version: 66.00
glider: 1
mission: 1
dive: 4
start: 6 15 107 21 16 34
data:
$ID,1
$MISSION,1
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,7.0000001e-06
$D_PITCH,1.5
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,528
$T_MISSION,550
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.02765
$MASS,51747
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$TACK_ANGLE,-181
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,1
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-442316.91
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2263
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.045000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,180
$PITCH_MAXERRORS,1
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,2
$R_STBD_OVSHOOT,8
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$VBD_MIN,421
$VBD_MAX,3792
$C_VBD,2257
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,20
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,0.27000001
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,3.5
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,10
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042857998
$SEABIRD_T_H,0.00062588596
$SEABIRD_T_I,2.1643695e-05
$SEABIRD_T_J,2.0181028e-06
$SEABIRD_C_G,-10.005328
$SEABIRD_C_H,1.1235065
$SEABIRD_C_I,-0.0015880254
$SEABIRD_C_J,0.0001984441
$GPS1,210609,4703.944,-12600.976,24,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,211536,4703.971,-12601.054,29,1.1,30,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.177,0.076
$KALMAN_X,4620.2,1027.1,1225.2,3193.2,-1594.1
$KALMAN_Y,-993.7,-185.1,-269.4,-191.5,382.1
$MHEAD_RNG_PITCHd_Wd,48.8,293322,-12.7,-6.250
$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,end surface,CONTROL_FINISHED_OK
$STATE,start dive
$GC,43,-0.83,-116.8,0.0,0.0,0,119,0.00,0.00,-73.68,0.000,2,0.000,0.000,653,1947,2653
$GC,126,-0.83,-116.8,3.1,-5.0,7,155,7.28,2.33,-3.12,0.000,4,0.000,0.000,2101,3493,2743
$GC,498,-0.83,-116.8,47.0,-11.7,57,511,0.03,3.10,0.00,0.000,6,0.000,0.000,2112,1838,2744
$GC,950,-0.83,-116.8,95.8,-9.6,118,963,0.35,3.75,0.00,0.000,4,0.000,0.000,2004,3622,2740
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,1019,-0.25,0.0,101.0,9.0,124,1123,1.12,0.00,95.75,0.000,6,0.000,0.000,2247,1822,2266
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1129,0.83,116.8,109.9,0.0,129,1236,1.38,2.60,94.25,0.000,4,0.000,0.000,2478,518,1786
$GC,1481,0.83,116.8,141.5,-8.8,141,1493,0.40,2.85,0.00,0.000,6,0.000,0.000,2390,2180,1785
$GC,1802,0.83,116.8,171.3,-8.7,157,1810,0.35,3.55,0.00,0.000,4,0.000,0.000,2510,402,1785
$GC,2104,0.83,116.8,194.4,-7.4,169,2121,0.40,3.55,0.00,0.000,6,0.000,0.000,2397,2045,1787
$GC,2430,0.83,116.8,217.5,-6.9,185,2431,0.43,0.00,0.00,0.000,6,0.000,0.000,2428,2050,1795
$GC,2744,0.83,116.8,239.9,-7.1,200,2752,0.32,2.55,0.93,0.001,4,0.000,0.000,2394,339,1783
