version: 66.04
glider: 167
mission: 2
dive: 277
start: 7 7 109 22 14 13
data:
$ID,167
$MISSION,2
$DIVE,277
$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,-10701.316
$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,72
$R_STBD_OVSHOOT,47
$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
$GPS1,220700,2518.413,12401.062,36,1.0,42,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-71.2
$GPS2,221351,2518.533,12401.242,11,2.3,30,-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,264.9,122884,-23.2,-12.000
$D_GRID,1958
$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,-24.55,0.000,2,0.000,0.000,141,2447,2328
$GC,44,-1.18,-121.7,3.2,-2.9,4,111,8.30,2.17,-51.42,0.000,4,0.238,0.038,2159,1017,3989
$GC,235,-0.74,-121.7,38.8,-22.5,37,242,0.52,2.12,0.00,0.000,6,0.170,0.029,2298,2436,3990
$GC,580,-0.88,-121.7,88.4,-11.1,98,587,0.12,2.03,0.00,0.000,4,0.074,0.044,2236,3757,3991
$GC,736,-0.82,-121.7,111.7,-15.0,125,743,0.17,1.90,0.00,0.000,6,0.162,0.023,2283,2409,3992
$GC,1081,-1.01,-121.7,149.2,-9.7,186,1089,0.17,2.08,0.00,0.000,4,0.065,0.043,2192,3754,3994
$GC,1342,-0.86,-121.7,188.8,-15.4,232,1349,0.25,1.83,0.00,0.000,6,0.160,0.023,2262,2454,3995
$GC,1688,-1.03,-121.7,229.5,-11.6,293,1695,0.15,2.03,0.00,0.000,4,0.071,0.044,2192,3766,3995
$GC,1864,-0.89,-121.7,254.9,-13.3,324,1870,0.22,1.80,0.00,0.000,6,0.160,0.023,2254,2486,3995
$GC,2208,-1.07,-121.7,289.2,-9.4,385,2215,0.15,2.05,0.00,0.000,4,0.067,0.025,2190,1053,3996
$GC,2238,-1.07,-121.7,292.5,-12.2,390,2245,0.00,2.15,0.00,0.000,6,0.000,0.031,2188,2499,3996
$GC,2568,-1.01,-121.7,334.2,-13.1,426,2572,0.12,1.92,0.00,0.000,4,0.168,0.045,2218,3764,3995
$GC,2728,-1.01,-121.7,353.3,-11.6,440,2732,0.00,1.77,0.00,0.000,6,0.000,0.024,2218,2501,3995
$GC,3063,-1.12,-121.7,391.7,-11.2,471,3067,0.00,1.95,0.00,0.000,4,0.000,0.047,2218,3760,3996
$GC,3271,-1.20,-121.7,414.4,-9.8,489,3278,0.17,1.75,0.00,0.000,6,0.067,0.025,2144,2524,3995
$GC,3596,-1.06,-121.7,454.2,-12.0,520,3600,0.20,1.90,0.00,0.000,4,0.165,0.044,2195,3754,3995
$GC,3658,-1.06,-121.7,461.3,-10.7,525,3664,0.00,1.75,0.00,0.000,6,0.000,0.026,2194,2520,3995
$GC,3985,-1.12,-121.7,496.7,-11.3,556,3989,0.00,1.92,0.00,0.000,4,0.000,0.048,2192,3758,3994
$GC,4098,-1.12,-121.7,510.9,-12.7,563,4102,0.00,1.75,0.00,0.000,6,0.000,0.026,2192,2536,3993
$GC,4432,-1.18,-121.7,547.3,-10.1,579,4435,0.00,1.90,0.00,0.000,4,0.000,0.049,2192,3757,3992
$GC,4500,-1.18,-121.7,554.4,-9.9,582,4504,0.00,1.73,0.00,0.000,6,0.000,0.027,2192,2558,3991
$GC,4833,-1.26,-121.7,587.0,-10.3,598,4837,0.15,1.88,0.00,0.000,4,0.079,0.048,2125,3757,3990
$GC,4963,-1.03,-121.7,605.2,-14.7,603,4969,0.32,1.70,0.00,0.000,6,0.170,0.028,2213,2575,3988
$GC,5280,-1.20,-121.7,634.3,-8.3,619,5284,0.15,1.85,0.00,0.000,4,0.077,0.050,2153,3753,3986
$GC,5392,-1.10,-121.7,648.0,-12.3,624,5396,0.15,1.70,0.00,0.000,6,0.168,0.028,2190,2582,3986
$GC,5727,-1.18,-121.7,682.4,-11.0,640,5730,0.00,1.88,0.00,0.000,4,0.000,0.052,2190,3754,3983
$GC,5760,-1.23,-121.7,686.5,-11.4,641,5764,0.12,1.67,0.00,0.000,6,0.080,0.028,2142,2593,3982
