version: 67.00
glider: 249
mission: 6
dive: 709
start: 10 20 121 13 21 55
data:
$ID,249
$MISSION,6
$DIVE,709
$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,558.0575
$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,67.586601
$FG_AHR_24V,184.69888
$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
$GPS1,201021,130601,4747.214,-12517.748,33,0.8,34,15.9
$_CALLS,5
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-54.3
$GPS2,201021,132142,4747.327,-12517.818,2,0.6,5,15.9
$SPEED_LIMITS,0.147,0.157
$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,228.8,156011,-21.3,-8.462,-28.39
$D_GRID,705
$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,2,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5.40,16386,-82.73,-1.35,0.00,490.9,448.4,533.4,178.6,2228.9,0.00,0.00,0,82.59,75.66,0.00,0.00,0.005,0.000,0.000,2449.03,2611.81,2286.25,178.69,2228.62,0,0,0,15.01,30.00,30.00
$GC,83.33,18983,-82.73,-1.35,-60.00,2448.5,2611.2,2285.8,178.6,2228.4,3.38,-5.96,14,120.68,14.41,14.59,2.44,0.006,0.241,0.068,3111.53,3338.81,2884.25,2004.94,1207.69,0,0,0,15.25,15.54,15.14
$GC,348.14,1028,-82.73,-1.35,0.00,3111.8,3337.8,2885.9,2004.1,1207.8,43.26,-10.94,67,353.37,0.00,0.00,2.64,0.000,0.000,0.028,3112.09,3337.38,2886.81,2003.62,2353.31,0,0,0,30.00,30.00,15.86
$GC,538.53,516,-82.73,-1.35,-60.00,3111.8,3335.1,2888.6,2004.6,2353.2,65.89,-11.98,105,543.47,0.00,0.00,2.72,0.000,0.000,0.058,3112.62,3335.50,2889.75,2004.19,1208.19,0,0,0,30.00,30.00,15.89
$GC,597.92,1028,-82.73,-1.35,0.00,3111.7,3335.1,2888.3,2004.6,1208.4,72.95,-11.73,117,603.47,0.00,0.00,2.62,0.000,0.000,0.027,3113.50,3336.31,2890.69,2003.88,2353.62,0,0,0,30.00,30.00,15.90
$GC,788.38,260,-82.73,-1.35,60.00,3112.1,3334.6,2889.6,2004.2,2354.4,92.45,-9.57,155,793.53,0.00,0.00,2.68,0.000,0.000,0.083,3112.81,3335.31,2890.31,2003.50,3426.50,0,0,0,30.00,30.00,15.89
$GC,1023.07,1028,-82.73,-1.35,0.00,3111.9,3330.8,2893.1,2004.5,3426.4,118.54,-9.39,202,1028.60,0.00,0.00,2.54,0.000,0.000,0.019,3113.84,3331.56,2896.12,2004.69,2241.56,0,0,0,30.00,30.00,15.93
$GC,1333.19,516,-82.73,-1.35,-60.00,3112.5,3331.4,2893.7,2004.7,2240.4,143.52,-8.05,264,1338.30,0.00,0.00,2.44,0.000,0.000,0.064,3112.75,3331.44,2894.06,2003.25,1206.62,0,0,0,30.00,30.00,15.94
$GC,1568.25,1028,-82.73,-1.35,0.00,3111.8,3330.4,2893.2,2004.6,1207.2,162.18,-7.58,311,1573.81,0.00,0.00,2.62,0.000,0.000,0.027,3113.84,3331.75,2895.94,2004.62,2354.25,0,0,0,30.00,30.00,15.97
$GC,1878.38,516,-82.73,-1.35,-60.00,3112.1,3330.6,2893.5,2004.4,2354.9,184.38,-7.13,373,1883.95,0.00,0.00,2.72,0.000,0.000,0.059,3112.84,3331.19,2894.50,2003.69,1207.06,0,0,0,30.00,30.00,15.97
