version: 66.00
glider: 1
mission: 1
dive: 30
start: 6 24 107 2 46 5
data:
$ID,1
$MISSION,1
$DIVE,30
$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,-442953.91
$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,4
$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
$GPS1,023338,4658.230,-12540.498,30,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-50.0
$GPS2,024506,4658.264,-12540.610,29,1.1,29,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,0.090
$KALMAN_X,16534.8,-2640.3,-2439.7,24669.4,3688.7
$KALMAN_Y,-11530.1,-110.3,-85.9,-477.9,-255.5
$MHEAD_RNG_PITCHd_Wd,44.1,275202,-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,45,-0.83,-116.8,0.0,0.0,0,122,0.00,0.00,-74.85,0.000,2,0.000,0.000,629,2104,2673
$GC,128,-0.83,-116.8,3.3,-4.7,7,158,7.38,2.70,-2.35,0.000,4,0.000,0.000,2125,371,2738
$GC,213,-0.83,-116.8,14.2,-10.3,16,226,0.38,3.25,0.00,0.000,6,0.000,0.000,2035,2132,2743
$GC,668,-0.83,-116.8,71.3,-12.6,77,680,0.47,3.30,0.00,0.000,4,0.000,0.000,2105,345,2742
$GC,769,-0.83,-116.8,83.4,-11.6,89,781,0.35,3.25,0.00,0.000,6,0.000,0.000,2000,2133,2737
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,937,-0.25,0.0,100.5,10.3,109,1036,1.08,0.00,95.53,0.000,6,0.000,0.000,2233,1858,2264
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1047,0.83,116.8,110.9,0.0,114,1155,1.17,3.00,94.57,0.000,4,0.000,0.000,2485,3406,1793
$GC,1454,0.83,116.8,148.8,-8.0,129,1463,0.38,3.75,0.00,0.000,6,0.000,0.000,2393,1745,1788
$GC,1796,0.83,116.8,179.3,-8.8,145,1804,0.50,2.80,0.12,0.000,4,0.000,0.000,2479,3520,1781
$GC,2108,0.83,116.8,207.6,-8.4,157,2124,0.40,3.00,0.00,0.000,6,0.000,0.000,2389,1720,1790
$GC,2433,0.83,116.8,235.3,-8.6,173,2440,0.47,3.10,0.00,0.000,4,0.000,0.000,2483,3533,1785
$GC,2750,0.83,116.8,262.2,-8.3,185,2755,0.32,2.53,0.00,0.000,6,0.000,0.000,2428,1887,1782
$GC,3071,0.83,116.8,287.2,-7.2,200,3079,0.45,3.35,0.00,0.000,4,0.000,0.000,2465,3534,1792
$GC,3374,0.83,439.3,307.7,-6.0,212,3699,0.35,2.72,310.30,0.000,6,0.000,0.000,2402,1778,464
$GC,4037,1.37,439.3,354.3,-7.4,239,4042,1.10,2.22,0.00,0.000,4,0.000,0.000,2576,520,476
$GC,4051,1.37,439.3,356.1,-7.8,239,4063,0.00,3.50,0.00,0.000,6,0.000,0.000,2574,2190,477
$GC,4371,1.37,439.3,377.9,-6.4,255,4377,0.03,2.12,0.38,0.001,4,0.000,0.000,2582,3475,469
$GC,4526,1.37,439.3,387.9,-6.8,261,4531,0.00,3.00,0.00,0.000,6,0.000,0.000,2581,1831,470
$GC,4857,1.37,439.3,408.2,-6.4,277,4862,0.00,3.05,0.00,0.000,4,0.000,0.000,2569,547,472
$GC,4884,1.37,439.3,410.2,-6.8,278,4890,0.08,3.05,0.00,0.000,6,0.000,0.000,2562,2103,471
$GC,5222,1.37,439.3,433.6,-7.1,294,5226,0.00,2.20,0.00,0.000,4,0.000,0.000,2567,3400,474
$GC,5534,1.37,439.3,456.3,-7.1,306,5551,0.12,3.75,0.00,0.000,6,0.000,0.000,2537,1774,470
