version: 67.00
glider: 1
mission: 0
dive: 73
start: 12 15 113 20 35 41
data:
$ID,1
$MISSION,0
$DIVE,73
$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,1.8506497
$FG_AHR_24V,0.69070423
$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
$GPS1,151213,203242,4807.967,-12223.857,13,1.9,23,18.0
$_CALLS,1
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-50.0
$GPS2,151213,203535,4807.968,-12223.857,17,1.9,22,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,50.000
$KALMAN_CONTROL,0.082,-0.221
$KALMAN_X,321.9,-106.5,147.7,-2815.6,38.2
$KALMAN_Y,-20033.1,-272.1,-507.0,24209.8,133.2
$MHEAD_RNG_PITCHd_Wd,141.6,2083,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,6.52,-0.74,-146.63,0.00,445.38,2040.69,1052.12,1098.0,0.0,0.0,0,75.42,67.82,0.00,0.35,0.000,0.000,0.000,445.88,1999.69,3097.50,3034.44,3160.56,0,0,0,25.03,16777215.00,25.05
$GC,76.11,-0.74,-146.63,-40.00,445.19,1999.50,3035.38,3160.9,1.7,-2.5,7,92.47,0.00,10.47,2.70,0.000,0.000,0.000,2262.94,578.38,3098.12,3035.38,3160.88,0,0,0,16777215.00,25.03,25.04
$GC,361.98,-0.74,-146.63,0.00,2262.88,578.25,3034.94,3160.8,27.6,-7.2,35,366.35,0.00,0.00,3.08,0.000,0.000,0.000,2263.69,2069.94,3098.72,3035.69,3161.75,0,0,0,16777215.00,16777215.00,25.03
$GC,396.77,-0.74,-146.63,0.00,2264.00,2071.19,3035.50,3161.8,30.1,-7.4,38,397.99,0.00,0.00,0.00,0.000,0.000,0.000,2263.81,2071.06,3097.84,3034.69,3161.00,0,0,0,16777215.00,16777215.00,16777215.00
$GC,427.07,-0.74,-146.63,0.00,2262.94,2071.12,3035.94,3161.8,32.2,-7.0,41,428.29,0.00,0.00,0.00,0.000,0.000,0.000,2263.12,2070.12,3097.94,3034.88,3161.00,0,0,0,16777215.00,16777215.00,16777215.00
$GC,457.69,-0.74,-146.63,0.00,2262.75,2071.12,3034.94,3160.4,34.3,-6.9,44,458.91,0.00,0.00,0.00,0.000,0.000,0.000,2262.75,2070.88,3098.00,3034.94,3161.06,0,0,0,16777215.00,16777215.00,16777215.00
$GC,486.69,-0.74,-146.63,0.00,2263.94,2070.19,3035.50,3162.9,36.3,-6.9,47,487.91,0.00,0.00,0.00,0.000,0.000,0.000,2263.75,2070.25,3097.97,3034.81,3161.12,0,0,0,16777215.00,16777215.00,16777215.00
$GC,516.69,-0.74,-146.63,0.00,2263.00,2070.25,3034.56,3160.9,38.3,-6.8,50,517.91,0.00,0.00,0.00,0.000,0.000,0.000,2262.62,2072.75,3097.94,3034.88,3161.00,0,0,0,16777215.00,16777215.00,16777215.00
$GC,546.68,-0.74,-146.63,40.00,2264.19,2070.12,3034.56,3160.6,40.4,-6.9,53,549.95,0.00,0.00,2.57,0.000,0.000,0.000,2262.69,3462.94,3097.53,3034.25,3160.81,0,0,0,16777215.00,16777215.00,25.03
$GC,592.27,-0.74,-146.63,0.00,2262.88,3459.88,3034.50,3160.8,43.5,-6.9,57,595.98,0.00,0.00,2.71,0.000,0.000,0.000,2262.69,2009.44,3097.78,3034.75,3160.81,0,0,0,16777215.00,16777215.00,25.03
$GC,627.05,-0.74,-146.63,0.00,2262.62,2008.81,3035.12,3161.7,46.1,-7.2,60,628.28,0.00,0.00,0.00,0.000,0.000,0.000,2263.94,2009.50,3098.06,3035.00,3161.12,0,0,0,16777215.00,16777215.00,16777215.00
