version: 67.00
glider: 1
mission: 0
dive: 79
start: 12 16 113 1 35 44
data:
$ID,1
$MISSION,0
$DIVE,79
$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,40
$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,2.0187204
$FG_AHR_24V,0.74507678
$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
$GPS1,161213,013221,4807.032,-12223.165,16,1.9,22,18.0
$_CALLS,1
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-50.0
$GPS2,161213,013538,4807.012,-12223.146,17,1.9,22,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,-0.206
$KALMAN_X,925.1,77.9,94.9,-2661.7,1.5
$KALMAN_Y,-20022.9,-598.7,265.7,21977.2,123.3
$MHEAD_RNG_PITCHd_Wd,132.6,2351,-14.0,-7.500,-17.62
$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,6.51,-0.74,-146.63,0.00,435.25,2046.56,1051.69,1097.4,0.0,0.0,0,75.40,67.84,0.00,0.10,0.000,0.000,0.001,435.38,1969.12,3101.28,3038.00,3164.56,0,0,0,25.03,16777215.00,25.05
$GC,76.05,-0.74,-146.63,-40.00,435.12,1969.12,3037.50,3163.9,1.1,-1.5,7,92.42,0.00,10.26,2.94,0.000,0.000,0.000,2268.25,584.94,3100.78,3037.88,3163.69,0,0,0,16777215.00,25.04,25.03
$GC,361.55,-0.74,-146.63,0.00,2267.94,584.69,3038.62,3165.2,21.8,-7.2,35,366.06,0.00,0.00,3.13,0.000,0.000,0.000,2268.25,2036.38,3101.62,3038.00,3165.25,0,0,0,16777215.00,16777215.00,25.03
$GC,397.40,-0.74,-146.63,-40.00,2268.25,2036.38,3037.50,3163.7,24.2,-7.2,38,402.08,0.00,0.00,3.14,0.000,0.000,0.000,2268.88,604.00,3100.38,3037.19,3163.56,0,0,0,16777215.00,16777215.00,25.03
$GC,671.75,-0.74,-146.63,0.00,2268.31,604.06,3037.44,3163.9,42.3,-6.7,65,676.07,0.00,0.00,3.20,0.000,0.000,0.000,2269.19,2073.62,3100.66,3037.44,3163.88,0,0,0,16777215.00,16777215.00,25.03
$GC,706.86,-0.74,-146.63,0.00,2268.25,2073.69,3038.50,3164.4,44.6,-6.5,68,708.08,0.00,0.00,0.00,0.000,0.000,0.000,2268.94,2073.62,3101.38,3039.12,3163.62,0,0,0,16777215.00,16777215.00,16777215.00
$GC,737.17,-0.74,-146.63,0.00,2268.81,2075.00,3039.69,3165.3,46.6,-6.6,71,738.40,0.00,0.00,0.00,0.000,0.000,0.000,2269.12,2074.81,3100.72,3037.56,3163.88,0,0,0,16777215.00,16777215.00,16777215.00
$GC,767.18,-0.74,-146.63,0.00,2268.25,2074.25,3037.62,3163.6,48.3,-6.1,74,768.40,0.00,0.00,0.00,0.000,0.000,0.000,2269.19,2074.94,3102.34,3038.62,3166.06,0,0,0,16777215.00,16777215.00,16777215.00
$GC,796.49,-0.74,-146.63,0.00,2268.06,2073.44,3037.44,3163.9,50.3,-6.2,77,797.72,0.00,0.00,0.00,0.000,0.000,0.000,2269.06,2074.81,3100.59,3037.56,3163.62,0,0,0,16777215.00,16777215.00,16777215.00
$GC,827.34,-0.74,-146.63,0.00,2268.00,2073.56,3038.12,3165.7,52.2,-6.5,80,828.56,0.00,0.00,0.00,0.000,0.000,0.000,2268.38,2073.69,3100.88,3037.62,3164.12,0,0,0,16777215.00,16777215.00,16777215.00
$GC,856.32,-0.74,-146.63,0.00,2268.31,2073.69,3037.25,3163.5,54.7,-7.9,83,857.54,0.00,0.00,0.00,0.000,0.000,0.000,2270.25,2074.81,3101.53,3038.25,3164.81,0,0,0,16777215.00,16777215.00,16777215.00
