version: 66.04
glider: 167
mission: 2
dive: 275
start: 7 7 109 12 35 47
data:
$ID,167
$MISSION,2
$DIVE,275
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$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,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51932
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10652.03
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,3532
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.600696
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387017
$SEABIRD_T_H,0.00063414662
$SEABIRD_T_I,2.5692387e-05
$SEABIRD_T_J,2.8978091e-06
$SEABIRD_C_G,-9.8799791
$SEABIRD_C_H,1.1029794
$SEABIRD_C_I,-0.0010948726
$SEABIRD_C_J,0.00016878155
$GPS1,122536,2517.087,12400.294,40,1.2,41,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-70.1
$GPS2,123526,2517.205,12400.438,14,1.3,14,-3.8
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,RET_1
$TGT_LATLONG,2425.600,12317.300
$TGT_RADIUS,2000.000
$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,265.4,120105,-23.2,-12.000
$D_GRID,2076
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,41,0.00,0.00,-23.95,0.000,2,0.000,0.000,140,2454,2353
$GC,44,-1.18,-121.7,3.3,-3.4,4,110,8.30,2.12,-49.00,0.000,4,0.237,0.038,2160,1006,3986
$GC,291,-0.79,-121.7,52.3,-21.4,47,298,0.47,2.12,0.00,0.000,6,0.168,0.028,2285,2432,3988
$GC,636,-0.88,-121.7,99.7,-11.8,108,642,0.00,2.03,0.00,0.000,4,0.000,0.045,2277,3758,3989
$GC,808,-0.96,-121.7,118.7,-11.0,138,815,0.12,1.95,0.00,0.000,6,0.077,0.023,2220,2372,3990
$GC,1153,-0.96,-121.7,164.7,-12.5,199,1159,0.00,2.12,0.00,0.000,4,0.000,0.042,2210,3760,3992
$GC,1239,-0.88,-121.7,176.5,-14.1,214,1247,0.17,1.92,0.00,0.000,6,0.160,0.031,2257,2395,3992
$GC,1586,-1.04,-121.7,214.1,-10.9,275,1593,0.15,2.10,0.00,0.000,4,0.069,0.044,2192,3758,3992
$GC,1743,-0.91,-121.7,234.7,-13.4,302,1751,0.22,1.85,0.00,0.000,6,0.158,0.023,2254,2440,3992
$GC,2090,-1.09,-121.7,268.3,-9.6,363,2096,0.17,0.00,0.00,0.000,6,0.061,0.000,2175,2439,3992
$GC,2436,-1.00,-121.7,314.0,-12.6,415,2440,0.17,2.00,0.00,0.000,4,0.165,0.025,2226,1053,3992
$GC,2475,-1.13,-121.7,318.6,-10.4,418,2483,0.12,2.08,0.00,0.000,6,0.076,0.030,2174,2444,3992
$GC,2800,-1.07,-121.7,355.8,-11.2,449,2804,0.00,2.00,0.00,0.000,4,0.000,0.045,2165,3763,3992
$GC,2992,-0.96,-121.7,379.4,-12.4,466,2996,0.25,1.85,0.00,0.000,6,0.157,0.024,2235,2453,3992
$GC,3322,-1.17,-121.7,411.2,-9.4,497,3326,0.20,2.03,0.00,0.000,4,0.065,0.046,2145,3760,3992
$GC,3391,-0.98,-121.7,420.5,-14.6,503,3396,0.30,1.88,0.00,0.000,6,0.163,0.025,2229,2445,3992
$GC,3722,-1.21,-121.7,453.9,-9.7,534,3726,0.20,2.05,0.00,0.000,4,0.064,0.046,2140,3764,3991
$GC,3780,-1.02,-121.7,461.7,-14.7,539,3784,0.28,1.88,0.00,0.000,6,0.164,0.025,2215,2446,3990
$GC,4110,-1.17,-121.7,496.5,-10.1,570,4115,0.15,2.05,0.00,0.000,4,0.073,0.048,2153,3761,3988
$GC,4172,-1.04,-121.7,504.2,-13.5,574,4180,0.20,1.85,0.00,0.000,6,0.166,0.025,2205,2470,3988
$GC,4488,-1.16,-121.7,534.6,-9.6,590,4492,0.00,2.00,0.00,0.000,4,0.000,0.048,2205,3754,3986
$GC,4562,-1.26,-121.7,542.1,-10.1,593,4566,0.12,1.88,0.00,0.000,6,0.060,0.026,2132,2469,3985