$GC,2008.59,1028,-82.73,-1.35,0.00,3111.9,3330.9,2893.0,2004.9,1207.3,194.18,-7.64,399,2014.01,0.00,0.00,2.62,0.000,0.000,0.027,3113.66,3330.94,2896.38,2003.31,2353.94,0,0,0,30.00,30.00,15.97
$GC,2318.46,0,-82.73,-1.35,0.00,3111.8,3330.2,2893.5,2004.6,2354.1,220.22,-9.17,461,2319.79,0.00,0.00,0.00,0.000,0.000,0.000,3110.78,3329.62,2891.94,2004.81,2354.25,0,0,0,30.00,30.00,30.00
$GC,2623.53,0,-82.73,-1.35,0.00,3111.1,3329.1,2893.1,2004.4,2354.0,247.34,-8.94,522,2624.85,0.00,0.00,0.00,0.000,0.000,0.000,3110.69,3329.00,2892.38,2004.44,2354.25,0,0,0,30.00,30.00,30.00
$GC,2928.57,516,-82.73,-1.35,-60.00,3111.1,3328.9,2893.2,2004.7,2354.5,273.94,-8.54,583,2934.14,0.00,0.00,2.71,0.000,0.000,0.060,3111.06,3328.94,2893.19,2004.75,1208.06,0,0,0,30.00,30.00,15.98
$GC,2973.57,1028,-82.73,-1.35,0.00,3110.7,3328.4,2893.1,2004.4,1208.0,277.88,-8.78,592,2979.13,0.00,0.00,2.61,0.000,0.000,0.028,3111.81,3330.00,2893.62,2004.50,2353.75,0,0,0,30.00,30.00,16.00
$GC,3290.37,0,-82.73,-1.35,0.00,3110.5,3327.8,2893.1,2003.7,2354.1,305.85,-9.09,648,3301.44,0.00,0.00,0.00,0.000,0.000,0.000,3110.88,3328.12,2893.62,2004.50,2353.94,0,0,0,30.00,30.00,30.00
$GC,3603.54,0,-82.73,-1.35,0.00,3109.8,3326.7,2893.0,2004.6,2353.9,335.31,-9.25,677,3614.61,0.00,0.00,0.00,0.000,0.000,0.000,3110.09,3326.62,2893.56,2004.62,2354.12,0,0,0,30.00,30.00,30.00
$GC,3916.28,0,-82.73,-1.35,0.00,3109.4,3325.5,2893.4,2004.2,2354.4,363.66,-8.93,706,3927.35,0.00,0.00,0.00,0.000,0.000,0.000,3109.56,3326.19,2892.94,2004.56,2353.94,0,0,0,30.00,30.00,30.00
$GC,4229.23,516,-82.73,-1.35,-60.00,3108.9,3324.4,2893.4,2004.6,2353.9,390.15,-8.31,735,4233.88,0.00,0.00,2.72,0.000,0.000,0.061,3108.75,3324.44,2893.06,2004.12,1208.50,0,0,0,30.00,30.00,15.99
$GC,4299.25,1028,-82.73,-1.35,0.00,3109.2,3325.1,2893.4,2004.6,1208.2,396.13,-8.61,745,4314.38,0.00,0.00,2.62,0.000,0.000,0.028,3108.97,3324.19,2893.75,2004.25,2353.50,0,0,0,30.00,30.00,16.02
$GC,4615.94,260,-82.73,-1.35,60.00,3108.2,3323.8,2892.7,2004.7,2353.6,422.23,-7.99,774,4620.57,0.00,0.00,2.70,0.000,0.000,0.086,3108.25,3323.19,2893.31,2003.50,3424.50,0,0,0,30.00,30.00,15.95
$GC,4731.83,1028,-82.73,-1.35,0.00,3108.2,3323.1,2893.2,2004.8,3425.4,432.73,-9.25,789,4736.44,0.00,0.00,2.52,0.000,0.000,0.020,3108.06,3321.06,2895.06,2003.50,2246.25,0,0,0,30.00,30.00,16.01
$GC,5043.99,260,-82.73,-1.35,60.00,3107.3,3321.6,2893.1,2004.6,2244.1,459.03,-8.11,818,5048.67,0.00,0.00,2.98,0.000,0.000,0.082,3107.72,3322.38,2893.06,2004.56,3426.88,0,0,0,30.00,30.00,15.95
