version: 67.00
glider: 249
mission: 6
dive: 95
start: 5 16 121 17 37 33
data:
$ID,249
$MISSION,6
$DIVE,95
$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,20.463709
$FG_AHR_24V,38.180107
$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
$GPS1,160521,173025,4750.901,-12511.714,11,1.1,13,16.0
$_CALLS,2
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.4
$GPS2,160521,173715,4750.812,-12511.693,3,1.1,5,16.0
$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,342.9,2723,-21.6,-8.462,-23.21
$D_GRID,220
$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,6.43,16386,-82.73,-1.37,0.00,1236.5,1239.1,1234.0,185.4,2240.3,0.00,0.00,0,69.73,62.17,0.00,0.00,0.005,0.000,0.000,2731.00,2859.88,2602.12,185.44,2239.81,0,0,0,15.82,30.00,30.00
$GC,70.47,18983,-82.73,-1.37,-60.00,2730.5,2858.8,2602.2,185.6,2240.3,3.55,-4.01,12,103.47,9.26,13.56,2.52,0.007,0.256,0.072,3112.28,3273.69,2950.88,1988.62,1207.81,0,0,0,15.84,15.80,15.80
$GC,121.44,1028,-82.73,-1.37,0.00,3112.3,3273.3,2951.3,1988.4,1208.2,14.20,-18.97,22,126.75,0.00,0.00,2.69,0.000,0.000,0.031,3114.00,3274.81,2953.19,1988.56,2348.88,0,0,0,30.00,30.00,15.90
$GC,311.86,516,-82.73,-1.37,-60.00,3112.6,3273.4,2951.8,1988.8,2349.0,47.40,-16.48,60,317.04,0.00,0.00,2.78,0.000,0.000,0.063,3113.47,3274.31,2952.62,1988.69,1210.12,0,0,0,30.00,30.00,15.96
$GC,366.68,1028,-82.73,-1.37,0.00,3112.8,3273.6,2951.9,1988.1,1210.1,55.00,-12.95,71,372.10,0.00,0.00,2.68,0.000,0.000,0.031,3113.34,3273.88,2952.81,1988.50,2349.31,0,0,0,30.00,30.00,15.95
$GC,556.93,516,-82.73,-1.37,-60.00,3113.2,3274.2,2952.1,1988.6,2348.9,77.37,-12.14,109,562.10,0.00,0.00,2.76,0.000,0.000,0.063,3114.81,3274.94,2954.69,1988.12,1209.44,0,0,0,30.00,30.00,15.98
$GC,601.55,1028,-82.73,-1.37,0.00,3113.1,3273.6,2952.6,1988.4,1209.8,83.16,-12.78,118,607.10,0.00,0.00,2.67,0.000,0.000,0.031,3115.09,3275.50,2954.69,1987.50,2351.31,0,0,0,30.00,30.00,16.02
$GC,791.98,260,-82.73,-1.37,60.00,3112.8,3273.4,2952.3,1988.3,2351.6,103.49,-9.99,153,796.68,0.00,0.00,2.72,0.000,0.000,0.089,3115.06,3275.19,2954.94,1988.62,3426.38,0,0,0,30.00,30.00,16.02
$GC,851.60,1028,-82.73,-1.37,0.00,3113.1,3273.5,2952.8,1988.6,3427.6,110.29,-11.57,165,856.67,0.00,0.00,2.57,0.000,0.000,0.024,3114.44,3275.06,2953.81,1988.69,2250.50,0,0,0,30.00,30.00,16.05
$GC,1161.67,516,-82.73,-1.37,-60.00,3113.4,3273.9,2953.0,1989.0,2248.9,143.76,-11.29,197,1166.32,0.00,0.00,2.47,0.000,0.000,0.068,3113.12,3273.19,2953.06,1989.00,1208.50,0,0,0,30.00,30.00,16.07
$GC,1301.72,1028,-82.73,-1.37,0.00,3113.3,3273.5,2953.1,1988.8,1208.6,160.22,-11.73,225,1306.81,0.00,0.00,2.66,0.000,0.000,0.031,3114.00,3274.00,2954.00,1989.12,2349.38,0,0,0,30.00,30.00,16.10
