version: 66.04
glider: 167
mission: 2
dive: 278
start: 7 8 109 3 6 41
data:
$ID,167
$MISSION,2
$DIVE,278
$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,-10718.425
$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,54
$R_STBD_OVSHOOT,38
$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
$GPS1,025936,2519.659,12401.820,37,1.0,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-72.1
$GPS2,030619,2519.758,12401.961,11,1.2,16,-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,261.9,125426,-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,-121.7,0.0,0.0,0,36,0.00,0.00,-19.17,0.000,2,0.000,0.000,138,2450,2250
$GC,39,-1.18,-121.7,3.0,-1.3,3,111,8.52,2.20,-56.35,0.000,4,0.245,0.038,2161,1002,3989
$GC,252,-0.78,-121.7,43.2,-22.4,40,258,0.50,2.15,0.00,0.000,6,0.176,0.031,2291,2441,3991
$GC,596,-0.94,-121.7,87.7,-11.4,101,603,0.15,2.03,0.00,0.000,4,0.075,0.044,2221,3766,3992
$GC,718,-0.81,-121.7,106.6,-16.1,122,726,0.22,1.98,0.00,0.000,6,0.158,0.022,2283,2362,3993
$GC,1065,-1.00,-121.7,145.3,-11.5,183,1071,0.17,2.15,0.00,0.000,4,0.069,0.043,2194,3756,3995
$GC,1185,-0.82,-121.7,163.9,-15.6,204,1192,0.30,1.90,0.00,0.000,6,0.165,0.024,2278,2410,3996
$GC,1531,-1.05,-121.7,198.1,-8.6,265,1538,0.17,2.08,0.00,0.000,4,0.068,0.044,2192,3755,3996
$GC,1675,-0.93,-121.7,216.7,-13.5,290,1683,0.20,1.83,0.00,0.000,6,0.162,0.024,2246,2458,3996
$GC,2021,-1.08,-121.7,258.7,-12.3,351,2028,0.15,2.00,0.00,0.000,4,0.073,0.045,2179,3754,3996
$GC,2086,-0.93,-121.7,268.3,-15.4,362,2093,0.22,1.80,0.00,0.000,6,0.163,0.025,2240,2477,3996
$GC,2438,-1.09,-121.7,304.2,-8.5,420,2442,0.12,1.98,0.00,0.000,4,0.077,0.045,2181,3757,3996
$GC,2545,-0.97,-121.7,317.3,-12.0,429,2551,0.17,1.77,0.00,0.000,6,0.164,0.025,2227,2504,3997
$GC,2870,-1.11,-121.7,353.1,-10.5,460,2875,0.12,2.10,0.00,0.000,4,0.077,0.026,2176,1045,3997
$GC,2903,-1.06,-121.7,357.1,-13.4,462,2910,0.00,2.17,0.00,0.000,6,0.000,0.033,2176,2498,3997
$GC,3230,-1.01,-121.7,398.6,-13.2,493,3234,0.17,1.92,0.00,0.000,4,0.169,0.047,2219,3755,3996
$GC,3349,-1.09,-121.7,412.9,-11.6,503,3354,0.00,1.77,0.00,0.000,6,0.000,0.025,2219,2502,3996
$GC,3676,-1.23,-121.7,447.7,-10.7,534,3680,0.17,1.95,0.00,0.000,4,0.074,0.048,2137,3754,3995
$GC,3848,-1.01,-121.7,472.5,-14.0,549,3855,0.30,1.75,0.00,0.000,6,0.166,0.027,2219,2534,3995
$GC,4184,-1.18,-121.7,502.0,-8.1,580,4188,0.15,1.90,0.00,0.000,4,0.073,0.049,2155,3750,3993
$GC,4307,-1.04,-121.7,517.0,-12.7,585,4311,0.15,1.73,0.00,0.000,6,0.164,0.028,2200,2573,3993
$GC,4632,-1.14,-121.7,550.9,-10.9,601,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2573,3992
$GC,4938,-1.24,-121.7,584.4,-10.3,616,4942,0.17,1.85,0.00,0.000,4,0.073,0.051,2126,3750,3990
$GC,5051,-1.02,-121.7,600.1,-13.7,621,5055,0.32,1.70,0.00,0.000,6,0.170,0.028,2215,2576,3988
$GC,5384,-1.19,-121.7,634.1,-10.0,637,5388,0.17,2.22,0.00,0.000,4,0.073,0.028,2148,1055,3986
$GC,5416,-1.15,-121.7,638.0,-12.2,638,5424,0.00,2.28,0.00,0.000,6,0.000,0.036,2146,2551,3986
