version: 66.00
glider: 1
mission: 1
dive: 27
start: 6 23 107 2 10 2
data:
$ID,1
$MISSION,1
$DIVE,27
$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,-442870.44
$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,1
$R_STBD_OVSHOOT,0
$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
$GPS1,015759,4658.430,-12525.475,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,020858,4658.458,-12525.496,24,1.1,24,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,0.134
$KALMAN_X,27308.5,-1761.8,-2280.2,31891.4,2941.9
$KALMAN_Y,-9793.0,-1101.4,-638.4,-293.4,1487.4
$MHEAD_RNG_PITCHd_Wd,28.1,258675,-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,-116.6,0.0,0.0,0,116,0.00,0.00,-74.62,0.000,2,0.000,0.000,641,2158,2671
$GC,122,-0.83,-116.8,3.4,-4.7,7,152,7.50,2.10,-2.35,0.000,4,0.000,0.000,2147,3580,2744
$GC,405,-0.83,-116.8,39.0,-13.5,43,417,0.35,2.67,0.00,0.000,6,0.000,0.000,2038,1934,2737
$GC,859,-0.83,-116.8,93.3,-11.5,104,872,0.38,2.88,0.00,0.000,4,0.000,0.000,2154,468,2742
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,949,-0.25,0.0,100.8,9.3,113,1047,0.62,0.00,94.62,0.000,6,0.000,0.000,2282,2143,2264
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1058,0.83,116.8,110.4,0.0,118,1166,0.90,2.67,95.40,0.000,4,0.000,0.000,2457,462,1791
$GC,1236,0.83,116.8,126.7,-10.1,124,1240,0.00,2.60,0.00,0.000,6,0.000,0.000,2458,1993,1782
$GC,1562,0.83,116.8,154.2,-7.9,140,1567,0.00,3.05,0.00,0.000,4,0.000,0.000,2457,3379,1789
$GC,1863,0.83,116.8,177.2,-7.8,152,1880,0.12,3.35,0.98,0.000,6,0.000,0.000,2409,1856,1780
$GC,2194,0.83,116.8,201.4,-6.7,168,2200,0.17,2.85,0.00,0.000,4,0.000,0.000,2475,3402,1780
$GC,2500,0.83,116.8,221.6,-6.3,180,2505,0.00,2.90,0.00,0.000,6,0.000,0.000,2453,1988,1780
$GC,2821,0.83,116.8,245.0,-8.3,195,2826,0.00,3.05,0.00,0.000,4,0.000,0.000,2462,3405,1785
$GC,3122,0.83,116.8,269.0,-7.6,207,3126,0.00,2.80,0.00,0.000,6,0.000,0.000,2452,1859,1783
$GC,3443,0.83,116.8,294.1,-7.4,222,3447,0.00,2.55,0.00,0.000,4,0.000,0.000,2441,478,1784
$GC,3466,0.83,116.8,295.7,-7.1,223,3473,0.00,3.45,0.00,0.000,6,0.000,0.000,2448,2083,1787
$GC,3807,0.83,116.8,318.4,-6.5,239,3811,0.00,2.40,0.00,0.000,4,0.000,0.000,2462,3359,1776
$GC,4109,0.83,116.8,339.8,-7.0,251,4114,0.03,2.60,0.00,0.000,6,0.000,0.000,2445,1809,1781
$GC,4430,0.83,116.8,362.0,-6.9,266,4435,0.00,3.12,0.00,0.000,4,0.000,0.000,2456,3477,1784
$GC,4732,0.83,116.8,383.8,-7.6,278,4751,0.00,3.95,0.00,0.000,6,0.000,0.000,2467,1766,1783
$GC,5062,0.83,116.8,407.9,-7.7,294,5068,0.08,3.00,0.00,0.000,4,0.000,0.000,2457,3430,1788
$GC,5256,0.83,116.8,422.3,-6.8,301,5261,0.00,2.92,0.00,0.000,6,0.000,0.000,2453,1814,1781
