version: 66.00
glider: 1
mission: 1
dive: 28
start: 6 23 107 10 36 11
data:
$ID,1
$MISSION,1
$DIVE,28
$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,-442903.75
$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,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
$GPS1,102739,4658.417,-12530.449,18,1.1,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,103507,4658.467,-12530.506,32,1.1,32,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.110,0.158
$KALMAN_X,23782.5,-2658.1,-1803.0,29525.3,2569.1
$KALMAN_Y,-10478.5,-486.2,-419.1,-428.9,1109.9
$MHEAD_RNG_PITCHd_Wd,16.9,264055,-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,38,-0.83,-116.7,0.0,0.0,0,115,0.00,0.00,-74.07,0.000,2,0.000,0.000,599,1846,2653
$GC,121,-0.83,-116.8,3.3,-5.1,7,151,7.22,3.22,-2.83,0.000,4,0.000,0.000,2100,3552,2739
$GC,405,-0.83,-116.8,41.9,-12.1,44,418,0.30,3.60,0.00,0.000,6,0.000,0.000,2075,1772,2733
$GC,856,-0.83,-116.8,93.8,-11.2,105,868,0.03,2.10,0.00,0.000,4,0.000,0.000,2052,359,2744
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,922,-0.25,0.0,100.6,11.3,111,1021,0.80,0.00,95.38,0.000,6,0.000,0.000,2239,2156,2266
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,1032,0.83,116.8,111.2,0.0,116,1138,1.15,2.30,94.45,0.000,4,0.000,0.000,2492,3414,1790
$GC,1436,0.83,116.8,148.0,-8.9,131,1444,0.40,4.45,0.00,0.000,6,0.000,0.000,2410,1764,1780
$GC,1779,0.83,116.8,177.4,-8.2,147,1784,0.00,2.70,0.00,0.000,4,0.000,0.000,2408,3450,1786
$GC,2078,0.83,116.8,202.9,-8.6,159,2094,0.00,3.22,0.00,0.000,6,0.000,0.000,2397,1785,1786
$GC,2403,0.83,116.8,229.8,-8.7,175,2411,0.32,3.10,0.00,0.000,4,0.000,0.000,2495,3523,1781
$GC,2715,0.83,116.8,256.9,-8.2,187,2720,0.32,2.53,0.00,0.000,6,0.000,0.000,2468,1869,1781
$GC,3036,0.83,116.8,281.6,-7.6,202,3044,0.17,3.55,0.00,0.000,4,0.000,0.000,2440,3535,1788
$GC,3340,0.83,116.8,305.3,-6.7,214,3345,0.03,3.00,0.00,0.000,6,0.000,0.000,2447,1771,1788
$GC,3661,0.83,116.8,328.1,-7.0,229,3666,0.05,3.00,0.00,0.000,4,0.000,0.000,2442,3461,1784
$GC,3965,0.83,116.8,350.3,-7.7,241,3982,0.05,3.80,0.55,0.001,6,0.000,0.000,2455,1774,1783
$GC,4295,0.83,116.8,373.6,-7.2,257,4300,0.00,2.70,0.00,0.000,4,0.000,0.000,2431,3430,1781
$GC,4594,0.83,116.8,396.9,-7.7,269,4610,0.05,3.30,0.00,0.000,6,0.000,0.000,2444,1735,1784
$GC,4919,0.83,116.8,423.1,-8.2,285,4927,0.00,3.65,0.00,0.000,4,0.000,0.000,2449,3522,1784
$GC,5227,0.83,116.8,448.5,-8.0,297,5232,0.00,2.85,0.00,0.000,6,0.000,0.000,2461,1969,1783