$GC,5732,-1.05,-121.7,678.5,-12.9,654,5736,0.17,1.88,0.00,0.000,4,0.177,0.050,2192,3760,3984
$GC,5800,-1.12,-121.7,686.2,-11.0,657,5804,0.00,1.73,0.00,0.000,6,0.000,0.028,2192,2575,3983
$GC,6133,-1.21,-121.7,718.6,-9.7,673,6137,0.12,1.85,0.00,0.000,4,0.090,0.051,2138,3750,3981
$GC,6224,-1.05,-121.7,729.9,-13.3,677,6228,0.25,1.70,0.00,0.000,6,0.172,0.029,2204,2583,3981
$GC,6558,-1.20,-121.7,766.1,-11.5,693,6562,0.15,1.85,0.00,0.000,4,0.077,0.052,2142,3754,3978
$GC,6636,-1.06,-121.7,778.0,-14.9,696,6640,0.22,1.67,0.00,0.000,6,0.173,0.031,2200,2605,3978
$GC,6957,-1.19,-121.7,815.0,-11.2,712,6959,0.12,0.00,0.00,0.000,6,0.083,0.000,2153,2605,3976
$GC,7267,-1.14,-121.7,854.1,-12.2,727,7270,0.00,1.83,0.00,0.000,4,0.000,0.055,2152,3755,3974
$GC,7442,-1.06,-121.7,876.9,-12.7,734,7450,0.20,1.67,0.00,0.000,6,0.174,0.030,2203,2612,3972
$GC,7759,-1.21,-121.7,909.0,-10.4,750,7761,0.15,0.00,0.00,0.000,6,0.077,0.000,2148,2611,3971
$GC,8067,-1.15,-121.7,949.0,-13.1,765,8071,0.00,1.80,0.00,0.000,4,0.000,0.054,2141,3749,3969
$GC,8128,-1.02,-121.7,957.8,-14.2,767,8135,0.28,1.67,0.00,0.000,6,0.175,0.029,2213,2606,3969
$GC,8445,-1.23,-121.7,988.7,-9.6,783,8450,0.20,1.83,0.00,0.000,4,0.075,0.054,2137,3749,3968
$STATE,8454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8454,begin apogee
$GC,8461,-0.22,0.0,990.0,9.7,783,8556,1.10,0.00,90.93,1.410,6,0.176,0.000,2453,2517,3532
$STATE,8556,end apogee,CONTROL_FINISHED_OK
$STATE,8557,begin climb
$GC,8559,1.18,121.7,994.9,0.0,788,8671,1.33,2.15,103.43,1.368,4,0.061,0.050,2927,3747,3034
$GC,8783,0.43,121.7,987.3,13.0,798,8789,1.00,1.92,0.00,0.000,6,0.216,0.025,2687,2460,3032
$GC,9099,0.67,215.7,968.2,5.8,813,9185,0.17,2.12,77.60,1.358,4,0.083,0.031,2759,1118,2651
$GC,9233,0.74,225.1,955.4,11.4,819,9247,0.00,2.20,9.12,1.154,6,0.000,0.035,2759,2497,2613
$GC,9565,0.75,235.4,917.0,11.3,835,9580,0.00,2.15,9.50,1.179,4,0.000,0.032,2759,1126,2571
$GC,9706,0.85,249.9,900.9,11.0,841,9726,0.17,2.15,13.07,1.231,6,0.081,0.036,2824,2507,2512
$GC,10055,0.71,249.9,848.8,14.9,858,10060,0.17,2.10,0.00,0.000,4,0.181,0.031,2776,1118,2509
$GC,10145,0.76,249.9,837.1,12.7,862,10149,0.00,2.12,0.00,0.000,6,0.000,0.035,2776,2492,2508
$GC,10478,0.76,249.9,794.1,13.2,878,10481,0.00,2.08,0.00,0.000,4,0.000,0.031,2776,1116,2507
$GC,10550,0.82,249.9,784.5,13.8,881,10554,0.00,2.10,0.00,0.000,6,0.000,0.037,2776,2480,2507
$GC,10877,0.82,249.9,742.4,13.0,897,10881,0.00,2.05,0.00,0.000,4,0.000,0.031,2779,1112,2505
$GC,11047,0.87,249.9,722.0,12.1,904,11051,0.12,2.08,0.00,0.000,6,0.088,0.036,2826,2465,2505
$GC,11363,0.74,249.9,678.2,14.2,919,11365,0.17,0.00,0.00,0.000,6,0.180,0.000,2782,2467,2504
$GC,11671,0.76,261.5,641.9,11.2,934,11686,0.00,2.05,9.82,1.101,4,0.000,0.031,2789,1112,2465
$GC,11748,0.77,268.7,632.9,11.5,937,11761,0.00,2.05,7.60,1.030,6,0.000,0.036,2789,2442,2436
$GC,12070,0.77,271.9,595.4,11.8,953,12079,0.00,2.03,4.35,0.819,4,0.000,0.031,2790,1127,2423
