version: 67.00
glider: 249
mission: 6
dive: 1304
start: 3 21 122 17 1 11
data:
$ID,249
$MISSION,6
$DIVE,1304
$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,105.22535
$FG_AHR_24V,341.16849
$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
$GPS1,210322,165552,4703.633,-12447.190,3,2.0,7,15.7
$_CALLS,1
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-62.3
$GPS2,210322,170058,4703.670,-12447.239,3,1.9,9,15.7
$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,96.9,9582,-21.8,-9.167,-28.51
$D_GRID,109
$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,6.06,16386,-116.79,-1.44,0.00,1139.3,1137.5,1141.1,173.4,2225.1,0.00,0.00,0,77.09,69.92,0.00,0.00,0.005,0.000,0.000,2874.56,3050.50,2698.62,173.44,2225.00,0,0,0,14.89,30.00,30.00
$GC,78.20,18727,-116.79,-1.44,60.00,2874.2,3050.2,2698.3,173.3,2224.9,3.52,-5.07,13,110.53,8.70,14.11,3.14,0.007,0.223,0.083,3251.19,3466.94,3035.44,1970.75,3427.12,0,0,0,14.98,15.52,14.92
$GC,192.60,1028,-116.79,-1.44,0.00,3251.4,3465.7,3037.2,1970.9,3425.6,20.85,-13.10,36,198.16,0.00,0.00,2.63,0.000,0.000,0.017,3251.59,3466.25,3036.94,1970.88,2246.31,0,0,0,30.00,30.00,15.87
$GC,322.62,516,-116.79,-1.44,-60.00,3251.3,3465.8,3036.9,1971.1,2245.1,35.99,-11.60,62,328.14,0.00,0.00,2.59,0.000,0.000,0.060,3251.94,3465.44,3038.44,1970.50,1208.69,0,0,0,30.00,30.00,15.90
$GC,342.62,1028,-116.79,-1.44,0.00,3251.2,3465.6,3036.8,1971.1,1208.9,38.32,-11.69,66,348.36,0.00,0.00,2.68,0.000,0.000,0.025,3251.75,3466.06,3037.44,1970.88,2353.12,0,0,0,30.00,30.00,15.91
$GC,472.78,0,-116.79,-1.44,0.00,3251.4,3465.9,3036.9,1971.2,2352.6,52.91,-11.18,92,474.11,0.00,0.00,0.00,0.000,0.000,0.000,3251.50,3465.88,3037.12,1971.25,2352.94,0,0,0,30.00,30.00,30.00
$GC,597.67,260,-116.79,-1.44,60.00,3251.5,3466.2,3036.8,1970.9,2352.9,66.11,-10.59,117,603.24,0.00,0.00,2.78,0.000,0.000,0.083,3252.47,3467.44,3037.50,1971.00,3426.62,0,0,0,30.00,30.00,15.89
$GC,632.67,1028,-116.79,-1.44,0.20,3251.2,3465.8,3036.6,1971.0,3426.0,70.15,-11.54,124,638.22,0.00,0.00,2.62,0.000,0.000,0.018,3252.50,3466.94,3038.06,1971.44,2247.75,0,0,0,30.00,30.00,15.93
$GC,762.71,260,-116.79,-1.44,60.00,3251.2,3465.3,3037.2,1971.2,2246.9,83.34,-9.89,150,768.31,0.00,0.00,3.05,0.000,0.000,0.079,3252.75,3466.62,3038.88,1970.12,3426.94,0,0,0,30.00,30.00,15.88
$GC,817.70,1028,-116.79,-1.44,1.18,3250.5,3464.3,3036.7,1970.9,3426.8,89.07,-10.54,161,823.25,0.00,0.00,2.57,0.000,0.000,0.018,3250.97,3464.06,3037.88,1970.00,2257.62,0,0,0,30.00,30.00,15.94
$GC,947.73,260,-116.79,-1.44,60.00,3250.8,3464.7,3036.9,1971.1,2258.0,100.52,-8.32,187,953.33,0.00,0.00,3.02,0.000,0.000,0.078,3251.72,3465.12,3038.31,1971.00,3424.31,0,0,0,30.00,30.00,15.90
$GC,1002.73,1028,-116.79,-1.44,1.38,3250.8,3464.9,3036.6,1970.6,3424.8,105.82,-9.92,198,1008.27,0.00,0.00,2.56,0.000,0.000,0.018,3252.09,3466.75,3037.44,1971.00,2261.38,0,0,0,30.00,30.00,15.95
$STATE,1042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1042,begin apogee
$GC,1044.61,10243,0.00,-0.28,0.00,3251.2,3465.4,3037.0,1971.1,2043.1,109.47,-9.11,206,1132.04,82.75,1.97,0.17,1.232,0.132,0.102,2773.09,2905.25,2640.94,2254.81,2168.50,0,0,0,10.96,15.84,15.38
$STATE,1134,end apogee,CONTROL_FINISHED_OK
$STATE,1134,begin climb
$GC,1135.18,11271,116.79,1.44,0.00,2774.2,2905.8,2642.7,2254.5,2168.8,113.00,0.00,223,1225.79,85.25,2.79,0.20,1.173,0.089,0.070,2298.66,2361.62,2235.69,2675.00,2034.38,0,0,0,11.76,15.60,15.69
