version: 67.00
glider: 1
mission: 0
dive: 94
start: 12 16 113 14 13 23
data:
$ID,1
$MISSION,0
$DIVE,94
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$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,45
$T_MISSION,60
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,15
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,25
$PITCH_TIMEOUT,15
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,60
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,2.4426579
$FG_AHR_24V,0.88303292
$PHONE_SUPPLY,2
$PRESSURE_YINT,-31.695999
$PRESSURE_SLOPE,9.9999997e-05
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,9
$DEVICE2,38
$DEVICE3,55
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,0
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,161213,140948,4807.997,-12224.004,17,1.8,24,18.0
$_CALLS,1
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-50.0
$GPS2,161213,141317,4807.990,-12223.962,26,2.0,33,18.0
$SPEED_LIMITS,0.067,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.085,-0.209
$KALMAN_X,3125.4,243.0,155.8,-6106.0,94.5
$KALMAN_Y,-19894.0,317.2,156.7,22860.3,65.4
$MHEAD_RNG_PITCHd_Wd,139.9,2186,-12.4,-6.667,-16.43
$D_GRID,100
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,roll_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_errors,roll_errors,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,6.97,-0.68,-146.63,0.00,454.50,2022.56,1051.31,1096.9,0.0,0.0,0,76.13,67.71,0.00,0.11,0.000,0.000,0.001,454.56,2054.31,3098.25,3035.44,3161.06,0,0,0,25.03,16777215.00,25.05
$GC,77.08,-0.68,-146.63,40.00,454.44,2052.88,3035.31,3159.8,1.5,-2.2,6,93.50,0.00,10.44,3.02,0.000,0.000,0.000,2288.00,3447.88,3097.19,3034.31,3160.06,0,0,0,16777215.00,25.03,25.03
$GC,363.99,-0.68,-146.63,0.00,2288.44,3448.25,3033.75,3161.1,26.3,-7.0,34,368.53,0.00,0.00,3.38,0.000,0.000,0.000,2287.00,1998.06,3097.31,3034.31,3160.31,0,0,0,16777215.00,16777215.00,25.04
$GC,398.08,-0.68,-146.63,0.00,2287.69,1999.06,3034.56,3160.8,28.7,-7.0,37,399.31,0.00,0.00,0.00,0.000,0.000,0.000,2287.00,1998.94,3097.72,3034.75,3160.69,0,0,0,16777215.00,16777215.00,16777215.00
$GC,428.05,-0.68,-146.63,0.00,2286.94,1998.94,3034.12,3160.2,30.7,-6.8,40,429.28,0.00,0.00,0.00,0.000,0.000,0.000,2287.94,1999.25,3097.72,3034.44,3161.00,0,0,0,16777215.00,16777215.00,16777215.00
$GC,458.36,-0.68,-146.63,0.00,2287.19,1998.81,3034.06,3160.1,32.9,-6.9,43,459.58,0.00,0.00,0.00,0.000,0.000,0.000,2287.12,1998.12,3097.66,3035.25,3160.06,0,0,0,16777215.00,16777215.00,16777215.00
$GC,488.35,-0.68,-146.63,0.00,2288.56,1999.12,3035.38,3161.6,35.0,-7.2,46,489.58,0.00,0.00,0.00,0.000,0.000,0.000,2286.88,1998.19,3096.97,3033.75,3160.19,0,0,0,16777215.00,16777215.00,16777215.00
$GC,518.67,-0.68,-146.63,0.00,2287.06,1998.12,3033.81,3159.7,37.1,-7.0,49,519.89,0.00,0.00,0.00,0.000,0.000,0.000,2289.00,1999.06,3097.41,3034.19,3160.62,0,0,0,16777215.00,16777215.00,16777215.00
$GC,548.80,-0.68,-146.63,0.00,2286.88,1998.06,3035.19,3161.6,39.0,-6.7,52,550.03,0.00,0.00,0.00,0.000,0.000,0.000,2286.81,1998.06,3098.31,3035.06,3161.56,0,0,0,16777215.00,16777215.00,16777215.00