$GC,4890,-1.11,-121.7,585.9,-13.8,609,4894,0.20,2.03,0.00,0.000,4,0.173,0.048,2180,3764,3982
$GC,4980,-1.11,-121.7,597.6,-12.1,613,4983,0.00,1.85,0.00,0.000,6,0.000,0.027,2180,2481,3982
$GC,5313,-1.11,-121.7,636.4,-11.3,629,5316,0.00,2.00,0.00,0.000,4,0.000,0.051,2178,3757,3980
$GC,5391,-1.11,-121.7,646.0,-11.7,632,5394,0.00,1.83,0.00,0.000,6,0.000,0.028,2179,2493,3979
$GC,5712,-1.11,-121.7,682.7,-11.0,648,5716,0.00,1.98,0.00,0.000,4,0.000,0.051,2178,3750,3976
$GC,5768,-1.11,-121.7,689.3,-11.6,650,5771,0.00,1.80,0.00,0.000,6,0.000,0.028,2178,2508,3976
$GC,6089,-1.16,-121.7,724.8,-11.3,666,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2507,3974
$GC,6399,-1.16,-121.7,759.6,-11.4,681,6402,0.00,1.98,0.00,0.000,4,0.000,0.052,2176,3761,3971
$GC,6494,-1.16,-121.7,770.9,-11.1,685,6497,0.00,1.83,0.00,0.000,6,0.000,0.029,2176,2506,3971
$GC,6821,-1.20,-121.7,804.5,-10.2,701,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2506,3968
$GC,7130,-1.25,-121.7,836.0,-10.1,716,7134,0.00,1.98,0.00,0.000,4,0.000,0.054,2175,3753,3967
$GC,7221,-1.25,-121.7,845.5,-10.3,720,7224,0.00,1.80,0.00,0.000,6,0.000,0.028,2175,2524,3966
$GC,7554,-1.30,-121.7,878.5,-10.3,736,7556,0.15,0.00,0.00,0.000,6,0.084,0.000,2119,2524,3964
$GC,7863,-1.15,-121.7,919.5,-13.6,751,7867,0.17,1.98,0.00,0.000,4,0.182,0.054,2165,3760,3963
$GC,7975,-1.15,-121.7,933.5,-12.3,756,7979,0.00,1.83,0.00,0.000,6,0.000,0.030,2165,2541,3963
$GC,8308,-1.15,-121.7,971.5,-11.7,772,8311,0.00,1.92,0.00,0.000,4,0.000,0.055,2165,3748,3961
$GC,8335,-1.15,-121.7,974.9,-12.3,773,8340,0.00,1.80,0.00,0.000,6,0.000,0.029,2165,2544,3961
$STATE,8473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8473,begin apogee
$GC,8479,-0.22,0.0,990.6,11.1,780,8576,1.05,0.00,89.15,1.416,6,0.164,0.000,2471,2544,3532
$STATE,8576,end apogee,CONTROL_FINISHED_OK
$STATE,8576,begin climb
$GC,8579,1.18,121.7,994.8,0.0,785,8690,1.30,2.12,102.97,1.375,4,0.061,0.050,2930,3760,3034
$GC,8864,0.42,121.7,978.3,12.8,798,8869,0.95,1.90,0.00,0.000,6,0.216,0.026,2683,2515,3031
$GC,9186,0.68,223.4,960.2,5.3,814,9272,0.22,0.00,83.93,1.361,6,0.075,0.000,2768,2515,2621
$GC,9575,0.69,235.0,918.2,11.2,833,9590,0.00,2.12,10.40,1.196,4,0.000,0.032,2774,1119,2572
$GC,9668,0.71,250.3,907.4,11.0,836,9688,0.00,2.17,13.68,1.237,6,0.000,0.036,2773,2511,2511
$GC,10010,0.71,253.8,867.4,11.8,853,10019,0.00,2.17,3.90,0.823,4,0.000,0.032,2775,1112,2497
$GC,10060,0.76,253.8,861.3,12.2,855,10064,0.00,2.17,0.00,0.000,6,0.000,0.037,2775,2514,2496
$GC,10387,0.76,253.8,820.4,12.6,871,10391,0.00,2.12,0.00,0.000,4,0.000,0.033,2775,1110,2496
$GC,10488,0.82,253.8,807.5,12.2,875,10492,0.00,2.12,0.00,0.000,6,0.000,0.038,2775,2488,2494
$GC,10809,0.82,253.8,766.3,12.8,891,10813,0.00,2.08,0.00,0.000,4,0.000,0.031,2776,1107,2493
$GC,10860,0.88,253.8,759.9,12.6,893,10864,0.15,2.10,0.00,0.000,6,0.084,0.037,2832,2473,2493
$GC,11180,0.74,253.8,711.8,14.8,909,11182,0.17,0.00,0.00,0.000,6,0.182,0.000,2788,2475,2492
$GC,11490,0.74,253.8,670.3,13.9,924,11493,0.00,2.05,0.00,0.000,4,0.000,0.032,2789,1110,2492
$GC,11590,0.78,253.8,656.8,13.5,928,11594,0.00,2.08,0.00,0.000,6,0.000,0.038,2789,2463,2492
