version: 66.00
glider: 1
mission: 1
dive: 6
start: 6 16 107 13 37 51
data:
$ID,1
$MISSION,1
$DIVE,6
$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,-442369.94
$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,26
$R_STBD_OVSHOOT,11
$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
$GPS1,132729,4702.980,-12554.692,20,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,133651,4703.035,-12554.763,15,1.1,15,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.176,0.079
$KALMAN_X,8794.8,1170.9,1149.3,6874.6,-1752.0
$KALMAN_Y,-2112.6,-417.1,-370.7,-451.8,426.9
$MHEAD_RNG_PITCHd_Wd,47.9,286949,-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,43,-0.83,-116.8,0.0,0.0,0,128,0.00,0.00,-76.97,0.000,6,0.000,0.000,652,1767,2742
$GC,135,-0.83,-116.8,4.7,-5.6,8,149,7.12,3.95,0.00,0.000,4,0.000,0.000,2115,3466,2748
$GC,498,-0.83,-116.8,45.8,-11.2,57,510,0.35,2.47,0.00,0.000,6,0.000,0.000,2025,1799,2746
$GC,946,-0.83,-116.8,95.5,-11.2,118,958,0.45,3.30,0.00,0.000,4,0.000,0.000,2122,3597,2744
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,996,-0.25,0.0,100.2,11.0,122,1095,0.70,0.00,95.12,0.000,6,0.000,0.000,2268,1801,2270
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1106,0.83,116.8,110.5,0.0,127,1213,1.02,2.40,95.03,0.000,4,0.000,0.000,2504,508,1789
$GC,1511,0.83,116.8,147.0,-8.7,142,1519,0.35,2.92,0.52,0.000,6,0.000,0.000,2404,2099,1783
$GC,1852,0.83,116.8,174.8,-8.1,158,1857,0.43,2.70,0.00,0.000,4,0.000,0.000,2471,518,1783
$GC,2155,0.83,116.8,199.6,-7.8,170,2171,0.35,3.03,0.00,0.000,6,0.000,0.000,2392,2132,1784
$GC,2480,0.83,116.8,224.4,-7.3,186,2488,0.30,3.75,0.00,0.000,4,0.000,0.000,2436,339,1783
$GC,2783,0.83,116.8,246.2,-6.3,198,2789,0.00,3.25,0.00,0.000,6,0.000,0.000,2430,1962,1780
$GC,3104,0.83,116.8,270.1,-7.6,213,3109,0.00,2.83,0.00,0.000,4,0.000,0.000,2444,536,1788
$GC,3402,0.83,116.8,294.1,-7.9,225,3418,0.00,3.75,0.00,0.000,6,0.000,0.000,2435,2182,1782
$GC,3728,0.83,116.8,319.7,-7.8,241,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2198,1786
$GC,4042,0.83,116.8,343.5,-7.1,256,4050,0.00,4.03,0.55,0.001,4,0.000,0.000,2456,403,1788
$GC,4345,0.83,116.8,365.9,-6.5,268,4350,0.00,2.80,0.00,0.000,6,0.000,0.000,2435,2035,1786
$GC,4666,0.83,116.8,388.3,-7.0,283,4672,0.00,3.25,0.05,0.001,4,0.000,0.000,2426,476,1787
$GC,4970,0.83,116.8,410.3,-7.6,295,4986,0.00,4.05,0.00,0.000,6,0.000,0.000,2443,2153,1784
$GC,5296,0.83,116.8,436.1,-7.8,311,5301,0.00,3.00,0.00,0.000,4,0.000,0.000,2459,499,1779