$GC,657.36,-0.74,-146.63,0.00,2263.25,2009.62,3035.94,3161.5,48.0,-6.8,63,658.58,0.00,0.00,0.00,0.000,0.000,0.000,2263.62,2008.75,3097.81,3034.94,3160.69,0,0,0,16777215.00,16777215.00,16777215.00
$GC,687.19,-0.74,-146.63,0.00,2262.75,2008.81,3034.44,3160.6,50.0,-6.6,66,688.41,0.00,0.00,0.00,0.000,0.000,0.000,2265.12,2011.19,3099.19,3035.25,3163.12,0,0,0,16777215.00,16777215.00,16777215.00
$GC,717.50,-0.74,-146.63,0.00,2262.75,2008.88,3034.69,3160.6,52.2,-6.9,69,718.73,0.00,0.00,0.00,0.000,0.000,0.000,2263.19,2009.81,3098.09,3035.31,3160.88,0,0,0,16777215.00,16777215.00,16777215.00
$GC,747.12,-0.74,-146.63,40.00,2262.62,2008.94,3034.44,3160.8,54.2,-6.9,72,751.00,0.00,0.00,2.93,0.000,0.000,0.000,2262.50,3489.50,3104.75,3048.81,3160.69,0,0,0,16777215.00,16777215.00,25.03
$GC,821.79,-0.74,-146.63,0.00,2263.75,3492.06,3034.56,3160.7,59.1,-6.7,79,826.12,0.00,0.00,3.12,0.000,0.000,0.000,2263.31,2011.44,3097.44,3034.38,3160.50,0,0,0,16777215.00,16777215.00,25.04
$GC,857.12,-0.74,-146.63,0.00,2262.81,2011.50,3035.50,3161.0,61.3,-6.3,82,858.35,0.00,0.00,0.00,0.000,0.000,0.000,2262.50,2011.50,3098.06,3034.88,3161.25,0,0,0,16777215.00,16777215.00,16777215.00
$GC,887.13,-0.74,-146.63,0.00,2262.75,2012.31,3034.50,3160.8,63.6,-6.9,85,888.36,0.00,0.00,0.00,0.000,0.000,0.000,2264.75,2012.44,3098.81,3035.62,3162.00,0,0,0,16777215.00,16777215.00,16777215.00
$GC,916.67,-0.74,-146.63,0.00,2262.81,2011.38,3035.75,3161.9,65.6,-7.2,88,917.89,0.00,0.00,0.00,0.000,0.000,0.000,2263.00,2011.69,3099.09,3036.00,3162.19,0,0,0,16777215.00,16777215.00,16777215.00
$GC,946.66,-0.74,-146.63,0.00,2264.06,2012.81,3036.44,3162.1,67.7,-6.9,91,947.88,0.00,0.00,0.00,0.000,0.000,0.000,2263.75,2011.56,3097.91,3034.75,3161.06,0,0,0,16777215.00,16777215.00,16777215.00
$GC,976.96,-0.74,-146.63,40.00,2264.38,2012.06,3034.81,3160.8,69.8,-7.0,94,981.00,0.00,0.00,2.83,0.000,0.000,0.000,2265.12,3452.06,3097.66,3034.75,3160.56,0,0,0,16777215.00,16777215.00,25.03
$GC,1203.69,-0.74,-146.63,0.00,2264.31,3454.00,3034.44,3160.6,85.9,-7.1,116,1212.38,0.00,0.00,3.01,0.000,0.000,0.000,2263.56,1977.19,3097.75,3034.62,3160.88,0,0,0,16777215.00,16777215.00,25.04
$GC,1242.08,-0.74,-146.63,0.00,2262.81,1977.00,3034.31,3160.7,88.3,-7.1,120,1243.31,0.00,0.00,0.00,0.000,0.000,0.000,2263.75,1978.50,3097.94,3034.94,3160.94,0,0,0,16777215.00,16777215.00,16777215.00
$GC,1272.08,-0.74,-146.63,0.00,2262.75,1976.44,3034.69,3160.7,89.9,-6.3,123,1273.30,0.00,0.00,0.00,0.000,0.000,0.000,2263.50,1976.06,3097.97,3034.56,3161.38,0,0,0,16777215.00,16777215.00,16777215.00
$STATE,1281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1282,begin apogee
$GC,1283.16,-0.20,0.00,0.00,2315.88,2108.31,3105.88,3235.6,90.1,5.8,124,1409.84,122.78,2.25,0.08,0.000,0.000,0.000,2440.19,1995.94,2501.94,2449.94,2553.94,0,0,0,25.02,25.03,25.05
