version: 67.00
glider: 249
mission: 6
dive: 93
start: 5 16 121 13 39 57
data:
$ID,249
$MISSION,6
$DIVE,93
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$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,450
$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,0.0094307503
$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,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$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,2240
$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,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,20.380594
$FG_AHR_24V,37.891415
$PHONE_SUPPLY,2
$PRESSURE_YINT,-180.00272
$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,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,-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
$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
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,160521,133337,4750.248,-12512.952,60,1.0,61,16.0
$_CALLS,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-65.0
$GPS2,160521,133939,4750.186,-12512.879,4,1.0,7,16.0
$SPEED_LIMITS,0.147,0.197
$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,354.9,4576,-21.6,-8.462,-23.21
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.44,16386,-82.73,-1.37,0.00,1236.0,1236.2,1235.9,182.0,2252.2,0.00,0.00,0,64.75,57.15,0.00,0.00,0.005,0.000,0.000,2606.22,2732.19,2480.25,181.88,2251.56,0,0,0,15.82,30.00,30.00
$GC,65.49,18983,-82.73,-1.37,-60.00,2605.5,2731.1,2479.9,181.7,2250.8,3.58,-4.12,11,99.55,12.44,13.69,2.55,0.007,0.255,0.068,3110.69,3277.25,2944.12,1988.12,1208.44,0,0,0,15.84,15.77,15.79
$GC,327.56,1028,-82.73,-1.37,0.00,3113.3,3278.2,2948.4,1988.3,1208.7,54.49,-19.51,63,333.11,0.00,0.00,2.69,0.000,0.000,0.033,3113.06,3278.44,2947.69,1989.19,2349.31,0,0,0,30.00,30.00,15.95
$GC,517.98,516,-82.73,-1.37,-60.00,3113.3,3278.2,2948.4,1989.1,2349.2,82.85,-12.29,101,523.36,0.00,0.00,2.77,0.000,0.000,0.062,3114.47,3279.75,2949.19,1989.81,1208.56,0,0,0,30.00,30.00,15.99
$GC,717.68,1028,-82.73,-1.37,0.00,3113.7,3278.8,2948.6,1988.9,1208.6,103.51,-10.01,141,722.77,0.00,0.00,2.66,0.000,0.000,0.031,3113.84,3279.25,2948.44,1989.00,2352.00,0,0,0,30.00,30.00,16.03
$GC,1027.76,0,-82.73,-1.37,0.00,3113.2,3277.8,2948.6,1989.1,2351.9,133.46,-10.34,173,1029.09,0.00,0.00,0.00,0.000,0.000,0.000,3112.84,3277.62,2948.06,1989.12,2352.06,0,0,0,30.00,30.00,30.00
$GC,1338.22,0,-82.73,-1.37,0.00,3113.8,3278.2,2949.2,1989.1,2351.8,165.74,-10.90,204,1339.55,0.00,0.00,0.00,0.000,0.000,0.000,3113.38,3278.25,2948.50,1989.12,2351.50,0,0,0,30.00,30.00,30.00
$GC,1648.28,0,-82.73,-1.37,0.00,3114.1,3278.5,2949.6,1988.8,2351.7,195.77,-9.34,235,1649.61,0.00,0.00,0.00,0.000,0.000,0.000,3114.00,3278.69,2949.31,1988.88,2352.00,0,0,0,30.00,30.00,30.00
$GC,1958.34,0,-82.73,-1.37,0.00,3114.1,3278.8,2949.4,1989.4,2352.2,227.74,-10.64,266,1959.67,0.00,0.00,0.00,0.000,0.000,0.000,3113.44,3277.88,2949.00,1988.88,2352.31,0,0,0,30.00,30.00,30.00
