version: 67.00
glider: 249
mission: 6
dive: 473
start: 8 20 121 4 40 42
data:
$ID,249
$MISSION,6
$DIVE,473
$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,52.413326
$FG_AHR_24V,126.08382
$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
$GPS1,200821,043438,4751.131,-12512.369,37,1.8,39,16.0
$_CALLS,1
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-66.0
$GPS2,200821,044030,4751.091,-12512.372,4,1.0,7,16.0
$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,212.2,165629,-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,5.13,16386,-82.73,-1.37,0.00,1031.8,1003.5,1060.2,181.8,2256.5,0.00,0.00,0,61.86,55.53,0.00,0.00,0.005,0.000,0.000,2426.94,2588.25,2265.62,181.75,2257.75,0,0,0,15.51,30.00,30.00
$GC,62.60,18727,-82.73,-1.37,60.00,2426.0,2586.8,2265.2,182.1,2257.1,3.05,-5.83,10,101.59,16.58,13.81,2.87,0.006,0.245,0.087,3110.78,3324.06,2897.50,1998.38,3429.31,0,0,0,15.58,15.68,15.48
$GC,253.67,1028,-82.73,-1.37,0.00,3112.8,3324.6,2900.9,1998.5,3429.2,37.39,-17.11,48,259.21,0.00,0.00,2.56,0.000,0.000,0.021,3113.59,3325.44,2901.75,1998.69,2250.06,0,0,0,30.00,30.00,15.86
$GC,444.07,0,-82.73,-1.37,0.00,3112.8,3324.8,2900.8,1998.9,2248.2,63.14,-10.13,86,445.40,0.00,0.00,0.00,0.000,0.000,0.000,3112.06,3323.56,2900.56,1998.75,2248.19,0,0,0,30.00,30.00,30.00
$GC,628.72,260,-82.73,-1.37,60.00,3113.0,3324.4,2901.6,1998.4,2248.2,83.39,-10.03,123,634.63,0.00,0.00,2.85,0.000,0.000,0.081,3113.09,3324.62,2901.56,1998.56,3426.75,0,0,0,30.00,30.00,15.93
$GC,733.87,1028,-82.73,-1.37,0.00,3112.4,3319.7,2905.1,1998.9,3426.2,94.06,-10.37,144,739.29,0.00,0.00,2.54,0.000,0.000,0.021,3112.47,3319.75,2905.19,1998.31,2246.19,0,0,0,30.00,30.00,15.94
$GC,924.17,260,-82.73,-1.37,60.00,3112.7,3320.2,2905.1,1998.4,2244.9,112.64,-10.22,182,929.36,0.00,0.00,2.86,0.000,0.000,0.082,3113.09,3320.88,2905.31,1998.44,3427.69,0,0,0,30.00,30.00,15.96
$GC,1148.81,1028,-82.73,-1.37,0.00,3112.7,3319.1,2906.4,1997.9,3427.1,140.41,-11.74,227,1154.34,0.00,0.00,2.53,0.000,0.000,0.021,3112.88,3319.25,2906.50,1998.19,2245.62,0,0,0,30.00,30.00,15.99
$GC,1458.87,0,-82.73,-1.37,0.00,3112.6,3318.6,2906.7,1998.2,2244.0,170.42,-9.47,289,1460.19,0.00,0.00,0.00,0.000,0.000,0.000,3112.88,3319.00,2906.75,1998.19,2244.06,0,0,0,30.00,30.00,30.00
$GC,1763.92,260,-82.73,-1.37,60.00,3112.5,3318.1,2906.9,1998.6,2243.9,198.58,-9.12,350,1769.49,0.00,0.00,2.85,0.000,0.000,0.082,3112.72,3319.00,2906.44,1998.56,3427.94,0,0,0,30.00,30.00,16.01
$GC,1823.92,1028,-82.73,-1.37,0.00,3112.6,3318.6,2906.6,1998.5,3428.1,204.92,-10.94,362,1829.45,0.00,0.00,2.53,0.000,0.000,0.021,3113.09,3319.31,2906.88,1998.44,2248.50,0,0,0,30.00,30.00,16.03
$GC,2133.97,0,-82.73,-1.37,0.00,3112.5,3318.3,2906.8,1998.2,2246.0,234.03,-9.44,424,2135.30,0.00,0.00,0.00,0.000,0.000,0.000,3111.75,3318.06,2905.44,1998.81,2246.38,0,0,0,30.00,30.00,30.00
