version: 67.00
glider: 249
mission: 6
dive: 470
start: 8 19 121 23 8 3
data:
$ID,249
$MISSION,6
$DIVE,470
$N_DIVES,0
$STOP_T,0
$D_SURF,4
$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,4
$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,2330
$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,52.351414
$FG_AHR_24V,125.63377
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.5
$PRESSURE_SLOPE,0.0014504
$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
$DEVICE1,120
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,56
$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
$GPS1,190821,230200,4750.672,-12512.875,24,1.5,24,16.0
$_CALLS,1
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-65.0
$GPS2,190821,230751,4750.632,-12512.864,3,1.5,5,16.0
$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,43.0,4021,-21.6,-8.462,-23.21
$D_GRID,280
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5.12,16386,-82.73,-1.37,0.00,1033.1,1007.1,1059.1,180.6,2258.8,0.00,0.00,0,72.02,65.72,0.00,0.00,0.005,0.000,0.000,2697.22,2866.62,2527.81,180.62,2257.75,0,0,0,15.52,30.00,30.00
$GC,72.76,18983,-82.73,-1.37,-60.00,2695.9,2864.8,2527.1,180.6,2257.2,3.93,-6.34,12,104.75,8.74,13.83,2.48,0.007,0.249,0.065,3112.12,3320.19,2904.06,1997.94,1206.19,0,0,0,15.56,15.67,15.49
$GC,301.84,1028,-82.73,-1.37,0.00,3112.8,3320.1,2905.4,1997.8,1206.1,48.44,-16.13,58,307.38,0.00,0.00,2.62,0.000,0.000,0.030,3112.41,3319.31,2905.50,1998.31,2353.19,0,0,0,30.00,30.00,15.87
$GC,492.25,0,-82.73,-1.37,0.00,3112.7,3319.9,2905.4,1998.2,2353.5,72.81,-11.08,96,493.57,0.00,0.00,0.00,0.000,0.000,0.000,3112.22,3319.50,2904.94,1998.62,2353.56,0,0,0,30.00,30.00,30.00
$GC,676.88,516,-82.73,-1.37,-60.00,3112.8,3319.5,2906.1,1998.2,2353.3,91.18,-9.13,133,682.63,0.00,0.00,2.69,0.000,0.000,0.060,3113.19,3319.75,2906.62,1998.25,1207.19,0,0,0,30.00,30.00,15.93
$GC,787.03,1028,-82.73,-1.37,0.00,3113.1,3319.4,2906.7,1998.2,1207.8,101.24,-8.59,155,792.45,0.00,0.00,2.59,0.000,0.000,0.028,3114.31,3320.25,2908.38,1997.88,2354.81,0,0,0,30.00,30.00,15.95
$GC,1096.97,516,-82.73,-1.37,-60.00,3113.5,3319.8,2907.2,1998.6,2354.2,126.13,-9.22,217,1102.52,0.00,0.00,2.68,0.000,0.000,0.060,3114.78,3321.19,2908.38,1997.69,1207.31,0,0,0,30.00,30.00,15.98
$GC,1196.99,1028,-82.73,-1.37,0.00,3113.1,3319.2,2907.1,1998.2,1207.2,135.59,-9.32,237,1202.53,0.00,0.00,2.57,0.000,0.000,0.029,3113.19,3319.31,2907.06,1998.88,2354.81,0,0,0,30.00,30.00,15.98
$GC,1507.08,516,-82.73,-1.37,-60.00,3113.4,3319.5,2907.2,1997.9,2354.6,165.10,-9.81,299,1512.63,0.00,0.00,2.68,0.000,0.000,0.060,3113.69,3319.69,2907.69,1998.44,1207.56,0,0,0,30.00,30.00,16.00
$GC,1662.13,1028,-82.73,-1.37,0.00,3113.5,3319.1,2907.9,1998.4,1207.0,181.07,-10.60,330,1667.66,0.00,0.00,2.57,0.000,0.000,0.029,3113.62,3319.38,2907.88,1998.25,2353.50,0,0,0,30.00,30.00,16.02