$GC,5549,0.83,116.8,473.3,-8.0,312,5556,0.00,3.62,0.00,0.000,4,0.000,0.000,2440,3503,1789
$GC,5867,0.83,116.8,497.5,-7.2,324,5875,0.00,2.92,0.00,0.000,6,0.000,0.000,2438,1841,1785
$GC,6191,0.83,116.8,520.6,-6.9,333,6199,0.00,3.65,0.00,0.000,4,0.000,0.000,2465,3516,1784
$GC,6503,0.83,116.8,542.7,-7.5,339,6511,0.00,3.55,0.00,0.000,6,0.000,0.000,2446,1845,1785
$GC,6832,0.83,116.8,565.2,-6.8,347,6837,0.00,3.25,0.00,0.000,4,0.000,0.000,2458,3386,1778
$GC,7127,0.83,116.8,585.2,-6.7,353,7131,0.00,2.62,0.00,0.000,6,0.000,0.000,2445,1864,1782
$GC,7445,0.83,116.8,606.9,-6.8,361,7453,0.00,2.62,0.00,0.000,4,0.000,0.000,2462,3541,1786
$GC,7742,0.83,116.8,627.9,-7.0,367,7746,0.00,2.70,0.00,0.000,6,0.000,0.000,2451,1892,1782
$GC,8065,0.83,116.8,651.4,-7.5,375,8070,0.00,3.10,0.00,0.000,4,0.000,0.000,2449,3452,1782
$GC,8359,0.83,116.8,671.9,-6.4,381,8366,0.00,3.22,0.00,0.000,6,0.000,0.000,2437,1847,1782
$GC,8682,0.83,116.8,693.3,-6.5,389,8689,0.00,3.45,0.00,0.000,4,0.000,0.000,2445,3598,1781
$GC,8981,0.83,116.8,713.7,-6.9,395,8986,0.00,2.83,0.00,0.000,6,0.000,0.000,2453,1810,1780
$GC,9299,0.83,440.1,732.9,-6.0,403,9655,0.00,3.45,310.40,0.000,4,0.000,0.000,2451,3589,462
$GC,9949,1.37,440.1,772.0,-6.4,416,9957,0.65,3.55,0.00,0.000,6,0.000,0.000,2598,1788,472
$GC,10290,1.37,440.1,793.6,-6.6,424,10297,0.00,3.65,0.00,0.000,4,0.000,0.000,2592,3583,465
$GC,10590,1.37,768.4,813.8,-6.2,430,10605,0.10,3.65,8.52,0.000,6,0.000,0.000,2554,1903,432
$GC,10954,1.92,1095.6,835.3,-6.2,439,10964,0.80,3.33,0.82,0.001,4,0.000,0.000,2725,3541,423
$GC,11256,2.47,1417.0,852.9,-5.9,445,11265,0.45,3.55,0.05,0.000,6,0.000,0.000,2807,1881,427
$GC,11586,3.00,1724.9,870.9,-5.4,453,11592,0.75,2.50,0.05,0.002,4,0.000,0.000,2963,3404,431
$GC,11882,3.52,2041.5,888.3,-5.8,459,11892,0.35,3.78,0.32,0.001,6,0.000,0.000,3023,1993,425
$GC,12213,4.04,2368.8,907.6,-6.2,467,12219,0.60,2.30,0.22,0.002,4,0.000,0.000,3193,3368,422
$GC,12510,4.59,2662.4,924.5,-4.9,473,12519,0.40,3.53,0.20,0.000,6,0.000,0.000,3278,1862,429
$GC,12838,5.08,2964.7,941.6,-5.2,481,12843,0.00,2.80,0.00,0.000,4,0.000,0.000,3289,3370,426
$GC,13133,5.59,3274.7,957.9,-5.5,487,13138,0.00,2.53,0.03,0.001,6,0.000,0.000,3314,1870,423
$GC,13452,6.10,3599.2,976.3,-6.1,495,13460,0.00,3.45,0.00,0.000,4,0.000,0.000,3295,3533,425
$GC,13751,6.65,3861.3,993.7,-3.7,501,13757,0.00,3.03,0.05,0.001,6,0.000,0.000,3309,1872,424
$GC,14070,7.08,3873.1,985.4,5.8,509,14075,0.00,2.80,0.00,0.000,4,0.000,0.000,3272,3378,418
