version: 66.00
glider: 1
mission: 1
dive: 23
start: 6 21 107 17 43 18
data:
$ID,1
$MISSION,1
$DIVE,23
$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,-442773.97
$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,30
$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
$GPS1,173152,4659.040,-12505.743,7,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,174213,4659.021,-12505.740,17,1.1,17,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,0.182
$KALMAN_X,42021.2,-2423.4,-1395.0,41781.2,2553.3
$KALMAN_Y,-8631.3,-815.1,-272.9,-1089.3,1168.7
$MHEAD_RNG_PITCHd_Wd,1.5,237246,-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,-116.8,0.0,0.0,0,115,0.00,0.00,-73.72,0.000,2,0.000,0.000,615,2112,2641
$GC,121,-0.83,-116.8,3.8,-5.7,7,152,7.65,2.65,-3.42,0.000,4,0.000,0.000,2144,590,2752
$GC,503,-0.83,-116.8,52.1,-11.5,57,515,0.43,2.92,0.00,0.000,6,0.000,0.000,2062,2176,2744
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,960,-0.25,0.0,100.3,9.2,118,1059,0.75,0.00,96.47,0.000,6,0.000,0.000,2240,1820,2271
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1071,0.83,116.8,109.2,0.0,123,1178,1.12,2.50,95.25,0.000,4,0.000,0.000,2502,540,1786
$GC,1357,0.83,116.8,137.0,-9.4,133,1363,0.15,2.70,0.00,0.000,6,0.000,0.000,2471,2171,1784
$GC,1678,0.83,116.8,164.8,-8.4,148,1682,0.00,2.33,0.00,0.000,4,0.000,0.000,2427,3446,1784
$GC,1977,0.83,116.8,186.1,-6.9,160,1993,0.00,3.45,0.00,0.000,6,0.000,0.000,2435,1923,1784
$GC,2302,0.83,116.8,210.5,-7.9,176,2308,0.00,3.25,0.00,0.000,4,0.000,0.000,2433,3437,1784
$GC,2602,0.83,116.8,234.4,-8.1,188,2618,0.00,3.45,0.00,0.000,6,0.000,0.000,2440,1893,1779
$GC,2928,0.83,116.8,260.0,-7.8,204,2935,0.00,3.35,0.00,0.000,4,0.000,0.000,2418,3575,1779
$GC,3235,0.83,116.8,283.3,-7.4,216,3240,0.03,2.70,0.00,0.000,6,0.000,0.000,2414,1771,1782
$GC,3556,0.83,441.6,304.9,-6.0,231,3890,0.00,3.42,310.73,0.000,4,0.000,0.000,2451,3627,464
$GC,4187,1.37,441.6,346.3,-7.2,254,4195,0.85,2.90,0.00,0.000,6,0.000,0.000,2615,1863,467
$GC,4531,1.37,441.6,370.0,-7.4,270,4539,0.35,3.65,0.00,0.000,4,0.000,0.000,2508,3518,468
$GC,4836,1.37,441.6,394.0,-6.4,282,4853,0.32,3.28,1.60,0.000,6,0.000,0.000,2605,1975,463
$GC,5167,1.37,441.6,418.3,-7.2,298,5172,0.50,2.30,0.00,0.000,4,0.000,0.000,2509,3405,450
$GC,5470,1.37,441.6,442.2,-7.0,310,5476,0.50,2.70,0.00,0.000,6,0.000,0.000,2570,1873,458
$GC,5791,1.37,441.6,465.0,-6.8,325,5796,0.32,2.53,0.00,0.000,4,0.000,0.000,2582,3421,460
$GC,6096,1.37,758.8,483.9,-5.7,337,6114,0.03,2.62,8.05,0.000,6,0.000,0.000,2578,1845,431