$GC,1611.79,260,-82.73,-1.37,60.00,3113.8,3274.2,2953.4,1989.1,2350.0,194.40,-11.21,257,1616.89,0.00,0.00,2.72,0.000,0.000,0.090,3114.06,3274.75,2953.38,1988.75,3426.75,0,0,0,30.00,30.00,16.11
$GC,1741.83,1028,-82.73,-1.37,0.00,3113.4,3273.6,2953.2,1989.2,3426.1,211.38,-13.27,283,1747.07,0.00,0.00,2.56,0.000,0.000,0.024,3114.81,3273.81,2955.81,1987.94,2252.88,0,0,0,30.00,30.00,16.12
$STATE,1821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1821,begin apogee
$GC,1823.80,10243,0.00,-0.28,0.00,3113.7,3273.8,2953.6,1989.9,2183.1,221.13,-11.95,292,1884.13,56.62,1.75,0.16,1.382,0.153,0.136,2773.53,2891.50,2655.56,2254.75,2282.38,0,0,0,13.07,16.08,15.81
$STATE,1885,end apogee,CONTROL_FINISHED_OK
$STATE,1885,begin climb
$GC,1885.97,10243,82.73,1.37,0.00,2773.6,2891.6,2655.5,2254.3,2288.3,224.47,0.00,298,1948.91,57.65,2.59,0.00,1.338,0.102,0.000,2436.22,2512.88,2359.56,2655.38,2287.69,0,0,0,12.88,15.83,30.00
$GC,2252.06,8742,139.31,1.48,-60.00,2431.8,2513.3,2350.3,2655.9,2288.0,209.88,4.60,337,2298.31,40.47,0.00,2.88,1.315,0.000,0.075,2205.72,2268.56,2142.88,2655.75,1131.44,0,0,0,12.88,30.00,15.68
$GC,2446.65,1028,139.31,1.48,0.00,2202.1,2267.8,2136.5,2655.6,1131.2,195.47,9.04,376,2452.65,0.00,0.00,2.68,0.000,0.000,0.030,2202.53,2268.44,2136.62,2656.31,2270.31,0,0,0,30.00,30.00,15.85
$GC,2762.57,2373,139.31,1.50,60.00,2201.0,2268.3,2133.7,2655.8,2270.2,170.27,7.67,408,2767.32,0.00,0.16,2.76,0.000,0.097,0.090,2201.16,2268.50,2133.81,2698.56,3345.62,0,0,0,30.00,15.95,15.94
$GC,2932.27,1028,139.31,1.50,0.00,2200.3,2268.3,2132.2,2699.5,3345.6,153.19,10.33,442,2937.30,0.00,0.00,2.61,0.000,0.000,0.025,2200.22,2267.94,2132.50,2699.50,2188.88,0,0,0,30.00,30.00,15.98
$GC,3242.29,516,139.31,1.50,-60.00,2199.9,2268.9,2131.0,2699.6,2188.8,124.37,9.43,474,3247.35,0.00,0.00,2.58,0.000,0.000,0.076,2200.56,2269.31,2131.81,2699.81,1130.12,0,0,0,30.00,30.00,16.05
$GC,3402.34,1028,139.31,1.50,0.00,2199.6,2268.3,2130.9,2699.2,1130.1,109.46,9.37,506,3407.42,0.00,0.00,2.66,0.000,0.000,0.031,2198.97,2266.62,2131.31,2699.56,2272.50,0,0,0,30.00,30.00,16.07
$GC,3712.42,580,139.31,1.51,-60.00,2199.2,2268.0,2130.3,2699.4,2272.6,84.20,7.59,557,3717.95,0.00,0.00,2.77,0.000,0.000,0.071,2200.31,2268.25,2132.38,2698.31,1128.81,0,0,0,30.00,30.00,16.09
$GC,3752.41,1092,139.31,1.53,0.00,2199.2,2268.7,2129.7,2699.1,1128.9,81.14,7.61,565,3757.94,0.00,0.00,2.65,0.000,0.000,0.030,2199.34,2268.44,2130.25,2699.12,2275.19,0,0,0,30.00,30.00,16.09
