version: 66.00
glider: 1
mission: 1
dive: 5
start: 6 16 107 5 40 32
data:
$ID,1
$MISSION,1
$DIVE,5
$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,-442353.12
$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,5
$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
$GPS1,052814,4703.775,-12557.817,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,053928,4703.812,-12557.837,35,1.1,35,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.177,0.077
$KALMAN_X,6923.1,1063.0,1023.8,5102.0,-1321.9
$KALMAN_Y,-1403.3,-160.9,-164.4,-203.5,169.2
$MHEAD_RNG_PITCHd_Wd,48.4,289810,-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,38,-0.83,-116.8,0.0,0.0,0,124,0.00,0.00,-76.97,0.000,6,0.000,0.000,618,2186,2737
$GC,130,-0.83,-116.8,4.8,-5.6,8,144,7.32,2.78,0.00,0.000,4,0.000,0.000,2129,3461,2734
$GC,493,-0.83,-116.8,45.0,-11.2,57,506,0.35,3.12,0.00,0.000,6,0.000,0.000,2045,1842,2731
$GC,942,-0.83,-116.8,94.5,-9.9,118,955,0.32,3.33,0.00,0.000,4,0.000,0.000,2129,3606,2742
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,1010,-0.25,0.0,100.3,9.7,124,1107,0.60,0.00,93.95,0.000,6,0.000,0.000,2244,1834,2271
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1118,0.83,116.8,111.3,0.0,129,1226,1.60,2.20,95.65,0.001,4,0.000,0.000,2488,561,1781
$GC,1523,0.83,116.8,149.8,-8.7,144,1528,0.47,2.70,0.00,0.000,6,0.000,0.000,2405,2177,1783
$GC,1860,0.83,116.8,179.7,-9.1,160,1862,0.47,0.00,0.00,0.000,6,0.000,0.000,2512,2165,1784
$GC,2165,0.83,116.8,206.7,-7.9,175,2172,0.45,2.88,0.00,0.000,4,0.000,0.000,2410,417,1777
$GC,2468,0.83,116.8,228.4,-7.0,187,2473,0.35,2.53,0.00,0.000,6,0.000,0.000,2456,2089,1780
$GC,2789,0.83,116.8,249.5,-7.0,202,2797,0.40,3.00,0.00,0.000,4,0.000,0.000,2406,376,1784
$GC,3091,0.83,116.8,272.9,-7.5,214,3108,0.38,3.65,0.00,0.000,6,0.000,0.000,2491,2169,1775
$GC,3417,0.83,116.8,298.1,-7.9,230,3425,0.43,3.12,0.00,0.000,4,0.000,0.000,2411,374,1783
$GC,3721,0.83,116.8,321.5,-7.8,242,3737,0.38,3.53,0.00,0.000,6,0.000,0.000,2495,2183,1792
$GC,4046,0.83,116.8,346.3,-7.7,258,4054,0.35,3.10,0.00,0.000,4,0.000,0.000,2407,382,1783
$GC,4349,0.83,116.8,370.6,-7.1,270,4355,0.35,2.83,0.00,0.000,6,0.000,0.000,2452,2135,1781
$GC,4670,0.83,116.8,393.0,-6.7,285,4676,0.47,2.72,0.00,0.000,4,0.000,0.000,2410,608,1781
$GC,4976,0.83,440.5,412.2,-6.0,297,5329,0.35,2.62,309.50,0.000,6,0.000,0.000,2502,2113,463
$GC,5636,1.37,440.5,454.9,-6.9,324,5642,0.50,2.50,0.05,0.001,4,0.000,0.000,2584,592,472
$GC,5948,1.37,440.5,478.0,-7.5,336,5965,0.38,3.25,0.00,0.000,6,0.000,0.000,2513,2138,465
$GC,6274,1.37,440.5,501.0,-7.2,352,6279,0.52,2.72,0.00,0.000,4,0.000,0.000,2587,518,474
$GC,6568,1.37,440.5,523.1,-7.6,358,6577,0.25,3.45,1.27,0.001,6,0.000,0.000,2550,2176,468
$GC,6893,1.37,440.5,547.6,-7.8,366,6898,0.05,2.80,0.00,0.000,4,0.000,0.000,2538,598,471
$GC,7186,1.37,440.5,570.4,-7.9,372,7193,0.00,3.35,0.00,0.000,6,0.000,0.000,2560,2115,464
$GC,7509,1.37,440.5,594.6,-7.4,380,7516,0.00,3.65,0.00,0.000,4,0.000,0.000,2539,472,465
$GC,7807,1.37,763.7,615.3,-6.0,386,7821,0.03,3.45,7.05,0.000,6,0.000,0.000,2545,1995,433
$GC,8176,1.91,1090.9,637.1,-6.1,395,8186,0.95,3.15,1.98,0.000,4,0.000,0.000,2721,480,427
$GC,8480,2.46,1406.8,656.9,-5.7,401,8489,0.43,3.15,0.08,0.000,6,0.000,0.000,2825,1991,417