$GC,6447,1.90,1074.0,502.3,-5.6,353,6455,0.70,3.62,0.00,0.000,4,0.000,0.000,2727,3518,427
$GC,6750,2.43,1074.0,523.9,-7.3,359,6759,0.73,2.70,0.20,0.000,6,0.000,0.000,2829,1857,432
$GC,7074,2.43,1074.0,548.7,-7.7,367,7080,0.45,2.50,0.03,0.001,4,0.000,0.000,2760,3393,433
$GC,7369,2.43,1074.0,572.8,-7.8,373,7374,0.38,2.55,0.03,0.000,6,0.000,0.000,2796,1833,427
$GC,7687,2.43,1074.0,595.6,-7.2,381,7696,0.38,3.25,0.10,0.001,4,0.000,0.000,2748,3505,429
$GC,7985,2.43,1397.3,615.5,-5.9,387,7994,0.40,3.53,0.00,0.000,6,0.000,0.000,2842,1827,424
$GC,8310,2.97,1716.2,634.2,-5.8,395,8317,0.38,2.60,0.28,0.001,4,0.000,0.000,2887,3378,429
$GC,8616,3.50,1716.2,653.5,-6.8,401,8625,0.82,3.33,0.03,0.000,6,0.000,0.000,3072,1868,423
$GC,8945,3.50,1716.2,676.6,-7.2,409,8954,0.32,3.45,0.08,0.001,4,0.000,0.000,2987,3507,419
$GC,9249,3.50,1716.2,698.8,-7.0,415,9257,0.38,2.95,0.22,0.000,6,0.000,0.000,3078,1963,428
$GC,9577,3.50,1716.2,721.2,-7.1,423,9582,0.47,2.50,0.00,0.000,4,0.000,0.000,2994,3376,421
$GC,9869,3.50,1716.2,741.4,-7.1,429,9874,0.00,2.80,0.03,0.000,6,0.000,0.000,2982,1905,423
$GC,10188,3.50,2025.8,759.8,-5.4,437,10196,0.50,2.90,0.22,0.001,4,0.000,0.000,3074,3563,421
$GC,10485,4.02,2331.1,776.3,-5.3,443,10491,0.40,2.70,0.03,0.000,6,0.000,0.000,3124,1782,423
$GC,10810,4.53,2656.6,795.3,-6.0,451,10819,0.57,3.28,0.03,0.001,4,0.000,0.000,3281,3433,427
$GC,11110,5.07,2977.8,812.8,-5.9,457,11115,0.00,3.10,0.00,0.000,6,0.000,0.000,3240,1774,429
$GC,11429,5.61,3299.6,830.3,-5.9,465,11434,0.00,2.80,0.17,0.000,4,0.000,0.000,3261,3422,422
$GC,11724,6.14,3627.2,848.2,-6.1,471,11730,0.00,3.05,0.03,0.000,6,0.000,0.000,3282,1855,427
$GC,12044,6.69,3952.5,867.1,-6.0,479,12049,0.00,2.92,0.05,0.000,4,0.000,0.000,3278,3403,420
$GC,12339,7.23,4276.5,886.1,-6.0,485,12345,0.00,3.12,0.00,0.000,6,0.000,0.000,3262,1856,421
$GC,12658,7.77,4590.0,904.0,-5.6,493,12665,0.00,3.35,0.00,0.000,4,0.000,0.000,3280,3523,423
$GC,12956,8.30,4915.4,921.5,-6.0,499,12964,0.00,3.62,0.00,0.000,6,0.000,0.000,3222,1862,423
$GC,13279,8.84,5231.6,939.8,-5.7,507,13287,0.00,3.35,0.03,0.001,4,0.000,0.000,3272,3537,422
$GC,13584,9.37,5555.6,957.2,-6.0,513,13588,0.00,2.83,0.00,0.000,6,0.000,0.000,3262,1763,423
$GC,13902,9.91,5887.1,977.1,-6.2,521,13907,0.00,3.28,0.00,0.000,4,0.000,0.000,3285,3399,419
$GC,14199,10.46,6203.9,994.1,-5.7,527,14206,0.00,3.35,0.00,0.000,6,0.000,0.000,3252,1775,419
$GC,14523,10.99,6228.7,989.8,5.3,535,14530,0.00,3.75,0.00,0.000,4,0.000,0.000,3240,3579,421
