version: 66.04
glider: 167
mission: 2
dive: 276
start: 7 7 109 17 28 4
data:
$ID,167
$MISSION,2
$DIVE,276
$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,-10668.101
$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,42
$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
$GPS1,172055,2517.806,12400.432,39,1.1,40,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-69.4
$GPS2,172742,2517.895,12400.543,11,1.8,15,-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,256.7,121231,-23.2,-12.000
$D_GRID,2000
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-23.58,0.000,2,0.000,0.000,142,2453,2263
$GC,43,-1.18,-121.7,3.1,-1.9,4,118,8.38,2.15,-56.65,0.000,4,0.241,0.038,2159,1022,3990
$GC,210,-0.73,-121.7,33.3,-24.9,32,217,0.55,2.12,0.00,0.000,6,0.169,0.029,2306,2441,3991
$GC,556,-0.86,-121.7,82.8,-10.1,93,562,0.12,2.03,0.00,0.000,4,0.076,0.044,2245,3762,3992
$GC,816,-0.80,-121.7,123.4,-14.9,139,822,0.15,1.90,0.00,0.000,6,0.161,0.022,2284,2410,3993
$GC,1161,-1.07,-121.7,157.7,-10.2,200,1167,0.20,2.08,0.00,0.000,4,0.062,0.043,2192,3755,3995
$GC,1348,-0.91,-121.7,187.8,-17.4,233,1354,0.20,1.77,0.00,0.000,6,0.160,0.024,2246,2494,3996
$GC,1694,-1.03,-121.7,229.8,-10.1,294,1701,0.00,1.95,0.00,0.000,4,0.000,0.045,2245,3763,3996
$GC,1733,-1.12,-121.7,233.5,-10.3,300,1739,0.17,1.80,0.00,0.000,6,0.065,0.024,2172,2480,3996
$GC,2077,-0.99,-121.7,281.5,-14.2,361,2083,0.17,0.00,0.00,0.000,6,0.157,0.000,2224,2480,3996
$GC,2419,-1.07,-121.7,319.3,-10.8,407,2423,0.00,2.05,0.00,0.000,4,0.000,0.026,2224,1046,3996
$GC,2437,-1.18,-121.7,321.5,-10.7,408,2443,0.15,2.12,0.00,0.000,6,0.071,0.031,2161,2479,3997
$GC,2762,-1.06,-121.7,362.4,-13.3,439,2766,0.17,1.95,0.00,0.000,4,0.179,0.046,2204,3755,3997
$GC,2975,-1.06,-121.7,389.3,-11.6,458,2978,0.00,1.77,0.00,0.000,6,0.000,0.025,2204,2496,3996
$GC,3306,-1.13,-121.7,427.8,-11.8,489,3310,0.00,1.95,0.00,0.000,4,0.000,0.048,2204,3757,3996
$GC,3385,-1.13,-121.7,437.3,-12.5,496,3388,0.00,1.75,0.00,0.000,6,0.000,0.026,2204,2521,3996
$GC,3720,-1.22,-121.7,473.9,-10.4,527,3724,0.15,1.92,0.00,0.000,4,0.071,0.047,2137,3761,3995
$GC,3810,-1.01,-121.7,486.0,-13.4,535,3815,0.30,1.75,0.00,0.000,6,0.167,0.026,2219,2534,3995
$GC,4148,-1.17,-121.7,518.3,-9.3,558,4153,0.15,1.90,0.00,0.000,4,0.071,0.048,2152,3750,3993
$GC,4262,-1.03,-121.7,533.5,-14.4,563,4266,0.17,1.75,0.00,0.000,6,0.163,0.027,2205,2556,3993
$GC,4597,-1.14,-121.7,572.9,-11.9,579,4600,0.00,1.88,0.00,0.000,4,0.000,0.050,2204,3757,3991
$GC,4658,-1.24,-121.7,580.9,-12.6,581,4665,0.17,1.73,0.00,0.000,6,0.070,0.027,2136,2554,3990
$GC,4975,-1.11,-121.7,624.1,-12.8,597,4979,0.17,1.88,0.00,0.000,4,0.173,0.048,2177,3751,3988
$GC,5053,-1.11,-121.7,633.3,-11.0,600,5057,0.00,1.70,0.00,0.000,6,0.000,0.027,2177,2568,3987
$GC,5374,-1.11,-121.7,665.5,-10.0,616,5378,0.00,1.88,0.00,0.000,4,0.000,0.052,2177,3762,3986
