version: 66.00
glider: 1
mission: 1
dive: 34
start: 6 25 107 10 39 23
data:
$ID,1
$MISSION,1
$DIVE,34
$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,-443081.44
$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,14
$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
$GPS1,102701,4658.356,-12605.011,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,103824,4658.411,-12604.972,27,1.1,27,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,0.082
$KALMAN_X,-1064.8,-3330.5,-2961.2,12802.3,4526.8
$KALMAN_Y,-11718.0,-312.5,-333.8,433.5,208.5
$MHEAD_RNG_PITCHd_Wd,46.8,302006,-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,44,-0.83,-116.8,0.0,0.0,0,128,0.00,0.00,-76.82,0.000,6,0.000,0.000,648,2061,2745
$GC,134,-0.83,-116.8,4.6,-5.3,8,148,7.15,2.30,0.00,0.000,4,0.000,0.000,2123,3602,2743
$GC,326,-0.83,-116.8,36.2,-15.9,33,338,0.05,2.70,0.00,0.000,6,0.000,0.000,2126,1809,2742
$GC,777,-0.83,-116.8,88.0,-12.7,94,789,0.43,2.28,0.00,0.000,4,0.000,0.000,2030,546,2744
$GC,876,-0.83,-116.8,99.7,-11.5,106,888,0.38,2.92,0.00,0.000,6,0.000,0.000,2108,2093,2741
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,921,-0.25,0.0,103.0,9.9,108,1019,0.68,0.00,95.68,0.000,6,0.000,0.000,2264,1860,2259
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1031,0.83,116.8,113.3,0.0,113,1137,1.08,2.60,94.30,0.000,4,0.000,0.000,2493,3374,1792
$GC,1434,0.83,116.8,150.6,-9.1,128,1443,0.38,3.22,0.32,0.000,6,0.000,0.000,2373,1843,1782
$GC,1776,0.83,116.8,177.2,-8.1,144,1781,0.45,2.22,0.00,0.000,4,0.000,0.000,2476,592,1784
$GC,1947,0.83,116.8,191.6,-8.0,151,1955,0.38,3.00,0.00,0.000,6,0.000,0.000,2380,2124,1783
$GC,2288,0.83,116.8,216.9,-7.6,167,2293,0.45,2.70,0.00,0.000,4,0.000,0.000,2464,480,1793
$GC,2336,0.83,116.8,221.6,-7.0,169,2345,0.38,3.45,0.00,0.000,6,0.000,0.000,2380,2166,1789
$GC,2673,0.83,116.8,249.3,-8.4,185,2677,0.47,2.10,0.00,0.000,4,0.000,0.000,2485,3421,1791
$GC,2783,0.83,116.8,259.6,-8.8,189,2795,0.38,2.80,0.00,0.000,6,0.000,0.000,2399,1762,1782
$GC,3103,0.83,116.8,286.4,-8.5,205,3111,0.47,3.10,0.00,0.000,4,0.000,0.000,2490,3572,1782
$GC,3407,0.83,116.8,310.2,-7.5,217,3423,0.38,3.45,0.00,0.000,6,0.000,0.000,2406,1830,1782
$GC,3733,0.83,116.8,335.5,-7.8,233,3740,0.28,3.35,0.00,0.000,4,0.000,0.000,2458,3475,1790
$GC,4036,0.83,116.8,357.9,-7.2,245,4042,0.03,2.90,0.00,0.000,6,0.000,0.000,2443,1827,1788
$GC,4357,0.83,116.8,381.9,-7.6,260,4362,0.00,3.25,0.00,0.000,4,0.000,0.000,2436,3359,1786
$GC,4617,0.83,116.8,401.2,-8.8,270,4630,0.00,2.50,0.28,0.000,6,0.000,0.000,2438,1849,1776
$GC,4937,0.83,116.8,423.2,-6.4,286,4942,0.00,2.80,0.00,0.000,4,0.000,0.000,2427,3403,1789
$GC,4974,0.83,116.8,425.7,-6.4,287,4987,0.00,2.53,0.00,0.000,6,0.000,0.000,2442,1873,1784