$GC,8811,2.98,1725.9,675.4,-5.8,409,8820,0.70,3.15,0.17,0.001,4,0.000,0.000,2967,481,424
$GC,9109,3.52,2048.8,693.1,-6.0,415,9118,0.40,3.25,0.12,0.000,6,0.000,0.000,3055,2110,424
$GC,9438,4.06,2364.1,712.0,-5.7,423,9447,0.55,3.53,0.00,0.000,4,0.000,0.000,3198,411,419
$GC,9744,4.58,2690.3,730.0,-6.1,429,9752,0.38,2.90,0.00,0.000,6,0.000,0.000,3304,2089,427
$GC,10074,5.13,3016.6,749.4,-6.1,437,10079,0.00,2.60,0.00,0.000,4,0.000,0.000,3294,540,423
$GC,10376,5.67,3016.6,769.2,-6.7,443,10380,0.00,2.53,0.00,0.000,6,0.000,0.000,3294,2079,417
$GC,10695,5.67,3344.9,789.1,-6.2,451,10700,0.00,2.80,0.00,0.000,4,0.000,0.000,3292,571,420
$GC,11000,6.22,3660.4,808.4,-5.7,457,11006,0.00,3.12,0.00,0.000,6,0.000,0.000,3266,2095,418
$GC,11319,6.75,3982.1,828.0,-5.9,465,11324,0.00,2.83,0.00,0.000,4,0.000,0.000,3299,560,424
$GC,11614,7.29,3982.1,846.3,-6.4,471,11622,0.00,3.85,0.08,0.001,6,0.000,0.000,3279,2053,419
$GC,11939,7.29,4304.8,865.5,-6.0,479,11944,0.00,2.50,0.05,0.001,4,0.000,0.000,3300,494,427
$GC,12232,7.82,4615.3,882.5,-5.5,485,12237,0.00,2.90,0.03,0.000,6,0.000,0.000,3290,2050,413
$GC,12550,8.34,4921.4,899.2,-5.3,493,12558,0.00,3.92,0.03,0.001,4,0.000,0.000,3283,375,418
$GC,12845,8.85,5226.4,914.1,-5.3,499,12853,0.00,4.22,0.00,0.000,6,0.000,0.000,3287,2150,425
$GC,13168,9.36,5519.0,929.6,-4.8,507,13173,0.00,2.72,0.05,0.000,4,0.000,0.000,3293,511,421
$GC,13458,9.85,5814.4,944.4,-4.9,513,13463,0.00,2.90,0.03,0.000,6,0.000,0.000,3288,2160,426
$GC,13778,10.35,6134.9,962.7,-5.9,521,13783,0.00,2.80,0.00,0.000,4,0.000,0.000,3296,506,425
$GC,14074,10.88,6461.5,980.5,-6.1,527,14079,0.00,2.70,0.03,0.000,6,0.000,0.000,3283,2034,418
$GC,14393,11.43,6725.2,996.0,-3.7,535,14398,0.00,2.70,0.03,0.001,4,0.000,0.000,3284,493,422
$GC,14687,11.87,6725.2,980.1,7.6,541,14695,0.00,3.35,0.05,0.002,6,0.000,0.000,3297,2173,421
$GC,15010,11.87,6725.2,954.6,8.1,549,15016,0.00,2.90,0.05,0.001,4,0.000,0.000,3288,491,411
$GC,15303,11.87,6725.2,929.6,8.2,555,15309,0.00,3.05,0.00,0.000,6,0.000,0.000,3281,2183,415
$GC,15621,11.87,6725.2,903.7,8.3,563,15629,0.00,3.92,0.00,0.000,4,0.000,0.000,3285,369,422
$GC,15919,11.87,6725.2,879.0,8.1,569,15924,0.00,3.03,0.05,0.000,6,0.000,0.000,3284,2146,426
$GC,16237,11.87,6725.2,853.6,8.0,577,16242,0.00,2.80,0.00,0.000,4,0.000,0.000,3287,479,426
$GC,16530,11.87,6725.2,831.1,7.0,583,16537,0.00,3.28,0.05,0.001,6,0.000,0.000,3275,2076,418
$GC,16853,11.87,6725.2,807.1,7.4,591,16857,0.00,2.50,0.00,0.000,4,0.000,0.000,3290,527,428
$GC,17145,11.87,6725.2,785.5,7.3,597,17150,0.00,2.70,0.00,0.000,6,0.000,0.000,3280,2189,420
$GC,17464,11.87,6725.2,763.4,7.1,605,17469,0.00,3.20,0.00,0.000,4,0.000,0.000,3289,496,423
$GC,17756,11.87,6725.2,742.5,6.5,611,17764,0.00,3.75,0.03,0.000,6,0.000,0.000,3277,2222,425
$GC,18080,11.87,6725.2,720.1,7.0,619,18087,0.00,3.45,0.00,0.000,4,0.000,0.000,3289,439,421
$GC,18377,11.87,6725.2,698.5,7.0,625,18382,0.00,2.92,0.00,0.000,6,0.000,0.000,3286,2094,420
$GC,18695,11.87,6725.2,677.1,6.7,633,18699,0.00,2.53,0.00,0.000,4,0.000,0.000,3277,542,423
$GC,18987,11.87,6725.2,657.2,6.9,639,18992,0.00,2.83,0.00,0.000,6,0.000,0.000,3291,2109,415
$GC,19305,11.87,6725.2,636.8,6.4,647,19309,0.00,2.50,0.00,0.000,4,0.000,0.000,3291,575,416
$GC,19598,11.87,6725.2,617.0,6.5,653,19605,0.00,3.33,0.00,0.000,6,0.000,0.000,3286,2081,415