$GC,3049,0.83,116.8,263.1,-9.5,212,3066,0.38,2.92,0.00,0.000,6,0.000,0.000,2483,2132,1783
$GC,3374,0.83,116.8,286.7,-8.1,228,3382,0.47,2.90,0.00,0.000,4,0.000,0.000,2395,348,1778
$GC,3676,0.83,116.8,310.4,-7.7,240,3681,0.38,2.80,0.00,0.000,6,0.000,0.000,2435,2138,1782
$GC,3997,0.83,116.8,335.5,-7.8,255,3998,0.50,0.00,0.00,0.000,6,0.000,0.000,2456,2144,1789
$GC,4311,0.83,116.8,358.4,-7.2,270,4319,0.32,3.72,0.00,0.000,4,0.000,0.000,2490,357,1783
$GC,4614,0.83,116.8,381.3,-7.2,282,4631,0.40,3.62,0.00,0.000,6,0.000,0.000,2393,2110,1777
$GC,4940,0.83,116.8,406.4,-8.1,298,4949,0.45,3.75,0.00,0.000,4,0.000,0.000,2477,327,1775
$GC,5243,0.83,443.9,428.8,-6.1,310,5597,0.38,3.00,314.30,0.000,6,0.000,0.000,2400,2137,453
$GC,5924,1.38,443.9,474.4,-6.5,338,5929,0.80,2.58,0.00,0.000,4,0.000,0.000,2584,591,456
$GC,6226,1.38,772.4,494.1,-6.2,350,6244,0.00,2.62,6.85,0.000,6,0.000,0.000,2568,2107,422
$GC,6573,1.93,772.4,516.9,-6.9,361,6583,0.57,3.72,0.20,0.001,4,0.000,0.000,2727,416,423
$GC,6872,1.93,772.4,538.5,-7.1,367,6881,0.38,3.45,0.32,0.000,6,0.000,0.000,2628,2102,419
$GC,7196,1.93,772.4,559.6,-6.5,375,7205,0.32,3.75,0.03,0.002,4,0.000,0.000,2731,407,432
$GC,7495,1.93,1092.3,578.6,-5.9,381,7504,0.43,3.75,0.03,0.005,6,0.000,0.000,2629,2049,427
$GC,7819,2.46,1421.3,598.9,-6.2,389,7828,0.98,3.42,0.30,0.001,4,0.000,0.000,2833,406,427
$GC,8117,3.01,1747.2,616.9,-6.1,395,8125,0.60,3.10,0.00,0.000,6,0.000,0.000,2984,2079,421
$GC,8441,3.55,1747.2,637.3,-6.5,403,8447,0.45,2.80,0.03,0.001,4,0.000,0.000,3070,557,418
$GC,8735,3.55,1747.2,658.1,-7.2,409,8744,0.35,2.92,0.03,0.000,6,0.000,0.000,2967,2095,420
$GC,9059,3.55,1747.2,679.5,-6.3,417,9067,0.40,2.92,0.03,0.005,4,0.000,0.000,3052,328,415
$GC,9358,3.55,2066.0,697.4,-5.8,423,9366,0.40,3.00,0.03,0.001,6,0.000,0.000,2991,2114,417
$GC,9682,4.09,2390.4,716.1,-6.0,431,9691,0.95,3.72,0.17,0.001,4,0.000,0.000,3170,437,421
$GC,9979,4.63,2679.1,732.4,-4.7,437,9985,0.62,2.65,0.00,0.000,6,0.000,0.000,3274,2199,428
$GC,10298,5.11,2983.5,748.7,-5.3,445,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2201,420
$GC,10629,5.62,3293.3,767.4,-5.5,453,10634,0.00,3.25,0.00,0.000,4,0.000,0.000,3316,513,425
$GC,10925,6.14,3609.4,783.9,-5.7,459,10930,0.00,2.80,0.00,0.000,6,0.000,0.000,3317,2206,423
$GC,11242,6.66,3910.6,800.1,-5.2,467,11254,0.00,3.92,0.00,0.000,4,0.000,0.000,3319,420,422
$GC,11538,7.17,4234.2,816.3,-6.0,473,11544,0.00,3.03,0.10,0.000,6,0.000,0.000,3322,2178,422
$GC,11867,7.71,4555.5,835.0,-5.9,481,11874,0.00,3.33,0.00,0.000,4,0.000,0.000,3318,368,422
$GC,12163,8.24,4868.7,853.5,-5.6,487,12167,0.00,2.83,0.00,0.000,6,0.000,0.000,3324,2162,417
$GC,12481,8.77,5183.3,871.3,-5.7,495,12486,0.00,2.53,0.00,0.000,4,0.000,0.000,3309,559,420
$GC,12774,9.29,5480.8,887.3,-5.0,501,12778,0.00,2.70,0.00,0.000,6,0.000,0.000,3323,2076,419
