version: 66.00
glider: 1
mission: 1
dive: 18
start: 6 20 107 14 31 28
data:
$ID,1
$MISSION,1
$DIVE,18
$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,-442657.47
$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,11
$R_STBD_OVSHOOT,1
$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
$GPS1,142149,4701.257,-12506.010,25,1.1,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,143027,4701.357,-12506.045,13,1.1,13,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,-0.087
$KALMAN_X,38815.0,1945.3,1755.4,36861.4,-2437.9
$KALMAN_Y,-6849.6,635.8,525.1,-853.2,-890.5
$MHEAD_RNG_PITCHd_Wd,98.9,235265,-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,39,-0.83,-116.8,0.0,0.0,0,114,0.00,0.00,-73.47,0.000,2,0.000,0.000,658,1783,2630
$GC,121,-0.83,-116.8,3.8,-5.9,7,135,7.25,0.00,-3.55,0.000,6,0.000,0.000,2135,1767,2740
$GC,571,-0.83,-116.8,56.8,-11.3,68,584,0.47,2.28,0.00,0.000,4,0.000,0.000,2044,348,2739
$GC,937,-0.83,-116.8,95.8,-10.2,117,949,0.38,3.83,0.00,0.000,6,0.000,0.000,2146,2147,2735
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,996,-0.25,0.0,100.4,10.1,122,1094,0.38,0.00,94.47,0.000,6,0.000,0.000,2242,1766,2264
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1105,0.83,116.8,110.3,0.0,127,1213,1.02,3.00,95.32,0.000,4,0.000,0.000,2484,3380,1789
$GC,1511,0.83,116.8,147.2,-8.5,142,1517,0.12,2.70,0.17,0.000,6,0.000,0.000,2425,1784,1787
$GC,1851,0.83,116.8,174.7,-7.7,158,1860,0.05,3.72,0.17,0.002,4,0.000,0.000,2427,3555,1781
$GC,2158,0.83,116.8,198.8,-8.0,170,2174,0.00,3.55,0.00,0.000,6,0.000,0.000,2429,1771,1789
$GC,2484,0.83,116.8,224.3,-7.9,186,2491,0.00,3.72,0.00,0.000,4,0.000,0.000,2428,3517,1783
$GC,2790,0.83,116.8,248.2,-7.5,198,2794,0.00,2.50,0.00,0.000,6,0.000,0.000,2435,1877,1785
$GC,3111,0.83,116.8,273.5,-8.4,213,3113,0.00,0.00,0.15,0.000,6,0.000,0.000,2426,1873,1786
$GC,3425,0.83,116.8,298.4,-7.9,228,3430,0.00,2.75,0.00,0.000,4,0.000,0.000,2427,3407,1785
$GC,3729,0.83,116.8,323.0,-7.7,240,3734,0.00,2.60,0.03,0.000,6,0.000,0.000,2426,1866,1784
$GC,4050,0.83,116.8,347.7,-7.6,255,4055,0.20,2.60,0.00,0.000,4,0.000,0.000,2481,3390,1779
$GC,4352,0.83,116.8,371.0,-7.2,267,4357,0.08,2.80,0.00,0.000,6,0.000,0.000,2472,1846,1784
$GC,4672,0.83,116.8,392.7,-7.1,282,4677,0.10,2.80,0.00,0.000,4,0.000,0.000,2463,3494,1783
$GC,4975,0.83,116.8,413.7,-6.7,294,4991,0.12,3.45,0.00,0.000,6,0.000,0.000,2421,1828,1776
$GC,5300,0.83,116.8,435.0,-6.7,310,5305,0.08,2.75,0.00,0.000,4,0.000,0.000,2421,3495,1789
$GC,5598,0.83,116.8,456.4,-7.4,322,5614,0.03,3.45,0.00,0.000,6,0.000,0.000,2430,1838,1788
$GC,5934,0.83,116.8,477.8,-6.3,338,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1826,1777
$GC,6255,0.83,116.8,498.8,-6.7,354,6260,0.05,2.80,0.00,0.000,4,0.001,0.000,2428,3502,1782
$GC,6551,0.83,116.8,518.4,-6.7,361,6559,0.00,4.03,0.00,0.000,6,0.000,0.000,2417,1866,1781
$GC,6875,0.83,116.8,539.1,-6.5,369,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1868,1787
$GC,7209,0.83,116.8,562.2,-7.4,377,7214,0.00,2.72,0.00,0.000,4,0.000,0.000,2415,3381,1780
$GC,7502,0.83,116.8,585.5,-7.3,383,7507,0.00,2.90,0.00,0.000,6,0.000,0.000,2416,1988,1776
