version: 67.00
glider: 249
mission: 8
dive: 982
start: 4 22 123 2 13 15
data:
$ID,249
$MISSION,8
$DIVE,982
$N_DIVES,0
$STOP_T,0
$D_SURF,4
$D_FLARE,3
$D_TGT,980
$D_ABORT,1010
$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,420
$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,130
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72955
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.020747701
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,20000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$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,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,16
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,215
$ROLL_MAX,3825
$ROLL_DEG,60
$C_ROLL_DIVE,2240
$C_ROLL_CLIMB,2100
$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,2890
$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
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,0
$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,506
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,137.93179
$FG_AHR_24V,276.64694
$PHONE_SUPPLY,2
$PRESSURE_YINT,-179.54233
$PRESSURE_SLOPE,0.00021665409
$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,0
$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,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$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
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$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
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,220423,020457,4702.188,-12516.854,13,1.0,31,15.6
$_CALLS,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-62.6
$GPS2,220423,021256,4702.242,-12516.851,2,0.6,4,15.6
$SPEED_LIMITS,0.157,0.163
$TGT_NAME,DOG
$TGT_LATLONG,4653.900,-12514.900
$TGT_RADIUS,5000.000
$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,155.3,15645,-18.3,-9.074,-29.15,2098,0.305
$D_GRID,1000
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,16.16,16386,-126.52,-1.40,0.00,560.0,550.8,569.2,179.5,2186.6,0.00,0.00,0,122.30,74.83,0.00,0.00,0.005,0.000,0.000,2387.38,2559.50,2215.25,179.50,2185.94,0,0,0,14.87,30.00,30.00
$GC,124.52,18467,-126.52,-1.40,0.00,2390.5,2558.6,2222.3,179.7,2186.6,3.26,-3.18,15,231.46,16.75,16.19,0.00,0.006,0.197,0.000,3407.19,3636.44,3177.94,2051.12,2186.62,0,0,0,15.02,15.28,30.00
$GC,417.51,2177,-126.52,-1.28,0.00,3411.2,3635.4,3187.0,2050.9,2186.1,58.60,-15.52,59,425.61,0.00,0.21,0.00,0.000,0.159,0.000,3412.00,3635.75,3188.25,2078.75,2185.31,0,0,0,30.00,15.62,30.00
$GC,610.89,0,-126.52,-1.28,0.00,3411.0,3635.1,3186.9,2079.8,2186.0,81.36,-10.93,97,616.92,0.00,0.00,0.00,0.000,0.000,0.000,3411.41,3636.00,3186.81,2079.25,2186.25,0,0,0,30.00,30.00,30.00
$GC,808.05,260,-126.52,-1.28,60.00,3411.5,3634.2,3188.7,2079.6,2186.4,102.51,-11.01,134,828.30,0.00,0.00,3.35,0.000,0.000,0.080,3412.28,3636.00,3188.56,2079.31,3342.62,0,0,0,30.00,30.00,15.64
