version: 66.04
glider: 166
mission: 2
dive: 606
start: 9 5 109 22 28 58
data:
$ID,166
$MISSION,2
$DIVE,606
$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,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$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,475
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19202.383
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-27.273609
$PRESSURE_SLOPE,0.0001160501
$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,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,221407,2438.250,12357.561,33,1.2,33,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.8
$GPS2,222837,2438.304,12357.496,11,1.2,16,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_1
$TGT_LATLONG,2341.000,12400.000
$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,184.3,106212,-13.9,-10.000
$D_GRID,977
$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,16,-0.93,-243.4,0.0,0.0,0,81,0.00,0.00,-62.28,0.000,2,0.000,0.000,167,2102,2284
$GC,85,-0.93,-243.4,3.1,-5.3,9,143,9.25,2.25,-41.72,0.000,4,0.212,0.044,2512,638,3939
$GC,270,-0.48,-243.4,54.6,-31.3,40,278,0.55,2.15,0.00,0.000,6,0.122,0.032,2666,2060,3939
$GC,620,-0.48,-243.4,104.8,-10.7,101,626,0.00,2.15,0.00,0.000,4,0.000,0.042,2664,3460,3940
$GC,725,-0.59,-243.4,113.8,-8.0,119,731,0.00,2.10,0.00,0.000,6,0.000,0.026,2664,2029,3940
$GC,1074,-0.64,-243.4,148.0,-8.7,180,1084,0.15,2.25,0.00,0.000,4,0.056,0.041,2573,3463,3941
$GC,1111,-0.54,-243.4,152.3,-12.8,185,1118,0.25,2.05,0.00,0.000,6,0.120,0.026,2646,2059,3940
$GC,1460,-0.59,-243.4,190.6,-10.6,246,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2059,3940
$GC,1807,-0.66,-243.4,224.5,-8.6,307,1814,0.12,0.00,0.00,0.000,6,0.066,0.000,2577,2059,3939
$GC,2157,-0.52,-243.4,277.4,-15.6,368,2165,0.20,0.00,0.00,0.000,6,0.121,0.000,2643,2059,3938
$GC,2502,-0.63,-243.4,304.8,-7.4,423,2505,0.00,2.22,0.00,0.000,4,0.000,0.045,2615,3458,3937
$GC,2533,-0.76,-243.4,307.2,-7.4,425,2539,0.15,2.05,0.00,0.000,6,0.051,0.028,2546,2069,3937
$GC,2861,-0.62,-243.4,351.0,-13.5,456,2865,0.20,2.15,0.00,0.000,4,0.122,0.038,2620,676,3935
$GC,2937,-0.72,-243.4,358.4,-7.8,462,2945,0.00,2.10,0.00,0.000,6,0.000,0.033,2599,2044,3935
$GC,3265,-0.82,-243.4,383.4,-7.9,493,3270,0.12,2.22,0.00,0.000,4,0.062,0.045,2519,3463,3933
$GC,3334,-0.74,-243.4,392.3,-13.8,498,3341,0.15,2.12,0.00,0.000,6,0.110,0.028,2574,2054,3933
$GC,3661,-0.74,-243.4,428.8,-9.9,529,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2053,3931
$GC,3981,-0.79,-243.4,457.4,-8.7,559,3985,0.00,2.28,0.00,0.000,4,0.000,0.050,2562,3466,3928
$GC,4023,-0.86,-243.4,461.1,-8.4,562,4032,0.00,2.15,0.00,0.000,6,0.000,0.031,2563,2062,3928
$GC,4351,-0.90,-243.4,491.2,-9.3,593,4355,0.00,2.17,0.00,0.000,4,0.000,0.042,2563,663,3926
