version: 67.00
glider: 249
mission: 6
dive: 1064
start: 1 26 122 0 39 47
data:
$ID,249
$MISSION,6
$DIVE,1064
$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,470
$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,0.0220051
$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,5000
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.054949999
$ROLL_TIMEOUT,25
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,91.651672
$FG_AHR_24V,278.06638
$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
$GPS1,260122,003337,4750.520,-12511.584,2,1.0,5,15.9
$_CALLS,1
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-62.4
$GPS2,260122,003934,4750.492,-12511.588,3,1.2,6,15.9
$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,346.8,3126,-25.2,-8.462,-28.39
$D_GRID,229
$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,5.80,16386,-82.73,-1.56,0.00,1036.8,1005.2,1068.4,178.4,2242.2,0.00,0.00,0,77.10,70.13,0.00,0.00,0.005,0.000,0.000,2774.97,2953.50,2596.44,178.31,2242.94,0,0,0,14.94,30.00,30.00
$GC,78.22,18983,-82.73,-1.56,-60.00,2774.3,2952.4,2596.2,178.5,2242.1,3.43,-4.94,13,110.49,7.84,14.41,2.60,0.007,0.256,0.067,3111.84,3327.06,2896.62,1939.94,1209.44,0,0,0,15.01,15.48,14.98
$GC,162.56,1028,-82.73,-1.56,0.00,3111.8,3326.6,2897.1,1940.8,1209.4,18.41,-15.67,30,168.12,0.00,0.00,2.68,0.000,0.000,0.026,3112.28,3327.44,2897.12,1941.00,2351.12,0,0,0,30.00,30.00,15.85
$GC,352.97,516,-82.73,-1.56,-60.00,3112.2,3326.5,2897.9,1940.9,2351.9,47.74,-15.60,68,358.18,0.00,0.00,2.83,0.000,0.000,0.058,3111.69,3326.19,2897.19,1941.06,1208.94,0,0,0,30.00,30.00,15.89
$GC,372.59,1028,-82.73,-1.56,-0.30,3111.7,3326.4,2897.1,1941.7,1209.1,50.88,-15.71,72,378.67,0.00,0.00,2.66,0.000,0.000,0.025,3113.00,3327.31,2898.69,1940.94,2349.06,0,0,0,30.00,30.00,15.90
$GC,563.20,0,-82.73,-1.56,-0.30,3111.6,3325.9,2897.3,1940.8,2348.4,76.22,-12.46,110,564.53,0.00,0.00,0.00,0.000,0.000,0.000,3111.19,3325.75,2896.62,1941.19,2348.88,0,0,0,30.00,30.00,30.00
$GC,747.65,516,-82.73,-1.56,-60.00,3112.0,3326.4,2897.6,1941.1,2349.0,96.39,-10.05,147,753.22,0.00,0.00,2.80,0.000,0.000,0.058,3111.91,3326.38,2897.44,1940.81,1208.00,0,0,0,30.00,30.00,15.95
$GC,827.66,1028,-82.73,-1.56,0.51,3112.1,3326.6,2897.6,1940.7,1207.9,103.69,-8.82,163,833.20,0.00,0.00,2.68,0.000,0.000,0.026,3112.59,3326.94,2898.25,1940.00,2361.19,0,0,0,30.00,30.00,15.96
$GC,1137.71,0,-82.73,-1.56,0.51,3112.0,3326.1,2897.8,1940.8,2361.0,128.13,-7.44,225,1139.04,0.00,0.00,0.00,0.000,0.000,0.000,3110.94,3326.19,2895.69,1940.94,2361.25,0,0,0,30.00,30.00,30.00
$GC,1442.77,516,-82.73,-1.56,-60.00,3112.1,3326.1,2898.1,1941.2,2361.8,153.80,-8.84,286,1448.33,0.00,0.00,2.84,0.000,0.000,0.057,3112.91,3326.75,2899.06,1940.94,1208.88,0,0,0,30.00,30.00,15.99
$GC,1502.77,1028,-82.73,-1.56,0.27,3112.1,3326.5,2897.7,1941.2,1209.1,159.43,-9.54,298,1508.31,0.00,0.00,2.66,0.000,0.000,0.026,3113.84,3328.31,2899.38,1941.12,2359.81,0,0,0,30.00,30.00,15.99