$GC,864.04,1028,-126.52,-1.28,0.00,3411.1,3630.6,3191.6,2079.9,3341.8,109.18,-12.48,142,881.90,0.00,0.00,2.78,0.000,0.000,0.018,3411.56,3631.88,3191.25,2079.94,2183.62,0,0,0,30.00,30.00,15.90
$GC,1187.27,0,-126.52,-1.28,0.00,3411.1,3630.7,3191.5,2080.1,2181.2,146.37,-11.50,174,1191.29,0.00,0.00,0.00,0.000,0.000,0.000,3411.34,3631.06,3191.62,2079.50,2181.12,0,0,0,30.00,30.00,30.00
$GC,1497.30,0,-126.52,-1.28,0.00,3411.3,3630.9,3191.8,2079.9,2181.6,180.93,-10.77,205,1501.32,0.00,0.00,0.00,0.000,0.000,0.000,3410.00,3629.50,3190.50,2080.31,2180.69,0,0,0,30.00,30.00,30.00
$GC,1807.33,260,-126.52,-1.28,60.00,3411.1,3630.9,3191.2,2079.8,2181.6,214.59,-10.69,236,1827.58,0.00,0.00,3.36,0.000,0.000,0.079,3412.00,3631.25,3192.75,2079.12,3342.25,0,0,0,30.00,30.00,15.64
$GC,1838.30,1028,-126.52,-1.28,0.00,3411.2,3630.4,3192.1,2079.8,3342.7,218.06,-11.11,239,1856.56,0.00,0.00,2.78,0.000,0.000,0.018,3411.53,3630.69,3192.38,2080.00,2183.25,0,0,0,30.00,30.00,15.93
$GC,2161.93,0,-126.52,-1.28,0.00,3411.4,3630.9,3191.9,2080.1,2181.8,250.27,-9.59,271,2165.95,0.00,0.00,0.00,0.000,0.000,0.000,3411.00,3630.88,3191.12,2079.75,2181.56,0,0,0,30.00,30.00,30.00
$GC,2471.96,0,-126.52,-1.28,0.00,3411.6,3630.4,3192.8,2079.6,2181.6,281.03,-10.23,302,2475.98,0.00,0.00,0.00,0.000,0.000,0.000,3411.03,3631.81,3190.25,2079.69,2181.50,0,0,0,30.00,30.00,30.00
$GC,2781.99,0,-126.52,-1.28,0.00,3411.3,3630.0,3192.7,2079.4,2181.8,312.93,-10.32,333,2786.01,0.00,0.00,0.00,0.000,0.000,0.000,3411.84,3630.62,3193.06,2079.56,2181.94,0,0,0,30.00,30.00,30.00
$GC,3092.02,0,-126.52,-1.28,0.00,3411.5,3630.4,3192.6,2080.2,2181.6,345.52,-10.30,364,3096.04,0.00,0.00,0.00,0.000,0.000,0.000,3411.91,3631.06,3192.75,2079.81,2181.56,0,0,0,30.00,30.00,30.00
$GC,3402.04,260,-126.52,-1.28,60.00,3411.5,3630.8,3192.3,2080.1,2181.6,377.78,-10.36,395,3422.80,0.00,0.00,3.38,0.000,0.000,0.080,3411.06,3630.44,3191.69,2079.62,3340.62,0,0,0,30.00,30.00,15.62
$GC,3428.69,1028,-126.52,-1.28,0.00,3411.8,3630.6,3192.9,2079.2,3340.0,380.75,-10.82,397,3446.75,0.00,0.00,2.79,0.000,0.000,0.019,3412.69,3631.38,3194.00,2079.50,2186.56,0,0,0,30.00,30.00,15.93
$GC,3752.16,0,-126.52,-1.28,0.00,3411.8,3630.3,3193.2,2079.6,2185.5,415.74,-11.05,429,3756.22,0.00,0.00,0.00,0.000,0.000,0.000,3410.84,3630.69,3191.00,2079.69,2184.94,0,0,0,30.00,30.00,30.00
$GC,4062.18,0,-126.52,-1.28,0.00,3411.5,3630.4,3192.7,2080.6,2185.4,447.57,-10.15,460,4066.24,0.00,0.00,0.00,0.000,0.000,0.000,3410.16,3629.62,3190.69,2079.94,2184.94,0,0,0,30.00,30.00,30.00
$GC,4372.21,0,-126.52,-1.28,0.00,3411.3,3630.1,3192.5,2079.8,2185.6,478.48,-9.81,491,4376.27,0.00,0.00,0.00,0.000,0.000,0.000,3409.97,3629.12,3190.81,2079.56,2185.62,0,0,0,30.00,30.00,30.00
$GC,4682.23,260,-126.52,-1.28,60.00,3410.8,3629.4,3192.2,2079.9,2185.7,509.91,-10.33,522,4702.74,0.00,0.00,3.38,0.000,0.000,0.080,3410.94,3628.00,3193.88,2079.94,3342.38,0,0,0,30.00,30.00,15.61
