version: 66.00
glider: 1
mission: 1
dive: 19
start: 6 20 107 21 29 27
data:
$ID,1
$MISSION,1
$DIVE,19
$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,-442679.03
$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,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
$GPS1,212159,4700.832,-12502.247,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,212828,4700.750,-12501.897,20,1.1,20,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,0.102
$KALMAN_X,41438.2,1966.8,1755.0,39454.9,-2629.2
$KALMAN_Y,-6766.4,168.8,74.0,-1096.4,-739.3
$MHEAD_RNG_PITCHd_Wd,40.2,231520,-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,-116.8,0.0,0.0,0,120,0.00,0.00,-73.82,0.000,2,0.000,0.000,637,2135,2649
$GC,126,-0.83,-116.8,4.0,-6.3,7,155,6.95,2.10,-3.05,0.000,4,0.000,0.000,2130,3545,2740
$GC,195,-0.83,-116.8,14.1,-12.1,14,207,0.40,3.78,0.00,0.000,6,0.000,0.000,2033,1806,2735
$GC,643,-0.83,-116.8,65.2,-11.5,75,655,0.32,3.30,0.00,0.000,4,0.000,0.000,2142,3573,2735
$GC,720,-0.83,-116.8,74.1,-11.0,84,732,0.38,3.25,0.00,0.000,6,0.000,0.000,2036,1794,2738
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,988,-0.25,0.0,100.4,8.6,119,1087,1.08,0.00,95.03,0.000,6,0.000,0.000,2260,2183,2260
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1098,0.83,116.8,109.5,0.0,124,1205,1.02,3.53,93.75,0.000,4,0.000,0.000,2481,578,1785
$GC,1503,0.83,116.8,144.5,-7.7,139,1509,0.38,2.60,0.00,0.000,6,0.000,0.000,2444,2123,1782
$GC,1841,0.83,116.8,171.3,-7.6,155,1842,0.38,0.00,0.00,0.000,6,0.000,0.000,2508,2110,1784
$GC,2145,0.83,116.8,195.0,-7.3,170,2154,0.30,4.03,0.08,0.001,4,0.000,0.000,2478,355,1782
$GC,2457,0.83,116.8,218.0,-7.7,182,2461,0.00,2.70,0.00,0.000,6,0.000,0.000,2451,2107,1781
$GC,2777,0.83,116.8,243.0,-8.2,197,2782,0.00,2.83,0.00,0.000,4,0.000,0.000,2454,598,1780
$GC,3075,0.83,116.8,266.5,-8.0,209,3080,0.00,2.60,0.00,0.000,6,0.000,0.000,2449,1986,1785
$GC,3396,0.83,116.8,293.6,-8.6,224,3401,0.00,2.62,0.00,0.000,4,0.000,0.000,2443,544,1788
$GC,3694,0.83,116.8,317.5,-7.4,236,3699,0.00,2.50,0.00,0.000,6,0.000,0.000,2450,1988,1788
$GC,4016,0.83,116.8,339.7,-7.3,251,4020,0.00,2.60,0.00,0.000,4,0.000,0.000,2441,594,1788
$GC,4313,0.83,116.8,363.1,-8.6,263,4319,0.00,3.08,0.00,0.000,6,0.000,0.000,2414,1978,1787
$GC,4634,0.83,116.8,389.6,-7.3,278,4639,0.05,2.30,0.00,0.000,4,0.000,0.000,2452,574,1781
$GC,4937,0.83,116.8,412.5,-7.0,290,4954,0.03,3.45,0.00,0.000,6,0.000,0.000,2445,2120,1783
$GC,5262,0.83,116.8,435.4,-8.2,306,5267,0.00,3.25,0.00,0.000,4,0.000,0.000,2413,597,1783
$GC,5561,0.83,116.8,459.7,-7.5,318,5566,0.03,2.90,0.00,0.000,6,0.000,0.000,2421,2130,1787
$GC,5882,0.83,116.8,487.6,-8.9,333,5886,0.00,2.70,0.00,0.000,4,0.000,0.000,2437,591,1789
$GC,6179,0.83,436.8,512.6,-5.9,342,6517,0.00,3.35,307.45,0.001,6,0.000,0.000,2424,2127,482
$GC,6847,1.36,723.0,544.5,-4.6,357,6866,0.70,2.83,12.38,0.000,4,0.000,0.000,2566,598,430
$GC,7160,1.84,954.8,554.6,-2.5,363,7169,0.62,3.22,0.10,0.000,6,0.000,0.000,2689,2127,429
$GC,7512,2.23,954.8,567.5,-7.8,372,7518,0.00,2.72,0.60,0.001,4,0.000,0.000,2725,454,431
$GC,7805,2.23,1276.6,589.0,-5.9,378,7814,0.32,4.03,0.15,0.000,6,0.000,0.000,2800,2128,429
$GC,8130,2.77,1276.6,607.9,-6.7,386,8138,0.45,2.80,0.12,0.000,4,0.000,0.000,2908,344,429
$GC,8427,2.77,1276.6,629.0,-6.6,392,8436,0.35,3.33,0.12,0.000,6,0.000,0.000,2821,2130,423
$GC,8751,2.77,1276.6,654.1,-8.0,400,8757,0.35,2.60,0.17,0.001,4,0.000,0.000,2913,579,418
$GC,9046,2.77,1276.6,673.3,-6.3,406,9054,0.38,3.10,0.00,0.000,6,0.000,0.000,2840,2119,418
$GC,9369,2.77,1588.3,692.4,-5.6,414,9375,0.40,2.70,0.05,0.002,4,0.000,0.000,2915,481,424
$GC,9667,3.29,1746.2,693.4,0.3,420,9675,0.43,3.85,0.00,0.000,6,0.000,0.000,2980,2128,425