$GC,6083,-1.13,-121.7,729.1,-13.3,657,6088,0.15,2.25,0.00,0.000,4,0.179,0.026,2178,1054,3980
$GC,6124,-1.22,-121.7,734.1,-11.5,659,6128,0.00,2.30,0.00,0.000,6,0.000,0.036,2178,2559,3980
$GC,6451,-1.22,-121.7,771.2,-11.2,675,6455,0.00,1.85,0.00,0.000,4,0.000,0.053,2178,3748,3978
$GC,6611,-1.22,-121.7,789.4,-11.8,682,6614,0.00,1.67,0.00,0.000,6,0.000,0.028,2178,2593,3976
$GC,6945,-1.27,-121.7,825.3,-10.7,698,6950,0.12,1.83,0.00,0.000,4,0.089,0.051,2124,3749,3974
$GC,7029,-1.07,-121.7,837.1,-14.7,701,7035,0.28,1.65,0.00,0.000,6,0.177,0.028,2197,2616,3974
$GC,7345,-1.19,-121.7,869.5,-10.0,717,7350,0.12,1.80,0.00,0.000,4,0.085,0.053,2149,3750,3972
$GC,7379,-1.11,-121.7,873.6,-12.7,718,7383,0.15,1.65,0.00,0.000,6,0.179,0.029,2185,2621,3972
$GC,7702,-1.20,-121.7,906.1,-9.9,734,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2621,3970
$GC,8010,-1.29,-121.7,937.9,-10.4,749,8014,0.17,1.80,0.00,0.000,4,0.074,0.053,2114,3755,3968
$GC,8065,-1.06,-121.7,945.8,-15.0,751,8069,0.28,1.70,0.00,0.000,6,0.179,0.031,2201,2622,3968
$GC,8389,-1.21,-121.7,977.4,-9.6,767,8393,0.15,1.80,0.00,0.000,4,0.077,0.053,2139,3755,3966
$GC,8434,-1.08,-121.7,983.3,-13.2,769,8438,0.20,1.65,0.00,0.000,6,0.179,0.029,2189,2630,3966
$STATE,8495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8495,begin apogee
$GC,8501,-0.22,0.0,990.1,10.2,772,8598,0.93,0.00,90.50,1.413,6,0.156,0.000,2466,2535,3531
$STATE,8598,end apogee,CONTROL_FINISHED_OK
$STATE,8598,begin climb
$GC,8601,1.18,121.7,994.5,0.0,777,8712,1.27,2.35,103.20,1.372,4,0.064,0.031,2930,1101,3035
$GC,8943,0.63,137.4,973.9,11.0,792,8964,0.70,2.20,13.10,1.245,6,0.211,0.037,2751,2506,2974
$GC,9282,0.64,202.3,946.4,7.7,809,9345,0.00,2.30,54.35,1.344,4,0.000,0.031,2759,1097,2706
$GC,9392,0.72,226.3,935.6,10.4,814,9418,0.00,2.25,21.80,1.279,6,0.000,0.038,2759,2506,2609
$GC,9747,0.72,231.9,895.0,11.6,831,9757,0.00,2.15,5.62,1.013,4,0.000,0.031,2759,1104,2585
$GC,9858,0.81,237.7,882.0,11.6,836,9870,0.12,2.15,6.28,1.053,6,0.091,0.036,2805,2490,2562
$GC,10181,0.72,237.7,838.6,13.6,851,10185,0.00,2.10,0.00,0.000,4,0.000,0.030,2813,1095,2560
$GC,10317,0.64,237.7,819.3,13.7,857,10322,0.22,2.12,0.00,0.000,6,0.188,0.035,2756,2475,2558
$GC,10645,0.74,254.2,782.7,10.9,873,10667,0.00,2.12,14.23,1.220,4,0.000,0.033,2759,1107,2494
$GC,10714,0.87,263.1,775.0,11.4,876,10729,0.20,2.10,8.45,1.113,6,0.080,0.037,2832,2458,2461
$GC,11046,0.74,263.1,725.7,15.5,892,11050,0.20,2.05,0.00,0.000,4,0.183,0.029,2784,1109,2459
$GC,11153,0.79,263.1,711.2,12.3,896,11159,0.00,2.08,0.00,0.000,6,0.000,0.035,2784,2452,2458
$GC,11468,0.79,263.1,670.1,12.9,912,11472,0.00,2.05,0.00,0.000,4,0.000,0.032,2785,1090,2456
$GC,11632,0.85,266.8,650.3,11.8,919,11642,0.10,2.05,4.10,0.815,6,0.093,0.037,2824,2430,2447
$GC,11959,0.77,266.8,606.6,13.2,935,11963,0.12,2.00,0.00,0.000,4,0.184,0.030,2801,1098,2446
$GC,11985,0.77,266.8,603.0,12.2,936,11989,0.00,2.05,0.00,0.000,6,0.000,0.036,2801,2438,2446
$GC,12313,0.77,269.2,563.9,11.8,952,12322,0.00,2.05,4.35,0.817,4,0.000,0.032,2805,1103,2434