$GC,5595,0.83,116.8,458.4,-7.2,323,5599,0.00,2.80,0.00,0.000,6,0.000,0.000,2430,2005,1785
$GC,5916,0.83,116.8,481.3,-7.0,338,5923,0.03,3.65,0.00,0.000,4,0.000,0.000,2451,347,1788
$GC,6221,0.83,446.5,500.7,-6.2,350,6556,0.00,2.80,316.60,0.000,6,0.000,0.000,2445,2122,445
$GC,6907,1.38,766.9,541.0,-5.9,366,6917,0.57,3.15,3.30,0.000,4,0.000,0.000,2569,583,426
$GC,7212,1.92,766.9,559.7,-6.3,372,7221,0.57,3.45,0.00,0.000,6,0.000,0.000,2718,2141,419
$GC,7570,1.92,766.9,582.6,-6.8,381,7572,0.32,0.00,0.03,0.001,6,0.000,0.000,2628,2122,422
$GC,7900,1.92,766.9,605.9,-7.3,389,7909,0.35,2.70,1.40,0.001,4,0.000,0.000,2710,369,421
$GC,8199,1.92,766.9,626.6,-6.4,395,8208,0.35,3.22,0.03,0.000,6,0.000,0.000,2639,2133,421
$GC,8523,1.92,766.9,647.9,-6.6,403,8533,0.50,4.12,0.17,0.001,4,0.000,0.000,2724,350,429
$GC,8819,1.92,766.9,667.5,-6.4,409,8827,0.35,3.03,0.05,0.000,6,0.000,0.000,2632,2146,427
$GC,9147,1.92,766.9,688.3,-6.4,417,9157,0.32,2.70,0.03,0.001,4,0.000,0.000,2734,447,413
$GC,9445,1.92,766.9,708.1,-7.0,423,9453,0.40,3.25,0.00,0.000,6,0.000,0.000,2644,2117,422
$GC,9785,1.92,766.9,730.8,-7.2,431,9793,0.38,3.10,0.00,0.000,4,0.000,0.000,2746,340,427
$GC,10097,1.92,766.9,753.8,-6.9,437,10105,0.35,3.03,0.03,0.000,6,0.000,0.000,2632,2131,424
$GC,10425,1.92,766.9,776.1,-6.8,445,10428,0.38,0.00,0.05,0.003,6,0.000,0.000,2723,2128,418
$GC,10751,1.92,766.9,798.7,-7.0,453,10760,0.47,3.45,0.10,0.002,4,0.000,0.000,2639,451,422
$GC,11054,1.92,766.9,818.8,-6.7,459,11062,0.32,3.12,0.03,0.000,6,0.000,0.000,2718,2094,426
$GC,11382,1.92,1096.0,838.9,-6.2,467,11388,0.32,2.90,0.00,0.000,4,0.000,0.000,2635,599,422
$GC,11676,2.47,1405.9,857.8,-5.5,473,11685,1.23,2.62,0.05,0.001,6,0.000,0.000,2868,2136,426
$GC,12004,2.98,1711.6,875.2,-5.3,481,12013,0.40,3.75,0.00,0.000,4,0.000,0.000,2926,363,419
$GC,12300,3.49,2016.1,891.4,-5.3,487,12308,0.57,3.10,0.00,0.000,6,0.000,0.000,3103,2149,421
$GC,12624,4.00,2330.0,908.7,-5.6,495,12632,0.35,3.25,0.17,0.001,4,0.000,0.000,3143,475,425
$GC,12922,4.53,2641.7,925.9,-5.6,501,12930,0.77,3.10,0.00,0.000,6,0.000,0.000,3306,2123,421
$GC,13245,5.05,2960.5,944.4,-5.8,509,13253,0.00,3.72,0.00,0.000,4,0.000,0.000,3306,411,422
$GC,13543,5.58,3276.6,961.6,-5.7,515,13551,0.00,3.85,0.03,0.000,6,0.000,0.000,3321,2087,428
$GC,13866,6.11,3598.1,980.2,-5.9,523,13874,0.00,3.45,0.22,0.001,4,0.000,0.000,3322,440,416
$GC,14161,6.64,3823.0,995.3,-2.3,529,14170,0.00,3.65,0.05,0.000,6,0.000,0.000,3315,2099,423