$GC,886.63,-0.74,-146.63,-40.00,2268.12,2073.56,3037.38,3163.4,56.1,-6.5,86,891.09,0.00,0.00,3.21,0.000,0.000,0.000,2268.06,588.88,3100.53,3037.25,3163.81,0,0,0,16777215.00,16777215.00,25.03
$GC,984.10,-0.74,-146.63,0.00,2268.81,589.00,3037.38,3163.6,62.4,-6.3,95,992.45,0.00,0.00,3.24,0.000,0.000,0.000,2268.62,2039.50,3100.59,3037.62,3163.56,0,0,0,16777215.00,16777215.00,25.04
$GC,1022.40,-0.74,-146.63,0.00,2268.12,2037.44,3037.25,3163.7,64.7,-6.3,99,1023.62,0.00,0.00,0.00,0.000,0.000,0.000,2269.25,2038.38,3101.78,3038.62,3164.94,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1051.93,-0.74,-146.63,0.00,2269.00,2037.12,3038.25,3163.6,66.7,-6.6,102,1053.16,0.00,0.00,0.00,0.000,0.000,0.000,2269.31,2037.62,3100.53,3037.31,3163.75,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1081.93,-0.74,-146.63,0.00,2268.50,2037.75,3037.25,3163.9,68.6,-6.5,105,1083.15,0.00,0.00,0.00,0.000,0.000,0.000,2268.25,2037.19,3101.03,3037.75,3164.31,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1112.25,-0.74,-146.63,0.00,2268.12,2036.94,3037.31,3163.8,70.6,-6.4,108,1113.48,0.00,0.00,0.00,0.000,0.000,0.000,2269.38,2037.69,3100.53,3037.25,3163.81,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1141.91,-0.74,-146.63,0.00,2268.25,2037.69,3037.19,3163.6,72.7,-6.8,111,1143.13,0.00,0.00,0.00,0.000,0.000,0.000,2269.25,2036.94,3100.62,3037.50,3163.75,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1171.23,-0.74,-146.63,40.00,2268.31,2037.06,3037.25,3164.4,74.5,-6.7,114,1174.94,0.00,0.00,2.82,0.000,0.000,0.000,2268.06,3491.62,3100.25,3037.12,3163.38,0,0,0,16777215.00,16777215.00,25.03
$GC,1266.30,-0.74,-146.63,0.00,2268.00,3493.06,3037.62,3163.8,80.8,-6.3,123,1270.96,0.00,0.00,3.05,0.000,0.000,0.000,2268.38,2026.06,3100.38,3037.44,3163.31,0,0,0,16777215.00,16777215.00,25.03
$GC,1301.47,-0.74,-146.63,-40.00,2268.62,2026.69,3037.25,3163.8,83.2,-6.8,126,1306.07,0.00,0.00,3.17,0.000,0.000,0.000,2269.12,596.12,3100.47,3037.56,3163.38,0,0,0,16777215.00,16777215.00,25.03
$GC,1387.01,-0.74,-146.63,0.00,2267.94,596.12,3038.19,3163.9,88.7,-5.9,134,1388.86,0.00,0.00,1.40,0.000,0.000,0.000,2268.69,1369.38,3100.22,3037.00,3163.44,0,0,0,16777215.00,16777215.00,25.02
$STATE,1390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1390,begin apogee
$GC,1392.32,-0.20,0.00,0.00,2268.69,2024.00,3037.12,3163.5,90.4,9.7,134,1519.30,123.39,2.36,0.19,0.000,0.000,0.000,2442.62,2023.44,2500.88,2449.38,2552.38,0,0,0,24.98,25.03,25.05
$STATE,1521,end apogee,CONTROL_FINISHED_OK
$STATE,1521,begin climb
$GC,1520.81,0.74,146.63,0.00,2443.25,2024.38,2449.31,2552.6,91.4,0.0,147,1649.84,122.86,3.78,0.00,0.000,0.000,0.000,2740.00,2023.81,1903.53,1864.06,1943.00,0,0,0,25.01,25.03,16777215.00
$GC,1676.66,0.78,179.27,40.00,2740.50,2024.25,1864.88,1943.3,83.7,6.4,163,1710.81,29.81,0.00,2.70,0.000,0.000,0.000,2739.25,3441.75,1769.97,1733.25,1806.69,0,0,0,25.01,16777215.00,25.03