$GC,7820,0.83,116.8,607.8,-7.1,391,7827,0.00,3.65,0.00,0.000,4,0.000,0.000,2421,3523,1784
$GC,8119,0.83,437.9,626.5,-5.9,397,8470,0.00,2.60,308.27,0.000,6,0.000,0.000,2425,1847,471
$GC,8789,1.37,437.9,672.1,-7.2,412,8792,0.88,0.00,0.00,0.000,6,0.000,0.000,2556,1845,489
$GC,9114,1.37,437.9,696.0,-7.1,420,9122,0.40,2.92,0.00,0.000,4,0.000,0.000,2509,3536,472
$GC,9416,1.37,437.9,716.6,-6.3,426,9425,0.35,3.47,0.00,0.000,6,0.000,0.000,2607,1843,479
$GC,9740,1.37,437.9,737.0,-6.4,434,9748,0.45,2.92,0.00,0.000,4,0.000,0.000,2510,3556,483
$GC,10043,1.37,437.9,757.7,-7.0,440,10051,0.40,3.25,0.00,0.000,6,0.000,0.000,2610,1899,479
$GC,10367,1.37,437.9,780.0,-7.1,448,10375,0.38,3.53,0.00,0.000,4,0.000,0.000,2505,3554,479
$GC,10666,1.37,437.9,803.0,-8.2,454,10675,0.38,3.65,0.00,0.000,6,0.000,0.000,2613,1784,482
$GC,10991,1.37,437.9,826.7,-7.0,462,10993,0.32,0.00,0.00,0.000,6,0.000,0.000,2567,1789,478
$GC,11321,1.37,437.9,851.3,-7.8,470,11328,0.28,3.10,0.00,0.000,4,0.000,0.000,2610,3596,480
$GC,11615,1.37,599.1,861.1,0.1,476,11635,0.40,2.90,11.07,0.000,6,0.000,0.000,2521,1790,420
$GC,11986,1.64,752.1,860.3,0.5,485,11989,0.65,0.00,0.05,0.000,6,0.000,0.000,2654,1792,430
$GC,12312,1.89,762.4,841.7,5.9,493,12317,0.00,2.92,0.00,0.000,4,0.000,0.000,2651,516,433
$GC,12388,1.91,762.4,834.0,9.6,494,12394,0.03,2.80,0.20,0.000,6,0.000,0.000,2663,2159,425
$GC,12730,1.91,762.4,807.4,7.3,502,12732,0.00,0.00,0.30,0.001,6,0.000,0.000,2650,2154,427
$GC,13056,1.91,762.4,783.1,7.7,510,13058,0.08,0.00,0.45,0.000,6,0.000,0.000,2704,2154,432
$GC,13380,1.91,762.4,759.7,6.6,518,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2160,421
$GC,13700,1.91,762.4,737.0,7.1,526,13702,0.38,0.00,0.08,0.000,6,0.000,0.000,2597,2161,421
$GC,14029,1.91,762.4,714.8,6.8,534,14031,0.57,0.00,0.00,0.000,6,0.000,0.000,2692,2141,420
$GC,14354,1.91,762.4,692.1,7.3,542,14362,0.62,2.85,0.10,0.001,4,0.000,0.000,2598,3541,421
$GC,14650,1.91,762.4,669.5,7.0,548,14658,0.45,2.85,0.03,0.000,6,0.000,0.000,2708,1988,430
$GC,14973,1.91,762.4,646.9,7.1,556,14982,0.35,3.42,0.10,0.001,4,0.000,0.000,2613,425,420
$GC,15008,1.91,762.4,643.7,8.4,556,15015,0.43,2.60,0.03,0.001,6,0.000,0.000,2721,2108,419
$GC,15350,1.91,762.4,618.9,7.3,564,15352,0.32,0.00,0.08,0.002,6,0.000,0.000,2618,2101,422
$GC,15674,1.91,762.4,595.9,6.8,572,15680,0.38,2.55,0.05,0.003,4,0.000,0.000,2718,592,416
$GC,15802,1.91,763.4,587.2,6.2,574,15808,0.35,2.62,0.05,0.000,6,0.000,0.000,2657,2145,427
$GC,16144,1.91,782.9,568.2,5.5,582,16147,0.47,0.00,0.17,0.000,6,0.000,0.000,2716,2141,431
$GC,16468,1.94,782.9,547.1,6.8,590,16470,0.00,0.00,0.05,0.001,6,0.000,0.000,2715,2152,414
$GC,16794,1.94,782.9,524.9,7.1,598,16796,0.00,0.00,0.03,0.000,6,0.000,0.000,2709,2141,422
$GC,17120,1.94,782.9,501.1,7.5,606,17122,0.25,0.00,0.03,0.001,6,0.000,0.000,2666,2152,416
$GC,17428,1.94,782.9,478.2,7.6,620,17429,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2131,427
$GC,17736,1.94,782.9,455.8,7.4,635,17738,0.15,0.00,0.05,0.000,6,0.000,0.000,2722,2148,424
