version: 67.00
glider: 249
mission: 6
dive: 188
start: 6 9 121 10 42 53
data:
$ID,249
$MISSION,6
$DIVE,188
$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,425
$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,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,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,29.173773
$FG_AHR_24V,58.911846
$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
$GPS1,090621,103525,4749.794,-12513.432,1,0.7,4,16.0
$_CALLS,3
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-59.2
$GPS2,090621,104235,4749.759,-12513.364,3,0.8,5,16.0
$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,13.0,5564,-21.6,-8.462,-23.21
$D_GRID,338
$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,6.73,16386,-82.73,-1.37,0.00,494.3,462.1,526.5,184.4,2365.2,0.00,0.00,0,86.33,78.01,0.00,0.00,0.005,0.000,0.000,2538.09,2687.94,2388.25,184.38,2365.69,0,0,0,15.96,30.00,30.00
$GC,87.20,18983,-82.73,-1.37,-60.00,2536.7,2685.6,2387.8,184.2,2364.6,3.22,-2.35,15,125.45,14.14,13.72,2.84,0.006,0.253,0.064,3111.44,3310.25,2912.62,1988.44,1209.56,0,0,0,15.96,15.92,15.92
$GC,243.47,1028,-82.73,-1.37,0.00,3111.6,3309.5,2913.6,1988.5,1209.9,30.00,-16.70,46,249.02,0.00,0.00,2.66,0.000,0.000,0.028,3113.59,3311.38,2915.81,1988.75,2353.62,0,0,0,30.00,30.00,16.05
$GC,433.94,516,-82.73,-1.37,-60.00,3111.7,3308.8,2914.7,1988.8,2353.0,57.05,-13.44,84,439.12,0.00,0.00,2.79,0.000,0.000,0.058,3111.78,3308.44,2915.12,1989.06,1209.06,0,0,0,30.00,30.00,16.07
$GC,628.62,1028,-82.73,-1.37,0.00,3111.6,3308.2,2914.9,1989.1,1209.7,77.55,-8.78,123,634.35,0.00,0.00,2.63,0.000,0.000,0.027,3111.97,3308.69,2915.25,1988.50,2353.31,0,0,0,30.00,30.00,16.08
$GC,819.27,516,-82.73,-1.37,-60.00,3111.5,3308.4,2914.6,1989.1,2353.2,92.11,-7.36,161,824.27,0.00,0.00,2.79,0.000,0.000,0.057,3111.47,3308.00,2914.94,1989.31,1208.25,0,0,0,30.00,30.00,16.10
$GC,898.74,1028,-82.73,-1.37,0.00,3111.8,3308.4,2915.1,1989.1,1208.3,98.98,-8.67,177,904.29,0.00,0.00,2.63,0.000,0.000,0.027,3112.22,3309.19,2915.25,1989.31,2354.25,0,0,0,30.00,30.00,16.11
$GC,1093.79,0,-82.73,-1.37,0.00,3111.1,3307.6,2914.6,1989.3,2354.8,114.87,-7.68,198,1095.12,0.00,0.00,0.00,0.000,0.000,0.000,3110.62,3307.38,2913.88,1988.75,2354.81,0,0,0,30.00,30.00,30.00
$GC,1404.23,260,-82.73,-1.37,60.00,3110.8,3306.9,2914.8,1989.2,2354.4,142.23,-8.82,229,1408.93,0.00,0.00,2.68,0.000,0.000,0.082,3111.28,3307.00,2915.56,1989.50,3427.44,0,0,0,30.00,30.00,16.12
$GC,1523.88,1028,-82.73,-1.37,0.00,3110.4,3303.3,2917.5,1990.1,3427.8,153.52,-9.50,253,1528.95,0.00,0.00,2.60,0.000,0.000,0.020,3110.94,3303.94,2917.94,1990.25,2247.25,0,0,0,30.00,30.00,16.13