$GC,5535,-1.11,-121.7,682.6,-10.7,623,5538,0.00,1.73,0.00,0.000,6,0.000,0.028,2177,2573,3984
$GC,5868,-1.11,-121.7,718.7,-11.1,639,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2573,3982
$GC,6177,-1.11,-121.7,753.6,-11.4,654,6181,0.00,1.88,0.00,0.000,4,0.000,0.054,2175,3761,3980
$GC,6238,-1.11,-121.7,761.2,-12.2,656,6244,0.00,1.75,0.00,0.000,6,0.000,0.029,2175,2582,3979
$GC,6554,-1.11,-121.7,796.9,-11.3,672,6558,0.00,1.88,0.00,0.000,4,0.000,0.054,2174,3749,3976
$GC,6622,-1.11,-121.7,804.9,-11.9,675,6626,0.00,1.67,0.00,0.000,6,0.000,0.029,2174,2599,3976
$GC,6955,-1.11,-121.7,843.2,-11.3,691,6959,0.00,1.83,0.00,0.000,4,0.000,0.052,2168,3757,3974
$GC,7027,-1.11,-121.7,852.3,-12.6,694,7031,0.00,1.70,0.00,0.000,6,0.000,0.030,2169,2613,3974
$GC,7355,-1.11,-121.7,891.3,-12.0,710,7359,0.00,1.80,0.00,0.000,4,0.000,0.054,2166,3750,3971
$GC,7455,-1.11,-121.7,904.5,-13.1,714,7459,0.00,1.67,0.00,0.000,6,0.000,0.031,2166,2630,3971
$GC,7777,-1.11,-121.7,943.7,-12.1,730,7781,0.00,1.80,0.00,0.000,4,0.000,0.056,2166,3741,3969
$GC,7848,-1.11,-121.7,953.0,-12.8,733,7852,0.00,1.65,0.00,0.000,6,0.000,0.030,2166,2638,3969
$STATE,8173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8173,begin apogee
$GC,8180,-0.22,0.0,991.9,11.8,749,8276,1.02,0.00,90.35,1.413,6,0.164,0.000,2465,2544,3532
$STATE,8277,end apogee,CONTROL_FINISHED_OK
$STATE,8277,begin climb
$GC,8279,1.18,121.7,996.8,0.0,754,8389,1.30,2.08,102.93,1.371,4,0.065,0.051,2924,3754,3035
$GC,8581,0.43,121.7,978.7,13.1,768,8586,0.98,1.90,0.00,0.000,6,0.212,0.027,2684,2486,3031
$GC,8908,0.68,219.8,959.1,5.5,784,8995,0.20,2.22,80.28,1.355,4,0.077,0.031,2774,1113,2635
$GC,9109,0.68,219.8,938.2,12.4,793,9113,0.00,2.17,0.00,0.000,6,0.000,0.037,2774,2489,2630
$GC,9441,0.69,225.5,899.7,11.6,809,9451,0.00,2.10,5.35,0.999,4,0.000,0.032,2775,1114,2612
$GC,9530,0.70,234.8,889.3,11.4,813,9546,0.00,2.12,9.25,1.170,6,0.000,0.037,2775,2485,2573
$GC,9855,0.71,243.7,852.0,11.4,829,9870,0.00,2.12,8.48,1.147,4,0.000,0.032,2775,1120,2538
$GC,9955,0.78,249.9,840.2,11.6,833,9967,0.00,2.10,6.60,1.069,6,0.000,0.035,2775,2479,2513
$GC,10276,0.78,254.5,803.3,11.7,849,10285,0.00,2.08,5.40,0.992,4,0.000,0.031,2775,1117,2494
$GC,10337,0.85,258.5,795.8,11.7,852,10348,0.12,2.08,5.15,0.962,6,0.087,0.036,2823,2464,2478
$GC,10666,0.74,258.5,747.5,15.1,868,10670,0.15,2.05,0.00,0.000,4,0.174,0.031,2791,1111,2475
$GC,10805,0.74,258.5,728.2,13.9,874,10809,0.00,2.05,0.00,0.000,6,0.000,0.035,2791,2443,2474
$GC,11131,0.74,258.5,684.9,13.6,890,11135,0.00,2.00,0.00,0.000,4,0.000,0.030,2800,1106,2473
$GC,11293,0.74,258.5,663.8,13.4,897,11297,0.00,1.98,0.00,0.000,6,0.000,0.036,2800,2401,2473
$GC,11621,0.74,260.9,623.7,11.8,913,11625,0.00,2.12,0.00,0.000,4,0.000,0.053,2800,3758,2473
$GC,11660,0.59,260.9,618.5,14.0,914,11668,0.25,2.00,0.00,0.000,6,0.181,0.026,2741,2389,2472
