version: 67.00
glider: 249
mission: 6
dive: 189
start: 6 9 121 13 14 19
data:
$ID,249
$MISSION,6
$DIVE,189
$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,29.223259
$FG_AHR_24V,59.078217
$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
$GPS1,090621,130201,4750.190,-12512.265,27,0.7,28,16.0
$_CALLS,4
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.5
$GPS2,090621,131400,4750.146,-12512.146,2,0.5,5,16.0
$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,349.7,4044,-21.6,-8.462,-23.21
$D_GRID,283
$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,6.62,16386,-82.73,-1.37,0.00,1032.2,1016.1,1048.4,184.2,2235.0,0.00,0.00,0,65.70,57.93,0.00,0.00,0.005,0.000,0.000,2458.78,2616.00,2301.56,184.19,2235.06,0,0,0,15.81,30.00,30.00
$GC,66.44,18983,-82.73,-1.37,-60.00,2457.9,2614.5,2301.2,184.2,2235.0,3.25,-3.21,11,105.63,16.35,13.90,2.56,0.006,0.254,0.070,3111.78,3313.25,2910.31,1987.56,1208.19,0,0,0,15.83,15.79,15.77
$GC,133.60,1028,-82.73,-1.37,0.00,3112.7,3312.4,2913.1,1988.9,1208.5,15.33,-19.50,24,139.14,0.00,0.00,2.69,0.000,0.000,0.029,3113.72,3313.75,2913.69,1988.81,2350.88,0,0,0,30.00,30.00,15.93
$GC,324.44,260,-82.73,-1.37,60.00,3113.0,3311.4,2914.7,1988.9,2351.1,49.22,-14.59,62,329.25,0.00,0.00,2.73,0.000,0.000,0.085,3114.66,3312.19,2917.12,1988.44,3427.00,0,0,0,30.00,30.00,15.96
$GC,363.71,1028,-82.73,-1.37,0.00,3112.5,3309.4,2915.6,1989.1,3427.5,55.69,-17.12,70,369.24,0.00,0.00,2.63,0.000,0.000,0.021,3113.09,3309.94,2916.25,1988.81,2253.25,0,0,0,30.00,30.00,15.99
$GC,554.17,516,-82.73,-1.37,-60.00,3113.2,3309.7,2916.6,1988.5,2252.4,76.92,-9.38,108,559.31,0.00,0.00,2.56,0.000,0.000,0.064,3114.47,3311.88,2917.06,1988.44,1210.06,0,0,0,30.00,30.00,16.02
$GC,653.82,1028,-82.73,-1.37,0.00,3113.3,3310.0,2916.6,1989.1,1210.1,87.15,-10.17,128,659.36,0.00,0.00,2.66,0.000,0.000,0.028,3114.19,3311.19,2917.19,1988.69,2354.38,0,0,0,30.00,30.00,16.03
$GC,849.28,260,-82.73,-1.37,60.00,3113.4,3309.7,2917.1,1988.9,2354.8,105.03,-9.71,162,853.97,0.00,0.00,2.69,0.000,0.000,0.086,3114.50,3310.50,2918.50,1987.56,3426.25,0,0,0,30.00,30.00,16.03
$GC,1043.48,1028,-82.73,-1.37,0.00,3113.2,3308.2,2918.2,1988.6,3426.1,126.28,-11.09,201,1049.50,0.00,0.00,2.62,0.000,0.000,0.021,3114.81,3309.50,2920.12,1988.88,2246.88,0,0,0,30.00,30.00,16.06
$GC,1359.02,0,-82.73,-1.37,0.00,3112.9,3308.1,2917.8,1989.2,2246.4,152.43,-8.30,233,1360.34,0.00,0.00,0.00,0.000,0.000,0.000,3112.50,3308.19,2916.81,1989.00,2247.06,0,0,0,30.00,30.00,30.00
$GC,1669.47,516,-82.73,-1.37,-60.00,3112.9,3308.0,2917.8,1989.6,2247.2,180.62,-8.98,264,1674.14,0.00,0.00,2.55,0.000,0.000,0.066,3113.16,3308.38,2917.94,1988.62,1209.75,0,0,0,30.00,30.00,16.11
$GC,1719.10,1028,-82.73,-1.37,0.00,3113.1,3308.2,2917.9,1989.5,1210.1,185.29,-9.40,274,1724.18,0.00,0.00,2.63,0.000,0.000,0.030,3113.91,3309.06,2918.75,1989.31,2353.12,0,0,0,30.00,30.00,16.12
$GC,2029.16,516,-82.73,-1.37,-60.00,3113.2,3308.3,2918.1,1989.3,2353.5,212.42,-8.20,306,2034.45,0.00,0.00,2.83,0.000,0.000,0.061,3113.69,3308.75,2918.62,1989.50,1208.81,0,0,0,30.00,30.00,16.13