$GC,9990,3.55,1854.7,689.5,2.1,428,9996,0.30,2.70,0.00,0.000,4,0.000,0.000,3082,577,426
$GC,10295,3.73,1854.7,666.7,7.7,434,10300,0.00,2.85,0.03,0.001,6,0.000,0.000,3102,2009,419
$GC,10613,3.73,1854.7,644.4,6.7,442,10619,0.05,2.38,0.08,0.001,4,0.000,0.000,3106,610,418
$GC,10881,3.73,1866.4,628.9,5.8,447,10886,0.00,2.70,0.05,0.000,6,0.000,0.000,3081,2104,420
$GC,11223,3.75,1866.4,608.8,6.8,456,11224,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2108,424
$GC,11554,3.75,1866.4,587.5,6.8,464,11560,0.20,2.92,0.00,0.000,4,0.000,0.000,3034,542,415
$GC,11850,3.75,1869.9,572.1,6.1,470,11859,0.38,3.90,0.08,0.001,6,0.000,0.000,3138,2141,421
$GC,12173,3.76,1869.9,548.6,7.6,478,12182,0.50,3.25,0.00,0.000,4,0.000,0.000,3072,461,423
$GC,12471,3.76,1869.9,518.5,7.6,484,12476,0.00,3.05,0.00,0.000,6,0.000,0.000,3069,1962,420
$GC,12796,3.76,1869.9,488.9,9.4,494,12801,0.05,2.72,0.03,0.001,4,0.000,0.000,3088,486,421
$GC,13098,3.76,1869.9,464.4,7.0,506,13114,0.40,3.83,0.00,0.000,6,0.000,0.000,2995,2149,423
$GC,13429,3.76,1869.9,442.0,7.0,522,13437,0.52,2.80,0.03,0.001,4,0.000,0.000,3123,354,423
$GC,13743,3.76,1869.9,419.5,6.8,534,13749,0.05,3.10,0.00,0.000,6,0.000,0.000,3105,2126,423
$GC,14064,3.76,1869.9,394.7,7.1,549,14070,0.32,2.62,0.03,0.001,4,0.000,0.000,3071,570,421
$GC,14366,3.76,1869.9,371.4,8.1,561,14372,0.05,2.72,0.03,0.001,6,0.000,0.000,3059,2080,413
$GC,14687,3.76,1869.9,346.5,7.5,576,14693,0.03,2.83,0.05,0.000,4,0.000,0.000,3060,502,421
$GC,14989,3.76,1869.9,323.3,7.1,588,14994,0.00,2.72,0.00,0.000,6,0.000,0.000,3037,2179,422
$GC,15310,3.76,1869.9,299.6,7.4,603,15315,0.20,2.83,0.00,0.000,4,0.000,0.000,3040,548,413
$GC,15608,3.76,1869.9,275.4,7.6,615,15613,0.03,2.72,0.00,0.000,6,0.000,0.000,3060,2112,416
$GC,15929,3.76,1869.9,251.0,7.5,630,15933,0.00,2.60,0.00,0.000,4,0.000,0.000,3073,560,417
$GC,16230,3.76,1869.9,228.0,7.4,642,16245,0.10,3.38,0.00,0.000,6,0.000,0.000,3070,2217,419
$GC,16560,3.76,1869.9,203.3,8.0,658,16567,0.05,3.33,0.00,0.000,4,0.000,0.000,3112,422,418
$GC,16870,3.76,1869.9,177.6,6.4,670,16876,0.17,2.83,0.00,0.000,6,0.000,0.000,3062,2087,419
$GC,17191,3.76,1869.9,150.4,8.6,685,17196,0.00,3.25,0.00,0.000,4,0.000,0.000,3060,553,417
$GC,17494,3.76,1869.9,129.9,7.2,697,17499,0.05,2.62,0.00,0.000,6,0.000,0.000,3063,2081,416
$GC,17815,3.76,1887.6,109.8,5.6,712,17823,0.00,3.33,0.03,0.001,4,0.000,0.000,3089,395,417
$GC,18164,3.79,1887.6,89.0,6.5,741,18177,0.00,3.20,0.00,0.000,6,0.000,0.000,3076,2152,419
$GC,18640,3.79,1887.6,58.9,6.4,802,18652,0.00,3.35,0.00,0.000,4,0.000,0.000,3110,352,424
$GC,19026,3.79,1908.0,34.0,5.5,851,19038,0.00,2.78,0.05,0.000,6,0.000,0.000,3084,2189,409
$GC,19503,3.82,1959.6,7.8,4.3,912,19513,0.00,3.15,0.00,0.000,4,0.000,0.000,3113,365,420
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999516
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,19750,0.00,0.000,0,0,412,450.37
$SM_GC,0.34,11.98,0.00,0.00,0.000,0.000,0.000,615,2151,412,-7.30,4.58,450.37
$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,2072
$INTERNAL_PRESSURE,26.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.7,72.444
$10V_AH,9.6,25.376
$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,30.725,181.925,510.450,0.000,0.000,0.000,0.000,104.544,0.250,20.929,4828.573,9315.529,755.104,2223.258,2932.672,33.345,2234.511,0.000,2751.698,1440.000,2.538
$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,1568.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31578,934
$CFSIZE,255582208,237170688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,60,1215,3,0
$SOUNDSPEED,1465.0
$CURRENT,0.043,300.0,1
$GPS,210607,025946,4700.214,-12459.638,12,1.1,12,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0