version: 66.02
glider: 16
mission: 6
dive: 329
start: 1 13 108 20 38 51
data:
$ID,16
$MISSION,6
$DIVE,329
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-2084803.6
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,203235,6247.062,-558.093,38,1.9,47,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-55.5
$GPS2,203759,6247.048,-558.078,18,2.5,37,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.163,0.150
$KALMAN_X,83278.4,-2161.5,-803.0,84777.1,33712.0
$KALMAN_Y,-1585.3,2135.7,979.0,125896.1,-35353.5
$MHEAD_RNG_PITCHd_Wd,285.7,5421,-16.5,-6.000
$D_GRID,990
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.11,-74.2,0.0,0.0,0,85,0.00,0.00,-61.03,0.000,2,0.000,0.000,73,2416,3115
$GC,88,-1.12,-81.4,3.7,-5.6,3,111,11.70,2.60,-0.90,0.000,4,0.169,0.087,2161,3760,3152
$GC,364,-1.12,-81.4,36.2,-9.2,15,368,0.00,2.53,0.00,0.000,6,0.000,0.058,2161,2397,3153
$GC,684,-1.12,-81.4,74.1,-11.8,31,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2397,3153
$GC,995,-1.12,-81.4,99.8,-7.4,46,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2397,3153
$GC,1304,-1.12,-81.4,127.9,-10.3,61,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2396,3153
$GC,1612,-1.12,-81.4,156.6,-10.0,76,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2396,3153
$GC,1921,-1.12,-81.4,185.5,-8.7,91,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2397,3153
$GC,2231,-1.12,-81.4,212.1,-8.8,106,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2396,3153
$GC,2540,-1.12,-81.4,239.8,-10.1,121,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2396,3153
$GC,2849,-1.12,-81.4,269.7,-8.4,136,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2396,3153
$GC,3159,-1.12,-81.4,296.5,-8.4,151,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2396,3153
$GC,3467,-1.12,-81.4,323.0,-8.4,166,3472,0.00,2.67,0.00,0.000,4,0.000,0.077,2161,983,3153
$GC,3529,-1.12,-81.4,328.3,-8.6,169,3534,0.00,2.62,0.00,0.000,6,0.000,0.065,2161,2397,3154
$GC,3856,-1.12,-81.4,357.5,-9.2,185,3860,0.00,2.62,0.00,0.000,4,0.000,0.085,2161,3770,3154
$GC,3962,-1.12,-81.4,368.2,-9.7,190,3967,0.00,2.58,0.00,0.000,6,0.000,0.064,2161,2394,3154
$GC,4289,-1.12,-81.4,397.0,-8.5,206,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2393,3154
$GC,4597,-1.12,-81.4,424.1,-8.7,221,4602,0.00,2.65,0.00,0.000,4,0.000,0.085,2161,3772,3153
$GC,4750,-1.12,-81.4,438.8,-9.4,228,4755,0.00,2.58,0.00,0.000,6,0.000,0.063,2161,2393,3154
$GC,5077,-1.12,-81.4,466.9,-8.2,244,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2394,3154
$STATE,5096,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5096,begin apogee
$GC,5102,-0.31,0.0,468.5,8.0,245,5178,0.90,0.00,69.35,0.981,6,0.116,0.000,2338,2199,2816
$STATE,5178,end apogee,CONTROL_FINISHED_OK
$STATE,5178,begin climb
$GC,5181,1.12,81.4,471.1,0.0,249,5252,1.50,0.00,67.45,0.967,6,0.073,0.000,2654,2199,2484
$GC,5548,1.13,87.5,452.1,5.7,267,5561,0.00,2.80,6.50,0.762,4,0.000,0.076,2654,779,2459
$GC,5630,1.14,96.2,447.2,5.5,270,5644,0.00,2.62,9.00,0.825,6,0.000,0.056,2654,2199,2423
$GC,5967,1.14,96.2,426.2,6.0,287,5972,0.00,2.70,0.00,0.000,4,0.000,0.073,2654,782,2422
$GC,6017,1.14,96.2,422.9,6.4,289,6021,0.00,2.62,0.00,0.000,6,0.000,0.056,2654,2201,2422
