version: 67.00
glider: 249
mission: 6
dive: 1287
start: 3 21 122 0 10 52
data:
$ID,249
$MISSION,6
$DIVE,1287
$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,360
$T_MISSION,510
$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,120
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72946
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0039810701
$HD_B,0.029864
$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,400
$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,105.03704
$FG_AHR_24V,338.60126
$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
$GPS1,210322,000304,4704.417,-12455.411,1,0.8,4,15.7
$_CALLS,1
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-51.6
$GPS2,210322,001039,4704.437,-12455.374,2,0.8,5,15.7
$SPEED_LIMITS,0.159,0.169
$TGT_NAME,PICKUP
$TGT_LATLONG,4702.180,-12439.970
$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,97.9,19887,-21.8,-9.167,-28.51
$D_GRID,142
$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,6.04,16386,-116.79,-1.44,0.00,493.3,445.5,541.2,173.2,2260.8,0.00,0.00,0,97.82,90.26,0.00,0.00,0.005,0.000,0.000,2744.78,2922.81,2566.75,173.44,2261.31,0,0,0,14.82,30.00,30.00
$GC,98.56,18727,-116.79,-1.44,60.00,2744.3,2921.4,2567.2,173.5,2260.8,3.17,-3.42,17,135.32,12.25,14.39,3.07,0.006,0.231,0.083,3250.72,3479.62,3021.81,1971.06,3425.62,0,0,0,14.91,15.46,14.83
$GC,242.41,1028,-116.79,-1.44,0.00,3250.8,3475.1,3026.4,1970.9,3426.1,24.42,-14.12,46,247.96,0.00,0.00,2.65,0.000,0.000,0.017,3250.97,3475.38,3026.56,1971.00,2251.62,0,0,0,30.00,30.00,15.84
$GC,433.08,516,-116.79,-1.44,-60.00,3251.0,3475.4,3026.6,1970.8,2250.1,46.45,-11.47,84,438.00,0.00,0.00,2.62,0.000,0.000,0.062,3250.97,3474.75,3027.19,1970.62,1208.69,0,0,0,30.00,30.00,15.86
$GC,457.44,1028,-116.79,-1.44,-0.25,3250.8,3475.2,3026.5,1971.1,1208.7,49.19,-11.08,89,463.01,0.00,0.00,2.68,0.000,0.000,0.024,3251.28,3476.00,3026.56,1970.94,2350.50,0,0,0,30.00,30.00,15.90
$GC,647.86,0,-116.79,-1.44,-0.25,3250.6,3475.2,3025.9,1970.7,2350.8,67.55,-9.28,127,649.19,0.00,0.00,0.00,0.000,0.000,0.000,3250.69,3476.25,3025.12,1970.69,2350.69,0,0,0,30.00,30.00,30.00
$GC,832.49,260,-116.79,-1.44,60.00,3250.6,3475.0,3026.2,1970.8,2350.1,83.95,-8.35,164,838.06,0.00,0.00,2.80,0.000,0.000,0.082,3251.06,3475.69,3026.44,1971.25,3426.56,0,0,0,30.00,30.00,15.87
$GC,867.49,1028,-116.79,-1.44,0.20,3250.6,3471.7,3029.5,1971.5,3426.3,87.57,-10.34,171,873.05,0.00,0.00,2.64,0.000,0.000,0.017,3251.50,3472.12,3030.88,1970.75,2250.69,0,0,0,30.00,30.00,15.94
$GC,1057.53,516,-116.79,-1.44,-60.00,3250.3,3471.2,3029.5,1971.1,2249.0,105.94,-9.71,209,1063.08,0.00,0.00,2.62,0.000,0.000,0.062,3250.91,3471.00,3030.81,1970.88,1208.94,0,0,0,30.00,30.00,15.92
$GC,1092.52,1028,-116.79,-1.44,0.60,3250.4,3471.1,3029.8,1971.0,1209.1,109.42,-9.85,216,1098.10,0.00,0.00,2.71,0.000,0.000,0.025,3250.72,3471.50,3029.94,1970.81,2364.62,0,0,0,30.00,30.00,15.96
$GC,1402.59,260,-116.79,-1.44,60.00,3250.6,3471.4,3029.9,1970.9,2364.8,137.32,-8.25,278,1408.14,0.00,0.00,2.74,0.000,0.000,0.083,3250.75,3471.75,3029.75,1970.69,3426.19,0,0,0,30.00,30.00,15.89
$STATE,1457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1457,begin apogee
$GC,1462.82,10243,0.00,-0.28,0.00,3250.2,3470.8,3029.5,1970.9,2052.5,142.12,-8.97,289,1552.68,83.17,1.98,0.14,1.269,0.136,0.125,2774.72,2911.12,2638.31,2253.31,2165.69,0,0,0,10.85,15.80,15.35
$STATE,1554,end apogee,CONTROL_FINISHED_OK
$STATE,1555,begin climb