$GC,1833.95,516,-82.73,-1.37,-60.00,3110.5,3302.9,2918.2,1990.1,2245.7,180.41,-8.97,285,1839.01,0.00,0.00,2.53,0.000,0.000,0.065,3110.19,3302.81,2917.56,1990.12,1207.69,0,0,0,30.00,30.00,16.15
$GC,1893.96,1028,-82.73,-1.37,0.00,3110.2,3302.5,2918.0,1989.9,1208.4,186.56,-10.45,297,1899.05,0.00,0.00,2.65,0.000,0.000,0.028,3111.38,3303.44,2919.31,1989.44,2354.94,0,0,0,30.00,30.00,16.14
$GC,2204.03,0,-82.73,-1.37,0.00,3108.9,3300.8,2917.1,1990.1,2353.8,218.62,-10.51,329,2205.36,0.00,0.00,0.00,0.000,0.000,0.000,3108.31,3299.88,2916.75,1989.94,2354.06,0,0,0,30.00,30.00,30.00
$GC,2514.47,516,-82.73,-1.37,-60.00,3108.1,3298.8,2917.4,1990.1,2354.3,248.91,-9.54,360,2519.19,0.00,0.00,2.80,0.000,0.000,0.061,3108.75,3299.81,2917.69,1989.75,1208.88,0,0,0,30.00,30.00,16.17
$GC,2584.28,1028,-82.73,-1.37,0.00,3108.1,3298.4,2917.9,1989.8,1208.8,255.42,-9.52,374,2589.25,0.00,0.00,2.65,0.000,0.000,0.029,3108.69,3299.12,2918.25,1989.75,2354.69,0,0,0,30.00,30.00,16.18
$GC,2894.16,260,-82.73,-1.37,60.00,3107.2,3297.0,2917.3,1989.7,2354.4,285.93,-9.85,406,2899.23,0.00,0.00,2.68,0.000,0.000,0.085,3108.75,3297.75,2919.75,1989.88,3425.69,0,0,0,30.00,30.00,16.17
$GC,2938.69,1028,-82.73,-1.37,0.00,3107.2,3296.9,2917.4,1989.4,3425.5,290.92,-11.42,415,2944.70,0.00,0.00,2.61,0.000,0.000,0.021,3107.28,3296.56,2918.00,1990.19,2248.00,0,0,0,30.00,30.00,16.16
$GC,3254.20,516,-82.73,-1.37,-60.00,3106.5,3295.3,2917.8,1989.9,2247.9,319.65,-8.66,447,3259.25,0.00,0.00,2.56,0.000,0.000,0.066,3107.09,3295.50,2918.69,1989.75,1209.56,0,0,0,30.00,30.00,16.17
$GC,3398.77,1028,-82.73,-1.37,0.00,3105.6,3293.5,2917.8,1990.1,1209.5,332.81,-9.14,476,3404.77,0.00,0.00,2.64,0.000,0.000,0.029,3106.47,3295.00,2917.94,1990.25,2350.69,0,0,0,30.00,30.00,16.19
$STATE,3464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3464,begin apogee
$GC,3466.06,10243,0.00,-0.28,0.00,3105.7,3294.0,2917.4,1989.9,2152.9,338.57,-8.81,483,3526.48,56.03,1.78,0.23,1.518,0.148,0.103,2775.66,2906.25,2645.06,2253.94,2283.94,0,0,0,12.92,16.10,15.85
$STATE,3529,end apogee,CONTROL_FINISHED_OK
$STATE,3529,begin climb
$GC,3529.51,10759,82.73,1.37,-60.00,2773.2,2903.6,2642.9,2253.8,2283.5,340.41,0.00,489,3598.75,58.97,2.60,2.95,1.465,0.097,0.069,2437.28,2524.06,2350.50,2655.81,1131.38,0,0,0,12.88,15.89,15.64
$GC,3632.37,9254,124.94,1.45,0.00,2434.2,2521.9,2346.5,2656.2,1131.4,335.51,5.58,509,3668.95,31.99,0.00,2.72,1.405,0.000,0.027,2262.88,2336.75,2189.00,2656.12,2273.00,0,0,0,12.79,30.00,15.75
$GC,3976.92,2629,124.94,1.49,-60.00,2258.4,2337.6,2179.3,2656.2,2273.5,311.78,6.56,547,3982.07,0.00,0.14,2.90,0.000,0.100,0.069,2259.72,2338.62,2180.81,2694.12,1130.50,0,0,0,30.00,15.86,15.89
