version: 67.00
glider: 249
mission: 6
dive: 695
start: 10 18 121 23 32 31
data:
$ID,249
$MISSION,6
$DIVE,695
$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,0.0025118899
$HD_B,0.018861501
$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,67.172073
$FG_AHR_24V,182.20889
$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
$GPS1,181021,232431,4748.758,-12512.312,20,1.2,32,15.9
$_CALLS,2
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-64.3
$GPS2,181021,233218,4748.733,-12512.195,3,0.8,5,15.9
$SPEED_LIMITS,0.147,0.157
$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,321.1,6386,-21.3,-8.462,-28.39
$D_GRID,353
$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,5.39,16386,-82.73,-1.35,0.00,1035.5,1011.6,1059.4,180.6,2231.8,0.00,0.00,0,72.04,65.51,0.00,0.00,0.005,0.000,0.000,2669.56,2835.00,2504.12,180.94,2232.31,0,0,0,15.22,30.00,30.00
$GC,72.78,18983,-82.73,-1.35,-60.00,2668.7,2833.8,2503.6,180.8,2231.7,3.45,-5.32,12,105.57,9.68,14.60,2.46,0.007,0.246,0.065,3110.62,3321.31,2899.94,2003.69,1208.19,0,0,0,15.34,15.52,15.18
$GC,312.70,1028,-82.73,-1.35,0.00,3111.5,3320.8,2902.2,2003.4,1208.5,45.24,-14.09,60,318.26,0.00,0.00,2.63,0.000,0.000,0.028,3111.34,3321.38,2901.31,2003.81,2354.62,0,0,0,30.00,30.00,15.85
$GC,503.15,260,-82.73,-1.35,60.00,3111.5,3320.7,2902.3,2003.1,2354.4,69.21,-12.23,98,508.51,0.00,0.00,2.67,0.000,0.000,0.084,3112.59,3321.75,2903.44,2004.19,3430.06,0,0,0,30.00,30.00,15.85
$GC,532.90,1028,-82.73,-1.35,0.00,3111.6,3320.4,2902.8,2003.6,3430.3,73.20,-13.30,104,538.32,0.00,0.00,2.57,0.000,0.000,0.020,3112.12,3321.25,2903.00,2004.19,2245.62,0,0,0,30.00,30.00,15.88
$GC,723.24,516,-82.73,-1.35,-60.00,3111.9,3320.3,2903.4,2004.4,2243.6,93.61,-9.35,142,727.96,0.00,0.00,2.47,0.000,0.000,0.063,3112.28,3320.69,2903.88,2004.38,1207.06,0,0,0,30.00,30.00,15.90
$GC,897.91,1028,-82.73,-1.35,0.00,3112.2,3320.6,2903.7,2004.2,1207.1,110.22,-9.04,177,903.46,0.00,0.00,2.62,0.000,0.000,0.027,3112.38,3320.75,2904.00,2004.00,2355.62,0,0,0,30.00,30.00,15.93
$GC,1207.96,260,-82.73,-1.35,60.00,3112.3,3320.2,2904.5,2003.9,2355.4,132.92,-6.95,239,1213.50,0.00,0.00,2.67,0.000,0.000,0.083,3112.75,3319.81,2905.69,2004.31,3427.62,0,0,0,30.00,30.00,15.93
$GC,1337.99,1028,-82.73,-1.35,0.00,3113.0,3320.4,2905.6,2004.2,3427.2,143.57,-8.15,265,1343.52,0.00,0.00,2.56,0.000,0.000,0.019,3113.34,3319.56,2907.12,2003.81,2240.69,0,0,0,30.00,30.00,15.95
$GC,1648.03,260,-82.73,-1.35,60.00,3113.0,3320.3,2905.6,2004.1,2238.9,167.20,-7.71,327,1653.62,0.00,0.00,2.95,0.000,0.000,0.079,3112.91,3320.44,2905.38,2004.50,3427.69,0,0,0,30.00,30.00,15.94
