version: 67.00
glider: 249
mission: 6
dive: 1066
start: 1 26 122 4 0 38
data:
$ID,249
$MISSION,6
$DIVE,1066
$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,91.688919
$FG_AHR_24V,278.37747
$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
$GPS1,260122,035231,4750.996,-12510.981,5,0.8,23,15.9
$_CALLS,2
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-62.4
$GPS2,260122,040025,4750.984,-12510.980,2,0.6,5,15.9
$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,263.1,166962,-25.2,-8.462,-28.39
$D_GRID,253
$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,5.91,16386,-82.73,-1.56,0.00,1035.7,1004.1,1067.3,179.4,2230.9,0.00,0.00,0,77.21,70.14,0.00,0.00,0.005,0.000,0.000,2753.47,2930.50,2576.44,179.25,2231.06,0,0,0,14.93,30.00,30.00
$GC,78.33,18727,-82.73,-1.56,60.00,2752.6,2929.4,2575.9,179.4,2230.4,3.03,-4.30,13,110.69,8.66,14.32,3.10,0.007,0.254,0.084,3111.50,3328.00,2895.00,1940.56,3426.31,0,0,0,15.01,15.49,14.96
$GC,182.77,1028,-82.73,-1.56,0.00,3111.7,3327.6,2895.7,1940.4,3425.2,21.11,-15.76,34,188.32,0.00,0.00,2.62,0.000,0.000,0.019,3112.41,3328.06,2896.75,1941.06,2254.12,0,0,0,30.00,30.00,15.86
$GC,373.17,0,-82.73,-1.56,0.00,3111.8,3327.9,2895.8,1941.1,2251.1,48.17,-13.83,72,374.50,0.00,0.00,0.00,0.000,0.000,0.000,3111.44,3326.94,2895.94,1941.19,2250.81,0,0,0,30.00,30.00,30.00
$GC,557.89,516,-82.73,-1.56,-60.00,3112.1,3327.9,2896.3,1940.8,2251.6,72.32,-11.51,109,563.38,0.00,0.00,2.59,0.000,0.000,0.063,3112.34,3327.56,2897.12,1941.19,1209.00,0,0,0,30.00,30.00,15.93
$GC,627.84,1028,-82.73,-1.56,-0.46,3111.6,3327.3,2895.9,1941.1,1209.3,80.31,-10.57,123,633.39,0.00,0.00,2.64,0.000,0.000,0.025,3111.91,3327.69,2896.12,1940.62,2345.94,0,0,0,30.00,30.00,15.93
$GC,818.26,516,-82.73,-1.56,-60.00,3111.8,3327.4,2896.1,1941.4,2346.4,96.86,-8.47,161,823.45,0.00,0.00,2.83,0.000,0.000,0.058,3111.78,3327.31,2896.25,1941.38,1209.12,0,0,0,30.00,30.00,15.95
$GC,882.87,1028,-82.73,-1.56,-0.35,3111.4,3327.5,2895.4,1941.1,1208.9,103.05,-9.96,174,888.41,0.00,0.00,2.64,0.000,0.000,0.025,3111.91,3327.31,2896.50,1941.06,2348.44,0,0,0,30.00,30.00,15.96
$GC,1192.92,516,-82.73,-1.56,-60.00,3112.2,3328.2,2896.1,1941.1,2348.5,136.99,-11.35,236,1198.50,0.00,0.00,2.83,0.000,0.000,0.057,3111.91,3327.44,2896.38,1940.75,1209.56,0,0,0,30.00,30.00,15.98
$GC,1267.93,1028,-82.73,-1.56,-0.80,3112.0,3327.5,2896.5,1941.8,1209.1,145.23,-10.64,251,1273.48,0.00,0.00,2.62,0.000,0.000,0.025,3112.19,3328.12,2896.25,1941.19,2340.06,0,0,0,30.00,30.00,15.98
$GC,1577.98,516,-82.73,-1.56,-60.00,3112.3,3327.9,2896.8,1941.2,2339.8,173.98,-8.47,313,1583.55,0.00,0.00,2.80,0.000,0.000,0.057,3113.72,3329.56,2897.88,1940.12,1207.81,0,0,0,30.00,30.00,15.99
$GC,1617.98,1028,-82.73,-1.56,-0.68,3111.8,3327.4,2896.2,1940.9,1208.0,177.51,-8.83,321,1623.54,0.00,0.00,2.62,0.000,0.000,0.025,3111.78,3327.88,2895.69,1941.31,2342.38,0,0,0,30.00,30.00,16.00
