version: 66.00
glider: 1
mission: 1
dive: 9
start: 6 17 107 13 38 55
data:
$ID,1
$MISSION,1
$DIVE,9
$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,-442424.25
$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,4
$R_STBD_OVSHOOT,13
$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
$GPS1,132909,4701.534,-12543.867,15,1.1,15,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,133755,4701.565,-12543.896,8,1.1,8,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.174,0.084
$KALMAN_X,15185.9,1458.7,1368.9,13651.0,-2012.4
$KALMAN_Y,-4098.8,-342.3,-320.3,-1320.2,536.1
$MHEAD_RNG_PITCHd_Wd,46.3,276016,-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,-116.8,0.0,0.0,0,114,0.00,0.00,-73.57,0.000,2,0.000,0.000,643,1813,2635
$GC,121,-0.83,-116.8,3.0,-4.7,7,150,7.03,3.42,-3.50,0.000,4,0.000,0.000,2144,3580,2746
$GC,495,-0.83,-116.8,48.7,-12.3,57,508,0.43,2.78,0.00,0.000,6,0.000,0.000,2047,1915,2743
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,934,-0.25,0.0,100.4,10.6,116,1034,1.02,0.00,96.45,0.000,6,0.000,0.000,2282,2164,2260
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1045,0.83,116.8,110.0,0.0,121,1152,1.00,2.90,93.70,0.000,4,0.000,0.000,2516,489,1788
$GC,1448,0.83,116.8,146.9,-9.8,136,1456,0.40,3.30,0.17,0.000,6,0.000,0.000,2419,2130,1778
$GC,1789,0.83,116.8,177.1,-8.5,152,1797,0.00,3.47,0.05,0.000,4,0.000,0.000,2414,477,1784
$GC,2092,0.83,116.8,201.1,-7.6,164,2108,0.00,3.45,0.00,0.000,6,0.000,0.000,2410,2153,1781
$GC,2418,0.83,116.8,226.7,-8.2,180,2424,0.30,2.92,0.03,0.001,4,0.000,0.000,2505,484,1785
$GC,2726,0.83,116.8,252.7,-7.6,192,2742,0.38,3.35,0.00,0.000,6,0.000,0.000,2404,2052,1782
$GC,3052,0.83,116.8,277.7,-7.7,208,3057,0.00,2.53,0.03,0.000,4,0.000,0.000,2393,505,1787
$GC,3354,0.83,116.8,302.3,-8.9,220,3370,0.38,3.30,0.00,0.000,6,0.000,0.000,2508,2186,1783
$GC,3680,0.83,116.8,328.0,-7.9,236,3687,0.38,3.10,0.00,0.000,4,0.000,0.000,2402,404,1780
$GC,3983,0.83,116.8,351.6,-7.6,248,3988,0.15,2.62,0.00,0.000,6,0.000,0.000,2410,2128,1790
$GC,4303,0.83,116.8,374.2,-7.2,263,4308,0.00,2.67,0.00,0.000,4,0.000,0.000,2459,575,1784
$GC,4603,0.83,116.8,396.9,-7.2,275,4608,0.00,2.80,0.00,0.000,6,0.000,0.000,2446,2003,1781
$GC,4924,0.83,116.8,418.3,-6.7,290,4932,0.00,3.62,0.00,0.000,4,0.000,0.000,2441,340,1783
$GC,5240,0.83,116.8,439.8,-6.9,302,5257,0.10,3.65,0.00,0.000,6,0.000,0.000,2386,2135,1783
$GC,5566,0.83,116.8,461.8,-7.2,318,5572,0.22,2.90,0.00,0.000,4,0.000,0.000,2447,478,1777