$GC,2268.40,0,-82.73,-1.37,0.00,3114.1,3278.1,2950.1,1989.1,2351.6,258.85,-9.91,297,2269.73,0.00,0.00,0.00,0.000,0.000,0.000,3113.62,3278.19,2949.06,1989.25,2352.06,0,0,0,30.00,30.00,30.00
$GC,2578.46,516,-82.73,-1.37,-60.00,3114.6,3279.5,2949.7,1989.1,2351.8,288.03,-9.09,328,2583.18,0.00,0.00,2.76,0.000,0.000,0.064,3115.47,3279.38,2951.56,1988.56,1208.06,0,0,0,30.00,30.00,16.16
$GC,2692.65,1028,-82.73,-1.37,0.00,3113.8,3278.4,2949.3,1989.4,1208.2,299.25,-10.32,351,2698.65,0.00,0.00,2.66,0.000,0.000,0.032,3115.06,3279.50,2950.62,1988.88,2351.38,0,0,0,30.00,30.00,16.17
$STATE,2827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2828,begin apogee
$GC,2829.96,10243,0.00,-0.28,0.00,3114.6,3278.6,2950.5,1989.1,2158.6,312.49,-9.60,365,2891.41,57.20,1.76,0.22,1.505,0.150,0.113,2774.66,2891.25,2658.06,2253.69,2280.56,0,0,0,13.10,16.10,15.82
$STATE,2892,end apogee,CONTROL_FINISHED_OK
$STATE,2892,begin climb
$GC,2893.42,10759,82.73,1.37,-60.00,2773.8,2890.6,2656.9,2254.5,2280.2,314.60,0.00,371,2962.52,58.22,2.58,2.88,1.459,0.099,0.073,2436.38,2510.38,2362.38,2655.56,1131.69,0,0,0,12.90,15.85,15.59
$GC,3020.18,9254,120.93,1.44,0.00,2433.8,2508.7,2358.8,2656.1,1131.4,308.20,5.85,396,3053.67,28.92,0.00,2.72,1.399,0.000,0.029,2282.44,2345.44,2219.44,2655.62,2271.06,0,0,0,12.83,30.00,15.73
$GC,3360.71,64,120.93,1.46,0.00,2276.6,2344.0,2209.2,2655.6,2271.8,282.68,7.74,433,3362.03,0.00,0.00,0.00,0.000,0.000,0.000,2275.25,2343.25,2207.25,2655.00,2271.19,0,0,0,30.00,30.00,30.00
$GC,3671.16,64,120.93,1.48,0.00,2275.3,2344.2,2206.5,2655.3,2271.2,260.32,7.60,464,3672.49,0.00,0.00,0.00,0.000,0.000,0.000,2274.22,2343.44,2205.00,2654.69,2272.00,0,0,0,30.00,30.00,30.00
$GC,3981.23,2629,120.93,1.51,-60.00,2274.8,2344.1,2205.6,2655.1,2271.2,237.98,6.69,495,3986.00,0.00,0.17,2.81,0.000,0.087,0.073,2275.84,2344.19,2207.50,2700.88,1131.12,0,0,0,30.00,15.99,16.00
$GC,4035.39,1028,120.93,1.51,0.00,2274.1,2343.4,2204.8,2701.4,1130.8,233.33,8.77,506,4041.39,0.00,0.00,2.68,0.000,0.000,0.031,2274.53,2344.19,2204.88,2701.88,2273.31,0,0,0,30.00,30.00,16.04
$GC,4351.52,64,120.93,1.54,0.00,2274.2,2344.1,2204.2,2701.6,2273.3,209.44,6.83,538,4352.85,0.00,0.00,0.00,0.000,0.000,0.000,2273.22,2343.88,2202.56,2701.69,2273.50,0,0,0,30.00,30.00,30.00
$GC,4661.38,16450,120.93,1.56,0.00,2273.6,2344.1,2203.1,2701.5,2273.3,186.61,7.54,569,4662.71,0.00,0.00,0.00,0.000,0.000,0.000,2272.66,2343.44,2201.88,2701.25,2273.19,0,0,0,30.00,30.00,30.00
$GC,4971.70,16386,120.93,1.56,0.00,2273.4,2344.2,2202.5,2701.5,2273.1,163.42,8.28,600,4973.03,0.00,0.00,0.00,0.000,0.000,0.000,2272.56,2343.56,2201.56,2701.31,2273.12,0,0,0,30.00,30.00,30.00
$GC,5281.51,16710,120.93,1.58,60.00,2273.2,2344.1,2202.2,2701.7,2272.9,140.49,7.32,631,5286.21,0.00,0.00,2.71,0.000,0.000,0.090,2273.25,2344.25,2202.25,2702.50,3346.94,0,0,0,30.00,30.00,16.13
$GC,5425.71,17478,120.93,1.61,0.00,2273.0,2344.3,2201.6,2701.7,3346.6,129.32,7.09,660,5431.68,0.00,0.00,2.60,0.000,0.000,0.025,2273.41,2345.06,2201.75,2701.69,2184.19,0,0,0,30.00,30.00,16.13
$GC,5741.23,16966,120.93,1.65,-60.00,2272.7,2344.5,2200.8,2701.8,2184.2,109.27,6.63,692,5746.27,0.00,0.00,2.57,0.000,0.000,0.077,2273.56,2345.12,2202.00,2701.69,1131.50,0,0,0,30.00,30.00,16.14