$GC,14486,7.02,3823.0,977.1,8.7,537,14490,0.00,2.62,0.00,0.000,4,0.000,0.000,3322,571,419
$GC,14779,7.02,3823.0,949.6,9.8,543,14786,0.00,3.40,0.05,0.000,6,0.000,0.000,3309,2144,420
$GC,15102,7.02,3823.0,922.2,8.4,551,15110,0.00,3.75,0.00,0.000,4,0.000,0.000,3331,367,417
$GC,15399,7.02,3823.0,899.1,7.5,557,15407,0.00,3.75,0.08,0.000,6,0.000,0.000,3303,2166,423
$GC,15723,7.02,3823.0,873.9,8.0,565,15727,0.00,2.80,0.00,0.000,4,0.000,0.000,3329,545,423
$GC,16015,7.02,3823.0,849.3,8.4,571,16022,0.00,3.47,0.00,0.000,6,0.000,0.000,3315,1975,417
$GC,16339,7.02,3823.0,822.4,8.4,579,16346,0.00,3.22,0.03,0.000,4,0.000,0.000,3305,431,414
$GC,16635,7.02,3823.0,797.0,8.2,585,16643,0.00,3.33,0.05,0.000,6,0.000,0.000,3321,2221,421
$GC,16958,7.02,3823.0,772.0,7.5,593,16963,0.00,2.88,0.00,0.000,4,0.000,0.000,3310,582,422
$GC,17251,7.02,3823.0,750.5,7.0,599,17256,0.00,3.08,0.03,0.001,6,0.000,0.000,3314,1980,422
$GC,17570,7.02,3823.0,725.3,8.3,607,17574,0.00,2.83,0.00,0.000,4,0.000,0.000,3317,487,413
$GC,17861,7.02,3823.0,700.7,8.4,613,17870,0.00,4.22,0.03,0.001,6,0.000,0.000,3315,2168,423
$GC,18186,7.02,3823.0,673.0,8.5,621,18190,0.00,2.83,0.00,0.000,4,0.000,0.000,3322,489,415
$GC,18479,7.02,3823.0,647.7,8.6,627,18484,0.00,3.00,0.00,0.000,6,0.000,0.000,3308,2013,418
$GC,18797,7.02,3823.0,622.3,8.0,635,18805,0.00,3.75,0.03,0.001,4,0.000,0.000,3316,345,420
$GC,19094,7.02,3823.0,600.1,6.9,641,19103,0.00,3.75,0.03,0.000,6,0.000,0.000,3311,2136,418
$GC,19418,7.02,3823.0,578.6,6.4,649,19426,0.00,3.62,0.00,0.000,4,0.000,0.000,3308,356,422
$GC,19716,7.02,3854.6,561.5,5.1,655,19724,0.00,3.92,0.00,0.000,6,0.000,0.000,3305,2144,419
$GC,20039,7.07,3854.6,542.2,6.4,663,20044,0.00,2.72,0.03,0.000,4,0.000,0.000,3340,464,419
$GC,20332,7.07,3854.6,521.3,6.9,669,20340,0.00,3.75,0.00,0.000,6,0.000,0.000,3321,2179,420
$GC,20655,7.07,3854.6,497.3,7.7,677,20661,0.00,3.62,0.03,0.000,4,0.000,0.000,3305,494,414
$GC,20957,7.07,3854.6,474.1,7.3,689,20972,0.00,3.55,0.00,0.000,6,0.000,0.000,3328,2175,424
$GC,21282,7.07,3854.6,452.3,6.5,705,21291,0.00,3.97,0.05,0.000,4,0.000,0.000,3292,497,411
$GC,21594,7.07,3854.6,431.6,7.6,717,21609,0.00,3.35,0.00,0.000,6,0.000,0.000,3338,2166,427
$GC,21919,7.07,3854.6,410.2,6.4,733,21923,0.00,2.83,0.00,0.000,4,0.000,0.000,3321,473,427
$GC,22222,7.07,3856.8,391.1,6.2,745,22227,0.00,3.25,0.03,0.000,6,0.000,0.000,3309,2096,419
$GC,22543,7.08,3856.8,370.8,6.7,760,22550,0.00,3.35,0.00,0.000,4,0.000,0.000,3322,416,418