$GC,14822,11.03,6228.7,964.0,8.4,541,14826,0.00,2.80,0.00,0.000,6,0.000,0.000,3294,1835,416
$GC,15140,11.03,6228.7,937.9,8.2,549,15144,0.00,2.62,0.00,0.000,4,0.000,0.000,3241,3386,415
$GC,15433,11.03,6228.7,915.3,7.1,555,15438,0.00,3.10,0.00,0.000,6,0.000,0.000,3265,1978,419
$GC,15751,11.03,6228.7,891.5,7.7,563,15756,0.00,2.60,0.03,0.001,4,0.000,0.000,3260,3376,415
$GC,16045,11.03,6228.7,868.6,7.8,569,16049,0.00,2.55,0.00,0.000,6,0.000,0.000,3277,1950,417
$GC,16363,11.03,6228.7,843.0,8.2,577,16367,0.00,3.05,0.00,0.000,4,0.000,0.000,3287,3365,415
$GC,16656,11.03,6228.7,819.7,7.2,583,16664,0.00,3.65,0.00,0.000,6,0.000,0.000,3284,1810,421
$GC,16979,11.03,6228.7,796.0,7.4,591,16984,0.00,2.62,0.03,0.001,4,0.000,0.000,3263,3373,420
$GC,17273,11.03,6228.7,772.9,8.2,597,17280,0.00,3.33,0.00,0.000,6,0.000,0.000,3245,1840,424
$GC,17596,11.03,6228.7,746.2,8.4,605,17601,0.00,3.05,0.00,0.000,4,0.000,0.000,3254,3346,422
$GC,17890,11.03,6228.7,722.9,7.5,611,17894,0.00,2.60,0.03,0.000,6,0.000,0.000,3253,1834,417
$GC,18207,11.03,6228.7,699.2,7.6,619,18212,0.00,2.53,0.00,0.000,4,0.000,0.000,3265,3436,420
$GC,18502,11.03,6228.7,674.9,7.9,625,18506,0.00,2.80,0.00,0.000,6,0.000,0.000,3267,1916,424
$GC,18819,11.03,6228.7,652.0,6.7,633,18824,0.00,2.53,0.03,0.000,4,0.000,0.000,3273,3358,420
$GC,19114,11.03,6234.6,633.4,6.0,639,19122,0.00,3.25,0.08,0.000,6,0.000,0.000,3278,1855,418
$GC,19438,11.04,6234.6,613.1,6.5,647,19443,0.00,2.70,0.00,0.000,4,0.000,0.000,3301,3408,419
$GC,19733,11.04,6364.4,594.4,1.4,653,19738,0.00,3.05,0.08,0.000,6,0.000,0.000,3275,1848,421
$GC,20052,11.26,6364.4,574.2,6.5,661,20060,0.00,3.92,0.00,0.000,4,0.000,0.000,3266,3352,418
$GC,20351,11.26,6364.6,553.3,6.2,667,20358,0.00,3.33,0.00,0.000,6,0.000,0.000,3288,1799,420
$GC,20673,11.26,6364.6,530.9,7.0,675,20677,0.00,2.60,0.00,0.000,4,0.000,0.000,3260,3355,419
$GC,20968,11.26,6370.1,511.1,6.0,681,20975,0.00,3.40,0.00,0.000,6,0.000,0.000,3258,1782,422
$GC,21292,11.27,6370.1,490.4,6.7,692,21297,0.00,2.60,0.00,0.000,4,0.000,0.000,3274,3367,417
$GC,21597,11.27,6370.1,469.9,7.8,704,21602,0.00,2.60,0.00,0.000,6,0.000,0.000,3265,1959,417
$GC,21919,11.27,6370.1,448.4,6.7,719,21923,0.00,2.62,0.00,0.000,4,0.000,0.000,3244,3367,420
$GC,22218,11.27,6370.1,428.2,6.7,731,22234,0.00,3.42,0.03,0.000,6,0.000,0.000,3272,1828,416
$GC,22548,11.27,6370.1,406.4,6.7,747,22553,0.00,2.65,0.00,0.000,4,0.000,0.000,3250,3381,420
$GC,22854,11.27,6412.6,387.7,4.6,759,22869,0.00,3.25,0.00,0.000,6,0.000,0.000,3272,1828,426