$GC,12390,0.78,276.8,554.8,11.5,955,12404,0.00,2.03,8.23,1.015,6,0.000,0.036,2805,2425,2403
$GC,12733,0.78,278.0,512.7,11.9,972,12737,0.00,2.00,0.00,0.000,4,0.000,0.031,2813,1089,2400
$GC,12828,0.78,278.0,501.2,12.6,976,12831,0.00,2.00,0.00,0.000,6,0.000,0.037,2813,2392,2400
$GC,13155,0.78,278.0,462.3,12.0,1006,13158,0.00,2.15,0.00,0.000,4,0.000,0.051,2812,3767,2400
$GC,13190,0.68,278.0,457.7,13.9,1009,13194,0.22,2.05,0.00,0.000,6,0.186,0.027,2764,2367,2400
$GC,13515,0.92,323.2,427.4,9.0,1039,13561,0.20,1.98,38.03,1.025,4,0.073,0.031,2852,1098,2212
$GC,13622,0.92,323.2,413.8,12.9,1048,13628,0.00,2.00,0.00,0.000,6,0.000,0.034,2853,2389,2209
$GC,13951,0.92,323.2,368.2,13.8,1079,13954,0.00,1.95,0.00,0.000,4,0.000,0.031,2859,1100,2206
$GC,14057,0.92,323.2,354.0,12.3,1088,14063,0.00,1.95,0.00,0.000,6,0.000,0.033,2858,2380,2206
$GC,14385,0.92,323.2,311.8,12.4,1119,14390,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2380,2206
$GC,14723,0.92,323.2,269.2,12.6,1172,14729,0.00,1.92,0.00,0.000,4,0.000,0.031,2859,1094,2205
$GC,14764,0.92,323.2,264.1,12.7,1179,14769,0.00,1.92,0.00,0.000,6,0.000,0.033,2859,2368,2206
$GC,15107,0.92,323.2,222.2,12.1,1240,15113,0.00,1.90,0.00,0.000,4,0.000,0.030,2859,1090,2206
$GC,15221,0.97,323.2,207.4,13.2,1260,15227,0.00,1.90,0.00,0.000,6,0.000,0.032,2859,2354,2206
$GC,15566,1.02,330.7,165.3,11.5,1321,15579,0.00,1.92,7.00,0.683,4,0.000,0.030,2859,1097,2183
$GC,15648,1.12,330.7,155.6,12.3,1335,15654,0.12,1.88,0.00,0.000,6,0.084,0.031,2910,2351,2182
$GC,15993,1.06,352.2,110.7,10.6,1396,16017,0.00,1.88,18.50,0.716,4,0.000,0.028,2915,1089,2095
$GC,16081,1.10,382.9,101.6,10.0,1411,16111,0.00,1.90,24.88,0.708,6,0.000,0.031,2915,2346,1970
$GC,16450,1.18,392.4,57.7,11.4,1476,16463,0.00,1.92,8.57,0.610,4,0.000,0.028,2920,1087,1932
$GC,16554,1.33,407.3,46.7,11.0,1494,16574,0.15,1.90,13.43,0.630,6,0.074,0.031,2979,2349,1870
$GC,16913,1.36,430.4,5.2,10.5,1557,16938,0.00,1.92,19.00,0.606,4,0.000,0.028,2985,1089,1775
$STATE,16942,end climb,SURFACE_DEPTH_REACHED
$STATE,16942,begin surface coast
$FINISH,1.7,1.008049
$STATE,16971,end surface coast,CONTROL_FINISHED_OK
$STATE,16971,begin surface
$SM_CCo,17051,0.00,0.000,0,0,1770,432.22
$SM_GC,2.90,7.82,0.00,0.00,0.063,0.000,0.000,138,2450,1770,-7.51,0.65,432.22
$IRIDIUM_FIX,2507.97,12401.90,011098,171753
$TT8_MAMPS,0.028379
$HUMID,1594
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,48.815
$10V_AH,10.8,27.634
$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,25.500,148.550,463.600,0.000,0.000,30.160,37.283,186.208,8.000,0.000,0.000,32.588,2828.828,10511.746,582.676,2919.690,609.203,0.000,2046.562,0.000,2836.368,0.000,54.418,0.000
$DEVICE_MAMPS,237.770,69.030,1412.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1059.144,1080.643,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85216,1567
$CAP_FILE_SIZE,181506,0
$CFSIZE,260165632,202981376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.279, 73.5,1
$GPS,080709,025936,2519.659,12401.820,37,1.0,38,-3.8