version: 66.00
glider: 1
mission: 1
dive: 35
start: 6 25 107 18 36 17
data:
$ID,1
$MISSION,1
$DIVE,35
$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,-443114.06
$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,12
$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
$GPS1,182400,4657.157,-12611.659,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,183513,4657.142,-12611.635,31,1.1,31,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,0.081
$KALMAN_X,-6027.6,-3104.8,-3229.3,9414.1,4382.0
$KALMAN_Y,-12700.0,-776.1,-646.2,-125.7,1000.5
$MHEAD_RNG_PITCHd_Wd,47.3,310460,-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,-116.8,0.0,0.0,0,124,0.00,0.00,-77.18,0.000,6,0.000,0.000,633,2192,2729
$GC,130,-0.83,-116.8,4.7,-5.7,8,145,7.57,3.38,0.00,0.000,4,0.000,0.000,2156,391,2737
$GC,497,-0.83,-116.8,47.7,-12.0,57,510,0.47,2.65,0.00,0.000,6,0.000,0.000,2058,2068,2735
$GC,946,-0.83,-116.8,99.9,-8.9,118,958,0.35,2.72,0.00,0.000,4,0.000,0.000,2156,3511,2731
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,977,-0.25,0.0,102.3,7.3,119,1080,0.68,0.00,94.78,0.000,6,0.000,0.000,2265,1840,2262
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1086,0.83,116.8,111.1,0.0,124,1194,0.90,3.05,94.70,0.000,4,0.000,0.000,2461,3390,1788
$GC,1270,0.83,116.8,129.7,-11.0,130,1275,0.00,2.40,0.00,0.000,6,0.000,0.000,2478,1978,1775
$GC,1596,0.83,116.8,161.2,-9.9,146,1603,0.00,3.25,0.00,0.000,4,0.000,0.000,2458,460,1783
$GC,1682,0.83,116.8,169.4,-9.3,149,1697,0.03,3.35,0.00,0.000,6,0.000,0.000,2468,2119,1785
$GC,2007,0.83,116.8,195.9,-8.5,165,2011,0.00,2.20,0.00,0.000,4,0.000,0.000,2486,3400,1783
$GC,2127,0.83,116.8,206.0,-8.6,170,2131,0.00,2.60,0.00,0.000,6,0.000,0.000,2486,1994,1776
$GC,2463,0.83,116.8,232.8,-8.3,186,2468,0.03,2.78,0.00,0.000,4,0.000,0.000,2457,581,1786
$GC,2767,0.83,116.8,257.1,-7.7,198,2783,0.05,3.33,0.00,0.000,6,0.000,0.000,2471,2131,1783
$GC,3092,0.83,116.8,283.3,-8.2,214,3100,0.00,3.55,0.00,0.000,4,0.000,0.000,2465,366,1783
$GC,3227,0.83,116.8,294.7,-8.4,219,3232,0.20,2.90,0.00,0.000,6,0.000,0.000,2415,2137,1782
$GC,3554,0.83,445.8,317.0,-6.2,235,3886,0.00,2.85,314.75,0.000,4,0.000,0.000,2417,3535,443
$GC,4184,1.38,445.8,364.2,-7.2,258,4193,0.80,3.58,0.00,0.000,6,0.000,0.000,2603,1874,454
$GC,4528,1.38,445.8,390.1,-7.6,274,4537,0.30,3.50,1.52,0.000,4,0.000,0.000,2563,3544,447
$GC,4835,1.38,445.8,415.4,-7.9,286,4840,0.00,2.72,0.00,0.000,6,0.000,0.000,2561,1758,444
$GC,5156,1.38,445.8,442.4,-8.2,301,5160,0.00,2.55,0.00,0.000,4,0.000,0.000,2551,500,439
$GC,5260,1.38,445.8,451.4,-8.0,305,5265,0.00,2.60,0.25,0.000,6,0.000,0.000,2558,2170,449