$GC,1555.64,10759,116.79,1.44,-60.00,2774.0,2910.4,2637.6,2253.6,2165.6,145.49,0.00,307,1651.56,85.06,2.85,3.06,1.216,0.108,0.072,2298.69,2357.88,2239.50,2672.06,994.56,0,0,0,11.78,15.55,15.69
$GC,1689.34,11303,246.80,1.70,0.00,2296.1,2358.7,2233.4,2672.6,994.6,141.83,4.86,334,1792.72,97.14,0.37,2.71,1.189,0.053,0.020,1768.25,1809.50,1727.00,2752.06,2143.50,0,0,0,11.48,15.52,15.62
$GC,2095.11,16710,246.80,1.72,60.00,1757.7,1815.1,1700.4,2751.5,2143.4,107.61,8.54,415,2100.59,0.00,0.00,2.76,0.000,0.000,0.075,1757.91,1815.44,1700.38,2752.12,3204.88,0,0,0,30.00,30.00,15.78
$GC,2145.03,17414,246.80,1.72,-0.28,1757.5,1815.8,1699.1,2752.0,3205.2,103.08,9.25,425,2150.59,0.00,0.00,2.66,0.000,0.000,0.021,1758.44,1816.81,1700.06,2751.62,2052.19,0,0,0,30.00,30.00,15.81
$GC,2455.17,16966,246.80,1.75,-60.00,1755.5,1817.3,1693.8,2752.4,2051.8,78.93,7.30,487,2460.71,0.00,0.00,2.73,0.000,0.000,0.077,1756.41,1817.88,1694.94,2752.75,992.06,0,0,0,30.00,30.00,15.84
$GC,2500.17,17478,246.80,1.76,-0.77,1754.7,1817.2,1692.2,2752.2,992.2,75.12,8.59,496,2505.70,0.00,0.00,2.64,0.000,0.000,0.020,1754.81,1817.31,1692.31,2752.81,2132.38,0,0,0,30.00,30.00,15.89
$GC,2690.63,16710,246.80,1.80,60.00,1754.7,1817.6,1691.8,2752.1,2131.6,60.78,7.21,534,2695.78,0.00,0.00,2.76,0.000,0.000,0.074,1755.06,1818.25,1691.88,2752.12,3205.75,0,0,0,30.00,30.00,15.86
$GC,2885.28,17478,246.80,1.84,-0.17,1754.4,1818.3,1690.6,2752.1,3205.5,45.93,7.54,573,2890.84,0.00,0.00,2.65,0.000,0.000,0.021,1755.62,1819.19,1692.06,2751.69,2053.25,0,0,0,30.00,30.00,15.93
$GC,3075.75,10791,409.68,2.16,-60.00,1753.7,1818.5,1688.9,2752.2,2053.5,36.97,3.78,611,3206.43,123.26,0.56,2.81,1.110,0.048,0.081,1104.47,1107.12,1101.81,2862.94,995.94,0,0,0,10.90,15.90,15.30
$GC,3288.76,1092,409.68,2.18,-0.94,1100.5,1108.0,1093.1,2862.6,995.6,21.70,8.49,653,3294.19,0.00,0.00,2.67,0.000,0.000,0.020,1100.16,1108.50,1091.81,2863.00,2125.38,0,0,0,30.00,30.00,15.73
$GC,3479.06,324,409.68,2.21,60.00,1097.5,1110.1,1085.0,2862.9,2125.2,6.25,7.25,691,3484.22,0.00,0.00,2.80,0.000,0.000,0.074,1098.25,1110.50,1086.00,2861.50,3205.62,0,0,0,30.00,30.00,15.78
$STATE,3508,end climb,SURFACE_DEPTH_REACHED
$STATE,3508,begin surface coast
$FINISH,0.2,1.024196
$STATE,3558,end surface coast,CONTROL_FINISHED_OK
$STATE,3558,begin surface
$SM_CCo,3645.91,0.00,0.000,0,1095.8,1113.9,1077.6,411.92
$SM_GC,0.57,0.00,16.61,2.11,0.000,0.050,0.017,1095.8,1113.9,1077.6,188.1,2236.6,0,0,0,30.00,15.79,15.83
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4703.94,-12453.31,200322,230055
$TCM_TEMP,266.85
$XPDR_PINGS,0,13.0,10.5
$HUMID,51.53
$TEMP,81.99
$INTERNAL_PRESSURE,8.91639
$24V_AH,14.70,460.882
$10V_AH,15.00,0.000
$FG_AHR_24Vo,338.735
$FG_AHR_10Vo,105.048
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,491.140,36.755,60.340,289.849,0.000,14.539,1889.000,2138.510,476.366,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1269.440,230.992,125.376,201.041,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,34.684,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971192,31,75556,60
$DATA_FILE_SIZE,32179,707
$CAP_FILE_SIZE,162064,0
$SDSIZE,4028416,3722976
$SDFILEDIR,4619,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052, 97.2,1
$MAGCAL,1.000000,-0.026263,0.005161,0.012585,1.022688,-0.012751,0.069289,-0.042609,0.891606,582.5,-346.7,184.8,32,0.0352,0
$IMPLIED_C_PITCH,2373,12.51,490
$IMPLIED_C_VBD,2955,21.967190,405
$GPS,210322,011149,4704.344,-12454.884,1,1.8,5,15.7