$GC,1972.24,516,-82.73,-1.37,-60.00,3113.8,3319.6,2907.9,1998.3,2354.0,212.62,-10.22,392,1977.78,0.00,0.00,2.67,0.000,0.000,0.060,3114.22,3319.75,2908.69,1998.44,1206.00,0,0,0,30.00,30.00,16.02
$GC,2067.27,1028,-82.73,-1.37,0.00,3113.7,3319.5,2907.8,1998.0,1206.2,223.25,-11.21,411,2072.98,0.00,0.00,2.56,0.000,0.000,0.029,3113.69,3319.75,2907.62,1998.38,2353.50,0,0,0,30.00,30.00,16.03
$GC,2377.38,0,-82.73,-1.37,0.00,3113.6,3319.5,2907.7,1998.6,2352.9,253.76,-9.78,473,2378.71,0.00,0.00,0.00,0.000,0.000,0.000,3112.69,3318.88,2906.50,1998.12,2353.44,0,0,0,30.00,30.00,30.00
$STATE,2652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2653,begin apogee
$GC,2654.31,10243,0.00,-0.28,0.00,3113.2,3318.5,2907.9,1998.4,2148.4,280.23,-9.74,528,2715.76,57.26,1.76,0.23,1.456,0.142,0.104,2774.50,2909.56,2639.44,2264.06,2288.25,0,0,0,12.05,15.94,15.83
$STATE,2717,end apogee,CONTROL_FINISHED_OK
$STATE,2717,begin climb
$GC,2717.68,10243,82.73,1.37,0.00,2773.4,2908.9,2637.9,2263.6,2288.3,282.73,0.00,540,2782.33,58.78,2.56,0.00,1.405,0.091,0.000,2436.69,2522.62,2350.75,2665.81,2288.06,0,0,0,12.81,15.83,30.00
$GC,3085.23,8742,138.79,1.48,-60.00,2431.9,2522.4,2341.3,2665.6,2288.5,268.29,4.63,614,3131.54,41.32,0.00,2.79,1.374,0.000,0.071,2209.44,2273.38,2145.50,2665.56,1130.12,0,0,0,12.20,30.00,15.66
$GC,3174.84,3141,138.79,1.52,0.00,2205.4,2271.1,2139.8,2665.7,1129.7,262.95,6.65,632,3180.45,0.00,0.19,2.61,0.000,0.081,0.027,2206.22,2272.19,2140.25,2714.25,2277.19,0,0,0,30.00,15.70,15.75
$GC,3484.91,64,138.79,1.53,0.00,2203.4,2271.5,2135.4,2714.5,2276.2,239.09,7.80,694,3486.23,0.00,0.00,0.00,0.000,0.000,0.000,2202.16,2269.88,2134.44,2714.81,2276.31,0,0,0,30.00,30.00,30.00
$GC,3789.95,64,138.79,1.55,0.00,2202.6,2271.3,2133.9,2714.8,2276.2,215.66,7.27,755,3791.28,0.00,0.00,0.00,0.000,0.000,0.000,2201.62,2270.56,2132.69,2714.44,2276.31,0,0,0,30.00,30.00,30.00
$GC,4095.16,516,138.79,1.55,-60.00,2202.1,2271.5,2132.6,2714.3,2276.6,190.95,8.00,816,4100.55,0.00,0.00,2.71,0.000,0.000,0.069,2202.69,2272.25,2133.12,2714.38,1130.06,0,0,0,30.00,30.00,15.95
$GC,4174.99,1028,138.79,1.55,0.00,2201.7,2271.4,2132.0,2714.4,1130.2,184.25,8.39,832,4180.52,0.00,0.00,2.57,0.000,0.000,0.029,2201.84,2271.81,2131.88,2714.50,2277.19,0,0,0,30.00,30.00,15.95
$GC,4485.11,64,138.79,1.59,0.00,2201.2,2271.6,2130.9,2714.6,2277.5,162.71,6.79,894,4486.44,0.00,0.00,0.00,0.000,0.000,0.000,2200.41,2271.25,2129.56,2714.31,2277.38,0,0,0,30.00,30.00,30.00
$GC,4790.20,516,138.79,1.59,-60.00,2201.1,2271.4,2130.8,2714.5,2277.5,140.52,8.23,955,4795.76,0.00,0.00,2.72,0.000,0.000,0.069,2201.94,2272.38,2131.50,2714.56,1127.94,0,0,0,30.00,30.00,16.00
$GC,5025.29,17478,138.79,1.60,0.00,2200.7,2271.3,2130.1,2714.8,1127.8,120.34,7.57,1002,5030.81,0.00,0.00,2.56,0.000,0.000,0.028,2200.78,2271.81,2129.75,2714.25,2276.38,0,0,0,30.00,30.00,16.02
$GC,5335.46,8742,172.49,1.67,-60.00,2200.8,2271.9,2129.6,2714.9,2276.4,101.32,6.16,1064,5366.19,24.89,0.00,2.71,1.212,0.000,0.071,2070.88,2125.69,2016.06,2714.31,1128.88,0,0,0,11.98,30.00,15.95