$GC,1928.17,548,-82.73,-1.56,-60.00,3112.1,3327.7,2896.4,1941.0,2342.2,198.29,-6.43,383,1933.60,0.00,0.00,2.80,0.000,0.000,0.057,3112.53,3327.38,2897.69,1940.50,1208.62,0,0,0,30.00,30.00,15.99
$GC,1978.04,1028,-82.73,-1.56,-0.58,3112.1,3328.0,2896.1,1940.9,1208.9,202.10,-7.66,393,1983.60,0.00,0.00,2.63,0.000,0.000,0.025,3112.38,3327.88,2896.88,1940.88,2344.00,0,0,0,30.00,30.00,16.00
$GC,2288.09,0,-82.73,-1.56,-0.58,3111.9,3327.8,2896.1,1940.7,2343.9,228.11,-9.79,455,2289.43,0.00,0.00,0.00,0.000,0.000,0.000,3111.75,3326.88,2896.62,1941.12,2343.94,0,0,0,30.00,30.00,30.00
$STATE,2543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2543,begin apogee
$GC,2545.03,10243,0.00,-0.28,0.00,3112.3,3328.2,2896.4,1941.2,2040.1,253.36,-9.67,506,2610.55,61.01,2.18,0.17,1.403,0.140,0.116,2773.62,2917.50,2629.75,2254.75,2164.62,0,0,0,10.86,15.88,15.44
$STATE,2613,end apogee,CONTROL_FINISHED_OK
$STATE,2613,begin climb
$GC,2613.14,11271,82.73,1.56,0.00,2773.6,2918.2,2628.9,2255.1,2164.8,256.03,0.00,519,2679.99,61.48,2.91,0.19,1.355,0.089,0.072,2438.38,2527.62,2349.12,2702.88,2030.75,0,0,0,11.90,15.67,15.77
$GC,2982.41,10275,202.14,1.80,0.00,2434.0,2527.1,2341.0,2703.8,2030.9,246.30,2.89,593,3075.84,91.24,0.33,0.00,1.348,0.061,0.000,1950.59,1985.81,1915.38,2774.88,2031.62,0,0,0,11.27,15.77,30.00
$GC,3378.07,16646,202.14,1.80,60.00,1940.8,1985.8,1895.8,2774.8,2031.6,216.37,8.66,672,3383.69,0.00,0.00,3.02,0.000,0.000,0.072,1941.19,1986.12,1896.25,2775.19,3206.25,0,0,0,30.00,30.00,15.81
$GC,3483.09,17414,202.14,1.80,0.49,1940.5,1985.6,1895.3,2775.6,3206.8,206.20,9.81,693,3488.64,0.00,0.00,2.62,0.000,0.000,0.022,1940.03,1985.00,1895.06,2774.88,2066.69,0,0,0,30.00,30.00,15.84
$GC,3793.15,16646,202.14,1.80,60.00,1938.8,1986.1,1891.5,2774.9,2066.4,178.32,8.79,755,3798.76,0.00,0.00,2.91,0.000,0.000,0.072,1939.38,1986.81,1891.94,2775.38,3207.00,0,0,0,30.00,30.00,15.90
$GC,3833.15,17414,202.14,1.80,0.58,1939.0,1986.1,1891.9,2775.7,3206.3,174.51,9.54,763,3838.70,0.00,0.00,2.61,0.000,0.000,0.022,1939.72,1986.56,1892.88,2774.44,2067.50,0,0,0,30.00,30.00,15.91
$GC,4143.44,8226,268.34,1.93,0.58,1937.8,1986.1,1889.6,2775.4,2067.7,153.64,5.37,825,4195.65,51.08,0.00,0.00,1.267,0.000,0.000,1680.44,1703.38,1657.50,2775.62,2067.19,0,0,0,11.11,30.00,30.00
$GC,4498.36,0,268.34,1.93,0.58,1674.1,1704.4,1643.8,2775.8,2068.0,130.12,8.15,896,4499.69,0.00,0.00,0.00,0.000,0.000,0.000,1673.44,1703.69,1643.19,2775.75,2067.38,0,0,0,30.00,30.00,30.00
$GC,4803.45,16902,268.34,1.93,-60.00,1670.6,1708.2,1632.9,2776.6,2067.6,103.46,8.10,957,4809.02,0.00,0.00,2.73,0.000,0.000,0.079,1670.34,1707.75,1632.94,2776.00,993.44,0,0,0,30.00,30.00,15.90
$GC,4823.46,17478,268.34,1.95,0.67,1670.2,1708.4,1631.9,2775.9,993.4,101.88,7.87,961,4829.01,0.00,0.00,2.66,0.000,0.000,0.021,1671.00,1709.00,1633.00,2775.56,2157.00,0,0,0,30.00,30.00,15.93