$GC,13091,9.79,5778.6,902.9,-5.0,509,13096,0.00,3.00,0.00,0.000,4,0.000,0.000,3325,539,415
$GC,13383,10.29,6102.5,919.1,-6.0,515,13389,0.00,3.25,0.05,0.000,6,0.000,0.000,3319,2216,421
$GC,13701,10.83,6416.1,936.9,-5.6,523,13706,0.00,2.70,0.00,0.000,4,0.000,0.000,3324,549,425
$GC,13995,11.35,6724.6,953.7,-5.4,529,14002,0.00,3.55,0.00,0.000,6,0.000,0.000,3299,2222,425
$GC,14317,11.87,7025.9,971.1,-5.2,537,14322,0.00,3.03,0.00,0.000,4,0.000,0.000,3312,545,419
$GC,14607,12.37,7330.7,985.6,-5.3,543,14614,0.00,3.35,0.03,0.001,6,0.000,0.000,3321,2103,416
$GC,14929,12.88,7446.3,989.0,1.9,551,14934,0.00,2.80,0.00,0.000,4,0.000,0.000,3325,554,424
$GC,15221,13.07,7446.3,966.1,7.9,557,15228,0.00,3.33,0.00,0.000,6,0.000,0.000,3317,2099,416
$GC,15543,13.07,7446.3,941.3,7.8,565,15548,0.00,2.83,0.00,0.000,4,0.000,0.000,3308,467,410
$GC,15835,13.07,7446.3,917.7,7.8,571,15840,0.00,3.10,0.00,0.000,6,0.000,0.000,3333,2134,424
$GC,16153,13.07,7446.3,892.6,7.8,579,16160,0.00,3.33,0.00,0.000,4,0.000,0.000,3317,355,424
$GC,16450,13.07,7446.3,869.3,7.2,585,16457,0.00,3.33,0.03,0.000,6,0.000,0.000,3325,2142,421
$GC,16773,13.07,7446.3,846.6,7.1,593,16778,0.00,2.62,0.03,0.001,4,0.000,0.000,3310,547,421
$GC,17064,13.07,7446.3,825.2,7.0,599,17072,0.00,3.62,0.00,0.000,6,0.000,0.000,3306,2098,415
$GC,17387,13.07,7446.3,802.4,7.0,607,17391,0.00,2.72,0.00,0.000,4,0.000,0.000,3318,444,423
$GC,17679,13.07,7446.3,779.8,7.6,613,17684,0.00,3.25,0.00,0.000,6,0.000,0.000,3314,2087,416
$GC,17997,13.07,7446.3,753.4,8.4,621,18002,0.00,2.83,0.00,0.000,4,0.000,0.000,3322,567,416
$GC,18290,13.07,7446.3,728.6,7.1,627,18295,0.00,2.85,0.00,0.000,6,0.000,0.000,3314,2096,423
$GC,18608,13.07,7446.3,704.9,7.3,635,18613,0.00,2.53,0.00,0.000,4,0.000,0.000,3319,561,420
$GC,18902,13.07,7446.3,685.3,6.4,641,18909,0.00,3.45,0.00,0.000,6,0.000,0.000,3317,2087,426
$GC,19225,13.07,7446.3,665.0,6.3,649,19229,0.00,2.72,0.00,0.000,4,0.000,0.000,3320,461,421
$GC,19517,13.07,7446.3,645.3,6.9,655,19521,0.00,2.80,0.00,0.000,6,0.000,0.000,3322,2106,413
$GC,19834,13.07,7446.3,625.4,6.4,663,19841,0.00,3.33,0.00,0.000,4,0.000,0.000,3315,334,428
$GC,20131,13.07,7446.3,606.3,7.0,669,20139,0.00,3.65,0.00,0.000,6,0.000,0.000,3318,2127,413
$GC,20454,13.07,7446.3,584.7,6.7,677,20462,0.00,3.33,0.03,0.000,4,0.000,0.000,3322,410,424
$GC,20751,13.07,7446.3,563.2,6.9,683,20759,0.00,3.55,0.03,0.001,6,0.000,0.000,3313,2065,413
$GC,21074,13.07,7446.3,540.5,7.0,691,21080,0.00,3.25,0.00,0.000,4,0.000,0.000,3325,555,419
$GC,21367,13.07,7448.6,520.9,6.2,697,21372,0.00,3.03,0.00,0.000,6,0.000,0.000,3319,2083,419
$GC,21686,13.07,7448.6,500.1,6.7,705,21691,0.00,3.20,0.00,0.000,4,0.000,0.000,3318,532,413
$GC,21990,13.07,7448.6,478.4,7.5,716,21995,0.00,2.62,0.00,0.000,6,0.000,0.000,3325,2084,423
$GC,22311,13.07,7448.6,455.3,7.3,731,22315,0.00,2.53,0.00,0.000,4,0.000,0.000,3326,562,420