$GC,1981.35,0.80,192.08,0.00,2740.75,3443.50,1734.12,1806.9,62.9,7.1,193,2002.77,13.35,0.00,3.33,0.000,0.000,0.000,2740.94,2005.25,1718.47,1682.88,1754.06,0,0,0,25.01,16777215.00,25.04
$GC,2032.67,0.80,192.08,0.00,2739.44,2004.81,1682.88,1754.1,58.9,7.9,198,2033.90,0.00,0.00,0.00,0.000,0.000,0.000,2740.12,2005.62,1718.84,1683.12,1754.56,0,0,0,16777215.00,16777215.00,16777215.00
$GC,2061.66,0.80,192.08,40.00,2740.38,2005.06,1683.94,1755.2,56.6,7.8,201,2066.10,0.00,0.00,3.35,0.000,0.000,0.000,2739.12,3468.75,1718.66,1683.00,1754.31,0,0,0,16777215.00,16777215.00,25.03
$GC,2278.16,0.81,200.98,0.00,2739.31,3467.50,1683.12,1754.3,40.1,7.2,222,2296.96,10.55,0.00,3.23,0.000,0.000,0.000,2739.19,2005.69,1681.31,1646.31,1716.31,0,0,0,25.02,16777215.00,25.03
$GC,2326.81,0.82,212.04,0.00,2739.31,2005.62,1646.38,1716.4,36.8,7.1,227,2339.73,12.07,0.00,0.00,0.000,0.000,0.000,2740.31,2005.75,1646.84,1623.00,1670.69,0,0,0,25.02,16777215.00,16777215.00
$GC,2366.95,0.83,216.45,0.00,2740.56,2006.38,1602.19,1670.2,33.9,7.3,231,2376.94,6.49,0.00,0.00,0.000,0.000,0.000,2739.19,2005.56,1618.56,1584.44,1652.69,0,0,0,25.02,16777215.00,16777215.00
$GC,2407.09,0.84,223.68,40.00,2739.88,2006.81,1586.38,1652.9,31.0,7.3,235,2420.23,9.10,0.00,3.14,0.000,0.000,0.000,2740.31,3483.50,1588.88,1555.88,1621.88,0,0,0,25.02,16777215.00,25.03
$GC,2691.85,0.87,249.38,0.00,2740.69,3480.12,1556.38,1622.8,11.3,6.6,263,2723.11,22.44,0.62,3.41,0.000,0.000,0.000,2784.00,2017.94,1484.06,1453.31,1514.81,0,0,0,25.02,25.03,25.03
$GC,2751.94,0.91,283.93,40.00,2784.12,2018.88,1453.38,1514.8,7.5,6.3,269,2782.91,24.86,0.00,3.28,0.000,0.000,0.000,2783.88,3474.00,1342.69,1314.38,1371.00,0,0,0,24.98,16777215.00,25.03
$STATE,2834,end climb,SURFACE_DEPTH_REACHED
$STATE,2835,begin surface coast
$FINISH,1.2,0.998295
$STATE,2865,end surface coast,CONTROL_FINISHED_OK
$STATE,2865,begin surface
$SM_CCo,2928.67,41.38,0.000,0,0,0,349.71
$SM_CCo,2930.02,0.00,0.000,0,0,0,349.68
$SM_CCo,2931.33,0.16,0.000,0,0,0,349.77
$SM_GC,-0.00,13.75,3.22,0.16,0.000,0.000,0.000,0,1081878528,0,1074.12,-6.41,-0.31,536870912,1081465926,0,0,0,0,0.00,25.03,25.03
$SUPER,47,70,254,1,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TCM_TEMP,15.00
$SC_FREEKB,3936832
$HUMID,38.03
$TEMP,22.68
$INTERNAL_PRESSURE,13.7503
$24V_AH,24.0,7.748
$10V_AH,10.8,26.173
$FG_AHR_24Vo,0.754
$FG_AHR_10Vo,2.048
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,484.305,30.770,57.825,64.078,0.000,24.325,1799.657,1283.184,438.728,0.000,0.000,0.000
$DEVICE_MAMPS,1000.000,119.000,0.535,9.179,0.000,50.000,18.000,0.390,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,WL_BB2F,optode,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,509.804,394.307,999.203,0.000,0.000,0.000,2880.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,3.043,0.000,0.000,0.000
$MEM,1158120,25,18804,301
$DATA_FILE_SIZE,12833,280
$CAP_FILE_SIZE,645176,0
$SDSIZE,7830528,7795628
$ERRORS,0,0,0,0,0,0,0,0
$GPS,161213,022503,4806.851,-12222.747,10,1.6,17,18.0