$GC,14364,7.10,3873.1,962.4,8.7,515,14369,0.00,2.55,0.08,0.001,6,0.000,0.000,3313,1873,411
$GC,14682,7.10,3873.1,937.8,7.7,523,14689,0.00,3.35,0.00,0.000,4,0.000,0.000,3278,3559,426
$GC,14981,7.10,3873.1,913.4,7.6,529,14986,0.00,3.00,0.00,0.000,6,0.000,0.000,3274,1777,420
$GC,15299,7.10,3873.1,887.7,8.3,537,15306,0.00,3.45,0.00,0.000,4,0.000,0.000,3286,3555,425
$GC,15597,7.10,3873.1,861.2,9.3,543,15605,0.00,3.58,0.00,0.000,6,0.000,0.000,3279,1737,421
$GC,15920,7.10,3873.1,833.4,8.8,551,15927,0.00,3.45,0.00,0.000,4,0.000,0.000,3307,3397,421
$GC,16219,7.10,3873.1,807.8,7.8,557,16223,0.00,2.45,0.00,0.000,6,0.000,0.000,3287,1846,420
$GC,16537,7.10,3873.1,784.5,7.2,565,16541,0.00,2.53,0.00,0.000,4,0.000,0.000,3284,3380,418
$GC,16831,7.10,3873.1,763.4,6.8,571,16835,0.00,2.55,0.00,0.000,6,0.000,0.000,3287,1999,424
$GC,17149,7.10,3873.1,741.8,6.8,579,17154,0.00,2.65,0.00,0.000,4,0.000,0.000,3294,3411,426
$GC,17443,7.10,3873.1,721.0,7.7,585,17451,0.00,3.35,0.10,0.001,6,0.000,0.000,3301,2005,420
$GC,17772,7.10,3873.1,697.5,7.4,593,17777,0.00,2.85,0.00,0.000,4,0.000,0.000,3299,3403,422
$GC,18073,7.10,3873.1,674.9,6.7,599,18077,0.00,2.60,0.00,0.000,6,0.000,0.000,3293,1964,419
$GC,18391,7.10,3873.1,652.8,7.0,607,18396,0.00,2.70,0.00,0.000,4,0.000,0.000,3291,3399,417
$GC,18684,7.10,3873.1,631.2,6.9,613,18690,0.00,3.22,0.03,0.000,6,0.000,0.000,3277,1824,417
$GC,19004,7.10,3873.1,607.9,7.3,621,19009,0.00,3.00,0.00,0.000,4,0.000,0.000,3284,3471,415
$GC,19298,7.10,3873.1,587.1,6.8,627,19306,0.00,3.72,0.03,0.001,6,0.000,0.000,3260,1858,423
$GC,19622,7.10,3873.1,564.3,7.2,635,19630,0.00,3.58,0.00,0.000,4,0.000,0.000,3262,3509,424
$GC,19927,7.10,3873.1,542.3,7.3,641,19934,0.00,3.45,0.00,0.000,6,0.000,0.000,3312,1811,424
$GC,20256,7.10,3873.1,519.2,7.1,649,20264,0.00,3.75,0.03,0.000,4,0.000,0.000,3290,3546,424
$GC,20553,7.10,3873.1,497.4,6.3,655,20568,0.00,3.25,0.00,0.000,6,0.000,0.000,3289,1852,421
$GC,20887,7.10,3873.1,475.2,6.5,671,20892,0.00,2.50,0.05,0.000,4,0.000,0.000,3274,3405,423
$GC,21190,7.10,3887.2,456.4,5.7,683,21206,0.00,3.65,0.00,0.000,6,0.000,0.000,3294,1792,417
$GC,21521,7.13,3887.2,435.8,6.8,699,21526,0.00,2.80,0.00,0.000,4,0.000,0.000,3299,3481,420
$GC,21824,7.13,3889.9,414.4,6.1,711,21829,0.00,3.10,0.00,0.000,6,0.000,0.000,3290,1977,418
$GC,22145,7.13,3889.9,392.6,6.7,726,22153,0.00,3.45,0.03,0.000,4,0.000,0.000,3292,3501,422
$GC,22462,7.13,3939.9,370.9,4.4,738,22466,0.00,2.62,0.00,0.000,6,0.000,0.000,3300,1831,420