$GC,1783.05,1028,-82.73,-1.35,0.00,3112.9,3320.2,2905.6,2003.4,3427.8,180.38,-10.65,354,1788.58,0.00,0.00,2.55,0.000,0.000,0.020,3113.56,3320.19,2906.94,2003.44,2244.69,0,0,0,30.00,30.00,15.97
$GC,2093.16,516,-82.73,-1.35,-60.00,3113.1,3320.1,2906.0,2003.6,2243.9,207.05,-8.60,416,2098.22,0.00,0.00,2.45,0.000,0.000,0.065,3113.06,3320.50,2905.62,2003.88,1208.19,0,0,0,30.00,30.00,15.97
$GC,2128.10,1028,-82.73,-1.35,0.00,3113.1,3320.4,2905.8,2003.9,1208.3,210.30,-9.24,423,2133.63,0.00,0.00,2.60,0.000,0.000,0.027,3113.28,3319.44,2907.12,2004.00,2355.19,0,0,0,30.00,30.00,15.98
$GC,2438.14,516,-82.73,-1.35,-60.00,3112.7,3320.3,2905.1,2004.4,2355.2,241.01,-9.82,485,2443.72,0.00,0.00,2.73,0.000,0.000,0.060,3113.03,3320.44,2905.62,2004.19,1207.94,0,0,0,30.00,30.00,15.98
$GC,2478.14,1028,-82.73,-1.35,0.00,3112.8,3319.6,2905.9,2004.0,1208.1,245.11,-10.29,493,2483.68,0.00,0.00,2.60,0.000,0.000,0.027,3112.59,3319.69,2905.50,2004.50,2353.81,0,0,0,30.00,30.00,15.99
$GC,2788.19,260,-82.73,-1.35,60.00,3112.7,3319.9,2905.6,2003.8,2352.5,275.13,-9.62,555,2793.74,0.00,0.00,2.67,0.000,0.000,0.086,3113.16,3320.12,2906.19,2003.88,3425.88,0,0,0,30.00,30.00,15.95
$GC,2898.21,1028,-82.73,-1.35,0.00,3112.3,3318.8,2905.9,2003.9,3426.8,286.67,-10.67,577,2903.75,0.00,0.00,2.54,0.000,0.000,0.020,3112.62,3319.44,2905.81,2004.25,2247.06,0,0,0,30.00,30.00,15.99
$GC,3212.70,0,-82.73,-1.35,0.00,3112.5,3319.4,2905.6,2003.9,2245.6,316.71,-9.75,621,3223.78,0.00,0.00,0.00,0.000,0.000,0.000,3112.62,3319.44,2905.81,2003.88,2245.19,0,0,0,30.00,30.00,30.00
$GC,3525.54,260,-82.73,-1.35,60.00,3112.5,3319.6,2905.4,2003.8,2245.0,344.82,-8.78,650,3530.23,0.00,0.00,2.93,0.000,0.000,0.081,3110.81,3318.25,2903.38,2003.69,3426.44,0,0,0,30.00,30.00,15.96
$GC,3611.30,1028,-82.73,-1.35,0.00,3112.1,3318.8,2905.3,2004.1,3426.0,352.89,-9.50,662,3626.41,0.00,0.00,2.54,0.000,0.000,0.020,3112.69,3318.44,2906.94,2004.31,2245.38,0,0,0,30.00,30.00,16.01
$STATE,3638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3638,begin apogee
$GC,3639.93,10243,0.00,-0.28,0.00,3111.8,3318.1,2905.6,2003.6,2178.6,355.34,-9.25,664,3707.47,59.83,1.80,0.17,1.547,0.137,0.133,2775.28,2912.75,2637.81,2263.25,2294.00,0,0,0,10.86,15.88,15.65
$STATE,3709,end apogee,CONTROL_FINISHED_OK
$STATE,3709,begin climb
$GC,3709.65,10243,82.73,1.35,0.00,2773.2,2911.5,2634.9,2263.6,2294.0,357.73,0.00,670,3777.47,60.92,2.62,0.00,1.495,0.091,0.000,2436.66,2522.06,2351.25,2662.75,2293.19,0,0,0,12.36,15.74,30.00
$GC,4079.77,10791,158.54,1.50,-60.00,2431.4,2521.6,2341.2,2661.9,2293.9,343.92,4.40,704,4145.94,57.45,0.19,2.88,1.478,0.082,0.071,2126.94,2173.81,2080.06,2707.56,1129.88,0,0,0,11.65,15.74,15.49