$GC,19920,11.87,6725.2,595.3,6.7,661,19925,0.00,2.50,0.00,0.000,4,0.000,0.000,3300,546,414
$GC,20214,11.87,6725.2,575.3,7.0,667,20218,0.00,2.80,0.00,0.000,6,0.000,0.000,3295,2077,429
$GC,20531,11.87,6725.2,554.3,6.6,675,20536,0.00,2.83,0.00,0.000,4,0.000,0.000,3280,528,417
$GC,20824,11.87,6725.2,537.5,6.3,681,20830,0.00,2.60,0.03,0.001,6,0.000,0.000,3291,1988,425
$GC,21143,11.87,6733.0,518.0,6.0,689,21148,0.00,2.80,0.00,0.000,4,0.000,0.000,3278,588,413
$GC,21437,11.88,6741.9,499.7,5.9,695,21441,0.00,2.60,0.00,0.000,6,0.000,0.000,3285,2117,420
$GC,21765,11.89,6757.9,481.2,5.6,710,21769,0.00,2.50,0.00,0.000,4,0.000,0.000,3289,553,422
$GC,22065,11.92,6757.9,458.5,6.6,722,22070,0.00,2.70,0.00,0.000,6,0.000,0.000,3293,2077,414
$GC,22386,11.92,6757.9,430.4,8.9,737,22393,0.00,3.35,0.03,0.000,4,0.000,0.000,3297,572,417
$GC,22697,11.92,6757.9,401.0,7.5,749,22702,0.00,3.15,0.03,0.000,6,0.000,0.000,3297,2126,428
$GC,23022,11.92,6757.9,372.7,8.8,764,23030,0.00,3.45,0.03,0.002,4,0.000,0.000,3298,460,422
$GC,23336,11.92,6757.9,344.5,8.3,776,23340,0.00,2.50,0.00,0.000,6,0.000,0.000,3282,2042,420
$GC,23657,11.92,6757.9,315.4,8.6,791,23662,0.00,2.72,0.03,0.003,4,0.000,0.000,3292,521,428
$GC,23961,11.92,6757.9,288.3,8.0,803,23977,0.00,3.75,0.03,0.001,6,0.000,0.000,3292,2188,418
$GC,24292,11.92,6757.9,262.0,7.7,819,24296,0.00,2.83,0.00,0.000,4,0.000,0.000,3293,526,414
$GC,24587,11.92,6757.9,239.3,8.9,831,24596,0.00,3.50,0.00,0.000,6,0.000,0.000,3292,2185,430
$GC,24923,11.92,6757.9,213.5,7.4,847,24924,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2176,419
$GC,25226,11.92,6757.9,186.8,9.5,862,25233,0.00,3.35,0.00,0.000,4,0.000,0.000,3295,546,423
$GC,25532,11.92,6757.9,159.5,8.4,874,25547,0.00,3.33,0.00,0.000,6,0.000,0.000,3295,2087,422
$GC,25857,11.92,6757.9,133.3,7.9,890,25861,0.00,2.72,0.00,0.000,4,0.000,0.000,3283,558,425
$GC,26005,11.92,6757.9,122.0,7.3,896,26010,0.00,2.70,0.03,0.001,6,0.000,0.000,3296,2214,422
$GC,26332,11.92,6757.9,98.2,7.4,914,26344,0.00,2.50,0.03,0.000,4,0.000,0.000,3285,3583,427
$GC,26501,11.92,6757.9,88.1,7.1,935,26513,0.00,2.85,0.00,0.000,6,0.000,0.000,3288,1788,420
$GC,26968,11.92,6760.3,58.2,6.2,996,26980,0.00,2.20,0.00,0.000,4,0.000,0.000,3291,369,413
$GC,27345,11.93,6765.9,34.3,6.0,1045,27358,0.00,3.62,0.00,0.000,6,0.000,0.000,3297,2168,420
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999501
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,27938,0.00,0.000,0,0,418,450.62
$SM_GC,0.33,12.88,0.00,0.00,0.000,0.000,0.000,651,1765,418,-7.24,-5.80,450.62
$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,2140
$INTERNAL_PRESSURE,26.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,23.7,59.199
$10V_AH,9.6,22.858
$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,33.050,259.725,510.550,0.000,0.000,0.000,0.000,159.564,0.250,35.608,6038.182,14431.645,872.300,3082.130,4028.964,33.337,2882.597,0.000,3941.232,3240.000,2.752
$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,1849.996,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37821,1111
$CFSIZE,255582208,241434624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,48,1755,5,0
$SOUNDSPEED,1465.0
$CURRENT,0.052,278.0,1
$GPS,160607,132729,4702.980,-12554.692,20,1.1,20,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0