$GC,22783,7.22,3939.9,349.3,6.6,753,22790,0.00,3.55,0.00,0.000,4,0.000,0.000,3267,3455,420
$GC,23093,7.22,3952.8,329.8,5.8,765,23097,0.00,2.50,0.03,0.001,6,0.000,0.000,3284,1921,423
$GC,23414,7.24,3963.2,311.9,5.9,780,23422,0.00,3.75,0.05,0.001,4,0.000,0.000,3276,3571,423
$GC,23728,7.25,3963.2,289.6,7.4,792,23744,0.00,3.75,0.00,0.000,6,0.000,0.000,3283,1763,416
$GC,24054,7.25,3963.2,264.9,7.3,808,24062,0.00,3.65,0.03,0.000,4,0.000,0.000,3294,3540,416
$GC,24373,7.25,3983.3,242.4,5.5,820,24388,0.00,3.22,0.00,0.000,6,0.000,0.000,3303,1781,423
$GC,24699,7.29,3983.3,219.1,7.2,836,24704,0.00,2.70,0.08,0.000,4,0.000,0.000,3274,3425,419
$GC,25000,7.29,4020.3,198.0,4.8,848,25005,0.00,3.25,0.00,0.000,6,0.000,0.000,3276,1775,421
$GC,25321,7.35,4042.1,180.0,5.4,863,25325,0.00,2.90,0.00,0.000,4,0.000,0.000,3295,3438,424
$GC,25626,7.39,4043.5,160.5,6.2,875,25643,0.00,3.85,0.12,0.000,6,0.000,0.000,3286,1771,420
$GC,25958,7.39,4043.5,136.4,8.1,891,25963,0.00,3.00,0.00,0.000,4,0.000,0.000,3289,3440,424
$GC,26263,7.39,4095.5,115.4,4.3,903,26268,0.00,2.50,0.00,0.000,6,0.000,0.000,3291,1877,422
$GC,26610,7.48,4095.5,92.0,7.3,927,26622,0.00,2.50,0.00,0.000,4,0.000,0.000,3267,3545,420
$GC,26990,7.48,4102.5,66.8,6.0,976,27002,0.00,2.85,0.00,0.000,6,0.000,0.000,3289,1783,418
$GC,27462,7.49,4102.5,36.8,6.6,1037,27474,0.00,3.08,0.00,0.000,4,0.000,0.000,3307,3576,415
$GC,27850,7.49,4102.5,11.3,7.0,1086,27862,0.00,3.40,0.00,0.000,6,0.000,0.000,3296,1787,421
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FINISH,0.3,0.999493
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,28104,0.00,0.000,0,0,417,450.13
$SM_GC,0.34,12.95,0.00,0.00,0.000,0.000,0.000,682,2181,417,-7.28,5.94,450.13
$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,1990
$INTERNAL_PRESSURE,26.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.7,79.900
$10V_AH,9.6,26.892
$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,27.950,275.350,511.675,0.000,0.000,0.000,0.000,108.116,0.250,32.678,6095.695,14320.209,907.614,3136.270,3980.821,33.351,2968.401,0.000,4069.469,3240.000,2.302
$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,1857.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37845,1106
$CFSIZE,255582208,234123264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,47,1840,4,0
$SOUNDSPEED,1465.0
$CURRENT,0.026,264.5,1
$GPS,230607,182540,4658.375,-12535.389,6,1.1,6,18.0
$ESCAPE_REASON=NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE=0