$GC,1812.81,0,-82.73,-1.56,0.27,3112.2,3326.2,2898.1,1941.1,2360.4,187.46,-9.49,360,1814.14,0.00,0.00,0.00,0.000,0.000,0.000,3110.75,3325.06,2896.44,1941.06,2360.00,0,0,0,30.00,30.00,30.00
$GC,2117.88,516,-82.73,-1.56,-60.00,3112.2,3326.3,2898.1,1940.8,2359.6,215.66,-9.19,421,2123.65,0.00,0.00,2.84,0.000,0.000,0.057,3112.31,3326.12,2898.50,1941.19,1209.06,0,0,0,30.00,30.00,15.99
$GC,2153.06,1028,-82.73,-1.56,-0.21,3112.3,3326.4,2898.2,1940.9,1209.2,218.97,-9.43,428,2158.44,0.00,0.00,2.63,0.000,0.000,0.025,3112.31,3326.62,2898.00,1941.44,2352.75,0,0,0,30.00,30.00,15.99
$STATE,2267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2267,begin apogee
$GC,2269.82,10243,0.00,-0.28,0.00,3112.0,3326.6,2897.5,1941.2,2040.8,229.38,-9.18,451,2335.33,60.77,2.21,0.17,1.370,0.144,0.114,2775.44,2920.00,2630.88,2254.56,2166.94,0,0,0,10.91,15.86,15.46
$STATE,2337,end apogee,CONTROL_FINISHED_OK
$STATE,2337,begin climb
$GC,2337.92,10759,82.73,1.56,-60.00,2773.2,2917.9,2628.4,2254.4,2167.1,232.30,0.00,464,2408.67,61.43,3.02,2.99,1.326,0.112,0.072,2437.25,2522.62,2351.88,2700.75,993.62,0,0,0,11.86,15.64,15.77
$GC,2475.89,11303,228.23,1.85,0.00,2434.3,2522.1,2346.5,2700.5,993.6,230.25,1.67,492,2594.68,110.54,0.43,2.67,1.313,0.054,0.020,1845.38,1872.62,1818.12,2786.50,2148.38,0,0,0,11.52,15.60,15.68
$GC,2896.97,16646,228.23,1.85,60.00,1835.8,1872.0,1799.7,2787.2,2148.5,198.13,8.48,576,2902.53,0.00,0.00,2.69,0.000,0.000,0.075,1837.19,1873.88,1800.50,2788.25,3206.38,0,0,0,30.00,30.00,15.78
$GC,2916.97,17414,228.23,1.85,0.00,1835.7,1871.9,1799.5,2787.2,3206.2,196.36,8.71,580,2922.53,0.00,0.00,2.64,0.000,0.000,0.022,1835.81,1872.31,1799.31,2787.88,2057.06,0,0,0,30.00,30.00,15.80
$GC,3227.09,16646,228.23,1.85,60.00,1833.6,1872.1,1795.2,2787.1,2056.9,170.16,8.61,642,3232.68,0.00,0.00,2.91,0.000,0.000,0.071,1833.97,1872.44,1795.50,2786.56,3206.19,0,0,0,30.00,30.00,15.88
$GC,3252.08,17414,228.23,1.85,0.27,1833.4,1872.1,1794.7,2787.6,3206.4,167.86,8.96,647,3257.64,0.00,0.00,2.61,0.000,0.000,0.022,1834.03,1872.88,1795.19,2787.56,2062.00,0,0,0,30.00,30.00,15.88
$GC,3562.19,16902,228.23,1.85,-60.00,1832.8,1872.6,1793.1,2787.6,2061.9,139.41,9.37,709,3567.74,0.00,0.00,2.70,0.000,0.000,0.077,1833.91,1873.12,1794.69,2786.75,993.50,0,0,0,30.00,30.00,15.91
$GC,3592.19,17414,228.23,1.85,0.10,1832.5,1872.4,1792.6,2787.6,993.4,136.30,10.27,715,3597.74,0.00,0.00,2.65,0.000,0.000,0.022,1832.25,1872.12,1792.38,2787.62,2146.88,0,0,0,30.00,30.00,15.93
$GC,3902.49,16710,228.23,1.87,60.00,1832.2,1872.6,1791.9,2788.1,2147.2,109.86,7.50,777,3907.89,0.00,0.00,2.66,0.000,0.000,0.076,1833.38,1873.50,1793.25,2786.31,3206.31,0,0,0,30.00,30.00,15.94
$GC,4032.50,17414,228.23,1.87,0.40,1832.4,1872.8,1792.0,2787.1,3205.8,99.14,8.58,803,4037.86,0.00,0.00,2.58,0.000,0.000,0.022,1832.62,1872.94,1792.31,2787.25,2062.88,0,0,0,30.00,30.00,15.97