$GC,6332,1.14,96.2,403.6,6.1,304,6337,0.00,2.72,0.00,0.000,4,0.000,0.085,2654,3614,2421
$GC,6513,1.14,96.2,390.8,7.3,312,6517,0.00,2.70,0.00,0.000,6,0.000,0.071,2654,2197,2421
$GC,6833,1.14,96.2,369.3,6.6,328,6834,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2197,2420
$GC,7143,1.14,96.2,349.4,6.6,343,7147,0.00,2.75,0.00,0.000,4,0.000,0.086,2654,3618,2419
$GC,7340,1.14,96.2,335.0,7.6,352,7345,0.00,2.70,0.00,0.000,6,0.000,0.071,2654,2200,2419
$GC,7667,1.14,96.2,314.3,6.3,368,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2200,2419
$GC,7976,1.14,100.7,295.5,5.8,383,7982,0.00,0.00,4.32,0.614,6,0.000,0.000,2654,2200,2406
$GC,8286,1.14,102.6,277.0,5.9,398,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2200,2407
$GC,8595,1.15,104.3,258.9,5.9,413,8602,0.00,0.00,5.00,0.640,6,0.000,0.000,2654,2200,2391
$GC,8904,1.15,104.3,239.3,6.6,428,8908,0.00,2.72,0.00,0.000,4,0.000,0.081,2652,3616,2391
$GC,8992,1.15,104.3,232.7,7.4,432,8996,0.00,2.65,0.00,0.000,6,0.000,0.068,2654,2200,2391
$GC,9319,1.15,104.3,211.2,6.7,448,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2199,2391
$GC,9628,1.15,104.3,190.6,6.9,463,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2199,2391
$GC,9937,1.15,104.3,170.1,6.2,478,9942,0.00,2.70,0.00,0.000,4,0.000,0.077,2654,3615,2391
$GC,10027,1.15,104.3,163.6,7.3,482,10031,0.00,2.65,0.00,0.000,6,0.000,0.067,2654,2199,2391
$GC,10348,1.15,109.9,144.8,5.7,498,10356,0.00,0.00,6.07,0.625,6,0.000,0.000,2654,2199,2368
$GC,10658,1.15,109.9,124.4,7.0,513,10663,0.00,2.70,0.00,0.000,4,0.000,0.076,2654,3616,2368
$GC,10744,1.15,109.9,117.2,8.7,517,10748,0.00,2.67,0.00,0.000,6,0.000,0.066,2654,2195,2368
$GC,11070,1.15,109.9,94.0,6.7,533,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2194,2368
$GC,11379,1.15,109.9,74.0,6.0,548,11380,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2194,2367
$GC,11689,1.15,109.9,49.7,7.7,563,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2194,2369
$GC,11999,1.15,109.9,27.8,8.7,578,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2194,2369
$GC,12307,1.15,109.9,2.9,7.4,593,12312,0.00,2.70,0.00,0.000,4,0.000,0.076,2654,3618,2369
$STATE,12322,end climb,SURFACE_DEPTH_REACHED
$STATE,12322,begin surface coast
$FINISH,1.1,1.027449
$STATE,12327,end surface coast,CONTROL_FINISHED_OK
$STATE,12327,begin surface
$SM_CCo,12351,116.10,0.637,4,0,1594,300.00
$SM_GC,1.25,0.00,0.00,116.10,0.000,0.000,0.637,73,2395,1594,-10.75,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2065
$TCM_TEMP,19.00
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,425.2,53.0
$24V_AH,23.6,52.282
$10V_AH,10.2,27.081
$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
$DEVICE_SECS,25.625,63.975,167.700,116.100,0.000,32.604,33.227,127.429,8.250,0.000,0.000,38.671,1103.337,9571.568,426.161,1339.897,378.612,33.364,1034.279,0.000,1289.999,0.000,26.333
$DEVICE_MAMPS,168.740,87.438,980.993,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.294,415.236,441.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28586,594
$CFSIZE,260165632,241053696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,4,0
$GPS,140108,000828,6247.276,-558.535,33,3.4,52,-8.0