$GC,4718.51,1028,-126.52,-1.28,0.00,3410.8,3628.5,3193.2,2079.7,3341.5,513.88,-10.95,526,4736.99,0.00,0.00,2.81,0.000,0.000,0.019,3411.00,3628.94,3193.06,2080.12,2190.62,0,0,0,30.00,30.00,15.93
$GC,5042.39,0,-126.52,-1.28,0.00,3410.7,3628.2,3193.1,2079.9,2188.9,546.62,-10.17,558,5046.45,0.00,0.00,0.00,0.000,0.000,0.000,3410.47,3628.44,3192.50,2080.19,2188.88,0,0,0,30.00,30.00,30.00
$GC,5352.42,0,-126.52,-1.28,0.00,3410.0,3627.2,3192.9,2080.1,2189.1,578.80,-10.35,589,5356.47,0.00,0.00,0.00,0.000,0.000,0.000,3410.66,3627.31,3194.00,2079.62,2189.50,0,0,0,30.00,30.00,30.00
$GC,5662.43,0,-126.52,-1.28,0.00,3409.8,3627.1,3192.6,2079.8,2188.8,610.82,-9.71,620,5666.49,0.00,0.00,0.00,0.000,0.000,0.000,3409.12,3626.12,3192.12,2080.25,2188.81,0,0,0,30.00,30.00,30.00
$GC,5972.45,260,-126.52,-1.28,60.00,3409.2,3625.7,3192.6,2079.3,2188.6,640.77,-10.00,651,5993.20,0.00,0.00,3.39,0.000,0.000,0.081,3407.31,3623.25,3191.38,2079.62,3341.50,0,0,0,30.00,30.00,15.59
$GC,6009.09,1028,-126.52,-1.28,0.00,3409.0,3625.2,3192.8,2079.8,3341.6,644.65,-10.97,655,6027.56,0.00,0.00,2.81,0.000,0.000,0.019,3409.50,3626.19,3192.81,2080.00,2189.44,0,0,0,30.00,30.00,15.93
$GC,6332.95,0,-126.52,-1.28,0.00,3409.2,3625.6,3192.8,2080.1,2188.1,676.99,-10.05,687,6337.01,0.00,0.00,0.00,0.000,0.000,0.000,3409.00,3624.94,3193.06,2079.38,2188.00,0,0,0,30.00,30.00,30.00
$GC,6642.96,0,-126.52,-1.28,0.00,3408.7,3624.4,3193.1,2079.9,2187.3,708.91,-10.16,718,6647.02,0.00,0.00,0.00,0.000,0.000,0.000,3407.50,3624.12,3190.88,2080.31,2187.56,0,0,0,30.00,30.00,30.00
$GC,6952.98,0,-126.52,-1.28,0.00,3407.8,3623.0,3192.6,2079.9,2187.9,740.44,-9.94,749,6957.04,0.00,0.00,0.00,0.000,0.000,0.000,3407.66,3621.62,3193.69,2080.00,2187.50,0,0,0,30.00,30.00,30.00
$GC,7263.01,0,-126.52,-1.28,0.00,3407.5,3622.1,3192.9,2079.9,2187.4,772.32,-11.08,780,7267.08,0.00,0.00,0.00,0.000,0.000,0.000,3407.41,3622.88,3191.94,2079.62,2187.25,0,0,0,30.00,30.00,30.00
$GC,7573.04,516,-126.52,-1.28,-60.00,3406.5,3620.6,3192.4,2080.2,2187.6,803.04,-9.90,811,7592.32,0.00,0.00,3.07,0.000,0.000,0.073,3407.09,3621.25,3192.94,2080.25,1135.62,0,0,0,30.00,30.00,15.59
$GC,7603.08,1028,-126.52,-1.28,0.00,3407.3,3621.4,3193.2,2079.8,1135.5,805.78,-9.74,814,7621.54,0.00,0.00,2.78,0.000,0.000,0.027,3407.22,3622.75,3191.69,2080.44,2267.69,0,0,0,30.00,30.00,15.87
$GC,7927.74,128,-126.52,-1.34,0.00,3406.5,3620.5,3192.5,2080.6,2267.8,837.10,-9.75,846,7931.81,0.00,0.00,0.00,0.000,0.000,0.000,3407.03,3621.56,3192.50,2080.56,2268.00,0,0,0,30.00,30.00,30.00
$GC,8238.00,4225,-126.52,-1.40,0.00,3406.4,3620.1,3192.7,2080.5,2268.0,866.87,-9.62,877,8243.81,0.00,0.28,0.00,0.000,0.075,0.000,3405.88,3618.50,3193.25,2035.50,2267.88,0,0,0,30.00,15.85,30.00
$GC,8549.21,516,-126.52,-1.40,-60.00,3406.1,3619.2,3193.0,2035.8,2268.2,899.85,-10.53,908,8569.29,0.00,0.00,3.27,0.000,0.000,0.068,3407.16,3620.56,3193.75,2033.56,1136.69,0,0,0,30.00,30.00,15.59