$GC,5864,1.37,439.3,479.6,-7.2,322,5869,0.05,2.72,0.00,0.000,4,0.000,0.000,2521,499,461
$GC,6016,1.37,439.3,491.1,-8.1,328,6022,0.08,2.72,0.00,0.000,6,0.001,0.000,2539,2159,472
$GC,6345,1.37,439.3,515.4,-7.0,339,6350,0.00,2.85,0.00,0.000,4,0.000,0.000,2567,3436,471
$GC,6504,1.37,439.3,526.4,-7.0,342,6509,0.00,2.83,0.00,0.000,6,0.000,0.000,2593,1765,475
$GC,6868,1.37,439.3,549.7,-6.6,351,6873,0.00,2.80,0.00,0.000,4,0.000,0.000,2558,3466,470
$GC,7156,1.37,747.6,566.6,-5.4,357,7174,0.00,3.42,10.18,0.000,6,0.000,0.000,2573,1791,428
$GC,7495,1.88,1069.3,586.5,-5.9,365,7504,0.73,2.80,0.12,0.002,4,0.000,0.000,2710,3614,421
$GC,7552,2.42,1388.9,590.2,-5.9,366,7561,0.50,2.80,0.10,0.000,6,0.000,0.000,2821,1824,429
$GC,7888,2.95,1388.9,611.7,-6.5,374,7896,0.65,3.53,0.00,0.000,4,0.000,0.000,2958,3583,429
$GC,7924,2.95,1388.9,614.7,-6.8,374,7941,0.35,3.12,0.15,0.000,6,0.000,0.000,2861,1809,419
$GC,8265,2.95,1388.9,637.9,-7.2,383,8271,0.35,2.83,0.12,0.001,4,0.000,0.000,2969,3467,421
$GC,8365,2.95,1388.9,644.8,-7.2,385,8374,0.40,3.55,0.05,0.000,6,0.000,0.000,2859,1917,426
$GC,8699,2.95,1388.9,669.4,-7.7,393,8708,0.45,2.90,0.43,0.001,4,0.000,0.000,2970,3575,425
$GC,8997,2.95,1388.9,690.3,-6.9,399,9003,0.40,2.80,0.08,0.000,6,0.000,0.000,2859,1803,423
$GC,9316,2.95,1388.9,710.4,-6.3,407,9322,0.35,2.42,0.12,0.001,4,0.000,0.000,2973,511,431
$GC,9346,2.95,1388.9,712.4,-7.2,407,9355,0.38,3.55,0.08,0.000,6,0.000,0.000,2842,2171,424
$GC,9694,2.95,1709.3,733.9,-5.9,416,9700,0.32,2.30,0.03,0.001,4,0.000,0.000,2950,3462,416
$GC,9714,3.49,2029.5,735.4,-5.9,416,9720,0.40,2.70,0.03,0.000,6,0.000,0.000,3015,1796,427
$GC,10063,4.02,2347.3,755.6,-5.8,425,10069,0.62,2.22,0.40,0.001,4,0.000,0.000,3177,489,422
$GC,10254,4.56,2347.3,767.1,-6.5,429,10262,0.38,3.10,0.00,0.000,6,0.000,0.000,3281,2182,425
$GC,10595,4.56,2664.7,787.1,-5.8,437,10601,0.08,2.62,0.08,0.002,4,0.000,0.000,3258,3470,417
$GC,10891,5.09,2979.9,804.4,-5.7,443,10896,0.00,3.10,0.00,0.000,6,0.000,0.000,3232,1932,420
$GC,11210,5.61,3298.1,822.6,-5.8,451,11219,0.08,3.55,0.03,0.001,4,0.001,0.000,3245,3510,421
$GC,11509,6.14,3298.1,840.7,-6.3,457,11518,0.03,3.45,0.03,0.001,6,0.000,0.000,3251,1859,417
$GC,11839,6.14,3624.1,860.0,-6.1,465,11843,0.03,2.50,0.00,0.000,4,0.000,0.000,3241,3377,429
$GC,11903,6.69,3624.1,864.2,-6.3,466,11908,0.00,3.10,0.05,0.001,6,0.000,0.000,3245,1842,416
$GC,12257,6.69,3953.3,885.6,-6.2,475,12264,0.00,3.25,0.08,0.000,4,0.000,0.000,3231,3592,412
$GC,12503,7.24,4267.8,899.9,-5.7,480,12509,0.05,2.80,0.00,0.000,6,0.000,0.000,3225,1821,418
$GC,12829,7.76,4596.6,919.7,-6.2,488,12835,0.08,2.70,0.03,0.001,4,0.000,0.000,3237,3477,422
$GC,13004,8.31,4596.6,931.0,-6.7,491,13010,0.03,3.00,0.03,0.000,6,0.000,0.000,3222,1773,425