$GC,1408.07,10535,238.36,1.69,60.00,2292.2,2361.4,2223.0,2674.9,2034.4,103.05,5.14,278,1505.91,90.36,0.32,3.07,1.149,0.057,0.071,1801.94,1844.38,1759.50,2744.88,3206.25,0,0,0,11.26,15.71,15.27
$GC,1658.71,1092,238.36,1.71,1.42,1796.3,1844.8,1747.9,2744.7,3206.3,83.62,8.12,328,1664.06,0.00,0.00,2.60,0.000,0.000,0.021,1795.59,1845.25,1745.94,2745.00,2080.94,0,0,0,30.00,30.00,15.75
$GC,1788.57,8486,304.26,1.84,60.00,1793.2,1846.0,1740.4,2744.5,2080.6,74.20,6.99,354,1846.06,50.64,0.00,2.93,1.110,0.000,0.073,1534.94,1575.69,1494.19,2744.94,3204.25,0,0,0,11.21,30.00,15.35
$GC,1868.56,3141,304.26,1.87,2.02,1533.0,1575.2,1490.8,2745.6,3204.6,68.36,7.53,370,1874.13,0.00,0.17,2.57,0.000,0.079,0.021,1532.53,1574.19,1490.88,2788.81,2088.94,0,0,0,30.00,15.63,15.71
$GC,1998.59,64,304.26,1.91,2.02,1529.5,1575.5,1483.6,2789.3,2089.0,58.56,7.43,396,1999.92,0.00,0.00,0.00,0.000,0.000,0.000,1529.03,1574.69,1483.38,2789.38,2088.12,0,0,0,30.00,30.00,30.00
$GC,2123.61,8486,364.82,2.03,60.00,1528.1,1575.4,1480.8,2790.0,2089.1,49.33,7.16,421,2176.83,48.35,0.00,2.90,1.088,0.000,0.073,1288.53,1311.12,1265.94,2789.50,3206.19,0,0,0,11.21,30.00,15.37
$GC,2274.14,3141,364.82,2.05,2.08,1285.2,1311.6,1258.8,2789.4,3206.8,37.45,8.27,451,2279.59,0.00,0.16,2.57,0.000,0.090,0.021,1285.56,1312.19,1258.94,2829.25,2090.25,0,0,0,30.00,15.68,15.78
$GC,2404.01,580,364.82,2.06,-60.00,1283.2,1311.6,1254.8,2830.0,2089.7,26.71,8.28,477,2409.58,0.00,0.00,2.81,0.000,0.000,0.076,1283.25,1311.62,1254.88,2829.38,994.62,0,0,0,30.00,30.00,15.81
$GC,2504.03,1092,364.82,2.07,1.40,1282.5,1311.8,1253.1,2829.5,994.6,18.13,8.62,497,2509.60,0.00,0.00,2.73,0.000,0.000,0.021,1282.19,1311.56,1252.81,2830.19,2168.75,0,0,0,30.00,30.00,15.86
$GC,2634.09,324,364.82,2.09,60.00,1281.8,1312.9,1250.6,2829.2,2168.6,8.32,8.23,523,2639.80,0.00,0.00,2.67,0.000,0.000,0.077,1282.16,1313.12,1251.19,2828.56,3206.69,0,0,0,30.00,30.00,15.86
$GC,2664.24,1028,364.82,2.09,1.54,1281.5,1312.8,1250.2,2829.6,3207.9,5.56,9.10,529,2669.62,0.00,0.00,2.57,0.000,0.000,0.022,1281.75,1312.94,1250.56,2830.38,2080.69,0,0,0,30.00,30.00,15.88
$STATE,2683,end climb,SURFACE_DEPTH_REACHED
$STATE,2683,begin surface coast
$FINISH,0.3,1.024646
$STATE,2728,end surface coast,CONTROL_FINISHED_OK
$STATE,2729,begin surface
$SM_CCo,2783.71,27.69,1.070,0,1145.3,1142.3,1148.2,399.77
$SM_GC,0.42,27.69,16.26,0.59,1.070,0.048,0.048,1145.3,1142.3,1148.2,173.6,2352.8,0,0,0,11.12,15.84,15.90
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4704.45,-12446.31,210322,160659
$TCM_TEMP,267.04
$XPDR_PINGS,0,13.0,10.5
$HUMID,51.63
$TEMP,81.99
$INTERNAL_PRESSURE,8.91471
$24V_AH,14.76,463.841
$10V_AH,15.00,0.000
$FG_AHR_24Vo,341.297
$FG_AHR_10Vo,105.234
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,463.645,35.780,56.540,147.594,0.000,18.743,1504.075,1522.021,373.262,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1231.720,222.792,102.088,186.000,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,34.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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
$MEM2,971164,32,75564,60
$DATA_FILE_SIZE,22635,542
$CAP_FILE_SIZE,149954,0
$SDSIZE,4028416,3720800
$SDFILEDIR,4670,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023, 18.4,1
$MAGCAL,1.000000,-0.018051,-0.031356,0.015270,1.028860,-0.050345,0.046881,-0.038540,0.958601,619.7,-312.4,114.1,29,0.0377,0
$IMPLIED_C_PITCH,2397,12.09,364
$IMPLIED_C_VBD,2915,16.824486,327
$GPS,210322,174747,4703.640,-12446.947,3,1.3,6,15.7