version: 67.00
glider: 249
mission: 6
dive: 284
start: 7 3 121 8 2 39
data:
$ID,249
$MISSION,6
$DIVE,284
$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,38.131783
$FG_AHR_24V,81.040398
$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
$GPS1,030721,075635,4751.230,-12511.492,117,1.2,118,16.0
$_CALLS,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.0
$GPS2,030721,080221,4751.213,-12511.466,5,1.3,8,16.0
$SPEED_LIMITS,0.147,0.197
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$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,239.6,166699,-21.6,-8.462,-23.21
$D_GRID,250
$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,6.52,16386,-82.73,-1.37,0.00,1037.3,1018.8,1055.8,183.1,2235.9,0.00,0.00,0,50.84,43.47,0.00,0.00,0.005,0.000,0.000,2141.28,2281.50,2001.06,183.00,2235.19,0,0,0,15.78,30.00,30.00
$GC,51.95,18727,-82.73,-1.37,60.00,2140.7,2280.1,2001.3,182.9,2234.5,3.14,-3.87,8,100.28,24.11,13.54,2.94,0.006,0.248,0.082,3111.28,3304.25,2918.31,1989.06,3426.00,0,0,0,15.79,15.79,15.74
$GC,113.62,1028,-82.73,-1.37,0.00,3111.8,3304.5,2919.1,1988.4,3426.3,14.15,-20.15,20,118.81,0.00,0.00,2.58,0.000,0.000,0.021,3112.84,3305.25,2920.44,1987.81,2257.81,0,0,0,30.00,30.00,15.92
$GC,303.70,0,-82.73,-1.37,0.00,3112.1,3304.4,2919.7,1988.9,2255.4,45.55,-15.52,58,307.29,0.00,0.00,0.00,0.000,0.000,0.000,3112.72,3305.50,2919.94,1989.25,2255.75,0,0,0,30.00,30.00,30.00
$GC,488.77,0,-82.73,-1.37,0.00,3112.5,3304.2,2920.8,1989.4,2255.6,70.31,-12.61,95,492.36,0.00,0.00,0.00,0.000,0.000,0.000,3113.25,3304.19,2922.31,1988.38,2255.75,0,0,0,30.00,30.00,30.00
$GC,674.16,260,-82.73,-1.37,60.00,3113.3,3304.9,2921.8,1988.9,2255.3,87.73,-7.69,132,679.05,0.00,0.00,2.88,0.000,0.000,0.079,3113.59,3304.69,2922.50,1989.38,3428.31,0,0,0,30.00,30.00,16.01
$GC,723.50,1028,-82.73,-1.37,0.00,3113.2,3304.0,2922.5,1989.5,3428.6,92.26,-9.35,142,729.01,0.00,0.00,2.57,0.000,0.000,0.021,3114.19,3305.12,2923.25,1989.31,2239.94,0,0,0,30.00,30.00,16.02
$GC,913.55,516,-82.73,-1.37,-60.00,3112.8,3303.6,2922.1,1989.9,2239.9,107.96,-7.49,170,918.20,0.00,0.00,2.44,0.000,0.000,0.065,3113.41,3305.06,2921.75,1989.56,1206.19,0,0,0,30.00,30.00,16.03
$GC,973.56,1028,-82.73,-1.37,0.00,3113.4,3304.2,2922.6,1989.8,1205.8,113.39,-9.44,182,978.64,0.00,0.00,2.62,0.000,0.000,0.028,3113.59,3304.19,2923.00,1989.69,2354.50,0,0,0,30.00,30.00,16.04
$GC,1283.63,260,-82.73,-1.37,60.00,3113.9,3304.8,2922.9,1989.9,2354.4,140.66,-8.25,214,1288.71,0.00,0.00,2.62,0.000,0.000,0.085,3113.72,3305.00,2922.44,1989.75,3427.44,0,0,0,30.00,30.00,16.05
$GC,1343.64,1028,-82.73,-1.37,0.00,3113.6,3303.9,2923.3,1989.8,3427.8,145.74,-8.52,226,1348.71,0.00,0.00,2.55,0.000,0.000,0.021,3114.38,3305.38,2923.38,1989.75,2243.06,0,0,0,30.00,30.00,16.07
$GC,1653.71,516,-82.73,-1.37,-60.00,3113.6,3304.2,2922.9,1989.5,2241.5,169.88,-8.93,258,1658.36,0.00,0.00,2.45,0.000,0.000,0.065,3113.59,3303.94,2923.25,1989.62,1207.31,0,0,0,30.00,30.00,16.07