$GC,13347,8.31,4596.6,953.8,-6.6,500,13352,0.03,2.53,0.00,0.000,4,0.000,0.000,3231,513,421
$GC,13493,8.31,4596.6,964.0,-7.0,503,13499,0.08,3.00,0.00,0.000,6,0.000,0.000,3234,2177,421
$GC,13819,8.31,4596.6,985.3,-6.5,511,13823,0.00,2.25,0.00,0.000,4,0.000,0.000,3240,3430,421
$GC,13902,8.31,4925.6,991.0,-6.2,512,13912,0.00,2.70,0.05,0.000,6,0.000,0.000,3245,1916,420
$GC,14238,8.86,4992.7,989.8,3.7,521,14243,0.00,2.50,0.03,0.000,4,0.000,0.000,3246,3445,417
$GC,14531,8.97,4992.7,968.7,7.4,527,14536,0.03,2.90,0.00,0.000,6,0.000,0.000,3236,1778,418
$GC,14850,8.97,4992.7,945.9,7.3,535,14857,0.00,3.55,0.00,0.000,4,0.000,0.000,3250,3581,420
$GC,15148,8.97,4992.7,922.1,7.8,541,15154,0.03,2.97,0.00,0.000,6,0.000,0.000,3250,1879,421
$GC,15467,8.97,4992.7,896.6,8.2,549,15474,0.00,3.53,0.00,0.000,4,0.000,0.000,3242,3560,416
$GC,15765,8.97,4992.7,872.0,8.2,555,15771,0.03,3.17,0.00,0.000,6,0.000,0.000,3249,2006,422
$GC,16084,8.97,4992.7,847.0,7.6,563,16093,0.08,3.42,0.03,0.002,4,0.000,0.000,3244,3536,418
$GC,16382,8.97,4992.7,824.8,7.1,569,16388,0.00,3.17,0.03,0.000,6,0.000,0.000,3236,1896,424
$GC,16700,8.97,4992.7,804.0,6.3,577,16705,0.00,3.00,0.00,0.000,4,0.000,0.000,3248,3415,420
$GC,16995,8.97,5004.7,786.3,5.8,583,17002,0.12,3.35,0.00,0.000,6,0.000,0.000,3283,1876,421
$GC,17318,8.99,5004.7,766.1,6.3,591,17323,0.00,2.62,0.00,0.000,4,0.000,0.000,3280,3379,425
$GC,17613,8.99,5004.7,745.6,6.9,597,17621,0.00,3.42,0.03,0.004,6,0.000,0.000,3281,1850,428
$GC,17937,8.99,5004.7,722.5,7.4,605,17941,0.00,2.50,0.00,0.000,4,0.000,0.000,3290,3386,427
$GC,18231,8.99,5004.7,700.9,7.1,611,18238,0.00,3.65,0.00,0.000,6,0.000,0.000,3288,1859,423
$GC,18555,8.99,5004.7,677.9,7.1,619,18560,0.00,3.00,0.03,0.000,4,0.000,0.000,3286,3416,426
$GC,18849,8.99,5004.7,656.0,7.9,625,18857,0.00,3.42,0.00,0.000,6,0.000,0.000,3289,1869,421
$GC,19172,8.99,5004.7,632.6,7.2,633,19177,0.00,2.90,0.00,0.000,4,0.000,0.000,3290,3424,414
$GC,19476,8.99,5004.7,611.6,6.5,639,19484,0.00,3.45,0.05,0.000,6,0.000,0.000,3282,1758,417
$GC,19801,8.99,5011.7,592.3,6.0,647,19808,0.00,3.53,0.00,0.000,4,0.000,0.000,3277,3540,429
$GC,20100,9.00,5011.7,574.7,6.5,653,20104,0.00,2.62,0.00,0.000,6,0.000,0.000,3289,1833,414
$GC,20417,9.00,5011.7,554.0,6.7,661,20423,0.00,3.25,0.00,0.000,4,0.000,0.000,3285,3436,416
$GC,20722,9.00,5011.7,532.3,6.8,667,20728,0.00,3.25,0.00,0.000,6,0.000,0.000,3278,1895,416
$GC,21041,9.00,5011.7,508.6,8.0,675,21046,0.00,3.03,0.03,0.001,4,0.000,0.000,3284,3413,418
$GC,21351,9.00,5011.7,484.2,7.7,684,21355,0.00,2.60,0.00,0.000,6,0.000,0.000,3264,1852,418
$GC,21672,9.00,5011.7,459.8,7.3,699,21677,0.00,2.72,0.03,0.000,4,0.000,0.000,3289,3484,416
$GC,21972,9.00,5011.7,437.7,6.6,711,21977,0.00,2.78,0.00,0.000,6,0.000,0.000,3294,1872,429