$GC,5133.57,10535,336.60,2.08,60.00,1669.8,1709.5,1630.0,2775.7,2157.1,83.26,5.27,1023,5192.95,53.54,0.31,2.69,1.195,0.066,0.078,1402.00,1419.88,1384.12,2840.88,3206.50,0,0,0,11.10,15.93,15.48
$GC,5215.21,1028,336.60,2.08,-0.70,1401.5,1420.6,1382.3,2841.8,3206.1,77.32,8.01,1039,5220.58,0.00,0.00,2.69,0.000,0.000,0.022,1401.16,1420.69,1381.62,2841.31,2048.19,0,0,0,30.00,30.00,15.81
$GC,5405.47,580,336.60,2.09,-60.00,1397.4,1421.0,1373.8,2841.0,2048.3,61.76,7.96,1077,5410.81,0.00,0.00,2.72,0.000,0.000,0.079,1397.81,1421.31,1374.31,2841.81,993.75,0,0,0,30.00,30.00,15.84
$GC,5550.19,1028,336.60,2.09,0.20,1395.5,1421.2,1369.8,2841.4,993.5,49.53,8.44,1106,5555.62,0.00,0.00,2.65,0.000,0.000,0.022,1396.38,1421.94,1370.81,2841.75,2147.12,0,0,0,30.00,30.00,15.89
$GC,5740.10,324,336.60,2.11,60.00,1394.8,1421.4,1368.2,2842.1,2147.1,34.52,7.74,1144,5745.64,0.00,0.00,2.68,0.000,0.000,0.076,1395.62,1422.44,1368.81,2840.62,3205.12,0,0,0,30.00,30.00,15.91
$GC,5770.11,1092,336.60,2.12,0.20,1395.0,1421.9,1368.1,2841.6,3205.4,32.08,7.94,1150,5775.65,0.00,0.00,2.63,0.000,0.000,0.022,1394.78,1421.75,1367.81,2841.81,2059.12,0,0,0,30.00,30.00,15.92
$GC,5960.15,16450,336.60,2.14,0.20,1394.1,1421.9,1366.3,2842.2,2059.7,18.10,7.18,1188,5961.48,0.00,0.00,0.00,0.000,0.000,0.000,1393.69,1421.50,1365.88,2841.50,2059.44,0,0,0,30.00,30.00,30.00
$GC,6145.21,16646,336.60,2.14,60.00,1393.6,1422.7,1364.5,2842.1,2059.4,4.10,7.98,1225,6151.03,0.00,0.00,2.92,0.000,0.000,0.072,1393.81,1423.00,1364.62,2841.94,3206.50,0,0,0,30.00,30.00,15.94
$STATE,6155,end climb,SURFACE_DEPTH_REACHED
$STATE,6155,begin surface coast
$FINISH,1.9,1.024868
$STATE,6170,end surface coast,CONTROL_FINISHED_OK
$STATE,6170,begin surface
$SM_CCo,6265.39,66.13,1.127,0,1043.3,993.4,1093.2,424.78
$SM_GC,0.78,66.13,16.58,2.07,1.127,0.069,0.019,1043.3,993.4,1093.2,186.8,2249.7,0,0,0,11.09,15.84,15.96
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4751.81,-12557.63,260122,035546
$TCM_TEMP,267.29
$XPDR_PINGS,0,13.0,10.5
$HUMID,51.12
$TEMP,82.10
$INTERNAL_PRESSURE,8.90457
$24V_AH,14.79,376.495
$10V_AH,15.00,0.000
$FG_AHR_24Vo,278.528
$FG_AHR_10Vo,91.708
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,463.280,36.640,71.395,239.562,0.000,14.050,2584.034,4066.879,802.986,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1402.608,253.952,115.536,209.090,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,34.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971276,32,75512,57
$DATA_FILE_SIZE,54661,1230
$CAP_FILE_SIZE,202995,0
$SDSIZE,4028416,3771456
$SDFILEDIR,3956,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,131.2,1
$IMPLIED_C_PITCH,2374,12.40,986
$IMPLIED_C_VBD,2751,41.685425,925
$GPS,260122,054516,4750.799,-12511.300,1,1.1,4,15.9