$GC,4210.11,1028,158.54,1.50,0.00,2123.6,2172.3,2074.9,2707.4,1129.9,334.56,8.21,720,4214.75,0.00,0.00,2.65,0.000,0.000,0.027,2124.50,2172.06,2076.94,2707.12,2273.31,0,0,0,30.00,30.00,15.65
$GC,4522.07,16386,158.54,1.50,0.00,2120.5,2172.2,2068.8,2707.8,2273.3,308.42,7.99,749,4533.70,0.00,0.00,0.00,0.000,0.000,0.000,2120.47,2172.81,2068.12,2707.94,2273.75,0,0,0,30.00,30.00,30.00
$GC,4838.44,16902,158.54,1.50,-60.00,2119.4,2172.2,2066.7,2707.4,2274.0,281.94,7.99,800,4843.77,0.00,0.00,2.79,0.000,0.000,0.068,2119.38,2172.56,2066.19,2708.00,1129.88,0,0,0,30.00,30.00,15.86
$GC,4883.21,17414,158.54,1.50,0.00,2119.3,2172.4,2066.2,2707.8,1129.8,278.22,8.25,809,4888.77,0.00,0.00,2.62,0.000,0.000,0.027,2119.47,2172.56,2066.38,2707.88,2276.31,0,0,0,30.00,30.00,15.87
$GC,5193.26,16710,158.54,1.52,60.00,2118.8,2172.3,2065.2,2708.2,2276.6,254.66,7.53,871,5198.79,0.00,0.00,2.68,0.000,0.000,0.085,2119.50,2172.88,2066.12,2706.75,3347.12,0,0,0,30.00,30.00,15.90
$GC,5233.25,17414,158.54,1.52,0.00,2118.5,2172.6,2064.4,2707.6,3347.9,251.32,8.27,879,5238.79,0.00,0.00,2.57,0.000,0.000,0.021,2118.62,2172.06,2065.19,2708.06,2183.00,0,0,0,30.00,30.00,15.91
$GC,5543.58,16450,158.54,1.54,0.00,2117.9,2172.6,2063.2,2708.5,2181.9,227.79,7.15,941,5544.91,0.00,0.00,0.00,0.000,0.000,0.000,2117.16,2172.31,2062.00,2708.12,2182.19,0,0,0,30.00,30.00,30.00
$GC,5848.46,16966,158.54,1.56,-60.00,2117.6,2172.4,2062.8,2708.2,2181.3,205.33,7.40,1002,5853.97,0.00,0.00,2.54,0.000,0.000,0.073,2119.12,2173.44,2064.81,2707.19,1129.56,0,0,0,30.00,30.00,15.95
$GC,5943.48,17414,158.54,1.56,0.00,2117.5,2172.6,2062.5,2708.3,1129.8,197.72,8.02,1021,5949.03,0.00,0.00,2.62,0.000,0.000,0.027,2117.88,2172.94,2062.81,2708.50,2275.06,0,0,0,30.00,30.00,15.96
$GC,6253.77,16450,158.54,1.58,0.00,2116.9,2171.8,2062.1,2708.4,2275.5,173.99,7.68,1083,6255.11,0.00,0.00,0.00,0.000,0.000,0.000,2116.59,2171.75,2061.44,2707.88,2275.50,0,0,0,30.00,30.00,30.00
$GC,6558.69,16966,158.54,1.61,-60.00,2116.9,2172.7,2061.2,2708.1,2274.9,150.99,6.86,1144,6564.24,0.00,0.00,2.78,0.000,0.000,0.069,2117.66,2173.44,2061.88,2707.38,1130.12,0,0,0,30.00,30.00,15.96
$GC,6703.74,17478,158.54,1.64,0.00,2117.0,2172.7,2061.4,2708.0,1130.2,140.14,7.27,1173,6709.26,0.00,0.00,2.60,0.000,0.000,0.027,2117.38,2173.19,2061.56,2708.31,2274.50,0,0,0,30.00,30.00,15.99
$GC,7013.82,10535,203.07,1.72,60.00,2116.7,2172.7,2060.7,2708.1,2274.8,121.45,6.07,1235,7052.46,33.63,0.25,2.67,1.256,0.075,0.087,1945.03,1986.56,1903.50,2762.56,3347.44,0,0,0,11.10,15.96,15.74