$GC,22293,9.00,5011.7,414.7,6.9,726,22301,0.00,3.85,0.00,0.000,4,0.000,0.000,3295,3527,419
$GC,22603,9.00,5011.7,393.8,6.3,738,22608,0.00,2.60,0.03,0.000,6,0.000,0.000,3297,2012,424
$GC,22925,9.00,5011.7,373.0,6.6,753,22930,0.00,3.22,0.00,0.000,4,0.000,0.000,3273,3412,422
$GC,23230,9.00,5011.7,353.7,6.3,765,23235,0.00,3.10,0.00,0.000,6,0.000,0.000,3298,1883,413
$GC,23552,9.00,5012.5,333.3,6.2,780,23559,0.00,3.55,0.00,0.000,4,0.000,0.000,3281,3538,420
$GC,23862,9.01,5012.5,313.9,7.8,792,23867,0.00,3.10,0.00,0.000,6,0.000,0.000,3299,1879,425
$GC,24183,9.01,5018.8,294.5,6.0,807,24191,0.00,2.80,0.05,0.001,4,0.000,0.000,3288,3567,423
$GC,24506,9.02,5018.8,272.1,7.4,819,24511,0.00,3.00,0.00,0.000,6,0.000,0.000,3297,1890,418
$GC,24837,9.02,5018.8,244.4,8.5,835,24842,0.00,2.70,0.00,0.000,4,0.000,0.000,3276,3455,420
$GC,25140,9.02,5035.9,221.3,5.6,847,25155,0.00,3.65,0.03,0.001,6,0.000,0.000,3282,1772,421
$GC,25470,9.05,5035.9,198.4,7.6,863,25475,0.00,2.80,0.03,0.000,4,0.000,0.000,3274,3424,423
$GC,25769,9.05,5035.9,174.3,7.2,875,25785,0.00,4.22,0.00,0.000,6,0.000,0.000,3274,1871,419
$GC,26095,9.05,5035.9,148.8,8.2,891,26099,0.00,2.17,0.00,0.000,4,0.000,0.000,3281,604,415
$GC,26398,9.05,5035.9,124.3,8.3,903,26404,0.00,3.22,0.00,0.000,6,0.000,0.000,3295,2113,414
$GC,26720,9.05,5060.3,104.2,5.3,918,26725,0.00,2.40,0.03,0.001,4,0.000,0.000,3298,3383,420
$GC,26914,9.09,5071.4,91.7,5.8,937,26927,0.00,3.22,0.10,0.001,6,0.000,0.000,3278,1878,416
$GC,27393,9.10,5093.5,63.7,5.4,998,27405,0.00,2.50,0.00,0.000,4,0.000,0.000,3295,3508,425
$GC,27537,9.14,5093.5,54.6,6.6,1015,27549,0.00,3.33,0.03,0.001,6,0.000,0.000,3294,1815,417
$GC,28009,9.14,5093.5,22.9,6.4,1076,28022,0.00,3.78,0.00,0.000,4,0.000,0.000,3281,3453,420
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999491
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,28453,0.00,0.000,0,0,424,452.58
$SM_GC,0.34,12.65,0.00,0.00,0.000,0.000,0.000,660,1770,424,-7.24,-5.37,452.58
$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,0.023777
$HUMID,2097
$INTERNAL_PRESSURE,26.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,23.7,81.954
$10V_AH,9.6,27.260
$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,34.800,301.575,513.625,0.000,0.000,0.000,0.000,171.909,0.250,30.235,6152.325,14893.918,915.783,2920.427,4104.603,33.350,2848.773,0.000,3690.692,3600.000,2.309
$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,1864.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37890,1121
$CFSIZE,255582208,233488384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,60,2027,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.082,311.9,1
$GPS,240607,104148,4658.706,-12546.017,32,1.1,32,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0