$GC,1888.31,1028,-82.73,-1.37,0.00,3113.4,3303.7,2923.2,1989.9,1207.5,192.69,-9.53,305,1894.32,0.00,0.00,2.61,0.000,0.000,0.029,3114.09,3304.25,2923.94,1989.88,2354.38,0,0,0,30.00,30.00,16.11
$GC,2203.84,516,-82.73,-1.37,-60.00,3113.7,3304.2,2923.1,1989.8,2354.1,221.75,-8.99,337,2209.11,0.00,0.00,2.72,0.000,0.000,0.061,3114.03,3304.38,2923.69,1989.12,1207.19,0,0,0,30.00,30.00,16.11
$GC,2383.88,1028,-82.73,-1.37,0.00,3113.4,3303.6,2923.2,1990.0,1207.3,239.93,-10.48,373,2388.97,0.00,0.00,2.61,0.000,0.000,0.029,3113.78,3304.12,2923.44,1990.12,2353.38,0,0,0,30.00,30.00,16.12
$STATE,2483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2484,begin apogee
$GC,2485.73,10243,0.00,-0.28,0.00,3113.6,3304.0,2923.2,1989.8,2149.2,250.26,-10.26,384,2547.18,56.92,1.75,0.23,1.397,0.144,0.092,2771.53,2899.12,2643.94,2254.56,2284.88,0,0,0,12.77,16.04,15.85
$STATE,2549,end apogee,CONTROL_FINISHED_OK
$STATE,2549,begin climb
$GC,2549.38,10503,82.73,1.37,60.00,2772.7,2900.5,2644.9,2254.5,2285.3,252.39,0.00,390,2615.98,57.99,2.57,2.67,1.346,0.098,0.087,2435.56,2516.38,2354.75,2655.81,3345.38,0,0,0,12.92,15.86,15.64
$GC,2638.62,11303,144.49,1.49,0.00,2434.8,2516.6,2353.1,2656.6,3346.1,248.97,4.25,402,2690.80,44.94,0.15,2.62,1.317,0.091,0.022,2186.06,2238.88,2133.25,2697.69,2179.81,0,0,0,12.73,15.70,15.74
$GC,2994.22,260,144.49,1.49,60.00,2178.7,2237.4,2120.0,2698.2,2180.4,219.15,9.00,443,2999.42,0.00,0.00,2.91,0.000,0.000,0.081,2178.84,2237.88,2119.81,2698.44,3345.56,0,0,0,30.00,30.00,15.87
$GC,3064.24,1028,144.49,1.49,0.00,2178.0,2236.8,2119.2,2699.1,3345.9,211.93,10.14,457,3069.19,0.00,0.00,2.60,0.000,0.000,0.023,2179.84,2238.50,2121.19,2698.31,2186.94,0,0,0,30.00,30.00,15.91
$GC,3374.17,16386,144.49,1.49,0.00,2177.2,2237.4,2117.1,2699.6,2186.5,183.91,8.63,489,3375.50,0.00,0.00,0.00,0.000,0.000,0.000,2176.06,2236.69,2115.44,2699.00,2186.88,0,0,0,30.00,30.00,30.00
$GC,3684.58,16386,144.49,1.49,0.00,2176.8,2237.8,2115.8,2699.6,2186.3,158.25,8.15,520,3685.91,0.00,0.00,0.00,0.000,0.000,0.000,2176.06,2237.12,2115.00,2699.38,2186.69,0,0,0,30.00,30.00,30.00
$GC,3994.63,16450,144.49,1.51,0.00,2176.8,2238.2,2115.4,2699.4,2185.9,134.24,7.57,551,3995.96,0.00,0.00,0.00,0.000,0.000,0.000,2175.94,2237.50,2114.38,2699.31,2185.94,0,0,0,30.00,30.00,30.00
$GC,4304.68,8486,187.07,1.59,60.00,2176.2,2238.0,2114.4,2699.3,2185.6,112.49,5.56,582,4340.35,30.47,0.00,2.89,1.223,0.000,0.085,2010.88,2058.31,1963.44,2699.38,3349.06,0,0,0,12.73,30.00,15.90
$GC,4429.25,1092,187.07,1.61,0.00,2008.9,2058.5,1959.2,2699.2,3348.4,104.08,7.51,607,4434.85,0.00,0.00,2.59,0.000,0.000,0.023,2008.38,2058.81,1957.94,2699.94,2186.75,0,0,0,30.00,30.00,16.00
$GC,4739.45,10535,218.98,1.68,60.00,2006.1,2059.1,1953.1,2699.7,2187.3,79.86,6.28,664,4770.92,24.24,0.17,2.88,1.169,0.092,0.084,1882.44,1924.38,1840.50,2738.19,3345.38,0,0,0,12.70,16.00,15.91