$GC,5577,0.83,116.8,443.8,-7.1,316,5582,0.00,2.72,0.00,0.000,4,0.000,0.000,2432,3467,1784
$GC,5880,0.83,434.3,462.6,-5.8,328,6213,0.00,2.70,303.77,0.000,6,0.000,0.000,2445,1840,496
$GC,6571,1.36,752.8,502.8,-5.8,355,6601,0.73,2.65,16.27,0.000,4,0.000,0.000,2574,3506,423
$GC,6892,1.89,752.8,524.0,-6.8,361,6899,0.57,2.53,0.10,0.000,6,0.000,0.000,2725,1821,426
$GC,7245,1.89,752.8,549.4,-7.7,370,7254,0.47,3.47,0.03,0.001,4,0.000,0.000,2653,3427,426
$GC,7555,1.89,1078.3,571.5,-6.1,376,7561,0.40,2.62,0.03,0.000,6,0.000,0.000,2673,1802,420
$GC,7881,2.44,1078.3,592.0,-6.3,384,7887,0.38,2.90,0.03,0.001,4,0.000,0.000,2844,3471,424
$GC,8184,2.44,1404.3,612.6,-6.1,390,8193,0.38,3.10,0.05,0.001,6,0.000,0.000,2745,1845,427
$GC,8514,2.98,1710.0,630.7,-5.4,398,8523,1.23,3.78,0.08,0.000,4,0.000,0.000,2995,3572,427
$GC,8603,3.49,2016.3,636.1,-5.4,399,8617,0.38,2.80,0.05,0.000,6,0.000,0.000,3083,1904,414
$GC,8940,4.00,2339.1,655.9,-6.0,408,8948,0.55,2.83,0.03,0.001,4,0.000,0.000,3141,3570,426
$GC,9244,4.54,2339.1,674.4,-6.6,414,9253,0.60,3.15,0.35,0.000,6,0.000,0.000,3287,1770,425
$GC,9568,4.54,2339.1,696.2,-6.9,422,9576,0.40,3.35,0.00,0.000,4,0.000,0.000,3193,3563,419
$GC,9871,4.54,2661.1,716.4,-6.0,428,9877,0.35,2.72,0.03,0.001,6,0.000,0.000,3247,1774,419
$GC,10191,5.08,2982.6,735.9,-5.9,436,10196,0.00,2.90,0.05,0.000,4,0.000,0.000,3279,3445,422
$GC,10487,5.62,3304.0,754.9,-5.9,442,10492,0.00,2.92,0.05,0.000,6,0.000,0.000,3275,1809,421
$GC,10806,6.15,3623.3,773.5,-5.9,450,10812,0.00,3.00,0.17,0.001,4,0.000,0.000,3286,3494,421
$GC,11102,6.69,3623.3,790.9,-6.6,456,11107,0.00,2.70,0.05,0.001,6,0.000,0.000,3280,1829,423
$GC,11421,6.69,3949.3,810.2,-6.1,464,11426,0.00,2.70,0.00,0.000,4,0.000,0.000,3303,3387,421
$GC,11714,7.23,4263.6,828.1,-5.7,470,11722,0.00,3.42,0.05,0.000,6,0.000,0.000,3285,1840,423
$GC,12038,7.76,4583.1,846.6,-5.9,478,12043,0.00,2.60,0.08,0.000,4,0.000,0.000,3285,3366,420
$GC,12216,8.29,4886.1,856.6,-5.2,481,12227,0.00,2.72,0.05,0.000,6,0.000,0.000,3295,1873,420
$GC,12552,8.80,5178.6,873.3,-4.9,490,12560,0.00,3.42,0.05,0.002,4,0.000,0.000,3292,3491,425
$GC,12847,9.28,5453.7,888.3,-4.2,496,12854,0.00,3.45,0.00,0.000,6,0.000,0.000,3311,1840,421
$GC,13170,9.74,5752.9,904.0,-5.1,504,13174,0.00,2.50,0.00,0.000,4,0.000,0.000,3271,3395,421
$GC,13460,10.24,6044.5,918.1,-4.8,510,13467,0.00,3.35,0.00,0.000,6,0.000,0.000,3289,1843,424
$GC,13782,10.73,6350.6,934.6,-5.4,518,13787,0.00,2.95,0.03,0.000,4,0.000,0.000,3274,3380,422
$GC,13818,11.24,6672.4,936.6,-6.0,518,13822,0.00,2.50,0.00,0.000,6,0.000,0.000,3300,1855,419
$GC,14159,11.78,6989.1,956.6,-5.8,526,14166,0.00,3.55,0.00,0.000,4,0.000,0.000,3286,3503,423
$GC,14458,12.31,7308.1,975.0,-5.9,532,14465,0.00,3.25,0.00,0.000,6,0.000,0.000,3297,1874,416