$GC,22849,7.08,3856.8,348.0,7.1,772,22854,0.00,2.62,0.08,0.000,6,0.000,0.000,3323,2074,420
$GC,23170,7.08,3856.8,322.8,8.3,787,23177,0.00,2.60,0.00,0.000,4,0.000,0.000,3318,420,415
$GC,23479,7.08,3856.8,298.2,7.0,799,23486,0.00,3.45,0.00,0.000,6,0.000,0.000,3305,2110,419
$GC,23810,7.08,3857.8,275.8,6.2,815,23815,0.00,2.80,0.00,0.000,4,0.000,0.000,3309,576,416
$GC,24109,7.08,3863.6,256.4,6.0,827,24126,0.00,3.85,0.00,0.000,6,0.000,0.000,3312,2116,412
$GC,24440,7.09,3863.6,235.8,6.3,843,24447,0.00,3.22,0.00,0.000,4,0.000,0.000,3312,403,424
$GC,24757,7.09,3891.6,215.9,5.2,855,24772,0.00,3.50,0.00,0.000,6,0.000,0.000,3312,2047,422
$GC,25087,7.13,3891.6,195.1,6.4,871,25092,0.00,2.92,0.00,0.000,4,0.000,0.000,3315,527,404
$GC,25390,7.13,3894.7,175.0,6.1,883,25395,0.00,2.72,0.00,0.000,6,0.000,0.000,3327,2071,420
$GC,25711,7.14,3894.7,153.1,7.3,898,25717,0.00,3.15,0.03,0.001,4,0.000,0.000,3296,550,408
$GC,26011,7.14,3894.7,132.5,6.4,910,26016,0.00,2.40,0.03,0.001,6,0.000,0.000,3327,2091,418
$GC,26333,7.14,3912.4,114.7,5.6,925,26340,0.00,3.35,0.00,0.000,4,0.000,0.000,3310,420,418
$GC,26658,7.17,3923.9,95.7,5.8,942,26671,0.00,3.30,0.03,0.000,6,0.000,0.000,3309,2187,418
$GC,27126,7.19,3923.9,65.8,6.3,1003,27138,0.00,2.78,0.00,0.000,4,0.000,0.000,3324,490,421
$GC,27502,7.19,3923.9,42.5,6.3,1052,27514,0.00,3.20,0.00,0.000,6,0.000,0.000,3317,2135,415
$GC,27977,7.19,3968.4,14.5,4.6,1113,27990,0.00,3.12,0.00,0.000,4,0.000,0.000,3311,479,417
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999502
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,28297,0.00,0.000,0,0,405,452.33
$SM_GC,0.34,13.10,0.00,0.00,0.000,0.000,0.000,623,2100,405,-7.31,3.84,452.33
$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,0.027612
$HUMID,2108
$INTERNAL_PRESSURE,26.0846
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.6,60.105
$10V_AH,9.6,23.046
$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,33.500,277.600,514.175,0.000,0.000,0.000,0.000,133.380,0.250,16.183,6165.329,14530.208,904.692,3104.081,4007.958,33.345,2948.461,0.000,3835.729,3240.000,2.992
$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,1765.931,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37806,1142
$CFSIZE,255582208,241074176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,67,1886,2,0
$SOUNDSPEED,1465.0
$CURRENT,0.046,287.8,1
$GPS,160607,213046,4702.472,-12551.063,18,1.1,19,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0