$GC,5581,1.38,445.8,474.1,-6.6,320,5585,0.00,2.33,0.00,0.000,4,0.000,0.000,2561,3433,442
$GC,5681,1.38,445.8,480.8,-6.3,324,5686,0.00,2.83,0.00,0.000,6,0.000,0.000,2565,1805,440
$GC,6012,1.38,764.2,499.1,-5.8,340,6022,0.03,2.88,3.10,0.000,4,0.000,0.000,2555,3438,428
$GC,6225,1.91,764.2,513.0,-6.9,345,6233,0.65,2.60,0.10,0.000,6,0.000,0.000,2702,1785,431
$GC,6558,1.91,764.2,536.0,-7.5,353,6563,0.00,2.70,0.08,0.000,4,0.000,0.000,2697,3394,425
$GC,6861,1.91,764.2,558.9,-6.6,359,6867,0.03,2.80,0.03,0.001,6,0.000,0.000,2701,1856,425
$GC,7181,1.91,1088.4,578.4,-6.0,367,7185,0.00,2.40,0.00,0.000,4,0.000,0.000,2711,475,434
$GC,7281,2.45,1088.4,584.5,-6.4,369,7290,0.60,3.83,0.08,0.001,6,0.000,0.000,2859,2139,428
$GC,7615,2.45,1088.4,607.7,-7.6,377,7624,0.30,3.05,0.08,0.002,4,0.000,0.000,2755,3541,425
$GC,7913,2.45,1088.4,632.6,-7.1,383,7921,0.38,3.25,0.00,0.000,6,0.000,0.000,2864,1854,422
$GC,8237,2.45,1412.2,652.9,-6.0,391,8243,0.30,2.80,0.12,0.001,4,0.000,0.000,2760,3378,424
$GC,8534,2.99,1738.2,669.5,-6.1,397,8543,1.05,2.70,0.05,0.000,6,0.000,0.000,2923,1853,424
$GC,8859,3.54,1738.2,689.9,-6.6,405,8864,0.65,2.30,0.00,0.000,4,0.000,0.000,3034,583,434
$GC,9155,3.54,1738.2,709.4,-6.4,411,9161,0.12,2.80,0.05,0.000,6,0.000,0.000,3068,2116,424
$GC,9475,3.54,1738.2,730.1,-6.3,419,9483,0.03,2.75,0.62,0.001,4,0.000,0.000,3041,3501,431
$GC,9772,3.54,2031.5,746.1,-4.9,425,9776,0.00,2.53,0.00,0.000,6,0.000,0.000,3031,1862,425
$GC,10089,4.03,2321.8,760.6,-4.7,433,10098,0.80,3.47,0.00,0.000,4,0.000,0.000,3152,3489,420
$GC,10339,4.51,2620.0,772.9,-5.0,438,10345,0.57,2.62,0.03,0.000,6,0.000,0.000,3266,1857,422
$GC,10668,5.01,2935.9,790.7,-5.7,446,10674,0.00,2.70,0.05,0.002,4,0.000,0.000,3303,3404,427
$GC,10884,5.54,2935.9,804.4,-6.5,450,10892,0.00,3.47,0.15,0.001,6,0.000,0.000,3309,1906,415
$GC,11237,5.54,2935.9,827.2,-7.1,459,11244,0.00,3.25,0.05,0.000,4,0.000,0.000,3306,3578,425
$GC,11531,5.54,2935.9,847.8,-7.1,465,11539,0.00,3.55,0.00,0.000,6,0.000,0.000,3316,1763,428
$GC,11861,5.54,2935.9,870.7,-6.8,473,11865,0.00,2.12,0.00,0.000,4,0.000,0.000,3305,485,417
$GC,11984,5.54,3253.8,879.6,-5.8,475,12000,0.00,3.55,0.00,0.000,6,0.000,0.000,3313,2001,423
$GC,12325,6.07,3583.1,901.3,-6.2,484,12330,0.00,2.72,0.00,0.000,4,0.000,0.000,3317,3386,427
$GC,12394,6.62,3890.2,905.4,-5.4,485,12400,0.00,2.80,0.08,0.000,6,0.000,0.000,3315,1857,430
$GC,12741,7.13,4205.1,925.6,-5.7,494,12746,0.00,2.42,0.00,0.000,4,0.000,0.000,3303,557,419
$GC,12761,7.66,4522.4,927.0,-5.8,494,12767,0.00,3.05,0.03,0.000,6,0.000,0.000,3326,2105,429
$GC,13111,8.19,4845.0,947.3,-6.0,503,13115,0.00,2.67,0.00,0.000,4,0.000,0.000,3304,3377,427