$GC,5114.01,1028,-82.73,-1.35,0.00,3107.3,3321.2,2893.4,2004.8,3427.2,465.17,-8.82,828,5128.93,0.00,0.00,2.53,0.000,0.000,0.021,3108.25,3322.50,2894.00,2004.50,2245.38,0,0,0,30.00,30.00,16.02
$GC,5430.21,260,-82.73,-1.35,60.00,3106.9,3320.3,2893.4,2004.4,2244.9,490.61,-8.21,857,5434.90,0.00,0.00,2.98,0.000,0.000,0.082,3106.25,3320.50,2892.00,2004.38,3425.19,0,0,0,30.00,30.00,15.95
$GC,5453.01,1028,-82.73,-1.35,0.00,3106.7,3319.7,2893.7,2004.6,3425.2,492.45,-8.40,861,5467.94,0.00,0.00,2.52,0.000,0.000,0.021,3107.22,3319.75,2894.69,2004.44,2243.94,0,0,0,30.00,30.00,16.01
$GC,5779.86,0,-82.73,-1.35,0.00,3106.6,3319.9,2893.4,2004.8,2244.2,517.05,-7.80,885,5781.19,0.00,0.00,0.00,0.000,0.000,0.000,3105.25,3319.06,2891.44,2005.00,2244.12,0,0,0,30.00,30.00,30.00
$GC,6094.89,260,-82.73,-1.35,60.00,3106.1,3318.9,2893.2,2004.3,2243.8,539.67,-7.37,906,6099.57,0.00,0.00,2.98,0.000,0.000,0.083,3106.84,3320.56,2893.12,2004.50,3424.31,0,0,0,30.00,30.00,15.94
$GC,6235.79,1028,-82.73,-1.35,0.00,3105.7,3318.4,2893.0,2004.8,3425.1,551.48,-8.51,926,6240.40,0.00,0.00,2.53,0.000,0.000,0.021,3107.88,3319.75,2896.00,2004.69,2248.00,0,0,0,30.00,30.00,16.01
$GC,6552.46,516,-82.73,-1.35,-60.00,3105.7,3317.8,2893.6,2004.4,2247.1,575.58,-7.47,948,6557.11,0.00,0.00,2.46,0.000,0.000,0.069,3107.75,3320.00,2895.50,2004.88,1207.12,0,0,0,30.00,30.00,15.97
$GC,6673.96,1028,-82.73,-1.35,0.00,3105.3,3317.4,2893.2,2004.9,1207.1,585.14,-7.95,966,6679.51,0.00,0.00,2.62,0.000,0.000,0.029,3106.19,3317.94,2894.44,2003.06,2353.31,0,0,0,30.00,30.00,16.03
$GC,6993.55,0,-82.73,-1.35,0.00,3104.7,3316.6,2892.8,2004.5,2352.9,610.23,-8.33,988,6994.88,0.00,0.00,0.00,0.000,0.000,0.000,3104.41,3315.69,2893.12,2004.31,2353.06,0,0,0,30.00,30.00,30.00
$GC,7308.41,516,-82.73,-1.35,-60.00,3104.5,3315.7,2893.2,2004.6,2352.9,634.02,-6.94,1009,7313.06,0.00,0.00,2.72,0.000,0.000,0.064,3103.41,3314.88,2891.94,2005.00,1206.81,0,0,0,30.00,30.00,15.97
$GC,7367.69,1028,-82.73,-1.35,0.00,3104.2,3315.4,2893.1,2004.6,1206.8,637.92,-6.76,1018,7373.23,0.00,0.00,2.62,0.000,0.000,0.029,3104.16,3314.81,2893.50,2004.81,2351.81,0,0,0,30.00,30.00,16.01
$GC,7687.09,0,-82.73,-1.35,0.00,3103.7,3314.6,2892.8,2004.2,2351.8,658.87,-6.59,1040,7688.42,0.00,0.00,0.00,0.000,0.000,0.000,3103.31,3314.62,2892.00,2004.50,2352.00,0,0,0,30.00,30.00,30.00
$GC,8002.11,32,-82.73,-1.35,0.00,3103.3,3313.6,2892.9,2004.1,2352.1,678.42,-6.04,1061,8003.44,0.00,0.00,0.00,0.000,0.000,0.000,3102.53,3313.19,2891.88,2004.44,2351.38,0,0,0,30.00,30.00,30.00
$GC,8317.12,0,-82.73,-1.35,0.00,3103.0,3312.8,2893.2,2004.1,2351.6,698.67,-6.84,1082,8318.45,0.00,0.00,0.00,0.000,0.000,0.000,3102.56,3313.44,2891.69,2004.88,2352.19,0,0,0,30.00,30.00,30.00