$GC,2439.24,0,-82.73,-1.37,0.00,3112.4,3318.2,2906.6,1998.4,2246.2,264.85,-10.80,485,2440.57,0.00,0.00,0.00,0.000,0.000,0.000,3111.66,3317.56,2905.75,1998.62,2246.25,0,0,0,30.00,30.00,30.00
$STATE,2584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2584,begin apogee
$GC,2586.48,10243,0.00,-0.28,0.00,3112.7,3318.7,2906.7,1998.6,2182.1,280.41,-10.50,514,2647.40,57.19,1.78,0.16,1.461,0.138,0.138,2775.19,2911.25,2639.12,2263.56,2273.88,0,0,0,12.05,15.96,15.82
$STATE,2649,end apogee,CONTROL_FINISHED_OK
$STATE,2649,begin climb
$GC,2649.33,10759,82.73,1.37,-60.00,2774.2,2910.8,2637.6,2264.9,2294.8,283.12,0.00,526,2716.94,58.73,2.55,2.83,1.412,0.090,0.072,2436.03,2522.56,2349.50,2667.88,1130.19,0,0,0,12.74,15.83,15.60
$GC,2814.18,9254,138.47,1.48,0.00,2434.5,2522.7,2346.2,2666.9,1130.2,277.10,4.66,559,2860.88,41.56,0.00,2.61,1.378,0.000,0.027,2210.09,2271.00,2149.19,2666.94,2279.69,0,0,0,12.45,30.00,15.73
$GC,3164.28,2629,138.47,1.50,-60.00,2203.8,2270.5,2137.1,2666.8,2280.0,254.42,7.16,629,3170.07,0.00,0.17,2.76,0.000,0.081,0.070,2203.66,2270.62,2136.69,2712.44,1130.06,0,0,0,30.00,15.78,15.79
$GC,3259.42,1028,138.47,1.50,0.00,2202.8,2270.4,2135.1,2712.2,1130.4,246.23,8.78,648,3264.83,0.00,0.00,2.58,0.000,0.000,0.028,2204.19,2272.00,2136.38,2711.94,2276.06,0,0,0,30.00,30.00,15.85
$GC,3569.42,16966,138.47,1.52,-60.00,2201.9,2270.4,2133.4,2711.8,2275.8,221.28,7.74,710,3574.97,0.00,0.00,2.73,0.000,0.000,0.070,2201.88,2270.56,2133.19,2712.31,1127.88,0,0,0,30.00,30.00,15.91
$GC,3674.43,17414,138.47,1.52,0.00,2201.7,2270.5,2132.9,2712.1,1127.9,212.41,8.60,731,3679.97,0.00,0.00,2.57,0.000,0.000,0.029,2201.69,2270.31,2133.06,2712.12,2274.50,0,0,0,30.00,30.00,15.92
$GC,3984.55,16966,138.47,1.54,-60.00,2201.1,2270.4,2131.8,2712.1,2274.9,189.28,7.25,793,3990.10,0.00,0.00,2.71,0.000,0.000,0.071,2201.81,2270.56,2133.06,2710.88,1128.69,0,0,0,30.00,30.00,15.96
$GC,4109.75,17414,138.47,1.54,0.00,2200.8,2270.6,2131.1,2712.1,1128.7,178.81,8.42,818,4115.10,0.00,0.00,2.56,0.000,0.000,0.029,2202.31,2271.81,2132.81,2711.75,2274.56,0,0,0,30.00,30.00,15.98
$GC,4419.68,16450,138.47,1.57,0.00,2200.7,2270.6,2130.8,2712.1,2274.8,155.71,7.35,880,4421.01,0.00,0.00,0.00,0.000,0.000,0.000,2199.41,2269.62,2129.19,2711.62,2275.00,0,0,0,30.00,30.00,30.00
$GC,4724.72,16450,138.47,1.60,0.00,2200.5,2270.8,2130.2,2712.2,2274.7,135.29,6.54,941,4726.05,0.00,0.00,0.00,0.000,0.000,0.000,2199.53,2270.44,2128.62,2711.88,2274.75,0,0,0,30.00,30.00,30.00
$GC,5029.95,16450,138.47,1.63,0.00,2200.2,2270.8,2129.6,2712.1,2275.0,113.90,7.35,1002,5031.28,0.00,0.00,0.00,0.000,0.000,0.000,2199.59,2270.56,2128.62,2712.38,2274.44,0,0,0,30.00,30.00,30.00