$GC,22617,13.07,7448.6,433.2,6.8,743,22622,0.00,3.10,0.00,0.000,6,0.000,0.000,3324,2190,416
$GC,22938,13.07,7454.1,413.2,6.0,758,22946,0.00,3.30,0.03,0.000,4,0.000,0.000,3317,421,425
$GC,23246,13.08,7476.4,394.4,5.4,770,23251,0.00,3.10,0.00,0.000,6,0.000,0.000,3320,2192,418
$GC,23566,13.12,7476.4,373.8,7.1,785,23571,0.00,2.80,0.00,0.000,4,0.000,0.000,3321,529,415
$GC,23867,13.12,7476.4,352.4,7.5,797,23872,0.00,2.95,0.00,0.000,6,0.000,0.000,3338,1980,417
$GC,24188,13.12,7476.4,329.9,6.9,812,24192,0.00,2.40,0.00,0.000,4,0.000,0.000,3327,545,420
$GC,24495,13.12,7490.0,308.4,5.7,824,24510,0.00,3.55,0.00,0.000,6,0.000,0.000,3314,2077,415
$GC,24825,13.14,7490.0,287.4,6.5,840,24834,0.00,2.50,0.00,0.000,4,0.000,0.000,3307,360,419
$GC,25149,13.14,7491.6,267.2,6.2,852,25156,0.00,3.35,0.00,0.000,6,0.000,0.000,3329,2174,417
$GC,25480,13.15,7491.6,245.7,6.3,868,25485,0.00,3.03,0.00,0.000,4,0.000,0.000,3342,504,428
$GC,25789,13.15,7503.5,225.8,5.8,880,25805,0.00,3.55,0.03,0.000,6,0.000,0.000,3317,2066,419
$GC,26114,13.17,7503.5,205.6,6.8,896,26119,0.00,2.90,0.00,0.000,4,0.000,0.000,3313,506,421
$GC,26422,13.17,7503.5,182.4,6.7,908,26427,0.00,2.70,0.00,0.000,6,0.000,0.000,3308,2044,422
$GC,26743,13.17,7503.5,160.7,6.3,923,26751,0.00,4.25,0.00,0.000,4,0.000,0.000,3317,357,421
$GC,27052,13.17,7518.2,141.6,5.7,935,27057,0.00,2.80,0.00,0.000,6,0.000,0.000,3319,2146,417
$GC,27374,13.19,7528.6,122.6,5.9,950,27379,0.00,3.10,0.00,0.000,4,0.000,0.000,3306,474,417
$GC,27678,13.21,7533.3,103.9,6.1,962,27683,0.00,2.80,0.00,0.000,6,0.000,0.000,3304,2036,418
$GC,28087,13.22,7580.2,85.0,4.5,1013,28098,0.00,3.25,0.05,0.000,4,0.000,0.000,3310,383,425
$GC,28459,13.29,7580.2,61.4,6.9,1062,28472,0.00,2.97,0.03,0.000,6,0.000,0.000,3322,2040,419
$GC,28928,13.29,7580.2,28.6,7.0,1123,28940,0.00,3.05,0.05,0.000,4,0.000,0.000,3327,363,421
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999512
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,29433,0.00,0.000,0,0,416,452.33
$SM_GC,0.34,13.52,0.00,0.00,0.000,0.000,0.000,619,2183,416,-7.31,5.94,452.33
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2111
$INTERNAL_PRESSURE,26.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,23.7,58.288
$10V_AH,9.6,22.669
$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,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,36.100,280.550,513.675,0.000,0.000,0.000,0.000,129.405,0.250,30.497,6341.844,15294.613,900.483,3247.595,4067.949,32.348,3029.186,0.000,4017.580,3600.000,2.779
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1912.860,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40958,1176
$CFSIZE,255582208,241713152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,66,1892,5,0
$SOUNDSPEED,1465.0
$CURRENT,0.071,299.2,1
$GPS,160607,052814,4703.775,-12557.817,9,1.1,9,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0