$GC,578.80,-0.68,-146.63,0.00,2287.00,1998.06,3033.81,3159.9,41.1,-6.6,55,580.02,0.00,0.00,0.00,0.000,0.000,0.000,2287.75,2000.31,3097.22,3034.44,3160.00,0,0,0,16777215.00,16777215.00,16777215.00
$GC,609.12,-0.68,-146.63,0.00,2288.12,1999.31,3033.75,3161.1,43.0,-6.6,58,610.34,0.00,0.00,0.00,0.000,0.000,0.000,2287.00,1998.12,3097.09,3033.94,3160.25,0,0,0,16777215.00,16777215.00,16777215.00
$GC,638.13,-0.68,-146.63,0.00,2287.06,1998.19,3033.94,3160.0,45.0,-6.6,61,639.35,0.00,0.00,0.00,0.000,0.000,0.000,2287.81,1999.00,3097.38,3034.44,3160.31,0,0,0,16777215.00,16777215.00,16777215.00
$GC,668.31,-0.68,-146.63,0.00,2286.94,1997.94,3033.94,3160.4,47.2,-7.0,64,669.53,0.00,0.00,0.00,0.000,0.000,0.000,2288.38,1999.44,3097.22,3034.12,3160.31,0,0,0,16777215.00,16777215.00,16777215.00
$GC,698.30,-0.68,-146.63,0.00,2286.75,1998.00,3034.06,3159.9,49.1,-6.9,67,699.53,0.00,0.00,0.00,0.000,0.000,0.000,2288.19,1997.94,3098.03,3034.81,3161.25,0,0,0,16777215.00,16777215.00,16777215.00
$GC,728.61,-0.68,-146.63,0.00,2287.12,1998.56,3034.12,3162.1,51.1,-6.5,70,729.83,0.00,0.00,0.00,0.000,0.000,0.000,2286.94,1997.94,3096.91,3033.94,3159.88,0,0,0,16777215.00,16777215.00,16777215.00
$GC,758.92,-0.68,-146.63,0.00,2286.75,1997.81,3034.62,3160.8,53.0,-6.5,73,760.14,0.00,0.00,0.00,0.000,0.000,0.000,2286.81,1997.94,3097.19,3034.19,3160.19,0,0,0,16777215.00,16777215.00,16777215.00
$GC,788.57,-0.68,-146.63,40.00,2286.94,1997.88,3035.31,3162.1,55.0,-6.5,76,792.76,0.00,0.00,2.85,0.000,0.000,0.000,2286.94,3446.31,3097.00,3033.88,3160.12,0,0,0,16777215.00,16777215.00,25.04
$GC,913.35,-0.68,-146.63,0.00,2288.31,3446.12,3034.75,3161.7,63.6,-6.7,88,918.53,0.00,0.00,3.34,0.000,0.000,0.000,2286.81,2006.31,3097.03,3033.94,3160.12,0,0,0,16777215.00,16777215.00,25.03
$GC,948.32,-0.68,-146.63,0.00,2287.81,2006.19,3034.19,3160.8,65.8,-6.5,91,949.54,0.00,0.00,0.00,0.000,0.000,0.000,2287.06,2006.50,3097.34,3034.31,3160.38,0,0,0,16777215.00,16777215.00,16777215.00
$GC,978.66,-0.68,-146.63,0.00,2287.00,2006.12,3035.19,3161.6,67.8,-6.5,94,979.88,0.00,0.00,0.00,0.000,0.000,0.000,2287.75,2007.69,3097.97,3034.88,3161.06,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1008.19,-0.68,-146.63,0.00,2287.06,2006.25,3033.81,3159.9,69.8,-6.6,97,1009.41,0.00,0.00,0.00,0.000,0.000,0.000,2288.19,2006.19,3097.22,3033.88,3160.56,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1039.04,-0.68,-146.63,0.00,2287.31,2007.69,3035.25,3160.6,71.8,-6.6,100,1040.27,0.00,0.00,0.00,0.000,0.000,0.000,2287.00,2005.50,3097.22,3034.12,3160.31,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1068.05,-0.68,-146.63,0.00,2287.00,2005.75,3036.12,3161.1,73.7,-6.6,103,1069.27,0.00,0.00,0.00,0.000,0.000,0.000,2287.88,2005.69,3098.03,3034.25,3161.81,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1098.69,-0.68,-146.63,0.00,2287.81,2006.38,3035.44,3159.8,75.7,-6.7,106,1099.92,0.00,0.00,0.00,0.000,0.000,0.000,2287.94,2006