$GC,8600.06,1028,-126.52,-1.40,0.00,3406.1,3619.2,3193.1,2034.8,1136.3,905.64,-10.56,915,8618.79,0.00,0.00,2.81,0.000,0.000,0.028,3406.09,3619.62,3192.56,2034.75,2265.19,0,0,0,30.00,30.00,15.85
$GC,8924.29,516,-126.52,-1.40,-60.00,3405.1,3617.9,3192.2,2035.4,2265.1,938.86,-10.12,947,8944.39,0.00,0.00,3.24,0.000,0.000,0.067,3406.34,3618.50,3194.19,2033.88,1137.12,0,0,0,30.00,30.00,15.58
$GC,8985.28,1028,-126.52,-1.40,0.00,3405.1,3618.2,3192.1,2034.9,1136.9,945.10,-10.47,956,9003.75,0.00,0.00,2.80,0.000,0.000,0.027,3406.47,3619.19,3193.75,2034.75,2265.88,0,0,0,30.00,30.00,15.84
$GC,9309.16,0,-126.52,-1.40,0.00,3405.0,3617.4,3192.6,2034.9,2266.2,977.70,-10.23,988,9313.21,0.00,0.00,0.00,0.000,0.000,0.000,3404.69,3616.75,3192.62,2034.88,2266.38,0,0,0,30.00,30.00,30.00
$STATE,9339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9339,begin apogee
$GC,9345.74,10243,0.00,-0.31,0.00,3404.6,3617.2,3192.0,2034.9,2050.6,980.77,-10.15,991,9508.50,104.59,2.25,0.17,2.284,0.138,0.137,2891.91,3010.50,2773.31,2312.88,2149.00,0,0,0,9.95,15.42,15.01
$STATE,9512,end apogee,CONTROL_FINISHED_OK
$STATE,9513,begin climb
$GC,9515.97,10759,126.52,1.40,-60.00,2886.8,3008.1,2765.4,2313.5,2149.8,986.84,0.00,1002,9706.83,109.86,2.99,3.53,2.244,0.090,0.081,2373.06,2439.00,2307.12,2732.50,997.69,0,0,0,11.56,15.50,14.95
$GC,9938.20,11303,270.22,1.68,0.00,2361.7,2439.4,2283.9,2732.1,997.4,988.08,2.04,1071,10128.33,121.03,0.43,2.79,2.237,0.063,0.024,1787.91,1850.50,1725.31,2809.75,2133.62,0,0,0,11.43,15.58,15.76
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$STATE,20897,end climb,SURFACE_DEPTH_REACHED
$STATE,20898,begin surface coast
$FINISH,-0.4,0.999843
$STATE,20948,end surface coast,CONTROL_FINISHED_OK
$STATE,20949,begin surface
$SM_CCo,21125.15,0.00,0.000,0,649.4,660.2,638.6,549.62
$SM_GC,1.09,0.00,20.26,0.50,0.000,0.050,0.052,649.4,660.2,638.6,180.6,2275.6,0,0,0,30.00,15.76,15.86
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4703.03,-12455.90,210423,200442
$TCM_TEMP,265.54
$XPDR_PINGS,0,13.0,10.5
$HUMID,54.52
$TEMP,84.53
$INTERNAL_PRESSURE,8.52613
$24V_AH,14.08,336.770
$10V_AH,15.00,0.000
$FG_AHR_24Vo,276.998
$FG_AHR_10Vo,137.976
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,703.445,44.160,201.130,238.339,0.000,15.411,8940.942,173.331,0.000,12358.738,3649.252,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,2284.272,197.208,137.184,217.083,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM0,60108,1,0,0
$MEM1,65508,1,0,0
$MEM2,952192,772,78916,101
$DATA_FILE_SIZE,70426,2330
$CAP_FILE_SIZE,448736,0
$SDSIZE,4028416,3721376
$SDFILEDIR,5849,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$MAGCAL,1.000000,0.041582,0.526996,-0.011548,0.942787,-0.468133,-0.011380,0.083338,0.278768,-743.2,818.8,1451.6,36,0.1198,0
$GPS,220423,080601,4701.851,-12516.233,26,0.9,27,15.6