$GC,23185,11.34,6412.6,368.4,6.5,775,23189,0.00,2.90,0.00,0.000,4,0.000,0.000,3269,3367,415
$GC,23497,11.34,6417.1,347.7,6.1,787,23501,0.00,2.50,0.00,0.000,6,0.000,0.000,3276,1927,416
$GC,23817,11.35,6417.1,326.1,6.7,802,23827,0.00,3.30,0.00,0.000,4,0.000,0.000,3282,3570,426
$GC,24144,11.35,6436.2,305.1,5.5,814,24149,0.00,3.10,0.00,0.000,6,0.000,0.000,3257,1808,415
$GC,24476,11.38,6436.2,285.1,6.5,830,24484,0.00,3.75,0.00,0.000,4,0.000,0.000,3272,3530,419
$GC,24795,11.38,6436.2,262.1,7.8,842,24800,0.00,2.90,0.00,0.000,6,0.000,0.000,3280,1896,419
$GC,25117,11.38,6436.2,240.6,6.3,857,25124,0.00,3.83,0.00,0.000,4,0.000,0.000,3281,3549,425
$GC,25428,11.38,6436.2,222.3,6.7,869,25433,0.00,3.20,0.00,0.000,6,0.000,0.000,3275,1770,422
$GC,25750,11.38,6436.2,202.4,6.9,884,25754,0.00,2.70,0.00,0.000,4,0.000,0.000,3270,3398,420
$GC,26056,11.38,6436.2,180.3,6.9,896,26071,0.00,3.45,0.00,0.000,6,0.000,0.000,3273,1863,412
$GC,26382,11.38,6436.2,157.0,6.4,912,26387,0.00,3.25,0.00,0.000,4,0.000,0.000,3266,3437,424
$GC,26684,11.38,6436.2,137.1,9.4,924,26689,0.00,2.80,0.00,0.000,6,0.000,0.000,3280,1801,423
$GC,27005,11.38,6436.2,113.9,6.5,939,27011,0.00,3.25,0.00,0.000,4,0.000,0.000,3254,3334,415
$GC,27342,11.38,6458.0,89.9,5.4,965,27354,0.00,2.58,0.00,0.000,6,0.000,0.000,3294,1920,418
$GC,27821,11.42,6460.1,63.6,6.2,1026,27834,0.00,3.20,0.00,0.000,4,0.000,0.000,3279,3573,410
$GC,28208,11.42,6493.6,40.9,5.0,1075,28221,0.00,3.45,0.00,0.000,6,0.000,0.000,3271,1812,415
$GC,28693,11.48,6493.6,10.7,6.9,1136,28705,0.00,2.70,0.00,0.000,4,0.000,0.000,3291,3572,418
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999495
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,28941,0.00,0.000,0,0,417,450.86
$SM_GC,0.34,12.98,0.00,0.00,0.000,0.000,0.000,645,1826,417,-7.23,-4.47,450.86
$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,2019
$INTERNAL_PRESSURE,26.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.7,75.039
$10V_AH,9.6,25.950
$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,32.850,271.350,513.900,0.000,0.000,0.000,0.000,155.823,0.250,17.534,6386.893,14711.915,882.499,3215.574,4222.365,33.361,2987.141,0.000,4187.899,3240.000,2.529
$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,1952.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37814,1155
$CFSIZE,255582208,235786240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,67,1820,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.110,321.6,1
$GPS,220607,014706,4700.383,-12511.715,28,1.1,28,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0