$GC,5976.31,11303,159.48,1.73,0.00,2273.2,2345.5,2201.0,2701.3,1131.6,94.06,5.83,739,6008.88,27.73,0.22,2.65,1.258,0.078,0.030,2126.09,2183.69,2068.50,2752.44,2272.69,0,0,0,13.03,16.13,16.15
$GC,6191.94,324,159.48,1.74,60.00,2120.1,2181.4,2058.8,2753.3,2273.3,78.44,7.62,782,6197.47,0.00,0.00,2.71,0.000,0.000,0.089,2120.84,2181.31,2060.38,2752.88,3345.81,0,0,0,30.00,30.00,16.03
$GC,6266.96,1092,159.48,1.76,0.00,2119.9,2181.4,2058.3,2753.1,3345.8,72.87,7.43,797,6272.48,0.00,0.00,2.60,0.000,0.000,0.025,2119.44,2181.44,2057.44,2753.06,2183.94,0,0,0,30.00,30.00,16.07
$GC,6457.42,10275,251.78,1.95,0.00,2119.2,2181.9,2056.5,2752.9,2183.8,67.84,2.16,835,6528.23,66.24,0.23,0.00,1.250,0.074,0.000,1747.75,1778.81,1716.69,2807.31,2184.19,0,0,0,13.06,16.06,30.00
$GC,6712.50,16710,251.78,1.96,60.00,1738.4,1778.9,1697.9,2806.6,2183.4,47.70,7.62,886,6717.69,0.00,0.00,2.97,0.000,0.000,0.085,1738.41,1778.00,1698.81,2807.25,3345.44,0,0,0,30.00,30.00,15.92
$GC,6787.12,17414,251.78,1.96,0.00,1738.2,1778.9,1697.5,2808.3,3346.4,40.96,9.18,901,6792.66,0.00,0.00,2.60,0.000,0.000,0.025,1738.62,1779.56,1697.69,2807.25,2187.94,0,0,0,30.00,30.00,15.93
$GC,6977.61,16966,251.78,1.98,-60.00,1736.0,1778.9,1693.1,2807.9,2187.7,26.06,7.60,939,6982.73,0.00,0.00,2.59,0.000,0.000,0.077,1735.47,1778.38,1692.56,2808.25,1131.44,0,0,0,30.00,30.00,15.97
$GC,7212.30,9254,285.07,2.05,0.00,1733.1,1777.9,1688.2,2807.8,1131.4,8.23,6.19,986,7243.69,24.43,0.00,2.65,1.126,0.000,0.030,1612.75,1648.31,1577.19,2807.81,2272.38,0,0,0,12.98,30.00,16.03
$STATE,7326,end climb,SURFACE_DEPTH_REACHED
$STATE,7327,begin surface coast
$FINISH,-0.0,1.024472
$STATE,7367,end surface coast,CONTROL_FINISHED_OK
$STATE,7367,begin surface
$SM_CCo,7460.03,65.86,1.164,0,1245.5,1220.6,1270.3,375.19
$SM_GC,1.08,65.86,16.06,0.12,1.164,0.050,0.118,1245.5,1220.6,1270.3,185.8,2365.1,0,0,0,12.97,15.95,15.97
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4750.34,-12512.13,160521,105723
$TCM_TEMP,266.25
$XPDR_PINGS,0,13.0,10.5
$SC_FREEKB,3837056
$HUMID,48.54
$TEMP,82.40
$INTERNAL_PRESSURE,8.85205
$24V_AH,14.93,37.059
$10V_AH,15.00,0.000
$FG_AHR_24Vo,38.026
$FG_AHR_10Vo,20.425
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,398.195,34.720,54.550,220.122,0.000,16.545,2912.446,4745.436,1543.144,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1505.272,254.936,118.488,228.501,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7384.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.991,0.000,0.000,0.000
$MEM0,60876,1,0,0
$MEM1,65508,1,0,0
$MEM2,971808,17,75320,55
$DATA_FILE_SIZE,28915,1017
$CAP_FILE_SIZE,175404,0
$SDSIZE,4028416,3995712
$SDFILEDIR,501,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,135.1,1
$MAGCAL,1.000000,-0.571564,0.883472,0.275706,0.818283,-0.528714,-0.660346,-0.879723,1.413837,178.4,706.1,529.1,31,0.2901,0
$IMPLIED_C_PITCH,2354,13.50,744
$IMPLIED_C_VBD,2843,22.915640,319
$GPS,160521,154501,4750.570,-12512.179,32,0.9,33,16.0