$GC,5300,0.83,116.8,446.3,-6.5,303,5305,0.00,3.10,0.00,0.000,4,0.000,0.000,2422,3397,1789
$GC,5370,0.83,116.8,451.4,-7.0,306,5375,0.03,2.53,0.00,0.000,6,0.000,0.000,2436,1851,1791
$GC,5710,0.83,116.8,474.8,-7.2,322,5718,0.00,3.38,0.00,0.000,4,0.000,0.000,2446,3511,1788
$GC,6021,0.83,116.8,496.2,-6.5,334,6038,0.00,3.85,0.00,0.000,6,0.000,0.000,2429,1858,1788
$GC,6349,0.83,116.8,517.3,-6.8,344,6353,0.00,2.65,0.00,0.000,4,0.000,0.000,2439,569,1785
$GC,6396,0.83,116.8,521.5,-7.9,345,6404,0.00,3.35,0.00,0.000,6,0.000,0.000,2443,2092,1785
$GC,6731,0.83,116.8,545.9,-7.4,353,6736,0.00,2.60,0.15,0.001,4,0.000,0.000,2441,3390,1791
$GC,6875,0.83,116.8,557.3,-7.4,356,6882,0.00,3.53,0.00,0.000,6,0.000,0.000,2416,1834,1790
$GC,7213,0.83,116.8,581.6,-7.3,364,7217,0.00,2.20,0.00,0.000,4,0.000,0.000,2427,583,1786
$GC,7248,0.83,116.8,584.5,-7.6,364,7257,0.00,2.50,0.00,0.000,6,0.000,0.000,2455,2091,1790
$GC,7594,0.83,442.8,607.0,-6.1,373,7920,0.00,2.30,312.38,0.000,4,0.000,0.000,2411,3604,455
$GC,8050,1.37,442.8,635.3,-6.7,382,8059,0.73,3.45,0.85,0.001,6,0.000,0.000,2591,1803,457
$GC,8384,1.37,442.8,658.0,-7.0,390,8388,0.00,2.22,0.00,0.000,4,0.000,0.000,2582,505,454
$GC,8552,1.37,442.8,670.1,-7.1,393,8559,0.00,3.35,0.00,0.000,6,0.000,0.000,2556,2170,449
$GC,8898,1.37,442.8,693.7,-6.9,402,8904,0.00,3.10,0.05,0.001,4,0.000,0.000,2590,3442,459
$GC,9194,1.37,442.8,716.1,-7.8,408,9200,0.03,2.80,0.17,0.000,6,0.000,0.000,2558,1799,461
$GC,9513,1.37,442.8,740.4,-7.7,416,9521,0.00,3.55,0.12,0.001,4,0.000,0.000,2571,3586,456
$GC,9531,1.37,442.8,742.0,-7.5,416,9540,0.05,3.45,0.05,0.001,6,0.000,0.000,2582,1903,448
$GC,9894,1.37,442.8,767.0,-6.5,425,9899,0.00,3.00,0.00,0.000,4,0.000,0.000,2564,3429,452
$GC,10188,1.37,748.5,783.8,-5.3,431,10202,0.00,2.80,6.22,0.000,6,0.000,0.000,2585,1781,435
$GC,10559,1.89,1053.0,802.4,-5.3,440,10568,0.60,2.83,0.60,0.000,4,0.000,0.000,2734,3515,423
$GC,10855,2.39,1346.7,816.9,-4.9,446,10863,0.57,2.75,0.05,0.001,6,0.000,0.000,2854,1996,418
$GC,11182,2.88,1652.6,833.5,-5.3,454,11188,0.30,2.33,0.28,0.001,4,0.000,0.000,2908,555,424
$GC,11250,3.40,1978.0,838.1,-6.1,455,11256,0.62,2.53,0.10,0.000,6,0.000,0.000,3035,2102,416
$GC,11599,3.94,2304.5,859.3,-6.1,464,11607,0.68,2.85,0.28,0.001,4,0.000,0.000,3171,3401,420
$GC,11900,4.48,2304.5,878.5,-6.6,470,11906,0.52,2.30,0.03,0.003,6,0.000,0.000,3266,1828,430
$GC,12221,4.48,2304.5,900.7,-7.0,478,12229,0.43,3.55,0.00,0.000,4,0.000,0.000,3194,3583,420
$GC,12503,4.48,2628.7,918.4,-6.0,483,12517,0.35,2.65,0.05,0.000,6,0.000,0.000,3265,1801,423
$GC,12841,5.03,2947.4,937.9,-5.8,492,12846,0.00,2.60,0.00,0.000,4,0.000,0.000,3264,547,414
$GC,12890,5.56,2947.4,941.2,-6.3,493,12896,0.00,3.20,0.00,0.000,6,0.000,0.000,3258,2167,420