$STATE,8421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8421,begin apogee
$GC,8423.95,10243,0.00,-0.28,0.00,3103.0,3312.6,2893.4,2004.6,2152.8,705.93,-6.86,1089,8499.48,60.85,1.81,0.22,2.042,0.136,0.121,2775.03,2915.75,2634.31,2264.62,2280.88,0,0,0,10.63,15.86,15.56
$STATE,8500,end apogee,CONTROL_FINISHED_OK
$STATE,8501,begin climb
$GC,8501.67,10759,82.73,1.35,-60.00,2775.0,2916.1,2633.9,2264.6,2280.9,707.60,0.00,1094,8575.62,65.25,2.60,2.87,1.971,0.088,0.075,2436.97,2524.06,2349.88,2660.12,1132.44,0,0,0,12.27,15.66,15.32
$GC,8640.02,11303,154.97,1.49,0.00,2434.1,2521.6,2346.6,2662.2,1132.4,702.00,4.59,1115,8704.72,58.83,0.17,2.69,1.932,0.085,0.028,2143.31,2186.56,2100.06,2707.31,2274.12,0,0,0,11.81,15.48,15.56
$GC,9006.66,16386,154.97,1.49,0.00,2134.2,2185.9,2082.6,2707.8,2273.5,671.35,9.35,1145,9007.99,0.00,0.00,0.00,0.000,0.000,0.000,2133.59,2185.06,2082.12,2706.88,2274.00,0,0,0,30.00,30.00,30.00
$GC,9321.69,16902,154.97,1.49,-60.00,2132.6,2186.1,2079.1,2707.1,2273.8,643.64,9.07,1166,9326.35,0.00,0.00,2.79,0.000,0.000,0.072,2131.00,2184.50,2077.50,2707.06,1131.19,0,0,0,30.00,30.00,15.81
$GC,9400.38,17414,154.97,1.49,0.00,2131.8,2185.5,2078.2,2706.8,1130.8,635.92,9.73,1177,9405.02,0.00,0.00,2.65,0.000,0.000,0.029,2132.56,2185.56,2079.56,2705.88,2272.56,0,0,0,30.00,30.00,15.84
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$STATE,17629,end climb,SURFACE_DEPTH_REACHED
$STATE,17629,begin surface coast
$FINISH,0.1,1.024065
$STATE,17679,end surface coast,CONTROL_FINISHED_OK
$STATE,17679,begin surface
$SM_CCo,17843.06,135.04,1.131,0,500.4,420.0,580.9,557.95
$SM_GC,0.49,135.04,16.91,0.34,1.131,0.053,0.063,500.4,420.0,580.9,178.4,2360.1,0,0,0,11.54,15.74,15.76
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4747.96,-12514.75,201021,131537
$TCM_TEMP,267.05
$XPDR_PINGS,0,13.0,10.5
$HUMID,49.89
$TEMP,82.38
$INTERNAL_PRESSURE,8.85605
$24V_AH,14.59,238.794
$10V_AH,14.86,0.000
$FG_AHR_24Vo,184.933
$FG_AHR_10Vo,67.639
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,567.375,36.955,171.925,451.436,0.000,14.834,11762.737,6867.928,1523.946,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,2041.880,240.504,120.784,129.744,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,10879.982,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971232,35,75496,57
$DATA_FILE_SIZE,105780,2383
$CAP_FILE_SIZE,381152,0
$SDSIZE,4028416,3854176
$SDFILEDIR,2906,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,144.8,1
$IMPLIED_C_PITCH,2342,12.96,1976
$IMPLIED_C_VBD,2785,30.062906,1409
$GPS,201021,182001,4746.610,-12519.539,13,1.0,35,15.9