$GC,4449,-0.94,-243.4,500.7,-10.1,601,4454,0.12,2.12,0.00,0.000,6,0.061,0.037,2490,2045,3925
$GC,4777,-0.79,-243.4,547.6,-15.2,617,4779,0.25,0.00,0.00,0.000,6,0.122,0.000,2566,2045,3923
$GC,5082,-0.88,-243.4,573.6,-7.8,632,5086,0.00,2.28,0.00,0.000,4,0.000,0.055,2557,3461,3920
$GC,5134,-0.97,-243.4,577.9,-8.2,634,5138,0.15,2.12,0.00,0.000,6,0.052,0.031,2480,2052,3920
$GC,5461,-0.81,-243.4,626.0,-16.8,650,5465,0.22,2.20,0.00,0.000,4,0.123,0.045,2554,663,3917
$GC,5556,-0.87,-243.4,638.5,-10.6,654,5560,0.00,2.15,0.00,0.000,6,0.000,0.038,2546,2050,3916
$GC,5883,-0.92,-243.4,671.5,-9.4,670,5887,0.00,2.30,0.00,0.000,4,0.000,0.061,2536,3471,3913
$GC,5934,-0.97,-243.4,677.4,-10.8,672,5938,0.00,2.17,0.00,0.000,6,0.000,0.034,2536,2042,3913
$GC,6264,-0.97,-243.4,716.3,-11.9,688,6267,0.00,2.17,0.00,0.000,4,0.000,0.047,2537,657,3910
$GC,6292,-0.97,-243.4,720.2,-13.0,689,6296,0.00,2.17,0.00,0.000,6,0.000,0.041,2530,2050,3910
$GC,6626,-0.97,-243.4,756.6,-12.0,705,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2050,3908
$GC,6930,-0.97,-243.4,791.0,-10.2,720,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2050,3906
$GC,7242,-0.97,-243.4,825.2,-10.5,735,7245,0.00,2.22,0.00,0.000,4,0.000,0.048,2530,658,3903
$GC,7318,-1.00,-243.4,833.2,-10.0,738,7322,0.00,2.22,0.00,0.000,6,0.000,0.045,2530,2060,3903
$GC,7642,-1.04,-243.4,865.5,-10.3,754,7644,0.12,0.00,0.00,0.000,6,0.064,0.000,2463,2060,3900
$STATE,7723,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7723,begin apogee
$GC,7733,-0.23,0.0,877.6,14.7,758,7955,0.88,0.00,218.38,1.371,6,0.109,0.000,2742,1692,2945
$STATE,7955,end apogee,CONTROL_FINISHED_OK
$STATE,7955,begin climb
$GC,7959,0.93,243.4,888.6,0.0,769,8229,1.20,2.62,243.48,1.300,4,0.074,0.051,3127,294,1950
$GC,8434,0.59,243.4,851.3,14.6,790,8440,0.45,2.42,0.00,0.000,6,0.153,0.040,3014,1701,1943
$GC,8768,0.48,243.4,813.2,10.9,806,8773,0.12,2.40,0.00,0.000,4,0.145,0.051,2980,3111,1940
$GC,8954,0.49,303.2,795.4,8.3,814,9060,0.00,2.28,68.80,1.112,6,0.000,0.040,2988,1701,1708
$GC,9368,0.56,358.3,758.9,8.5,834,9465,0.00,2.55,64.40,1.118,4,0.000,0.052,2999,293,1483
$GC,9606,0.56,358.3,731.3,13.4,844,9610,0.00,2.40,0.00,0.000,6,0.000,0.041,2999,1758,1481
$GC,9925,0.56,358.3,688.9,12.2,859,9928,0.00,2.20,0.00,0.000,4,0.000,0.052,2999,3105,1478
$GC,10161,0.52,358.3,657.9,13.0,869,10165,0.00,2.12,0.00,0.000,6,0.000,0.040,3009,1766,1477
$GC,10494,0.49,358.3,619.5,11.1,885,10498,0.12,2.20,0.00,0.000,4,0.137,0.051,2974,3105,1477
$GC,10608,0.54,402.3,608.6,8.8,890,10684,0.00,2.10,49.78,1.055,6,0.000,0.040,2981,1786,1304
$GC,11011,0.60,402.3,572.2,10.4,909,11014,0.00,2.15,0.00,0.000,4,0.000,0.051,2981,3105,1302
$GC,11198,0.70,441.2,552.3,8.9,917,11268,0.15,2.05,44.03,1.037,6,0.056,0.039,3059,1813,1146