$GC,5400.40,11303,201.93,1.73,0.00,2068.0,2124.4,2011.6,2714.9,1128.8,97.20,6.45,1077,5428.85,23.09,0.22,2.57,1.179,0.078,0.028,1950.19,1992.75,1907.62,2768.81,2275.94,0,0,0,12.67,15.94,15.99
$GC,5610.95,516,201.93,1.73,-60.00,1946.8,1994.4,1899.2,2769.1,2276.1,79.02,8.88,1119,5616.53,0.00,0.00,2.72,0.000,0.000,0.068,1946.62,1994.25,1899.00,2769.50,1130.12,0,0,0,30.00,30.00,15.92
$GC,5765.99,1028,201.93,1.73,0.00,1944.8,1994.0,1895.6,2769.1,1130.1,64.55,8.02,1150,5771.52,0.00,0.00,2.59,0.000,0.000,0.028,1945.81,1995.44,1896.19,2768.94,2276.88,0,0,0,30.00,30.00,15.94
$GC,5956.40,0,201.93,1.73,0.00,1944.5,1994.4,1894.6,2769.1,2277.1,49.36,9.16,1188,5957.73,0.00,0.00,0.00,0.000,0.000,0.000,1943.31,1993.25,1893.38,2768.56,2277.06,0,0,0,30.00,30.00,30.00
$GC,6141.08,8742,254.77,1.84,-60.00,1943.8,1993.7,1893.9,2768.5,2277.2,37.59,4.86,1225,6184.74,38.93,0.00,2.74,1.157,0.000,0.070,1735.59,1764.44,1706.75,2767.50,1128.69,0,0,0,12.06,30.00,15.85
$GC,6227.34,1092,254.77,1.87,0.00,1731.6,1762.2,1700.9,2768.7,1128.6,32.49,6.61,1242,6232.54,0.00,0.00,2.59,0.000,0.000,0.028,1732.31,1763.19,1701.44,2767.94,2278.38,0,0,0,30.00,30.00,15.90
$GC,6417.40,0,254.77,1.87,0.00,1728.8,1762.3,1695.3,2768.9,2278.4,17.59,8.92,1280,6418.73,0.00,0.00,0.00,0.000,0.000,0.000,1728.00,1761.50,1694.50,2768.75,2278.25,0,0,0,30.00,30.00,30.00
$GC,6601.88,10535,336.42,2.04,60.00,1727.6,1762.6,1692.7,2769.5,2278.4,9.23,2.89,1317,6666.36,59.49,0.33,2.62,1.127,0.065,0.088,1403.50,1417.56,1389.44,2839.38,3348.56,0,0,0,12.23,15.91,15.74
$STATE,6768,end climb,SURFACE_DEPTH_REACHED
$STATE,6769,begin surface coast
$FINISH,0.5,1.023976
$STATE,6879,end surface coast,CONTROL_FINISHED_OK
$STATE,6879,begin surface
$SM_CCo,6971.84,63.90,1.121,0,1042.9,992.9,1092.9,424.88
$SM_GC,0.79,63.90,16.16,2.36,1.121,0.040,0.022,1042.9,992.9,1092.9,180.7,2267.7,0,0,0,12.18,15.80,15.84
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.26,-12509.51,190821,205339
$TCM_TEMP,266.67
$XPDR_PINGS,0,13.0,10.5
$HUMID,49.67
$TEMP,82.25
$INTERNAL_PRESSURE,8.87821
$24V_AH,14.92,151.694
$10V_AH,15.00,0.000
$FG_AHR_24Vo,125.776
$FG_AHR_10Vo,52.373
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,442.115,35.045,63.590,164.454,0.000,14.231,2659.814,4546.687,891.461,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1455.744,249.032,103.728,226.354,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,34.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,20.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM0,60876,1,0,0
$MEM1,65508,1,0,0
$MEM2,971380,29,75468,57
$DATA_FILE_SIZE,61072,1372
$CAP_FILE_SIZE,199647,0
$SDSIZE,4028416,3906240
$SDFILEDIR,2169,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,177.2,1
$IMPLIED_C_PITCH,2356,13.39,1106
$IMPLIED_C_VBD,2878,28.102829,531
$GPS,200821,010439,4750.913,-12512.041,15,0.9,16,16.0