$GC,2089.36,1028,-82.73,-1.37,0.00,3113.1,3307.9,2918.2,1989.4,1208.6,217.88,-9.09,318,2094.26,0.00,0.00,2.65,0.000,0.000,0.029,3114.09,3309.00,2919.19,1989.31,2352.88,0,0,0,30.00,30.00,16.15
$GC,2399.24,516,-82.73,-1.37,-60.00,3113.3,3308.2,2918.3,1988.9,2353.6,245.53,-9.00,350,2404.36,0.00,0.00,2.82,0.000,0.000,0.061,3114.56,3309.81,2919.31,1989.12,1210.50,0,0,0,30.00,30.00,16.14
$GC,2529.28,1028,-82.73,-1.37,0.00,3112.9,3307.6,2918.2,1989.4,1210.9,258.23,-9.99,376,2534.36,0.00,0.00,2.64,0.000,0.000,0.030,3113.50,3309.06,2917.94,1989.50,2352.06,0,0,0,30.00,30.00,16.16
$STATE,2799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2799,begin apogee
$GC,2801.16,10243,0.00,-0.28,0.00,3112.9,3307.7,2918.2,1989.3,2156.6,283.34,-9.24,404,2862.59,56.85,1.76,0.22,1.464,0.142,0.107,2775.19,2902.19,2648.19,2255.56,2284.12,0,0,0,12.84,16.09,15.83
$STATE,2863,end apogee,CONTROL_FINISHED_OK
$STATE,2864,begin climb
$GC,2864.60,10759,82.73,1.37,-60.00,2772.4,2900.3,2644.5,2255.6,2283.6,285.43,0.00,410,2933.80,58.29,2.60,2.94,1.411,0.098,0.070,2437.00,2519.19,2354.81,2656.50,1131.56,0,0,0,12.78,15.85,15.62
$GC,3007.03,9254,122.25,1.45,0.00,2433.8,2517.4,2350.2,2656.3,1131.7,278.56,5.76,438,3042.94,29.90,0.00,2.70,1.358,0.000,0.027,2276.09,2344.50,2207.69,2656.56,2273.69,0,0,0,12.78,30.00,15.78
$GC,3346.99,324,122.25,1.48,60.00,2270.0,2343.8,2196.2,2656.0,2274.4,256.30,6.53,476,3352.07,0.00,0.00,2.74,0.000,0.000,0.087,2271.12,2344.69,2197.56,2655.31,3346.62,0,0,0,30.00,30.00,15.90
$GC,3447.02,3141,122.25,1.50,0.00,2269.8,2343.8,2195.8,2655.9,3346.4,248.78,7.77,496,3452.15,0.00,0.16,2.67,0.000,0.094,0.023,2270.75,2345.25,2196.25,2697.75,2185.19,0,0,0,30.00,15.90,15.94
$GC,3757.47,580,122.25,1.53,-60.00,2268.6,2344.2,2192.9,2698.6,2185.1,226.03,7.10,528,3762.15,0.00,0.00,2.64,0.000,0.000,0.073,2269.94,2345.75,2194.12,2696.56,1132.44,0,0,0,30.00,30.00,16.00
$GC,3897.12,17414,122.25,1.53,0.00,2268.0,2343.9,2192.1,2697.8,1132.8,213.71,9.26,556,3902.20,0.00,0.00,2.66,0.000,0.000,0.029,2268.03,2344.12,2191.94,2697.56,2274.12,0,0,0,30.00,30.00,16.03
$GC,4207.18,16902,122.25,1.53,-60.00,2267.7,2344.7,2190.8,2697.9,2274.3,187.11,8.67,588,4212.30,0.00,0.00,2.86,0.000,0.000,0.069,2267.88,2344.50,2191.25,2697.88,1130.25,0,0,0,30.00,30.00,16.06
$GC,4257.20,17414,122.25,1.53,0.00,2267.9,2344.7,2191.1,2698.6,1130.1,182.59,9.16,598,4262.28,0.00,0.00,2.65,0.000,0.000,0.029,2269.44,2346.75,2192.12,2698.62,2275.00,0,0,0,30.00,30.00,16.07
$GC,4567.27,16902,122.25,1.53,-60.00,2267.8,2344.8,2190.8,2698.1,2275.2,155.60,8.44,630,4572.56,0.00,0.00,2.87,0.000,0.000,0.068,2268.22,2345.69,2190.75,2697.50,1131.25,0,0,0,30.00,30.00,16.09
$GC,4652.21,17414,122.25,1.53,0.00,2267.5,2344.9,2190.0,2697.9,1131.3,147.85,9.20,647,4657.84,0.00,0.00,2.65,0.000,0.000,0.029,2268.41,2346.06,2190.75,2697.88,2272.94,0,0,0,30.00,30.00,16.10
$GC,4967.77,16966,122.25,1.56,-60.00,2267.2,2345.2,2189.2,2698.6,2272.5,123.14,6.77,679,4972.47,0.00,0.00,2.84,0.000,0.000,0.068,2267.62,2345.81,2189.44,2698.25,1129.75,0,0,0,30.00,30.00,16.13