$GC,5334.81,16450,138.47,1.67,0.00,2200.1,2271.0,2129.2,2712.8,2275.1,93.19,6.50,1063,5336.15,0.00,0.00,0.00,0.000,0.000,0.000,2199.44,2270.69,2128.19,2712.06,2275.06,0,0,0,30.00,30.00,30.00
$GC,5519.84,10275,180.83,1.75,0.00,2200.2,2271.1,2129.2,2712.4,2274.6,82.39,5.57,1100,5551.54,30.32,0.25,0.00,1.212,0.070,0.000,2035.84,2089.88,1981.81,2772.75,2275.31,0,0,0,12.03,16.00,30.00
$GC,5734.88,64,180.83,1.77,60.00,2032.7,2090.7,1974.6,2773.3,2275.1,65.85,7.64,1143,5736.20,0.00,0.00,0.00,0.000,0.000,0.000,2031.69,2090.44,1972.94,2773.25,2275.00,0,0,0,30.00,30.00,30.00
$GC,5919.90,8486,224.15,1.85,60.00,2031.8,2091.4,1972.1,2773.7,2274.6,54.69,5.50,1180,5957.43,32.40,0.00,2.60,1.176,0.000,0.089,1861.59,1901.94,1821.25,2773.31,3348.00,0,0,0,12.15,30.00,15.87
$GC,5994.90,1092,224.15,1.89,0.00,1859.1,1901.4,1816.8,2773.9,3347.8,49.95,6.71,1195,6000.42,0.00,0.00,2.55,0.000,0.000,0.022,1860.25,1902.62,1817.88,2772.25,2178.94,0,0,0,30.00,30.00,15.92
$GC,6185.32,580,224.15,1.92,-60.00,1855.4,1901.5,1809.2,2773.9,2179.1,37.18,6.78,1233,6190.03,0.00,0.00,2.48,0.000,0.000,0.076,1855.59,1901.75,1809.44,2773.69,1129.88,0,0,0,30.00,30.00,15.92
$GC,6294.94,11303,264.65,2.00,0.00,1854.8,1902.0,1807.6,2773.6,1130.2,30.54,5.70,1255,6331.69,30.38,0.25,2.56,1.132,0.069,0.028,1696.28,1729.25,1663.31,2832.50,2279.62,0,0,0,12.19,15.87,15.95
$GC,6514.97,8226,299.82,2.07,0.00,1689.6,1729.8,1649.4,2832.5,2279.8,15.83,6.06,1299,6544.90,27.15,0.00,0.00,1.096,0.000,0.000,1553.34,1580.25,1526.44,2831.88,2280.12,0,0,0,12.30,30.00,30.00
$STATE,6690,end climb,SURFACE_DEPTH_REACHED
$STATE,6690,begin surface coast
$FINISH,1.5,1.024015
$STATE,6785,end surface coast,CONTROL_FINISHED_OK
$STATE,6785,begin surface
$SM_CCo,6901.69,89.93,1.136,0,1042.8,992.1,1093.6,424.90
$SM_GC,0.50,89.93,16.42,0.11,1.136,0.064,0.142,1042.8,992.1,1093.6,184.3,2360.8,0,0,0,12.24,15.82,15.87
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4752.18,-12506.88,200821,024543
$TCM_TEMP,266.25
$XPDR_PINGS,0,13.0,10.5
$HUMID,49.37
$TEMP,82.26
$INTERNAL_PRESSURE,8.87385
$24V_AH,14.87,152.255
$10V_AH,14.97,0.000
$FG_AHR_24Vo,126.228
$FG_AHR_10Vo,52.435
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,439.760,35.225,53.575,180.758,0.000,15.979,2646.194,4508.383,879.653,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1460.664,245.424,207.704,210.163,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,34.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971392,29,75456,57
$DATA_FILE_SIZE,57750,1353
$CAP_FILE_SIZE,193272,0
$SDSIZE,4028416,3905888
$SDFILEDIR,2178,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,357.6,1
$MAGCAL,1.000000,0.012799,-0.002822,-0.017332,1.039878,-0.068617,0.017082,-0.026009,0.951889,644.9,-293.8,120.6,34,0.0291,0
$IMPLIED_C_PITCH,2353,13.29,1113
$IMPLIED_C_VBD,2823,21.807600,457
$GPS,200821,063632,4751.027,-12513.299,39,1.6,40,16.0