$GC,13404,8.73,5163.8,965.5,-5.8,509,13408,0.00,2.50,0.00,0.000,6,0.000,0.000,3297,1837,424
$GC,13721,9.26,5476.5,983.2,-5.6,517,13729,0.00,3.83,0.00,0.000,4,0.000,0.000,3304,3530,425
$GC,14019,9.78,5656.6,994.3,-0.6,523,14025,0.00,3.30,0.03,0.000,6,0.000,0.000,3295,1973,422
$GC,14338,10.08,5656.6,973.3,7.8,531,14346,0.00,4.05,0.03,0.000,4,0.000,0.000,3301,3629,425
$GC,14638,10.08,5656.6,951.2,7.1,537,14646,0.00,3.33,0.03,0.000,6,0.000,0.000,3307,1881,418
$GC,14962,10.08,5656.6,927.8,7.6,545,14967,0.00,2.70,0.08,0.000,4,0.000,0.000,3299,3412,422
$GC,15255,10.08,5656.6,902.5,8.9,551,15263,0.00,3.62,0.03,0.000,6,0.000,0.000,3279,1748,420
$GC,15579,10.08,5656.6,875.4,8.2,559,15585,0.00,3.15,0.03,0.000,4,0.000,0.000,3303,3402,420
$GC,15873,10.08,5656.6,853.2,7.2,565,15880,0.00,3.45,0.00,0.000,6,0.000,0.000,3321,1854,425
$GC,16195,10.08,5656.6,831.1,7.1,573,16201,0.00,3.15,0.05,0.001,4,0.000,0.000,3326,3513,423
$GC,16490,10.08,5656.6,809.5,7.8,579,16495,0.00,3.00,0.00,0.000,6,0.000,0.000,3306,1943,431
$GC,16809,10.08,5656.6,784.6,8.2,587,16813,0.00,2.90,0.00,0.000,4,0.000,0.000,3305,3466,421
$GC,17101,10.08,5656.6,759.5,8.5,593,17106,0.00,2.70,0.00,0.000,6,0.000,0.000,3298,1819,419
$GC,17419,10.08,5656.6,733.1,8.2,601,17426,0.00,3.45,0.00,0.000,4,0.000,0.000,3293,3586,420
$GC,17716,10.08,5656.6,709.9,7.4,607,17722,0.00,2.90,0.03,0.000,6,0.000,0.000,3290,1761,424
$GC,18035,10.08,5656.6,688.8,6.5,615,18043,0.00,3.65,0.03,0.000,4,0.000,0.000,3313,3517,418
$GC,18334,10.08,5656.6,669.1,6.4,621,18341,0.00,3.70,0.00,0.000,6,0.000,0.000,3311,1746,413
$GC,18657,10.08,5656.6,645.0,7.9,629,18662,0.00,2.80,0.03,0.001,4,0.000,0.000,3302,3395,414
$GC,18950,10.08,5656.6,620.2,8.0,635,18958,0.00,3.55,0.08,0.000,6,0.000,0.000,3322,1760,416
$GC,19274,10.08,5656.6,596.4,7.0,643,19279,0.00,2.80,0.03,0.000,4,0.000,0.000,3312,3437,415
$GC,19568,10.08,5668.6,577.0,5.8,649,19573,0.00,2.80,0.00,0.000,6,0.000,0.000,3306,1815,421
$GC,19886,10.10,5668.6,556.0,6.8,657,19891,0.00,2.83,0.00,0.000,4,0.000,0.000,3290,3475,419
$GC,20182,10.10,5668.6,533.3,7.9,663,20187,0.00,2.85,0.03,0.001,6,0.000,0.000,3288,1814,421
$GC,20500,10.10,5668.6,509.0,7.6,671,20508,0.00,3.55,0.03,0.001,4,0.000,0.000,3308,3607,425
$GC,20810,10.10,5668.6,487.6,6.5,680,20825,0.00,3.55,0.00,0.000,6,0.000,0.000,3313,1819,421
$GC,21140,10.10,5668.6,464.9,7.0,696,21144,0.00,2.50,0.00,0.000,4,0.000,0.000,3300,3381,416
$GC,21445,10.10,5685.1,444.7,5.6,708,21449,0.00,2.60,0.00,0.000,6,0.000,0.000,3296,1876,431
$GC,21767,10.13,5700.7,426.3,5.7,723,21772,0.00,2.72,0.03,0.000,4,0.000,0.000,3300,3400,420