$GC,7184.58,1028,203.07,1.72,0.00,1942.8,1987.4,1898.2,2762.4,3347.4,108.36,8.10,1269,7190.12,0.00,0.00,2.57,0.000,0.000,0.022,1943.72,1988.88,1898.56,2763.31,2181.38,0,0,0,30.00,30.00,15.89
$GC,7494.69,580,203.07,1.76,-60.00,1940.7,1988.2,1893.1,2762.8,2181.3,84.12,6.84,1331,7500.21,0.00,0.00,2.53,0.000,0.000,0.073,1940.50,1988.44,1892.56,2763.00,1129.81,0,0,0,30.00,30.00,15.92
$GC,7729.76,9254,259.88,1.87,0.00,1939.3,1988.4,1890.2,2762.9,1129.9,69.25,5.42,1378,7777.74,43.42,0.00,2.61,1.200,0.000,0.027,1715.62,1738.50,1692.75,2762.25,2276.50,0,0,0,11.44,30.00,15.94
$GC,7959.97,2629,259.88,1.90,-60.00,1709.3,1738.6,1680.0,2762.7,2276.3,55.17,6.89,1424,7965.58,0.00,0.17,2.79,0.000,0.088,0.069,1709.94,1739.50,1680.38,2804.50,1131.12,0,0,0,30.00,15.82,15.78
$GC,8195.00,17478,259.88,1.94,0.00,1706.8,1738.1,1675.6,2804.2,1131.2,38.58,6.79,1471,8200.55,0.00,0.00,2.62,0.000,0.000,0.027,1707.53,1738.69,1676.38,2804.38,2276.69,0,0,0,30.00,30.00,15.89
$GC,8385.01,10275,328.20,2.07,0.00,1706.6,1738.2,1674.9,2803.8,2276.4,28.56,4.80,1509,8438.63,51.44,0.18,0.00,1.148,0.086,0.000,1436.72,1451.00,1422.44,2847.38,2276.44,0,0,0,11.52,15.88,30.00
$GC,8620.89,8742,389.06,2.19,-60.00,1430.2,1452.0,1408.3,2848.0,2276.7,16.01,5.20,1556,8672.71,46.50,0.00,2.81,1.107,0.000,0.070,1189.28,1187.62,1190.94,2848.75,1130.94,0,0,0,11.69,30.00,15.59
$STATE,8791,end climb,SURFACE_DEPTH_REACHED
$STATE,8791,begin surface coast
$FINISH,0.1,1.015178
$STATE,8847,end surface coast,CONTROL_FINISHED_OK
$STATE,8847,begin surface
$SM_CCo,8904.10,27.77,1.085,0,1042.2,1005.6,1078.8,425.06
$SM_GC,0.97,27.77,16.55,2.80,1.085,0.051,0.029,1042.2,1005.6,1078.8,184.4,2343.1,0,0,0,11.74,15.72,15.77
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.80,-12400.10,181021,232744
$TCM_TEMP,267.57
$XPDR_PINGS,0,13.0,10.5
$HUMID,50.26
$TEMP,82.18
$INTERNAL_PRESSURE,8.8872
$24V_AH,14.98,235.427
$10V_AH,15.00,0.000
$FG_AHR_24Vo,182.367
$FG_AHR_10Vo,67.199
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,456.145,36.360,95.690,215.158,0.000,13.899,4255.676,4999.850,1035.368,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1547.256,245.752,216.888,223.068,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,4436.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971340,31,75468,57
$DATA_FILE_SIZE,70623,1601
$CAP_FILE_SIZE,246196,0
$SDSIZE,4028416,3857312
$SDFILEDIR,2843,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,171.6,1
$MAGCAL,1.000000,0.271473,0.153274,-0.194095,1.003708,-0.597371,0.404966,0.374426,2.001000,455.0,-80.7,-283.1,31,0.1153,0
$IMPLIED_C_PITCH,2351,13.05,1337
$IMPLIED_C_VBD,2792,36.451015,827
$GPS,191021,020131,4748.725,-12512.248,28,1.4,29,15.9