$GC,4222.80,16966,228.23,1.91,-60.00,1831.8,1872.7,1790.8,2787.1,2062.9,85.39,6.55,841,4227.95,0.00,0.00,2.68,0.000,0.000,0.076,1832.16,1873.50,1790.81,2787.75,992.31,0,0,0,30.00,30.00,15.94
$GC,4357.44,17478,228.23,1.94,0.25,1831.2,1873.0,1789.3,2787.9,992.0,75.81,7.00,868,4362.98,0.00,0.00,2.65,0.000,0.000,0.021,1831.44,1873.00,1789.88,2786.25,2149.62,0,0,0,30.00,30.00,15.98
$GC,4547.88,10535,295.65,2.08,60.00,1831.2,1873.1,1789.4,2787.5,2149.7,65.57,5.31,906,4605.83,52.03,0.22,2.69,1.172,0.075,0.077,1569.16,1595.06,1543.25,2838.56,3205.94,0,0,0,11.05,15.95,15.50
$GC,4682.95,1092,295.65,2.09,0.60,1565.6,1595.1,1536.2,2838.3,3206.0,56.12,7.91,933,4688.50,0.00,0.00,2.61,0.000,0.000,0.022,1566.00,1595.88,1536.12,2838.69,2065.44,0,0,0,30.00,30.00,15.85
$GC,4873.40,8486,354.70,2.20,60.00,1562.7,1595.6,1529.7,2839.4,2065.6,44.38,5.70,971,4926.49,47.19,0.00,2.93,1.125,0.000,0.074,1329.16,1339.69,1318.62,2838.56,3206.25,0,0,0,11.27,30.00,15.46
$GC,4958.88,1092,354.70,2.22,0.84,1327.4,1340.6,1314.2,2838.7,3205.9,38.32,7.80,988,4964.24,0.00,0.00,2.61,0.000,0.000,0.022,1327.56,1340.56,1314.56,2838.12,2069.69,0,0,0,30.00,30.00,15.77
$GC,5149.11,516,354.70,2.22,-60.00,1323.2,1340.8,1305.7,2839.1,2069.6,22.86,8.30,1026,5154.28,0.00,0.00,2.73,0.000,0.000,0.077,1322.84,1340.38,1305.31,2839.25,993.69,0,0,0,30.00,30.00,15.82
$GC,5178.71,1028,354.70,2.22,1.00,1322.7,1340.7,1304.8,2839.1,993.5,20.22,8.66,1032,5184.27,0.00,0.00,2.69,0.000,0.000,0.021,1322.78,1340.94,1304.62,2839.44,2161.38,0,0,0,30.00,30.00,15.85
$GC,5368.74,0,354.70,2.22,1.00,1322.1,1340.8,1303.4,2839.2,2161.8,4.02,8.46,1070,5370.07,0.00,0.00,0.00,0.000,0.000,0.000,1321.47,1340.06,1302.88,2839.12,2161.75,0,0,0,30.00,30.00,30.00
$STATE,5373,end climb,SURFACE_DEPTH_REACHED
$STATE,5373,begin surface coast
$FINISH,0.2,1.018306
$STATE,5428,end surface coast,CONTROL_FINISHED_OK
$STATE,5428,begin surface
$SM_CCo,5508.35,52.78,1.108,0,1042.1,1000.8,1083.4,425.08
$SM_GC,0.50,52.78,16.30,0.40,1.108,0.051,0.058,1042.1,1000.8,1083.4,179.4,2358.0,0,0,0,11.19,15.84,15.89
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4752.95,-12515.83,250122,225410
$TCM_TEMP,267.23
$XPDR_PINGS,0,13.0,10.5
$HUMID,51.13
$TEMP,82.09
$INTERNAL_PRESSURE,8.89814
$24V_AH,14.72,376.110
$10V_AH,15.00,0.000
$FG_AHR_24Vo,278.211
$FG_AHR_10Vo,91.669
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,462.690,36.590,77.220,182.528,0.000,14.271,2325.622,3451.560,710.797,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1370.136,255.920,114.224,208.961,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,34.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971312,31,75496,57
$DATA_FILE_SIZE,48124,1082
$CAP_FILE_SIZE,198027,0
$SDSIZE,4028416,3771712
$SDFILEDIR,3950,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,133.5,1
$IMPLIED_C_PITCH,2364,12.58,835
$IMPLIED_C_VBD,2743,30.602409,785
$GPS,260122,021201,4750.797,-12511.346,17,1.4,18,15.9