$GC,11911,0.79,260.0,618.3,11.6,944,11922,0.00,2.03,6.30,0.989,4,0.000,0.053,2789,3757,2470
$GC,12012,0.70,260.0,604.8,13.8,948,12018,0.00,1.90,0.00,0.000,6,0.000,0.028,2792,2475,2469
$GC,12328,0.71,272.7,569.9,11.2,964,12348,0.00,2.12,11.70,1.081,4,0.000,0.034,2792,1097,2419
$GC,12474,0.80,288.8,553.6,10.9,970,12495,0.00,2.12,14.82,1.081,6,0.000,0.036,2792,2477,2355
$GC,12820,0.87,297.8,513.9,11.4,987,12835,0.00,2.12,8.62,0.986,4,0.000,0.032,2791,1109,2318
$GC,12875,0.99,317.3,507.4,10.7,989,12900,0.20,2.10,17.50,1.049,6,0.074,0.036,2867,2463,2238
$GC,13225,0.87,317.3,458.6,14.0,1019,13229,0.15,2.08,0.00,0.000,4,0.189,0.030,2838,1092,2233
$GC,13344,0.87,317.3,442.2,13.4,1029,13348,0.00,2.10,0.00,0.000,6,0.000,0.035,2838,2455,2233
$GC,13674,0.87,317.3,396.7,12.9,1060,13678,0.00,2.03,0.00,0.000,4,0.000,0.031,2842,1107,2232
$GC,13791,0.87,317.3,381.8,12.6,1070,13798,0.00,2.03,0.00,0.000,6,0.000,0.035,2842,2433,2232
$GC,14117,0.87,317.3,340.6,12.3,1101,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2433,2232
$GC,14437,0.87,320.1,300.9,11.8,1131,14440,0.00,1.98,0.00,0.000,4,0.000,0.032,2846,1107,2232
$GC,14572,0.89,332.4,286.2,11.2,1154,14591,0.00,2.00,12.95,0.858,6,0.000,0.035,2846,2429,2177
$GC,14931,0.97,354.9,247.5,10.5,1217,14955,0.00,2.05,19.40,0.841,4,0.000,0.030,2853,1106,2085
$GC,15036,1.08,370.7,235.6,11.0,1235,15060,0.12,2.00,14.18,0.802,6,0.084,0.033,2902,2416,2019
$GC,15400,1.03,370.7,185.6,13.8,1299,15406,0.00,1.98,0.00,0.000,4,0.000,0.028,2910,1089,2015
$GC,15502,1.03,370.7,171.0,13.9,1317,15509,0.12,2.00,0.00,0.000,6,0.173,0.033,2880,2413,2015
$GC,15848,1.09,370.7,127.7,12.7,1378,15855,0.00,2.10,0.00,0.000,4,0.000,0.048,2880,3767,2015
$GC,15969,1.09,370.7,110.5,13.2,1399,15975,0.00,2.00,0.00,0.000,6,0.000,0.024,2885,2399,2015
$GC,16313,1.30,417.6,75.1,8.9,1460,16357,0.20,1.98,37.35,0.690,4,0.069,0.029,2982,1102,1827
$GC,16464,1.22,417.6,55.0,13.9,1486,16471,0.17,1.92,0.00,0.000,6,0.183,0.031,2939,2379,1823
$GC,16810,1.40,454.2,19.2,9.6,1547,16846,0.17,1.90,29.42,0.627,4,0.066,0.027,3019,1100,1679
$STATE,16931,end climb,SURFACE_DEPTH_REACHED
$STATE,16931,begin surface coast
$FINISH,1.7,1.011587
$STATE,16954,end surface coast,CONTROL_FINISHED_OK
$STATE,16954,begin surface
$SM_CCo,17034,0.00,0.000,0,0,1671,456.26
$SM_GC,2.84,7.88,0.00,0.00,0.061,0.000,0.000,142,2453,1671,-7.49,0.74,456.26
$IRIDIUM_FIX,2507.97,12400.57,011098,121241
$TT8_MAMPS,0.029146
$HUMID,1615
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,23.4,48.474
$10V_AH,10.8,27.442
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.025,136.150,476.275,0.000,0.000,57.661,78.824,244.870,8.250,0.000,0.000,14.216,2798.283,10693.875,599.641,2799.078,720.132,0.000,2004.753,0.000,2738.631,0.000,56.478,0.000
$DEVICE_MAMPS,237.003,55.224,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.982,1081.689,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85197,1572
$CAP_FILE_SIZE,175590,0
$CFSIZE,260165632,203165696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207, 82.7,1
$GPS,070709,172055,2517.806,12400.432,39,1.1,40,-3.8