$GC,13214,5.56,3262.6,959.8,-5.7,501,13218,0.00,2.20,0.00,0.000,4,0.000,0.000,3262,3426,419
$GC,13254,6.08,3262.6,962.3,-6.9,501,13265,0.00,2.95,0.12,0.001,6,0.000,0.000,3250,1760,417
$GC,13590,6.08,3572.2,981.1,-5.5,510,13598,0.00,3.55,0.03,0.000,4,0.000,0.000,3251,3543,426
$GC,13888,6.60,3779.5,995.0,-1.6,516,13892,0.00,2.50,0.00,0.000,6,0.000,0.000,3254,1965,425
$GC,14205,6.95,3779.5,977.5,7.6,524,14214,0.03,3.35,0.05,0.001,4,0.000,0.000,3271,3516,421
$GC,14504,6.95,3779.5,953.6,7.1,530,14509,0.00,2.83,0.10,0.000,6,0.000,0.000,3246,1873,416
$GC,14823,6.95,3779.5,930.1,7.5,538,14827,0.00,2.72,0.00,0.000,4,0.000,0.000,3244,3381,425
$GC,15116,6.95,3779.5,908.1,7.6,544,15124,0.00,3.72,0.03,0.001,6,0.000,0.000,3241,1840,420
$GC,15440,6.95,3779.5,882.9,7.7,552,15445,0.00,2.53,0.03,0.001,4,0.000,0.000,3275,3356,419
$GC,15735,6.95,3779.5,863.0,6.5,558,15743,0.00,3.25,0.03,0.000,6,0.000,0.000,3270,1946,428
$GC,16059,6.95,3787.4,844.0,6.0,566,16063,0.00,2.60,0.00,0.000,4,0.000,0.000,3258,3377,422
$GC,16353,6.96,3787.4,824.9,6.6,572,16361,0.00,3.62,0.00,0.000,6,0.000,0.000,3249,1858,423
$GC,16678,6.96,3787.4,802.5,7.0,580,16685,0.00,3.45,0.00,0.000,4,0.000,0.000,3267,3506,424
$GC,16977,6.96,3787.4,782.4,7.2,586,16981,0.00,2.50,0.03,0.000,6,0.000,0.000,3276,1834,417
$GC,17294,6.96,3787.4,760.7,7.0,594,17300,0.00,2.92,0.05,0.001,4,0.000,0.000,3257,3368,419
$GC,17598,6.96,3787.4,736.1,8.0,600,17606,0.00,3.42,0.00,0.000,6,0.000,0.000,3266,1829,421
$GC,17927,6.96,3787.4,708.2,8.9,608,17932,0.00,2.72,0.03,0.000,4,0.000,0.000,3275,3472,418
$GC,18221,6.96,3787.4,682.7,7.7,614,18226,0.00,2.72,0.00,0.000,6,0.000,0.000,3274,1808,416
$GC,18538,6.96,3787.4,658.8,7.6,622,18543,0.00,2.70,0.00,0.000,4,0.000,0.000,3258,3372,419
$GC,18834,6.96,3787.4,636.8,7.0,628,18838,0.00,2.60,0.00,0.000,6,0.000,0.000,3246,1856,418
$GC,19151,6.96,3787.4,611.8,8.3,636,19159,0.00,3.53,0.00,0.000,4,0.000,0.000,3269,3485,417
$GC,19451,6.96,3787.4,586.1,9.6,642,19457,0.00,3.25,0.00,0.000,6,0.000,0.000,3272,1850,421
$GC,19770,6.96,3787.4,562.2,6.9,650,19776,0.00,3.22,0.00,0.000,4,0.000,0.000,3259,3359,421
$GC,20076,6.96,3794.6,542.7,6.0,656,20083,0.00,2.80,0.05,0.001,6,0.000,0.000,3239,1769,414
$GC,20408,6.97,3794.6,520.5,7.2,664,20413,0.00,3.00,0.00,0.000,4,0.000,0.000,3271,3417,419
$GC,20708,6.97,3797.3,499.2,6.1,670,20724,0.00,3.70,0.03,0.000,6,0.000,0.000,3272,1747,415
$GC,21038,6.98,3797.3,477.3,6.9,686,21051,0.00,3.55,0.00,0.000,4,0.000,0.000,3262,3578,424
$GC,21359,6.98,3801.0,455.3,6.1,698,21364,0.00,3.00,0.00,0.000,6,0.000,0.000,3270,1764,426
$GC,21692,6.98,3803.5,435.3,6.2,713,21697,0.03,2.70,0.00,0.000,4,0.000,0.000,3253,3391,417