.69,3098.34,3034.94,3161.75,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1129.07,-0.68,-146.63,0.00,2287.94,2005.56,3034.56,3160.2,77.8,-6.7,109,1130.29,0.00,0.00,0.00,0.000,0.000,0.000,2286.94,2005.62,3097.16,3034.12,3160.19,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1158.27,-0.68,-146.63,0.00,2287.00,2005.81,3033.69,3159.9,79.6,-6.4,112,1159.49,0.00,0.00,0.00,0.000,0.000,0.000,2287.06,2006.75,3097.84,3034.81,3160.88,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1188.28,-0.68,-146.63,0.00,2287.62,2005.69,3035.56,3160.9,81.5,-6.2,115,1189.50,0.00,0.00,0.00,0.000,0.000,0.000,2287.56,2006.44,3097.16,3034.25,3160.06,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1218.60,-0.68,-146.63,0.00,2287.94,2006.44,3033.62,3160.1,83.4,-6.3,118,1219.83,0.00,0.00,0.00,0.000,0.000,0.000,2286.94,2006.62,3097.25,3034.06,3160.44,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1248.91,-0.68,-146.63,0.00,2287.00,2006.25,3033.69,3159.9,85.4,-6.6,121,1250.13,0.00,0.00,0.00,0.000,0.000,0.000,2286.88,2005.81,3097.19,3033.94,3160.44,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1278.83,-0.68,-146.63,0.00,2287.94,2006.06,3034.00,3160.2,87.4,-6.7,124,1280.05,0.00,0.00,0.00,0.000,0.000,0.000,2288.12,2005.50,3097.12,3034.25,3160.00,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1308.05,-0.68,-146.63,0.00,2287.06,2005.81,3033.75,3160.2,89.2,-6.3,127,1309.27,0.00,0.00,0.00,0.000,0.000,0.000,2286.88,2005.69,3097.03,3034.00,3160.06,0,0,0,16777215.00,16777215.00,16777215.00
$STATE,1338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1338,begin apogee
$GC,1339.77,-0.20,0.00,0.00,2287.00,2037.25,3034.69,3160.7,90.1,5.0,130,1465.87,122.66,1.62,0.22,0.000,0.000,0.000,2444.69,1965.06,2500.34,2448.81,2551.88,0,0,0,25.01,25.04,25.05
$STATE,1466,end apogee,CONTROL_FINISHED_OK
$STATE,1467,begin climb
$GC,1467.32,0.68,146.63,0.00,2443.75,1964.25,2449.06,2552.0,90.9,0.0,142,1596.99,122.83,3.28,0.00,0.000,0.000,0.000,2719.75,1966.12,1903.34,1863.38,1943.31,0,0,0,25.02,25.04,16777215.00
$GC,1624.06,0.68,146.63,40.00,2719.88,1964.25,1864.12,1943.4,81.9,7.0,158,1628.20,0.00,0.00,3.01,0.000,0.000,0.000,2721.12,3479.62,1903.47,1863.50,1943.44,0,0,0,16777215.00,16777215.00,25.03
$GC,1898.97,0.68,146.63,0.00,2718.50,3478.19,1863.44,1942.6,63.1,7.0,185,1903.20,0.00,0.00,3.06,0.000,0.000,0.000,2718.62,2018.56,1902.91,1863.44,1942.38,0,0,0,16777215.00,16777215.00,25.04
$GC,1934.27,0.68,146.63,40.00,2718.75,2019.88,1863.69,1942.6,60.7,7.3,188,1938.57,0.00,0.00,3.01,0.000,0.000,0.000,2718.44,3437.38,1903.78,1864.31,1943.25,0,0,0,16777215.00,16777215.00,25.03
$GC,2209.05,0.70,166.32,0.00,2718.62,3437.88,1863.56,1942.6,41.6,6.1,215,2232.65,19.30,0.00,2.99,0.000,0.000,0.000,2718.50,2026.19,1822.84,1785.25,1860.44,0,0,0,25.02,16777215.00,25.04
$GC,2264.28,0.71,176.12,40.00,2718.69,2026.44,1784.75,1860.2,38.1,6.4,220,2279.44,10.82,0.00,2.88,0.000,0.000,0.000,2719.31,3439.50,1784.09,1747.19,1821.00,0,0,0,25.02,16777215.00,25.03