$GC,4101.49,17414,124.94,1.49,0.00,2257.5,2337.4,2177.6,2694.0,1130.4,300.87,9.38,572,4107.50,0.00,0.00,2.69,0.000,0.000,0.029,2257.97,2337.75,2178.19,2695.12,2272.56,0,0,0,30.00,30.00,15.94
$GC,4417.02,16386,124.94,1.49,0.00,2256.2,2337.5,2174.9,2694.4,2272.2,274.16,8.15,604,4418.35,0.00,0.00,0.00,0.000,0.000,0.000,2254.94,2336.31,2173.56,2694.62,2272.19,0,0,0,30.00,30.00,30.00
$GC,4727.47,16646,124.94,1.49,60.00,2255.8,2337.8,2173.8,2694.8,2272.2,249.28,8.03,635,4732.18,0.00,0.00,2.72,0.000,0.000,0.086,2255.88,2338.12,2173.62,2694.81,3346.50,0,0,0,30.00,30.00,16.05
$GC,4771.64,17414,124.94,1.49,0.00,2255.7,2338.0,2173.4,2695.3,3346.5,245.27,8.88,644,4777.65,0.00,0.00,2.62,0.000,0.000,0.023,2255.84,2338.69,2173.00,2695.88,2185.31,0,0,0,30.00,30.00,16.05
$GC,5087.15,16902,124.94,1.49,-60.00,2255.2,2337.9,2172.6,2695.5,2185.1,219.42,8.20,676,5092.23,0.00,0.00,2.63,0.000,0.000,0.074,2254.94,2337.81,2172.06,2695.50,1131.88,0,0,0,30.00,30.00,16.08
$GC,5217.19,17414,124.94,1.49,0.00,2254.7,2337.4,2172.0,2695.2,1131.4,207.78,9.14,702,5222.46,0.00,0.00,2.66,0.000,0.000,0.029,2254.53,2337.38,2171.69,2695.00,2274.56,0,0,0,30.00,30.00,16.11
$GC,5527.41,16646,124.94,1.49,60.00,2254.8,2338.0,2171.5,2695.3,2274.7,181.73,8.21,734,5532.31,0.00,0.00,2.69,0.000,0.000,0.087,2255.91,2339.38,2172.44,2694.25,3346.81,0,0,0,30.00,30.00,16.10
$GC,5581.77,17414,124.94,1.49,0.00,2254.4,2338.1,2170.8,2695.2,3347.5,176.95,8.66,745,5587.78,0.00,0.00,2.64,0.000,0.000,0.023,2256.66,2340.44,2172.88,2695.56,2186.69,0,0,0,30.00,30.00,16.13
$GC,5897.67,16710,124.94,1.50,60.00,2254.2,2338.1,2170.2,2695.3,2186.6,153.58,7.70,777,5902.41,0.00,0.00,2.91,0.000,0.000,0.083,2255.00,2339.19,2170.81,2695.50,3346.00,0,0,0,30.00,30.00,16.13
$GC,5981.83,17414,124.94,1.50,0.00,2253.9,2337.9,2169.9,2694.9,3345.4,146.51,8.43,794,5987.83,0.00,0.00,2.62,0.000,0.000,0.023,2255.38,2339.19,2171.56,2695.75,2185.00,0,0,0,30.00,30.00,16.12
$GC,6297.73,16966,124.94,1.53,-60.00,2253.4,2337.8,2169.0,2695.8,2184.8,122.88,7.17,826,6302.40,0.00,0.00,2.63,0.000,0.000,0.074,2254.22,2338.56,2169.88,2695.19,1130.19,0,0,0,30.00,30.00,16.13
$GC,6401.90,17478,124.94,1.57,0.00,2253.1,2337.8,2168.4,2695.1,1129.9,115.49,6.66,847,6407.90,0.00,0.00,2.65,0.000,0.000,0.029,2253.84,2338.31,2169.38,2695.31,2275.44,0,0,0,30.00,30.00,16.12
$GC,6712.79,10535,172.96,1.66,60.00,2253.1,2338.2,2168.0,2695.7,2275.3,98.12,5.18,882,6754.02,33.92,0.17,2.70,1.260,0.091,0.088,2068.22,2130.25,2006.19,2734.94,3343.94,0,0,0,12.92,16.14,15.93
$GC,6867.60,1028,172.96,1.66,0.00,2065.2,2130.8,1999.5,2735.2,3344.6,85.49,9.76,913,6873.03,0.00,0.00,2.63,0.000,0.000,0.023,2065.22,2131.31,1999.12,2735.12,2188.62,0,0,0,30.00,30.00,16.01