$GC,3942.85,8226,194.26,1.64,0.00,2199.0,2268.5,2129.4,2699.2,2275.1,70.17,4.71,603,3983.22,39.22,0.00,0.00,1.212,0.000,0.000,1982.19,2030.62,1933.75,2699.75,2275.19,0,0,0,13.03,30.00,30.00
$GC,4167.25,10791,225.14,1.70,-60.00,1976.1,2030.5,1921.6,2699.5,2274.9,57.05,6.35,648,4198.21,23.38,0.21,2.80,1.149,0.085,0.074,1856.62,1900.50,1812.75,2744.06,1130.38,0,0,0,12.92,15.98,15.86
$GC,4302.71,9254,271.96,1.80,0.00,1851.8,1899.9,1803.8,2744.8,1130.1,49.29,5.27,675,4344.13,34.99,0.00,2.67,1.158,0.000,0.030,1666.28,1698.38,1634.19,2744.25,2272.19,0,0,0,12.91,30.00,15.95
$GC,4527.56,16450,271.96,1.81,0.00,1657.7,1698.7,1616.6,2745.5,2272.8,34.23,7.54,720,4528.89,0.00,0.00,0.00,0.000,0.000,0.000,1657.31,1698.31,1616.31,2744.81,2272.69,0,0,0,30.00,30.00,30.00
$GC,4712.60,10791,301.33,1.87,-60.00,1656.5,1698.9,1614.1,2745.0,2272.4,20.41,6.46,757,4740.06,22.35,0.17,2.81,1.098,0.094,0.073,1547.16,1581.94,1512.38,2785.75,1132.25,0,0,0,12.89,15.95,15.82
$GC,4768.05,1092,301.33,1.89,0.00,1542.8,1579.6,1505.9,2787.3,1132.5,16.39,7.45,768,4773.59,0.00,0.00,2.67,0.000,0.000,0.030,1543.09,1580.00,1506.19,2787.62,2271.56,0,0,0,30.00,30.00,15.90
$GC,4958.52,324,301.33,1.90,60.00,1539.9,1580.1,1499.7,2787.5,2271.8,2.85,7.90,806,4963.68,0.00,0.00,2.73,0.000,0.000,0.088,1540.62,1580.00,1501.25,2786.81,3345.56,0,0,0,30.00,30.00,15.96
$STATE,4972,end climb,SURFACE_DEPTH_REACHED
$STATE,4973,begin surface coast
$FINISH,-0.1,1.019744
$STATE,5003,end surface coast,CONTROL_FINISHED_OK
$STATE,5003,begin surface
$SM_CCo,5084.81,53.99,1.141,0,1246.6,1224.8,1268.5,374.91
$SM_GC,1.83,53.99,15.88,2.39,1.141,0.048,0.026,1246.6,1224.8,1268.5,183.9,2280.1,0,0,0,12.93,15.96,15.97
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4750.34,-12512.13,160521,173244
$TCM_TEMP,265.98
$XPDR_PINGS,0,13.0,10.5
$SC_FREEKB,3836160
$HUMID,48.63
$TEMP,82.37
$INTERNAL_PRESSURE,8.85441
$24V_AH,14.97,37.391
$10V_AH,15.00,0.000
$FG_AHR_24Vo,38.306
$FG_AHR_10Vo,20.495
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,400.105,34.305,69.835,229.009,0.000,14.371,2459.924,2897.694,1220.500,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1381.616,256.248,176.872,214.990,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5015.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.330,0.000,0.000,0.000
$MEM0,60876,1,0,0
$MEM1,65508,1,0,0
$MEM2,971756,19,75332,55
$DATA_FILE_SIZE,22519,815
$CAP_FILE_SIZE,172763,0
$SDSIZE,4028416,3995328
$SDFILEDIR,511,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,122.9,1
$IMPLIED_C_PITCH,2361,13.50,515
$IMPLIED_C_VBD,2841,28.294209,222
$GPS,160521,190305,4751.146,-12511.093,36,1.1,37,16.0