$GC,22083,10.16,5700.7,407.0,8.1,735,22088,0.00,2.65,0.03,0.001,6,0.000,0.000,3294,1849,425
$GC,22404,10.16,5700.7,382.3,8.2,750,22410,0.00,3.15,0.03,0.000,4,0.000,0.000,3279,3370,421
$GC,22704,10.16,5700.7,359.4,6.5,762,22710,0.00,2.83,0.05,0.001,6,0.000,0.000,3294,1847,414
$GC,23026,10.16,5700.7,337.1,6.5,777,23030,0.00,2.50,0.00,0.000,4,0.000,0.000,3315,3386,415
$GC,23330,10.16,5700.7,316.7,8.2,789,23346,0.00,4.05,0.00,0.000,6,0.000,0.000,3292,1841,414
$GC,23656,10.16,5700.7,292.5,8.0,805,23661,0.00,2.97,0.00,0.000,4,0.000,0.000,3301,3378,417
$GC,23959,10.16,5700.7,267.7,6.2,817,23964,0.00,2.55,0.03,0.000,6,0.000,0.000,3288,1862,415
$GC,24280,10.16,5701.8,247.1,6.2,832,24286,0.00,3.15,0.03,0.000,4,0.000,0.000,3310,3427,421
$GC,24582,10.16,5701.8,226.4,6.5,844,24598,0.00,3.65,0.00,0.000,6,0.000,0.000,3308,1932,417
$GC,24907,10.16,5701.8,203.1,7.4,860,24912,0.00,2.80,0.00,0.000,4,0.000,0.000,3304,3390,412
$GC,25213,10.16,5721.7,181.8,5.5,872,25228,0.00,3.12,0.00,0.000,6,0.000,0.000,3284,1768,423
$GC,25538,10.19,5721.7,162.2,7.0,888,25546,0.00,3.65,0.00,0.000,4,0.000,0.000,3301,3558,420
$GC,25801,10.19,5721.7,139.4,8.8,898,25806,0.00,2.70,0.00,0.000,6,0.000,0.000,3305,1813,418
$GC,26122,10.19,5721.7,111.4,8.4,913,26127,0.00,3.12,0.00,0.000,4,0.000,0.000,3317,3442,421
$GC,26465,10.19,5721.7,89.2,6.6,942,26477,0.00,2.88,0.00,0.000,6,0.000,0.000,3299,1791,416
$GC,26943,10.19,5722.5,61.5,6.2,1003,26956,0.00,2.78,0.00,0.000,4,0.000,0.000,3304,3451,425
$GC,27326,10.19,5722.5,36.9,6.7,1052,27338,0.00,3.10,0.00,0.000,6,0.000,0.000,3303,1800,421
$GC,27806,10.19,5722.5,4.4,6.7,1113,27818,0.00,3.30,0.00,0.000,4,0.000,0.000,3299,3566,416
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999481
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,27957,0.00,0.000,0,0,416,451.84
$SM_GC,0.34,13.00,0.00,0.00,0.000,0.000,0.000,636,1747,416,-7.28,-5.71,451.84
$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,2029
$INTERNAL_PRESSURE,26.1725
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,23.7,86.820
$10V_AH,9.6,28.168
$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,29.875,287.900,511.325,0.000,0.000,0.000,0.000,161.325,0.250,31.992,6065.469,14527.902,895.025,2962.924,4029.029,33.347,2847.431,0.000,3772.683,3240.000,2.299
$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,1839.592,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37818,1119
$CFSIZE,255582208,231833600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,49,1919,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.111,213.8,1
$GPS,260607,022346,4655.283,-12617.600,33,1.1,33,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0