$GC,14779,12.84,7630.6,993.9,-6.0,540,14784,0.00,2.62,0.00,0.000,4,0.000,0.000,3281,3415,414
$GC,15071,13.38,7630.6,986.9,8.2,546,15079,0.00,3.35,0.00,0.000,6,0.000,0.000,3261,1887,421
$GC,15394,13.38,7630.6,960.8,8.4,554,15402,0.00,3.33,0.03,0.000,4,0.000,0.000,3285,3504,418
$GC,15692,13.38,7630.6,935.3,7.5,560,15699,0.00,3.45,0.00,0.000,6,0.000,0.000,3282,1847,416
$GC,16015,13.38,7630.6,911.6,7.2,568,16019,0.00,2.60,0.00,0.000,4,0.000,0.000,3306,3401,419
$GC,16308,13.38,7637.6,892.7,6.0,574,16313,0.00,2.92,0.00,0.000,6,0.000,0.000,3274,1874,416
$GC,16627,13.39,7637.6,872.3,6.7,582,16634,0.00,3.75,0.00,0.000,4,0.000,0.000,3304,3523,421
$GC,16925,13.39,7637.6,849.7,7.7,588,16930,0.00,2.72,0.03,0.001,6,0.000,0.000,3320,1740,416
$GC,17243,13.39,7637.6,827.0,7.1,596,17247,0.00,2.70,0.00,0.000,4,0.000,0.000,3297,3408,419
$GC,17536,13.39,7637.6,807.1,6.7,602,17541,0.00,2.80,0.00,0.000,6,0.000,0.000,3295,1999,418
$GC,17854,13.39,7637.6,784.3,7.4,610,17861,0.00,3.62,0.00,0.000,4,0.000,0.000,3299,3525,419
$GC,18153,13.39,7637.6,761.1,7.7,616,18158,0.00,2.60,0.05,0.002,6,0.000,0.000,3292,1818,417
$GC,18471,13.39,7637.6,736.4,8.0,624,18479,0.00,3.83,0.00,0.000,4,0.000,0.000,3289,3612,416
$GC,18772,13.39,7648.2,714.5,5.8,630,18777,0.00,3.03,0.00,0.000,6,0.000,0.000,3292,1799,423
$GC,19090,13.41,7648.2,692.0,7.1,638,19095,0.00,3.25,0.00,0.000,4,0.000,0.000,3284,3457,417
$GC,19384,13.41,7648.2,670.2,6.9,644,19391,0.00,3.33,0.00,0.000,6,0.000,0.000,3261,1766,421
$GC,19707,13.41,7648.2,647.9,6.6,652,19715,0.00,4.22,0.00,0.000,4,0.000,0.000,3302,3558,416
$GC,20007,13.41,7649.6,628.2,6.2,658,20015,0.00,3.35,0.00,0.000,6,0.000,0.000,3280,1862,415
$GC,20331,13.41,7655.2,609.1,6.0,666,20336,0.00,3.05,0.00,0.000,4,0.000,0.000,3278,3407,421
$GC,20624,13.42,7655.2,589.1,7.2,672,20629,0.00,2.50,0.00,0.000,6,0.000,0.000,3288,2010,416
$GC,20943,13.42,7655.2,567.5,6.7,680,20948,0.00,2.62,0.00,0.000,4,0.000,0.000,3280,3428,417
$GC,21237,13.42,7655.2,548.4,6.4,686,21245,0.00,2.80,0.03,0.000,6,0.000,0.000,3275,1751,416
$GC,21570,13.42,7655.2,527.5,6.4,694,21578,0.00,3.75,0.00,0.000,4,0.000,0.000,3296,3528,425
$GC,21883,13.42,7655.2,506.4,8.9,700,21888,0.00,3.12,0.05,0.000,6,0.000,0.000,3296,1861,414
$GC,22206,13.42,7655.2,484.8,6.8,713,22211,0.00,2.60,0.00,0.000,4,0.000,0.000,3316,3399,421
$GC,22519,13.42,7655.2,462.7,7.4,725,22536,0.00,4.03,0.00,0.000,6,0.000,0.000,3316,1855,414
$GC,22850,13.42,7655.2,439.8,7.4,741,22856,0.00,3.25,0.00,0.000,4,0.000,0.000,3284,3422,418
$GC,23167,13.42,7655.2,418.4,7.0,753,23172,0.00,2.72,0.00,0.000,6,0.000,0.000,3294,1752,415
$GC,23494,13.42,7659.2,398.0,6.1,768,23498,0.00,2.70,0.00,0.000,4,0.000,0.000,3313,3416,418