$GC,4929.49,1028,218.98,1.68,0.00,1878.1,1923.9,1832.3,2738.9,3345.6,65.62,8.48,702,4935.21,0.00,0.00,2.59,0.000,0.000,0.023,1879.19,1924.50,1833.88,2738.19,2186.62,0,0,0,30.00,30.00,15.98
$GC,5120.09,8742,261.56,1.76,-60.00,1876.0,1924.0,1828.0,2739.5,2186.7,52.67,5.56,740,5156.08,31.89,0.00,2.57,1.154,0.000,0.078,1707.19,1742.94,1671.44,2739.19,1131.69,0,0,0,12.77,30.00,15.84
$GC,5174.78,11303,297.42,1.83,0.00,1705.5,1742.2,1668.8,2739.4,1131.4,49.36,6.01,751,5207.10,27.86,0.15,2.64,1.122,0.095,0.028,1562.84,1587.88,1537.81,2779.44,2275.12,0,0,0,12.87,15.87,15.93
$GC,5390.12,64,297.42,1.84,0.00,1554.7,1587.9,1521.4,2780.0,2276.1,33.37,7.94,794,5391.45,0.00,0.00,0.00,0.000,0.000,0.000,1554.50,1587.81,1521.19,2779.62,2275.94,0,0,0,30.00,30.00,30.00
$GC,5575.17,16710,297.42,1.88,60.00,1552.9,1588.5,1517.4,2780.1,2275.5,20.29,6.81,831,5580.70,0.00,0.00,2.65,0.000,0.000,0.086,1553.22,1588.75,1517.69,2781.00,3346.38,0,0,0,30.00,30.00,15.94
$GC,5625.18,17478,297.42,1.91,0.00,1553.1,1588.8,1517.4,2780.8,3347.1,16.96,6.63,841,5630.72,0.00,0.00,2.61,0.000,0.000,0.023,1552.94,1589.06,1516.81,2780.88,2181.50,0,0,0,30.00,30.00,15.96
$GC,5815.61,10791,360.56,2.04,-60.00,1551.3,1591.2,1511.5,2781.4,2181.4,8.70,4.15,879,5867.43,46.44,0.21,2.57,1.119,0.085,0.077,1305.62,1320.94,1290.31,2826.06,1130.06,0,0,0,12.72,15.98,15.79
$STATE,6000,end climb,SURFACE_DEPTH_REACHED
$STATE,6000,begin surface coast
$FINISH,0.0,1.011807
$STATE,6050,end surface coast,CONTROL_FINISHED_OK
$STATE,6051,begin surface
$SM_CCo,6128.10,47.24,1.122,0,1042.8,996.1,1089.6,424.90
$SM_GC,1.50,47.24,16.13,2.81,1.122,0.048,0.031,1042.8,996.1,1089.6,181.8,2356.2,0,0,0,12.75,15.90,15.93
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4752.57,-12511.36,030721,062021
$TCM_TEMP,267.26
$XPDR_PINGS,0,13.0,10.5
$SC_FREEKB,3751456
$HUMID,49.36
$TEMP,82.28
$INTERNAL_PRESSURE,8.87421
$24V_AH,14.99,90.985
$10V_AH,15.00,0.000
$FG_AHR_24Vo,81.179
$FG_AHR_10Vo,38.168
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,435.585,34.665,69.880,204.721,0.000,17.294,2837.489,3590.840,1399.503,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1397.360,247.720,91.592,205.816,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6078.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.956,0.000,0.000,0.000
$MEM0,60876,1,0,0
$MEM1,65508,1,0,0
$MEM2,971728,21,75320,55
$DATA_FILE_SIZE,25690,926
$CAP_FILE_SIZE,184046,0
$SDSIZE,4028416,3948224
$SDFILEDIR,1456,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,184.2,1
$MAGCAL,1.000000,0.013364,0.011110,-0.014942,1.023435,-0.063247,-0.015058,-0.064337,0.967430,639.0,-295.1,114.7,36,0.0287,0
$IMPLIED_C_PITCH,2369,13.51,594
$IMPLIED_C_VBD,2932,46.159889,359
$GPS,030721,094609,4750.731,-12512.296,71,1.6,71,16.0