$GC,5871,0.83,116.8,483.6,-7.3,330,5876,0.00,2.80,0.00,0.000,6,0.000,0.000,2458,2024,1785
$GC,6190,0.83,116.8,507.1,-7.2,343,6198,0.00,3.53,0.00,0.000,4,0.000,0.000,2456,483,1783
$GC,6488,0.83,116.8,529.9,-7.4,349,6493,0.00,2.60,0.00,0.000,6,0.000,0.000,2466,2035,1790
$GC,6806,0.83,116.8,554.0,-7.8,357,6813,0.00,3.38,0.00,0.000,4,0.000,0.000,2455,528,1783
$GC,7110,0.83,116.8,577.1,-7.4,363,7117,0.00,3.55,0.00,0.000,6,0.000,0.000,2452,2179,1779
$GC,7433,0.83,116.8,600.3,-7.0,371,7438,0.00,2.70,0.03,0.000,4,0.000,0.000,2455,464,1781
$GC,7726,0.83,116.8,620.5,-7.0,377,7733,0.00,3.45,0.00,0.000,6,0.000,0.000,2450,2134,1781
$GC,8049,0.83,441.8,640.9,-6.1,385,8413,0.00,2.60,311.50,0.000,4,0.000,0.000,2450,433,464
$GC,8706,1.37,441.8,679.3,-6.5,398,8714,0.70,3.22,0.00,0.000,6,0.000,0.000,2593,2090,461
$GC,9045,1.37,770.7,701.5,-6.2,406,9060,0.35,3.42,7.10,0.000,4,0.000,0.000,2508,453,436
$GC,9353,1.92,1099.1,720.9,-6.2,412,9363,1.08,3.25,1.15,0.001,6,0.000,0.000,2737,1999,423
$GC,9723,2.47,1099.1,743.2,-6.5,421,9731,0.45,3.05,0.00,0.000,4,0.000,0.000,2827,457,423
$GC,10030,2.47,1099.1,763.0,-6.3,427,10036,0.17,2.80,0.12,0.000,6,0.000,0.000,2777,2132,427
$GC,10357,2.47,1423.1,782.6,-6.0,435,10363,0.00,2.83,0.47,0.000,4,0.000,0.000,2770,460,419
$GC,10657,3.01,1749.6,800.8,-6.1,441,10667,0.77,3.85,0.22,0.000,6,0.000,0.000,2960,2000,419
$GC,10987,3.56,2076.1,821.3,-6.1,449,10996,0.62,3.38,0.03,0.001,4,0.000,0.000,3053,470,428
$GC,11287,4.10,2396.7,838.6,-5.9,455,11295,0.55,3.12,0.05,0.000,6,0.000,0.000,3154,2148,421
$GC,11614,4.64,2703.5,856.0,-5.4,463,11623,0.60,3.55,0.00,0.000,4,0.000,0.000,3276,372,427
$GC,11912,5.15,3008.4,872.7,-5.3,469,11917,0.00,3.00,0.03,0.000,6,0.000,0.000,3288,2067,423
$GC,12231,5.66,3328.0,890.5,-5.9,477,12237,0.00,3.10,0.03,0.001,4,0.000,0.000,3280,522,427
$GC,12526,6.19,3656.9,908.6,-6.2,483,12531,0.00,2.50,0.00,0.000,6,0.000,0.000,3288,1956,419
$GC,12844,6.74,3656.9,930.0,-6.9,491,12852,0.00,3.90,0.00,0.000,4,0.000,0.000,3292,457,425
$GC,13144,6.74,3982.4,948.9,-6.1,497,13149,0.00,2.62,0.00,0.000,6,0.000,0.000,3297,2093,425
$GC,13463,7.29,4312.1,968.6,-6.2,505,13468,0.00,3.10,0.00,0.000,4,0.000,0.000,3294,519,429
$GC,13753,7.84,4618.1,985.2,-5.3,511,13761,0.00,3.67,0.00,0.000,6,0.000,0.000,3280,2077,420
$GC,14076,8.35,4855.4,997.5,-2.7,519,14083,0.00,3.45,0.00,0.000,4,0.000,0.000,3296,408,426
$GC,14373,8.74,4855.4,977.8,8.4,525,14381,0.00,3.65,0.00,0.000,6,0.000,0.000,3290,2065,418
