.88,2285.06,0,0,0,11.44,15.61,15.73
$GC,2807.52,16710,160.18,1.44,60.00,2227.1,2317.9,2136.2,2856.2,2284.8,189.27,6.43,325,2826.34,0.00,0.00,3.08,0.000,0.000,0.081,2225.97,2316.56,2135.38,2856.62,3352.56,0,0,0,30.00,30.00,15.71
$GC,2997.29,19527,160.18,1.52,0.00,2226.8,2318.0,2135.7,2856.6,3352.6,176.17,6.83,360,3017.48,0.00,0.17,2.71,0.000,0.082,0.017,2226.72,2318.31,2135.12,2895.50,2192.00,0,0,0,30.00,15.74,15.75
$GC,3323.97,16966,160.18,1.63,-60.00,2224.8,2317.9,2131.6,2895.2,2189.4,156.05,6.15,392,3341.99,0.00,0.00,2.88,0.000,0.000,0.068,2224.44,2318.38,2130.50,2895.38,1144.94,0,0,0,30.00,30.00,15.70
$GC,3438.97,19527,160.18,1.71,0.00,2224.3,2317.9,2130.7,2895.8,1144.4,148.39,6.68,412,3458.21,0.00,0.22,2.71,0.000,0.071,0.024,2224.91,2318.19,2131.62,2945.69,2281.38,0,0,0,30.00,15.69,15.90
$GC,3764.68,8486,222.93,1.84,60.00,2224.2,2318.2,2130.1,2946.7,2281.3,126.65,5.01,444,3853.83,49.24,0.00,3.08,1.147,0.000,0.081,1981.00,2055.94,1906.06,2946.88,3354.56,0,0,0,11.08,30.00,15.49
$GC,3910.27,1028,222.93,1.84,0.00,1976.5,2055.3,1897.6,2946.6,3353.8,116.89,8.10,466,3927.88,0.00,0.00,2.74,0.000,0.000,0.017,1977.41,2056.19,1898.62,2945.50,2194.38,0,0,0,30.00,30.00,15.80
$GC,4234.41,19015,222.93,1.96,-60.00,1972.3,2055.1,1889.6,2946.7,2192.4,94.60,6.11,506,4255.45,0.00,0.27,2.91,0.000,0.069,0.068,1973.12,2056.06,1890.19,3006.50,1142.69,0,0,0,30.00,15.82,15.70
$GC,4487.40,17478,222.93,2.03,0.00,1971.1,2055.1,1887.1,3006.6,1141.9,77.90,6.87,553,4506.01,0.00,0.00,2.75,0.000,0.000,0.024,1971.22,2055.31,1887.12,3007.00,2282.56,0,0,0,30.00,30.00,15.79
$GC,4692.51,10275,288.45,2.16,0.00,1970.8,2055.3,1886.2,3006.6,2282.4,67.52,4.88,591,4770.45,51.27,0.00,0.00,1.086,0.000,0.000,1713.22,1774.62,1651.81,3006.69,2282.44,0,0,0,11.18,30.00,30.00
$GC,4957.42,2629,288.45,2.20,-60.00,1706.3,1773.9,1638.6,3006.2,2282.4,49.40,7.36,639,4978.02,0.00,0.00,3.15,0.000,0.000,0.065,1706.72,1774.94,1638.50,3006.62,1144.88,0,0,0,30.00,30.00,15.73
$GC,5009.46,19463,288.45,2.20,0.00,1705.1,1774.2,1635.9,3006.6,1144.7,45.28,7.97,646,5028.03,0.00,0.00,2.76,0.000,0.000,0.024,1705.62,1774.81,1636.44,3007.00,2281.44,0,0,0,30.00,30.00,15.77
$GC,5214.54,18499,288.45,2.35,0.00,1704.3,1774.2,1634.4,3006.8,2281.4,32.00,5.51,684,5221.80,0.00,0.00,0.00,0.000,0.000,0.000,1704.38,1774.81,1633.94,3006.69,2281.62,0,0,0,30.00,30.00,30.00
$GC,5407.92,18951,288.45,2.35,-60.00,1703.2,1774.1,1632.4,3006.9,2281.6,17.58,8.13,722,5428.52,0.00,0.00,3.14,0.000,0.000,0.065,1704.34,1775.25,1633.44,3006.69,1143.38,0,0,0,30.00,30.00,15.74
$GC,5454.97,19463,288.45,2.35,0.00,1702.8,1774.3,1631.4,3007.2,1143.4,14.15,7.82,728,5473.54,0.00,0.00,2.77,0.000,0.000,0.023,1703.28,1774.94,1631.62,3006.88,2280.50,0,0,0,30.00,30.00,15.83
$STATE,5619,end climb,SURFACE_DEPTH_REACHED
$STATE,5619,begin surface coast
$FINISH,-0.1,1.024944
$STATE,5695,end surface coast,CONTROL_FINISHED_OK
$STATE,5696,begin surface
$SM_CCo,5955.05,104.93,1.030,0,1137.6,1134.9,1140.2,429.87
$SM_GC,1.17,104.93,19.52,0.12,1.030,0.045,0.081,1137.6,1134.9,1140.2,183.5,2176.3,0,0,0,11.04,15.87,15.94
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4752.95,-12515.83,210123,202308
$TCM_TEMP,268.66
$XPDR_PINGS,0,13.0,10.5
$SC_FREEKB,3625312
$HUMID,54.36
$TEMP,84.24
$INTERNAL_PRESSURE,8.57108
$24V_AH,14.82,225.658
$10V_AH,15.00,0.000
$FG_AHR_24Vo,187.116
$FG_AHR_10Vo,97.933
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,471.320,41.880,59.055,316.822,0.000,23.173,3905.301,92.576,0.000,2255.748,1712.594,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1259.272,206.720,95.528,233.506,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5748.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.293,0.000,0.000,0.000
$MEM0,60108,1,0,0
$MEM1,65508,1,0,0
$MEM2,959632,468,78236,67
$DATA_FILE_SIZE,22483,773
$CAP_FILE_SIZE,182797,0
$SDSIZE,4028416,3817152
$SDFILEDIR,3991,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,326.8,1
$IMPLIED_C_PITCH,2579,12.24,523,0.0,0.00
$IMPLIED_C_VBD,2976,40.339668,276,0
$GPS,220123,002442,4752.673,-12514.390,42,1.1,46,15.8