$GC,2489.67,0.71,176.12,0.00,2718.81,3438.56,1748.19,1821.4,22.6,7.1,242,2494.16,0.00,0.00,2.77,0.000,0.000,0.000,2718.44,1989.06,1783.91,1746.88,1820.94,0,0,0,16777215.00,16777215.00,25.03
$GC,2524.65,0.71,176.12,0.00,2719.44,1990.25,1747.12,1821.0,20.3,6.7,245,2525.88,0.00,0.00,0.00,0.000,0.000,0.000,2718.50,1989.25,1784.22,1747.31,1821.12,0,0,0,16777215.00,16777215.00,16777215.00
$GC,2554.15,0.71,176.12,0.00,2719.50,1990.62,1747.06,1821.0,18.3,6.9,248,2555.38,0.00,0.00,0.00,0.000,0.000,0.000,2720.31,1991.56,1784.34,1747.56,1821.12,0,0,0,16777215.00,16777215.00,16777215.00
$GC,2584.46,0.72,181.48,0.00,2718.56,1990.06,1747.31,1821.6,16.4,6.5,251,2594.20,7.57,0.00,0.00,0.000,0.000,0.000,2721.44,1990.06,1761.66,1725.19,1798.12,0,0,0,25.02,16777215.00,16777215.00
$GC,2624.56,0.73,187.63,0.00,2718.62,1989.25,1725.06,1798.2,13.9,6.5,255,2634.19,8.26,0.00,0.00,0.000,0.000,0.000,2719.75,1990.25,1736.72,1700.44,1773.00,0,0,0,25.02,16777215.00,16777215.00
$GC,2664.89,0.75,204.30,0.00,2718.69,1989.06,1700.06,1772.0,11.5,6.2,259,2684.60,16.59,0.00,0.00,0.000,0.000,0.000,2720.88,1990.00,1668.25,1633.69,1702.81,0,0,0,25.01,16777215.00,16777215.00
$GC,2714.93,0.77,220.93,0.00,2718.44,1989.81,1633.19,1702.8,8.4,6.2,264,2733.20,13.57,0.00,0.00,0.000,0.000,0.000,2720.31,1989.31,1600.50,1567.19,1633.81,0,0,0,25.02,16777215.00,16777215.00
$GC,2764.55,0.78,227.99,0.00,2719.94,1989.38,1567.19,1633.9,5.2,6.4,269,2773.92,4.49,0.00,0.00,0.000,0.000,0.000,2718.62,1989.19,1571.09,1538.44,1603.75,0,0,0,25.02,16777215.00,16777215.00
$GC,2804.39,0.83,271.31,40.00,2718.44,1989.88,1539.12,1604.2,3.6,5.3,273,2838.11,27.33,1.02,3.22,0.000,0.000,0.000,2772.81,3478.44,1394.91,1365.81,1424.00,0,0,0,25.02,25.04,25.03
$STATE,2849,end climb,SURFACE_DEPTH_REACHED
$STATE,2849,begin surface coast
$FINISH,0.4,0.998320
$STATE,2898,end surface coast,CONTROL_FINISHED_OK
$STATE,2899,begin surface
$SM_CCo,2969.92,49.63,0.000,0,0,0,349.72
$SM_CCo,2971.25,0.00,0.000,0,0,0,349.83
$SM_CCo,2972.55,0.00,0.000,0,0,0,349.81
$SM_GC,-0.05,12.72,3.27,0.00,0.000,0.000,0.000,0,1081846784,0,1073.94,-6.44,-0.03,-2147483648,1081466114,0,0,0,0,0.00,25.03,25.03
$SUPER,39,70,254,1,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TCM_TEMP,15.00
$SC_FREEKB,3932000
$HUMID,38.66
$TEMP,22.55
$INTERNAL_PRESSURE,32.9504
$24V_AH,24.0,7.756
$10V_AH,10.8,26.736
$FG_AHR_24Vo,0.892
$FG_AHR_10Vo,2.473
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,470.775,29.080,37.385,57.006,0.000,34.728,1798.013,1332.184,414.070,0.000,0.000,0.000
$DEVICE_MAMPS,1000.000,119.000,1.682,8.296,0.000,50.000,18.000,0.390,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,WL_BB2F,optode,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,521.393,395.747,1004.705,0.000,0.000,0.000,2914.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,3.020,0.000,0.000,0.000
$MEM,1158120,26,18784,301
$DATA_FILE_SIZE,12939,282
$CAP_FILE_SIZE,658883,0
$SDSIZE,7830528,7793380
$ERRORS,0,0,0,0,0,0,0,0
$GPS,161213,150334,4807.751,-12223.698,23,1.6,29,18.0