version: 66.00
glider: 1
mission: 1
dive: 21
start: 6 21 107 6 30 7
data:
$ID,1
$MISSION,1
$DIVE,21
$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,-442733.5
$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,16
$R_STBD_OVSHOOT,15
$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
$GPS1,062205,4659.936,-12459.347,25,1.1,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-50.0
$GPS2,062909,4659.943,-12459.400,30,1.1,30,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.162,0.104
$KALMAN_X,44243.0,592.6,571.9,42453.5,-1148.0
$KALMAN_Y,-7294.4,-624.7,-279.8,-899.2,-31.0
$MHEAD_RNG_PITCHd_Wd,39.4,229740,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-56.80,0.000,2,0.000,0.000,611,1858,2145
$GC,110,-0.83,-116.8,3.1,-6.0,6,151,7.78,2.53,-19.65,0.000,4,0.000,0.000,2130,3531,2735
$GC,504,-0.83,-116.8,53.2,-11.6,57,516,0.40,2.70,0.00,0.000,6,0.000,0.000,2066,1776,2735
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,950,-0.25,0.0,100.7,9.2,116,1048,0.93,0.00,94.50,0.000,6,0.000,0.000,2249,2153,2265
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1059,0.83,116.8,110.6,0.0,121,1166,1.35,2.80,93.97,0.000,4,0.000,0.000,2451,519,1789
$GC,1463,0.83,116.8,144.4,-6.6,136,1468,0.00,2.70,0.12,0.000,6,0.000,0.000,2468,2177,1797
$GC,1800,0.83,116.8,168.6,-7.4,152,1805,0.03,2.80,0.00,0.000,4,0.000,0.000,2435,545,1785
$GC,2103,0.83,116.8,193.4,-7.9,164,2120,0.10,3.70,0.03,0.000,6,0.000,0.000,2394,1945,1792
$GC,2434,0.83,116.8,218.9,-7.8,180,2438,0.10,2.33,0.00,0.000,4,0.000,0.000,2421,550,1782
$GC,2736,0.83,116.8,242.9,-7.3,192,2741,0.15,2.60,0.00,0.000,6,0.001,0.000,2422,2076,1792
$GC,3057,0.83,116.8,267.7,-8.2,207,3062,0.00,2.50,0.05,0.000,4,0.000,0.000,2475,570,1782
$GC,3360,0.83,116.8,292.4,-8.7,219,3377,0.17,3.35,0.38,0.000,6,0.000,0.000,2409,2125,1780
$GC,3690,0.83,116.8,320.4,-8.9,235,3695,0.32,2.60,0.00,0.000,4,0.000,0.000,2480,562,1782
$GC,3992,0.83,116.8,346.3,-6.5,247,4008,0.00,3.30,0.25,0.001,6,0.000,0.000,2461,2209,1790
$GC,4318,0.83,434.2,365.5,-5.8,263,4653,0.05,2.80,305.60,0.000,4,0.000,0.000,2425,431,493
$GC,4963,1.36,434.2,413.2,-7.7,286,4971,1.02,2.83,0.00,0.000,6,0.000,0.000,2591,2072,493
$GC,5299,1.36,434.2,438.6,-7.2,302,5307,0.47,2.90,0.00,0.000,4,0.000,0.000,2488,421,489
$GC,5601,1.36,714.4,462.8,-4.4,314,5633,0.32,2.62,14.38,0.000,6,0.000,0.000,2586,2086,440
$GC,5960,1.83,714.4,454.1,6.9,331,5969,0.50,2.50,1.40,0.001,4,0.000,0.000,2692,423,420
$GC,6283,1.83,714.4,430.6,8.5,343,6289,0.08,2.83,0.15,0.001,6,0.000,0.000,2638,2089,426
$GC,6609,1.83,714.4,404.4,8.6,358,6619,0.03,2.62,0.03,0.001,4,0.000,0.000,2661,462,429
$GC,6934,1.83,714.4,378.0,8.0,370,6943,0.05,3.45,0.03,0.000,6,0.000,0.000,2649,2126,417
$GC,7264,1.83,714.4,350.3,8.9,386,7269,0.00,2.12,0.03,0.000,4,0.000,0.000,2645,3398,426
$GC,7571,1.83,714.4,324.1,8.8,398,7576,0.00,2.80,0.03,0.000,6,0.000,0.000,2653,1834,428
$GC,7892,1.83,714.4,297.2,8.0,413,7897,0.00,2.62,0.03,0.001,4,0.000,0.000,2655,534,429
$GC,7995,1.83,714.4,288.9,7.6,417,7999,0.00,2.72,0.00,0.000,6,0.000,0.000,2643,2080,416
$GC,8315,1.83,714.4,263.6,8.5,432,8321,0.00,3.10,0.10,0.000,4,0.000,0.000,2644,545,422
$GC,8590,1.83,714.4,242.6,7.2,443,8595,0.00,2.53,0.03,0.000,6,0.000,0.000,2647,2089,418
$GC,8910,1.83,714.4,218.7,7.1,458,8918,0.00,3.42,0.00,0.000,4,0.000,0.000,2643,427,421
$GC,8979,1.83,715.1,214.0,6.2,460,8991,0.00,3.53,0.08,0.000,6,0.000,0.000,2642,2185,426
$GC,9299,1.83,715.1,192.0,6.9,476,9304,0.00,3.10,0.00,0.000,4,0.000,0.000,2647,504,426
$GC,9595,1.83,715.1,168.6,8.3,488,9609,0.00,3.30,0.00,0.000,6,0.000,0.000,2641,2202,424
$GC,9919,1.83,715.1,144.2,6.8,504,9926,0.00,3.40,0.00,0.000,4,0.000,0.000,2646,356,418
$GC,10225,1.83,715.1,121.9,6.8,516,10241,0.00,3.50,0.10,0.001,6,0.000,0.000,2655,2223,423
$GC,10555,1.83,730.7,99.0,5.7,532,10569,0.08,2.22,0.03,0.000,4,0.000,0.000,2647,3612,417
$GC,10659,1.86,767.0,93.7,4.9,544,10672,0.12,2.78,0.00,0.000,6,0.000,0.000,2682,1813,422
$GC,11149,1.92,770.6,64.8,6.1,605,11162,0.00,2.12,0.03,0.001,4,0.000,0.000,2688,362,425
$GC,11537,1.92,771.8,43.7,6.2,654,11550,0.03,3.62,0.00,0.000,6,0.000,0.000,2699,2171,419
$GC,12020,1.92,771.8,12.3,7.8,715,12032,0.00,2.78,0.00,0.000,4,0.000,0.000,2687,495,419
$GC,12055,1.92,771.8,9.9,7.5,718,12068,0.00,2.88,0.03,0.000,6,0.000,0.000,2694,2129,420
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999505
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,12379,0.00,0.000,0,0,424,451.11
$SM_GC,0.33,10.48,0.00,0.00,0.000,0.000,0.000,634,1863,424,-7.27,-2.83,451.11
$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,2467
$INTERNAL_PRESSURE,26.1237
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,23.6,73.609
$10V_AH,9.6,25.575
$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,24.550,110.250,511.325,0.000,0.000,0.000,0.000,109.625,0.250,35.628,3688.789,4684.540,721.979,1466.137,2160.951,33.345,1714.854,0.000,1750.919,1800.000,2.751
$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,1254.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25212,751
$CFSIZE,255582208,237047808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,39,748,5,0
$SOUNDSPEED,1465.0
$CURRENT,0.072,293.9,1
$GPS,210607,095742,4658.796,-12500.767,18,1.1,18,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0