$STATE,1411,end apogee,CONTROL_FINISHED_OK
$STATE,1411,begin climb
$GC,1411.33,0.74,146.63,0.00,2440.19,1996.44,2449.56,2552.8,91.0,0.0,136,1540.12,123.07,1.91,0.00,0.000,0.000,0.000,2741.88,1996.19,1904.03,1864.56,1943.50,0,0,0,25.01,25.04,16777215.00
$GC,1567.13,0.76,164.58,0.00,2741.81,1996.94,1864.56,1943.7,82.2,6.9,152,1587.47,17.99,0.00,0.00,0.000,0.000,0.000,2741.81,1996.25,1829.88,1791.94,1867.81,0,0,0,25.02,16777215.00,16777215.00
$GC,1617.26,0.78,175.79,0.00,2741.69,1996.12,1792.06,1868.1,78.7,7.1,157,1630.34,12.39,0.00,0.00,0.000,0.000,0.000,2741.81,1996.75,1783.62,1746.69,1820.56,0,0,0,25.01,16777215.00,16777215.00
$GC,1657.38,0.79,182.82,0.00,2741.88,1996.12,1747.69,1821.2,75.7,7.3,161,1667.26,8.64,0.00,0.00,0.000,0.000,0.000,2742.94,1997.19,1756.28,1719.75,1792.81,0,0,0,25.02,16777215.00,16777215.00
$GC,1697.10,0.80,191.93,0.00,2741.62,1996.19,1719.19,1791.9,72.9,7.2,165,1708.31,10.52,0.00,0.00,0.000,0.000,0.000,2741.88,1998.50,1718.78,1683.19,1754.38,0,0,0,25.02,16777215.00,16777215.00
$GC,1737.35,0.81,201.91,0.00,2741.62,1996.31,1683.19,1754.4,70.2,7.2,169,1749.33,11.35,0.00,0.00,0.000,0.000,0.000,2742.50,1996.25,1677.97,1642.88,1713.06,0,0,0,25.02,16777215.00,16777215.00
$GC,1777.37,0.83,219.83,0.00,2741.94,1996.19,1642.94,1712.7,67.5,6.9,173,1797.48,17.57,0.00,0.00,0.000,0.000,0.000,2741.50,1996.19,1604.72,1571.44,1638.00,0,0,0,25.02,16777215.00,16777215.00
$GC,1827.27,0.84,230.02,40.00,2741.62,1996.81,1571.44,1638.1,64.0,7.1,178,1842.90,11.41,0.00,2.81,0.000,0.000,0.000,2742.44,3494.44,1563.00,1530.50,1595.50,0,0,0,25.01,16777215.00,25.03
$GC,1854.07,0.84,230.02,0.00,2743.31,3494.50,1531.06,1596.1,61.7,7.5,180,1861.86,0.00,0.00,2.97,0.000,0.000,0.000,2741.75,1963.69,1562.91,1530.38,1595.44,0,0,0,16777215.00,16777215.00,25.03
$GC,1892.57,0.85,238.20,0.00,2741.94,1964.31,1531.12,1595.9,59.1,7.2,184,1902.46,9.47,0.00,0.00,0.000,0.000,0.000,2743.25,1963.88,1530.50,1498.31,1562.69,0,0,0,25.02,16777215.00,16777215.00
$GC,1931.93,0.86,241.64,0.00,2741.75,1965.31,1499.12,1563.2,56.3,7.4,188,1942.58,6.08,0.76,0.00,0.000,0.000,0.000,2784.50,1964.75,1516.09,1484.50,1547.69,0,0,0,25.02,25.05,16777215.00
$GC,1972.59,0.86,245.18,0.00,2785.44,1963.62,1484.62,1548.4,53.3,7.4,192,1982.43,5.82,0.00,0.00,0.000,0.000,0.000,2784.06,1964.31,1501.81,1470.81,1532.81,0,0,0,25.02,16777215.00,16777215.00
$GC,2011.90,0.87,248.15,0.00,2784.88,1963.69,1470.56,1532.9,50.4,7.4,196,2022.27,5.57,0.00,0.00,0.000,0.000,0.000,2784.31,1963.62,1489.62,1458.56,1520.69,0,0,0,25.03,16777215.00,16777215.00
$GC,2052.40,0.87,252.42,0.00,2786.19,1964.06,1459.19,1520.9,47.4,7.4,200,2062.45,6.56,0.00,0.00,0.000,0.000,0.000,2784.38,1963.81,1471.91,1441.44,1502.38,0,0,0,25.02,16777215.00,16777215.00
$GC,2092.12,0.88,259.23,0.00,2784.31,1963.56,1441.50,1502.6,44.5,7.3,204,2102.46,8.68,0.00,0.00,0.000,0.000,0.000,2785.44,1964.88,1444.19,1414.19,1474.19,0,0,0,25.02,16777215.00,16777215.00