$GC,11976,0.83,305.0,589.8,9.1,930,12021,0.20,1.95,38.75,1.151,4,0.073,0.031,2828,1110,2287
$GC,12049,0.83,305.0,579.7,14.1,933,12053,0.00,2.03,0.00,0.000,6,0.000,0.036,2827,2398,2284
$GC,12376,0.83,305.0,532.2,14.6,949,12380,0.00,1.95,0.00,0.000,4,0.000,0.032,2828,1116,2280
$GC,12493,0.83,305.0,515.5,12.5,954,12497,0.00,1.95,0.00,0.000,6,0.000,0.034,2829,2392,2280
$GC,12816,0.83,305.0,473.8,12.7,979,12820,0.00,1.92,0.00,0.000,4,0.000,0.031,2827,1116,2279
$GC,12888,0.83,305.0,464.6,12.0,985,12894,0.00,1.92,0.00,0.000,6,0.000,0.035,2828,2381,2279
$GC,13216,0.83,305.0,422.0,13.8,1016,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2381,2279
$GC,13541,0.83,305.0,378.0,12.5,1047,13545,0.00,1.90,0.00,0.000,4,0.000,0.032,2828,1112,2279
$GC,13621,0.90,319.9,369.0,11.0,1054,13637,0.00,1.95,12.05,0.926,6,0.000,0.035,2828,2397,2227
$GC,13964,1.01,360.2,334.0,9.3,1086,14002,0.12,2.17,33.10,0.931,4,0.080,0.049,2878,3764,2063
$GC,14095,0.85,360.2,315.7,15.8,1097,14099,0.25,2.05,0.00,0.000,6,0.183,0.025,2823,2404,2060
$GC,14430,1.01,360.4,276.7,12.0,1145,14436,0.15,1.92,0.00,0.000,4,0.077,0.031,2884,1108,2058
$GC,14585,1.01,360.4,255.2,14.1,1172,14591,0.00,1.98,0.00,0.000,6,0.000,0.034,2885,2412,2058
$GC,14928,1.01,360.4,209.9,12.6,1233,14934,0.00,1.95,0.00,0.000,4,0.000,0.031,2885,1104,2058
$GC,15167,1.01,360.4,178.9,14.2,1275,15173,0.00,1.95,0.00,0.000,6,0.000,0.032,2885,2404,2058
$GC,15510,1.03,375.3,135.7,11.0,1336,15530,0.00,2.17,13.02,0.713,4,0.000,0.048,2885,3769,2001
$GC,15558,1.03,375.3,129.1,14.5,1344,15564,0.00,2.03,0.00,0.000,6,0.000,0.024,2894,2384,2000
$GC,15902,1.18,409.5,88.0,9.7,1405,15938,0.00,1.88,28.02,0.694,4,0.000,0.030,2897,1107,1863
$GC,16019,1.40,445.9,75.9,9.6,1425,16056,0.28,1.90,29.60,0.673,6,0.063,0.031,3001,2369,1714
$GC,16396,1.34,445.9,24.5,13.4,1491,16401,0.00,1.88,0.00,0.000,4,0.000,0.028,3010,1098,1708
$STATE,16559,end climb,SURFACE_DEPTH_REACHED
$STATE,16559,begin surface coast
$FINISH,1.8,1.003731
$STATE,16581,end surface coast,CONTROL_FINISHED_OK
$STATE,16581,begin surface
$SM_CCo,16660,0.00,0.000,0,0,1706,447.92
$SM_GC,2.74,7.70,0.00,0.00,0.054,0.000,0.000,141,2447,1706,-7.49,0.57,447.92
$IRIDIUM_FIX,2510.35,12358.59,011098,121230
$TT8_MAMPS,0.029146
$HUMID,1609
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,48.647
$10V_AH,10.8,27.536
$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,24.125,135.875,468.325,0.000,0.000,28.611,31.794,205.556,8.000,0.000,0.000,15.442,2736.180,10332.657,570.355,2830.541,585.519,0.000,1995.377,0.000,2759.993,0.000,55.995,0.000
$DEVICE_MAMPS,240.838,69.030,1412.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.090,1047.786,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82166,1524
$CAP_FILE_SIZE,169801,0
$CFSIZE,260165632,203083776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.266, 78.3,1
$GPS,070709,220700,2518.413,12401.062,36,1.0,42,-3.8