$GC,12201,0.85,274.6,580.2,11.8,958,12210,0.00,2.00,3.92,0.756,6,0.000,0.037,2790,2430,2412
$GC,12517,0.90,279.6,541.9,11.7,974,12529,0.12,1.98,6.28,0.934,4,0.085,0.031,2843,1121,2391
$GC,12652,0.81,279.6,524.0,13.6,980,12656,0.15,1.98,0.00,0.000,6,0.183,0.035,2808,2415,2389
$GC,12973,0.82,286.7,485.8,11.5,1001,12985,0.00,2.17,7.40,0.940,4,0.000,0.051,2808,3762,2363
$GC,12998,0.82,286.7,482.4,12.6,1003,13001,0.00,2.00,0.00,0.000,6,0.000,0.027,2814,2427,2362
$GC,13331,0.82,286.7,443.7,12.1,1034,13335,0.00,1.95,0.00,0.000,4,0.000,0.034,2816,1110,2362
$GC,13502,0.82,287.9,422.6,11.9,1049,13506,0.00,1.95,0.00,0.000,6,0.000,0.035,2816,2391,2361
$GC,13834,0.85,317.7,383.1,10.0,1080,13868,0.00,1.95,25.95,0.979,4,0.000,0.032,2816,1111,2236
$GC,13941,1.03,365.0,373.0,8.9,1089,13986,0.17,1.95,39.30,0.961,6,0.075,0.033,2883,2384,2043
$GC,14305,0.97,365.0,320.2,15.2,1123,14309,0.00,1.92,0.00,0.000,4,0.000,0.032,2885,1110,2036
$GC,14430,0.91,365.0,301.5,15.0,1134,14434,0.17,1.90,0.00,0.000,6,0.179,0.035,2841,2356,2036
$GC,14774,1.04,378.0,261.3,11.1,1194,14793,0.12,1.90,10.68,0.813,4,0.081,0.031,2898,1117,1989
$GC,14897,1.04,378.0,244.9,13.6,1215,14902,0.00,1.88,0.00,0.000,6,0.000,0.033,2898,2354,1988
$GC,15240,1.04,378.0,193.5,14.8,1276,15246,0.00,1.85,0.00,0.000,4,0.000,0.031,2898,1110,1987
$GC,15254,1.04,378.0,191.8,14.3,1278,15261,0.00,1.85,0.00,0.000,6,0.000,0.033,2898,2337,1987
$GC,15598,1.04,378.0,147.7,12.4,1339,15604,0.00,1.83,0.00,0.000,4,0.000,0.031,2898,1107,1987
$GC,15740,1.10,378.0,128.7,12.6,1364,15746,0.00,1.77,0.00,0.000,6,0.000,0.032,2898,2298,1987
$GC,16085,1.25,431.3,93.0,8.5,1425,16133,0.12,1.85,42.72,0.709,4,0.084,0.030,2956,1106,1772
$GC,16290,1.25,431.3,66.8,13.7,1461,16296,0.00,1.77,0.00,0.000,6,0.000,0.030,2955,2282,1768
$GC,16634,1.32,431.3,25.8,12.6,1522,16641,0.00,1.73,0.00,0.000,4,0.000,0.028,2961,1099,1767
$GC,16790,1.43,442.3,8.6,11.3,1549,16805,0.12,1.70,9.68,0.571,6,0.085,0.028,3007,2256,1728
$STATE,16831,end climb,SURFACE_DEPTH_REACHED
$STATE,16831,begin surface coast
$FINISH,1.8,1.009047
$STATE,16861,end surface coast,CONTROL_FINISHED_OK
$STATE,16861,begin surface
$SM_CCo,16939,0.00,0.000,0,0,1723,443.75
$SM_GC,2.73,7.78,0.00,0.00,0.059,0.000,0.000,139,2457,1723,-7.51,0.85,443.75
$IRIDIUM_FIX,2507.97,12400.57,011098,222259
$TT8_MAMPS,0.029146
$HUMID,1598
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,48.988
$10V_AH,10.8,27.730
$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,27.575,139.975,471.350,0.000,0.000,30.634,45.055,184.715,8.000,0.000,0.000,16.479,2819.671,10451.140,578.116,2881.575,600.125,0.000,2028.301,0.000,2808.503,0.000,54.416,0.000
$DEVICE_MAMPS,245.440,55.224,1409.746,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1055.252,1084.660,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82053,1561
$CAP_FILE_SIZE,180237,0
$CFSIZE,260165632,202891264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.335, 77.6,1
$GPS,080709,075006,2520.717,12403.043,31,1.6,32,-3.8