$GC,21991,6.99,3803.5,413.2,6.3,725,22006,0.00,3.65,0.00,0.000,6,0.000,0.000,3257,1863,425
$GC,22317,6.99,3803.5,387.5,8.0,741,22322,0.00,2.72,0.00,0.000,4,0.000,0.000,3258,3412,416
$GC,22620,6.99,3821.7,365.6,5.6,753,22636,0.00,3.53,0.00,0.000,6,0.000,0.000,3248,1768,416
$GC,22947,7.02,3844.6,347.8,5.4,769,22954,0.00,3.45,0.00,0.000,4,0.000,0.000,3254,3436,416
$GC,23256,7.06,3844.6,329.1,7.6,781,23261,0.00,3.20,0.00,0.000,6,0.000,0.000,3253,1891,419
$GC,23577,7.06,3844.6,303.2,8.7,796,23582,0.00,3.10,0.03,0.001,4,0.000,0.000,3257,3424,422
$GC,23706,7.06,3844.6,291.1,8.9,801,23712,0.00,3.20,0.00,0.000,6,0.000,0.000,3270,1771,416
$GC,24028,7.06,3844.6,266.4,7.0,816,24032,0.00,2.10,0.03,0.000,4,0.000,0.000,3272,492,414
$GC,24328,7.06,3844.6,244.4,6.7,828,24333,0.00,3.10,0.00,0.000,6,0.000,0.000,3270,2123,414
$GC,24649,7.06,3844.6,220.0,7.4,843,24654,0.00,2.95,0.00,0.000,4,0.000,0.000,3250,3390,414
$GC,24954,7.06,3844.6,196.7,7.1,855,24969,0.00,3.55,0.00,0.000,6,0.000,0.000,3285,1830,417
$GC,25279,7.06,3856.4,177.1,5.8,871,25287,0.00,3.60,0.00,0.000,4,0.000,0.000,3258,3608,419
$GC,25377,7.08,3856.4,171.1,6.6,874,25389,0.00,3.47,0.00,0.000,6,0.000,0.000,3266,1924,421
$GC,25697,7.08,3856.4,140.4,9.5,890,25705,0.00,3.53,0.00,0.000,4,0.000,0.000,3256,3539,416
$GC,25924,7.08,3856.4,119.7,9.5,899,25930,0.00,3.00,0.05,0.000,6,0.000,0.000,3268,1842,417
$GC,26272,7.08,3856.4,91.9,9.6,922,26284,0.00,3.25,0.03,0.001,4,0.000,0.000,3282,3605,425
$GC,26532,7.08,3869.0,76.2,5.8,955,26545,0.00,3.30,0.00,0.000,6,0.000,0.000,3255,1805,419
$GC,27005,7.10,3869.0,45.6,6.4,1016,27018,0.00,3.95,0.03,0.000,4,0.000,0.000,3275,3595,417
$GC,27389,7.10,3879.6,19.1,5.8,1065,27401,0.00,2.97,0.00,0.000,6,0.000,0.000,3267,1942,416
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999508
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,27790,0.00,0.000,0,0,425,453.56
$SM_GC,0.34,12.90,0.00,0.00,0.000,0.000,0.000,670,2189,425,-7.40,6.16,453.56
$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,2005
$INTERNAL_PRESSURE,26.2018
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.7,85.801
$10V_AH,9.6,27.982
$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,31.625,293.725,512.650,0.000,0.000,0.000,0.000,168.265,0.250,27.630,5900.917,14614.813,932.904,2856.010,4019.216,33.346,2840.058,0.000,3586.692,3240.000,2.300
$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,1777.690,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37821,1105
$CFSIZE,255582208,232202240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,58,1977,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.125,238.2,1
$GPS,250607,182400,4657.157,-12611.659,29,1.1,29,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0