$GC,2131.94,0.90,273.54,0.00,2784.88,1964.44,1414.69,1474.6,41.6,7.0,208,2151.60,14.81,0.00,0.00,0.000,0.000,0.000,2784.44,1963.56,1386.12,1357.06,1415.19,0,0,0,25.02,16777215.00,16777215.00
$GC,2182.43,0.92,289.12,0.00,2784.25,1963.88,1357.06,1414.8,38.1,7.0,213,2202.86,15.84,0.00,0.00,0.000,0.000,0.000,2784.25,1964.38,1322.41,1294.44,1350.38,0,0,0,25.02,16777215.00,16777215.00
$GC,2231.64,0.93,302.25,0.00,2784.12,1964.94,1294.75,1350.1,34.5,7.0,218,2246.56,13.94,0.00,0.00,0.000,0.000,0.000,2784.44,1963.75,1268.97,1242.06,1295.88,0,0,0,25.02,16777215.00,16777215.00
$GC,2271.93,0.94,308.55,0.00,2785.62,1964.44,1242.06,1295.0,31.6,7.3,222,2282.48,8.13,0.00,0.00,0.000,0.000,0.000,2785.12,1965.31,1243.50,1217.50,1269.50,0,0,0,25.03,16777215.00,16777215.00
$GC,2311.95,0.95,314.24,0.00,2785.44,1963.56,1218.12,1270.1,28.8,7.3,226,2322.44,7.78,0.00,0.00,0.000,0.000,0.000,2785.75,1963.50,1220.22,1194.50,1245.94,0,0,0,25.02,16777215.00,16777215.00
$GC,2351.65,0.96,328.09,40.00,2784.31,1963.56,1194.62,1245.6,26.0,7.0,230,2373.10,14.48,0.00,2.73,0.000,0.000,0.000,2784.50,3440.44,1163.62,1138.88,1188.38,0,0,0,25.02,16777215.00,25.04
$GC,2642.88,0.99,345.68,0.00,2784.50,3440.56,1140.06,1188.2,6.0,6.9,259,2657.94,11.16,0.00,3.00,0.000,0.000,0.000,2785.38,2006.19,1091.72,1068.88,1114.56,0,0,0,25.02,16777215.00,25.04
$GC,2688.42,1.02,373.13,40.00,2784.25,2005.50,1068.81,1115.0,3.0,6.6,263,2710.39,17.28,1.03,2.62,0.000,0.000,0.000,2841.25,3420.88,979.94,959.31,1000.56,0,0,0,25.00,25.04,25.03
$STATE,2711,end climb,SURFACE_DEPTH_REACHED
$STATE,2711,begin surface coast
$FINISH,-0.1,0.998376
$STATE,2748,end surface coast,CONTROL_FINISHED_OK
$STATE,2748,begin surface
$SM_CCo,2830.41,0.00,0.000,0,0,0,372.76
$SM_GC,-0.01,14.10,3.35,0.00,0.000,0.000,0.000,0,1081867264,0,980.38,-6.42,-1.05,1610612736,1081560121,0,0,0,0,0.00,25.03,25.03
$SUPER,39,70,254,1,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TCM_TEMP,15.00
$SC_FREEKB,3938816
$HUMID,38.70
$TEMP,22.14
$INTERNAL_PRESSURE,13.7358
$24V_AH,24.0,7.745
$10V_AH,10.8,25.946
$FG_AHR_24Vo,0.699
$FG_AHR_10Vo,1.879
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,549.120,30.520,41.685,44.603,0.000,23.446,1737.065,1222.140,377.676,0.000,0.000,0.000
$DEVICE_MAMPS,1000.000,119.000,0.459,8.962,0.000,50.000,18.000,0.390,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,WL_BB2F,optode,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,501.225,372.569,959.661,0.000,0.000,0.000,2761.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,3.019,0.000,0.000,0.000
$MEM,1158116,27,18768,301
$DATA_FILE_SIZE,12831,269
$CAP_FILE_SIZE,642948,0
$SDSIZE,7830528,7796520
$ERRORS,0,0,0,0,0,0,0,0
$GPS,151213,212342,4807.686,-12223.581,35,1.9,40,18.0