$GC,14696,8.74,4855.4,951.6,8.2,533,14701,0.00,2.53,0.03,0.000,4,0.000,0.000,3296,519,415
$GC,14989,8.74,4855.4,927.6,8.2,539,14996,0.00,3.55,0.00,0.000,6,0.000,0.000,3306,2185,422
$GC,15312,8.74,4855.4,902.8,7.8,547,15317,0.00,3.00,0.08,0.000,4,0.000,0.000,3291,523,426
$GC,15605,8.74,4855.4,879.1,8.3,553,15611,0.00,3.00,0.05,0.000,6,0.000,0.000,3298,2182,423
$GC,15924,8.74,4855.4,853.4,8.0,561,15928,0.00,2.70,0.00,0.000,4,0.000,0.000,3277,502,421
$GC,16216,8.74,4855.4,831.3,7.0,567,16223,0.00,3.55,0.00,0.000,6,0.000,0.000,3295,2185,427
$GC,16539,8.74,4855.4,808.0,7.4,575,16543,0.00,2.80,0.00,0.000,4,0.000,0.000,3282,499,417
$GC,16831,8.74,4855.4,785.7,8.6,581,16839,0.00,3.45,0.00,0.000,6,0.000,0.000,3301,2168,422
$GC,17154,8.74,4855.4,759.8,8.2,589,17162,0.00,3.65,0.00,0.000,4,0.000,0.000,3284,390,418
$GC,17452,8.74,4855.4,735.1,8.4,595,17457,0.00,3.00,0.05,0.001,6,0.000,0.000,3299,2182,424
$GC,17770,8.74,4855.4,710.2,7.8,603,17775,0.00,3.10,0.00,0.000,4,0.000,0.000,3292,518,428
$GC,18062,8.74,4855.4,686.4,7.4,609,18068,0.00,2.80,0.05,0.000,6,0.000,0.000,3298,2199,420
$GC,18381,8.74,4855.4,663.4,7.1,617,18388,0.00,3.75,0.00,0.000,4,0.000,0.000,3281,393,415
$GC,18679,8.74,4856.4,644.9,6.2,623,18684,0.00,2.90,0.03,0.000,6,0.000,0.000,3284,2064,423
$GC,18998,8.75,4866.5,626.3,5.9,631,19006,0.00,3.97,0.03,0.001,4,0.000,0.000,3290,486,424
$GC,19297,8.76,4885.9,608.3,5.5,637,19301,0.00,2.62,0.00,0.000,6,0.000,0.000,3276,2144,427
$GC,19614,8.79,4885.9,587.6,6.8,645,19622,0.00,3.65,0.00,0.000,4,0.000,0.000,3294,384,423
$GC,19912,8.79,4885.9,564.9,7.6,651,19918,0.00,2.80,0.08,0.000,6,0.000,0.000,3291,2198,423
$GC,20230,8.79,4885.9,542.9,6.9,659,20236,0.00,3.00,0.03,0.002,4,0.000,0.000,3285,522,414
$GC,20524,8.79,4885.9,521.6,7.5,665,20529,0.00,2.70,0.00,0.000,6,0.000,0.000,3287,2177,423
$GC,20842,8.79,4885.9,498.9,7.2,673,20847,0.00,2.80,0.03,0.001,4,0.000,0.000,3288,476,425
$GC,21144,8.79,4885.9,476.6,7.4,685,21159,0.00,3.65,0.00,0.000,6,0.000,0.000,3276,2158,425
$GC,21469,8.79,4885.9,453.8,6.8,701,21473,0.00,2.72,0.00,0.000,4,0.000,0.000,3285,466,414
$GC,21770,8.79,4885.9,433.6,7.2,713,21775,0.00,3.10,0.00,0.000,6,0.000,0.000,3287,2109,421
$GC,22091,8.79,4885.9,412.1,6.7,728,22099,0.00,3.55,0.05,0.001,4,0.000,0.000,3284,344,426
$GC,22400,8.79,4885.9,391.8,7.0,740,22404,0.00,2.70,0.00,0.000,6,0.000,0.000,3299,2100,422
$GC,22720,8.79,4885.9,371.4,6.6,755,22728,0.00,3.22,0.05,0.000,4,0.000,0.000,3274,440,419