$GC,18041,1.94,790.7,436.0,6.0,650,18049,0.00,3.25,0.03,0.002,4,0.000,0.000,2711,459,423
$GC,18170,1.96,797.3,428.4,6.0,655,18177,0.00,3.42,0.00,0.000,6,0.000,0.000,2727,2126,428
$GC,18511,1.97,797.3,407.6,6.6,671,18513,0.20,0.00,0.10,0.000,6,0.000,0.000,2658,2127,421
$GC,18815,1.97,797.3,385.4,7.3,686,18817,0.32,0.00,0.00,0.000,6,0.000,0.000,2702,2125,416
$GC,19125,1.97,797.3,363.2,7.0,701,19128,0.40,0.00,0.03,0.001,6,0.000,0.000,2663,2132,417
$GC,19434,1.97,797.3,342.8,6.6,716,19436,0.22,0.00,0.00,0.000,6,0.000,0.000,2698,2129,419
$GC,19743,1.97,797.3,320.7,7.4,731,19744,0.03,0.00,0.00,0.000,6,0.000,0.000,2709,2124,420
$GC,20052,1.97,797.3,297.2,7.8,746,20054,0.00,0.00,0.05,0.001,6,0.000,0.000,2707,2128,415
$GC,20362,1.97,797.3,274.8,7.9,761,20369,0.00,3.55,0.05,0.000,4,0.000,0.000,2711,431,419
$GC,20423,1.97,797.3,270.1,7.7,763,20431,0.00,4.25,0.10,0.001,6,0.000,0.000,2722,2188,420
$GC,20754,1.97,797.3,247.2,6.5,779,20755,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2212,419
$GC,21063,1.97,797.3,225.9,6.8,794,21064,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2209,421
$GC,21373,1.97,809.1,206.6,5.8,809,21374,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2193,416
$GC,21682,1.99,831.2,189.2,5.4,824,21683,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2212,421
$GC,21992,2.02,831.2,169.4,7.6,839,21993,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2178,426
$GC,22301,2.02,831.2,145.1,7.6,854,22308,0.00,3.25,0.00,0.000,4,0.000,0.000,2711,3610,419
$GC,22608,2.02,860.9,125.6,5.1,866,22613,0.00,2.83,0.00,0.000,6,0.000,0.000,2711,1820,419
$GC,22929,2.07,860.9,104.4,9.3,881,22931,0.03,0.00,0.05,0.000,6,0.000,0.000,2712,1824,423
$GC,23344,2.07,860.9,73.8,7.3,932,23356,0.00,3.28,0.00,0.000,4,0.000,0.000,2709,3498,425
$GC,23423,2.07,860.9,67.8,7.5,941,23435,0.00,3.20,0.00,0.000,6,0.000,0.000,2709,1842,418
$GC,23888,2.07,860.9,36.8,7.0,1002,23899,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1833,416
$GC,24337,2.07,875.5,6.6,5.7,1063,24347,0.00,3.10,0.00,0.000,4,0.000,0.000,2730,3535,416
$GC,24369,2.10,879.6,5.1,6.1,1066,24379,0.00,3.22,0.03,0.000,6,0.000,0.000,2709,1877,416
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999499
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,24544,0.00,0.000,0,0,424,451.84
$SM_GC,0.34,9.90,0.00,0.00,0.000,0.000,0.000,652,2117,424,-7.25,4.24,451.84
$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,2159
$INTERNAL_PRESSURE,26.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.7,71.644
$10V_AH,9.6,25.235
$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,31.125,149.850,511.925,0.000,0.000,0.000,0.000,127.690,0.250,14.263,5400.570,13551.423,757.230,2083.635,3141.275,33.348,2152.604,0.000,2560.689,3240.000,2.753
$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,1830.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34613,1077
$CFSIZE,255582208,237404160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,55,1031,4,0
$SOUNDSPEED,1465.0
$CURRENT,0.011,334.1,1
$GPS,200607,212159,4700.832,-12502.247,30,1.1,30,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0