$GC,7057.91,8742,217.30,1.75,-60.00,2062.5,2130.4,1994.6,2735.2,2188.5,72.07,5.44,951,7098.34,33.15,0.00,2.68,1.211,0.000,0.075,1888.66,1941.00,1836.31,2735.25,1131.31,0,0,0,12.82,30.00,15.87
$GC,7327.62,11303,270.85,1.86,0.00,1880.9,1939.1,1822.8,2735.2,1131.2,57.68,4.81,1005,7374.34,39.50,0.21,2.67,1.193,0.084,0.028,1671.34,1711.38,1631.31,2784.25,2276.88,0,0,0,12.82,15.97,15.98
$GC,7557.69,16902,270.85,1.86,-60.00,1662.1,1710.2,1614.0,2784.6,2277.1,40.72,8.35,1051,7563.25,0.00,0.00,2.88,0.000,0.000,0.069,1662.38,1711.06,1613.69,2783.56,1130.81,0,0,0,30.00,30.00,15.91
$GC,7657.74,17478,270.85,1.88,0.00,1659.9,1710.6,1609.1,2784.7,1131.6,32.69,7.40,1071,7663.27,0.00,0.00,2.67,0.000,0.000,0.028,1660.66,1711.38,1609.94,2784.81,2275.25,0,0,0,30.00,30.00,15.94
$GC,7847.81,8486,315.39,1.97,60.00,1659.0,1710.9,1607.1,2784.9,2275.4,21.91,5.42,1109,7885.38,33.10,0.00,2.71,1.141,0.000,0.088,1489.53,1525.25,1453.81,2784.00,3345.50,0,0,0,12.72,30.00,15.82
$GC,7964.02,1092,315.39,1.99,0.00,1486.1,1525.0,1447.1,2784.7,3345.6,14.36,7.21,1132,7968.92,0.00,0.00,2.64,0.000,0.000,0.022,1485.66,1525.19,1446.12,2784.88,2185.38,0,0,0,30.00,30.00,15.91
$GC,8153.83,10791,363.16,2.09,-60.00,1482.0,1525.4,1438.5,2785.4,2185.3,3.01,5.20,1170,8173.96,19.03,0.25,0.00,1.066,0.077,0.000,1393.53,1430.25,1356.81,2839.19,2184.19,0,0,0,12.75,15.96,30.00
$STATE,8174,end climb,SURFACE_DEPTH_REACHED
$STATE,8174,begin surface coast
$FINISH,-0.1,1.020689
$STATE,8219,end surface coast,CONTROL_FINISHED_OK
$STATE,8219,begin surface
$SM_CCo,8309.11,62.92,1.140,0,1042.3,1001.8,1082.9,425.03
$SM_GC,1.65,62.92,16.28,0.35,1.140,0.050,0.062,1042.3,1001.8,1082.9,184.2,2361.4,0,0,0,12.77,15.90,15.93
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4750.34,-12512.13,090621,103736
$TCM_TEMP,266.66
$XPDR_PINGS,0,13.0,10.5
$SC_FREEKB,3794496
$HUMID,49.02
$TEMP,82.40
$INTERNAL_PRESSURE,8.85488
$24V_AH,14.93,63.419
$10V_AH,15.00,0.000
$FG_AHR_24Vo,59.059
$FG_AHR_10Vo,29.221
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,460.755,35.155,103.525,0.000,0.000,13.869,3172.790,5147.100,1773.591,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1518.064,252.640,102.744,0.000,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8219.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.566,0.000,0.000,0.000
$MEM0,60876,1,0,0
$MEM1,65508,1,0,0
$MEM2,971676,22,75352,55
$DATA_FILE_SIZE,35276,1183
$CAP_FILE_SIZE,256628,0
$SDSIZE,4028416,3972000
$SDFILEDIR,976,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,133.9,1
$IMPLIED_C_PITCH,2356,13.64,821
$IMPLIED_C_VBD,2944,39.712421,408
$GPS,090621,130201,4750.190,-12512.265,27,0.7,28,16.0