$GC,5111.93,9254,155.86,1.63,0.00,2267.3,2345.2,2189.4,2698.0,1130.1,113.94,6.17,708,5142.59,24.41,0.00,2.65,1.241,0.000,0.029,2139.91,2204.19,2075.62,2697.94,2273.75,0,0,0,12.84,30.00,16.12
$GC,5447.42,10791,197.89,1.71,-60.00,2134.1,2202.6,2065.6,2698.1,2273.9,93.43,5.59,756,5484.05,31.60,0.22,2.90,1.233,0.078,0.071,1966.78,2015.31,1918.25,2747.94,1131.50,0,0,0,12.80,16.05,15.89
$GC,5492.44,1092,197.89,1.73,0.00,1965.7,2015.0,1916.3,2747.6,1131.4,90.13,7.33,765,5497.99,0.00,0.00,2.68,0.000,0.000,0.028,1965.97,2015.88,1916.06,2748.38,2272.81,0,0,0,30.00,30.00,15.94
$GC,5682.86,324,197.89,1.75,60.00,1961.5,2015.3,1907.7,2748.5,2272.8,74.25,7.62,803,5688.02,0.00,0.00,2.73,0.000,0.000,0.088,1963.56,2017.44,1909.69,2748.50,3346.75,0,0,0,30.00,30.00,15.97
$GC,5797.48,1028,197.89,1.75,0.00,1960.9,2015.0,1906.8,2748.2,3345.7,63.59,10.08,826,5803.22,0.00,0.00,2.65,0.000,0.000,0.023,1961.41,2016.12,1906.69,2748.38,2186.25,0,0,0,30.00,30.00,16.01
$GC,5988.04,16710,197.89,1.78,60.00,1959.5,2015.3,1903.6,2748.2,2186.1,49.13,7.01,864,5993.11,0.00,0.00,2.95,0.000,0.000,0.083,1959.72,2015.62,1903.81,2748.44,3347.88,0,0,0,30.00,30.00,16.03
$GC,6222.59,11303,254.92,1.89,0.00,1959.4,2015.4,1903.4,2748.1,3347.4,35.02,4.57,911,6269.32,41.59,0.18,2.64,1.180,0.085,0.022,1735.84,1775.38,1696.31,2792.19,2181.69,0,0,0,12.84,16.03,16.04
$GC,6452.66,8486,291.09,1.97,60.00,1727.4,1774.8,1680.0,2792.2,2181.6,22.31,5.99,957,6485.16,27.46,0.00,2.98,1.125,0.000,0.084,1587.78,1623.06,1552.50,2793.25,3345.25,0,0,0,12.73,30.00,15.81
$GC,6713.34,9254,324.61,2.03,0.00,1582.1,1623.1,1541.1,2792.4,3345.6,6.18,6.17,1009,6744.76,25.94,0.00,2.65,1.098,0.000,0.023,1451.50,1483.25,1419.75,2793.00,2186.94,0,0,0,12.78,30.00,15.95
$STATE,6788,end climb,SURFACE_DEPTH_REACHED
$STATE,6788,begin surface coast
$FINISH,0.0,1.024020
$STATE,6828,end surface coast,CONTROL_FINISHED_OK
$STATE,6828,begin surface
$SM_CCo,6928.33,72.95,1.143,0,1043.0,994.6,1091.4,424.85
$SM_GC,2.15,72.95,16.00,0.35,1.143,0.050,0.063,1043.0,994.6,1091.4,185.4,2354.9,0,0,0,12.79,15.88,15.91
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4751.26,-12509.51,090621,130822
$TCM_TEMP,265.98
$XPDR_PINGS,0,13.0,10.5
$SC_FREEKB,3794048
$HUMID,48.95
$TEMP,82.40
$INTERNAL_PRESSURE,8.85299
$24V_AH,14.91,63.614
$10V_AH,15.00,0.000
$FG_AHR_24Vo,59.223
$FG_AHR_10Vo,29.264
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,443.275,34.825,93.360,386.844,0.000,15.091,3250.700,4322.411,1541.791,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1464.272,254.280,106.680,222.826,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6851.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.302,0.000,0.000,0.000
$MEM0,60876,1,0,0
$MEM1,65508,1,0,0
$MEM2,971808,17,75320,55
$DATA_FILE_SIZE,28899,1032
$CAP_FILE_SIZE,211507,0
$SDSIZE,4028416,3971840
$SDFILEDIR,981,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,142.7,1
$IMPLIED_C_PITCH,2354,13.70,683
$IMPLIED_C_VBD,2954,25.705944,328
$GPS,090621,151004,4750.535,-12511.830,2,1.9,5,16.0