$GC,11586,0.60,441.2,492.0,15.3,938,11591,0.17,2.12,0.00,0.000,4,0.132,0.051,3002,3106,1145
$GC,11786,0.64,441.2,467.5,11.7,955,11789,0.00,1.98,0.00,0.000,6,0.000,0.038,3009,1854,1143
$GC,12120,0.68,441.2,428.4,11.7,986,12123,0.00,2.05,0.00,0.000,4,0.000,0.050,3009,3115,1143
$GC,12247,0.72,441.2,411.8,12.6,997,12252,0.10,1.95,0.00,0.000,6,0.067,0.037,3071,1876,1143
$GC,12580,0.62,441.2,356.1,15.9,1028,12584,0.17,2.03,0.00,0.000,4,0.131,0.048,3020,3111,1142
$GC,12687,0.66,441.2,342.6,12.2,1037,12690,0.00,1.90,0.00,0.000,6,0.000,0.036,3026,1898,1143
$GC,13018,0.66,441.2,301.5,10.8,1068,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1897,1142
$GC,13355,0.69,441.2,266.0,11.1,1126,13361,0.00,1.98,0.00,0.000,4,0.000,0.047,3028,3108,1143
$GC,13443,0.77,466.6,256.4,9.3,1141,13474,0.00,1.88,23.95,0.907,6,0.000,0.035,3035,1896,1041
$GC,13819,0.91,519.7,221.7,8.5,1206,13873,0.17,2.08,48.22,0.879,4,0.051,0.044,3138,3116,826
$GC,14012,0.75,519.7,186.5,18.4,1238,14020,0.25,1.88,0.00,0.000,6,0.124,0.033,3068,1916,825
$GC,14361,0.81,519.7,142.5,11.4,1299,14367,0.00,1.92,0.00,0.000,4,0.000,0.043,3069,3111,824
$GC,14415,0.89,519.7,136.1,12.0,1308,14422,0.00,1.85,0.00,0.000,6,0.000,0.032,3075,1918,824
$GC,14764,1.08,562.1,102.5,8.8,1369,14809,0.22,1.92,38.03,0.760,4,0.041,0.041,3197,3118,652
$GC,14889,0.93,562.1,81.6,18.7,1389,14896,0.25,1.85,0.00,0.000,6,0.123,0.031,3126,1922,650
$GC,15238,1.12,616.1,44.2,8.5,1450,15290,0.15,1.95,43.30,0.700,4,0.054,0.039,3216,3118,454
$GC,15349,0.99,616.1,24.9,18.5,1468,15357,0.22,1.83,0.00,0.000,6,0.123,0.030,3139,1942,454
$STATE,15565,end climb,SURFACE_DEPTH_REACHED
$STATE,15565,begin surface coast
$FINISH,0.9,1.008752
$STATE,15613,end surface coast,CONTROL_FINISHED_OK
$STATE,15613,begin surface
$SM_CCo,15695,0.00,0.000,0,0,451,611.53
$SM_GC,1.52,8.07,0.00,0.00,0.032,0.000,0.000,165,2118,451,-8.28,1.61,611.53
$IRIDIUM_FIX,2429.95,12358.51,301198,222247
$TT8_MAMPS,0.027612
$HUMID,1687
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.50
$XPDR_PINGS,154
$ALTIM_BOTTOM_PING,877.6,9.3
$24V_AH,20.9,141.220
$10V_AH,10.5,89.712
$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,24.750,116.000,842.350,0.000,0.000,72.101,147.288,318.989,45.750,0.000,0.000,16.406,2640.549,8189.406,875.105,3714.849,1120.554,0.000,2417.656,0.000,3698.596,0.000,53.301,0.000
$DEVICE_MAMPS,212.459,60.593,1370.629,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.577,1056.482,2272.138,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85413,1514
$CAP_FILE_SIZE,174990,0
$CFSIZE,260165632,184729600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,22,0
$CURRENT,0.073,303.5,1
$GPS,060909,025154,2436.209,12357.412,42,0.8,42,-3.6