$GC,23799,13.43,7692.6,379.3,5.0,780,23804,0.00,3.15,0.00,0.000,6,0.000,0.000,3312,1906,415
$GC,24120,13.48,7699.8,360.1,6.0,795,24128,0.00,4.03,0.00,0.000,4,0.000,0.000,3288,3580,415
$GC,24436,13.49,7720.5,341.4,5.5,807,24452,0.00,3.45,0.00,0.000,6,0.000,0.000,3291,1789,416
$GC,24761,13.53,7720.5,320.8,6.3,823,24766,0.00,2.70,0.00,0.000,4,0.000,0.000,3290,3427,417
$GC,25066,13.53,7720.5,300.6,7.1,835,25082,0.00,3.65,0.03,0.000,6,0.000,0.000,3313,1804,416
$GC,25396,13.53,7734.5,280.7,5.7,851,25401,0.00,2.72,0.00,0.000,4,0.000,0.000,3301,3450,414
$GC,25702,13.55,7753.9,260.9,5.5,863,25707,0.00,2.70,0.00,0.000,6,0.000,0.000,3301,1800,415
$GC,26024,13.59,7758.3,241.0,6.1,878,26032,0.00,4.22,0.00,0.000,4,0.000,0.000,3276,3592,414
$GC,26335,13.59,7758.3,220.2,6.8,890,26342,0.00,2.83,0.00,0.000,6,0.000,0.000,3296,1780,416
$GC,26669,13.59,7758.3,194.6,8.5,906,26676,0.00,3.45,0.00,0.000,4,0.000,0.000,3308,3461,418
$GC,26987,13.59,7758.3,173.8,6.3,918,26992,0.00,2.60,0.00,0.000,6,0.000,0.000,3301,1817,410
$GC,27309,13.59,7758.3,149.9,7.6,933,27313,0.00,3.00,0.00,0.000,4,0.000,0.000,3294,3485,419
$GC,27613,13.59,7772.7,130.4,5.7,945,27629,0.00,3.45,0.00,0.000,6,0.000,0.000,3274,1822,415
$GC,27938,13.62,7772.7,109.6,6.5,961,27947,0.00,3.78,0.03,0.001,4,0.000,0.000,3289,3463,417
$GC,28190,13.62,7784.2,96.2,5.8,975,28202,0.00,3.28,0.00,0.000,6,0.000,0.000,3304,1958,423
$GC,28673,13.64,7820.7,70.7,4.9,1036,28687,0.00,2.85,0.00,0.000,4,0.000,0.000,3271,3512,421
$GC,29066,13.70,7824.0,45.3,6.1,1085,29079,0.00,2.60,0.03,0.001,6,0.000,0.000,3291,1838,405
$GC,29540,13.70,7824.0,10.5,7.5,1146,29552,0.00,3.20,0.00,0.000,4,0.000,0.000,3310,3600,419
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999501
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,29781,0.00,0.000,0,0,416,453.31
$SM_GC,0.34,13.90,0.00,0.00,0.000,0.000,0.000,655,1856,416,-7.28,-4.16,453.31
$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,2117
$INTERNAL_PRESSURE,26.1139
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.7,78.944
$10V_AH,9.6,26.702
$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,30.475,298.825,512.625,0.000,0.000,0.000,0.000,161.285,0.250,24.329,6434.387,15389.843,924.477,3215.013,4328.548,33.354,3039.680,0.000,4175.966,3600.000,2.304
$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,1963.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40990,1164
$CFSIZE,255582208,234418176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,57,1982,3,0
$SOUNDSPEED,1465.0
$CURRENT,0.029,320.0,1
$GPS,230607,102739,4658.417,-12530.449,18,1.1,18,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0