$GC,23031,8.79,4904.3,350.3,5.6,767,23036,0.00,2.90,0.00,0.000,6,0.000,0.000,3265,2110,420
$GC,23352,8.83,4904.3,327.0,6.7,782,23357,0.00,3.00,0.00,0.000,4,0.000,0.000,3304,478,417
$GC,23658,8.83,4904.3,304.4,6.8,794,23674,0.00,3.83,0.00,0.000,6,0.000,0.000,3304,2100,414
$GC,23989,8.83,4904.3,282.6,6.6,810,23994,0.00,2.53,0.03,0.001,4,0.000,0.000,3291,500,423
$GC,24307,8.83,4904.3,261.5,7.8,822,24314,0.00,3.12,0.00,0.000,6,0.000,0.000,3303,2174,408
$GC,24641,8.83,4904.3,238.6,6.8,838,24649,0.00,3.58,0.03,0.000,4,0.000,0.000,3290,447,423
$GC,24964,8.83,4914.6,219.1,5.9,850,24979,0.00,3.45,0.00,0.000,6,0.000,0.000,3298,2022,427
$GC,25299,8.84,4920.4,200.1,6.0,866,25304,0.00,2.62,0.00,0.000,4,0.000,0.000,3286,459,421
$GC,25603,8.85,4920.4,177.8,7.3,878,25608,0.00,2.83,0.00,0.000,6,0.000,0.000,3281,2151,420
$GC,25924,8.85,4920.4,154.7,6.7,893,25928,0.00,2.70,0.00,0.000,4,0.000,0.000,3280,530,418
$GC,26224,8.85,4956.0,135.0,4.9,905,26240,0.00,3.30,0.03,0.001,6,0.000,0.000,3281,2183,420
$GC,26555,8.91,4962.1,117.7,6.0,921,26560,0.00,3.10,0.00,0.000,4,0.000,0.000,3294,504,415
$GC,26871,8.92,4962.1,94.6,8.4,938,26883,0.00,3.30,0.00,0.000,6,0.000,0.000,3285,2133,424
$GC,27335,8.92,4962.1,66.0,6.3,999,27347,0.00,3.12,0.00,0.000,4,0.000,0.000,3281,354,418
$GC,27711,8.92,4962.1,41.3,6.7,1048,27723,0.00,3.65,0.00,0.000,6,0.000,0.000,3267,2139,422
$GC,28184,8.92,4962.1,10.5,6.4,1109,28196,0.00,2.70,0.00,0.000,4,0.000,0.000,3279,410,422
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999510
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,28454,0.00,0.000,0,0,417,451.84
$SM_GC,0.34,13.35,0.00,0.00,0.000,0.000,0.000,632,2182,417,-7.25,5.96,451.84
$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,2112
$INTERNAL_PRESSURE,26.153
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,23.7,63.055
$10V_AH,9.6,23.614
$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,30.425,277.475,511.750,0.000,0.000,0.000,0.000,127.005,0.250,14.006,6165.380,14567.021,911.740,3170.968,4021.590,33.347,3003.717,0.000,4034.080,3600.000,2.531
$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,2007.235,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37859,1130
$CFSIZE,255582208,240037888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,48,1871,7,0
$SOUNDSPEED,1465.0
$CURRENT,0.037,252.4,1
$GPS,170607,213420,4700.585,-12540.055,12,1.1,12,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0